CN109907940A - A kind of upper limb healing system and method based on wrist joint and restoring gloves - Google Patents
A kind of upper limb healing system and method based on wrist joint and restoring gloves Download PDFInfo
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Abstract
The present invention relates to rehabilitation training technical fields, refer in particular to a kind of upper limb healing system and method based on wrist joint and restoring gloves, including host computer, further include assistant device for sport tool, motion-control module, main control module and operation module；The operation module includes input selecting unit；The motion-control module includes the bending sensor and motion sensing control device for controlling motor and being set on assistant device for sport tool, and the control motor and bending sensor are electrically connected with main control module, the main control module and upper mechatronics.A kind of upper limb healing system and method based on wrist joint and restoring gloves provided by the invention, using mirror image rehabilitation training, the rehabilitation training mode of hemiplegia is dynamically adjusted by obtaining the exercise data of healthy side hand, can more comprehensively effectively, more carry out the rehabilitation training of upper limb with meeting arm motion mechanical characteristics.
Description
Technical field
The present invention relates to rehabilitation training technical fields, refer in particular to a kind of upper limb health based on wrist joint and restoring gloves
Complex system and method.
Background technique
Chinese annual new hair about 2,000,000 people of patients with cerebral apoplexy, cerebral apoplexy will lead to limbs of patient and different degrees of fortune occur
Dynamic dysfunction, 70%~80% patients with cerebral apoplexy is because deformity cannot live on one's own life.Hand is used in mankind's daily life
One of higher body part of frequency, manpower anatomical structure is relative complex, and finger injury is postoperative, often can with various sequelae or
Complication seriously affects hemiplegia hand motion function.It can be seen that the rehabilitation nursing after trauma surgery, reduces the hair of above-mentioned symptom
Sick rate.China's modern rehabilitation medicine cause is started in mid-term the 1980s, more external opposite about healing hand function research
It is less.
Occurs different types of wrist hands movement training equipment recent years both at home and abroad, Harbin Engineering University develops more
Function arm recovery exerciser, but can be only done forearm pronation.The development trend of current recovery training appliance for recovery is the collection of function
The diversification of Cheng Hua, training mode stress the real-time evaluation function, motor pattern and the ginseng that develop rehabilitation training equipment moving function
The adaptive capacity to environment of several intelligent adjustment function and rehabilitation equipment.Thus, how to design and more meets human arm motion
Mode, be instantly urgent need to resolve the problem of.
Summary of the invention
The present invention provides a kind of upper limb healing system based on wrist joint and restoring gloves for problem of the prior art
And method, patient's wearable motion auxiliary instrument are first made target action by healthy side hand, are set further according to the exercise data of healthy side hand
The kinematic parameter for setting assistant device for sport tool is finally assisted in movement in the rehabilitation training mode that input selecting unit selection is suitable
Hemiplegia is allowed to complete target action under the assistance of instrument, the method which uses mirror image rehabilitation training is strong by obtaining
The exercise data of side hand dynamically adjusts the rehabilitation training mode of hemiplegia, can more comprehensively effectively, more meet arm motion power
Learn the rehabilitation training for characteristically carrying out upper limb.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme: a kind of be based on wrist joint and rehabilitation hand
The upper limb healing system of set, including host computer further include for dressing and assisting the assistant device for sport tool of upper limks movements, for controlling
Make and adjust the motion-control module of assistant device for sport tool, for sending control command to assistant device for sport tool, motion control mould
The main control module of block and for store rehabilitation data information and select rehabilitation prescription operation module；The operation module packet
Include the input selecting unit for selecting rehabilitation training mode and analysis and observation rehabilitation training data；The motion-control module
Including completing multiple control motors of target action and being set to move for controlling assistant device for sport tool auxiliary patient's arm
Bending sensor and motion sensing control device on auxiliary instrument, the control motor and bending sensor are electrically connected with main control module
It connects, the main control module and upper mechatronics.
Wherein, the assistant device for sport tool includes restoring gloves and wrist joint device for rehabilitation, and the restoring gloves are for assisting
The finger movement of patient, the wrist joint device for rehabilitation are used to assist the arm motion of patient, the bending sensor and body-sensing control
Device processed is set on restoring gloves.
