TWI889512B - Upper limb rehabilitation and testing system - Google Patents

Abstract

This invention relates to a upper limb rehabilitation and testing system, which includes at least a body, a rotating mechanism, a clutch, a resistance adjuster, a power mechanism, a transmission mechanism and an electronic control mechanism. Said rotating mechanism is provided with a rotary damper, and a rotary rocker is provided above said rotary damper. Said rotary rocker is provided with a rotating arm and a handle. Said rotating mechanism is connected to said clutch, resistance adjuster and power mechanism through said transmission mechanism. Said electronic control mechanism is electrically connected to said body, rotating mechanism, clutch, resistance adjuster, power mechanism and transmission mechanism for signal transmission, signal processing, control, settings and information display. In this way, the user can perform upper limb rehabilitation and testing in active mode or passive mode, and can perform simultaneous linked operations of both hands through dual system connections or dual rotation mechanisms to improve the efficiency and safety of upper limb rehabilitation.

Description

Upper limb rehabilitation and testing system

The present invention is a rehabilitation, training and testing system that can perform active, passive and bimanual rehabilitation on the shoulder joint of the human upper limb.

When the human body's joints are damaged by aging, injury, or occupational injury, they will lose their flexibility. In more serious cases, the range of joint movement will be limited. In this case, in addition to drug treatment or surgical treatment, the only way for patients to recover through physical therapy is rehabilitation training.

For example, Taiwan's new patent publication No. M411959 "Shoulder and Arm Trainer" includes a positioning frame, a trainer body, a swing arm unit and a support frame unit. The positioning frame is placed on a plane. The trainer body is supported on the positioning frame and uses a damping structure to provide weight training. The trainer body includes a central axis. The swing arm unit is axially connected to the central axis of the trainer body and includes a handle. When the handle is rotated, the swing arm unit generates a rotational motion with the central axis as the axis. The support unit defines a distance with the handle of the swing arm unit. When the palm is grasped on the handle of the swing arm unit, the elbow can be supported by the support unit, and the hand can obtain stable rotational movement according to the rotational movement trajectory.

However, the trainer is only a general sports training device. For patients with aging or injury of the shoulder (such as frozen shoulder, habitual dislocation, shoulder ligament inflammation, etc.), its rehabilitation effect is not good, and it is not suitable for the elderly or patients with mobility problems. In addition, in addition to normal sports training, rehabilitation training equipment is more important to be able to fully record the training (rehabilitation) status, so as to provide the most accurate information to rehabilitation physicians. In addition, if the patient uses the training equipment incorrectly or inappropriately and does not adjust it in time, it may cause more serious secondary injuries.

To this end, the inventor team of this case has accumulated many years of experience in the research and development of technologies in engineering, measurement, and mechanical related fields, and has studied the problems and shortcomings of the aforementioned upper limb rehabilitation training equipment and invented this case.

The purpose of this invention is to provide an intelligent upper limb rehabilitation and detection system, which allows patients to switch between single-hand and double-hand rehabilitation exercise modes. For patients with limited upper arm movement ability, they can use the active mode to perform single-hand autonomous rehabilitation training, or switch to the passive mode, and the device can automatically drive the patient's arm to perform rehabilitation exercises.

The inventor of this case found that most patients who need upper limb rehabilitation have unilateral injuries, while the other hand can move normally. The purpose of rehabilitation is to restore the injured hand to the same or equivalent state as the healthy hand. If the healthy hand can be used to drive the injured hand for rehabilitation, it will be the most reassuring and safe for the patient, and there is no need to worry about the problem that standardized rehabilitation standards are not applicable to different people. Therefore, another purpose of the present invention is to provide a two-hand synchronous movement mechanism. This mode uses the normal upper limb to drive the injured upper limb to perform synchronous movement, so that the patient can drive the injured upper limb according to the movement method of the normal upper limb, and can instantly control the movement speed and achieve the best rehabilitation effect. It is safer, more reliable and more humane in operation, and can also obtain a more effective rehabilitation training effect than customized or standardized rehabilitation training methods. It is more acceptable to patients, allowing the injured upper limb to be driven by the normal upper limb to stimulate and affect its rehabilitation effect, thereby accelerating the efficiency of rehabilitation and the confidence of patients.

