176 results about "Upper limb exercises" patented technology

The invention discloses a brain-computer interface upper limb motion recovery training system, and relates to the technical field of upper limb motion recovery training, the brain-computer interface upper limb motion recovery training system comprises a multi-modal neural signal acquisition module, a combined regulation and control module and a rehabilitation exoskeleton module, the multi-modal neural signal acquisition module is connected with the combined regulation and control module through a wireless Bluetooth protocol, and the combined regulation and control module is connected with the rehabilitation exoskeleton module. The combined regulation and control module is connected with the rehabilitation exoskeleton module through a CAN bus, and the combined regulation and control module is used for synchronously processing fNIRS blood flow signals, tDCS nerve regulation and control parameters and EEG electrophysiological characteristics and generating a closed-loop feedback instruction. By installing the signal fusion unit and the intention analysis unit, time-space complementary fusion of EEG and fNIRS signals is realized, the problem of low precision of traditional single-mode intention recognition is solved, and the motion intention decoding accuracy is improved.

The invention discloses a multi-link collaborative evaluation and feedback system for upper limb rehabilitation training, and belongs to the technical field of medical rehabilitation, and the system comprises a data collection module which is used for obtaining the related data of the upper limb of a patient in the rehabilitation training process, and the related data comprises the motion posture, the muscle activity condition and the joint activity degree; the data processing module responds to the data acquisition module and is used for preprocessing the acquired related data, including filtering and denoising the related data, acquiring feature information in the preprocessed related data and sending the feature information to the data acquisition module; the feature information comprises movement tracks of joints, contraction intensity and time of muscles and coordination of upper limb movement. Multi-dimensional data such as action postures, muscle movement conditions and joint movement ranges in upper limb rehabilitation training are collected, preprocessing and feature extraction are carried out through the data processing module, the upper limb rehabilitation condition of a patient can be comprehensively and accurately evaluated, and a basis is provided for formulating a personalized rehabilitation scheme.

The invention relates to the technical field of wearable exoskeleton data acquisition and processing, and discloses a wearable exoskeleton data acquisition and processing method and system based on digital twinning, and the method comprises the steps: building a simulation mapping model of exoskeleton joints through employing the digital twinning technology according to upper limb motion data; according to the upper limb motion data, executing a kinematics modeling strategy, calculating an actual pose of the end effector by using a forward kinematics algorithm, and substituting a target pose into inverse kinematics for solving, specifically, obtaining a joint angle, executing a Jacobian matrix modeling strategy, and establishing a model between the actual pose and the joint angle; the influence of the variable quantity of the joint angle on the actual pose of the end effector is obtained; if the pose error is smaller than or equal to an error threshold value, acquiring a joint angle at the moment, and recording the joint angle as a target joint angle; if the pose error is greater than an error threshold value, executing a joint angle tuning strategy, adjusting the joint angle, and repeating the steps S2-S5; the simulation precision is improved, and the man-machine coordination is improved.

The invention relates to an assessment method and system for a stroke recovery stage, and belongs to the technical field of medical assessment, the method comprises the following steps: obtaining demographic information of a stroke patient, and obtaining motion video data of the stroke patient, the motion video data comprising upper limb motion data, lower limb motion data and / or hand motion data; key points are extracted from the motion video data of each type based on a key point recognition algorithm, corresponding motion posture data in the motion video data of each type are calculated based on the positions of the key points, and the motion posture data comprise angle data and displacement data; and determining preset motion attitude data based on a Brunnstrom six-stage theory and demographic information, comparing the motion attitude data with the preset motion attitude data, and obtaining a recovery stage of the stroke patient based on a comparison result. Real-time monitoring and intelligent evaluation of the rehabilitation process of the stroke patient are realized, and the evaluation accuracy and diagnosis efficiency are improved.

The invention provides an animal upper limb movement training device and an operation method thereof, and the device comprises a data collection module which is used for collecting behavior data of a target animal; the controller is used for generating a first control instruction according to the behavior data; the executing mechanism comprises a mechanical arm and a plurality of touch objects; the plurality of touch objects are located in a contactable range of the target animal; the mechanical arm is used for driving the target touch object to change the position and the moving track according to the first control instruction; and for each touch object, the touch object is used for sending feedback information to the controller under the condition of confirming that the target animal touches the target touch object so as to instruct the controller to allocate an award to the target animal. According to the device, the animal training task process can be adjusted in real time by collecting the macaque visual gazing information, the multi-joint point pose information and the task performance information, and the animal exercise training efficiency is improved.