Wherein, the wrist joint device for rehabilitation includes that two shells for being used to be worn on arm and two are used for auxiliary arm
The mechanical arm of movement, the both ends of the mechanical arm are separately connected two shells, and the joint of the mechanical arm is installed with limit and opens
It closes, the limit switch is electrically connected with main control module.
Further, the motion-control module further includes bracket, and the control motor is fixed on bracket, controls motor
Shaft be connected with rotating bar, be arranged with flexible pipe outside the rotating bar, there are gap, institutes between the flexible pipe and rotating bar
It states and is arranged with flexible wires in rotating bar；It is fixed with slide post below the flexible pipe, is fixed on the bracket for controlling cunning
The sliding part that dynamic column moves up and down, the sliding part are electrically connected with main control module.
Wherein, the operation module further includes database and rehabilitation game unit, and the database is for storing patient
With the data of the essential information of therapist, the data of bending sensor and motion sensing control device, the rehabilitation game unit is used for
Increase the enjoyment of Rehabilitation training.
Further, the upper limb healing system further includes the FES functional electrostimulation module being electrically connected with main control module.
A kind of upper limb healing method based on wrist joint and restoring gloves, comprising the following steps:
A. in the essential information of operation module typing patient and rehabilitation parameter setting is carried out, selection meets the default health of patient
Multiple prescription；
B. system starts to carry out rehabilitation training, sends main control module for the rehabilitation parameter set in step a, suffers from simultaneously
Person's healthy side hand or therapist's wearable motion auxiliary instrument simultaneously move；
C. the data of the bending sensor on main control module acquisition assistant device for sport tool, then the ginseng set in matching step a
Number determines the movement length for controlling motor and speed and basic rehabilitation exercise training mode；
D. according to the determining parameter of electric machine and training method, the movement of the assistant device for sport tool of hemiplegia side, side are controlled
Hemiplegia is helped to carry out rehabilitation training；
E. collected data are transferred to host computer by bending sensor and motion sensing control device, and it is complete to establish patient's hemiplegia
Threedimensional model, the rehabilitation training achievement for observation analysis patient.
Further, in the upper limb healing method, patient is helped to do rehabilitation training using FES functional electrical stimulation module,
Specific steps are as follows:
F1. the data of the bending sensor on main control module acquisition assistant device for sport tool, and receive what host computer was sent
Parameter setting information；
F2. the data of acquisition and received parameter information are converted to machine language by main control module；
F3. main control module issues specific setting instruction according to these machine languages；
F4.FES functional electrical stimulation module receives the instruction of main control module, adjusts the frequency and intensity of itself electro photoluminescence.
Wherein, the operation module includes database, input selecting unit and rehabilitation game unit, the behaviour of operation module
Include: as step
G1. therapist is by the essential information of input selecting unit typing patient and the information of therapist, and by all letters
Breath is saved to lane database；
G2. by the default rehabilitation training prescription and basic rehabilitation exercise of input selecting unit selection FES functional electrical stimulation
Training method；
G3. the data by the acquisitions such as bending sensor and motion sensing control device are saved in database, and according to these data
Carry out 3D modeling, the three-dimensional motion of display hemiplegia training.
Wherein, the basic rehabilitation exercise training mode includes that active movement mode, passive movement mode and master are passive
In conjunction with motion mode；When selecting active movement mode, patient is autonomous to complete to provide that training is dynamic according to different extraneous damping conditions
Make；When selecting passive movement mode, patient is in relaxation state, promotes it to complete specific training action by external force；Select main quilt
When moving in conjunction with motion mode, a kinematics target is previously set, patient first uses up oneself maximum effort and comes execution, external force
By adjusting the direction and size that patient has an effect, patient is made to complete target action.Beneficial effects of the present invention:
A kind of upper limb healing system and method for rehabilitation based on wrist joint and restoring gloves provided by the invention, Huan Zhepei
Assistant device for sport tool is worn, assistant device for sport tool is first dressed by healthy side hand and makes movement, main control module acquires assistant device for sport tool
On bending sensor and motion sensing control device data, come determine control assistant device for sport tool control motor work number
According to, then the basic rehabilitation exercise training mode suitable by input selecting unit selection, finally setting related data parameter
Assistant device for sport tool assistance under allow hemiplegia complete target action.The method that the rehabilitation system uses mirror image rehabilitation training,
The rehabilitation training mode of hemiplegia is dynamically adjusted by obtaining the exercise data of healthy side hand, can more comprehensively effectively, more be met
Carry out to arm motion mechanical characteristics the rehabilitation training of upper limb.
