CN107174793A - The rehabilitation training of upper limbs method moved based on track - Google Patents

The rehabilitation training of upper limbs method moved based on track Download PDF

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Publication number
CN107174793A
CN107174793A CN201710552475.5A CN201710552475A CN107174793A CN 107174793 A CN107174793 A CN 107174793A CN 201710552475 A CN201710552475 A CN 201710552475A CN 107174793 A CN107174793 A CN 107174793A
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CN
China
Prior art keywords
training
track
upper limbs
moved based
passive controlled
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710552475.5A
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Chinese (zh)
Inventor
邢金秋
都吉良
李林
许广艳
曾惠聪
程熙冉
温晓君
陈扬川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GUANGZHOU YIKANG MEDICAL EQUIPMENT INDUSTRIAL Co Ltd
Original Assignee
GUANGZHOU YIKANG MEDICAL EQUIPMENT INDUSTRIAL Co Ltd
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Publication date
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Priority to CN201710552475.5A priority Critical patent/CN107174793A/en
Publication of CN107174793A publication Critical patent/CN107174793A/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0277—Elbow
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0281—Shoulder
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A63B23/1245—Primarily by articulating the shoulder joint
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A63B23/1281—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles primarily by articulating the elbow joint
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A63B23/14—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for wrist joints
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/062—Shoulders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2230/00—Measuring physiological parameters of the user
    • A63B2230/60—Measuring physiological parameters of the user muscle strain, i.e. measured on the user
    • A63B2230/605—Measuring physiological parameters of the user muscle strain, i.e. measured on the user used as a control parameter for the apparatus

Landscapes

  • Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses the rehabilitation training of upper limbs method moved based on track, including following methods step：Start track study, record the current event trace of trainer；Carry out passive controlled training or main passive controlled training；Preserve the data in training process.In the rehabilitation training of upper limbs method that the present invention is moved based on track, trainer can be trained according to movement locus, and realization is targetedly treated；In addition, according to the muscular strength situation of arm can select that specific craps game may be selected in different training modes, training mode, while reaching preferable training effect, make training process rich in interesting.

