An intelligent front-back adjustment upper limb auxiliary training device for hemiplegic patients

Abstract

This application relates to the field of medical rehabilitation equipment, and in particular to an intelligent forward and backward adjustment upper limb assistive training device for hemiplegic patients. The device includes a table, a display, a distance adjustment component, a training component, and an angle adjustment component. The distance adjustment component can move the training component closer to or further away from the patient. The distance adjustment component includes a slide rod slidably disposed under the table, a drive rod slidably disposed at one end of the slide rod, a rotating rod rotatably connected to the drive rod, a first eccentric wheel rotatably connected to the rotating rod and spaced apart from the drive rod, a motor with an output shaft fixedly connected to the first eccentric wheel, and a mounting plate mounted on the underside of the table for mounting the motor. A fixing block is fixedly disposed on the slide rod, and the fixing block is slidably disposed on the table and fixedly connected to the mounting base. This device enables patients to perform multifunctional, progressive training, simulates daily living movements, strengthens functional transfer ability, reduces compensatory movements, and protects joint and core stability.

Description

Technical Field

[0001] This application relates to the field of medical rehabilitation equipment, and in particular to an intelligent forward and backward adjustment upper limb assistive training device for hemiplegic patients. Background Technology

[0002] Because of damage to the central nervous system, hemiplegic patients commonly experience problems such as weakened upper limb muscle strength, shoulder pain, and abnormal movement patterns. In some hemiplegic patients, during the weaker phase, their arm muscles are weak and lack voluntary control, easily leading to compensatory movements (such as shrugging or forward head tilting) due to not being able to reach the training device. Some patients with upper limb dysfunction often complete training through compensatory movements such as "trunk tilting, shoulder shrugging, and head lowering" due to insufficient limb control, which may lead to secondary injuries such as scoliosis, shoulder pain, and shoulder subluxation in the long term.

[0003] For these patients, upper limb rehabilitation can be achieved through subsequent rehabilitation training.

[0004] Currently, the main upper limb rehabilitation training devices on the market include a training platform and a steering wheel installed on the training platform. When doing rehabilitation training, the caregiver pushes the patient (in a wheelchair) to the front of the training platform or helps the patient (in a chair) to the front of the training platform. The patient performs basic rehabilitation training by turning the steering wheel.

[0005] The existing technical solutions described above have the following drawbacks: patients can only achieve simple rehabilitation training, lacking a phased, progressive, step-by-step training process from "no active movement" to "partial active control" and then to "precise function," resulting in poor training effectiveness. If the device is too far away, the patient may be forced to "reach for it" (compensation by forward trunk tilting); if the distance is too close, it may cause the upper limbs to curl up (unable to fully extend). By adjusting the device forward and backward to a position where "the patient can reach it naturally when sitting upright," the force of movement is concentrated in the upper limbs (shoulder, elbow, wrist), reducing trunk compensation and protecting the spine and shoulder joints.

[0006] At the same time, maintaining a neutral trunk posture requires activating the core muscle groups (rectus abdominis and back muscles), which indirectly strengthens core stability. Core stability is the foundation for precise upper limb movements (such as "being able to write steadily when sitting upright"), thus achieving synergistic effects of "upper limb training + core training". Utility Model Content

[0007] This application provides an intelligent forward and backward adjustment upper limb assistive training device for hemiplegic patients, enabling patients to achieve multifunctional and progressive training.

[0008] The above-mentioned technical objective of this application is achieved through the following technical solution: An intelligent forward and backward adjustment upper limb assistive training device for hemiplegic patients includes a table, a display mounted on the table and equipped with a PLC processor, a distance adjustment component mounted under the table, a training component mounted on the table and fixedly connected to the adjustment end of the distance adjustment component, and an angle adjustment component mounted on the training component for adjusting the angle of the training component. The distance adjustment component can drive the training component to move towards or away from the patient. The distance adjustment assembly includes a slide rod slidably disposed under the tabletop, a drive rod slidably disposed on one end of the slide rod, a rotating rod rotatably connected to the drive rod, a first eccentric wheel rotatably connected to the rotating rod and spaced apart from the drive rod, a motor whose output shaft is fixedly connected to the first eccentric wheel, and a mounting plate installed on the underside of the tabletop for mounting the motor. A fixing block is fixedly disposed on the slide rod, and the fixing block is slidably disposed on the tabletop and fixedly connected to the mounting base.

[0009] By adopting the above technical solution, the sliding rod, drive rod, rotating rod, and first eccentric wheel are sequentially connected and rotated, enabling stable operation while allowing the fixed block to move within the limited space under the table. This allows for adjustment of the position of the training components on the table, tailored to the specific needs of different hemiplegic patients. This facilitates rehabilitation training for patients with varying conditions, enhancing the applicability of the training device. Furthermore, this device enables patients to perform multifunctional, progressive training, simulating daily life movements, strengthening functional transfer abilities, reducing compensatory movements, and protecting joint and core stability.