Detailed description of the invention
Fig. 1 is systematic schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of assistant device for sport tool of the invention.
Fig. 3 is the enlarged drawing in Fig. 2 at A.
Fig. 4 is the structural schematic diagram of control motor of the invention.
Appended drawing reference in Fig. 1 to Fig. 4 includes:
1- host computer, 2- assistant device for sport tool, 21- restoring gloves, 22- wrist joint device for rehabilitation, 23- shell, 24- are mechanical
Arm, 25- limit switch, 26- lantern ring, 241- first connecting rod, the second connecting rod of 242-, the first telescopic rod of 243-, 244- second
Telescopic rod, 3- motion-control module, 31- control motor, 32- bending sensor, 33- motion sensing control device, 34- bracket, 35- rotation
Bar, 36- flexible pipe, 37- flexible wires, 38- slide post, 39- sliding part, 4- main control module, 5- operation module, 51- input selection
Unit, 52- database, 53- rehabilitation game unit, 6-FES functional electrostimulation module.
Specific embodiment
For the ease of the understanding of those skilled in the art, the present invention is made further below with reference to embodiment and attached drawing
Bright, the content that embodiment refers to not is limitation of the invention.The present invention is described in detail below in conjunction with attached drawing.
A kind of upper limb healing system based on wrist joint and restoring gloves provided in this embodiment, such as Fig. 1 and Fig. 2, packet
Host computer 1 is included, further includes for dressing and assisting the assistant device for sport tool 2 of upper limks movements, for controlling and adjusting movement auxiliary
The motion-control module 3 of instrument 2, for sending control command to assistant device for sport tool 2, the main control module 4 of motion-control module 3
And for storing rehabilitation data information and selecting the operation module 5 of rehabilitation prescription；The operation module 5 includes for selecting
The input selecting unit 51 of rehabilitation training mode and analysis and observation rehabilitation training data；The motion-control module 3 includes using
Patient's arm is assisted to complete multiple control motors 31 of target action and be set to move auxiliary in control assistant device for sport tool 2
Bending sensor 32 and motion sensing control device 33 on instrument 2, the control motor 31 and bending sensor 32 with master control mould
Block 4 is electrically connected, and the main control module 4 is electrically connected with host computer 1.Further, the assistant device for sport tool 2 includes restoring gloves
21 and wrist joint device for rehabilitation 22, the restoring gloves 21 are used to assist the finger movement of patient, and the wrist joint device for rehabilitation 22 is used
In the arm motion of auxiliary patient, the bending sensor 32 and motion sensing control device 33 are set on restoring gloves 21.Preferably,
Motion sensing control device 33 uses Leap Motion motion sensing control device 33；Main control module 4 includes multiple based on ATmega2560's
2560 master control borad of Arduino Mega.
Specifically, operation module 5 is installed in host computer 1, in use, first assistant device for sport tool 2 is dressed by healthy side hand, by health
Multiple gloves 21 are worn in palm, and wrist joint device for rehabilitation 22 is fixed on arm, then makes movement, and the bending on restoring gloves 21 passes
Sensor 32 acquires the bending data of 21 finger of restoring gloves, and motion sensing control device 33 monitors the three-dimensional motion effect of restoring gloves, together
When, bending sensor 32 and motion sensing control device 33 are by collected data signal transmission to main control module 4,4 basis of main control module
The exercise data information of received healthy side hand, come determine control assistant device for sport tool 2 control motor 31 movement length and
Speed, then the basic rehabilitation exercise training mode suitable by the input selection of selecting unit 51, control rehabilitation by control motor 31
The finger and wrist joint device for rehabilitation 22 of gloves 21 are moved, and so that the hemiplegia of patient is made the movement such as bending, stretching, extension, are passed through
The above control operation allows hemiplegia to complete target action, and input selecting unit 51 can be built according to the data of motion sensing control device 33
The 3D model of vertical patient's hemiplegia, convenient for the rehabilitation situation of therapist's observation analysis patient's hemiplegia.The rehabilitation system uses mirror
As the method for rehabilitation training, a kind of mirror image treatment and rehabilitation device that can give dynamical feedback is developed, by obtaining in mirror image is treated
Healthy side hand grasping movement data information is taken dynamically to adjust the exercise data of hemiplegia, to induce hemiplegia grasp motion and feed back
In the display screen terminal of host computer 1；The rehabilitation training side of hemiplegia is dynamically adjusted by obtaining the exercise data of healthy side hand
Formula can more comprehensively effectively, more carry out the rehabilitation training of upper limb with meeting arm motion mechanical characteristics.
