Exercise and rehabilitation device

Abstract

The utility model relates to an exercise and rehabilitation device. The exercise and rehabilitation device comprises a frame body; the at least one mechanical arm is arranged on the frame body, and the free end of the mechanical arm is connected with a rehabilitation action piece; the controller is electrically connected with the mechanical arm; the rehabilitation action piece is fixed on an operation object or is operated by the operation object, and the controller recognizes a physiological feature of the operation object and drives the mechanical arm to enable the rehabilitation action piece to move along a guide path. Therefore, by recording the motion or rehabilitation motion track of the operation object, the motion or rehabilitation effect can be compared and evaluated.

Description

Technical Field

[0001] This invention relates to a device that can learn and record exercise or rehabilitation movement trajectories to evaluate the effects of exercise or rehabilitation. Background Technology

[0002] On August 1, 2021, Taiwan Patent Application No. M615005, entitled "Joint Rehabilitation Machine," disclosed a base unit, an arm movement device, and a control unit. The base unit includes a base. The arm movement device includes a vertically extending pole unit disposed on the base, a drive unit disposed on the pole unit, an arm support frame connected to the drive unit, and a hand movement mechanism pivotally disposed on the arm support frame. The drive unit can drive the arm support frame and the hand movement mechanism to rotate horizontally between a first rotation position and a second rotation position, and the hand movement mechanism can rotate vertically. The control unit is disposed within the base and electrically connected to the arm movement device, used to control the rotation of the arm support frame and the hand movement mechanism between the first and second rotation positions, and to control the vertical rotation of the hand movement mechanism.

[0003] The previous patent application mainly targeted the user's elbow joint rehabilitation, which limited its scope of application and made it difficult to achieve the rehabilitation effect of the whole body's upper and lower limbs.

[0004] Another patent application, No. M451125, entitled "Interactive Upper Limb Rehabilitation Robotic Arm Device," was published in Taiwan on April 21, 2013. It discloses a robotic arm unit, a drive unit, and a control unit. The robotic arm unit includes a shoulder joint module, an elbow joint module, and a wrist joint module. The control unit includes a human-machine interface module, an interface transmission module electrically connected to the human-machine interface module, and a drive module electrically connected to the interface transmission module and the drive unit. The human-machine interface module can input several motion trajectory programs to control the drive module to drive the drive unit, thereby manipulating the shoulder joint module, elbow joint module, and wrist joint module to operate according to the respective motion trajectories. This allows the user's upper limbs to conveniently perform rehabilitation movements through the traction of the robotic arm unit.

[0005] The prior patent also only allows for upper limb rehabilitation, failing to achieve full-body rehabilitation for both upper and lower limbs. Furthermore, depending on the specific rehabilitation function, it requires connection to a rehabilitation component with a specific structure. The free end of the robotic arm unit in the prior patent does not disclose any such connection, thus limiting its applicability to various rehabilitation devices. Users also cannot select a rehabilitation component with a specific structure, such as a handle or grip ring for upper limb exercise or rehabilitation training, or a strap for lower limb exercise or rehabilitation training, based on the area requiring rehabilitation. Moreover, it cannot compare progress or regression based on the user's movement trajectory, nor can it determine if the user's current posture conforms to rehabilitation guidelines, or guide the user along the correct movement trajectory based on previous exercise records. Therefore, its usability is not ideal. Utility Model Content

[0006] In view of the above-mentioned shortcomings, the purpose of this utility model is to provide a sports and rehabilitation device.

[0007] This utility model provides a sports and rehabilitation device, comprising: a frame; at least one robotic arm disposed on the frame, the free end of the robotic arm being connected to a rehabilitation component; a controller electrically connected to the robotic arm; the controller identifies a physiological characteristic of an operating object and drives the robotic arm to move the rehabilitation component along a guide path.

[0008] The rehabilitation component described above can be detachably attached to the robotic arm, or the rehabilitation component can be replaced on the robotic arm.

