TWI747766B - Mechanical upper limb hand training device - Google Patents

Abstract

The invention is an upper limb hand training device, which includes at least one longitudinal sliding structure and a horizontal sliding structure. The horizontal sliding structure is slidably arranged in the longitudinal sliding structure along the longitudinal direction. The horizontal sliding structure has two rollers, a transmission cable and two horizontal sliding blocks. The transmission cable is in the shape of a ring and loops around the two rollers. The two transverse sliders are respectively fixed with a transmission cable on both sides of the connecting line of the two rollers, so that the two transverse sliders move toward each other or move away from each other. The transverse slider is used to fix the upper limbs. In this way, this creation provides a unilateral and bilateral hand training equipment structure that does not require external power driving. One limb is used to drive the other limb for training, or one side can be used alone for unilateral hand training. Simple and cost-reduced, and any activity trajectory can be set with high degree of freedom.

Description

Mechanical upper limb hand training device

This creative department relates to a training device, especially a device for patients to perform unilateral and bilateral upper extremity hand function training.

Functional training is a necessary process for the injured or the patient to recover, and assistive equipment also plays an extremely important role in it. In the training process of an upper extremity hand training, the therapist needs to repeat the operation of the patient's hand in accordance with a specific movement or task to achieve the function of functional training, so an upper extremity hand training device has been developed.

The existing upper limb hand training device includes a base, a control grip and a training grip. The control grip and the training grip are arranged on the base and the positions are symmetrical for hand training on both sides. The aforementioned grips can move along a specific trajectory, and the trajectories of the two grips are symmetrical. There is a position sensing device and a motor in the base. The position sensing device is used to sense and control the position of the grip in the track, and drive the training grip through the motor, so that the training grip moves symmetrically with the control grip (that is, the speed and moving distance of the two grips correspond to each other).

When the patient uses the training device, one hand drives the movement of the grip, while the other hand to be rehabilitated is fixed to the training grip, and the motor drives the hand to be rehabilitated to move symmetrically to achieve rehabilitation.健 effect.

In addition, when the patient uses the training device, the rehabilitation hand can also be used to actively move along a specific trajectory to perform unilateral hand training.

However, the existing upper limb hand training device has the following disadvantages:

First, precise electronic devices (ie, position sensing devices and motor drive devices) are required to operate. Therefore, the structure of the training device is complicated, which results in high cost, difficult maintenance, and easy damage.

Second, when performing training, the upper limbs can only move along a specific trajectory, and cannot change the trajectory to train different postures. In addition, the range of motion of the upper limbs is also fixed, which cannot adjust the range of motion according to the patient's body shape, which causes inconvenience in use.

Third, when performing unilateral training, due to the lack of movement of the hand on the side to be rehabilitated, it is often necessary to use the normal side limbs to assist the movement of the hand to be rehabilitated, and compensatory movements will also occur. Therefore, the prior art upper limb hand training device really needs to be improved.

In view of the aforementioned shortcomings and deficiencies of the prior art, this creation provides a mechanical upper limb hand training device to simplify the structure, thereby reducing cost, easy to repair and not easy to damage. In addition, the hand can move on any trajectory on the plane, and the degree of freedom is relatively high. high.

In order to achieve the above creative purpose, the technical means used in this creation is to design a mechanical upper limb hand training device, which includes: a base with a horizontal and a vertical; at least one longitudinal sliding structure, which is arranged on the base , And has a longitudinal rail, which is provided on the base and extends along the longitudinal direction of the base; a longitudinal slider, which is slidably connected to the longitudinal rail; and a horizontal sliding structure, which is provided on the at least one longitudinal direction The sliding structure is provided with: a horizontal rail, which is arranged on the longitudinal sliding block of the at least one longitudinal sliding structure, and extends along the horizontal direction of the base; and two rollers, which are arranged on the horizontal rail and along the base The horizontal interval setting; A transmission cable, which is in the shape of a circle and surrounds the two rollers; two upper limb connection modules, which are respectively used to connect the user's bilateral upper limbs; each of the upper limb connection modules has a horizontal sliding block, which can be slid Ground connection to the horizontal rail, and the transmission cable is fixed; the positions where the two lateral sliding blocks of the two upper limb connection modules are fixed on the transmission cable are respectively located on opposite sides of the connecting line of the two rollers, thereby When the transmission cable moves around, the two lateral sliders of the two upper limb connection modules move toward or away from each other; a forearm support seat is provided on the lateral slider and is used to place the user Of the upper limbs.

