Novel upper limb arm support motion feedback device

Abstract

The utility model relates to a novel upper limb arm support motion feedback device which comprises an arm support assembly, a support assembly and a three-dimensional force sensor assembly connected with a host, one end of the support assembly is fixedly connected with the arm support assembly, the other end of the support assembly is rotationally connected with the three-dimensional force sensor assembly, and an angle sensor used for transmitting the rotation angle is arranged in the support assembly; the support assembly comprises a first support, a second support and a third support, one end of the first support is in shaft rotation connection with the three-dimensional force sensor assembly, the other end of the first support is in shaft rotation connection with the second support, the other end of the second support is in shaft rotation connection with the third support, and the end, away from the second support, of the third support is fixedly connected with the arm support assembly. Self-lubricating bearings are arranged at the shaft rotating positions of the first bracket, the second bracket and the third bracket; an air bag grip is arranged on the arm support assembly, and a pressure sensor is arranged in the air bag grip. The three-degree-of-freedom rehabilitation device has the advantages that three-degree-of-freedom rehabilitation data feedback movement without resistance is achieved, and meanwhile the hand grip rehabilitation problem is solved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a novel upper limb arm support motion feedback device. Background Art

[0002] Upper limb muscle atrophy is common in patients with impaired upper limb motor function, such as those suffering from stroke, spinal cord injury, or brain trauma, or those who are bedridden or lack exercise for a long time. The upper limb arm support device can provide auxiliary strength and stimulate upper limb muscles through regular exercise training, preventing muscle atrophy, maintaining muscle strength and joint mobility, and promoting the recovery of motor function.

[0003] Upper limbs with functional impairments are generally unable to withstand resistance during exercise, which can easily cause secondary injuries to patients. Moreover, ordinary upper limb rehabilitation therapy devices on the market currently have the problem of a single rehabilitation model and an inability to provide personalized solutions, and the patient's recovery level cannot be intuitively displayed through exercise data. Utility Model Content

[0004] In order to solve the problems that the current upper limb arm support exercise device has high resistance to use, a single rehabilitation mode and the degree of rehabilitation cannot be intuitively displayed, the present application provides a new upper limb arm support exercise feedback device.

[0005] This application provides a novel upper limb arm support motion feedback device, which adopts the following technical solutions:

[0006] A novel upper limb arm support motion feedback device comprises an arm support assembly, a bracket assembly and a three-dimensional force sensor assembly connected to a host, wherein one end of the bracket assembly is fixedly connected to the arm support assembly, and the other end is rotatably connected to the three-dimensional force sensor assembly, and an angle sensor for transmitting a rotation angle is provided in the bracket assembly; the bracket assembly comprises a first bracket, a second bracket and a third bracket, wherein one end of the first bracket is rotatably connected to the axis of the three-dimensional force sensor assembly, and the other end is rotatably connected to the axis of the second bracket, the other end of the second bracket is rotatably connected to the axis of the third bracket, and the end of the third bracket away from the second bracket is fixedly connected to the arm support assembly, and self-lubricating bearings are provided at the rotation points of the first bracket, the second bracket and the third bracket axes; an airbag grip is provided on the arm support assembly, and a pressure sensor is provided in the airbag grip.

[0007] Optionally, a support column is provided in the airbag handle, and the support column is fixed to the arm support assembly.

[0008] Optionally, a rotation hole is provided at one end of the second bracket close to the first bracket, a limit block is provided on the inner side wall of the rotation hole, a second rotation axis is rotatably provided in the rotation hole, a rotation groove is provided on the top side wall of the second rotation axis, the angle range of the rotation groove is less than 180°, and the limit block is slidably embedded in the rotation groove.

[0009] Optionally, the arm support assembly includes an upper arm support and a lower arm support, and a printed circuit board that can realize Bluetooth connection with the host is arranged between the upper arm support and the lower arm support.

[0010] Optionally, a base is fixedly provided at the bottom of the lower arm support, and the base includes a connecting plate and an adjustment plate, the connecting plate is fixedly connected to the lower arm support, a sliding groove is provided on the third bracket, and the adjustment plate slides through the sliding groove, and a plurality of through holes are provided on the adjustment plate and the third bracket, and the plurality of through holes are spaced apart along the extension direction of the inclined plate, and fixing bolts are passed through the through holes.

[0011] Optionally, the third bracket is tilted, and the tilt angle range is 15-45°.

[0012] In summary, this application includes at least one of the following beneficial technical effects:

[0013] 1. By setting self-lubricating bearings at the rotation connection of the first bracket, the second bracket and the third bracket, resistance-free rotation in three angular directions is achieved;

[0014] 2. By installing angle sensors in the first bracket, the second bracket, and the third bracket, real-time feedback of the motion state data at three different angles can be obtained;

[0015] 3. By setting up an airbag grip, the patient can hold the airbag grip with his hand, and according to the changes in the airbag pressure, the patient's hand grip strength will be fed back in real time, thereby meeting the patient's various needs for upper limb rehabilitation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of this embodiment.