[0009] The aforementioned frame is a U-shaped upright with a vertical pole on each side and a base at the bottom. A seat is provided at one end of the base. The robotic arm includes a slide that is fitted onto the vertical pole, allowing the robotic arm to move relative to the seat on the vertical pole.

[0010] The above physiological characteristics are physiological state characteristics of humans or animals.

[0011] The aforementioned physiological characteristics include one or any combination of the following: facial features, fingerprint features, palm print features, iris features, voice features, gait features, heart rhythm features, respiratory features, and body temperature features.

[0012] The above further includes a physiological feature detector that is signal-connected to the controller to capture the physiological features for identifying the identity of the object being operated on.

[0013] The aforementioned physiological feature detector includes a first detector and a second detector. The first detector is disposed on the frame to detect one or any combination of the facial features, iris features, voice features, gait features, and breathing features. The second detector is disposed on the rehabilitation component to detect one or any combination of the fingerprint features, palm print features, heart rhythm features, and body temperature features.

[0014] The first detector is an audio-visual capture unit, and the second detector is a physiological state detection unit.

[0015] The aforementioned controller further records the actual movement path of the rehabilitation component.

[0016] When the path deviation between the guide path and the actual movement path exceeds a preset value, the controller performs a correction action.

[0017] The aforementioned guiding actions include: repositioning the rehabilitation component along the guide path from an origin, increasing the output power of the robotic arm, and stopping the movement of the robotic arm.

[0018] The above further includes a display unit electrically connected to the controller.

[0019] The above display unit displays one of the following information: physiological characteristics, actual movement path, guidance path, path deviation between the guidance path and the actual movement path, historical records of the actual movement path, exercise effect score, exercise teaching information, exercise suggestion information, rehabilitation effect score, rehabilitation teaching information, and rehabilitation suggestion information.

[0020] The aforementioned frame type is one of the following: tabletop frame, floor-standing frame, or wall-mounted frame.

[0021] The aforementioned robotic arm is a six-axis robotic arm.

[0022] The aforementioned robotic arm includes a slide that is movable relative to the frame.

[0023] The rehabilitation controlled by the aforementioned controller includes passive rehabilitation or active rehabilitation.

[0024] The aforementioned passive rehabilitation refers to the robotic arm generating a traction force on the hands of the operator through the rehabilitation action component, so that the hands of the operator are passively moved by the traction of the robotic arm.

[0025] The aforementioned active rehabilitation refers to the robotic arm generating an automatically adjustable resistance on the hands of the user through the rehabilitation action component, without pulling the hands of the user to move.

[0026] The controller outputs a control program based on the physiological characteristics, which drives the robotic arm to move the rehabilitation component along the guide path.

[0027] The above-mentioned technical features have the following advantages:

[0028] 1. It can be detached and interchangeable with rehabilitation components to accommodate different rehabilitation functions, making it suitable for installation in various rehabilitation devices with different functions, thus ensuring that its application range is not limited in any way.

[0029] 2. The rehabilitation component can be selected as a handle or a grip ring for the user to hold with both hands for upper limb exercise or rehabilitation training, depending on the area requiring rehabilitation. Alternatively, the rehabilitation component can be a strap to be worn around the feet for lower limb exercise or rehabilitation training. Therefore, it can be used for full-body rehabilitation or for selective upper or lower limb rehabilitation.

[0030] 3. Physiological feature detectors can automatically detect various physiological characteristics of the subject, so as to quickly identify the subject and display relevant information about the subject as a reference for exercise or rehabilitation.

[0031] 4. When performing rehabilitation, the patient can choose to perform passive or active rehabilitation based on the information displayed.

[0032] 5. Passive rehabilitation refers to the two sets of robotic arms generating a traction force on the hands of the operator through the two rehabilitation action components, so that the hands of the operator are passively pulled by the robotic arms and move along the guide path for rehabilitation.