Furthermore, the key point of the present invention is that the upper limb rehabilitation and testing system is provided with an electric control mechanism, which can record and display the mechanical data of the training equipment such as torque, speed, power, working curve, time, etc. in real time. In addition, the upper limb rehabilitation and detection system of the present invention can also be equipped with a physiological sensing element on the handle, through which the user's heartbeat, heart rate, blood pressure, blood oxygen, body temperature and other comprehensive physiological data can be detected in real time, and the relevant data can be integrated and recorded, and can be output to the user's mobile phone APP or directly uploaded to the doctor's end for recording. In this way, the user does not need to record the rehabilitation training by himself (which is very helpful for the elderly), and the doctor can more accurately grasp the patient's rehabilitation status, adjust the medical behavior in time, and plan further rehabilitation training plans for the patient.

To achieve the above-mentioned purpose, the upper limb rehabilitation and detection system of the present invention at least includes a machine, a rotating mechanism, a clutch, a resistance adjuster, a power mechanism, a transmission mechanism and an electric control mechanism. The machine is provided with a table and a protruding portion; the rotating mechanism is provided with a rotating fixed damper, which is provided below the table, and a first connecting portion and a second connecting portion are provided at the upper and lower ends of the rotating fixed damper, respectively; a rotating rocker is provided above the rotating fixed damper, and the rotating rocker is provided with a rotating arm and a handle, the rotating arm is vertically pivoted on the first connecting portion of the rotating fixed damper, and the handle is vertically pivoted at the end of the rotating arm. The clutch, resistance adjuster and power mechanism are arranged in the protruding part of the machine. The upper end and the lower end of the clutch are respectively provided with a third connection part and a fourth connection part. The upper end of the resistance adjuster is provided with a fifth connection part, and the lower end of the power mechanism is provided with a sixth connection part. The third connection part of the clutch and the fifth connection part of the resistance adjuster are dynamically connected to each other. The transmission mechanism is dynamically connected to the second connection part of the rotating mechanism, the fourth connection part of the clutch and the sixth connection part of the power mechanism, so that the second connection part, the fourth connection part and the sixth connection part can be synchronously operated. The aforementioned electric control mechanism is electrically connected to the aforementioned machine, rotating mechanism, clutch, resistance adjuster, power mechanism and transmission mechanism to perform signal transmission, signal processing, control settings and information display; the aforementioned electric control mechanism is provided with a human-machine interface and at least one emergency switch.

The upper limb rehabilitation and detection system of the present invention may be provided with two sets of upper limb rehabilitation and detection systems, and the two sets of upper limb rehabilitation and detection systems are connected through the aforementioned electric control mechanism to perform synchronous operation of the two systems, thereby realizing synchronous linkage operation of both hands.

The upper limb rehabilitation and detection system of the present invention has two sets of the aforementioned rotating mechanisms, which are respectively placed on both sides of the front of the aforementioned machine. The aforementioned transmission mechanism is a power connection between the second connection parts of the aforementioned two sets of rotating mechanisms, the fourth connection part of the aforementioned clutch and the sixth connection part of the aforementioned power mechanism, so that the aforementioned two sets of second connection parts, fourth connection parts and sixth connection parts can be operated synchronously, so that the aforementioned upper limb rehabilitation and detection system can perform double-hand synchronous linkage operation.

The upper limb rehabilitation and detection system of the present invention, wherein the aforementioned rotating arm is a telescopic arm structure with adjustable length. The aforementioned rotating arm may be provided with a slide seat, a slide rod and a connecting seat, wherein the aforementioned slide seat is pivoted on the first connecting portion of the aforementioned rotary fixed damper, the aforementioned slide rod is provided on the aforementioned connecting seat, the aforementioned handle is vertically pivoted on the aforementioned connecting seat, the aforementioned slide rod is passed through the aforementioned slide seat, so as to adjust the relative position of the aforementioned slide rod and the slide seat, and a locking mechanism is provided on the aforementioned slide seat, so as to use the locking mechanism to lock and release the aforementioned slide rod to adjust the length of the aforementioned rotating arm.

