1035 results about "Upper limb" patented technology

The invention discloses a scene interactive limb active and passive rehabilitation training system based on a virtual three-dimensional game in the field of rehabilitation medical treatment. The scene interactive limb active and passive rehabilitation training system comprises a virtual scene generation module, a multi-mode motion capture module, an active and passive cooperative control module, a real-time feedback and excitation module and a data statistics module. And the virtual scene generation module is used for constructing various three-dimensional game scenes, so that scene tasks are strongly associated with actions of upper limbs, lower limbs or upper and lower limbs, and scene difficulty is dynamically adjusted. Compared with the prior art, the interactive guidance of the immersive virtual three-dimensional game scene is adopted, the boring rehabilitation training is converted into interesting game experience, and the participation enthusiasm and compliance of the patient are greatly improved. Compared with traditional two-dimensional animation game training, the patient is more willing to actively participate in training, and the conflict emotion caused by boring training is reduced.

The invention relates to the field of upper limb joint rehabilitation training, in particular to an upper limb joint rehabilitation training method and system based on an exoskeleton mechanical arm, and the method comprises the steps: collecting sEMG signals of a target muscle group of a user in real time in a training process; calculating the root mean square of the amplitude of the sEMG signal in the current time window; if the root mean square is smaller than a muscle force insufficient threshold value, a training mode is switched to a full-assistance mode; if the root mean square is not smaller than the muscle force insufficient threshold value and smaller than the normal muscle force threshold value, the training mode is switched to a semi-assistance mode; if the root mean square is larger than or equal to the normal muscle force threshold value, the training mode is switched to an anti-resistance training mode. The rehabilitation training effect of the upper limb joints can be effectively improved.

An exercise apparatus supports plank and core-strength movements by engaging a user's upper limbs and supporting the user above a ground surface. A rigid frame carries at least one upper-limb support pad arranged to support a portion of the upper limb; a hand grip can be grasped while the limb rests on the pad. The pad and grip can be repositioned, re-oriented, or spaced to suit different body sizes, exercise variants, or load angles. A ground-engaging surface permits placement for use on indoor floors, mats, or outdoor terrain.

The invention belongs to the technical field of wearable exoskeletons, and particularly relates to a forearm power assisting device, a forearm power assisting method and an upper limb power assisting system. The forearm power assisting device comprises an angle transmission mechanism, an angle amplification mechanism, an elastic energy storage mechanism and a tension output mechanism; wherein the buckling angle of the front arm is transmitted through the angle transmission mechanism, and after the buckling angle is amplified through the angle amplification mechanism, the elastic energy storage mechanism is driven, so that the flexible traction cable outputs pulling force linked with the buckling angle of the front arm. The forearm power assisting device is a system based on the pure mechanical transmission and energy storage principle, forearm flexion and extension angle changes can be directly converted into self-adaptive tension linked with the forearm flexion and extension angle changes, and therefore forearm muscle fatigue in long-time fine operation can be effectively relieved without an external power source.

According to the technical scheme, the four-limb joint supporting structure comprises an upper supporting part, a lower supporting part and a connecting part, and the upper supporting part and the lower supporting part can be bent to be in an arc surface shape from the two sides and are used for being attached to the upper limb and the lower limb at the joints of a patient; the two ends of the connecting part are connected to the upper supporting part and the lower supporting part respectively and used for being attached to the joint position, and the width of the connecting part is smaller than that of the upper supporting part and that of the lower supporting part so that two grooves can be formed between the connecting part and the upper supporting part and between the connecting part and the lower supporting part. The utility model has the beneficial effects that the connecting part is formed between the upper supporting part and the lower supporting part through the groove, the connecting part is bent and attached to the joint, the generation of a break angle is avoided, the bending can be extremely simplified, no matter whether the material has enough ductility or not, the requirements can be met, the structure is simple, the complexity degree is low, the production process is simple, and the operability is high; the device is suitable for shoulder joints, elbow joints, ankles and the like, and the structural design has certain universality.