The invention relates to the technical field of non-human primate experimental animal upper limb movement ability evaluation and analysis, in particular to a non-human primate experimental animal upper limb movement ability comprehensive evaluation, data acquisition and analysis method. The comprehensive evaluation comprises the steps that upper limb comprehensive exercise ability evaluation is carried out by adopting an upper limb comprehensive exercise ability evaluation scale on the basis of upper limb feeding operation; and the upper limb coarse movement and the finger fine movement can be quantitatively evaluated. The data acquisition and analysis method comprises the following steps: S1, acquiring comprehensive movement time of upper limbs; s2, coordinate values of all key points of the upper limbs on a two-dimensional plane are obtained; s3, acquiring a 3D motion space trajectory; s4, analyzing the movement speed of the upper limb marked key points; s5, the joint angle of the elbow joint and the movement range of the palm, the elbow and the shoulder are obtained; and S6, analyzing to obtain finger key point distance change data. According to the invention, comprehensive objective evaluation and analysis of upper limb coarse movement and finger fine movement of non-human primate experimental animals can be realized.

The invention relates to the technical field of power assisting equipment, in particular to an unmanned aerial vehicle operated upper limb power assisting exoskeleton which comprises an exoskeleton body, a main control device and a myoelectricity sensor. The exoskeleton body comprises a shoulder rest assembly matched with the shoulder and the back and arm assemblies matched with the arms, the two sides of the shoulder rest assembly are each provided with one arm assembly, and the two arm assemblies are connected through a first flexible connecting piece. The arm assembly is provided with a myoelectricity sensor, and signals of the myoelectricity sensor and rocker thrust signals of an unmanned aerial vehicle remote controller are transmitted to the master control device. The first fixing part and the second fixing part of the arm assembly are connected through the driving piece, the main control device can control the driving piece to drive the two to rotate relatively, and the rotating winding mechanism of the shoulder support assembly winds or releases the first connecting piece. The exoskeleton can accurately recognize operation intentions, cooperate with upper limb movement to provide targeted assistance, effectively relieve shoulder and elbow muscle loads, reduce arm shaking, delay fatigue and improve the control stability and operation durability of the unmanned aerial vehicle, and is suitable for long-time operation scenes such as electric power inspection and surveying and mapping.

The invention discloses a rehabilitation training upper limb movement measurement method based on depth trajectory coding, which comprises the following steps: acquiring movement data of an upper limb by using a sensor, processing the data by using an inertial navigation algorithm to obtain corresponding speed, direction and displacement, and further obtaining movement information of the upper limb in a three-dimensional space; performing speed correction and accumulative error correction on the motion information by using an AZVU method; coding the corrected motion information by using a track coding mapping technology to generate a track coding graph; and constructing a TEM-VGG model based on the pre-trained convolutional layer, inputting the trajectory coding graph into the model to obtain probability values corresponding to different upper limb motion posture categories, and completing measurement of the upper limb motion. The method has certain advantages on multiple indexes in an upper limb rehabilitation posture recognition task, the confusion condition during classification can be effectively reduced, the recognition accuracy is remarkably improved, and the method has excellent performance in a complex rehabilitation action recognition task.

A real-time automated method to diagnose and / or detect stroke and engage the patient, care-takers, emergency medical system and stroke neurologists in the management of this condition includes the steps of continuously measuring natural limb activity, conveying the measurements to a cloud based real-time data processing system, identifying patient specific alert conditions, and determining solutions for acting upon needs of the patient. The system by which the method is implemented includes at least one body worn sensor continuously measuring natural limb activity and a patient worn data transmission device conveying the measurements to a cloud based real-time data processing system that identifies patient specific alert conditions and determines solutions for acting upon needs of the patient. In an example solution, motion data that reflects upper limb movements of a user is received from one or more sensors, specific changes in user movement are determined by estimating several quantitative signal features, and the results are input into a machine learning model to detect if the user's movements reflect a change due to the occurrence of a stroke. The quantitative features and the machine learning model determine the degree of motor deficit induced by a stroke as reflected by changes in time-series measures of signal magnitude, variability, complexity, and interrelation. The solution operates in two distinct modes, one by continuously monitoring subject activity and the second by evaluating short duration data segments when the subject is performing prescribed movement tasks. In both modes the solution detects if the user has suffered a stroke and estimates a motor deficit score to determine the severity of the stroke.