A kind of upper limb healing system based on wrist joint and restoring gloves provided in this embodiment, such as Fig. 2 and Fig. 3, institute
Stating wrist joint device for rehabilitation 22 includes two shells 23 and two machinery for auxiliary arm movement for being worn on arm
Arm 24, the both ends of the mechanical arm 24 are separately connected two shells 23, and the joint of the mechanical arm 24 installs limit switches
25, the limit switch 25 is electrically connected with main control module 4；Preferably, such as Fig. 2, mechanical arm 24 includes first connecting rod 241, the
Two connecting rods 242, the first telescopic rod 243 and the second telescopic rod 244, one end of first connecting rod 241 and the second connecting rod 242
One end it is hinged, the other end of the other end of first connecting rod 241 and the second connecting rod 242 is hinged with two shells 23 respectively,
One end of first telescopic rod 243 and the middle part of first connecting rod 241 are hinged, one end of second telescopic rod 244 and the
The middle part of two connecting rods 242 is hinged, and the other end of the other end of first telescopic rod 243 and the second telescopic rod 244, which slides, to be connected
It connects.
Specifically, two mechanical arms 24 band is there are five freedom degree, two shells 23 are worn on respectively at wrist and
Arm controls the first telescopic rod 243 by control motor 31 and stretches with the second telescopic rod 244, controls first connecting rod 241
It is rotated with the second connecting rod 242, two mechanical arms 24 can control the interior outward turning direction and upper backspin direction of hemiplegia respectively, that is, control
Both direction is made, hemiplegia can be made to complete various hemiplegia movements；Meanwhile the joint of mechanical arm 24 being provided with guarantor
The limit switch 25 of handguard arm safety, when at the limit that first connecting rod 241 and the second connecting rod 242 turn to arm, just
Limit switch 25 can be triggered, limit switch 25 sends the signal to main control module 4, main control module 4 and then stopping control motor 31
Running, make 24 stop motion of mechanical arm, meanwhile, system setting according to the exercise data of healthy side hand be arranged control motor 31 work
When making parameter, it is provided with rotational angle needed for controlling motor 31 when making corresponding actions, when the rotational angle that arrival is set
When, control motor 31 just stops operating, and then stops the movement of mechanical arm 24, that is, the hemiplegia that two levels protect patient is arranged
Hand, degree of safety are high.
A kind of upper limb healing system based on wrist joint and restoring gloves provided in this embodiment, such as Fig. 4, the movement
Control module 3 further includes bracket 34, and the control motor 31 is fixed on bracket 34, and the shaft of control motor 31 is connected with rotation
Bar 35, the rotating bar 35 are arranged with flexible pipe 36 outside, and there are gap, the rotations between the flexible pipe 36 and rotating bar 35
Flexible wires 37 are arranged on bar 35；It is fixed with slide post 38 below the flexible pipe 36, is fixed on the bracket 34 for controlling
The sliding part 39 that slide post 38 processed moves up and down, the sliding part 39 are electrically connected with main control module 4.Preferably, motor 31 is controlled
Using but be not limited to two-phase stepping motor；Sliding part 39 but being not limited to cylinder etc. can drive slide post 38 to slide up and down
Part.
Specifically, such as Fig. 2, assistant device for sport tool 2 is equipped with multiple lantern rings 26, first will be different soft when carrying out rehabilitation training
Property line 37 pass through the lantern ring 26 at each position, then, control motor 31 rotates, and controls the length of flexible wires 37, such as finger section
Position, flexible wires 37 lengthen, and finger extension, flexible wires 37 receive short, finger flexion, other positions are identical reason, such as Fig. 2 and Fig. 4,
Slide post 38 is set below flexible pipe 36, such as when finger flexion, when finger flexion to a certain extent when, master control mould
Block 4 sends signal, starts sliding part 39, sliding part 39 and then the control downslide of slide post 38, so that flexible pipe 36 is connected to flexibility
On line 37, flexible wires 37 are sealed, are that the rotation of control motor 31 is centainly hindered, and then reduces the rotation of control motor 31
Speed and strength makes the buckling reducing speed of finger, prevents injury.