[0010] Optionally, a fixed shaft with its axis parallel to the axis of the motor output shaft is fixed on the mounting plate. A second eccentric wheel is rotatably mounted on the fixed shaft. A rotating rod is rotatably connected to the second eccentric wheel. A linkage is connected between the first eccentric wheel and the second eccentric wheel. The linkage includes two rotating rings sleeved on and rotatably connected to the first eccentric wheel and the second eccentric wheel respectively, and a linkage rod with both ends fixed to the two rotating rings respectively.

[0011] By adopting the above technical solution, the fixed shaft, the second eccentric wheel, and the linkage can work with the motor to restrict the two points of the drive rod, thereby making the drive rod more stable during movement and facilitating the stable adjustment of the spacing of the training components by the drive slide.

[0012] Optionally, the distance adjustment component includes a fixed groove fixedly installed on the lower surface of the tabletop. The end face of the groove opening is trapezoidal and the groove opening width is smaller than the groove bottom width. The end face of the slide rod is trapezoidal and adapted to the groove opening. The slide rod is slidably installed in the fixed groove.

[0013] By adopting the above technical solution, the trapezoidal end face can not only allow the slide rod to slide in the fixed groove, but also prevent the slide rod from leaving the fixed groove from the groove opening.

[0014] Optionally, the slide bar is spaced apart from the lower surface of the table.

[0015] By adopting the above technical solution, the slide bar will not come into contact with the table and will not rub against it, which facilitates the sliding of the slide bar and adjusts the distance between the training component and the front side of the table.

[0016] Optionally, the training component includes a mounting base fixed to the adjustment end of the distance adjustment component, two mounting boxes fixedly disposed on the upper part of the mounting base and spaced apart, and a trainer rotatably disposed at one end between the two mounting boxes. A steering wheel is rotatably mounted on the end of the trainer body away from the mounting box. A force sensor for measuring the rotational resistance of the steering wheel is disposed between the trainer and the steering wheel. The force sensor is electrically connected to the PLC processor, and the force parameters are displayed on the display.

[0017] By adopting the above technical solution, hemiplegic patients can perform rehabilitation training by holding and turning the steering wheel. During this process, muscle and nerve exercises can be performed on the upper limbs and surrounding areas. The PLC processor can also record instantaneous force parameters and other data during the steering wheel rotation. The measured motion data can serve as an evaluation indicator for upper limb functional rehabilitation. Based on the data displayed on the monitor, caregivers can accurately assess the patient's recovery progress and adjust subsequent rehabilitation training plans accordingly.

[0018] Optionally, two fixed shafts are fixedly installed on the opposite circumferential surface of the trainer, and the two fixed shafts are respectively rotatably mounted on two mounting boxes. The angle adjustment assembly includes a positioning gear fixedly mounted on a fixed shaft, two fixed plates fixed at intervals inside the mounting box, a positioning rod movably passing through the two fixed plates, a fixing ring mounted on the positioning rod and located between the two fixed plates, and a spring mounted on the positioning rod and located between the two fixed plates. One end of the spring abuts against the fixing ring, and the other end of the spring abuts against the inner wall of the fixed plate near the open end of the mounting box. One end of the positioning rod is inserted into the positioning gear, and the other end of the positioning rod is located outside the open end.

[0019] By adopting the above technical solution, the two fixed plates and the fixed ring restrict the positioning rod, so that the positioning rod will not detach from the fixed plate. After the end of the spring abuts against the fixed ring, the end of the positioning rod can always be stably inserted between the teeth of the positioning gear, thereby positioning the trainer. When it is necessary to adjust the angle of the trainer, pull the end of the positioning rod outside the opening to release the restriction of the positioning rod on the positioning gear, thereby facilitating the angle adjustment of the trainer.

[0020] Optionally, the end of the positioning rod that is inserted into the positioning gear is machined with an inclined surface, which is inclined upward from the end of the positioning rod toward the side wall of the positioning rod.

[0021] By adopting the above technical solution, when the trainer is rotated in the direction of the display, the positioning gear can push the positioning rod away from the positioning gear through the inclined plane, so that the caregiver does not need to pull the positioning rod while adjusting the angle of the trainer, making it convenient for the caregiver to use.

[0022] Optionally, a pull rod is fixed to one end of the two positioning rods located outside the opening.

[0023] By adopting the above technical solution, pulling the lever can simultaneously disconnect the two positioning rods from the two positioning gears, thereby facilitating the adjustment of the trainer's angle.

[0024] Optionally, an arc-shaped baffle is fixedly connected under the tabletop, and the arc-shaped opening of the baffle faces the distance adjustment component.