[0033] 6. Active rehabilitation refers to two sets of robotic arms that generate an automatically adjustable resistance on the hands of the user through two rehabilitation actuators. They do not pull the user's hands to move, but rather the user actively uses their hands to grasp the two rehabilitation actuators to move and overcome the resistance to perform rehabilitation.

[0034] 7. After exercise or rehabilitation is completed, the controller will compare the actual movement path completed by the object with the set guide path and calculate the path offset that causes the difference between the guide path and the actual movement path, so as to serve as a setting reference for the next exercise or rehabilitation.

[0035] 8. The above path offset can be used to learn and record the movement or rehabilitation trajectory of the object being operated on, so as to compare and evaluate whether there is progress or regression in the movement or rehabilitation.

[0036] 9. At the same time, the controller will also score the effectiveness of each exercise or rehabilitation session to determine whether the current posture of the person being exercised meets the key points of the exercise or rehabilitation, and provide exercise or rehabilitation suggestions.

[0037] 10. Based on the learned exercise or rehabilitation records, guide the subject to perform the correct exercises or rehabilitation appropriately.

[0038] 11. Throughout the entire exercise or rehabilitation process, the physiological characteristics of the person being operated on will be monitored at all times. If any abnormality occurs in the physiological state, the movement of the robotic arm will be stopped to terminate the operation and ensure the safety of the person being operated on.

[0039] 12. When the controller detects that the path deviation between the guide path and the actual movement path exceeds a preset value, the controller performs a correction action, such as re-moving the rehabilitation component along the guide path from an origin.

[0040] 13. If the resistance generated by the robotic arm is too low, the output power of the robotic arm will be increased to improve the resistance of the exercise or rehabilitation.

[0041] 14. Furthermore, if the resistance of the robotic arm is too great and the object being operated on cannot bear the load, the resistance will be reduced or the movement of the robotic arm will be stopped immediately to suspend the exercise or rehabilitation operation, thereby ensuring the safety of the object being operated on during the exercise or rehabilitation process.

[0042] 15. It can be configured as a desktop unit, allowing it to be placed on a single table for convenient use by different users. Attached Figure Description

[0043] Figure 1 This is a perspective view of the first embodiment of the present utility model.

[0044] Figure 2 This is a side view of the first embodiment of the present invention.

[0045] Figure 3 This is a block diagram showing the configuration of the first embodiment of the present utility model.

[0046] Figure 4 This is a schematic diagram illustrating the use of the first embodiment of this utility model.

[0047] Figure 5 This is a schematic diagram of the operation (a) of the first embodiment of the present utility model.

[0048] Figure 6 This is a schematic diagram of the operation (II) of the first embodiment of the present utility model.

[0049] Figure 7 This is a perspective view of the second embodiment of the present utility model.

[0050] Explanation of reference numerals in the attached drawings: 1-Frame; 11-Upright pole; 12-Base; 13-Seat; 2-Robotic arm; 21-Slide; 22-Tightening bolt; 23-Rehabilitation component; 3-Controller; 4-Display unit; 5-Physiological feature detector; 51-First detector; 52-Second detector; A-Operated object; B-Table. Detailed Implementation

[0051] Please see Figure 1 , Figure 2 and Figure 3 As shown, this utility model is a sports and rehabilitation device, comprising: a frame 1, a robotic arm 2, a controller 3, a display unit 4, and a physiological characteristic detector 5, wherein:

[0052] A frame 1 is a U-shaped upright. A vertical pole 11 is provided on each of the two sides of the frame 1. The frame 1 can be a floor-standing frame or a wall-mounted frame (not shown in the figure). The floor-standing frame has a base 12 at its bottom, and a seat 13 is provided at one end of the base 12 for floor mounting. The wall-mounted frame can be fixed to a wall.

