CN112932891A - A rehabilitation device for hemiplegia patient position of sitting trunk training - Google Patents
A rehabilitation device for hemiplegia patient position of sitting trunk training Download PDFInfo
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- 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
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- 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
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
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- 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
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
- A61H2201/0176—By stopping operation
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- 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
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
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- 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
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
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Abstract
The invention discloses a rehabilitation device for sitting posture trunk training of a hemiplegic patient, wherein during rehabilitation training, a rehabilitee sits on an electric lifting seat, the electric lifting seat and an electric lifting arm support frame are adjusted to proper heights through a remote controller, when the electric lifting arm support frame rotates to a proper position and is locked, the rehabilitee places an arm on the electric lifting seat, places two feet on a plantar pressure distribution test sensor in a flat mode, and attaches an inertial sensor to the chest and the back of the rehabilitee; then, two six arms accomplish the action of formulating in the space, through elasticity manipulator and user interaction, can simulate doctor's rehabilitation training action, realize promoting or the function of centre gripping recovered person's trunk and pelvis to the recovered person of assistance carries out the trunk training.
Description
Technical Field
The invention belongs to the technical field of rehabilitation medical equipment, and particularly relates to rehabilitation equipment for sitting posture trunk training of a hemiplegic patient.
Background
A large number of people worldwide suffer from hemiplegia caused by diseases such as apoplexy every year, and the hemiplegia causes walking inconvenience and gait deformation if the people are light, and causes bedridden people and complete loss of life ability if the people are heavy. If effective rehabilitation is not available, the motor function of the lower limbs of the patients can be recovered forever, and the normal life of the patients is seriously influenced.
The rehabilitation training device is a new application combining robot technology and rehabilitation medical treatment, and can provide active and passive rehabilitation training for hemiplegic patients by combining different robot control methods. In particular, rehabilitation robots have many advantages for rehabilitation therapy of these patients, such as more flexibility and science. In addition, the rehabilitation training device can assist a rehabilitation doctor to treat the hemiplegic patient, can also reduce the working strength of the rehabilitation doctor, solves the problem that the hemiplegic patient cannot be effectively treated due to the lack of resources of the rehabilitation doctor, and can be popularized to hospitals for use.
At present, the existing rehabilitation training device is mainly suitable for training upper and lower limbs, and has less equipment specially used for training the trunk of a hemiplegic patient, but the pelvis of the waist is connected with the spine and the thighbone, so that the rehabilitation training device plays an important balance role in the process of vertically walking the human body. When the pelvis generates abnormal movement tracks, the movement characteristics of the human body are directly influenced. Therefore, the development of a special training device for curing hemiplegic rehabilitation trunk is of great research significance and practical value.
Patent publication No. CN 206138645U introduces a multifunctional trunk core muscle group trainer, which comprises a base, a column, a U-shaped rod, an oil cylinder damper and other parts, and can train trunk muscle groups such as extraabdominal oblique muscles, abdominal rectus muscles and the like through four training actions. But the trunk trainer only can provide resistance by an oil cylinder damper, has no power drive, and can not realize scientific and standard trunk training for the hemiplegic patients. Patent publication No. CN107537136A describes a rehabilitation training apparatus and method, which includes a pelvic mechanism unit, a pillar support mechanism unit, a treadmill unit, and the like. The weight reduction support at the pelvis position can avoid the pendulum effect caused by a suspension weight reduction mode, so that the trunk can naturally swing during walking. But the equipment can not realize the rehabilitation training of the sitting posture of the hemiplegic patient.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides the rehabilitation equipment for the trunk training of the hemiplegic patient in a sitting posture, and realizes the trunk and pelvis rehabilitation training of the hemiplegic patient in the sitting posture.