The utility model provides a mountaineering and climbing elliptical machine which comprises a ground attaching pipe, a bottom frame is fixedly connected to the middle of one face of the ground attaching pipe, a vertical pipe is installed on the side, close to the ground attaching pipe, of the upper surface of the bottom frame, a first-stage transmission wheel set is rotationally installed on the lower portion of one side face of the vertical pipe, and a second-stage transmission wheel set is connected with a magnetic control flywheel set through a wedge belt. The upper end of the vertical pipe is rotationally provided with two symmetrically-arranged cantilever pipe connecting sets, cross arm sets are arranged on the lower middle portions of the two sides of the vertical pipe, crank sets are rotationally installed on the faces, facing the vertical pipe, of the cross arm sets, pedals are installed at one ends of the cross arm sets, and pedal connecting sets are rotationally connected to the ends, away from the pedals, of the cross arm sets. The upper end of the vertical pipe is provided with a ground attaching pipe, the two ends of the ground attaching pipe are fixedly connected with rear bent pipes, the upper end of the vertical pipe is provided with two front bent pipes which are symmetrically arranged, and up-down driving pieces are installed between the front bent pipes and the rear bent pipes which are located on the same side of the vertical pipe.

The invention discloses an upper limb rehabilitation training device, which relates to the technical field of medical instruments and comprises a workbench, a traction assembly and a support frame. The traction assembly comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a sliding block, the sliding block is movably arranged on the workbench, one end of the first connecting rod is fixedly connected with the sliding block, the other end of the first connecting rod is rotatably connected with the second connecting rod, and the fourth connecting rod is rotatably arranged on the workbench and rotatably connected with the third connecting rod. The second connecting rod is rotatably connected with the third connecting rod. The supporting frame is located at the joint of the second connecting rod and the third connecting rod and used for placing the affected limb of the patient. According to the upper limb rehabilitation training device, the supporting frame is dragged to move through the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod and the sliding block, diversification of movement tracks of the supporting frame can be achieved, upper limb movement of a human body can be simulated more accurately, the operation process is more stable, and safety and comfort of rehabilitation training are improved.

The invention discloses an upper limb robot rehabilitation training control method based on electromyographic signals, and relates to the technical field of rehabilitation medical treatment, and the method comprises the following steps: collecting electromyographic signals of a human body upper limb target muscle group in different action modes, and constructing an electromyographic signal feature library, screening an electromyographic signal matched with the rehabilitation training action from an electromyographic signal feature library and marking the electromyographic signal as a training trigger signal; extracting a signal effective value, a spectrum feature and an action correlation degree of the training trigger signals, judging whether feature enhancement processing needs to be performed on the at least two groups of training trigger signals according to the signal effective value and the spectrum feature, and marking the corresponding training trigger signals as control instruction generation signals; acquiring an upper limb movement track parameter corresponding to the control instruction generation signal; the method has the advantages that quantitative analysis of the electromyographic signals can reflect the neuromuscular function state of a patient in real time, objective data support is provided for training scheme adjustment, and training scientificity and repeatability are improved.

The present invention relates to the field of medical rehabilitation, and specifically discloses an upper limb cranial nerve rehabilitation training system and training method. The upper limb training control system includes: an information acquisition module that collects historical trainee upper limb motion trajectory information and upper limb training parameters based on a multidimensional sensor; a virtual reality and human-computer interaction module that displays a training virtual reality scene based on a trainee's head-mounted display, and controls a robot to drive the trainee's upper limb to perform motion based on the training virtual reality scene and controls the trainee's head-mounted speaker to feed back the robot training information; a trajectory tracking module that obtains the trainee's upper limb training feedback after human-computer interaction in real time, and tracks and follows the upper limb training movement trajectory in real time; a warning analysis module that analyzes the tracking results of the upper limb training movement trajectory and receives the trainee's upper limb training feedback and warnings; and a feedback module that adjusts the trainee's upper limb motion trajectory information based on the upper limb training feedback and updates a three-dimensional trajectory model.

The invention relates to an upper limb multi-joint training device, and belongs to the technical field of rehabilitation medical instruments. The device comprises a main motion platform, a driven execution terminal and a connecting mechanism, the main motion platform is a multi-degree-of-freedom industrial mechanical arm and is used for driving the upper limbs of a user to complete three-dimensional space compound motion of shoulder and elbow joints; the connecting mechanism is arranged between the tail end of the main motion platform and the driven execution terminal and is used for detachably mounting the driven execution terminal at the tail end of the main motion platform; the driven execution terminal comprises three rotating joints which are sequentially connected in series, and the three rotating joints respectively provide a rotating degree of freedom to correspondingly realize the flexion and extension movement of the wrist joint, the radial ulnar deviation movement and the pronation and supination movement of the forearm. According to the invention, large-range collaborative movement of shoulder and elbow joints and full-degree-of-freedom refined training of wrist joints can be realized at the same time, comprehensiveness of rehabilitation training is improved, and the device is suitable for clinical rehabilitation training of patients with upper limb movement dysfunction.