When this book is used, the user’s hand on the side to be rehabilitated is fixed to the connection module on one side, or the hands of both upper limbs are fixed to the two upper limb connection modules respectively, and then the user can perform unilateral One move or one hand drives the other hand to move freely in the longitudinal and lateral directions of the base.

The advantages of this creation are as follows:

First, it provides a structure of a bilateral training device that does not require external power driving and only uses one limb to drive the other limb. It can carry out training such as upper limb bilateral training and mirror therapy. Specifically, this creation is a purely mechanical structure. The two upper limb connection modules can be moved simultaneously in the longitudinal direction and in the horizontal direction through the track, slider, roller and transmission cable. There is no need to install sophisticated electronic devices. The normal hand can also drive the hand to be rehabilitated to move symmetrically to achieve the rehabilitative effect, which makes the structure simple and reduces the cost.

Second, the movement trajectory is determined by a normal hand, so any movement trajectory can be set with a high degree of freedom. Specifically, the upper limb connection module can move arbitrarily in the longitudinal and lateral directions of the base at the same time, and is not restricted by the preset trajectory. Therefore, this creation can also perform longitudinal push-out and pull-back training separately according to the user's needs, or The lateral opening and closing movement training can also be performed separately, and even the user can only perform unilateral upper limb training, thereby providing a more complete rehabilitation function.

Third, the range of motion of the upper limbs on both sides is determined by the normal hands, so this creation is more suitable for users with different body sizes, and will not cause inconvenience in use because the preset range of motion is too large or too small.

Furthermore, in the mechanical upper limb hand training device, the forearm support seat of each upper limb connection module is elongated, and the two ends are respectively a fist end and an elbow end, and the fist end can be left and right. The horizontal slider is rotatably connected.

Furthermore, in the mechanical upper limb hand training device, the lateral sliding block of each upper limb connection module has a pivot protruding upward, and the fist end of the forearm support seat is rotatably sleeved around the pivot The ring wall of the pivot is formed with a support seat limit ring groove; each of the upper limb connection modules further includes: a support seat limiter, which penetrates the forearm support seat and passes through the support seat limit of the pivot Bit ring groove.

Furthermore, in the mechanical upper limb hand training device, the forearm support seat of each upper limb connection module has a grip protruding upward.

Furthermore, in the mechanical upper limb hand training device, the lateral sliding structure is provided with at least one lateral limiter corresponding to each of the lateral sliders; the at least one lateral limiter is provided on the lateral rail, and It can be fixed at plural positions of the transverse rail along the transverse direction, and can block the movement of the transverse slider along the transverse direction.

Furthermore, in the mechanical upper limb hand training device, the lateral sliding structure further has two lateral fixing components corresponding to the two upper limb connection modules, and each of the lateral fixing components is arranged on the lateral rail and corresponding Between the upper limb connection modules, and the lateral slider of the upper limb connection module can be fixed on the lateral rail.

Furthermore, in the mechanical upper limb hand training device, each of the lateral fixing components has a lateral resistance bolt, which can slidably penetrate the lateral rail along the lateral direction and be screwed together Corresponding to the transverse sliding block of the upper limb connection module; an elastic member, which is sleeved with the transverse resistance bolt, and opposite ends of the elastic member respectively abut against the head of the transverse resistance bolt and the transverse rail.

Furthermore, in the mechanical upper extremity hand training device, the at least one longitudinal sliding structure further has: at least one longitudinal limiter, which is provided on the longitudinal rail and can be fixed on the longitudinal rail along the Multiple positions in the longitudinal direction, and can block the movement of the longitudinal slider along the longitudinal direction.

Furthermore, in the mechanical upper extremity hand training device, the at least one longitudinal sliding structure further has a longitudinal fixing component, which is arranged between the longitudinal rail and the base, and enables the at least one longitudinal sliding The longitudinal sliding block of the structure is fixed to the base.