1: Machine

11: Countertop

12: protrusion

13: Grip

14: Anti-slip element

2: Rotating mechanism

21: Rotary fixed damper

211: First connection part

212: Second connection part

22: Rotating joystick

221: Rotating arm

2211: Sliding seat

2212: Slider

2213: Connector

2214: Locking mechanism

2215:Universal pulley

222: Grip

223: Physiological sensing element

224: Arm support

3: Clutch

31: Third connection part

32: Fourth connection part

4: Resistance adjuster

41: Fifth connection part

5: Power mechanism

51: Sixth connection part

6: Transmission mechanism

61: Gear

62: Belt

7:Electronic control mechanism

71: Human-machine interface

72: Emergency switch

73:Signal connector

Figure 1 is a three-dimensional diagram of the first embodiment of the present invention.

Figure 2 is a three-dimensional image of Figure 1 from another angle.

Figure 3 is a top view of Figure 1.

Figure 4 is the A-A cross-sectional view of Figure 3.

Figure 5 is a B-B cross-sectional view of Figure 3.

Figure 6 is another embodiment of the rotary joystick of the present invention.

Figure 7 is a schematic diagram of the universal pulley of the present invention.

Figure 8 is a three-dimensional diagram of the rotating mechanism, clutch, resistance adjuster, power mechanism and transmission mechanism of the present invention.

Figure 9 is a schematic diagram of the present invention using two sets of the first embodiment for connection operation.

Figure 10 is a schematic diagram of the power connection method of the second embodiment of the present invention.

Figure 11 is a three-dimensional diagram of the second embodiment of the present invention.

In order to further understand the present invention, the implementation method of the optimal upper limb rehabilitation and testing system is shown in Figures 1 to 11, which at least includes a machine 1, a rotating mechanism 2, a clutch 3, a resistance adjuster 4, a power mechanism 5, a transmission mechanism 6 and an electronic control mechanism 7:

As shown in Figures 1 to 6, a table 11 is provided at the front top of the aforementioned machine 1, and a protruding portion 12 is provided at the rear end of the aforementioned machine 1. A plurality of gripping portions 13 may be provided on the side of the aforementioned machine 1 to facilitate the transportation of the aforementioned machine 1. A plurality of anti-slip elements 14 may be provided at the bottom of the aforementioned machine 1 to prevent the user from slipping or shaking when operating the upper limb rehabilitation and detection system, thereby affecting the user's operation.

As shown in Figures 1 to 6, the aforementioned rotating mechanism 2 is arranged in front of the aforementioned machine 1. The aforementioned rotating mechanism 2 is provided with a rotating fixed damper 21. The rotating fixed damper 21 is arranged below the aforementioned table 11, and a first connecting portion 211 and a second connecting portion 212 are respectively arranged at the upper end and the lower end of the rotating fixed damper 21. The aforementioned first connecting portion 211 extends onto the aforementioned table 11. A rotating rocker 22 is disposed above the aforementioned rotating fixed damper 21. The aforementioned rotating rocker 22 is provided with a rotating arm 221 and a handle 222. The aforementioned rotating arm 221 is vertically pivoted on the first connecting portion 211 of the aforementioned rotating fixed damper 21, so that the rotating arm 221 can rotate on the aforementioned table 11 parallel to the table 11. The aforementioned handle 222 is vertically pivoted at the end of the aforementioned rotating arm 221, so that the user can hold the handle 222 and make the aforementioned rotating arm 221 and the handle 222 rotate in conjunction with each other.

Since the aforementioned rotary fixed damper 21 is small in size, low in cost, and has the physical property of fixed damping, the damping torque during rotation can be obtained by measuring the rotational angular velocity generated by the aforementioned handle 222 during rotation. The patient can rotate the rotary fixed damper 21 clockwise or counterclockwise, record the action time to obtain the action force, and then connect the rotary fixed damper 21 to the aforementioned electronic control mechanism 7 to calculate and obtain real-time force information as a source of visual feedback for the user, and can realize the effect of dual-machine connection linkage operation (as shown in Figure 9, including dual-hand synchronous passive linkage operation and dual-hand synchronous active passive linkage operation). In addition, it can also be used to set a target strength during training so that the user has a specific and personalized training target value. This is why the aforementioned rotary fixed damper 21 is suitable for multi-directional shoulder joint movements.

