A limb movement direction force detection device and an upper limb rehabilitation training device
By designing a limb movement direction force detection device, combined with strain gauge detection and arm support components, the problem of lack of active intention detection in existing rehabilitation training equipment has been solved, achieving high participation and efficient rehabilitation training results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANGHAI CONGYUAN INTELLIGENT TECHNOLOGY CO LTD
- Filing Date
- 2025-04-22
- Publication Date
- 2026-07-10
AI Technical Summary
Existing two-dimensional rehabilitation training equipment lacks the ability to detect patients' active movement intentions, resulting in poor participation and rehabilitation effects. There is a need for a device that can detect patients' training intentions and the force applied by their limbs to provide active, assisted, or resistance training.
A limb movement direction force detection device was designed, including a grip, a fixing frame, a force sensor module and a base plate. The device detects the force change on the base plate by strain gauges, and combined with the arm support assembly and sliding assembly, it can achieve accurate detection and feedback of the patient's limb movement intention.
It improves the participation and effectiveness of rehabilitation training, is easy to assemble and disassemble, has high movement stability, high space utilization, and high detection accuracy. It can accurately judge the patient's movement intention and provide personalized training feedback.
Smart Images
Figure CN224474435U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to medical devices, and more particularly to a limb movement direction force detection device. Background Technology
[0002] Statistics show that there are currently over ten million stroke patients in China. Post-stroke motor dysfunction significantly impacts patients' quality of life, necessitating extensive rehabilitation training to restore motor function. Furthermore, individuals who have lost or weakened motor function due to other illnesses or accidents require additional limb rehabilitation training.
[0003] Current two-dimensional rehabilitation training equipment not only promotes limb rehabilitation through simple passive training, but also needs to detect the patient's active movement intentions to provide active, assisted or resistance training, thereby improving the user's participation and initiative, making the patient feel more involved, and the rehabilitation training effect is also better.
[0004] Therefore, rehabilitation training equipment needs to include a detection device that can detect the patient's training intention and the force applied to the limbs on the machine, so that the equipment can provide corresponding rehabilitation training. Utility Model Content
[0005] To achieve the above objectives, this utility model first provides a limb movement direction force detection device, including: a grip, a base plate, a fixing frame, and a force sensor module; wherein, the grip is mounted on the fixing frame; the fixing frame is provided with fixing frame mounting holes; the force sensor module includes a detection part and a base plate, the detection part being disposed on the base plate; one side of the base plate is fixed to the fixing frame by a first spacer, and the other side of the base plate located at the detection part is fixed to the base plate by a second spacer.
[0006] Furthermore, it includes at least two force detection modules, each module consisting of a substrate and at least one detection unit corresponding to the substrate.
[0007] Furthermore, the stiffness of the mounting bracket is greater than the stiffness of the substrate in the force sensing module.
[0008] Furthermore, there are four substrates, each substrate is provided with a corresponding detection unit; two substrates and detection units are symmetrically arranged in the same direction to detect positive or negative forces in the X or Y direction.
[0009] Furthermore, the detection unit is a strain gauge, which detects the strain change of the substrate when it is subjected to force.
[0010] Furthermore, there are two substrates, each with a corresponding detection unit; and they are arranged vertically to detect the positive and negative forces in the X and Y directions, respectively.
[0011] Furthermore, there is only one substrate, which is an integral structure, and the number of detection parts on the substrate is greater than or equal to two, which can simultaneously detect forces in the X and Y directions.
[0012] Furthermore, the grip includes a grip sleeve and a grip bar, and the grip is detachably mounted on a mounting bracket.
[0013] This utility model also provides an upper limb rehabilitation training device, including the limb movement direction force detection device as described above.
[0014] Furthermore, it includes an armrest assembly that can rotate around the handle and does not interfere with the limb movement direction force detection device.
[0015] The limb movement direction force detection device provided by this utility model has the following technical effects:
[0016] It is easy to assemble, disassemble, and maintain, and has high assembly precision.