Description

The rehabilitation training of upper limbs method moved based on track
Technical field
The present invention relates to rehabilitation training of upper limbs, the rehabilitation training of upper limbs method of track motion is more specifically based on.
Background technology
For the rehabilitation training of human upper limb locomotion function, traditional rehabilitation training mode it is main by therapist rule of thumb Auxiliary patient is trained manually, and training effect is influenceed by therapist's level, and the working strength of therapist is also very big, existing At present, have and rehabilitation training is carried out to patient using robot, but train more blindly, do not train targetedly, train mould Formula is more single, it is impossible to reach preferable training effect.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide the rehabilitation training of upper limbs side moved based on track Method.
To achieve the above object, the present invention uses following technical scheme：The rehabilitation training of upper limbs method moved based on track, Including following methods step：
S10, the study of beginning track, record the current event trace of trainer；
S20, the passive controlled training of progress or main passive controlled training；
S30, the data preserved in training process.
Its further technical scheme is：Also include the user profile for setting up trainer before the step S10.
Its further technical scheme is：The step S10 specifically includes following steps：
S101, selection need to carry out the joint of track study；
S102, the study of beginning track are until study is completed；
S103, the learning path for preserving track learning process.
Its further technical scheme is：Need to judge whether track study is reasonable before the step S103, if so, then carrying out Next step；If it is not, then return to step S101.
Its further technical scheme is：In the step S20：If arm muscular strength grade≤2, the passive control instruction of selection Practice；Conversely, then selecting main passive controlled training.
Its further technical scheme is：In the step S20, passive controlled training is that mechanical arm drives arm to be learnt The reduction process in path；Main passive controlled training is that mechanical arm is driven in the reduction process that arm carries out learning path, and arm can Done and accelerated or retarded motion with active driving mechanical arm.
Its further technical scheme is：The step S20 specifically includes following steps：
S201, the passive controlled training of setting or main passive controlled training training parameter；
S202, the selection game corresponding with passive controlled training or main passive controlled training；
S203, startup game, carry out track reduction training.
Its further technical scheme is：The training parameter specifically includes the speed class of manipulator, training time, spasm Sensitivity, grip size.
Compared with the prior art, the invention has the advantages that：The rehabilitation training of upper limbs method that the present invention is moved based on track In, trainer can be trained according to movement locus, and realization is targetedly treated；In addition, can be according to the muscular strength situation of arm Situation, selects that specific craps game may be selected in different training modes, training mode, reaches the same of preferable training effect When, make training process rich in interesting.
Described above is only the general introduction of technical solution of the present invention, in order to better understand technical measure, and It can be practiced according to the content of specification, and in order to allow above and other objects of the present invention, feature and advantage can be more Become apparent, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, describe in detail as follows.
Brief description of the drawings
The flow chart for the rehabilitation training of upper limbs method specific embodiment that Fig. 1 is moved for the present invention based on track；
Step S10 sub-step in the rehabilitation training of upper limbs method specific embodiment that Fig. 2 is moved for the present invention based on track Flow chart；
Step S20 sub-step in the rehabilitation training of upper limbs method specific embodiment that Fig. 3 is moved for the present invention based on track Flow chart.
Embodiment
In order to more fully understand the technology contents of the present invention, technical scheme is entered with reference to specific embodiment One step introduction and explanation, but it is not limited to this.
As described in Figure 1, the rehabilitation training of upper limbs method that the present invention is moved based on track, including following methods step：
S10, the study of beginning track, record the current event trace of trainer；
S20, the passive controlled training of progress or main passive controlled training；
S30, the data preserved in training process.
Specifically, also including the user profile for setting up trainer before step S10, if new user is, it is necessary to select new use Family is registered, and inputs the information such as user name, sex, age, muscular strength grade, the numbering of trainer, and preserve.
Further, step S10 is specific, has following 7 kinds of joints training to choose, receipts/abduction instruction respectively in shoulder joint Practice, shoulder joint flexion/extension is trained, elbow joint flexion/extension is trained, turn up postbrachium inward turning/training of turning up, forearm inward turning/training, wrist joint Flexion/extension training, grip training.
As shown in Fig. 2 step S10 specifically includes following steps：
S101, selection need to carry out the joint of track study；
S102, the study of beginning track are until study is completed；
S103, the learning path for preserving track learning process.
Wherein, need to judge whether track study is reasonable before step S103, if so, then carrying out next step；If it is not, then returning Step S101 re-starts track study.
In step S20：If arm muscular strength grade≤2, select passive controlled training；Conversely, then selecting main passive control Training.In addition, in step S20, passive controlled training is the reduction process that mechanical arm drives arm progress learning path；It is main passive Controlled training is that mechanical arm is driven in the reduction process that arm carries out learning path, arm can active driving mechanical arm do and accelerate Or retarded motion.
As shown in figure 3, step S20 specifically includes following steps：
S201, the passive controlled training of setting or main passive controlled training training parameter；
S202, the selection game corresponding with passive controlled training or main passive controlled training；
S203, startup game, carry out track reduction training.
Training parameter specifically includes the speed class of mechanical arm, training time, spasm sensitivity, grip size, wherein, machine The speed class of tool arm arrives fast order -5, -4, -3, -2, -1,0,1,2,3,4,5 slowly；When speed class is 0, robotic arm operating Speed correspond to assess when mechanical arm operation speed；Depending on treatment time is set with the situation of trainer；Spasm sensitivity It is divided into three ranks, respectively 300Nm, 450Nm, 600Nm；The big I of grip is set according to the grip situation of user.
Summary：In the rehabilitation training of upper limbs method that the present invention is moved based on track, trainer can be according to movement locus It is trained, realization is targetedly treated；In addition, different training modes can be selected according to the muscular strength situation of arm, Specific craps game may be selected in training mode, while reaching preferable training effect, make training process rich in interesting.
The above-mentioned technology contents that the present invention is only further illustrated with embodiment, in order to which reader is easier to understand, but not Represent embodiments of the present invention and be only limitted to this, any technology done according to the present invention extends or recreated, by the present invention's Protection.Protection scope of the present invention is defined by claims.

Claims (8)

