19 results about "Elbow flexion" patented technology

The invention discloses a multi-signal fusion upper limb muscular tension increase detection method and device, and relates to the technical field of muscular tension increase detection. The method comprises a data acquisition process, a parameter fitting process, a model training process and a muscular tension increase detection process, passive elbow flexion and elbow extension are carried out at a set speed by driving a forearm with an elbow joint as an axis, mechanical data, kinematics data and myoelectricity data in the movement process are collected, and after the collected various data are preprocessed, the obtained data are subjected to model training and muscular tension increase detection. And training the muscular tension grade prediction model by taking a clinical evaluation result of a doctor on the muscular tension grade as a label, and predicting the muscular tension grade and the contribution degree of each feature to the prediction result through the trained muscular tension grade prediction model. According to the multi-signal fusion upper limb muscular tension increase detection method and device provided by the invention, accurate quantification of muscular tension levels is realized, and meanwhile, the reliability and interpretability of a detection result are enhanced.

To provide a motion analysis device that can be used for evaluating a motor function or motion disorder.SOLUTION: A motion analysis device (20) includes elbow flexure ratio calculation means (222) for calculating an elbow flexure ratio of an upper limb in elevation exercise which is expressed by an expression (1) or an expression (2) from respective three-dimensional coordinate data of the shoulder, elbow, and hand of a person to be evaluated when the person to be evaluated is in upper limb elevation exercise. In the expression (2), SH represents a vector from the shoulder to the hand, SE represents a vector from the shoulder to the elbow, and EH represents a vector from the elbow to the hand.SELECTED DRAWING: Figure 1

The invention belongs to the field of rehabilitation training devices, and particularly relates to a portable training device for upper limb rehabilitation of adults, which comprises a back hanger, a fixing seat for providing a fixed track is mounted on one side of the back hanger, and a rotating handle for stretching is mounted above the fixing seat. The fixing base and the rotating handle can exist in the same direction, so that the occupied space is reduced, the problem that an existing adult upper limb rehabilitation training device is not portable enough is solved, a user can conveniently carry the device when moving outdoors or in a long distance, and the training effect is kept; a user drives a rotating handle to move through two hands, an elastic belt is stretched through a moving handle, the function of exercising the bending function of the upper limbs and elbows of the user is achieved, a patient is helped to recover the elbows, and the elastic belt can be wound around the outer side of a connecting pipe by rotating connecting rods on the two sides of the connecting pipe in different directions; the function of exercising wrist twisting of the user is achieved, and the user is helped to recover the wrist.

The invention relates to the technical field of mechanical arm control methods, and discloses a muscle force evaluation and self-adaptive control method for a household remote control upper limb intelligent rehabilitation mechanical arm, which comprises the following steps: initializing a system, guiding the first elbow flexion by voice, and judging the anti-gravity capability according to an elbow joint flexion angle. Secondary elbow bending is carried out after different reverse resistances are applied, the resistance resistance is judged according to the elbow joint bending angle, a scale is converted into clinical muscle force classification, a main control board calculates self-adaptive traction force and realizes closed-loop control, meanwhile, whole-course data are uploaded to a cloud side, and remote terminal monitoring and parameter adjustment are supported; according to the invention, the evaluation logic conforms to the clinical standard, the detection precision is high, the system integration level is good, quantitative muscle force evaluation, individualized adaptive training and remote professional supervision can be realized, the system is suitable for household upper limb rehabilitation of stroke, nerve injury and postoperative patients, and the technical problems of inaccurate evaluation, fixed control and lack of remote management of existing equipment are effectively solved.

The utility model discloses an auxiliary elbow flexion device for arm rehabilitation relates to medical exercise equipment technical field, including base and back plate, back plate is fixedly connected to the upper surface of base, the interior of back plate is provided with mounting groove, the interior of mounting groove is provided with adjusting mechanism, and the adjusting mechanism is provided with the adjusting mechanism. And two T-shaped supporting rods are mounted on the front surface of the adjusting mechanism. Through cooperation of a driving mechanism, a placing plate, a grip and a first switch, a patient puts the elbow on the placing plate and then holds the grip, a motor is started through the first switch, under cooperation of a rotating shaft, a first gear and a second gear, a rack is driven to do elliptical motion, and a rotating rod is driven to do left-right reciprocating rotation through the meshing relation of the rack and a tooth column; and by means of the arrangement, the patient can be conveniently and continuously trained, and the patient can be more effectively helped to recover the strength of arm muscles.