The application discloses a kind of upper limb movement evaluation method and upper limb movement evaluation system of stroke patient, former includes: the video when the two sides of stroke patient upper limb successively complete predetermined movement process is collected;The target that the two sides of upper limb complete predetermined movement process is, the movement track formed along the vertical midline of stroke patient is axisymmetric;Extract skeletal key point data in video;Skeletal key point data characterizes the position information of each skeletal key point of stroke patient upper limb at corresponding moment;Based on the feature difference of two sides of skeletal key point data in predetermined movement process, determine the NIHSS score of stroke patient, obtain upper limb movement evaluation result.The present application utilizes computer vision technology, can realize to upper limb movement objective, automatic detection, improve evaluation objectivity and standardization degree, can real-time detection and analysis, improve evaluation efficiency, can provide timely data support for doctor, help to formulate individualized rehabilitation plan and adjust treatment scheme.

The invention discloses a flexible shoulder rehabilitation exoskeleton based on a pneumatic folding driver, and the flexible shoulder rehabilitation exoskeleton comprises a trunk module, a shoulder module, a connecting assembly, a flexible folding pneumatic driving module, a multi-mode sensing module and a control terminal. By introducing the design of alternating internal folding and external folding, geometric dislocation between the driver and the joint axis is effectively compensated, and continuous high output torque is provided. The control system recognizes the motion intention of a user by collecting surface electromyogram signals and inertia measurement data through threshold judgment logic, and adjusts an electromagnetic proportional valve through a PID algorithm in combination with feedback of an air pressure sensor to achieve closed-loop accurate control over air pressure. The device has the advantages of light weight, high wearing comfort and excellent mechanical transparency, muscle load in rehabilitation training can be remarkably reduced, and the device is suitable for daily assistance and rehabilitation training of patients suffering from upper limb dyskinesia.

The present invention discloses a high-degree-of-freedom multi-directional exoskeleton assistive device, comprising: a housing, including a back backplate, a waist backplate, and a hip backplate that are sequentially hinged in the up-and-down direction; two shoulder extension units, symmetrically distributed on the back backplate and used for adaptively extending the human shoulders; two upper limb lifting units, respectively connected to the shoulder extension units in one-to-one correspondence and used for driving the movement of the upper limbs; a back assist unit, including two symmetrically distributed wire drive units, a second fixing seat, a fixing rod, a force measuring plate, and a tension and compression sensor; and two lower limb assist units, symmetrically distributed on the hip backplate and used for driving the lower limbs to walk. This device is more compact, lightweight, low-cost, has a better assistive effect, and is convenient to wear.

The present invention discloses a time-frequency-space muscle synergy analysis method based on wavelet and non-negative tensor decomposition, which belongs to the technical field of neurorehabilitation engineering and movement mechanism. The method first performs synchronous acquisition and preprocessing of multi-channel surface electromyographic signals during upper limb movement; then wavelet decomposition is performed on the preprocessed data, and for the time-frequency electromyographic signals after wavelet transformation, the multi-channel time-frequency signals of the same action are constructed into a wavelet signal data tensor; by presetting the number of decomposition layers, the three decomposed matrices and the core tensor are multiplied to obtain a reconstructed data tensor, and then the fitting value FIT is calculated; then the synergy and non-synergy relationship is judged; finally, the spectral components of the synergistic muscles are judged. From the perspective of movement generation and execution, the present invention explores the functional activation state of synergistic muscles in different frequency bands in the muscle synergy model, which helps to reveal the intrinsic pattern of nervous system function and can provide a physiological basis for the movement rehabilitation process of stroke patients.

A non-fixed shoulder brace is provided comprising: an affected shoulder support which is supported on an affected shoulder of a wearer; a waist support coupled to the wearer's waist; an affected arm mounting part in which the wearer's affected arm is inserted and which is supported by means of an affected shoulder strap member from the affected shoulder support; and an affected upper limb exercise assistance apparatus coupled to both ends of the waist support and disposed between the wearer's waist and the affected arm mounting part.