[0025] By adopting the above technical solution, the distance adjustment component is separated from the leg of the hemiplegic patient, thus avoiding the possibility of the distance adjustment component causing bumps or collisions to the leg of the hemiplegic patient.

[0026] Optionally, a vertical connecting column is fixed to the lower surface of the tabletop, and a horizontally set base plate is fixed to the lower end of the connecting column. Multiple casters are evenly installed on the base plate.

[0027] By adopting the above technical solutions, the connecting column can effectively increase the height of the tabletop, the base plate can enhance the overall stability of the training device, and the casters facilitate the movement of the training device.

[0028] In summary, this application has the following technical effects: 1. The upper limb assistive training device in this application, through its ability to move back and forth, fully meets the rehabilitation needs of patients with hemiplegia and upper limb dysfunction, realizes multifunctional and progressive training, can simulate daily life movements, strengthen functional transfer ability, reduce compensatory movements, and protect joint and core stability. 2. By setting up a table, monitor, distance adjustment component, training setting component, and angle adjustment component, hemiplegic patients can exercise the muscles and nerves of the upper limbs and nearby parts while turning the steering wheel. At the same time, the PLC processor records the data of the hemiplegic patient turning the steering wheel. The measured motion data can be used as an evaluation index for upper limb functional rehabilitation. According to the data displayed on the monitor, caregivers can accurately judge the recovery progress of the hemiplegic patient and adjust the subsequent rehabilitation training plan according to different progress. 3. By setting up a fixed shaft, a second eccentric wheel, a rotating rod, and a linkage, the fixed shaft, the second eccentric wheel, and the linkage can work with the motor to restrict the two points of the drive rod, thereby making the drive rod more stable during movement and facilitating the stable adjustment of the spacing of the training components by the drive slide. Attached Figure Description

[0029] Figure 1 This is a structural diagram of the object of this application; Figure 2 This is a structural diagram from another perspective of this application; Figure 3 This is a structural diagram of the distance adjustment component; Figure 4 This is an assembly structure diagram of the training component and the angle adjustment component; Figure 5 This is a structural diagram of the angle adjustment component.

[0030] Explanation of reference numerals in the attached drawings: 1. Workbench; 11. Base plate; 12. Rotary wheel; 13. Connecting column; 14. Tabletop; 2. Monitor; 3. Distance adjustment assembly; 31. Fixing groove; 32. Slide rod; 321. Fixing block; 33. Drive rod; 34. Rotating rod; 35. First eccentric wheel; 36. Motor; 37. Mounting plate; 38. Fixed shaft; 381. Second eccentric wheel; 39. Linkage component; 391. Rotating ring; 392. Linkage rod; 4. Training assembly; 41. Mounting base; 42. Mounting box; 43. Trainer; 431. Steering wheel; 432. Mounting shaft; 5. Angle adjustment assembly; 52. Positioning gear; 53. Fixing plate; 54. Positioning rod; 55. Fixing ring; 56. Spring; 57. Pull rod; 6. Baffle. Detailed Implementation

[0031] The present application will be further described in detail below with reference to the accompanying drawings.

[0032] This application discloses an intelligent forward and backward adjustment upper limb assistive training device for hemiplegic patients, referring to... Figures 1-5The training device includes a workbench 1, a display 2 mounted on the upper part of the workbench 1, a distance adjustment component 3 mounted on the bottom of the workbench 1, a training component 4 mounted on the upper part of the workbench 1 and fixedly connected to the adjustment end of the distance adjustment component 3, an angle adjustment component 5 mounted on the training component 4 for adjusting the use angle of the training component 4, and a baffle 6 fixedly mounted on the lower part of the workbench 1. The baffle 6 is arc-shaped and its arc-shaped opening faces the distance adjustment component 3, so as to separate the distance adjustment component 3 from the leg of the hemiplegic patient and avoid the distance adjustment component 3 from bumping into the leg of the hemiplegic patient.

[0033] Combination Figure 1 and Figure 2 The workbench 1 includes a horizontally arranged base plate 11, casters 12 installed at the four corners of the base plate 11, a vertically arranged connecting post 13 whose lower end is fixed to the center of the upper surface of the base plate 11, and a horizontally arranged tabletop 14 whose lower surface is fixed to the upper end of the connecting post 13. The tabletop 14 has a strip-shaped hole (not shown in the figure), one end of which is located on the front side of the display 2 and spaced apart from the display 2, and the other end of which is close to the front edge of the tabletop 14.

