Upper limb trainer based on torque sensing
The torque-sensing-based upper limb trainer solves the problems of uncontrollable training cycles and low patient participation in existing equipment, achieving efficient and reliable upper limb rehabilitation training results and improving patients' self-participation and rehabilitation efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HOHAI UNIV
- Filing Date
- 2025-04-11
- Publication Date
- 2026-04-21
AI Technical Summary
Existing upper limb rehabilitation training equipment suffers from problems such as uncontrollable training cycles, low standardization of movements, difficulty in implementing multi-joint coordinated training, large equipment size, low patient participation, and unstable training effects, which hinder the process of neurological function recovery.
Design an upper limb trainer based on torque sensing. It detects grip strength and rotation speed through a torque turntable and torque sensor, and combines motor to accelerate rotation, providing an integrated training mode to ensure training effectiveness and patient autonomy. The device is also height-adjustable to accommodate different patients.
It achieves efficient and reliable upper limb training results, improves patients' self-participation and training feasibility, shortens the training cycle, improves rehabilitation efficiency, and improves patients' quality of life.
Smart Images
Figure CN224141417U_ABST
Abstract
Description
Technical Field
[0001] This utility model specifically relates to an upper limb trainer based on torque sensing, belonging to the field of medical device technology. Background Technology
[0002] Upper limb dysfunction is a common disabling sequela after stroke, mainly manifested as muscle weakness, loss of motor coordination, and abnormal muscle tone patterns, severely restricting patients' daily living activities. The theory of neuroplasticity suggests that high-intensity, repetitive, and task-oriented rehabilitation training can effectively promote the functional reorganization of the central nervous system; however, existing upper limb rehabilitation training models face significant technical bottlenecks in their implementation.
[0003] Traditional assisted training relies on therapists or family members to guide patients in passive joint movements and resistance training. This approach suffers from drawbacks such as uncontrollable training cycles and low standardization of movements. Due to limited human resources, patients often cannot achieve the required daily repetition frequency, hindering the neural remodeling process. Furthermore, human variations in the level of assistance can trigger compensatory movement patterns, exacerbating the formation of abnormal movement patterns. Most commercially available upper limb rehabilitation devices employ a separate design, with individual joint movement training modules and grip strength training devices, making multi-joint synergistic training difficult to implement, and the bulky size of the equipment is inconvenient for patients. On the other hand, existing training systems generally neglect mechanisms for maintaining patient participation. Traditional passive training can easily lead to psychological dependence, reduced self-efficacy, and decreased training adherence. Simultaneously, the need for frequent switching of training modules in separate training devices not only prolongs preparation time for each session but also disrupts the continuous stimulation required for motor function reconstruction. These technical deficiencies collectively result in significant problems with current upper limb rehabilitation training, including long cycles, unstable effects, and low patient participation, severely hindering the recovery of neurological function.
[0004] Therefore, there is an urgent need to develop an integrated upper limb rehabilitation device that can improve the feasibility of patients' self-training while ensuring the scientific nature of the training, thereby increasing rehabilitation efficiency and improving patients' quality of life. This has important clinical significance. Summary of the Invention
[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an upper limb trainer based on torque sensing, which is simple and reliable to operate and ensures training effectiveness.
[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:
[0007] A torque-sensing-based upper limb trainer is provided, including a base frame, a support base and a display screen mounted on the base frame. Torque turntables are provided on both sides of the support base. A torque sensor electrically connected to the torque turntables is provided inside the support base. The signal output terminal of the torque sensor is electrically connected to the signal input terminal of the display screen.
[0008] The torque turntable is provided with a connecting rod and a rotating handle that covers the connecting rod on the outside. The outside of the connecting rod is slidably connected to the inside of the rotating handle.
[0009] The rotating handle has a bent portion at the other end away from the torque turntable. A sliding member connected to the end of the connecting rod is provided on the inner side of the bent portion. An elastic element is provided between the sliding member and the rotating handle.
[0010] Furthermore, support rods are provided on both sides of the base frame, and insert rods are slidably provided on the inner side of both support rods, with a support base provided between the insert rods.
[0011] Furthermore, each of the insert rods has several locking holes inside, and a screw rod is inserted through the support rod, which can be connected to the locking holes.
[0012] Furthermore, the slider is provided with a contact block.
[0013] Furthermore, the contact block is provided with fitting grooves adapted to the spaces between the fingers of a human hand, and the contact block is made of rubber material.
[0014] Furthermore, a motor is installed inside the support base, and the output shaft of the motor is connected to an adjacent torque turntable.
[0015] Furthermore, the support base is equipped with two motors, which are respectively connected to the torque turntable.
[0016] Furthermore, an adjustment component is hinged to the base frame 1, and a display screen is hinged to the top of the adjustment component.