The embodiment of the invention discloses a lymphedema identification method and device applied to breast cancer postoperation. A specific embodiment of the method comprises the following steps: constructing an upper limb three-dimensional model according to an acquired upper limb image sequence; performing upper limb state recognition according to the upper limb image sequence and the upper limb three-dimensional model to generate upper limb state information; according to the upper limb state information, the collected chief complaint information, breast cancer operation treatment information corresponding to the to-be-recognized object and a pre-trained lymphedema recognition model, lymphedema recognition information is generated; and in response to the lymphedema identification information, representing that the to-be-identified object has lymphedema, and according to the lymphedema identification information, generating rehabilitation suggestion information corresponding to the to-be-identified object. By means of the implementation mode, the patient after the breast cancer operation can find out the lymphedema of the patient as soon as possible, and the patient can be prevented and treated as soon as possible when the lymphedema occurs.

The invention provides an elbow joint exoskeleton control system based on myoelectricity angle prediction and a use method thereof, the elbow joint exoskeleton control system comprises a dual-channel surface myoelectricity signal acquisition device and an advanced one-step prediction model OSA: the dual-channel surface myoelectricity signal acquisition device acquires myoelectricity signals and provides input data for the system; establishing an advanced one-step prediction model OSA based on a non-linear autoregressive model NARX with exogenous input, performing offline training, and determining a mapping relation between the electromyographic signals and the actions; and realizing online intention estimation and real-time control of the upper limb elbow joint exoskeleton system by using an advanced one-step prediction model OSA. By means of the technical scheme, the electromyographic signals can be detected in real time, the exoskeleton is driven to assist in completing elbow joint flexion and extension movement, neural function reconstruction and motor ability recovery are promoted, and the risk of muscle disuse atrophy is reduced.

The invention discloses an upper limb shoulder joint accurate evaluation and rehabilitation training system and method based on a remote sensor, and is applied to the technical field of rehabilitation medical engineering.The method comprises the steps that original multi-modal data is preprocessed, shoulder joint motion data and voice data are processed in combination with baseline data, and a multi-modal standardized data set is generated; multi-dimensional feature extraction is carried out on the multi-modal standardized data set to generate a feature set, and the feature set comprises time domain features, frequency domain features, nonlinear dynamic features and voice features; on the basis of the feature set, a comprehensive evaluation score of the shoulder joint function is calculated by using a linear and nonlinear combined comprehensive scoring model; inputting the feature set and the comprehensive evaluation score into a pre-trained LSTM time sequence prediction model, predicting a rehabilitation trend and abnormal fluctuation, and generating future score change and rehabilitation inflection point early warning information; and based on the comprehensive evaluation score, the prediction result and multi-modal feature fusion analysis, generating rehabilitation training feedback and adjustment information.

The invention relates to the technical field of medical rehabilitation, in particular to a post-stroke upper limb function recovery training system combined with a vr technology, which comprises a fixed base, and a motor is fixedly connected to the center of an inner cavity of the fixed base. The upper limb rehabilitation training device has the advantages that the angle adjusting and rotating functions are achieved, a personalized training plan can be made according to the specific conditions of a patient, and therefore upper limb rehabilitation training of the patient is more effectively promoted; through cooperative use of a fixed base, a motor, a fixed column, a supporting rod, a fixed sleeve, a rotating rod, an adjusting rod, an electric push rod, a lifting block, a seat and a sliding rod, the rotating and angle adjusting functions of the seat can be achieved, it is ensured that a patient can obtain the best comfort degree and experience feeling in the training process, the angle is flexibly adjusted through the seat, and the training efficiency is improved. A patient can experience a more real training scene in an immersive manner, and the brain is stimulated to generate strong neural feedback, so that the movement function recovery of the upper limbs is effectively promoted.

