TWI549671B - Upper limb rehabilitation device and methods - Google Patents

Description

Upper limb rehabilitation device and using method thereof

The present invention relates to a rehabilitation device, and more particularly to an upper limb rehabilitation device and a method of using the same.

The general upper limb rehabilitation equipment mainly assists the rehabilitation person to perform correct movement on the upper limb of the injured arm, so that the injured part can recover and restore strength and movement as soon as possible.

Referring to FIG. 1, the upper body rehabilitation device of Taiwan Application No. 100129108 is shown, which comprises: a base 11, a driving unit 12, a swing arm 13, and a swing arm stroke setting unit 14. The driving unit 12 is assembled on the base 11. The swing arm 13 is coupled to the driving unit 12, and the swing arm 13 is driven by the driving unit 12 to perform a reciprocating motion to drive the upper limb of the rehabilitation person to reciprocate. In addition to driving the upper limb of the rehabilitation person, the function of the driving unit 12 can also give the swing arm 13 a resistance force, and let the rehabilitation person train the muscular endurance of the upper limb when performing the reciprocating motion of the upper limb. The swing arm stroke setting unit 14 is disposed on one side surface of the driving unit 12 and located between the swing arm 13 and the driving unit 12 to set the swing arm 13 to swing.

However, the patent can be performed with insufficient degree of freedom, and the front and rear (or left and right) surface movement and the forward or reverse surface rotation can be performed only on a single plane, and thus the form of rehabilitation is limited.

Referring to FIG. 2, another upper limb rehabilitation device is shown, which is designed in the form of a mechanical exoskeleton, with a plurality of linear displacement units 16 each equipped with a driver to achieve a high degree of freedom of rehabilitation function, and at the same time in each joint 17 is matched with a plurality of sensors 18 to sense the amplitude of the swing during rehabilitation of the rehabilitation person, Speed, number of times, etc. However, the configuration of too many drivers and sensors 18 will result in an overall production cost that is too high and reduces product competitiveness.

Therefore, how to issue an upper limb rehabilitation device that solves the above problem is the motivation for creating the invention.

The object of the present invention is to provide an upper limb rehabilitation device, which mainly reduces manufacturing costs and enhances product competitiveness.

Another object of the present invention is to provide an upper limb rehabilitation device which mainly increases the degree of freedom to be applied to various rehabilitation modes.

In order to achieve the foregoing objective, an upper limb rehabilitation device according to the present invention includes: a base; a shaft unit pivotally mounted on the base and having a first shaft portion and a second shaft portion a rotary drive disposed on the base and having a drive portion coupled to the first shaft portion; a brake unit having a brake outer tube disposed on the rotary shaft and a removably disposed outer brake outer tube a brake inner tube having a brake connection portion; a linear displacement unit having a linear base pivoted on the second shaft portion and a linear platform linearly displaceable on the linear base; one hand holding a module disposed on the linear platform; a first link having a first rod portion and a second rod portion pivoted at the brake connection portion; and a second link having a pivot The third rod portion of the second rod portion and a fourth rod portion pivoted to the linear base.

Preferably, the first shaft portion of the rotating shaft unit is a gear, and the driving portion of the rotating drive is a gear that meshes with the first shaft portion.

Preferably, the rotating shaft unit further has a rotating shaft extending portion between the first shaft portion and the second shaft portion, and the brake outer tube of the braking unit is fixed on the rotating shaft extending portion, and has a setting A longitudinal drive in the brake outer tube, a brake screw originally driven by the longitudinal drive, the brake inner tube is screwed to the brake screw.

Preferably, the linear displacement unit further comprises a linear actuator disposed on the linear base, a linear screw axially driven by the linear actuator, and a linear nut screwed to the linear screw linearly displaced, the linear The platform is fixed to the linear nut.

Preferably, the hand holding module comprises a holding seat fixed on the linear platform, a holding handle which can be assembled in the holding seat, and a sensing module.