[0017] Compared with the prior art, the beneficial effects achieved by this utility model are as follows:
[0018] 1. This utility model provides an upper limb trainer based on torque sensing. The torque turntable is driven to rotate by a connecting rod, and the torque sensor detects the grip force value. Repeated pressing of the contact block, combined with the compression or extension of the elastic element, gradually improves the grip force training effect.
[0019] 2. Continuously rotate the handle, and the rotation speed value is detected by the torque sensor; if necessary, the rotation is accelerated by starting the motor to train upper limb endurance. The operation is simple and reliable, ensuring effective training results.
[0020] 2. This utility model uses a screw to detach from the locking holes of the two side inserts on the support rod, and uses the inserts to adjust the height of the support base, making it convenient for different patients to use. Attached Figure Description
[0021] Figure 1 An assembly diagram of the torque-sensing-based upper limb trainer provided by this utility model;
[0022] Figure 2 A cross-sectional view of the rotating handle provided by this utility model;
[0023] Figure 3 A cross-sectional view of the support base provided by this utility model;
[0024] Figure 4 A cross-sectional view showing the connection between the support rod and the insertion rod provided by this utility model;
[0025] Figure 5 Enlarged three-dimensional view of the side of the upper limb trainer with the display screen provided by this utility model;
[0026] In the diagram: 1-base frame, 2-support rod, 3-insertion rod, 4-support base, 5-torque turntable, 51-torque sensor, 6-connecting rod, 7-rotation handle, 8-slider, 9-contact block, 10-elastic element, 11-card hole, 12-motor, 13-screw, 14-adjusting component, 15-display screen. Detailed Implementation
[0027] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be construed as limiting the scope of protection of the present invention.
[0028] Example 1:
[0029] This embodiment provides an upper limb trainer based on torque sensing, including components such as a base frame 1, a support rod 2, a plug rod 3, a support base 4, a torque turntable 5, a torque sensor 51, a connecting rod 6, and a rotating handle 7.
[0030] like Figure 1 The diagram shows the assembly of an upper limb trainer based on torque sensing. In this embodiment, the base frame 1 is a rectangular frame, with support rods 2 welded to both sides. Insert rods 3 are slidably mounted on the inner side of the support rods 2 on both sides. Several locking holes 11 are provided inside the insert rods 3. In this embodiment, four locking holes 11 are provided. The locking holes 11 are used to fix the position of the insert rods 3 with the screws 13 to achieve height adjustment.
[0031] A support base 4 is installed between the two insert rods 3. Torque turntables 5 are rotatably installed on both the left and right sides of the support base 4. Torque sensors 51 are installed inside the support base 4 and at the ends of the torque turntables 5 on both the left and right sides. The torque sensors 51 are electrically connected to the torque turntables 5.
[0032] Each of the two torque turntables 5 has an eccentrically mounted connecting rod 6 on one side facing outwards. The connecting rods 6 on both sides are staggered left and right. A rotating handle 7 is mounted on the outer side of each of the two torque turntables 5. Figure 2 As shown, both sides of the rotating handle 7 are framed on the outside of the connecting rod 6 inside them, and the outside of the connecting rod 6 is slidably connected to the inside of the rotating handle 7.
[0033] The two rotating handles 7 rotate clockwise and counterclockwise respectively. The ends of the two rotating handles 7 that are far apart from each other are provided with bent parts, which makes it easier for users to grip. The inner side of the two bent parts is provided with a sliding part 8 that is connected to the end of the connecting rod 6. The sliding part 8 is provided with a contact block 9, and the contact block 9 has a fitting groove that fits the gaps between the fingers of the human hand, so as to facilitate contact with the user's fingers and provide a comfortable grip experience.
[0034] Further feasible, elastic elements 10 are provided between the two sliding parts 8 and the rotating handle 7 to provide elastic restoring force, ensuring that the sliding parts 8 and the contact block 9 can return to their initial positions. Specifically, the elastic element 10 includes a spring or rubber.
[0035] The design of the interlocking groove allows the fingers to be placed naturally, and in this embodiment, the contact blocks 9 are all made of rubber material.
[0036] like Figure 3 As shown, motors 12 are installed on both sides inside the support base 4. The output shaft of the motor 12 is connected to the adjacent torque turntable 5 to accelerate the rotation of the torque turntable 5 and enhance the training intensity.
[0037] like Figure 4 As shown, both sides of the support rod 2 are threaded with screw rods 13, and the rear ends of both sides of the screw rods 13 are connected to the locking holes 11 of the insertion rod 3.
[0038] like Figure 1 and Figure 5 As shown, an adjustment member 14 is hinged on the base frame 1, and a display screen 15 electrically connected to the torque sensor 51 is hinged to the top of the adjustment member 14. The adjustment member 14 is used to adjust the angle of the display screen 15, and the display screen 15 can conveniently display the user's training data.
[0039] Specifically, the torque sensor 51 is connected to a microcontroller, and the microcontroller is connected to a display screen 15; the display screen 15 is located on the front side of the bracket 2.