A hip joint adduction and abduction training mechanism (600) is characterized in that an arc-shaped rail (610) is clamped at the lower part of the tail end of a linear guide rail (110), the arc of the arc-shaped rail (610) and a track rotating by taking the tail end of a base as a circle and taking the length of the base as the radius are the same arc line, and meshing teeth (611) are arranged on the inner concave surface of the arc-shaped rail (610); the lower part of the tail end of the linear guide rail (110) is correspondingly connected with a gear which is meshed with the linear guide rail; the gear is provided with a rotatable core shaft (621), two adduction and abduction training pull ropes (630) are connected to the two sides of the core shaft respectively, or only one adduction and abduction training pull rope (630) is fixedly connected to the two sides of the core shaft in a penetrating mode and then extends to the two sides of the head end of the base along the linear guide rail to be detachably fixed so that the upper limbs of a trainee can be pulled. According to the utility model, a patient can carry out multi-degree-of-freedom, passive, power-assisted, active and other multi-mode integrated training as soon as possible when the patient is in a lying position, so that the adduction and abduction radian can reach 45 degrees, and the early rehabilitation of the patient is effectively promoted.

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 discloses an upper limb exoskeleton on-demand auxiliary intelligent control method based on multi-index optimization and multi-mode, and the method employs an inner and outer ring force position mixed control structure based on an admittance model, an outer ring combines the three indexes of a task tracking error, patient muscle force and a rehabilitation training task period, the exercise ability of a patient is evaluated on the basis of a multi-index energy function, dynamic switching among a passive mode, an auxiliary mode and an anti-resistance mode of the upper limb exoskeleton co-fusion system is achieved, online self-adaptive adjustment of the auxiliary force level and the rehabilitation training track is achieved on the basis of fuzzy logic, and the method can adapt to rehabilitation patients with different exercise abilities. And the inner ring carries out trajectory tracking control on the ideal tracking trajectory position of the upper limb exoskeleton system obtained by the admittance model through a model-barrier-free Lyapunov control method based on quasi-time delay estimation. A simulation result verifies that the method can effectively improve the active participation degree of the patient in the rehabilitation training process, and shows good on-demand auxiliary ability and application prospects.

The invention relates to the technical field of electrical equipment maintenance, and discloses an upper limb exoskeleton control method, system and equipment for assisting replacement of an insulator. The method comprises the following steps: acquiring image data of an insulator and a field environment, and acquiring motion vector information according to the image data based on a preset optical flow method; analyzing the motion vector information based on a deep learning algorithm to obtain motion state information of the insulator; based on a dynamic fusion algorithm, according to the motion state information of the insulator and the position information of the upper limb exoskeleton, obtaining adjustment motion parameters of the upper limb exoskeleton; and issuing a control instruction to the upper limb exoskeleton according to the adjusted motion parameters. Dynamic changes of the insulator and the surrounding environment are monitored through the optical flow method, the insulator in motion is accurately recognized and analyzed in combination with deep learning analysis, the motion trail of the upper limb exoskeleton can be adjusted in time, it is ensured that the upper limb exoskeleton stably and accurately tracks and operates the insulator, the physical burden of operators is relieved, and the working efficiency is improved. And the operation safety and efficiency are improved.

The invention discloses a compact mining whole-body power-assisted exoskeleton robot with an anti-explosion shell and a posture monitoring function, and relates to the technical field of operation robots, the compact mining whole-body power-assisted exoskeleton robot comprises a trunk wearing assembly, two driving upper limb assemblies, two driving lower limb assemblies, a flexible connecting frame and a posture detection assembly; the two upper limb driving assemblies are connected with the trunk wearing assembly, and shoulder supporting structures are installed at the positions, close to the trunk wearing assembly, of the two upper limb driving assemblies. The flexible connecting frame can be bent and deformed; the two driving lower limb assemblies are connected with the trunk wearing assembly through a flexible connecting frame; the upper limb driving assembly and the lower limb driving assembly can be quickly connected and matched; the driving upper limb assembly can also be quickly connected and matched with an external execution tool; the posture detection assembly is used for detecting motion postures of the upper limb driving assembly and the lower limb driving assembly. According to the exoskeleton robot, the stooping operation comfort can be improved, various kinds of work assistance can be achieved, and the adaptability is better.