[0017] Figure 2 It is a cross-sectional schematic diagram of this embodiment.

[0018] Figure 3 Schematic diagram of the structure of the second bracket and the second rotation axis in this embodiment.

[0019] Figure 4 Schematic diagram of the structure of the third bracket and the base in this embodiment.

[0020] Explanation of the accompanying drawings: 1. Arm support assembly; 11. Upper arm support; 12. Lower arm support; 13. Base; 131. Connecting plate; 132. Adjustment plate; 14. Velcro strap; 2. Bracket assembly; 21. First bracket; 22. Second bracket; 221. Limit block; 222. Second rotation axis; 223. Rotation slot; 23. Third bracket; 231. Horizontal plate; 232. Inclined plate; 233. Slide slot; 234. Fixing screw; 3. Three-dimensional force sensor assembly; 4. Airbag handle; 5. Support column; 6. Pressure sensor. DETAILED DESCRIPTION

[0021] The following is combined with Figure 1-4 This application is described in further detail.

[0022] The embodiment of the present application discloses a novel upper limb arm support motion feedback device. Figure 1 The novel upper limb arm support motion feedback device includes an arm support assembly 1, a bracket assembly 2 for supporting and rotating the arm support assembly 1, and a three-dimensional force sensor assembly 3 connected to a host. The host is provided with three motors, which respectively control three different directions (up and down, front and back, and rotation). The motors realize three-degree-of-freedom motion. The arm support assembly 1 drives the three-dimensional force sensor assembly 3 to undergo micro-deformation, which is transmitted to the host to realize three-degree-of-freedom motion. One end of the bracket assembly 2 is rotationally connected to the arm support assembly 1, and the other end is connected to the three-dimensional force sensor assembly 3. The bracket assembly 2 includes a first bracket 21, a second bracket 22, and a third bracket 23. The first bracket 21 and the second bracket 22 are both L-shaped structures. One end of the first bracket 21 is rotationally connected to the axis of the three-dimensional force sensor assembly 3, and the other end is rotationally connected to the axis of the second bracket 22. The end of the second bracket 22 away from the first bracket 21 is rotationally connected to the axis of the third bracket 23. The end of the third bracket 23 away from the second bracket 22 is fixed to the arm support assembly 1. Self-lubricating bearings are provided at the axial rotation connections of the first bracket 21, the second bracket 22 and the third bracket 23, which can achieve resistance-free rotation in each degree of freedom direction, thereby improving the patient's training effect, and angle sensors are provided in the first bracket 21, the second bracket 22 and the third bracket 23, which can transmit the angle information of the bracket rotation in real time, thereby providing timely feedback on the degree of patient upper limb rehabilitation.

[0023] Refer to 1 and Figure 2The arm support assembly 1 includes an upper arm support 11 and a lower arm support 12. Both the upper arm support 11 and the lower arm support 12 are arc-shaped plate structures, which better fit the shape of the patient's upper limbs. The upper support arm is provided with a plurality of Velcro straps 14 for fixing the patient's upper limbs. In this embodiment, there are two Velcro straps 14, and the tightness of the Velcro straps 14 can be adjusted according to the upper limb needs of different patients. An airbag grip 4 is vertically provided at one end of the upper support arm away from the Velcro strap 14. The airbag grip 4 is installed on the lower arm support 12 by squeezing and then tightened by a top screw to prevent the airbag grip 4 from falling out. While the patient is performing 3D spatial exercises of the upper limbs, he can also exercise the flexibility of his hands, thereby meeting more needs of the patient's upper limb rehabilitation. A support column 5 is provided in the airbag grip 4. The support column 5 is arranged perpendicular to the upper arm support 11, which can effectively control the extreme grip force. A pressure sensor 6 is installed at the bottom of the airbag grip 4 to monitor the patient's hand grip strength in real time. Furthermore, printed circuit boards are housed within the upper and lower arm rests 11 and 12, connecting to a host computer via Bluetooth. This transmits the grip strength to the host computer in real time for analysis. When the airbag grip 4 is squeezed, the pressure change causes the pressure sensor 6 to generate an electrical signal, which is then transmitted to the host computer via Bluetooth in real time. Therefore, the degree of grip strength can be effectively analyzed to assess the patient's hand grip recovery.

[0024] Reference Figure 3 A rotation hole is opened at one end of the second bracket 22 close to the first bracket 21, and a limiting block 221 is welded on the inner side wall of the rotation hole. A second rotating shaft 222 is rotatably arranged in the rotation hole, and the bottom end of the second rotating shaft 222 is fixed to one end of the first bracket 21 by a bolt. The top end of the second rotating shaft 222 is rotatably passed through the rotation hole, and a rotation groove 223 is opened on the top side wall of the second rotating shaft 222. The rotation groove 223 is opened around the circumference of the second rotating shaft 222, and the circumferential angle range of the opening is less than 180°. The limiting block 221 is slidably embedded in the rotation groove 223, which can realize rotational motion limitation and prevent the second bracket 22 from hitting the first bracket 21 when rotating.