[0040] Example 2:
[0041] This embodiment provides a training method for an upper limb trainer, including:
[0042] Grip strength training: First, the user holds the bent part of the rotating handle 7 and presses down on the contact block 9, which is slidably connected to the bent part. The contact block 9 and the slider 8 will slide into the bent part, compressing the elastic element 10 and deforming it. At the same time, the slider 8 will drive the connecting rod 6 to slide, and the force generated during the sliding will drive the torque turntable 5 to rotate. When the torque turntable 5 rotates, the torque sensor 51 will sense its rotation state and detect the rotation speed of the torque turntable 5. Then, the torque sensor 51 will convert the measured rotational force into the grip strength of the user pressing down on the contact block 9 and transmit this value to the display screen 15 as a signal. The display screen 15 will then display the value to record the user's grip strength and save the value for comparison in the next training session.
[0043] After completing the grip strength training record, slowly release the contact block 9. The contact block 9 will then be reset by the self-expansion force of the elastic element 10. To improve the training effect, the contact block 9 can be pressed repeatedly, and the elastic element 10 can be compressed or extended in conjunction with the compression, thereby gradually improving the training effect on grip strength.
[0044] Furthermore, in order to train the user's upper limb strength, while holding the rotating handle 7, it can be slowly rotated. The rotating handle 7 will rotate through the torque turntable 5. After rotating for a period of time, the rotation will stop. At this time, the torque sensor 51 will detect the rotational force of the rotating torque turntable 5 again, and at the same time detect the rotational speed, thereby obtaining the magnitude of the rotational speed. The value recorded on the display screen 15 will be compared with the next test, so that medical staff can check whether the training effect has improved.
[0045] If necessary, the motor 12 can be started remotely, which will drive the torque turntable 5 to rotate faster. This process is for the user to train the endurance of the upper limbs. To facilitate the user's training, the position of the support base 4 can be adjusted according to the appropriate operating height.
[0046] When adjusting the height of the support base 4, twist the screws 13 on both sides so that the screws 13 on both sides disengage from the support rod 2 and the locking holes 11 of the insert rods 3 on both sides. At this time, hold the support base 4 and adjust its height upward or downward. During the adjustment, the insert rods 3 will slide inside the support rod 2. After the height of the support base 4 is adjusted, confirm whether the locking holes 11 of the insert rods 3 are aligned with the through holes of the support rod 2. After alignment, reconnect the screws 13 on both sides from the support rod 2 and reconnect them to the locking holes 11 of the insert rods 3. This completes the entire operation of adjusting the height of the support base 4.
[0047] In the description of the above embodiments, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this embodiment and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this embodiment.
[0048] Furthermore, in the description of this utility model, "multiple" or "several" means two or more, unless otherwise explicitly specified. Terms such as "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0049] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0050] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0051] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.
Claims
1. A torque-sensing based upper limb trainer, characterized in that, Includes a base frame (1), a support base (4) and a display screen (15) mounted on the base frame (1). Torque turntables (5) are provided on both sides of the support base (4). A torque sensor (51) electrically connected to the torque turntable (5) is provided inside the support base (4). The signal output terminal of the torque sensor (51) is electrically connected to the signal input terminal of the display screen (15). The torque turntable (5) is provided with a connecting rod (6) and a rotating handle (7) that covers the connecting rod (6) on the outside. The outside of the connecting rod (6) is slidably connected to the inside of the rotating handle (7). A bend is provided at the other end of the rotating handle (7) away from the torque turntable (5). A sliding member (8) connected to the end of the connecting rod (6) is provided on the inner side of the bend. An elastic element (10) is provided between the sliding member (8) and the rotating handle (7).
2. The upper limb trainer of claim 1, wherein, The base frame (1) is provided with support rods (2) on both sides, and insert rods (3) are slidably provided on the inner side of the support rods (2) on both sides, and a support seat (4) is provided between the insert rods (3).
3. The upper limb trainer of claim 2, wherein, The insert (3) has several locking holes (11) inside, and a screw (13) is provided through the support rod. The screw (13) can be connected to the locking hole (11).
4. The upper extremity trainer of claim 1, wherein, The sliding member (8) is provided with a contact block (9).
5. The upper extremity trainer of claim 4, wherein, The contact block (9) is provided with a fitting groove adapted to the finger gaps of the human hand, and the contact block (9) is made of rubber material.
6. The upper extremity trainer of claim 1, wherein, The support base (4) is equipped with a motor (12), and the output shaft of the motor (12) is connected to the adjacent torque turntable (5).
7. The upper extremity trainer of claim 6, wherein, The support base (4) is equipped with two motors (12), which are connected to the torque turntable (5) respectively.
8. The upper extremity trainer of claim 1, wherein, An adjusting member (14) is hinged to the base frame (1), and a display screen (15) is hinged to the top of the adjusting member (14).