The present invention discloses an active upper limb exoskeleton robot, belonging to the field of exoskeleton robot technology, comprising: a back exoskeleton, a left arm exoskeleton, and a right arm exoskeleton. The back exoskeleton is a flexible structure, the front surface of which contacts the human back, and can bend and deform along with the human spine when the human body bends. The left arm exoskeleton and the right arm exoskeleton are symmetrically arranged on either side of the back exoskeleton and are respectively rotatably mounted on the top of the back exoskeleton via shoulder joints. The shoulder joints have three degrees of freedom: flexion / extension, internal rotation / external rotation, and adduction / abduction, and the rotation axes of the three degrees of freedom are respectively consistent with the rotation axes of the corresponding degrees of freedom of the human shoulder joint. The robot realizes flexion / extension, internal rotation / external rotation, and adduction / abduction movements, and the robot's degrees of freedom of movement are consistent with the human joint's degrees of freedom. The elbow joint has one degree of freedom. The elastic lumbar vertebra can adapt to the bending and deformation of the human lumbar vertebra, increase the bending range, and improve wearer comfort.

The invention discloses an elbow joint rehabilitation training evaluation method and system, and the method comprises the following steps: S1, collecting multi-cycle motion data and surface myoelectricity data when a patient executes a specified rehabilitation motion in a standard state through an inertia measurement unit and a surface myoelectricity sensor which are disposed on the upper limb of the patient, based on this data, establishing a personal motion baseline template comprising a standard angle-time curve and a standard muscle activation level; s2, in the rehabilitation training process, motion data and surface myoelectricity data are collected in real time, and the following operations are executed: S21, a joint motion range and a motion smoothness index are extracted from the motion data; s22, muscle activation intensity and collaborative shrinkage are extracted from the surface myoelectricity data; according to the method, individuation of evaluation standards, diversification of monitoring dimensions and dynamic weight adjustment are achieved, the accuracy and safety of rehabilitation training can be effectively improved, and the method has important clinical application value.

The application provides a double-arm upper limb exoskeleton rehabilitation training device, a back component can slide on a base stand in a first direction, a scapula component can slide on the back component in a second direction and moves with the back component, the scapula component is used for following the shoulder movement of a patient, a large arm component is rotationally connected with the scapula component and is used for fixing the large arm of the patient, a small arm component is rotationally connected with the large arm component and is used for fixing the small arm of the patient, and a wrist component is rotationally connected with the small arm component and is used for being held by the patient. The scapula component of the double arm is connected with the back component and rotationally connected with the large arm component, can flexibly move following the shoulder joint of the patient, is not limited to abduction / adduction and flexion / extension, can open the arms according to the needs and carry out multi-angle rehabilitation movement in combination with the rotation of the shoulder joint, so that the shoulder joint is fully rehabilitated, the rehabilitation effect is effectively improved, and the application scene of the upper limb exoskeleton is promoted.

The claimed group of inventions relates to a field of anatomical engineering, and it relates to a mechanical finger and an actuator therefor, which may be used in imitators and prostheses of upper limbs. The mechanical finger is a structural element that performs a gripping function, consists of movable phalanxes, elements for modifying their position relative to each other, and a driving rope that is connected to a lead nut that is, in turn, intended to interact with an electromechanical actuator that transmits a force to the mechanical finger. According to the invention, the rope is fixed on the lead nut and divided into two portions which are arranged symmetrically relative to a sagittal plane of the proximal phalanx and laid on the guides. Therewith, cavities are provided in locations of the rope which are configured to receive loops of the rope, and a length of each of them equals to a travel length of the lead nut. The actuator is a power module that is aimed to drive and to control a movement of the mechanical finger. It consists of a motor reducer having a front shaft with a lead screw mounted thereon, the lead screw is configured to be coupled to the lead nut, and an encoder that is configured to enable a connection to the contact board of the artificial wrist, thereby powering the motor reducer and transmitting pulses. The actuator and the mechanical finger are individual modules of the artificial wrist which together form a single module.