[0053] At least one robotic arm 2 is mounted on the frame 1. This embodiment of the invention includes two sets of robotic arms 2. Preferably, each set of robotic arms 2 is a six-axis robotic arm, capable of translation and rotation along three mutually perpendicular coordinate axes in space. Each set of robotic arms 2 has a slide block 21 at one end, which is respectively mounted on the two uprights 11 of the frame 1, allowing the robotic arm 2 to move relative to the uprights 11. Each slide block 21 is equipped with a clamping bolt 22, which, by tightening the clamping bolt 22, allows the slide block 21 to be fixed to any position on the upright 11, enabling manual adjustment to accommodate different user heights, arm lengths, or usage habits. The slide block 21 of this embodiment can also be configured to slide automatically to adjust to any position fixed on the upright 11. This automatic adjustment can be achieved by a drive motor to drive the slide block 21 to move automatically (not shown in the figure). These are all methods that can be implemented in this embodiment. The other end of the robotic arm 2 is a free end, which is connected to a rehabilitation component 23. The rehabilitation component 23 is detachably attached to the free end of the robotic arm 2, or, depending on the different rehabilitation functions, a rehabilitation component 23 with a specific structure can be replaced on the free end of the robotic arm 2. The rehabilitation component 23 can be a handle or a grip ring for the user to hold with both hands for exercise or rehabilitation training of the user's upper limbs. Alternatively, the rehabilitation component 23 can be a strap for binding the user's feet for exercise or rehabilitation training of the user's lower limbs. In addition to the aforementioned six-axis robotic arm, the rehabilitation component 23 can be selected and installed on other types of robotic arms on the market according to different rehabilitation functions. All of these are feasible embodiments of this utility model.

[0054] A controller 3 is installed on the frame 1 and electrically connected to the robotic arm 2. The controller 3 identifies a physiological characteristic and identity of the object being manipulated, and outputs a corresponding control program based on the physiological characteristic. This control program drives the robotic arm 2, causing the rehabilitation component 23 to move along a guide path. The physiological characteristic is a physiological state characteristic of a human or animal. This physiological characteristic includes one or any combination of facial features, fingerprint features, palm print features, iris features, voice features, gait features, heart rhythm features, respiratory features, and body temperature features. The controller 3 further records the actual movement path of the rehabilitation component 23. When the deviation between the guide path and the actual movement path exceeds a preset value, the controller 3 executes a correction action. This correction action includes: re-moving the rehabilitation component 23 along the guide path from an origin, increasing the output power of the robotic arm, and stopping the movement of the robotic arm. The motor rotation speed, torque, and other parameters of each joint of the robotic arm 2 of this invention can be recorded and used as reference data for future control of the robotic arm 2.

[0055] A display unit 4 is disposed on the frame 1. The display unit 4 is electrically connected to the controller 3, and the display unit 4 displays one of the following information: physiological characteristics, actual movement path, guidance path, path deviation between the guidance path and the actual movement path, historical record of the actual movement path, exercise effect score, exercise teaching information, exercise suggestion information, rehabilitation effect score, rehabilitation teaching information, and rehabilitation suggestion information.

[0056] A physiological feature detector 5 is disposed on the frame 1 and the rehabilitation component 23. The physiological feature detector 5 is signal-connected to the controller 3 to capture the physiological features of the user, so that the controller 3 can automatically identify the user's identity. The physiological feature detector 5 includes a first detector 51 and a second detector 52. The first detector 51 is an audio-visual capture unit disposed at the top of the frame 1 to detect the user's facial features, iris features, voice features, gait features, and breathing features. The second detector 52 is a physiological state detection unit disposed on the rehabilitation component 23 to detect the user's fingerprint features, palm print features, heart rate features, and body temperature features.