In order to achieve the above object, the present invention provides a rehabilitation device for torso training of a hemiplegic patient in a sitting posture, comprising: the device comprises six mechanical arms, a display, a mechanical arm base, a base plate, a three-dimensional force sensor, an elastic mechanical arm, an inertial sensor, an electric lifting arm support frame, an electric lifting seat, a plantar pressure distribution testing sensor and a remote controller;
the six-axis mechanical arm is respectively arranged in the front and back 45-degree directions of a rehabilitee and is used for simulating the human body arm to realize spatial six-degree-of-freedom movement;
the display is arranged on the base plate and is positioned in front of the sight line of the rehabilitee, so that the rehabilitee can observe the data of the inertial sensor and the plantar pressure distribution test sensor which are displayed on the display in real time, judge whether the sitting posture and the body gravity center of the rehabilitee deviate or not according to the data and remind the rehabilitee to correct the sitting posture in time;
the mechanical arm base is composed of an upper circular plate and a lower circular plate which are welded on the cylinder, threaded holes are uniformly distributed in the upper circular plate and the lower circular plate, the upper circular plate is fixedly connected with the six-shaft mechanical arm through bolts, and the lower circular plate is fixedly connected with the foundation plate through bolts;
the foundation plate is made of stainless steel materials, countersunk holes of various sizes are formed in one side, which is in contact with the ground, and the display, the mechanical arm base, the electric lifting arm support frame and the electric lifting seat are connected and fixed through countersunk bolts;
the three-dimensional force sensor is respectively connected with the six-axis mechanical arm and the elastic mechanical arm through bolts, can acquire X, Y, Z human-computer interaction forces in three coordinate axis directions and is used for feedback control of the motion state of the six-axis mechanical arm, when the human-computer interaction forces exceed a preset safety threshold, the six-axis mechanical arm stops moving, and injury to a rehabilitee due to overlarge human-computer interaction forces is avoided;
the elastic manipulator is made of elastic resin materials and is used for simulating the hand of a human and realizing the function of pushing or clamping the trunk and the pelvis of a rehabilitee;
the inertial sensors are respectively attached to the chest and the back of a rehabilitee and used for acquiring the body sitting posture data of the rehabilitee and displaying the sitting posture data on the display in a graphical interface mode;
the electric lifting arm support frames are respectively arranged on the left side and the right side of a rehabilitee, the rehabilitee synchronously adjusts the heights of the two electric lifting arm support frames through a remote controller, and the electric lifting arm support frames are locked when rotating to proper positions;
the electric lifting seat comprises an electric lifting column and a sponge seat cushion, the sponge seat cushion is connected with the electric lifting column through a bolt, and a rehabilitee adjusts the electric lifting column through a remote controller so as to adjust the height of the seat;
the plantar pressure distribution test sensor is a double-sided induction pressure sensing coating, is adsorbed and attached to the base plate through a thin silica gel pad attached to the surface of the plantar pressure distribution test sensor, is used for acquiring plantar pressure data of the left foot and the right foot of a rehabilitee and displaying the data on a display in a graphical interface mode;
when a rehabilitee uses the rehabilitation device to perform trunk training, the rehabilitee sits on the electric lifting seat, the electric lifting seat and the electric lifting arm support frame are adjusted to proper heights through a remote controller, when the electric lifting arm support frame rotates to a proper position and is locked, the rehabilitee places arms on the electric lifting seat, places two feet on the plantar pressure distribution test sensor in a flat mode, and then attaches the inertial sensors to the chest and the back of the rehabilitee; then, the two six-axis mechanical arms complete the formulated action in the space, and the elastic mechanical arms interact with the user, so that the rehabilitation training action of a doctor can be simulated, the function of pushing or clamping the trunk and the pelvis of a rehabilitee is realized, and the rehabilitation training of the trunk of the rehabilitee is assisted;
when a rehabilitee performs forward leaning training on the trunk and the pelvis, the six-axis mechanical arm at an angle of 45 degrees behind the rehabilitee drives the elastic mechanical hand to push the pelvis of the rehabilitee to move forwards, and the six-axis mechanical arm at an angle of 45 degrees in front of the rehabilitee drives the elastic mechanical hand to abut against the chest of the rehabilitee and move forwards and downwards along with the trunk of the rehabilitee;
when a rehabilitee performs backward tilting training on the trunk, the six-axis mechanical arm at an angle of 45 degrees in front of the rehabilitee drives the elastic mechanical arm to abut against the chest of the rehabilitee to push the trunk of the rehabilitee to move backward, and the six-axis mechanical arm at an angle of 45 degrees behind the rehabilitee drives the elastic mechanical arm to abut against the back of the rehabilitee to move backward and downward along with the trunk of the rehabilitee;
when a rehabilitee carries out trunk rotation training, the two six-axis mechanical arms with the front and rear angles of 45 degrees of the rehabilitee drive the two elastic mechanical arms to be respectively clamped at the left side and the right side of the pelvis of the rehabilitee, and then the six-axis mechanical arms at the two sides cooperate with each other to drive the trunk of the rehabilitee to carry out rotation action training;
when a rehabilitee carries out lateral bending training of the trunk, the two six-axis mechanical arms at 45 degrees in front and back of the rehabilitee drive the two elastic mechanical arms to respectively clamp the left/right pelvis and the right/left rib of the rehabilitee, then the elastic mechanical arm for clamping the left/right pelvis of the rehabilitee is driven by the six-axis mechanical arms to push the trunk of the rehabilitee to the right/left side, the elastic mechanical arm for clamping the right/left rib of the rehabilitee is driven by the six-axis mechanical arms to push the trunk of the rehabilitee to the left/right side, and the trunk of the rehabilitee is driven to carry out left/right lateral bending training movement under the cooperation of the six.