As shown in FIG6 , the aforementioned rotating arm 221 may be a telescopic arm structure with adjustable length. It may be various types of telescopic arm structures, depending on the usage requirements. The aforementioned rotating arm 221 may be provided with a slide 2211, a slide rod 2212 and a connecting seat 2213. The aforementioned slide 2211 is pivoted on the first connecting portion 211 of the aforementioned rotating fixed damper 21. The aforementioned slide rod 2212 is disposed on the aforementioned connecting seat 2213. The aforementioned handle 222 is vertically pivoted on the aforementioned connecting seat 2213. The aforementioned slide rod 2212 is passed through the aforementioned slide 2211 so as to adjust the relative position of the aforementioned slide rod 2212 and the slide 2211. The aforementioned slide 2211 is provided with a locking mechanism 2214 so that the user can lock and release the aforementioned slide rod 2212 through the locking mechanism to achieve the effect of adjusting the length of the aforementioned rotating arm 221. The aforementioned locking mechanism 2214 may be a screw or various fasteners. The aforementioned handle 222 may be provided with a physiological sensing element 223 and an arm support frame 224, through which the physiological sensing element 223 can be used to detect various physiological data of the user such as heartbeat, heart rate, blood pressure, blood oxygen, body temperature, etc. in real time, and through the aforementioned arm support frame 224 to support and fix the user's arm, thereby improving the safety of the patient's operation.

As shown in FIG. 7 , a universal pulley 2215 may be provided at the lower end of the aforementioned rotating arm 221 to assist in supporting the aforementioned rotating arm 221 and prevent the aforementioned rotating arm 221 from bending and deforming under long-term heavy pressure, thereby affecting the operation of the rotating mechanism 2. The aforementioned universal pulley 2215 may be a ball pulley or other types of pulleys, depending on the use requirements.

As shown in FIGS. 4 and 8 , the clutch 3, the resistance adjuster 4 and the power mechanism 5 are disposed in the protruding portion 12 of the machine 1. The third connection portion 31 and the fourth connection portion 32 are disposed at the upper end and the lower end of the clutch 3, respectively. The fifth connection portion 41 is disposed at the upper end of the resistance adjuster 4, and the sixth connection portion 51 is disposed at the lower end of the power mechanism 5. The third connection portion 31 of the clutch 3 and the fifth connection portion 41 of the resistance adjuster 4 are mutually power-connected. In this way, the clutch 3 can be used to switch the power between the active mode and the passive mode, and the resistance can be adjusted in the active mode through the resistance adjuster 4, so that the patient can adjust the resistance according to his/her muscle strength and training purpose. The aforementioned clutch 3 may be various types of clutches (such as magnetic powder tension controllers), the aforementioned resistance adjuster 4 may be various types of resistance adjusters (or speed reducers), and the aforementioned power mechanism may be various adjustable speed motors, depending on the use requirements.

The transmission mechanism 6 is a power connection between the second connection part 212 of the rotating mechanism 2, the fourth connection part 32 of the clutch 3 and the sixth connection part 51 of the power mechanism 5, so that the second connection part 212, the fourth connection part 32 and the sixth connection part 51 can be operated synchronously. The transmission mechanism 6 can be composed of a plurality of gears 61 and belts 62 (as shown in Figures 4 to 8), or a plurality of chains and sprockets (not shown in the figure), as long as the connection parts can be stably connected in power. The power connection method of the second connection part 212, the fourth connection part 32 and the sixth connection part 51 can be set to linear connection (connecting the second connection part 212, the fourth connection part 32 and the sixth connection part 51 in sequence), radial connection (the second connection part 212 is connected to the fourth connection part 32 and the sixth connection part 51 respectively) or circular connection (connecting the second connection part 212, the fourth connection part 32 and the sixth connection part 51 into a loop) according to the use requirements and structural design, so that the power connection of each connection part can operate smoothly.