Preferably, the rotating shaft unit further has a rotating shaft outer tube, a rotating shaft inner tube, and a rotating member, wherein the rotating shaft outer tube is pivoted on the base and includes the first shaft portion, and the rotating shaft inner tube system can Displaceably disposed in the outer tube of the rotating shaft, and including the second shaft portion, and having a rack portion; the rotating member is rotatably assembled on the outer tube of the rotating shaft, and has one outer tube at the rotating shaft An outer rotating head, and a rotating tooth portion connected to the rotating head and located within the outer tube of the rotating shaft and engaging the rack portion.

Preferably, the first shaft portion of the outer shaft of the rotating shaft is a gear, and the driving portion of the rotating drive is a gear that meshes with the first shaft portion.

Preferably, the shaft unit further has a shaft inner tube, a shaft outer tube, and a telescopic brake, wherein the shaft inner tube is pivotally mounted on the base and includes the first shaft portion and has an inner tube extension The outer shaft of the shaft is movably sleeved on the inner tube of the shaft, and includes the second shaft portion and has an outer tube extension portion; the telescopic brake is disposed at the inner tube extension portion and the outer tube extension portion And a telescopic brake outer tube fixed to the inner tube extension portion and a telescopic brake inner tube displaceably disposed in the telescopic brake outer tube and having a connecting portion of the outer tube extension portion.

Preferably, the first shaft portion of the inner tube of the rotating shaft is a gear, and the driving portion of the rotating drive is a gear that meshes with the first shaft portion.

In addition, the present invention provides a method for using an upper limb rehabilitation device, comprising: a setting step of setting a pivoting trajectory of the rotary drive unit, a trajectory of the brake inner tube relative to the brake outer tube, and the linear platform a trajectory that is displaced to the left and right along the linear base; a holding step of holding the hand grip module of the rehabilitation person's palm; and activating the step to activate the upper limb rehabilitation device to activate the upper limb rehabilitation device Perform the rehabilitation track set in the setting step.

With regard to the techniques, means, and other effects of the present invention in order to achieve the above objects, three preferred embodiments are described in detail with reference to the drawings.

"Knowledge"

11‧‧‧Base

12‧‧‧Drive unit

13‧‧‧ swing arm

14‧‧‧Swing arm stroke setting unit

16‧‧‧Linear displacement unit

17‧‧‧ joints

18‧‧‧ Sensor

"this invention"

20‧‧‧ Pedestal

21‧‧‧ short tube

22‧‧‧Long tube

30‧‧‧ shaft unit

31‧‧‧First shaft

32‧‧‧Second shaft

33‧‧‧ squat

34‧‧‧ shaft

35‧‧‧Rotary shaft extension

301‧‧‧Shaft outer tube

302‧‧‧Shaft inner tube

3021‧‧‧Racks

303‧‧‧Rotating parts

3031‧‧‧Rotating the head

3032‧‧‧Rotating teeth

306‧‧‧Shaft inner tube

3061‧‧‧Intubation extension

307‧‧‧Shaft outer tube

3071‧‧‧External tube extension

308‧‧‧ Telescopic brake

3081‧‧‧ Telescopic brake outer tube

3082‧‧‧ Telescopic brake inner tube

40‧‧‧Rotary drive

41‧‧‧ Drive Department

50‧‧‧ brake unit

51‧‧‧Brake outer tube

52‧‧‧Broke inner tube

521‧‧‧Brake connection

522‧‧‧Brake inner tube threaded sleeve

53‧‧‧Longitudinal drive

54‧‧‧Brake screw

60‧‧‧linear displacement unit

61‧‧‧Linear base

62‧‧‧Linear platform

63‧‧‧Linear drive

64‧‧‧linear screw

65‧‧‧Linear nuts

70‧‧‧Hand grip module

71‧‧‧ Holding the seat

72, 73‧‧‧ Holding the handlebar

74‧‧‧Sense Module

81‧‧‧first link

811‧‧‧ first pole

812‧‧‧Second pole

82‧‧‧Second link

821‧‧‧The third pole

822‧‧‧Fourth

91‧‧‧Hand palm

92‧‧‧ elbow pivot

93‧‧‧Hand fulcrum

94‧‧‧ shoulder fulcrum

101‧‧‧Setting steps

102‧‧‧ Holding steps

103‧‧‧Starting steps

Figure 1 is a diagram of one of the upper limb rehabilitation devices of Taiwan Application No. 100129108.