The utility model provides an arm rehabilitation training device which comprises a fixing assembly used for being fixed to an upper arm; the elbow bending and stretching assembly is rotationally connected with the fixing assembly, and the elbow bending and stretching assembly is used for being fixed to the forearm; the arm rotating assembly is in sliding connection with the elbow flexion and extension assembly so as to adjust the total length of the arm rotating assembly and the elbow flexion and extension assembly along the forearm; and the displacement sensor is fixed on the elbow flexion and extension assembly and is used for detecting the relative displacement of the arm rotating assembly relative to the elbow flexion and extension assembly. According to the arm rehabilitation device, the length change can be determined in time.

The utility model provides a reduction maintaining brace in a child humerus supracondylar fracture operation, and belongs to the technical field of medical instruments. Comprising a damping positioning hinge, an upper arm connecting structure and a front arm connecting structure, the damping positioning hinge comprises a damping positioning rotating shaft, a first connecting arm and a second connecting arm, and the first connecting arm and the second connecting arm are connected to the two rotating ends of the damping positioning rotating shaft respectively. The upper arm connecting structure comprises an upper arm support and an upper arm fixing belt connected to the upper arm support, the upper arm support is fixedly installed on the first connecting arm, the front arm connecting structure comprises a front arm support and a front arm fixing belt connected to the front arm support, the front arm support is fixedly installed on the second connecting arm, and the front arm fixing belt is fixedly installed on the front arm support. And matched magic tapes are correspondingly arranged on the upper arm fixing band and the front arm fixing band. Adaptive positioning and supporting can be carried out according to the intraoperative requirements and the bending state of the elbow joint of a patient, it is guaranteed that the elbow joint of the patient is always in the extremely-bent position, and the stability of intraoperative and postoperative fracture reduction is improved.

The invention discloses a rehabilitation training device which effectively solves the problems that the difficulty is high when a patient autonomously completes knee bending straightening and elbow bending straightening actions, assistance of nursing personnel is needed, and the workload of the nursing personnel is increased. Comprising a bed body, a back plate is placed in a first containing groove, swing boxes are hinged to the front side and the rear side of the right end of the back plate respectively, sliding plates are slidably connected into the swing boxes, thigh plates are fixed to the right ends of the sliding plates, and shank plates are hinged to the right ends of the thigh plates; the front side and the rear side of the movable rod are respectively hinged with arm plates, the front side and the rear side of the bed body are respectively connected with transverse rods in a sliding mode, the left sides of the transverse rods are connected with sliding frames in a sliding mode, the sliding frames are hinged with connecting rods, and the upper ends of the connecting rods are hinged with the arm plates; the device is ingenious in structure and convenient to use, the situation that training is interrupted due to the fact that a patient fears pain or does not feel physical strength is avoided, effectiveness and continuity of rehabilitation training are remarkably improved, and nursing workload is greatly relieved.

The invention discloses a slim robot arm easy to thread, a threading method thereof and a robot. One end of a first joint module is connected with a mounting flange and a shoulder rotating assembly, a second joint module is arranged in the shoulder rotating assembly, and one end of a lifting arm assembly is arranged between the shoulder rotating assembly and the second joint module; a third joint module is arranged in the other end of the lifting arm assembly, the end is connected with an upper arm rotating assembly, a fourth joint module is arranged in the upper arm rotating assembly, the fourth joint module is connected with an elbow flexion and extension assembly internally provided with a fifth joint module and a forearm rotating assembly, and the forearm rotating assembly internally provided with a sixth joint module is connected with a wrist flexion and extension assembly; different transmission mechanisms are adopted, all joints of the shoulders, the elbows and the wrists of the arms are equivalent to human joints in size, an appearance part and a structural part are integrated, the diameter of the arms is equivalent to that of female arms, and the arms are attractive and thin. Different structural designs are adopted, so that the shoulder, elbow and wrist transverse joint is as convenient to thread as the upper arm and forearm rotating joint, the bending and twisting angles of the cable are reduced, and the service life of the cable is prolonged.

The utility model discloses a wrist joint angle measuring device which comprises a bottom frame placed on an object placing surface; the fixing frame and the bottom frame are connected and perpendicular to each other. The sliding seat group comprises a first sliding seat and a second sliding seat, the first sliding seat is movably arranged on the bottom frame, and the second sliding seat is movably arranged on the fixing frame; the second sliding seat is provided with a measuring scale; the elbow of a patient abuts against the first sliding base, the second sliding base is provided with a fixing part to fix the palm of the patient, the second sliding base is stressed to move along the fixing frame to drive the first sliding base to move, the wrist joint of the patient is bent, and a measured value is output through the measuring scale. The whole measurement process is completed under the driving of the first sliding seat and the second sliding seat, so that a patient can be more relaxed in the measurement process, the measurement process is simpler and faster, the workload of medical staff is reduced, and the measurement accuracy is improved through limitation of the bottom frame and the fixing frame.