[0057] When using, such as Figure 4 , Figure 5 and Figure 6As shown, an operator A can sit on the seat 13, and then the operator A's hands can respectively hold the rehabilitation component 23 of the robotic arm 2. By activating the controller 3 and the physiological feature detector 5, either the first detector 51 or the second detector 52 can be activated individually or together. The first detector 51 can detect one or any combination of the operator A's facial features, iris features, voice features, gait features, and breathing features. The second detector 52 can detect the operator A's fingerprint features, palm print features, heart rhythm features, and body temperature features. The first detector 51 and the second detector 52 transmit the detected physiological characteristics to the controller 3 for automatic identification of the user A. Once the user A's identity is identified and confirmed, the display unit 4 displays relevant information about the user A's exercise or rehabilitation. This information may include the physiological characteristics, the actual movement path, the guidance path, the path deviation between the guidance path and the actual movement path, the historical record of the actual movement path, exercise effect score, exercise teaching information, exercise suggestion information, rehabilitation effect score, rehabilitation teaching information, and rehabilitation suggestion information. Taking rehabilitation as an example, the user A selects whether to perform passive or active rehabilitation based on the above information. Passive rehabilitation refers to the two sets of robotic arms 2 generating a traction force on the user A's hands through the two rehabilitation action components 23, causing the user A's hands to be passively pulled by the robotic arms 2 and move along the guidance path for rehabilitation. Once rehabilitation is complete, the controller 3 will score the rehabilitation effect and provide rehabilitation suggestions.

[0058] During rehabilitation, if the user A selects active rehabilitation, the two sets of robotic arms 2 will only generate automatically adjustable resistance on the user A's hands through the two rehabilitation actuators 23. They will not pull the user A's hands to move; instead, the user A actively grasps the two rehabilitation actuators 23 with both hands, and the two sets of robotic arms 2 move along with the user A's hands. The user A can sequentially use both hands to operate the two rehabilitation actuators 23 to move the two sets of robotic arms 2 according to the guide path displayed on the display unit 4, overcoming the resistance and completing the actual movement path. After rehabilitation is completed, the controller 3 will compare the actual movement path completed by the user A with the set guide path and calculate the path offset that causes the difference between the guide path and the actual movement path. This offset will serve as a setting reference for the next rehabilitation session and can be used to learn and record the user A's rehabilitation movement trajectory for comparative evaluation of whether there is progress or regression. Simultaneously, the controller 3 will score the rehabilitation effect to determine whether the current posture of the user A conforms to the rehabilitation points and provide rehabilitation suggestions. Furthermore, based on the learned rehabilitation records, it can appropriately guide the user A to perform the correct rehabilitation movement trajectory.

[0059] During rehabilitation operations, regardless of whether passive or active rehabilitation is employed, the physiological characteristics of the patient A are constantly monitored throughout the entire process. If any abnormality occurs in the physiological state, the movement of the robotic arm 2 will be stopped to halt the rehabilitation operation and ensure the safety of the patient A. Alternatively, if the controller 3 detects that the deviation between the guide path and the actual movement path exceeds a preset value, the controller 3 will perform a correction action. For example, the preset value refers to a deviation exceeding 1 cm between the actual movement path of the patient A and the guide path on the three mutually perpendicular coordinate axes (vertical, horizontal, and vertical). This correction action includes repositioning the rehabilitation actuator 23 along the guide path from an origin. If the resistance generated by the robotic arm 2 is too low, the output power of the robotic arm 2 will be increased to enhance the rehabilitation resistance. Alternatively, if the resistance is too great and the object A cannot bear the load, the resistance will be reduced or the movement of the robotic arm will be stopped immediately to terminate the rehabilitation operation and ensure the safety of the object A during the rehabilitation process.

[0060] The above embodiments are mainly for rehabilitation operations, but the present invention can also be applied to sports and fitness training with the same effect.

[0061] Please see Figure 7As shown, the second embodiment of this utility model is a sports and rehabilitation device. The difference between the second embodiment and the first embodiment is that the frame 1 in the second embodiment is a tabletop frame, which can be set on a table B and is convenient for different users.

[0062] Based on the above description of the embodiments, one can fully understand the operation, use and effects of this utility model. However, the above embodiments are only preferred embodiments of this utility model and should not be construed as limiting the scope of implementation of this utility model. That is, simple equivalent changes and modifications made according to the claims and specification of this utility model are all within the scope of this utility model.