The invention aims to realize the following steps:
the invention relates to a rehabilitation device for sitting posture trunk training of a hemiplegic patient, during the rehabilitation training, a rehabilitee sits on an electric lifting seat, the electric lifting seat and an electric lifting arm support frame are adjusted to proper heights through a remote controller, when the electric lifting arm support frame rotates to a proper position and is locked, the rehabilitee places an arm on the electric lifting seat, places two feet on a plantar pressure distribution test sensor in a flat mode, and then attaches an inertial sensor to the chest and the back of the rehabilitee; then, two six arms accomplish the action of formulating in the space, through elasticity manipulator and user interaction, can simulate doctor's rehabilitation training action, realize promoting or the function of centre gripping recovered person's trunk and pelvis to the recovered person of assistance carries out the trunk training.
Meanwhile, the rehabilitation equipment for the trunk training of the hemiplegic patient in the sitting posture further has the following beneficial effects:
(1) the invention can assist the hemiplegic patient to realize the trunk training activities with multiple functions, the six-axis mechanical arm and the elastic manipulator drive the rehabilitative patient to do the activities such as forward leaning, backward leaning, rotating, lateral bending and the like of the trunk, and the invention can effectively and scientifically perform rehabilitation training aiming at the illness state of different illness hemiplegic patients;
(2) in the rehabilitation process, the difference of the heights of the seats can change the difficulty degree of the user in trunk training, and the height of the seat can be electrically adjusted according to different disease states of the rehabilitee until the rehabilitee is in a critical state to stand up, so that the whole process of trunk rehabilitation of the hemiplegic patient can be covered until the hemiplegic patient can normally stand up to walk;
(3) the three-dimensional force sensor is arranged, so that the man-machine interaction force can be acquired in real time, and the running state of the whole equipment can be fed back and controlled; when the human-computer interaction force exceeds a preset safety threshold, the device can stop moving and keep being fixed in the existing state, so that the injury to a user due to the overlarge human-computer interaction force is avoided, and the use safety is improved;
(4) the invention is provided with the inertial sensor and the plantar pressure distribution test sensor, can acquire the pose, plantar pressure and body gravity center data of a user in real time, and feeds the data back to the user through the display by a graphical interface, and if the pose is deviated or the center is deviated, the data can be timely adjusted, so that the whole training process is standard and scientific.
Drawings
FIG. 1 is a diagram of an embodiment of the rehabilitation apparatus for seated torso training of a hemiplegic patient according to the present invention;
FIG. 2 is a block diagram of one embodiment of a six-axis robotic arm;
FIG. 3 is a block diagram of one embodiment of an elastic manipulator;
FIG. 4 is a schematic diagram of the construction of an inertial sensor;
FIG. 5 is a block diagram of one embodiment of an electric arm support;
fig. 6 is a structural diagram of an embodiment of a plantar pressure distribution test sensor.
Detailed Description
The following description of the embodiments of the present invention is provided in order to better understand the present invention for those skilled in the art with reference to the accompanying drawings. It is to be expressly noted that in the following description, a detailed description of known functions and designs will be omitted when it may obscure the subject matter of the present invention.
Examples
Fig. 1 is a structural diagram of a rehabilitation device for sitting posture trunk training of a hemiplegic patient according to an embodiment of the invention.