[0017] It has stable movement and high space utilization.
[0018] The following will further explain the concept, specific structure and technical effects of this utility model in conjunction with the accompanying drawings, so as to fully understand the purpose, features and effects of this utility model. Attached Figure Description
[0019] Figure 1 This is a perspective view of an upper limb rehabilitation training device using a limb movement direction force detection device according to one embodiment of the present invention.
[0020] Figure 2 This is an assembly diagram of a limb movement direction force detection device in a preferred embodiment of the present invention;
[0021] Figure 3 yes Figure 2 A sectional view;
[0022] Figure 4 This is a 3D schematic diagram of a force sensor;
[0023] Figure 5 It is a 3D view of the mounting bracket;
[0024] Figure 6 It is a 3D view of the base plate;
[0025] Figure 7 This is a 3D diagram showing the arrangement of another force sensor and its mounting bracket;
[0026] Figure 8 This is a schematic diagram of a planar arrangement of another type of force sensor;
[0027] Figure 9 This is a top view of another type of force sensor arrangement.
[0028] Figure 10 It is a sensor module;
[0029] Figure 11 This is a side view of a limb rehabilitation training device. Detailed Implementation
[0030] The following description, with reference to the accompanying drawings, illustrates several preferred embodiments of the present invention to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.
[0031] In the accompanying drawings, components with the same structure are indicated by the same numerical designation, and components with similar structures or functions are indicated by similar numerical designations. The dimensions and thicknesses of each component shown in the drawings are arbitrary, and this invention does not limit the dimensions and thicknesses of each component. To make the illustrations clearer, the thickness of some components has been appropriately exaggerated in the drawings.
[0032] The limb movement direction force detection device of this invention is applied to, for example... Figure 1 The upper limb rehabilitation training device shown includes a handle 1 connected to a limb movement direction force detection device. During rehabilitation training, the patient holds the handle 1 to perform movement training in the X and Y directions. The limb movement direction force detection device detects the force applied by the user's hand and upper limb during use to determine the user's movement intention.
[0033] In such Figure 2-6 In the illustrated embodiment, the limb movement direction force detection device includes a grip 1, a base plate 2, a mounting bracket 3, and force sensor modules 4. There are four force sensor modules 4, each including a base plate and a detection part 40, with the detection part 40 attached to the base plate. The mounting bracket 3 is cross-shaped, with a mounting seat 31 at the center of the cross and mounting holes 32 at each end of the cross. The grip 1 is mounted on the mounting bracket 3 via the mounting seat 31. The detection part 40 on the base plate has a first mounting hole 41 and a second mounting hole 42 at both ends. The upper connecting post 6 connects the mounting bracket 3 to the first ends of the four force sensors 4 located below it via the mounting holes 32 and the first mounting holes 41 of each force sensor 4. Base plate mounting holes 21 are provided on the base plate 2 at positions corresponding to the second mounting holes 42 of each force sensor 4. The lower connecting post 5 connects the base plate 2 to the second ends of the base plates of the four force sensors 4 located above it via the second mounting holes 42 and the base plate mounting holes 21 of each force sensor 4.
[0034] In the above structure, the force sensor 4 is installed between the fixing frame 3 and the base plate 2 via the upper connecting column 6 and the lower connecting column 5, and is spaced a certain distance from the fixing frame 3 and the base plate 2, thereby giving the force sensor 4 sufficient strain space and avoiding interference between the fixing frame 3 and the base plate 2 and the sensor. At the same time, the first and second spacers need to be arranged on both sides of the detection part 40 to ensure the best force effect is detected and improve the detection accuracy.
[0035] The fixing frame 3 is used to transmit the force of the grip 1 to the force sensor 4, and the stiffness of the fixing frame 3 is greater than that of the force sensor 4, so that during the force transmission process, the strain occurs on the force sensor 4 rather than on the fixing frame 3, thus ensuring the accuracy of force detection.