2 is a perspective view of a conventional upper limb rehabilitation device.

Figure 3 is a perspective view of a first embodiment of the present invention.

Figure 4 is a side view of a first embodiment of the present invention.

Figure 5 is a partial cross-sectional view of Figure 4 showing the state of the interior of the brake unit.

Figure 6 is a front elevational view of a first embodiment of the present invention.

Figure 7 is a cross-sectional view of line 6-7 of Figure 6.

FIG. 8 is a schematic diagram showing the operation of the first embodiment of the present invention, showing the state in which the rehabilitation person holds the hand grip module.

Fig. 9 is a schematic view showing the operation of the first embodiment of the present invention, showing a state in which the first degree of freedom is restored.

Fig. 10 is a schematic view showing the operation of the first embodiment of the present invention, showing a state in which the second degree of freedom is restored.

Fig. 11 is a schematic view showing the operation of the first embodiment of the present invention, showing a state in which the third degree of freedom is restored.

Figure 12 is a perspective view of the first embodiment of the present invention showing the state in which the grip grip is replaced.

Figure 13 is a front elevational view of a second embodiment of the present invention.

Figure 14 is a partial cross-sectional view of Figure 13.

Figure 15 is a front elevational view of a third embodiment of the present invention.

Figure 16 is a schematic view showing the actuation state of the third embodiment of the present invention.

Figure 17 is a diagram showing the steps of use of the present invention.

Referring to FIG. 3 to FIG. 7 , an upper limb rehabilitation device according to a first embodiment of the present invention is mainly composed of a base 20 , a shaft unit 30 , a rotary drive 40 , a brake unit 50 , and a linear displacement The unit 60 is composed of a hand holding module 70, a first connecting rod 81, and a second connecting rod 82. The base 20 is composed of two short tubes 21 arranged in parallel and one spanned thereon. The long tube 22 between the two short tubes 21 is composed of.

The shaft unit 30 is pivotally mounted on the base 20 and has a first shaft portion 31 and a second shaft portion 32. In the embodiment, the shaft unit 30 includes a pivot seat fixed to the long tube 22. And a first shaft portion 31 is disposed at a lower end of the rotating shaft 34 and located below the long tube 22 and is a gear, and the second shaft portion 32 is disposed at a lower end of the rotating shaft 34. The shaft unit 30 is further disposed at an upper end portion of the shaft 34. Further, the shaft unit 30 further has a shaft extending portion 35 disposed laterally between the first shaft portion 31 and the second shaft portion 32.

The rotary actuator 40 is disposed on the long tube 22 of the base 20 and has a driving portion 41 that is electrically connected to the first shaft portion 31. In the embodiment, the driving portion 41 is directly connected to the first shaft portion 31. In the meshing gear, a pulley (not shown) may be interposed between the driving portion 41 and the first shaft portion 31 to achieve a power connection.

The brake unit 50 has a brake outer tube 51 disposed on the shaft 34, and a brake inner tube 52 detachably disposed in the brake outer tube 51 and having a brake connection portion 521; in this embodiment, please Referring to FIG. 5, the brake outer tube 51 of the brake unit 50 is longitudinally fixed to the shaft extension 35, and further has a longitudinal driver 53 disposed in the brake outer tube 51, and a longitudinal actuator 53. The brake screw 54 is disposed, and the brake inner tube 52 has a brake inner tube nut portion 522 screwed on the brake screw 54. The longitudinal drive 53 is actuated to drive the brake screw 54 to rotate in place, thereby making the brake The inner tube 52 is longitudinally reciprocally displaced.

The linear displacement unit 60 has a linear base 61 pivoted on the second shaft portion 32, and a linear platform 62 that is linearly displaceable on the linear base 61. In this embodiment, please refer to FIG. The linear displacement unit 60 further includes a linear actuator 63 disposed on the linear base 61, a linear screw 64 originally driven by the linear actuator 63, and a linear nut 65 linearly displaceably screwed to the linear screw 64. The linear platform 62 is fixed on the linear nut 65. The linear actuator 63 can be driven to rotate the linear screw 64, so that the linear nut 65 drives the linear platform 62 along the axial direction of the linear screw 64. Reciprocating displacement.