Further, in the mechanical upper limb hand training device, the base has at least one longitudinal resistance hole formed therethrough corresponding to the at least one longitudinal sliding structure, and the at least one longitudinal resistance hole extends along the longitudinal direction; the at least one longitudinal resistance hole extends along the longitudinal direction; The longitudinal fixing component of the longitudinal sliding structure has: a longitudinal resistance bolt, which can slidably penetrate the at least one longitudinal resistance hole along the longitudinal direction, and screw the longitudinal slider; an elastic member, which sleeves the longitudinal resistance Bolts, and opposite ends of the elastic member abut against the head of the longitudinal resistance bolt and the base respectively.

Furthermore, the mechanical upper limb hand training device, wherein: the transverse slider of each upper limb connection module has: two cable holes, each of the cable holes penetrates the transverse slider along the transverse direction; at least one fixed A hole is formed on the outer surface of the transverse slider and is connected to one of the cable holes; the transmission cable passes through the two cable holes; each of the upper limb connection modules further has at least one tightening bolt; the at least one tightening bolt is screwed together The at least one fixing hole tightly abuts the transmission cable located in the cable hole, so that the upper limb connection module fixes the transmission cable.

10: Pedestal

110: Longitudinal resistance hole

20: Longitudinal sliding structure

21: Longitudinal track

22: Longitudinal slider

23: Longitudinal limiter

24: Longitudinal fixing components

241: Longitudinal resistance bolt

242: Elastic

30: Lateral sliding structure

31: horizontal track

311: Lateral Resistance Board

312: Lateral resistance hole

32: Roller

33: Transmission cable

331: first connection segment

332: second connection segment

333: Turning Section

34: Upper limb connection module

341: Horizontal slider

3411: Sokong

3412: fixing hole

342: Forearm support

3421: fist end

3422: elbow end

343: Pivot

3431: Support seat limit ring groove

344: Support seat limiter

345: Handle

346: Tight Bolt

35: Horizontal limit piece

351: The first lateral limiter

352: second lateral limiter

36: Lateral fixing components

361: Lateral Resistance Bolt

362: Elastic

T: horizontal

L: Longitudinal

Figure 1 is the three-dimensional appearance of this creation.

Figure 2 is an exploded view of the components of this creation.

Figure 3 is an exploded view of some components of the lateral sliding structure of this creation.

Figure 4 is an exploded view of the detailed components of the lateral sliding structure of this creation.

Figures 5 and 6 are cross-sectional action diagrams of the lateral sliding structure of this creation.

Fig. 7 is a schematic cross-sectional view created at the fixing hole of the transverse slider, showing that the tightening bolt is tightly fixed against the transmission cable located in the cable hole.

Figures 8 and 9 are schematic diagrams of the top-view usage of this creation.

Please refer to FIG. 1 and FIG. 8, the mechanical upper limb hand training device of the present invention includes a base 10, two longitudinal sliding structures 20 and a lateral sliding structure 30.

The base 10 has a transverse direction T and a longitudinal direction L (as shown in FIG. 8). In this embodiment, the base 10 is a square aluminum extruded frame. A longitudinal resistance hole 110 (as shown in FIG. 1) is formed on both sides of the base 10, and the longitudinal resistance hole 110 extends along the longitudinal direction L.

Please refer to FIG. 2 and FIG. 8, the aforementioned two longitudinal sliding structures 20 are respectively provided on both sides of the base 10, and each longitudinal sliding structure 20 has a longitudinal rail 21 and a longitudinal slider 22; and in this embodiment In the example, it further has at least one longitudinal limiting member 23 and a longitudinal fixing component 24. In other preferred embodiments, the number of the longitudinal sliding structure 20 may also be only one.

The longitudinal rail 21 of each longitudinal sliding structure 20 is provided on the base 10 and extends along the longitudinal direction L of the base 10, and the longitudinal slider 22 is slidably connected to the longitudinal rail 21. At least one longitudinal limiting member 23 is provided on the longitudinal rail 21, and can be fixed at a plurality of positions of the longitudinal rail 21 along the longitudinal direction L, and can block the movement of the longitudinal slider 22 along the longitudinal direction L, thereby restricting the longitudinal slider 22 in the longitudinal L range of motion.