The invention provides an upper limb assisting exoskeleton device which comprises a large mechanical arm, a small mechanical arm, a rotary connecting module and a lubricating module, the rotary connecting module comprises a fixing rod and a rotating block, the fixing rod is fixed to the end, close to the small mechanical arm, of the large mechanical arm, the fixing rod is sleeved with the rotating block, and the rotating block can rotate around the fixing rod; the small mechanical arm is connected with the rotating block; the lubricating module comprises an oil tank and a baffle, the oil tank sleeves the fixed rod, an oil storage space is defined by the oil tank and the outer wall of the fixed rod, the oil tank is connected with the rotating block and can rotate around the fixed rod along with the rotating block, the oil tank comprises a first side wall facing the rotating block, and the plane where the first side wall is located is perpendicular to the axial direction of the fixed rod; an oil outlet penetrating through the first side wall is formed in the first side wall of the oil tank; the baffle is located in the oil storage space and makes contact with the first side wall to be used for sealing the oil outlet, and the baffle can move relative to the oil tank in the rotating process of the oil tank so that the oil outlet can be opened.

The invention relates to the technical field of emergency rescue, in particular to a hydraulic power exoskeleton robot which comprises an upper limb skeleton, a lower limb skeleton and a backpack support with built-in hydraulic power, the bottom of the lower limb skeleton is rotatably connected with shoe covers, and the side face of the backpack support is fixedly connected with fast-inserting shoulder straps and fast-inserting waistbands. According to the invention, the quick-insertion waistband and the quick-insertion shoulder straps are adopted, and meanwhile, the shoe covers are adopted to fix the feet, so that the wearing steps are reduced, and the shoulder strap hasps and the waistband hasps are quickly pressed down by two hands when the shoes need to be separated, so that the shoes are convenient and quick to wear and also quick to separate; during emergency rescue, if a fault or a dangerous situation occurs, rapid separation can be achieved.

The invention discloses a wearable upper limb exoskeleton and a control method thereof. The wearable upper limb exoskeleton comprises a back support and two arm exoskeletons. Each arm exoskeleton comprises a plurality of translational connecting modules and a plurality of rotary connecting modules which are alternately connected, the back support is connected with one translational connecting module, each translational connecting module comprises a first sub-connecting part, a second sub-connecting part and a telescopic connecting rod joint, and the telescopic connecting rod joints are connected with the first sub-connecting parts and the second sub-connecting parts correspondingly; and the length of the translation connecting part is adjusted. According to the exoskeleton, the telescopic connecting rod joints are arranged in the multiple translation connecting modules and the multiple rotary connecting modules, the length of each translation connecting module can be adjusted, and the exoskeleton can adapt to the shoulder breadth and the large and small arm length of different users. The adjusted exoskeleton size can meet diversified body type requirements, the application range of the product is expanded, and the control method for automatically adjusting the exoskeleton model parameters improves the exoskeleton accurate control capacity.

The invention provides a brachial plexus and exoskeleton cooperative control method and system based on a brain-computer interface, and relates to the field of intelligent control. The method comprises the steps that electroencephalogram signals and upper limb electromyographic signals of a target object during motor imagery are collected; predicting the motion intention of the target object through a neural network based on the electroencephalogram signals and the upper limb electromyographic signals; based on the motion intention, determining a target brachial plexus branch according to a preset motion intention and brachial plexus mapping rule; generating a nerve stimulation control instruction and an exoskeleton cooperative control instruction based on the target brachial plexus branch and the motion intention; and according to the nerve stimulation control instruction, performing electrical stimulation on the target brachial plexus branch to drive the corresponding muscle to contract, and meanwhile, according to the exoskeleton cooperative control instruction, controlling the upper limb exoskeleton to apply assistance to the corresponding joint. The method and the device are used in the cooperative control process of the brachial plexus and the exoskeleton, and the technical problem of inaccurate control in the existing limb control process based on neural signals is solved.