[0036] In the above embodiment, two force sensors are symmetrically arranged in the same direction to detect positive or negative forces in the X or Y direction. One of the symmetrically arranged sensors is used to detect forces in a single direction in the same X / Y direction. For example, if one sensor is subjected to a downward force, the symmetrically arranged sensor is subjected to an upward force. In this way, when a force is applied, only the force with a single changing trend of one sensor needs to be read, making force detection and calculation output simpler and the values more accurate. At the same time, the two symmetrically arranged sensors can also be used for cross-validation.
[0037] In other embodiments, two force sensors are symmetrically arranged in the same direction. Each sensor can read the force in either the positive or negative direction, and the value of each sensor can be read independently. The force situation can be calculated based on the changes and coupling.
[0038] In other embodiments, only one force sensor may be arranged in the same direction. In this case, the device preferably has two force sensors arranged vertically to detect the X and Y directions respectively. Each force sensor can detect both positive and negative forces in one direction.
[0039] like Figure 2 As shown, the grip 1 includes a grip sleeve and a grip bar, the grip bar being detachably mounted in the mounting base 31 of the mounting bracket 3 via a threaded or snap-fit connection. A bearing is provided between the grip bar and the grip sleeve, allowing the grip sleeve to rotate relative to the grip bar.
[0040] like Figure 6 As shown, in some embodiments, there are three force sensors, which are evenly distributed on the same plane, with an angle of 120° between each force sensor. By processing and synthesizing the data from the three force sensors, the force and direction actually applied by the user to the grip can be obtained.
[0041] The substrate of the sensor module is made of piezoelectric ceramic, steel, manganese steel, aluminum, etc.; the detection part is made of strain gauge, photoelectric detection, conductive silicone, pressure-sensitive switch, etc., and multiple detection parts can be provided.
[0042] like Figure 8 As shown, in other embodiments, the relative angle between the layout of the force sensor and the force direction is not limited, because in two-dimensional force sensors, the applied force and angle can be obtained by force calculation and synthesis, regardless of the arrangement angle.
[0043] In some embodiments, it can also be modified as needed. Figure 8 This layout.
[0044] like Figure 10 The sensor module shown is related to... Figure 4 Similarly, the sensor module can also be used to detect tension or pressure in one direction; mounting holes are provided at both ends of the substrate.
[0045] In some embodiments, such as Figure 4 In the sensor module shown in Figure 10, the substrate is a single structure and includes two detection units, which are simultaneously disposed on two opposite surfaces of the substrate.
[0046] In some embodiments, the sensor uses only one substrate, which is a single, integrated structure with some areas hollowed out. The sensor module also includes at least two detection units. The inner side of the substrate is fixed to the grip, the outer ring is fixed to the base plate, and the detection units are positioned between the inner and outer rings. This allows for simultaneous detection of forces in the X and Y directions on the same substrate, resulting in a simpler structure.
[0047] like Figure 1 and Figure 11 The illustrated upper limb rehabilitation training device includes an arm support assembly, which comprises an arm support bearing, a bearing seat, an arm support plate, an arm support, and a support component. The bottom of the support component is fixed to a base, the bearing is fixed to the bearing seat, and the bearing seat is fixed to the support component. The bearing is coaxially arranged with the handle in the limb movement direction force detection device. The arm support plate is connected to the inner ring of the bearing, ensuring that it can rotate around the handle. One end of the arm support plate is fixed to the arm support. Furthermore, the fixing frame and handle in the limb movement direction force detection device extend through the inner ring of the bearing and above the arm support, without interfering with the arm support plate and the bearing. This ensures that the human arm can rotate around the handle during use, enhancing biomimicry. More importantly, it separates the force received by the handle from the force received by the arm support, preventing interference and avoiding deviations in the detection of the patient's movement intention due to changes in the patient's center of gravity caused by the patient leaning forward or the force applied to the arm support, or differences in the force applied to the arm support.