The application discloses an automatic elbow extension and flexion teaching device based on bone joint and muscle simulation, and relates to the technical field of elbow extension and flexion teaching.The device comprises a skeleton simulation part, a muscle simulation part, a base, a support rod, a top plate, a fixing mechanism, a driving mechanism, an electronic universal watch and a processing module.The skeleton simulation part, the muscle simulation part, the fixing mechanism and the driving mechanism are all assembled on the support frame formed by the support rod and the top plate.In the application, the flexible support frame is integrally designed with the humerus simulation part and the ulna and radius simulation part, and the movable elbow joint is formed by the fish line penetrating through the through hole, so that the human elbow joint anatomical structure and the 0-150-degree physiological activity range are accurately restored.The muscle simulation part is filled according to the human muscle shape, and is accurately attached to the first magic tape and the second magic tape, so that the muscle and the skeleton are quickly assembled, and the user can directly observe the linkage relationship between the skeleton and the muscle.

The invention discloses an elbow reflex dynamic teaching model and method for demonstrating up-down motor neuron damage, and relates to the technical field of medical teaching equipment. In order to solve the defects that an existing demonstration model lacks a multi-state pathology comparison function and cannot realize rapid switching between a normal state and a pathology state, an arm model, a neck marrow model, a brain region model and a nerve conduction pathway model are fixed on a supporting skeleton; the receptor module simulates percussion stimulation and generates a trigger signal; the stepping motor is used for driving the arm model to execute an elbow bending action; the upper motor neuron regulation and control module indicates an inhibitory regulation and control effect of upper motor neuron on a neck marrow reflex arc through a visual signal; the control unit receives signals, executes control logic and coordinates actions of all the modules. The voice control module receives a preset voice instruction; the damage simulation module switches the working mode of the system based on the voice instruction; and the state display module displays the current working mode and running state of the system in real time. The device is used for elbow reflex teaching.

The present invention relates to a pneumatic upper limb rehabilitation exoskeleton based on trapezoidal energy storage airbags, comprising: a shoulder, elbow, and wrist joint actuator, a flexible exoskeleton suit, and a connection assembly. The shoulder, elbow, and wrist joint actuators comprise a shoulder joint actuator, an elbow joint actuator, and a wrist joint actuator; the shoulder joint actuators comprise a shoulder flexion actuator, a shoulder extension actuator, a shoulder abduction actuator, and a shoulder adduction actuator; the elbow joint actuators comprise an elbow flexion actuator and an elbow extension actuator; and the wrist joint actuators comprise a wrist flexion actuator and a wrist extension actuator; the shoulder, elbow, and wrist joint actuators are composed of several trapezoidal energy storage airbags; and the flexible exoskeleton suit is used to connect the shoulder, elbow, and wrist joint actuators to the human upper limb and fix their positions. Compared to the prior art, the trapezoidal energy storage airbags in the pneumatic actuators of the present invention enable more flexible upper limb movement, matching the human upper limb, and preventing discomfort or secondary injury to the patient.

A body wearable brace, e.g. for resisting involuntary motion, adapted for allowing a user wearing the brace on his arm to dynamically move his or her upper arm, forearm, wrist and hand, comprising: an upper arm piece; a hand piece; an elbow flexion-extension joint that is rotatable relative to the upper arm piece around a first axis of rotation; a forearm pronation-supination joint that is rotatable relative to the forearm pronation-supination joint and the elbow flexion-extension joint around a second axis of rotation; an extension element extendable in a longitudinal direction; a wrist flexion-extension joint that is rotatable around a third axis of rotation. A first portion of the wrist flexion-extension joint is directly or indirectly connected to the extension element, and a second portion of the wrist flexion-extension joint is directly or indirectly connected to the hand piece.

This invention provides a single-arm exoskeleton robot for rehabilitation, comprising an upper arm plate, a forearm plate, an elbow joint mechanism, and a wrist joint mechanism. The elbow joint mechanism includes a first drive assembly, a first transmission assembly, and an elbow joint assembly. The elbow joint assembly employs a dual-rocker mechanism, with two rockers arranged in a crisscross pattern. Each rocker's two ends are rotatably connected to the adjacent ends of the forearm plate and the upper arm plate, respectively. The first drive assembly drives the elbow joint assembly through the first transmission assembly, thereby rotating the forearm plate to achieve elbow flexion / extension. The crisscross arrangement of the two rockers in the dual-rocker mechanism results in an instantaneous center trajectory at their intersection point that approximates the instantaneous center trajectory of the human elbow joint. This makes the elbow joint movement trajectory of the exoskeleton similar to that of the human elbow joint, effectively reducing the deviation between the rotation centers of the human joint and the exoskeleton joint, and preventing the exoskeleton from compressing the human muscles.