The invention provides a modeling block robot which comprises a humanoid upper module, the humanoid upper module comprises an upper control system, a head mechanism, upper limb mechanisms, a waist mechanism, two upper arm mechanisms, forearm mechanisms and hand mechanisms, the head mechanism is arranged on the upper portion of the upper limb mechanism, the two upper arm mechanisms are arranged on the two sides of the upper limb mechanism, and the forearm mechanisms are arranged on the lower portion of the humanoid upper module. Forearm mechanisms are arranged at the lower ends of the upper arm mechanisms, the lower ends of the forearm mechanisms are connected with hand mechanisms, and a waist mechanism is arranged on the lower portions of the upper arm mechanisms; the upper arm mechanism can move in X, Y and Z directions relative to the upper limb mechanism; the small arm mechanism can move in the X-Z direction relative to the upper arm mechanism. The hand mechanism can move in the X-Z direction relative to the forearm mechanism; the upper part of the waist mechanism can axially rotate relative to the upper limb mechanism, and the middle or lower part of the waist mechanism can rotate back and forth; the waist mechanism is provided with a first connecting part connected with the lower module. The modular block robot is a modular robot-shaped upper module and can be combined with different devices to form a new robot.

The invention provides a robot training system and a robot control system. The robot training system comprises a sensor data acquisition module, an upper limb joint angle prediction module, a lower limb controller, an upper limb controller and a training module, the system collects robot joint angle, base posture, speed and foot contact force information through sensors; the upper limb motion prediction model predicts an upper limb joint angle at the next moment according to a historical angle and an operator instruction; the lower limb controller synthesizes the base information, the prediction angle, the lower limb instruction and the historical torque, and generates a lower limb joint torque control instruction for gait adjustment through a lower limb action prediction model; the upper limb controller outputs upper limb joint torque according to the instruction and the physical parameters; the training module trains the upper limb motion prediction model based on the prediction angle. The system can effectively counteract angular momentum and linear momentum changes caused by upper limb actions, and the overall balance of the robot is maintained.

The present application relates to a kind of shoulder joint trainers, belong to medical instrument technical field, including shoulder ladder and auxiliary arm, one end of auxiliary arm is slidably arranged on the side wall of shoulder ladder, the other end of auxiliary arm is detachably worn on the upper arm of patient's arm, patient's arm is straight and extends in front of shoulder ladder, the palm surface of patient is in contact with the front end surface of shoulder ladder, and moves up and down along the setting direction of shoulder ladder, auxiliary arm slides on the side wall of shoulder ladder following the swing of the upper arm of patient's arm, auxiliary arm has brake function, auxiliary arm can be locked or release its sliding fit relationship with shoulder ladder by brake function, by being provided with auxiliary arm, when the upper limb of patient occurs shoulder weakness condition during the activity training of shoulder joint using shoulder ladder, auxiliary arm will adopt brake function, lock in the position of current shoulder ladder, realize that auxiliary arm holds patient's shoulder joint unchanged.

The invention relates to the technical field of mechanical exoskeletons, in particular to a shoulder and back integrated upper limb exoskeleton which comprises a shoulder and back integrated supporting module composed of a Y-shaped carbon fiber back plate and two arc-shaped carbon fiber shoulder plates, and a hip joint module composed of a carbon fiber waist plate and two carbon fiber connecting rods. The carbon fiber back plate is connected with the carbon fiber waist plate, the upper end of the carbon fiber connecting rod is connected with the carbon fiber waist plate through a rotating shaft structure in the horizontal direction, and the lower end of the carbon fiber connecting rod is connected with a rotating joint connected with a lower limb exoskeleton. The robot is suitable for tasks such as backpack type load bearing and front lifting type carrying, weight can be better borne, pressure is transmitted to the ground, the robot has front-back and left-right bending freedom degrees, and the use requirement and the comfort requirement of human bowing and left-right swinging are met.