[0034] Combination Figure 2 and Figure 3 The distance adjustment assembly 3 includes a fixing groove 31 disposed on the lower surface of the tabletop 14, a slide rod 32 slidably disposed in the fixing groove 31, a drive rod 33 slidably disposed on one end of the slide rod 32, a rotating rod 34 rotatably connected at one end to the drive rod 33, a first eccentric wheel 35 horizontally disposed and rotatably connected to the other end of the rotating rod 34, a motor 36 with its output shaft vertically disposed and fixedly connected to the bottom of the first eccentric wheel 35, a mounting plate 37 fixedly disposed on the lower surface of the tabletop 14 for placing the motor 36, a fixing shaft 38 vertically disposed and fixedly connected at its lower end to the mounting plate 37, and a linkage 39 rotatably connected to the first eccentric wheel 35.

[0035] The length direction of the fixing groove 31 is parallel to the length direction of the strip hole. The opening of the fixing groove 31 faces upward and corresponds to the opening of the strip hole. The end face of the opening of the fixing groove 31 is trapezoidal, and the width of the opening is smaller than the width of the bottom. The end face of the slide rod 32 is trapezoidal and fits the opening of the fixing groove 31. The trapezoidal end face allows the slide rod 32 to slide within the fixing groove 31 and also prevents the slide rod 32 from leaving the groove. The slide rod 32 is slidably disposed within the fixing groove 31, and the upper surface of the slide rod 32 is lower than the lower surface of the table 14, thus spacing the slide rod 32 from the table 14 and preventing friction between them. A fixing block 321 is fixedly connected to the end of the upper surface of the slide rod 32 away from the display 2. The fixing block 321 is located within the strip hole, and the upper surface of the fixing block 321 is higher than the upper surface of the table 14. The training component 4 is fixedly connected to the fixing block 321. The upper surface of the slide bar 32 away from the fixed block 321 has a drive groove (not shown in the figure) with the length direction perpendicular to the length direction of the slide bar 32. The two ends of the drive groove are connected to the two side walls of the slide bar 32. The drive rod 33 is slidably disposed in the drive groove and the length directions of the two are perpendicular to each other. The drive rod 33 is spaced apart from the lower surface of the table 14.

[0036] Reference Figure 3 A second eccentric wheel 381 is rotatably mounted on the fixed shaft 38. The second eccentric wheel 381 is rotatably connected to the fixed shaft 38 via a bearing (bearing not shown in the diagram). The outer wall of the bearing is fixedly connected to the second eccentric wheel 381, and the inner wall of the bearing is sleeved and fixedly connected to the fixed shaft 38. The first eccentric wheel 35 and the second eccentric wheel 381 are located at the same horizontal height and are spaced apart. A linkage 39 is connected to the two eccentric wheels. Two rotating rods 34 are provided, and the two ends of the rotating rod 34 furthest from the motor 36 are rotatably connected to the drive rod 33 and the second eccentric wheel 381, respectively.

[0037] The linkage 39 includes two rotating rings 391 respectively fitted onto two eccentric wheels and a horizontally positioned linkage rod 392 fixed at both ends to the two rotating rings 391. The upper edges of the eccentric wheels are machined with annular notches, and a disk with a diameter smaller than the diameter of the eccentric wheel is formed on the upper part of the eccentric wheel. The rotating rings 391 are fitted onto the disks. The line connecting the two eccentric wheels and the length direction of the linkage rod 392 are parallel to the length direction of the drive rod 33. The drive rod 33, rotating rod 34, linkage rod 392, and motor 36 are arranged sequentially downwards from the tabletop 14. The motor 36 is electrically connected to the PLC processor. In this embodiment, the motor 36 is a stepper motor 36. During movement, neither end of the drive rod 33 contacts the baffle 6 or the mounting plate 37.

[0038] After the motor 36 is started, the drive rod 33 rotates via the first eccentric wheel 35 and the rotating rod 34. Under the constraint of the drive groove, the drive rod 33 drives the slide rod 32 to slide within the fixed groove 31, thereby causing the training component 4 connected to the fixed block 321 to move towards or away from the patient along the length of the strip hole. This allows the position of the training component 4 on the table 14 to be adjusted according to the actual usage of different hemiplegic patients, thus facilitating rehabilitation training for hemiplegic patients in different situations and enhancing the applicability of the training device. The first eccentric wheel 35, the second eccentric wheel 381, the linkage rod 392, and the two rotating rods 34 can restrict both ends of the drive rod 33, thereby facilitating the stable operation of the drive rod 33.

[0039] Reference Figure 4 The training component 4 includes a mounting base 41 fixed to the fixing block 321 and spaced apart from the upper surface of the table 14, two mounting boxes 42 fixedly mounted on the upper part of the mounting base 41 and spaced apart, and a trainer 43 rotatably mounted between the two mounting boxes 42. Two sets of angle adjustment components 5 are provided and located in the two mounting boxes 42 respectively, for adjusting the angle of the trainer 43.