[0025] Reference Figure 4The third bracket 23 includes a horizontal plate 231 and an inclined plate 232. The inclination angle range of the inclined plate 232 is 15-60°, with 45° being optimal. The inclination setting can make the upper limbs undergoing rehabilitation training more comfortable. A base 13 is fixedly provided at the bottom of the lower arm support 12. The base 13 includes a connecting plate 131 and an adjusting plate 132. The connecting plate 131 is an L-shaped plate structure. The connecting plate 131 is fixedly connected to the bottom of the lower arm support 12 by bolts. A slide groove 233 is provided at the bottom of the inclined plate 232. The opening direction of the slide groove 233 is consistent with the extension direction of the inclined plate 232. The adjusting plate 132 slides through the slide groove 233. A plurality of through holes are provided on the adjusting plate 132 and the third bracket 23. The plurality of through holes are spaced apart along the extension direction of the inclined plate 232. Fixing bolts are passed through the through holes, so that the arm support assembly 1 can slide relative to the third bracket 23 in a short distance to meet the needs of different arms.

[0026] The implementation principle of a new upper limb arm support motion feedback device in an embodiment of the present application is: before using the device, according to the patient's upper limb needs, the position of the sliding adjustment plate 132 in the slide groove 233 is adjusted to adjust the position of the arm support assembly 1 relative to the third bracket 23; when in use, the patient first places the upper limb on the upper arm support 11, holds the airbag grip 4, and then fixes the upper limb with the Velcro strap 14. The patient can perform resistance-free rehabilitation training by rotating the wrist, elbow and shoulder joints. The angle sensor detects the movement state in three different directions and transmits the rotation angle of each joint to the host in real time; at the same time, the patient can hold the airbag grip 4. When the airbag is squeezed, the pressure change causes the pressure sensor 6 to generate an electrical signal, which is connected to the host through Bluetooth to transmit data in real time. The degree of hand grip recovery can be effectively analyzed by the strength of the hand grip.

[0027] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A novel upper limb arm support motion feedback device, characterized by: The invention comprises an arm support assembly (1), a bracket assembly (2) and a three-dimensional force sensor assembly (3) connected to a host, wherein one end of the bracket assembly (2) is fixedly connected to the arm support assembly (1) and the other end is rotatably connected to the three-dimensional force sensor assembly (3), and an angle sensor for transmitting a rotation angle is provided in the bracket assembly (2); the bracket assembly (2) comprises a first bracket (21), a second bracket (22) and a third bracket (23), wherein one end of the first bracket (21) is rotatably connected to the axis of the three-dimensional force sensor assembly (3) and the other end is rotatably connected to the axis of the second bracket (22), the other end of the second bracket (22) is rotatably connected to the axis of the third bracket (23), and the end of the third bracket (23) away from the second bracket (22) is fixedly connected to the arm support assembly (1), and self-lubricating bearings are provided at the axial rotation points of the first bracket (21), the second bracket (22) and the third bracket (23); an airbag grip (4) is provided on the arm support assembly (1), and a pressure sensor (6) is provided in the airbag grip (4).

2. The novel upper limb arm support motion feedback device according to claim 1, characterized in that: A support column (5) is provided in the airbag handle (4), and the support column (5) is fixed on the arm support assembly (1).

3. The novel upper limb arm support motion feedback device according to claim 1, characterized in that: A rotation hole is provided at one end of the second bracket (22) close to the first bracket (21), a limit block (221) is provided on the inner side wall of the rotation hole, a second rotation shaft (222) is rotatably provided in the rotation hole, a rotation groove (223) is provided on the top side wall of the second rotation shaft (222), the angle range of the rotation groove (223) is less than 180 degrees, and the limit block (221) is slidably embedded in the rotation groove (223).

4. The novel upper limb arm support motion feedback device according to claim 1, characterized in that: The arm support assembly (1) comprises an upper arm support (11) and a lower arm support (12), and a printed circuit board capable of achieving Bluetooth connection with a host is provided between the upper arm support (11) and the lower arm support (12).

5. The novel upper limb arm support motion feedback device according to claim 4, characterized in that: A base (13) is fixedly provided at the bottom of the lower arm support (12), and the base (13) includes a connecting plate (131) and an adjusting plate (132). The connecting plate (131) is fixedly connected to the lower arm support (12). A sliding groove (233) is provided on the third bracket (23), and the adjusting plate (132) slides and penetrates into the sliding groove (233). A plurality of through holes are provided on the adjusting plate (132) and the third bracket (23). The plurality of through holes are spaced apart along the extending direction of the inclined plate (232), and fixing bolts are passed through the through holes.

6. The novel upper limb arm support motion feedback device according to claim 5, characterized in that: The third bracket (23) is tilted, and its tilt angle range is 15-45 degrees.

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