In the present embodiment, fig. 1(a) is a front view of a hemiplegic patient sitting on a rehabilitation device, and fig. 1(b) is a back view of the hemiplegic patient sitting on the rehabilitation device; then, the rehabilitation device for trunk training of a hemiplegic patient in a sitting posture provided by the invention specifically comprises: the device comprises a six-axis mechanical arm 1-1, a display 1-2, a mechanical arm base 1-3, a base plate 1-4, a three-dimensional force sensor 1-5, an elastic mechanical arm 1-6, an inertial sensor 1-7, an electric lifting arm support frame 1-8, an electric lifting seat 1-9, a sole pressure distribution testing sensor 1-10 and a remote controller 1-11.
The six-axis mechanical arm 1-1 is respectively arranged in the front and back 45-degree directions of a rehabilitee and is used for simulating the human body arm to realize the spatial six-degree-of-freedom movement.
As shown in fig. 2, each six-axis robot arm 1-1 in turn comprises: 2-1 of a base flange, 2-2 of a first shaft motor and a speed reducer, 2-3 of a lower arm cylinder, 2-4 of a third shaft motor and a speed reducer, 2-5 of an upper arm cylinder, 2-6 of a fourth shaft motor and a speed reducer, 2-7 of a second shaft motor and a speed reducer, 2-8 of a fifth shaft motor and a speed reducer, and 2-9 of a sixth shaft motor and a speed reducer;
wherein, the base flange 2-1 is connected with the lower ends of the first shaft motor and the reducer 2-2 through bolts; the side ends of the first shaft motor and the speed reducer 2-2 are connected with the side ends of the second shaft motor and the speed reducer 2-7 through bolts; the lower arm cylinder 2-3 is connected to the upper ends of a second shaft motor and a speed reducer 2-7 through bolts; the lower end and the side end of a third shaft motor and a speed reducer 2-4 are respectively connected with a lower arm cylinder 2-3 and an upper arm cylinder 2-5; the other end of the upper arm cylinder 2-5 is connected with the lower ends of a fourth shaft motor and a speed reducer 2-6 through bolts; the side ends of the fourth shaft motor and the speed reducer 2-6 are connected with the fifth shaft motor and the speed reducer 2-8; the other ends of the fifth shaft motor and the speed reducers 2 to 8 are connected with the sixth shaft motor and the speed reducers 2 to 9 through bolts; six motors, an upper arm cylinder and a lower arm cylinder are connected into a mechanical arm with six degrees of freedom, the mechanical arms are respectively arranged in the front direction and the rear direction of a rehabilitee at 45 degrees, and the two six mechanical arms are matched and cooperated, so that the arm movement of a rehabilitation doctor can be simulated.
The display 1-2 is arranged on the base plate 1-4 and is positioned in front of the sight line of the rehabilitee, so that the rehabilitee can observe the data of the inertial sensors 1-7 and the plantar pressure distribution test sensors displayed on the display in real time, judge whether the sitting posture and the body gravity center of the rehabilitee deviate or not according to the data, and remind the rehabilitee to correct the sitting posture in time.
The mechanical arm base 1-3 is composed of an upper circular plate and a lower circular plate which are welded on a cylinder, threaded holes are uniformly distributed in the upper circular plate and the lower circular plate, the upper circular plate is fixedly connected with the six-axis mechanical arm 1-1 through bolts, and the lower circular plate is fixedly connected with the base plate 1-4 through bolts.
The foundation plates 1-4 are made of stainless steel materials, countersunk holes of various sizes are formed in one side, which is in contact with the ground, of the foundation plates, and the display 1-2, the mechanical arm base 1-3, the electric lifting arm support frame 1-8 and the electric lifting seat 1-9 are connected and fixed through countersunk bolts.
The three-dimensional force sensor 1-5 is respectively connected with the six-axis mechanical arm 1-1 and the elastic mechanical arm 1-6 through bolts, human-computer interaction force in the directions of three coordinate axes can be obtained X, Y, Z and used for feedback control of the motion state of the six-axis mechanical arm 1-1, when the human-computer interaction force exceeds a preset safety threshold, the six-axis mechanical arm 1-1 stops moving, and injury to a rehabilitee due to overlarge human-computer interaction force is avoided.