The aforementioned electric control mechanism 7 is electrically connected to the aforementioned machine 1, rotating mechanism 2, clutch 3, resistance adjuster 4, power mechanism 5 and transmission mechanism 6 to perform signal transmission, signal processing, control settings and information display of the aforementioned machine 1, rotating mechanism 2, clutch 3, resistance adjuster 4, power mechanism 5 and transmission mechanism 6. The aforementioned electric control mechanism 7 is provided with a human-machine interface 71, which displays various system information and allows the user to operate various functions, including rotation direction setting (can be set to forward and reverse), active and passive mode switching (can alternately switch between active and passive modes), time setting, speed adjustment (in passive mode, the patient is driven to exercise at various speeds), resistance adjustment (in active mode, the resistance is adjusted according to the patient's muscle strength), power adjustment (in passive mode, the power size is set to drive the patient to exercise with a fixed force) and dual system connection setting (through setting, the two systems are connected to exercise, including various dual passive exercises, dual active exercises and active and passive synchronous linkage exercises).

The aforementioned electric control mechanism 7 is provided with at least one emergency switch 72, which can be an emergency switch installed on the aforementioned machine 1, or can be a wireless switch (as shown in FIG2 ), so that other monitors can perform emergency control remotely to ensure the safety of the user. The aforementioned electric control mechanism 7 is provided with a signal connector 73, which is used to connect external sensing elements, including external IMU (inertial measurement unit) and muscle signal sensor (electromyogram) and other sensing elements, which are attached to the user's muscles and synchronously photograph the user's upper limb movement parts through two cameras, thereby obtaining the user's posture trajectory and muscle electromyogram, and then further motion analysis (signal capture and processing analysis) is performed through the aforementioned electric control mechanism 7.

As shown in Figures 10 and 11, another embodiment of the present invention is that the aforementioned rotating mechanism 2 may be provided with two sets and placed at the two sides of the front of the aforementioned machine 1. The aforementioned transmission mechanism 6 is a power connection between the second connection parts 212 of the aforementioned two sets of rotating mechanisms 2, the fourth connection part 32 of the aforementioned clutch 3 and the sixth connection part 51 of the aforementioned power mechanism 5, so that the aforementioned two sets of second connection parts 212, the fourth connection part 32 and the sixth connection part 51 can be operated synchronously. In this way, when the user switches to the active mode through the human-machine interface 71 of the aforementioned electronic control mechanism 7, the patient can directly drive the bad hand to perform synchronous movement through the good hand, so as to improve the patient's rehabilitation efficiency and safety.

In summary, the upper limb rehabilitation and detection system of the present invention allows patients to switch between single-hand and double-hand rehabilitation exercise modes through innovative structural design. Patients can perform single-hand autonomous rehabilitation training through active mode, or switch to passive mode, and the device can automatically drive the patient's arm to perform rehabilitation exercises. Furthermore, the upper limb rehabilitation and detection system can perform active and passive synchronous movements of both hands through dual system connection or dual-hand linkage mechanism. Patients can use normal upper limbs to drive injured upper limbs to perform synchronous movements, so as to instantly control the movement speed and achieve the best rehabilitation effect. In addition, the present invention can record and display the torque, speed, power, working curve, time and other data of the equipment in real time, as well as the user's heartbeat, heart rate, blood pressure, blood oxygen, body temperature and other physiological data, and can integrate and record the relevant data, and can output it to the user's mobile phone APP or directly upload it to the doctor's end for recording, so as to improve the efficiency of patient rehabilitation and doctor's diagnosis and treatment, which is the composition of this case.

The aforementioned words such as first and second are used to indicate the difference between names, and do not indicate any specific order. The aforementioned embodiments or drawings do not limit the form or usage of the present invention. Any appropriate changes or modifications by a person with ordinary knowledge in the relevant technical field should be regarded as not departing from the patent scope of the present invention.