The hand holding module 70 is disposed on the linear platform 62. In the embodiment, the hand holding module 70 includes a holding base 71 fixed to the linear platform 62, and an alternative group. The holding handle 72 of the holding base 71 and the second sensing module 74 (for example, a power sensor); in this embodiment, the sensing module 74 is provided for the rehabilitation person to hold. Hold the handle 72 inside.

The first link 81 has a first rod portion 811 and a second rod portion 812 pivotally connected to the brake connection portion 521 of the brake unit 50.

The second link 82 has a third rod portion 821 pivoted on the second rod portion 812 and a fourth rod portion 822 pivotally mounted on the linear base 61.

The above is the structure and configuration description of each main component of the first embodiment of the present invention. Therefore, in this embodiment, the three-degree-of-freedom upper limb rehabilitation can be performed, and the manner of actuation is as follows, but is not limited thereto.

First, the state in which the first degree of freedom is restored. Referring to FIG. 8 and FIG. 9, when the rehabilitation person holds the palm grip portion 91 by the palm grip portion 70 and controls the rotation of the rotary actuator 40, the rotary actuator 40 drives the spindle unit 30 in place. Rotating, thereby driving the brake unit 50, the linear displacement unit 60, and the hand grip module 70 disposed on the linear displacement unit 60 to lie at an angle with the shaft unit 30 as an axis, at this time, the rehabilitation person With the elbow fulcrum 92 as the axis, the hand fulcrum 93 is laterally moved toward (or away from) the shoulder fulcrum 94 a distance to achieve the lateral yaw of the upper limb.

Second, the state of the second degree of freedom rehabilitation. Referring to FIG. 8 and FIG. 10, when the rehabilitation person holds the palm portion 91 to hold the hand grip module 70 and controls the brake unit 50 to operate, the brake inner tube 52 of the brake unit 50 is opposite to the brake inner tube 52. The brake outer tube 51 is raised by a distance and simultaneously transmitted through the first link 81 and the second link 82, thereby driving the linear displacement unit 60 to be offset from the second shaft portion 32 of the shaft unit 30. At an angle, at this time, the rehabilitation person uses the elbow fulcrum 92 as the axis to drive the hand fulcrum 93 to be longitudinally tilted upward (or downward) by an angle to achieve the upper limb rejuvenation of the vertical yaw in situ.

The third and third degrees of freedom are restored. Referring to FIG. 8 and FIG. 11 , when the rehabilitation person holds the palm grip portion 91 by the palm grip portion 70 and controls the linear displacement unit 60 to actuate, the linear platform 62 of the linear displacement unit 60 drives the The hand grip module 70 performs a lateral linear displacement along the direction of the linear base 61. At this time, the rehabilitation person uses the shoulder fulcrum 94 as a fixed point, so that the hand fulcrum 93 and the elbow fulcrum 92 are laterally rearward ( Or forward) to shift a distance to achieve lateral reciprocal displacement of the upper limbs.

Accordingly, referring to FIG. 17, in the actual rehabilitation step, the upper limb rehabilitation device of the present invention can be achieved by the setting step 101, the holding step 102, and the starting step 103, wherein: In the setting step 101, the pivoting trajectory of the rotary shaft unit 30, the trajectory of the brake inner tube 52 displaced up and down with respect to the brake outer tube 51, and the trajectory of the linear platform 62 displaced along the linear base 61 are set.

In the holding step 102, the hand grip module 70 is held by the rehabilitation person palm portion 91.

In the starting step 103, the upper limb rehabilitation device is activated to enable the upper limb rehabilitation device to drive the rehabilitation person to perform the rehabilitation track set by the setting step, so as to perform a single degree of freedom rehabilitation track or a plurality of degrees of freedom complex track matching. use.

As can be seen from the above description, the present invention includes a base 20, a spindle unit 30, a rotary actuator 40, a brake unit 50, a linear displacement unit 60, a hand grip module 70, a first link 81, and a second link 82. The composition can achieve multiple degrees of freedom of rehabilitation operations, not only the use of fewer drivers, but also the degree of freedom of rehabilitation methods can be achieved, can indeed achieve lower production costs, enhance product competitiveness, and apply a variety of complex The purpose of the health mode.