A kind of upper limb healing system based on wrist joint and restoring gloves provided in this embodiment, such as Fig. 1, the operation
Module 5 further includes database 52 and rehabilitation game unit 53, and the database 52 is used to store the basic of patient and therapist
The data of information, the data of bending sensor 32 and motion sensing control device 33, the rehabilitation game unit 53 is for increasing patient
The enjoyment of rehabilitation training.
Specifically, the rehabilitation data of patient can be stored in database 52, convenient for checking analysis, in addition, patient is in addition to doing
It, can also be by opening rehabilitation game on host computer 1 except some rehabilitation movements, cooperation game carries out the instruction such as grasping of hemiplegia
Practice, the interest of Rehabilitation training process can be increased.
A kind of upper limb healing system based on wrist joint and restoring gloves provided in this embodiment, such as Fig. 1, the rehabilitation
System further includes the FES functional electrostimulation module 6 being electrically connected with main control module 4.
Specifically, patient is during rehabilitation training, cooperates FES functional electrostimulation module 6, according to doctor's advice by electrode
Piece is affixed on human body and properly locates, and initially, preset FES prescription, healthy side hand wearable motion auxiliary is selected in input selecting unit 51
After instrument 2 is moved, main control module 4 will be analyzed according to the exercise data of acquisition, and be converted into instruction, adjustment FES function electricity
The frequency of stimulation and intensity of stimulating module, the muscle of patient is stimulated in exercise-based rehabilitation program on patients in due course, can be relieved patient's arm
The pain etc. of muscle.
A kind of upper limb healing method based on wrist joint and restoring gloves provided in this embodiment, comprising the following steps:
A. in the essential information of 5 typing patient of operation module and rehabilitation parameter setting is carried out, selection meets the default of patient
Rehabilitation prescription；
B. system starts to carry out rehabilitation training, sends main control module 4 for the rehabilitation parameter set in step a, simultaneously
Patient's healthy side hand or therapist's wearable motion auxiliary instrument 2 simultaneously move；
C. main control module 4 acquires the data of the bending sensor 32 on assistant device for sport tool 2, then sets in matching step a
Parameter, determine the movement length and speed and basic rehabilitation exercise training mode of control motor 31；
D. according to the determining parameter of electric machine and training method, the movement of the assistant device for sport tool 2 of hemiplegia side, side are controlled
Hemiplegia is helped to carry out rehabilitation training；
E. collected data are transferred to host computer 1 by bending sensor 32 and motion sensing control device 33, establish patient's hemiplegia
The complete threedimensional model of hand, the rehabilitation training achievement for observation analysis patient.
In the upper limb healing method, patient is helped to do rehabilitation training, specific steps using FES functional electrical stimulation module
Are as follows:
F1. main control module 4 acquires the data of the bending sensor 32 on assistant device for sport tool 2, and receives host computer 1 and sent out
The parameter setting information come；
F2. the data of acquisition and received parameter information are converted to machine language by main control module 4；
F3. main control module 4 issues specific setting instruction according to these machine languages；
F4.FES functional electrical stimulation module receives the instruction of main control module 4, adjusts the frequency and intensity of itself electro photoluminescence.
The operation module 5 includes database 52, input selecting unit 51 and rehabilitation game unit 53, operation module 5
Operating procedure include:
G1. therapist is by the essential information of 51 typing patient of input selecting unit and the information of therapist, and will own
In information preservation to database 52；
G2. the default rehabilitation training prescription of FES functional electrical stimulation and basic rehabilitation is selected to transport by input selecting unit 51
Dynamic training method；
G3. the data by acquisitions such as bending sensor 32 and motion sensing control devices 33 are saved in database 52, and according to this
A little data carry out 3D modeling, the three-dimensional motion of display hemiplegia training.
The basic rehabilitation exercise training mode includes that active movement mode, passive movement mode and main passively combine are transported
Flowing mode；When selecting active movement mode, patient is autonomous to complete regulation training action according to different extraneous damping conditions；Selection
When passive movement mode, patient is in relaxation state, promotes it to complete specific training action by external force；Selection is main passively to combine fortune
When flowing mode, a kinematics target is previously set, patient first uses up oneself maximum effort and carrys out execution, and external force passes through adjusting
The direction and size that patient has an effect make patient complete target action.