The elastic manipulator 1-6 is made of elastic resin materials and is used for simulating hands of a human to realize the function of pushing or clamping the trunk and pelvis of a rehabilitee; in this embodiment, as shown in fig. 3, the elastic manipulator 1-6 is manufactured by 3D printing, similar in size to a human hand.
The inertial sensors 1-7 are respectively attached to the chest and the back of a rehabilitee and used for acquiring the body sitting posture data of the rehabilitee and presenting the sitting posture data on the display 1-2 in a graphical interface mode; in the present embodiment, as shown in fig. 4, the inertial sensors 1 to 7 are composed of five parts, namely, a power management unit, a main controller unit, a gyroscope and accelerometer sensor unit, a geomagnetic sensor unit, and a WIFI communication unit.
The rehabilitation device comprises electric lifting arm support frames 1-8, wherein the electric lifting arm support frames are respectively arranged on the left side and the right side of a rehabilitee, the rehabilitee synchronously adjusts the heights of the two electric lifting arm support frames 1-8 through a remote controller 1-11, and the electric lifting arm support frames 1-8 are locked when rotated to proper positions; in this embodiment, as shown in fig. 5, each of the electric lifting arm supports 1-8 further includes: 5-1 parts of electric lifting columns, 5-2 parts of connecting plates, 5-3 parts of steel columns, 5-4 parts of annular plates, 5-5 parts of plane thrust bearings, 5-6 parts of lower sleeves, 5-7 parts of lower cam handles, 5-8 parts of upper sleeves, 5-9 parts of upper cam handles, 5-10 parts of plastic supporting plates, 5-11 parts of rib plates and 5-12 parts of supporting plates;
the electric lifting column 5-1 is fixedly connected with the foundation plate through a countersunk bolt, the connecting plate 5-2 is welded with the steel column 5-3 and is connected with the electric lifting column 5-1 through a bolt and a nut; the cam handles 5-9 are sequentially sleeved on the steel column 5-3 from the annular plate 5-4 to the upper part from bottom to top; respectively connecting the rib plates 5-11 and the support plates 5-12 with the lower sleeves 5-6 and the upper sleeves 5-8 through bolts and nuts, and then mutually connecting the rib plates 5-11 and the support plates 5-12 through the bolts and the nuts; the plastic supporting plate 5-10 is fixed on the supporting plate 5-12 through a countersunk bolt, and finally, a sponge contact surface is covered on the plastic supporting plate to ensure that the arm supporting frame is soft and comfortable; the height of the electric lifting arm support frame 1-8 is adjusted by a rehabilitee through the remote controller 1-11, the support plate 5-12 rotates around the steel column 5-2 to be adjusted in the adjusting process, and when the electric lifting arm support frame 1-8 rotates to a proper position, the position of the electric lifting arm support frame is locked at any angle through the cam handles 5-7 and 5-9.
The electric lifting seats 1-9 comprise electric lifting columns and sponge seat cushions, the sponge seat cushions are connected with the electric lifting columns through bolts, and a rehabilitee adjusts the electric lifting columns through a remote controller 1-11 so as to adjust the height of the seats.