[0040] The trainer 43 has a spherical body, and a power shaft is rotatably mounted inside it via a precision deep groove ball bearing. A steering wheel 431 is located on the side of the trainer 43 away from the display 2. A rotating shaft is fixed to the steering wheel 431. A force sensor is connected in series between the power shaft and the rotating shaft. The force sensor is coaxially connected to the power shaft and the rotating shaft via a coupling, so that the steering wheel 431 is rotatably connected to the trainer.

[0041] The trainer 43 is equipped with a damping adjustment device. The damping adjustment device adopts electromagnetic braking resistance adjustment. The principle is to generate a magnetic field through an electromagnet. The magnetic field strength is proportional to the input current, thereby controlling the braking torque (the greater the current, the stronger the magnetic field, and the greater the resistance). It has the advantages of high precision and electric control.

[0042] The damping adjustment device mainly includes an electromagnetic brake installed on the power shaft. The electromagnetic brake consists of a stator and a rotor: the rotor rotates with the power shaft, and the stator is fixed on the trainer frame. More specifically, the rotor is connected to the power shaft by a flat key and set screws to ensure synchronous rotation. The stator is fixed to the trainer frame by a locating pin (instead of simple bolts) to ensure the coaxiality of the stator and rotor (deviation ≤0.05mm) and avoid friction noise or uneven wear during braking.

[0043] Display 2 has an internal PLC module, integrating a PLC control module, a touch screen, and I / O interfaces, forming a closed loop of "input signal → calculation and processing → output control → feedback correction". The PLC module is the main control unit, and the display is the human-machine interaction and data display unit.

[0044] The following details the connection between the display of the built-in PLC module and the force sensor, electromagnetic brake, and motor: The force sensor (torque type) is connected to the PLC's analog input module (AI interface) via a shielded twisted-pair cable. One end of the cable is grounded (on the PLC side) to reduce electromagnetic interference. The force sensor outputs a 4-20mA standard analog signal, and a 100nF capacitor can be connected in parallel on the signal line to suppress high-frequency noise. The force sensor collects the resistance torque as the steering wheel 431 rotates in real time, converting the physical quantity into a current signal and transmitting it to the PLC. The PLC uses an A / D converter to interpret this signal as a digital quantity for resistance closed-loop control.

[0045] The PLC's digital output module (DO interface) connects to the electromagnetic brake coil via an intermediate relay. A DC 24V coil (contact capacity ≥ 5A) is selected for the relay to avoid directly driving high-power loads from the PLC output. The PLC outputs a switching signal (DC 24V high / low level) to control the relay's activation / deactivation, thereby controlling the energization of the brake coil. When resistance needs to be applied, the PLC outputs a high level → the relay activates → the brake coil is energized → the stator generates a magnetic field → the rotor is attracted (rotating with the power shaft) → braking resistance is generated. The resistance can be gradually increased from low to high according to the patient's actual recovery. To protect the circuit, a freewheeling diode (connected in reverse parallel to the coil) is connected in series at the relay output to absorb the back electromotive force during power-off, preventing damage to the PLC module.

[0046] The PLC indirectly controls motor 36 via a servo driver: the PLC's pulse output interface (PUL) and direction interface (DIR) connect to the driver to transmit position control signals; the PLC's analog output module (AO interface) connects to the driver to transmit speed control signals (0-10V corresponding to 0-rated speed); the PLC's digital output interface (DO) connects to the driver's enable terminal (ENA) to control the start and stop of motor 36. Simultaneously, the motor encoder connects to the PLC's high-speed counting module via differential signal lines to provide position feedback. Control signals can be: pulse signals (frequency 0-10kHz, corresponding to the number of motor rotation steps), direction signals (high / low level switching for forward / reverse rotation), and analog voltage signals (speed setting); feedback signals can be: encoder A / B phase pulses (resolution ≥1000 lines), transmitting motor position in real time. When the position of training component 4 needs to be adjusted, the PLC calculates the number of pulses based on the target position (such as the distance to the patient) and drives motor 36 to rotate in both directions via the PUL / DIR signal; the encoder provides real-time feedback on the actual position, and the PLC compares it with the target value. If the deviation exceeds 0.5mm, the pulse output is corrected to achieve precise positioning (in conjunction with the mechanical hard limit of the worktable to prevent overtravel).

[0047] Furthermore, to facilitate patient self-operation, a remote control is provided, employing a wireless remote control (such as 433MHz RF or Bluetooth protocol), including two self-reset buttons (forward / backward) to avoid wiring limitations; simultaneously, a signal receiving module (which needs to be fixed inside workbench 1) is provided, outputting passive contact signals (dry contacts), i.e., connected when the button is pressed and disconnected when released. The "forward" signal terminal (NO1) and "backward" signal terminal (NO2) of the receiving module are connected to the new interface (such as DI5, DI6) of the PLC digital input module via wires, and the common terminal (COM) is connected to the 24V negative terminal (0V) of the PLC input circuit. The receiving module requires a separate power supply (usually DC12V or DC24V, depending on the model), or it can be powered from the PLC's 24V power supply (24V / 2A), with a 100Ω current-limiting resistor in series for protection.