1. The name of the design product: music boxing target (WT-030). 2. The use of the design product: for upper limb exercise and boxing training. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The application relates to a shoulder rehabilitation auxiliary exoskeleton device which comprises a wearing assembly, an upper limb fixing assembly, an upper limb movement supporting assembly and a passive power output assembly; the upper limb fixing assembly comprises an upper arm fixing piece and a rocker arm; the upper limb movement supporting assembly comprises a connecting rod, a first mounting bracket and a first rotary disc; the passive power output assembly comprises a first shell, an elastic traction rope, a pull rope, a guide wheel and a second rotary disc; the connecting rod connects the wearing assembly and the first mounting bracket; the first rotary disc is rotationally connected to the first mounting bracket; the two ends of the rocker arm are respectively connected to the first rotary disc and the upper arm fixing piece; the guide wheel is arranged on the second rotary disc; the two ends of the elastic traction rope are fixedly connected, and the elastic traction rope passes through the guide wheel; one end of the pull rope is fixedly connected to the second rotary disc, and the other end of the pull rope is fixedly connected to the first rotary disc after passing out of the first shell. The elastic traction rope is adopted, metal parts are reduced, and adjustable auxiliary torque can be provided while reducing weight.

The invention relates to the technical field of postpartum care instruments, and discloses a gynecological postoperative rehabilitation training device which comprises a base, the upper surface of the base is movably connected with a bottom plate, and the bottom plate is provided with an upper limb exercise mechanism, a lower limb exercise mechanism and a control box. The upper limb exercise mechanism comprises a telescopic rod arranged on the upper surface of the bottom plate and a cross rod fixed to the end of the telescopic rod, the telescopic rod comprises an outer cylinder and an inner cylinder inserted into the outer cylinder, and a first spring is arranged in the inner cylinder. The device has the following advantages and effects that upper limb exercise and lower limb exercise are integrated, the coordination, flexibility and endurance of the body are comprehensively improved through an intelligent adjustment mechanism comprehensive exercise mode, postpartum women can exercise under safe and appropriate strength, the exercise effect is guaranteed, overfatigue is avoided, and the device is worthy of popularization and application. The traditional Chinese medicine composition has remarkable benefits in the aspects of promoting postpartum body recovery, preventing venous thrombosis, enhancing pelvic floor muscle stability and the like.

The invention relates to the technical field of training instruments, in particular to an intelligent heart rehabilitation training assisting device which comprises a supporting frame, a first supporting rod is fixedly connected to the top of the supporting frame, a second supporting rod is fixedly connected to the right side of the supporting frame, and a cushion is fixedly connected to the upper end of the second supporting rod. A lower limb exercise mechanism is arranged in the supporting frame, an upper limb exercise mechanism is arranged in the first supporting rod, and a linkage assembly is arranged between the lower limb exercise mechanism and the upper limb exercise mechanism. Through the arrangement of the linkage assembly, the exercise requirement is small in the initial rehabilitation stage of a patient, lantern rings at the positions of connecting ropes can be connected to clamping grooves of a handle and a pedal in a sleeving mode, combined training is achieved between the lower limb exercise mechanism and the upper limb exercise mechanism, physical output is reduced, and therefore the more effective recovery effect is achieved on rehabilitation training of the heart of the patient; by arranging the adjusting assembly, the resistance is increased, the exercise amount is increased, and the exercise intensity of the patient is adjusted.

The invention discloses a BCI method and system based on EOG autonomous rehabilitation, and the method comprises the steps: constructing a graphical user interface comprising button flickering visual clues and corresponding upper limb motion types, enabling all buttons to flicker circularly according to a set time interval, and enabling a user to select a target motion function through synchronous blinking and then stop flickering; the method comprises the following steps: acquiring an EOG signal when a user blinking through a wearable BCI device, and synchronously marking a motion type corresponding to button flickering to form motion intention information; a decision control unit is optimized based on the threshold parameter obtained in the calibration stage, EOG signal features are extracted by using the optimized decision control unit, and a blinking event corresponding to button blinking is detected; a target button function is recognized according to the blink detection result, and a control instruction corresponding to upper limb rehabilitation exercise is generated and sent to the lower computer; the lower computer receives the instruction, drives the motor to execute rehabilitation actions, and assists the user in completing upper limb joint and muscle function training.