[0048] In other embodiments, the grip assembly may further include a second grip sleeve disposed on the outer ring of the bearing in the grip assembly, the grip sleeve being disposed outside the second grip sleeve and fixedly connected to the second grip sleeve.
[0049] The grip can drive the movement of the upper or lower limbs, detecting muscle strength and movement intention. In other embodiments, the grip can be a ball-type or finger-spreading device, and is not necessarily a grip bar and grip sleeve structure.
[0050] like Figure 1 The upper limb rehabilitation training device shown includes the aforementioned force detection device, arm support assembly, and sliding assembly. The arm support assembly is fixed to the base plate of the force detection device, and the base plate is fixed to the upper first sliding assembly, ensuring that it can slide along the X direction in the figure. Simultaneously, the upper sliding assembly is fixed to the lower second sliding assembly and can move along the Y direction in the figure, thus ensuring that the aforementioned force detection device can achieve arbitrary movement in the X and Y directions. When the user grips the handle and performs exercises, the force detection device can detect the force applied by the patient to the handle, thereby assessing the patient's limb condition and enabling active rehabilitation training.
[0051] In addition, this upper limb rehabilitation training device also includes a drive component that can move the power detection device along the first and sliding components. During use, the user's upper limb can be guided through the grip for rehabilitation training exercises. Simultaneously, by detecting the magnitude and direction of the force applied by the patient to the grip and force detection device, the device can determine the patient's movement intention, thereby guiding the user to perform assisted training or muscle strengthening exercises in the direction of or opposite to the applied force. Furthermore, the device's movement can be adjusted in real time based on the magnitude of the force applied by the patient, thereby controlling the force applied to the limb in the opposite direction, ensuring higher patient participation and better rehabilitation training results.
[0052] The preferred embodiments of this utility model have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of this utility model without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of this utility model through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.
Claims
1. A limb movement direction force detection device, characterized in that: include: The components include a base plate, a mounting bracket, and a force sensor module. The handle is mounted on a mounting bracket; the mounting bracket has mounting holes. The force sensor module includes a detection unit and a substrate. The detection unit is disposed on the substrate. One side of the substrate is fixed to a mounting frame by a first spacer, and the other side of the substrate is fixed to a base plate by a second spacer.
2. The limb movement direction force detection device as described in claim 1, wherein, It includes at least two force detection modules, each module consisting of a substrate and at least one detection part corresponding to the substrate.
3. The limb movement direction force detection device as described in claim 1, wherein, The rigidity of the mounting bracket is greater than the rigidity of the substrate in the force sensing module.
4. The limb movement direction force detection device as described in claim 1, wherein, There are four substrates, and each substrate is equipped with a corresponding detection unit; two substrates and detection units are symmetrically arranged in the same direction to detect positive or negative forces in the X or Y direction.
5. The limb movement direction force detection device as described in claim 1, wherein, The detection unit is a strain gauge, which detects the strain change of the substrate when it is subjected to force.
6. The limb movement direction force detection device as described in claim 1, wherein, There are two substrates, each with a corresponding detection unit; they are arranged vertically to detect forces in the positive and negative directions in the X and Y directions, respectively.
7. The limb movement direction force detection device as described in claim 1, wherein, The substrate consists of one integrated structure, and the number of detection units on the substrate is greater than or equal to two, which can simultaneously detect forces in the X and Y directions.
8. The limb movement direction force detection device as described in claim 1, wherein, The grip includes a grip sleeve and a grip bar, and the grip is detachably mounted on a mounting bracket.
9. An upper limb rehabilitation training device, characterized in that, Includes the limb movement direction force detection device as described in any one of claims 1-8.
10. The upper limb rehabilitation training device as described in claim 9, characterized in that, It includes an armrest assembly that can rotate around the handle and does not interfere with the limb movement direction force detection device.