[0048] To avoid conflicts between the remote control and other control methods (such as panel buttons), priority logic needs to be set in the PLC program: the remote control signal and the original position control button should be "OR" logic (either one being valid is sufficient for control); and the remote control signal and the limit switch should be "AND" logic (when the limit switch is triggered, the remote control signal is invalidated and the motor stops).

[0049] When the "Forward" button on the remote control is pressed, the NO1 contact of the receiver module closes, and the PLC's DI5 input goes high (24V); when the "Backward" button is pressed, the NO2 contact of the receiver module closes, and the PLC's DI6 input goes high. Upon detecting the DI5 signal, the PLC outputs a "Motor Forward" command (pulse + direction signal control driver); upon detecting the DI6 signal, it outputs a "Motor Reverse" command.

[0050] When the button is released, the input signal disappears, the PLC stops outputting pulses, and the motor stops (the driver is enabled and held, or the motor brake is triggered).

[0051] Two mounting shafts 432 are symmetrically fixed on the peripheral wall of the trainer 43 body at the end away from the steering wheel 431. The axis of the mounting shafts 432 is perpendicular to the axis of the trainer 43 body. The two mounting shafts 432 rotate on two mounting boxes 42 respectively. The end of the mounting box 42 facing the display 2 is the open end, and the end away from the display 2 is the closed end.

[0052] After a hemiplegic patient holds the steering wheel 431, they can begin rehabilitation training by turning it. During this process, muscle and nerve exercises can be performed on the upper limbs and surrounding areas, such as shoulder flexion and extension, abduction and adduction, external and internal rotation; elbow flexion and extension; wrist flexion and dorsiflexion; and various hand joint movements. While the patient is turning the steering wheel 431, the PLC processor can also record instantaneous force parameters and other data. The measured motion data can serve as an evaluation indicator for upper limb functional rehabilitation.

[0053] Reference Figure 5 The angle adjustment assembly 5 includes a positioning gear 52 sleeved on the rotating shaft, two fixing plates 53 fixed to the two opposite inner walls of the mounting box 42 and spaced apart, a positioning rod 54 with a length greater than the distance between the two fixing plates 53 and movably passing through the two fixing plates 53, a fixing ring 55 sleeved and fixed to the positioning rod 54 and located between the two fixing plates 53, and a spring 56 sleeved on the positioning rod 54 in an extended state.

[0054] One of the two fixing plates 53 is positioned near the opening of the mounting box 42. The length direction of the positioning rod 54 is perpendicular to the surface of the fixing plate 53. One end of the positioning rod 54 is inserted into the tooth of the positioning gear 52, and the other end is located outside the opening of the mounting box 42. One end of the spring 56 abuts against the fixing ring 55, and the other end abuts against the fixing plate 53 near the opening of the mounting box 42. The end of the positioning rod 54 inserted into the positioning gear 52 has an inclined surface machined from the end of the positioning rod 54 towards the fixing plate 53. The inclined surface is inclined upwards, and the inclined surface and the side wall of the positioning rod 54 respectively fit against the two opposite tooth surfaces of the positioning gear 52.

[0055] Under the elastic force of the extended spring 56, the positioning rod 54 can always be inserted into the positioning gear 52, thereby positioning the trainer 43. When different hemiplegic patients need to adjust the angle of the trainer 43, the caregiver can lift the trainer 43 towards the display 2. After the trainer 43 body drives the mounting shaft 432 to rotate, the positioning gear 52 rotates synchronously. Under the action of the inclined surface of the positioning rod 54, the trainer 43 can continue to rotate towards the display 2, and the positioning rod 54 can continue to be inserted into the positioning gear 52 under the action of the spring 56.

[0056] Reference Figure 4 Two positioning rods 54 are connected to a pull rod 57 at the end that extends beyond the mounting box 42. When it is necessary to rotate the trainer 43 to the front of the table 14 to adjust the angle, the caregiver can pull the pull rod 57 with one hand to release the restriction of the two positioning rods 54 on the two positioning gears 52 at the same time, so as to facilitate the caregiver to perform adjustment operations.

[0057] Compared to traditional training devices, the upper limb assistive training device in this application is designed to fully meet the rehabilitation needs of patients with hemiplegia and upper limb dysfunction. Its advantages are mainly reflected in multiple dimensions such as training adaptability, functional targeting, safety, and patient compliance, as detailed below: 1. Adapt to different functional stages to achieve progressive training. The recovery of upper limb function in hemiplegic patients is a gradual process from "no active movement" to "partial active control" and then to "precise function." The forward and backward movement of the training components can flexibly match the abilities at different stages. In the stage of weak muscle strength: move the training components closer to the patient, shorten the distance that the upper limb needs to extend, and reduce the difficulty of the movement. The patient only needs to extend forward and rotate slightly (similar to "lightly turning the steering wheel") to complete the movement, avoiding compensation due to "not being able to reach" (such as shrugging the shoulders and leaning the trunk forward), protecting the joints (especially the shoulder joint) and building training confidence.