The invention relates to a multifunctional upper limb artificial limb mechanism which comprises an artificial limb big arm mechanism, an elbow flexion and extension mechanism, an elbow internal rotation and external rotation mechanism and a dexterous hand which are sequentially connected in series, as well as a storage mechanism, a lighting mechanism and an alarm mechanism, and the elbow flexion and extension mechanism is driven by a first steering engine and a synchronous belt mechanism to realize flexion and extension movement; internal rotation and external rotation actions of elbows are achieved through a second steering engine and a rotary base, the dexterous hand controls movement of each finger in a rope transmission mode to achieve the grabbing action, and a control system obtains the movement intention of a patient by receiving electromyographic signals of the stump of the patient. All the steering engines are controlled to achieve corresponding movement of all joints of the artificial limb at the needed running speed, position and output torque, and the upper limb artificial limb mechanism is simple in structure, low in cost, high in functionality and capable of greatly meeting the requirements of patients.

The invention belongs to the field of limb rehabilitation devices, and designs an exoskeleton arm for upper limb rehabilitation to solve the problem of insufficient man-machine adaptability caused by alignment deviation of a human joint axis and a machine motor axis of an existing upper limb rehabilitation exoskeleton. Comprising a control system based on STM32, a movable supporting platform, a shoulder girdle passive mechanism, a three-degree-of-freedom spherical hinge mechanism and a single-degree-of-freedom elbow mechanism. The movable supporting platform is located at the bottom end and plays a role in height adjustment and supporting. The shoulder girdle driven machine adopts a parallelogram mechanism to realize the function of stretching and retracting the shoulders; the three-degree-of-freedom spherical hinge mechanism is connected to one end of the scapular girdle driven mechanism to realize buckling, stretching, internal rotation and external rotation of the upper arm; and the single-degree-of-freedom elbow mechanism is connected to the three-degree-of-freedom spherical hinge mechanism to realize elbow flexion and extension movement. The problem that the human-machine adaptability is insufficient due to the fact that the axis of the human body joint and the axis of the machine motor are not aligned is solved, and meanwhile the size adaptation capacity is improved so as to be suitable for more patients.

The utility model belongs to the field of rehabilitation exercise equipment, and particularly relates to medical rehabilitation exercise equipment which comprises stairs. A plurality of supporting rods are fixed to the side wall of the top of the stair. The multiple supporting rods are symmetrically arranged on the top of the stair. The middle of the side wall of the supporting rod is slidably connected with a telescopic assembly. The top of the telescopic assembly is fixedly connected with a handrail. The handrail is arranged above the stairs; a plurality of fixing rods are assembled in the middle of the side wall of the handrail; the middle of the side wall of the fixing rod is rotationally connected with a rotating ring. By arranging the handrails, the fixing rods, the rotating rings and the rotating wheels, leg muscles of a patient can be exercised, the heart and the lungs can work more efficiently, upper limb muscles can be exercised through actions such as elbow joint bending and stretching and forearm rotating, recovery of the upper limb movement function is promoted, and the body needs to be kept balanced all the time when the patient moves on the stairs; therefore, the arrangement is beneficial to improving the balance ability and coordination of the patient, and the risk that the patient falls down due to poor balance ability is reduced.

The application relates to the field of rehabilitation auxiliary training machines, in particular to an arm-wrist hybrid upper limb rehabilitation robot. A planar motion module is connected with an electric push rod of a turnover motion module through upper connecting ears at the bottom of a motion platform, one side of the bottom of the planar motion module is hinged with a rotating shaft, a fifth bearing and an eighth bearing matched with the turnover motion module through a bearing block, the electric push rod drives the planar motion module to swing around the rotating shaft to complete elbow flexion / extension; an exoskeleton wrist module is installed on an end effector of the planar motion module through a wrist joint base, a handle held by a palm is installed on an internal-external rotation component of the exoskeleton wrist module, the wrist joint is made to complete internal rotation / external rotation, palm flexion / back flexion, ulnar deviation / radial deviation through the exoskeleton wrist module, the end effector has 2 degrees of freedom, rehabilitation training is simultaneously conducted on the whole upper limb of a patient through cooperation with the exoskeleton wrist module, various rehabilitation actions are realized, and the rehabilitation needs of different patients are met.