In addition, the sensing module 74 provided by the hand holding module 70 can instantly detect the state of the muscles using the force during the rehabilitation of the rehabilitation person, and feedback the data to the back end database. For recording and rehabilitation analysis.

As shown in FIG. 12, in the process of rehabilitation, the grip handle 73 of the hand grip module 70 can be replaced according to the difference in the size of the grip of the rehabilitation person to meet the actual needs. .

Referring to FIG. 13 and FIG. 14 , an upper limb rehabilitation device according to a second embodiment of the present invention is also provided by a base 20 , a shaft unit 30 , a rotary drive 40 , a brake unit 50 , a linear displacement unit 60 , and a hand . The second gripping module 70, the first connecting rod 81, and the second connecting rod are formed. Since the configuration and the function are the same as those in the first embodiment, they are not described again. The difference in the second embodiment lies in: The shaft unit 30 further includes a shaft outer tube 301, a shaft inner tube 302, and a rotating member 303. The shaft outer tube 301 is pivotally mounted on the base 20 and includes the first shaft portion 31. The tube 302 is movably disposed in the outer shaft 301 of the shaft, and includes the second shaft portion 32 and has a rack portion 3021; the rotating member 303 is rotatably assembled on the shaft 301 of the shaft, and There is a rotating head 3031 outside the outer shaft 301 and a rotating tooth 3032 which is connected to the rotating head 3031 and which is located within the outer shaft 301 and engages with the rack portion 3021.

According to this, the rotating member 303 is rotated to enable the inner shaft 302 of the rotating shaft to rise or fall longitudinally relative to the outer tube 301 of the rotating shaft, and finally the height of the linear displacement unit 60 can be changed to conform to the height of the rehabilitation person. Or add a degree of freedom for individual use or use with other degrees of freedom.

Referring to FIG. 15 and FIG. 16 , an upper limb rehabilitation device according to a third embodiment of the present invention is also provided by a base 20 , a shaft unit 30 , a rotary drive 40 , a brake unit 50 , a linear displacement unit 60 , and a hand . The portion of the gripping module 70, the first connecting rod 81, and the second connecting rod are the same as the first embodiment, and therefore will not be described again. The difference in the third embodiment lies in: the rotating shaft The unit 30 further has a shaft inner tube 306, a shaft outer tube 307, and a telescopic brake 308. The shaft inner tube 306 is pivotally mounted on the base 20 and includes the first shaft portion 31 and has an inner tube. An extension portion 3061, the shaft outer tube 307 is movably sleeved on the shaft inner tube 306, and includes the second shaft portion 32, and has an outer tube extension portion 3071; the extension brake 308 is disposed on the inner tube extension The portion 3061 and the outer tube extending portion 3071 have a telescopic brake outer tube 3081 fixed to the inner tube extending portion 3061 and a displacementably disposed inside the telescopic brake outer tube 3081 and have a connection The outer tube extension portion 3071 is a telescopic brake inner tube 3082.

Accordingly, the telescopic actuator 38 is controlled such that the outer shaft 307 can be raised or lowered longitudinally relative to the inner shaft 306 of the shaft, and finally the height of the linear displacement unit 60 can be changed to conform to the height of the rehabilitation person. , or add a degree of freedom to use alone or in conjunction with other degrees of freedom.

In the above, the above embodiments and drawings are only the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, that is, the equivalent changes and modifications made by the scope of the present invention. It should be within the scope of the patent of the present invention.