The utility model discloses an improved multifunctional fitness bed for gymnasiums, which relates to the technical field of fitness equipment and comprises a bed frame, two supporting slide bars which are symmetrical in position are fixed on the inner side surface of the bed frame, and two sliders are slidably connected to the surfaces of the supporting slide bars. A movable bed board is fixedly connected to the upper surfaces of the four sliding blocks, two pull ropes are fixedly arranged on the right side of the movable bed board, and pull rings are fixed to the ends of the pull ropes. The mixed training assembly is arranged on the surface of the fitness bed, the strength of the upper limbs and the lower limbs of a trainee can be exercised at the same time, the trainee can conveniently conduct strength training on the arms or the legs in different postures, training is more diversified, and by arranging the adjusting frame and the adjusting lead screw, the strength of the upper limbs and the strength of the lower limbs of the trainee can be adjusted. The horizontal position of the adjusting support can be adjusted through the adjusting lead screw, the fitness bed is suitable for being used by trainees with different heights and arm lengths, and the practicability of the fitness bed is improved.

The utility model provides a kind of pneumatic type limb rehabilitation exercise device for preventing upper limb venous thrombosis, it solves the insufficient stimulation of existing rehabilitation equipment to muscle blood vessels and other problems, it includes support frame body, and the extrusion component that is connected with air pump is installed on support frame body, support frame body is connected with suspension assembly, and linkage assembly is arranged between support frame body and extrusion component.The utility model has the advantages of stable structure, good rehabilitation effect etc.

The utility model relates to the technical field of medical auxiliary devices, in particular to an auxiliary movement device for upper limb nursing after a mammary gland operation. The base is horizontally placed on a table board and surrounds the front side of the body of a patient, the upper arm moving assemblies are movably arranged on the left side and the right side of the base respectively and used for placing upper arms on the two sides respectively, and the forearm moving assemblies are rotationally arranged at the front ends of the two upper arm moving assemblies respectively and used for placing forearms on the two sides respectively. The sliding angle adjusting assemblies are arranged on the left side and the right side of the base correspondingly and used for limiting the moving angle range of the upper arm moving assemblies, and the rotating angle adjusting assemblies are arranged at the joints of the upper arm moving assemblies and the front arm moving assemblies on the same sides correspondingly and used for limiting the rotating angle range of the front arm moving assemblies on the corresponding sides. The device solves the problem that a patient cannot perform rehabilitation training accurately according to the movement amplitude guided by a doctor.

The utility model discloses a rehabilitation training device. The rehabilitation training device comprises a base, a stand column and a plurality of sets of rotating discs. The lower end of the stand column is connected to the base, the rotating discs sequentially sleeve the stand column from bottom to top and rotate around the stand column, and object mounting positions are arranged on the peripheral sides of the rotating discs. The rotating disc comprises an adapter and a holding ring, the lower end of the adapter is provided with a sleeve rotationally connected with the upper end of the stand column in a sleeving mode, and the upper end of the adapter is provided with a connecting shaft rotationally connected and matched with the sleeve in a sleeving mode. A plurality of supports are arranged on the inner side of the holding ring in the circumferential direction, limiting grooves are formed in the ends, close to the center of the holding ring, of the supports, and L-shaped protruding blocks matched with the limiting grooves in a clamped mode are arranged on the outer side of the adapter seat in the circumferential direction. The number of the rotary tables is three, the sizes of the three rotary tables are sequentially decreased from bottom to top, the upper portion of the rotary table located on the uppermost side is connected with a decorating part, and the decorating part is an LED lamp in a five-pointed star shape. The rehabilitation training device not only can be used for basic training of upper limbs, but also can be used for cognitive training, and meets all-around rehabilitation requirements of old people.