[0058] Muscle strength enhancement phase: Gradually move the training components further away to increase the range and load of upper limb extension and forward thrust, forcing patients to actively expand the range of motion of shoulder flexion and elbow extension, while strengthening the strength of muscle groups such as pectoralis major, deltoid, and triceps brachii, to achieve a step-by-step challenge "from near to far", which is in line with the core principle of "gradual progress" in rehabilitation training.

[0059] 2. Simulate daily life actions to enhance functional transferability. Everyday actions (such as turning the steering wheel while driving, pushing doors, pulling drawers, and reaching for objects at different distances) all involve complex movements of "upper limb rotation + pushing and pulling forward and backward," and the device's design perfectly replicates these scenarios: Moving forward and backward can simulate the distance change from "a water cup that is close enough" (the training component is close) to "a bookshelf that is far enough away" (the training component is far away). Combined with the rotation of the steering wheel (such as twisting a bottle cap or turning a door handle), the training actions are highly integrated with real-life scenarios.

[0060] This "function-oriented" training can help patients directly transfer the rehabilitation effects to their daily lives, avoiding the disconnect between "being able to do it during training but not being able to use it in life," and more effectively improving their self-care abilities.

[0061] 3. Reduce compensatory movements to protect joint and core stability. Patients with upper limb dysfunction often compensate for their lack of limb control by performing movements such as trunk tilting, shoulder shrugging, and head lowering during training. This can lead to secondary injuries such as scoliosis, shoulder pain, and shoulder subluxation in the long term. The training components, which can move forward and backward, allow patients to complete the movements in a neutral trunk posture by adjusting the distance. If the training components are too far away, the patient may be forced to "reach for the object" (compensation by leaning forward); if they are too close, the upper limbs may be curled up (unable to fully extend). By moving them back and forth to a position where "the patient can reach the object naturally when sitting upright," the force of the movement is concentrated in the upper limbs (shoulder, elbow, wrist), reducing trunk compensation and protecting the spine and shoulder joints.

[0062] At the same time, maintaining a neutral trunk posture requires activating the core muscle groups (rectus abdominis and back muscles), which indirectly strengthens core stability. Core stability is the foundation for precise upper limb movements (such as "being able to write steadily when sitting upright"), thus achieving synergistic effects of "upper limb training + core training".

[0063] 4. Enhance training flexibility and patient engagement Postural adaptability: Different patients have different sitting postures (such as wheelchair sitting posture and seat height). The forward and backward movement can flexibly adapt to individual body types (such as height and arm length), ensuring that each patient can train in a "comfortable exertion" position and avoid "movement deformation" caused by fixed training components.

[0064] Interactivity and fun: The steering wheel-like rotation motion itself has a "gamified" feature (such as simulating "driving"), while moving forward and backward can increase the "goal variation" of the movement (such as "reaching the target forward and then rotating, then moving back a little to adjust the position"), reducing the boredom of traditional rehabilitation training and increasing patients' willingness to participate actively (especially suitable for patients undergoing long-term rehabilitation).

[0065] 5. It combines active and assisted training, covering a wider range of rehabilitation scenarios. For patients with extremely weak muscles, the training components can be moved closer, and the therapist can assist in controlling the movement of the training components back and forth. The patient only needs to focus on "gripping the steering wheel" and "small-amplitude rotation" to complete "assisted active training".

[0066] The core advantage of the device is that through the flexibility of "moving back and forth", training can be more tailored to the individual abilities of patients, closer to their daily needs, and safer and more efficient. At the same time, it takes into account both "functional recovery" and "patient experience", which is a concrete manifestation of the "personalized and functional" concept in upper limb rehabilitation training.

[0067] This specific embodiment is merely an explanation of this application and is not intended to limit it. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they fall within the scope of the claims of this application.