Specifically, each longitudinal sliding structure 20 has two longitudinal limiting members 23, and the two longitudinal limiting members 23 are respectively provided on opposite sides of the longitudinal slider 22 along the longitudinal direction L, so that the longitudinal slider 22 can only reach two The longitudinal stoppers 23 slide between each other, that is, the movement range of the longitudinal slider 22 in the longitudinal direction L is limited between the two longitudinal stoppers 23.

More specifically, the longitudinal rail 21 is cylindrical, and the longitudinal slider 22 is slidably sleeved on the longitudinal rail 21. Each longitudinal limiting member 23 is a standard tube bundle, which is sleeved with a longitudinal rail 21 and can be fixed at any position of the longitudinal rail 21, thereby changing the slidable distance and position of the longitudinal slider 22. The longitudinal limiter 23 is not limited to the tube bundle, only that the longitudinal limiter 23 can be fixed at a plurality of positions along the longitudinal direction L of the longitudinal rail 21 and can limit the range of movement of the longitudinal slider 22.

The longitudinal fixing component 24 of each longitudinal sliding structure 20 is arranged between the longitudinal rail 21 and the base 10, and the longitudinal sliding block 22 of the longitudinal sliding structure 20 can be fixed to the base 10. In this way, the longitudinal fixing assembly 24 enables the upper limb connection module 34 to move only in the transverse direction T. In other embodiments having a plurality of longitudinal sliding structures 20, as long as one of the longitudinal sliding structures 20 is provided with a longitudinal fixing component 24, the same effect can be achieved.

Specifically, each longitudinal fixing component 24 includes a longitudinal resistance bolt 241 and an elastic member 242. The longitudinal resistance bolt 241 slidably penetrates the longitudinal resistance hole 110 on the corresponding side of the base 10 and is screwed to the longitudinal sliding block 22. The elastic member 242 is sleeved with the longitudinal resistance bolt 241, and opposite ends of the elastic member 242 abut against the head of the longitudinal resistance bolt 241 and the base 10 respectively. In this way, the force of the elastic member 242 against the base 10 can be adjusted by tightening or loosening the longitudinal resistance bolt 241, thereby changing the resistance of the longitudinal slider 22 to sliding relative to the base 10.

Please refer to Figures 2, 3 and 8, the lateral sliding structure 30 has a lateral rail 31, two rollers 32, a transmission cable 33 and two upper limb connection modules 34 and; and in this embodiment, it further has A plurality of lateral limiting members 35 and two lateral fixing components 36.

The transverse rail 31 extends along the transverse direction T of the base 10, and two ends of the transverse rail 31 are respectively provided on the two longitudinal sliding blocks 22 of the two longitudinal sliding structures 20. The two rollers 32 are arranged on the transverse rail 31 and are arranged at intervals along the transverse direction T of the base 10. Specifically, the two rollers 32 are respectively provided at both ends of the transverse rail 31.

Please refer to Figures 4 to 6, the transmission cable 33 is a loop and surrounds the two rollers 32. The material of the transmission cable 33 is preferably steel wire, rope, belt or chain and other similar transmission parts. . Specifically, the transmission cable 33 has a first connecting section 331, a second connecting section 332 and two turning sections 333. The first connecting section 331 and the second connecting section 332 are respectively located on opposite sides of the connecting line of the two rollers 32. The two turning sections 333 are respectively located at opposite ends of the transmission cable 33. Each turning section 333 abuts the corresponding roller 32 and connects the first connecting section 331 and the second connecting section 332, so that the first connecting section 331 and the second connecting section 331 are connected to each other. The section 332 and the two turning sections 333 together form a loop-shaped transmission cable 33 (that is, the first connection section 331 and the second connection section 332 are part of the transmission cable 33). When the first connecting section 331 moves toward one of the rollers 32, the second connecting section 332 moves toward the other roller 32.

Please refer to FIG. 2, FIG. 3 and FIG. 7. The two upper limb connection modules 34 are respectively used to connect the user's bilateral upper limbs. Each upper limb connection module 34 has a lateral slider 341 and a forearm support seat 342, A support seat limiter 344 and a plurality of tightening bolts 346.

Please refer to FIG. 5 and FIG. 6, the lateral sliding block 341 of each upper limb connection module 34 is slidably connected to the lateral rail 31, and the transmission cable 33 is fixed; the two lateral sliding blocks 341 of the upper limb connection module 34 are fixed The positions on the transmission cable 33 are respectively located on opposite sides of the connection line of the two rollers 32, so that when the transmission cable 33 moves around, the two lateral sliders 341 of the two upper limb connection modules 34 move toward each other or move away from each other. Move each other.