Specifically, it when doing rehabilitation, needs that input selecting unit 51 first is installed in host computer 1, rehabilitation therapist is according to trouble
Person's concrete condition logs in input selecting unit 51 and typing patient's essential information, carries out parameter setting later, has selected FES
The parameter set is passed to main control module 4, while patient's healthy side hand by serial port protocol by the default prescription of functional electrical stimulation
Or rehabilitation therapist wears the restoring gloves 21 with bending sensor 32, is moved according to the drill program of doctor's advice, this
When main control module 4 can acquire the data of bending sensor 32, the parameter transmitted along with host computer 1, it is determined that control electricity
The movement length and speed of machine 31 and the frequency of stimulation and intensity of FES functional electrical stimulation and basic rehabilitation exercise training mode,
Under the synergistic effects of multiple control motors 31, buckling between the finger of hemiplegia end is pushed, stretching, extension, interior receipts, outreach and wrist
Rehabilitation exercise, at the same time, 32 data of bending sensor that main control module 4 will acquire by way of serial communication are transferred to
On host computer 1, collected data are also transferred on host computer 1 by Leap Motion motion sensing control device 33, input selecting unit
51 acquire these data, establish the complete threedimensional model of hemiplegia and show simultaneously real-time update, and calculate bending sensor
32 are transmitted through the data come, i.e. every 20 ° of the variation of bending sensor 32, and input selecting unit 51 can modify angle, then record is primary
52 the inside of data to data library that Leap Motion data and bending sensor 32 are fed back.1 screen other end of host computer at this time
Rehabilitation game can be opened, in hemiplegia motion process, the personage in game can be according to the Leap Motion transmitted
Data and the data of bending sensor 32 are converted to the position of mouse and the key of keyboard, for example, hemiplegia index finger acts, relatively
The W key for being equal to keyboard answered, to control game charater movement.
This rehabilitation system and method for rehabilitation develop a kind of mirror image that can give dynamical feedback from functional electrostimulation
Human motion-functional electrostimulation-mirror image rehabilitation training is regarded as an entirety and is developed and answered by treatment and rehabilitation device
With.By healthy side hand grasping movement data information being obtained in mirror image is treated come at the stimulation of dynamic adjustment function electro photoluminescence
Side has better met the hemiplegia health of fining to induce abirritation period to suffer from hand grasp motion and feed back in display screen terminal
It is multiple, so that hemiplegia is completed more free movements, reaches better rehabilitation effect.
The above is only present pre-ferred embodiments, is not intended to limit the present invention in any form, although
The present invention is disclosed as above with preferred embodiment, and however, it is not intended to limit the invention, any person skilled in the art,
It does not depart within the scope of technical solution of the present invention, when the technology contents using the disclosure above make a little change or are modified to equivalent change
The equivalent embodiment of change, but without departing from the technical solutions of the present invention, technology refers to above embodiments according to the present invention
Made any simple modification, equivalent change and modification, belong in the range of technical solution of the present invention.
Claims (10)
1. a kind of upper limb healing system based on wrist joint and restoring gloves, including host computer, it is characterised in that: further include using
In dress and assist the assistant device for sport tool of upper limks movements, the motion-control module for controlling and adjusting assistant device for sport tool,
For sending control command to assistant device for sport tool, the main control module of motion-control module and for storing rehabilitation data information
And the operation module of selection rehabilitation prescription；
The operation module includes for selecting the input of rehabilitation training mode and analysis and observation rehabilitation training data selection single
Member；
The motion-control module includes multiple controls that target action is completed for controlling assistant device for sport tool auxiliary patient's arm
Motor processed and the bending sensor and motion sensing control device being set on assistant device for sport tool, the control motor and bending pass
Sensor is electrically connected with main control module, the main control module and upper mechatronics.
2. a kind of upper limb healing system based on wrist joint and restoring gloves according to claim 1, it is characterised in that: institute
Stating assistant device for sport tool includes restoring gloves and wrist joint device for rehabilitation, and the restoring gloves are used to assist the finger movement of patient,
The wrist joint device for rehabilitation is used to assist the arm motion of patient, and the bending sensor and motion sensing control device are set to rehabilitation hand
It puts on.