Claims

1. An intelligent forward and backward adjustable upper limb assistive training device for hemiplegic patients, characterized in that: The device includes a tabletop (14), a display (2) mounted on the tabletop (14) and equipped with a PLC processor, a distance adjustment component (3) mounted under the tabletop (14), a training component (4) mounted on the tabletop (14) and fixed to the adjustment end of the distance adjustment component (3), and an angle adjustment component (5) mounted on the training component (4) for adjusting the angle of the training component (4). The distance adjustment component (3) can drive the training component (4) to move towards or away from the patient. The distance adjustment assembly (3) includes a slide rod (32) slidably disposed under the tabletop (14), a drive rod (33) slidably disposed on one end of the slide rod (32), a rotating rod (34) rotatably connected to the drive rod (33), a first eccentric wheel (35) rotatably connected to the rotating rod (34) and spaced apart from the drive rod (33), a motor (36) whose output shaft is fixedly connected to the first eccentric wheel (35), and a mounting plate (37) mounted on the lower surface of the tabletop (14) for mounting the motor (36). A fixing block (321) is fixedly disposed on the slide rod (32), and the fixing block (321) is slidably disposed on the tabletop (14) and fixedly connected to the mounting base (41).

2. The intelligent forward and backward adjustment upper limb assistive training device for hemiplegic patients according to claim 1, characterized in that: The mounting plate (37) is fixed with a fixed shaft (38) whose axis is parallel to the output shaft axis of the motor (36). A second eccentric wheel (381) is rotatably mounted on the fixed shaft (38). A rotating rod (34) is rotatably connected to the second eccentric wheel (381). A linkage (39) is connected between the first eccentric wheel (35) and the second eccentric wheel (381). The linkage (39) includes two rotating rings (391) sleeved on and rotatably connected to the first eccentric wheel (35) and the second eccentric wheel (381), and a linkage rod (392) with its two ends fixed to the two rotating rings (391).

3. The intelligent forward and backward adjustment upper limb assistive training device for hemiplegic patients according to claim 2, characterized in that: The distance adjustment component (3) includes a fixed groove (31) fixedly installed on the lower surface of the table (14). The end face of the groove (31) is trapezoidal and the width of the groove is smaller than the width of the bottom. The end face of the slide rod (32) is trapezoidal and adapted to the groove of the fixed groove (31). The slide rod (32) is slidably installed in the fixed groove (31).

4. The intelligent forward and backward adjustment upper limb assistive training device for hemiplegic patients according to claim 3, characterized in that: The slide bar (32) is spaced apart from the lower surface of the table (14).

5. The intelligent forward and backward adjustment upper limb assistive training device for hemiplegic patients according to claim 1, characterized in that: The training component (4) includes a mounting base (41) fixed to the adjustment end of the distance adjustment component (3), two mounting boxes (42) fixedly arranged on the upper part of the mounting base (41) and spaced apart, and a trainer (43) rotatably disposed between the two mounting boxes (42) at one end. A steering wheel (431) is rotatably mounted on the end of the trainer (43) away from the mounting box (42). A force sensor for measuring the rotation resistance of the steering wheel (431) is disposed between the trainer (43) and the steering wheel (431). The force sensor is electrically connected to the PLC processor, and the force parameters are displayed on the display (2).

6. The intelligent forward and backward adjustment upper limb assistive training device for hemiplegic patients according to claim 5, characterized in that: Two fixed shafts (38) are fixedly installed on the opposite circumferential surfaces of the trainer (43), and the two fixed shafts (38) are respectively rotatably installed on two mounting boxes (42); The angle adjustment assembly (5) includes a positioning gear (52) fixedly mounted on a fixed shaft (38), two fixed plates (53) fixed at intervals inside the mounting box (42), a positioning rod (54) movably passing through the two fixed plates (53), a fixing ring (55) mounted on the positioning rod (54) and located between the two fixed plates (53), and a spring (56) mounted on the positioning rod (54) and located between the two fixed plates (53). One end of the spring (56) abuts against the fixing ring (55), and the other end of the spring (56) abuts against the inner wall of the fixed plate (53) near the open end of the mounting box (42). One end of the positioning rod (54) is inserted into the positioning gear (52), and the other end of the positioning rod (54) is located outside the open end.

7. The intelligent forward and backward adjustment upper limb assistive training device for hemiplegic patients according to claim 6, characterized in that: The end of the positioning rod (54) that is inserted into the positioning gear (52) is machined with an inclined surface, which is set upwards from the end of the positioning rod (54) towards the side wall of the positioning rod (54).

8. The intelligent forward and backward adjustment upper limb assistive training device for hemiplegic patients according to claim 6, characterized in that: Two positioning rods (54) are fixed to a tie rod (57) at one end outside the opening.

9. The intelligent forward and backward adjustment upper limb assistive training device for hemiplegic patients according to claim 1, characterized in that: An arc-shaped baffle (6) is fixedly connected to the bottom of the tabletop (14), and the arc-shaped opening of the baffle (6) faces the distance adjustment component (3).

10. The intelligent forward and backward adjustment upper limb assistive training device for hemiplegic patients according to claim 8, characterized in that: A vertical connecting column (13) is fixed to the lower surface of the tabletop (14), and a horizontally set base plate (11) is fixed to the lower end of the connecting column (13). Multiple rotating wheels (12) are evenly installed on the base plate (11).

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