Specifically, the first connecting section 331 and the second connecting section 332 of the transmission cable 33 are fixed to the two transverse sliding blocks 341 respectively. Thereby, when the user drives the upper limb connection module 34 to move with one of the upper limbs, the other lateral slider 341 will be pulled by the transmission cable 33 to drive the other upper limb to move in the opposite direction; for example, when the user controls When the left hand moves to the left, the upper limb connection module 34 connected to the right hand will drive the user's right hand to move to the right, so that the normal hand can drive the hand to be rehabilitated to move symmetrically in the transverse direction T.

Please refer to Figures 4 and 7, more specifically, each horizontal slider 341 has two cable holes 3411 and a plurality of fixing holes 3412. Each cable hole 3411 penetrates the horizontal slider 341 along the transverse direction T, and each fixing hole 3412 is formed On the outer surface of the transverse sliding block 341 and connected to one of the cable holes 3411. The first connecting section 331 and the second connecting section 332 of the transmission cable 33 respectively penetrate through the two cable holes 3411, and the tightening bolts 346 are screwed to the corresponding fixing holes 3412, and the corresponding cable holes 3411 are penetrated, and are tightly fixed at the cable holes 3411. The transmission cable 33 in the hole 3411 enables the upper limb connection module 34 to fix the first connection section 331 or the second connection section 332 of the transmission cable 33. In other preferred embodiments, each horizontal sliding block 341 may also have only one fixing hole 3412.

Please refer to FIG. 2 and FIG. 8, the forearm support seat 342 of each upper limb connection module 34 is provided on the lateral sliding block 341 and is used to place the upper limb of the user. Specifically, the forearm support base 342 is elongated, and the two ends are respectively a fist end 3421 and an elbow end 3422. The fist end 3421 is connected to the horizontal sliding block 341 so as to be rotatable left and right. The forearm support base 342 preferably has a plurality of fixing holes, so that the forearm of the user can be fixed on the forearm support base 342 with a belt and a hook and loop (devil felt). In this embodiment, each horizontal sliding block 341 has a pivot 343 protruding upward, and the fist end 3421 of the forearm support seat 342 is sleeved with the pivot 343 so as to be rotatable left and right.

Please refer to FIG. 2 and FIG. 7, the ring wall of each pivot 343 is formed with a supporting seat limiting ring groove 3431. The support stopper 344 penetrates the forearm support seat 342, and penetrates the support stop ring groove 3431 of the pivot shaft 343, thereby restricting the forearm support seat 342 from sliding along the axis of the pivot shaft 343, thereby preventing the forearm support seat 342 Separate from the pivot 343. In this embodiment, the fist end 3421 of the forearm support seat 342 of each upper limb connection module 34 protrudes upward with a grip 345 for the user to grasp and fix, but it is not limited to this, and the present creation may not have a grip. 345 and only use straps and hook-and-loop fasteners to surround and fix the user's forearm on the forearm support seat 342.

Please refer to FIGS. 3 to 5, the horizontal sliding structure 30 is provided with at least one horizontal limiting member corresponding to each horizontal sliding block 341, and the at least one horizontal limiting member is provided on the horizontal rail 31 and can be fixed. It is set at a plurality of positions of the transverse rail 31 along the transverse direction T, and can block the movement of the transverse slider 341 in the transverse direction T, thereby limiting the range of movement of the transverse slider 341 in the transverse direction T.

In this embodiment, the lateral sliding structure 30 is provided with two lateral limiting members 35 corresponding to each lateral sliding block 341, that is, the lateral limiting member 35 includes two first lateral limiting members 351 and two second lateral limiting members 351. Pieces 352. The two first lateral limiting members 351 are respectively disposed on opposite sides of one of the lateral sliding blocks 341 along the lateral direction T, and the two second lateral limiting members 352 are respectively arranged on opposite sides of the other lateral sliding block 341 along the lateral direction T. This restricts each horizontal sliding block 341 from only sliding between the two corresponding horizontal limiting members. The lateral limiter is slidably arranged on the lateral rail 31 and can be fixed at a plurality of positions of the lateral rail 31 along the lateral direction T, thereby changing the slidable distance and position of the lateral sliding block 341. Specifically, each lateral limiting member is a combination of a square nut and a star screw, and the square nut is slidably inserted in the aluminum extrusion groove.