1. the rehabilitation training of upper limbs method moved based on track, it is characterised in that including following methods step：
S10, the study of beginning track, record the current event trace of trainer；
S20, the passive controlled training of progress or main passive controlled training；
S30, the data preserved in training process.
2. the rehabilitation training of upper limbs method according to claim 1 moved based on track, it is characterised in that the step Also include the user profile for setting up trainer before S10.
3. the rehabilitation training of upper limbs method according to claim 1 moved based on track, it is characterised in that the step S10 specifically includes following steps：
S101, selection need to carry out the joint of track study；
S102, the study of beginning track are until study is completed；
S103, the learning path for preserving track learning process.
4. the rehabilitation training of upper limbs method according to claim 3 moved based on track, it is characterised in that the step Need to judge whether track study is reasonable before S103, if so, then carrying out next step；If it is not, then return to step S101.
5. the rehabilitation training of upper limbs method according to claim 1 moved based on track, it is characterised in that the step In S20：If arm muscular strength grade≤2, select passive controlled training；Conversely, then selecting main passive controlled training.
6. the rehabilitation training of upper limbs method according to claim 1 moved based on track, it is characterised in that the step In S20, passive controlled training is the reduction process that mechanical arm drives arm progress learning path；Main passive controlled training is machinery Arm is driven in the reduction process that arm carries out learning path, arm can active driving mechanical arm do and accelerate or retarded motion.
7. the rehabilitation training of upper limbs method according to claim 6 moved based on track, it is characterised in that the step S20 specifically includes following steps：
S201, the passive controlled training of setting or main passive controlled training training parameter；
S202, the selection game corresponding with passive controlled training or main passive controlled training；
S203, startup game, carry out track reduction training.
8. the rehabilitation training of upper limbs method according to claim 7 moved based on track, it is characterised in that the training ginseng Count the speed class for specifically including manipulator, training time, spasm sensitivity, grip size.
CN201710552475.5A 2017-07-07 2017-07-07 The rehabilitation training of upper limbs method moved based on track Pending CN107174793A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107595549A (en) * 2017-10-09 2018-01-19 广州康医疗设备实业有限公司 A kind of method and control system for eliminating limb motion trajector deviation
CN109907936A (en) * 2017-12-13 2019-06-21 上海电气集团股份有限公司 Rehabilitation training of upper limbs equipment based on virtual reality
CN109920517A (en) * 2019-03-27 2019-06-21 桂林市优帮妥医疗科技有限公司 A kind of game rehabilitation system and its working method
CN111388960A (en) * 2020-04-13 2020-07-10 福建中医药大学 Upper and lower limb rehabilitation training method based on Internet of things system
CN111888194A (en) * 2020-08-06 2020-11-06 广州一康医疗设备实业有限公司 Upper limb rehabilitation training method, system, device and storage medium
CN113110480A (en) * 2021-04-27 2021-07-13 上海电气集团股份有限公司 Robot active and passive hybrid control method and system, electronic device and storage medium

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CN103006415A (en) * 2012-12-25 2013-04-03 上海大学 Control device and method for upper limb movement training robot
CN103142383A (en) * 2013-03-22 2013-06-12 芜湖天人智能机械有限公司 Active and passive realizing method of healthy exercise trainer
CN104688491A (en) * 2013-12-04 2015-06-10 中国科学院宁波材料技术与工程研究所 Training robot and control method
CN105963100A (en) * 2016-04-19 2016-09-28 西安交通大学 Patient movement demand-based assistance lower limb rehabilitation robot self-adaptation control method
CN106859911A (en) * 2017-01-13 2017-06-20 广东美的安川服务机器人有限公司 Recovery training appliance for recovery and its quantitative training method and quantitative training device

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US6790164B1 (en) * 2000-08-29 2004-09-14 James Davis Swimming simulation system
CN102631276A (en) * 2011-12-31 2012-08-15 中国科学院深圳先进技术研究院 Interaction method and interaction system for rehabilitation training robot
CN103006415A (en) * 2012-12-25 2013-04-03 上海大学 Control device and method for upper limb movement training robot
CN103142383A (en) * 2013-03-22 2013-06-12 芜湖天人智能机械有限公司 Active and passive realizing method of healthy exercise trainer
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107595549A (en) * 2017-10-09 2018-01-19 广州康医疗设备实业有限公司 A kind of method and control system for eliminating limb motion trajector deviation
CN109907936A (en) * 2017-12-13 2019-06-21 上海电气集团股份有限公司 Rehabilitation training of upper limbs equipment based on virtual reality
CN109920517A (en) * 2019-03-27 2019-06-21 桂林市优帮妥医疗科技有限公司 A kind of game rehabilitation system and its working method
CN111388960A (en) * 2020-04-13 2020-07-10 福建中医药大学 Upper and lower limb rehabilitation training method based on Internet of things system
CN111888194A (en) * 2020-08-06 2020-11-06 广州一康医疗设备实业有限公司 Upper limb rehabilitation training method, system, device and storage medium
CN113110480A (en) * 2021-04-27 2021-07-13 上海电气集团股份有限公司 Robot active and passive hybrid control method and system, electronic device and storage medium
CN113110480B (en) * 2021-04-27 2024-04-16 上海电气集团股份有限公司 Active and passive hybrid control method and system for robot, electronic equipment and storage medium

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