Claims

1. An exercise and rehabilitation device, characterized by, Include: A frame; At least one robotic arm is mounted on the frame, and the free end of the robotic arm is connected to a rehabilitation component; A controller is electrically connected to the robotic arm; The rehabilitation component is fixed to or operated on by the object. The controller identifies a physiological characteristic of the object and drives the robotic arm to move the rehabilitation component along a guide path.

2. The exercise and rehabilitation device of claim 1, wherein, The rehabilitation component can be detachably attached to the robotic arm, or the rehabilitation component can be replaced on the robotic arm.

3. The exercise and rehabilitation device as described in claim 1, characterized in that, The frame is a U-shaped upright with a vertical pole on each side and a base at the bottom. A seat is provided at one end of the base. The robotic arm includes a slide that is fitted onto the vertical pole, allowing the robotic arm to move relative to the seat on the vertical pole.

4. The exercise and rehabilitation device of claim 1, wherein, This physiological characteristic is a physiological state feature of humans or animals.

5. The exercise and rehabilitation device of claim 4, wherein, The physiological characteristics include one or any combination of the following: facial features, fingerprint features, palm print features, iris features, voice features, gait features, heart rhythm features, respiratory features, and body temperature features.

6. The exercise and rehabilitation device of claim 5, wherein, It also includes a physiological feature detector, which is signal-connected to the controller to capture the physiological features for identifying the identity of the object being operated on.

7. The exercise and rehabilitation device of claim 6, wherein, The physiological feature detector includes a first detector and a second detector. The first detector is disposed on the frame to detect one or any combination of facial features, iris features, voice features, gait features, and breathing features. The second detector is disposed on the rehabilitation component to detect one or any combination of fingerprint features, palm print features, heart rhythm features, and body temperature features.

8. The exercise and rehabilitation device of claim 7, wherein, The first detector is an audio-visual capture unit, and the second detector is a physiological state detection unit.

9. The exercise and rehabilitation device of claim 1, wherein, The controller also records the actual movement path of the rehabilitation component.

10. The exercise and rehabilitation device as described in claim 9, characterized in that, When the path deviation between the guide path and the actual movement path exceeds a preset value, the controller performs a correction action.

11. The exercise and rehabilitation device of claim 10, wherein, The correction action includes: moving the rehabilitation component back along the guide path from an origin, increasing the output power of the robotic arm, and stopping the movement of the robotic arm.

12. The exercise and rehabilitation device of claim 9, wherein, It also includes a display unit that is electrically connected to the controller.

13. The exercise and rehabilitation device of claim 12, wherein, The display unit displays one of the following information: physiological characteristics, actual movement path, guidance path, path deviation between the guidance path and the actual movement path, historical records of the actual movement path, exercise effect score, exercise teaching information, exercise suggestion information, rehabilitation effect score, rehabilitation teaching information, and rehabilitation suggestion information.

14. The exercise and rehabilitation device of claim 1, wherein, The frame can be one of the following: desktop frame, floor-standing frame, or wall-mounted frame.

15. The exercise and rehabilitation device of claim 1, wherein, This robotic arm is a six-axis robotic arm.

16. The exercise and rehabilitation device of claim 1, wherein, The rehabilitation controlled by this controller includes passive rehabilitation or active rehabilitation.

17. The exercise and rehabilitation device of claim 16, wherein, The passive rehabilitation refers to the robotic arm generating a traction force on the hands of the operator through the rehabilitation action component, so that the hands of the operator are passively moved by the traction of the robotic arm.

18. The exercise and rehabilitation device as described in claim 16, characterized in that, The active rehabilitation refers to the robotic arm generating an automatically adjustable resistance only on the hands of the user through the rehabilitation action component, without pulling the hands of the user to move.

19. The exercise and rehabilitation device as described in claim 1, characterized in that, The controller outputs a control program based on the physiological characteristics, which drives the robotic arm to move the rehabilitation component along the guide path.

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