Please refer to FIG. 1 and FIG. 7 together, the two lateral fixing components 36 respectively correspond to the two upper limb connection modules 34, and each lateral fixing component 36 is provided between the lateral rail 31 and the corresponding upper limb connection module 34, and allows The lateral sliding block 341 of the upper limb connection module 34 is fixed on the lateral rail 31. In this way, the lateral fixing assembly 36 allows the upper limb connection module 34 to move only in the longitudinal direction L.

Specifically, the horizontal rail 31 includes an aluminum extrusion, a linear rail, and a horizontal resistance plate 311. The linear rail and the horizontal resistance plate 311 are fixed to the horizontal rail 31, and the horizontal sliding block 341 is slidably connected to the linear rail. Two transverse resistance holes 312 are formed through the transverse resistance plate 311, and the two transverse resistance holes extend along the transverse direction T. Each lateral fixing assembly 36 has a lateral resistance bolt 361 and an elastic member 362. The lateral resistance bolt 361 slidably penetrates one of the lateral resistance holes 312 on the lateral resistance plate 311, and is screwed to the corresponding upper limb connection module 34 Horizontal slider 341. The elastic member 362 is sleeved with a lateral resistance bolt 361, and opposite ends of the elastic member 362 respectively abut against the head of the lateral resistance bolt 361 and the lateral resistance plate 311 of the lateral rail 31. In this way, the therapist can adjust the force of the elastic member 362 against the lateral rail 31 by tightening or loosening the lateral resistance bolt 361, thereby changing the sliding resistance of the upper limb connection module 34.

Please refer to Fig. 8 and Fig. 9 together. When this creation is used, the user’s upper limbs are fixedly placed on the two forearm support bases 342 respectively, which can also assist in grasping the grip 345. When pushing out and pulling back, the upper limbs on both sides move longitudinally L on the longitudinal sliding structure 20. During the opening and closing action, the upper limbs on both sides are linked by the transmission cable 33 of the lateral sliding structure 30 and the two upper limb connecting modules 34 to perform a lateral T opening and closing movement.

Other advantages of this creation are as follows:

First, by providing the longitudinal limiter 23 and the lateral limiter, the movement trajectory of the upper limb connection module 34 (that is, the shape of the movement path), and the movement range of the upper limb connection module 34 (that is, the start and end positions of the movement) ) Can be adjusted according to the user's body type, so that the creation can be applied to users of various body types.

Second, by arranging the longitudinal resistance bolt 241, the transverse resistance bolt 361 and the corresponding elastic parts, the present creation can apply different degrees of resistance to the movement of the user, and it can also directly limit the upper limb connection module 34 to only Move in vertical L or horizontal T to increase the rehabilitation function of this creation.

To sum up, the present invention is connected to each other through the rails, sliders, rollers, and transmission cables, so it does not require external power driving, and one limb can be used to drive the other limb to move. This makes the creative structure simple and reduces costs. . The user's activity trajectory is determined by a normal hand, so any activity trajectory can be set, with a high degree of freedom and better adaptability to users of various body sizes.

The above are only the preferred embodiments of this creation, and do not limit the creation in any form. Although this creation has been disclosed as above in preferred embodiments, it is not intended to limit this creation. Any technical field has Generally knowledgeable persons, without departing from the scope of this creative technical solution, can use the technical content disclosed above to make slight changes or modification into equivalent embodiments with equivalent changes, but any content that does not deviate from this creative technical solution shall be based on this Any simple modifications, equivalent changes and modifications made to the above embodiments by the technical essence of the creation still fall within the scope of the technical solution for creation.