The utility model discloses a multifunctional combined fitness stool, relates to the field of fitness equipment, and solves the problems that most of fitness stools in the prior art can only exercise a single body part and are limited in functionality, the multifunctional combined fitness stool comprises a fixing frame, an upper limb exercise structure is arranged on the upper side of the fixing frame, and an upper and lower limb exercise structure is arranged on the front side of the fixing frame; the upper limb exercise structure comprises a seat cushion and a back cushion, the seat cushion is fixedly installed on the upper side of the fixing frame, one end of the back cushion is hinged to the fixing frame, a supporting frame is fixedly installed on the back of the back cushion, the upper and lower limb exercise structure comprises a first vertical beam fixedly installed on the front side of the fixing frame, and a second vertical beam is hinged to the front side of the first vertical beam. Two first supporting cylinders used for supporting feet are fixedly installed at the bottom end of the second vertical beam, and a cross beam is fixedly installed on the front side of the top end of the first vertical beam. The fitness stool can realize multi-part training of upper and lower limbs and is higher in functionality, so that the practicability of the fitness stool is improved.

The utility model provides an upper limb auxiliary unit and an upper limb auxiliary device, and belongs to the technical field of medical auxiliary equipment. The first supporting plate is provided with a second rotating part, and the first supporting plate can be rotatably connected with the first rotating part of the fixing plate through the second rotating part; the power element is arranged between the side portion of the fixing plate and the side portion of the first supporting plate, the fixing plate is connected with the first supporting plate through the power element, and the power element can drive the first supporting plate to rotate relative to the fixing plate. The upper limb rehabilitation device has the advantages that the power element can drive the first supporting plate to rotate relative to the fixing plate so as to spontaneously drive the upper limbs of a patient to move, the upper limbs can be autonomously moved without help of other people, and upper limb rehabilitation is accelerated.

The invention discloses a single upper limb motion intention recognition method based on signal traceability and Riemannian geometric features, and relates to the technical field of electroencephalogram signal analysis. The method comprises the following steps: firstly, receiving electroencephalogram signals collected by a plurality of scalp electrodes when a tester does a plurality of different single-upper-limb motor imagery tasks, and then sequentially carrying out preprocessing, signal tracing processing, Riemannian geometric feature extraction processing and calibration modeling based on a support vector machine to obtain a single-upper-limb motor imagery classification model of each pair of tasks; then, based on electroencephalogram signals collected by a plurality of scalp electrodes when a target person performs a certain unknown single-upper-limb motor imagery task, a classification result of each single-upper-limb motor imagery is obtained by utilizing a classification model, and the number of times of each task classified to the unknown task is determined by adopting a voting method; and finally, taking a certain task corresponding to the highest number of times as a single upper limb motion intention recognition result, so that compared with other methods, the method can improve the average recognition accuracy by 5.77%.

1. Name of this design product: Music Boxing Target (HJ‑888). 2. Purpose of this design product: for upper limb exercise and boxing training. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture.

The utility model discloses an upper limb tractor convenient to adjust, which comprises a base, a loop bar is mounted at the top end of the base, a casing is mounted above the loop bar, pull rods are mounted on two sides of the casing, a pull ring is mounted at one end of each pull rod, seats are mounted on two sides of the outside of the loop bar, and the upper limb tractor is mounted on the casing. The lifting mechanism comprises a sleeve ring arranged on the outer surface of the sleeve rod, a rotating gear is rotationally connected to the interior of the sleeve rod, a limiting assembly is installed outside the sleeve rod, a rotating rod is fixedly connected to the top end of the rotating gear, and a movable block is in threaded connection with the outer surface of the rotating rod; and mounting rods are mounted at the two ends of the movable block. The problems that an existing traditional upper limb tractor is single in structure, when people with different heights and arm lengths conduct upper limb exercise, due to the fact that the arms or the heights are not enough, the upper limb tractor is very difficult to conduct exercise, and the hands are strained seriously are solved.

This invention discloses a novel multi-sensory upper limb motion measurement system, comprising a soft felt garment (10), a motion measurement subsystem (12), and a sensory measurement subsystem (13) that respectively acquire multi-modal signals of motion and perception and transmit them to a multi-modal signal processing module (14) for amplification and filtering; a wireless signal concentrator (15) collects data from the multi-modal signal processing module (14); a computer client (16) integrates the multi-modal signals to construct an upper limb motion perception state information system, including an upper limb motion calculation model (11) and real-time multi-sensory information; the upper limb motion calculation model (11) calculates the data signals to form a motion model with real-time position coordinate data of each joint. This invention provides simple, accurate, and comprehensive real-time support for upper limb motion monitoring, which can effectively improve the accuracy and comprehensiveness of upper limb motion data acquisition and analysis in fields such as virtual reality interaction.