1: Machine

11: Countertop

12: protrusion

13: Grip

14: Anti-slip element

2: Rotating mechanism

22: Rotating joystick

222: Grip

224: Arm support

7:Electronic control mechanism

71: Human-machine interface

72: Emergency switch

73:Signal connector

Claims (10)

An upper limb rehabilitation and testing system includes at least a machine, a rotating mechanism, a clutch, a resistance adjuster, a power mechanism, a transmission mechanism and an electronic control mechanism: A table is provided at the front top of the aforementioned machine, and a protruding portion is provided at the rear end of the machine; the aforementioned rotating mechanism is provided at the front of the aforementioned machine, and the aforementioned rotating mechanism is provided with a rotating fixed damper, and the rotating fixed damper is provided below the aforementioned table, and a first connecting portion and a second connecting portion are provided at the upper end and the lower end of the rotating fixed damper, respectively, and the aforementioned first connecting portion extends above the aforementioned table; a rotating rocker is provided above the aforementioned rotating fixed damper, and the aforementioned rotating rocker is provided with a rotating arm and a handle, and the aforementioned rotating arm is vertically pivoted on the first connecting portion of the aforementioned rotating fixed damper, and the aforementioned handle is vertically pivoted at the end of the aforementioned rotating arm; The clutch, resistance adjuster and power mechanism are arranged in the protruding part of the machine. The upper and lower ends of the clutch are respectively provided with a third connection part and a fourth connection part. The upper end of the resistance adjuster is provided with a fifth connection part, and the lower end of the power mechanism is provided with a sixth connection part. The third connection part of the clutch and the fifth connection part of the resistance adjuster are dynamically connected to each other. The transmission mechanism is dynamically connected to the second connection part of the rotating mechanism, the fourth connection part of the clutch and the sixth connection part of the power mechanism, so that the second connection part, the fourth connection part and the sixth connection part can operate synchronously. The aforementioned electric control mechanism is electrically connected to the aforementioned machine, rotating mechanism, clutch, resistance adjuster, power mechanism and transmission mechanism to perform signal transmission, signal processing, control settings and information display of the aforementioned machine, rotating mechanism, clutch, resistance adjuster, power mechanism and transmission mechanism; the aforementioned electric control mechanism is provided with a human-machine interface and at least one emergency switch. According to the upper limb rehabilitation and detection system described in claim 1, the upper limb rehabilitation and detection system is provided in two sets, and the two sets of upper limb rehabilitation and detection systems are connected through the aforementioned electric control mechanism to perform dual-system connection and synchronous operation. According to the upper limb rehabilitation and testing system described in claim 1, the aforementioned rotating mechanism is provided in two groups and is disposed at two side positions in front of the aforementioned machine, and the aforementioned transmission mechanism is a power connection between the second connecting parts of the aforementioned two groups of rotating mechanisms, the fourth connecting part of the aforementioned clutch and the sixth connecting part of the aforementioned power mechanism, so that the aforementioned two groups of second connecting parts, fourth connecting parts and sixth connecting parts can operate synchronously. According to the upper limb rehabilitation and detection system described in any one of claim 1 to 3, the aforementioned electric control mechanism is provided with a signal connector, and the signal connector is used to connect an external sensing element, and then further motion analysis is performed through the aforementioned electric control mechanism. An upper limb rehabilitation and testing system according to any one of claims 1 to 3, wherein the aforementioned rotating arm is a telescopic arm structure with adjustable length. According to the upper limb rehabilitation and testing system described in claim 5, the aforementioned rotating arm is provided with a slide, a sliding rod and a connecting seat, the aforementioned slide is pivoted on the first connecting portion of the aforementioned rotary fixed damper, the aforementioned sliding rod is provided on the aforementioned connecting seat, the aforementioned handle is vertically pivoted on the aforementioned connecting seat, the aforementioned sliding rod is passed through the aforementioned slide to adjust the relative position of the aforementioned sliding rod and the slide, and a locking mechanism is provided on the aforementioned slide to utilize the locking mechanism to lock and release the aforementioned sliding rod to adjust the length of the aforementioned rotating arm. An upper limb rehabilitation and testing system according to any one of claims 1 to 3, wherein the handle is provided with a physiological sensing element and an arm support frame. According to the upper limb rehabilitation and testing system described in any one of claims 1 to 3, a universal pulley is provided at the lower end of the aforementioned rotating arm to assist in supporting the aforementioned rotating arm. An upper limb rehabilitation and detection system according to any one of claims 1 to 3, wherein the transmission mechanism is composed of a plurality of gears and belts. According to the upper limb rehabilitation and detection system described in any one of claims 1 to 3, the aforementioned electric control mechanism is provided with a plurality of emergency switches, at least one of the emergency switches is provided on the aforementioned machine, and the at least one emergency switch is a wireless switch.

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