3. a kind of upper limb healing system based on wrist joint and restoring gloves according to claim 2, it is characterised in that: institute
Stating wrist joint device for rehabilitation includes two shells and two mechanical arms for auxiliary arm movement for being worn on arm, institute
The both ends for stating mechanical arm are separately connected two shells, and the joint of the mechanical arm installs limit switches, the limit switch
It is electrically connected with main control module.
4. a kind of upper limb healing system based on wrist joint and restoring gloves according to claim 1, it is characterised in that: institute
Stating motion-control module further includes bracket, and the control motor is fixed on bracket, and the shaft for controlling motor is connected with rotating bar,
Flexible pipe is arranged with outside the rotating bar, there are gap between the flexible pipe and rotating bar, is arranged in the rotating bar soft
Property line；It is fixed with slide post below the flexible pipe, the sliding moved up and down for controlling slide post is fixed on the bracket
Part, the sliding part are electrically connected with main control module.
5. a kind of upper limb healing system based on wrist joint and restoring gloves according to claim 1, it is characterised in that: institute
Stating operation module further includes database and rehabilitation game unit, and the database is used to store the basic letter of patient and therapist
The data of breath, the data of bending sensor and motion sensing control device, the rehabilitation game unit is for increasing Rehabilitation training
Enjoyment.
6. a kind of upper limb healing system based on wrist joint and restoring gloves according to claim 1, it is characterised in that: institute
Stating upper limb healing system further includes the FES functional electrostimulation module being electrically connected with main control module.
7. a kind of method of rehabilitation based on upper limb healing system described in claim 1, it is characterised in that: the following steps are included:
A. in the essential information of operation module typing patient and rehabilitation parameter setting is carried out, selection meets at the default rehabilitation of patient
Side；
B. system starts to carry out rehabilitation training, sends main control module for the rehabilitation parameter set in step a, while patient is strong
Side hand or therapist's wearable motion auxiliary instrument simultaneously move；
C. the data of the bending sensor on main control module acquisition assistant device for sport tool, then the parameter set in matching step a, really
Surely the movement length and speed and basic rehabilitation exercise training mode of control motor；
D. according to the determining parameter of electric machine and training method, the movement of the assistant device for sport tool of hemiplegia side is controlled, is helped inclined
Paralysed hand carries out rehabilitation training；
E. collected data are transferred to host computer by bending sensor and motion sensing control device, establish patient's hemiplegia complete three
Dimension module, the rehabilitation training achievement for observation analysis patient.
8. a kind of upper limb healing method based on wrist joint and restoring gloves according to claim 7, it is characterised in that: institute
It states in upper limb healing method, helps patient to do rehabilitation training, specific steps using FES functional electrical stimulation module are as follows:
F1. the data of the bending sensor on main control module acquisition assistant device for sport tool, and receive the parameter that host computer is sent
Set information；
F2. the data of acquisition and received parameter information are converted to machine language by main control module；
F3. main control module issues specific setting instruction according to these machine languages；
F4.FES functional electrical stimulation module receives the instruction of main control module, adjusts the frequency and intensity of itself electro photoluminescence.
9. a kind of upper limb healing method based on wrist joint and restoring gloves according to claim 8, it is characterised in that: institute
Stating operation module includes that database, input selecting unit and rehabilitation game unit, the operating procedure of operation module include:
G1. therapist is by the essential information of input selecting unit typing patient and the information of therapist, and all information are protected
It deposits to lane database；
G2. by the default rehabilitation training prescription and basic rehabilitation exercise training of input selecting unit selection FES functional electrical stimulation
Mode；
G3. the data by the acquisitions such as bending sensor and motion sensing control device are saved in database, and are carried out according to these data
3D modeling, the three-dimensional motion of display hemiplegia training.
10. a kind of upper limb healing method based on wrist joint and restoring gloves according to claim 7, it is characterised in that:
The basic rehabilitation exercise training mode includes that active movement mode, passive movement mode and master passively combine motion mode；
When selecting active movement mode, patient is autonomous to complete regulation training action according to different extraneous damping conditions；
When selecting passive movement mode, patient is in relaxation state, promotes it to complete specific training action by external force；
When selection master passively combines motion mode, a kinematics target is previously set, patient first uses up oneself maximum effort
Execution, external force make patient complete target action by adjusting the direction and size that patient has an effect.
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