10: Pedestal

110: Longitudinal resistance hole

20: Longitudinal sliding structure

21: Longitudinal track

23: Longitudinal limiter

24: Longitudinal fixing components

30: Lateral sliding structure

311: Lateral Resistance Board

312: Lateral resistance hole

34: Upper limb connection module

3422: elbow end

345: Handle

35: Horizontal limit piece

351: The first lateral limiter

352: second lateral limiter

36: Lateral fixing components

Claims (10)

A mechanical upper limb hand training device, comprising: A base with a horizontal and a vertical direction; At least one longitudinal sliding structure, which is provided on the base and has A longitudinal rail provided on the base and extending along the longitudinal direction of the base; A longitudinal slider, which is slidably connected to the longitudinal rail; A horizontal sliding structure is provided on the at least one longitudinal sliding structure and has: A horizontal rail provided on the longitudinal sliding block of the at least one longitudinal sliding structure and extending along the lateral direction of the base; Two rollers, which are arranged on the lateral rail and arranged along the lateral interval of the base; A transmission cable, which is in the shape of a ring and surrounds the two rollers; Two upper limb connection modules, which are respectively used to connect the user's bilateral upper limbs; each upper limb connection module has A transverse slider, which is slidably connected to the transverse rail and fixes the transmission cable; the positions where the two transverse sliders of the two upper limb connection modules are fixed on the transmission cable are respectively located at the connecting line of the two rollers So that when the transmission cable moves around, the two lateral sliders of the two upper limb connection modules move toward each other or move away from each other; A forearm support seat is arranged on the horizontal sliding block and used to place the upper limbs of the user. The mechanical upper limb hand training device according to claim 1, wherein the forearm support seat of each upper limb connection module is elongated, and the two ends are a fist end and an elbow end, and the fist end can be left and right The horizontal slider is rotatably connected. The mechanical upper limb hand training device according to claim 2, wherein The lateral sliding block of each upper limb connection module has a pivot protruding upward, and the fist end of the forearm support seat is sleeved around the pivot so that it can rotate left and right; the ring wall of the pivot is formed with a support seat limit ring groove; Each of the upper limb connection modules further includes: A support seat limiter penetrates the forearm support seat and passes through the support seat limit ring groove of the pivot. The mechanical upper limb hand training device according to any one of claims 1 to 3, wherein the forearm support seat of each upper limb connection module has a handle protruding upward. The mechanical upper limb hand training device according to any one of claims 1 to 3, wherein the lateral sliding structure is provided with at least one lateral limiting member corresponding to each lateral sliding block; the at least one lateral limiting member is provided at The transverse rail can be fixed at plural positions of the transverse rail along the transverse direction, and can block the movement of the transverse slider along the transverse direction. The mechanical upper limb hand training device according to any one of claims 1 to 3, wherein the lateral sliding structure further has Two lateral fixing components, which respectively correspond to the two upper limb connection modules, each of the lateral fixing components is arranged between the lateral rail and the corresponding upper limb connection module, and enables the lateral slider of the upper limb connection module Fixed on the horizontal rail. The mechanical upper limb hand training device according to claim 6, wherein each of the lateral fixing components has A lateral resistance bolt, which can slidably penetrate the lateral rail along the lateral direction and screw the corresponding lateral slider of the upper limb connection module; An elastic piece is sleeved with the lateral resistance bolt, and opposite ends of the elastic piece abut against the head of the lateral resistance bolt and the lateral rail respectively. The mechanical upper limb hand training device according to any one of claims 1 to 3, wherein the at least one longitudinal sliding structure further has: At least one longitudinal limiter is provided on the longitudinal rail, and can be fixed at a plurality of positions of the longitudinal rail along the longitudinal direction, and can block the movement of the longitudinal slider along the longitudinal direction. The mechanical upper limb hand training device according to any one of claims 1 to 3, wherein the at least one longitudinal sliding structure further has A longitudinal fixing component is arranged between the longitudinal rail and the base, and can fix the longitudinal sliding block of the at least one longitudinal sliding structure to the base. The mechanical upper limb hand training device according to any one of claims 1 to 3, wherein: The lateral slider of each upper limb connection module has: Two cable holes, each of the cable holes penetrates the transverse slider along the transverse direction; At least one fixing hole formed on the outer surface of the transverse slider and connected to one of the cable holes; The transmission cable runs through the two cable holes back and forth; Each of the upper limb connection modules further has at least one tightening bolt; the at least one tightening bolt is screwed into the at least one fixing hole and then pressed against the transmission cable located in the cable hole, so that the upper limb connection module fixes the transmission cable .

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