20‧‧‧ Pedestal

21‧‧‧ short tube

22‧‧‧Long tube

30‧‧‧ shaft unit

31‧‧‧First shaft

32‧‧‧Second shaft

33‧‧‧ squat

34‧‧‧ shaft

35‧‧‧Rotary shaft extension

40‧‧‧Rotary drive

50‧‧‧ brake unit

51‧‧‧Brake outer tube

521‧‧‧Brake connection

60‧‧‧linear displacement unit

61‧‧‧Linear base

62‧‧‧Linear platform

70‧‧‧Hand grip module

71‧‧‧ Holding the seat

72‧‧‧ Holding the handlebar

74‧‧‧Sense Module

81‧‧‧first link

811‧‧‧ first pole

812‧‧‧Second pole

82‧‧‧Second link

821‧‧‧The third pole

Claims (10)

An upper limb rehabilitation device includes: a base; a shaft unit pivotally mounted on the base and having a first shaft portion and a second shaft portion; a rotary drive disposed on the base and having a power a driving unit connected to the first shaft portion; a braking unit having a brake outer tube disposed on the shaft unit and a brake inner tube displaceably disposed in the brake outer tube and having a brake connection portion; a displacement unit having a linear base pivoted on the second shaft portion and a linear platform linearly displaceably disposed on the linear base; a hand grip module disposed on the linear platform; a connecting rod having a first rod portion and a second rod portion pivoted on the brake connecting portion; and a second connecting rod having a third rod portion pivoted to the second rod portion and a pivoting portion In the fourth shank of the linear base. The upper limb rehabilitation device according to claim 1, wherein the first shaft portion of the spindle unit is a gear, and the driving portion of the rotary actuator is a gear that meshes with the first shaft portion. The upper limb rehabilitation device of claim 1, wherein the shaft unit further has a shaft extension portion between the first shaft portion and the second shaft portion, and the brake outer tube of the brake unit is fixed on the shaft And an extension portion, and further comprising a longitudinal drive disposed in the outer brake tube, a brake screw originally driven by the longitudinal drive, the brake inner tube being screwed on the brake screw. The upper limb rehabilitation device of claim 1, wherein the linear displacement unit further comprises a linear actuator disposed on the linear base, a linear screw axially driven by the linear actuator, and a linear displacement screw A linear nut of a linear screw that is secured to the linear nut. The upper limb rehabilitation device of claim 1, wherein the hand grip module comprises a grip seat fixed to the linear platform, and a grip handle that is replaceably assembled in the grip holder, And a sensing module. The upper limb rehabilitation device of claim 1, wherein the shaft unit further has a shaft outer tube, a shaft inner tube, and a rotating member, wherein the shaft outer tube is pivoted on the base and includes the first a shaft portion, the inner tube of the shaft is movably disposed in the outer tube of the shaft, and includes the second shaft portion and has a rack portion; the rotating member is rotatably assembled on the outer tube of the shaft, and There is a rotating head outside the outer tube of the rotating shaft, and a rotating tooth portion connecting the rotating head and located inside the outer tube of the rotating shaft and engaging with the rack portion. The upper limb rehabilitation device according to claim 6, wherein the first shaft portion of the outer shaft of the shaft is a gear, and the driving portion of the rotary actuator is a gear that meshes with the first shaft portion. The upper limb rehabilitation device of claim 1, wherein the shaft unit further has a shaft inner tube, a shaft outer tube, and a telescopic brake, wherein the shaft inner tube is pivotally mounted on the base and includes the first a shaft portion having an inner tube extending portion, the outer tube of the rotating shaft being slidably sleeved on the inner tube of the rotating shaft, and including the second shaft portion, and having an outer tube extending portion; the telescopic brake is disposed therein Between the tube extension portion and the outer tube extension portion, and having a telescopic brake outer tube fixed to the inner tube extension portion, and a displacementably disposed in the telescopic brake outer tube and having a connection extending from the outer tube The telescopic brake inner tube of the department. The upper limb rehabilitation device according to claim 8, wherein the first shaft portion of the inner shaft of the shaft is a gear, and the driving portion of the rotary actuator is a gear that meshes with the first shaft portion. A method for using the upper limb rehabilitation device of claim 1 includes: a setting step of setting a pivoting trajectory of the rotary drive unit, a trajectory of the brake inner tube to be displaced up and down with respect to the brake outer tube, and a trajectory of linear displacement of the linear platform along the linear base; and a holding step to rehabilitate The hand gripping module is held by the palm; the starting step is started, and the upper limb rehabilitation device is activated to enable the upper limb rehabilitation device to drive the rehabilitation person to perform the rehabilitation track set by the setting step.