The plantar pressure distribution test sensors 1-10 are double-sided sensing pressure sensing coatings, and in the embodiment, as shown in fig. 6, the plantar pressure distribution test sensors are prepared by transferring pressure sensitive ink to a film substrate in a screen printing mode; the sole pressure data of the left foot and the right foot of a rehabilitee are acquired by adsorbing and attaching a thin silica gel pad attached to the surface of the base plate 1-4, and the data are displayed on a display 1-2 in a graphical interface mode;
when a rehabilitee uses rehabilitation equipment to perform trunk training, the rehabilitee sits on the electric lifting seat 1-9, the electric lifting seat 1-9 and the electric lifting arm support frame 1-8 are adjusted to proper heights through a remote controller, when the electric lifting arm support frame 1-8 rotates to a proper position and is locked, the rehabilitee places arms on the electric lifting seat, places two feet on the foot pressure distribution test sensors 1-10, and then attaches the inertial sensors 1-7 to the chest and the back of the rehabilitee; then, the two six-axis mechanical arms 1-1 complete the formulated action in the space, and the elastic mechanical arms 1-6 interact with the user, so that the rehabilitation training action of a doctor can be simulated, the function of pushing or clamping the trunk and the pelvis of a rehabilitee is realized, and the rehabilitation training of the trunk of the rehabilitee is assisted; the specific process of training is as follows:
when a rehabilitee performs forward-leaning training on the trunk and the pelvis, the six-axis mechanical arm 1-1 at an angle of 45 degrees behind the rehabilitee drives the elastic mechanical arm 1-6 to push the pelvis of the rehabilitee to move forward, and the six-axis mechanical arm 1-1 at an angle of 45 degrees in front of the rehabilitee drives the elastic mechanical arm 1-6 to prop against the chest of the rehabilitee and move forward and downward along with the trunk of the rehabilitee;
when a rehabilitee performs backward tilting training on the trunk, the six-axis mechanical arm 1-1 at an angle of 45 degrees in front of the rehabilitee drives the elastic mechanical arm 1-6 to abut against the chest of the rehabilitee to push the trunk of the rehabilitee to move backwards, and the six-axis mechanical arm 1-1 at an angle of 45 degrees behind the rehabilitee drives the elastic mechanical arm 1-6 to abut against the back of the rehabilitee to move backwards and downwards along with the trunk of the rehabilitee;
when a rehabilitee carries out trunk rotation training, two six-axis mechanical arms 1-1 with the front and rear angles of 45 degrees of the rehabilitee drive two elastic mechanical arms 1-6 to be respectively clamped at the left side and the right side of the pelvis of the rehabilitee, and then the six-axis mechanical arms at the two sides cooperate with each other to drive the trunk of the rehabilitee to carry out rotation action training;
when a rehabilitee carries out lateral bending training on the trunk, two six-axis mechanical arms 1-1 at 45 degrees in front and back of the rehabilitee drive two elastic mechanical arms 1-6 to be respectively clamped on the left/right pelvis and the right/left rib of the rehabilitee, then the elastic mechanical arm for clamping the left/right pelvis of the rehabilitee is driven by the six-axis mechanical arms to push the trunk of the rehabilitee to the right/left side, the elastic mechanical arm for clamping the right/left rib of the rehabilitee is driven by the six-axis mechanical arms to push the trunk of the rehabilitee to the left/right side, and the trunk of the rehabilitee is driven to carry out left/right lateral bending training movement under the cooperation of the six.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art as long as they are within the spirit and scope of the present invention as defined and defined by the appended claims, and all matters of the invention which utilize the inventive concepts are protected.
Claims (3)
1. A rehabilitation apparatus for seated torso training of a hemiplegic patient, comprising: the device comprises six mechanical arms, a display, a mechanical arm base, a base plate, a three-dimensional force sensor, an elastic mechanical arm, an inertial sensor, an electric lifting arm support frame, an electric lifting seat, a plantar pressure distribution testing sensor and a remote controller;
the six-axis mechanical arm is respectively arranged in the front and back 45-degree directions of a rehabilitee and is used for simulating the human body arm to realize spatial six-degree-of-freedom movement;
the display is arranged on the base plate and is positioned in front of the sight line of the rehabilitee, so that the rehabilitee can observe the data of the inertial sensor and the plantar pressure distribution test sensor which are displayed on the display in real time, judge whether the sitting posture and the body gravity center of the rehabilitee deviate or not according to the data and remind the rehabilitee to correct the sitting posture in time;
the mechanical arm base is composed of an upper circular plate and a lower circular plate which are welded on the cylinder, threaded holes are uniformly distributed in the upper circular plate and the lower circular plate, the upper circular plate is fixedly connected with the six-shaft mechanical arm through bolts, and the lower circular plate is fixedly connected with the foundation plate through bolts;
the foundation plate is made of stainless steel materials, countersunk holes of various sizes are formed in one side, which is in contact with the ground, and the display, the mechanical arm base, the electric lifting arm support frame and the electric lifting seat are connected and fixed through countersunk bolts;
the three-dimensional force sensor is respectively connected with the six-axis mechanical arm and the elastic mechanical arm through bolts, can acquire X, Y, Z human-computer interaction forces in three coordinate axis directions and is used for feedback control of the motion state of the six-axis mechanical arm, when the human-computer interaction forces exceed a preset safety threshold, the six-axis mechanical arm stops moving, and injury to a rehabilitee due to overlarge human-computer interaction forces is avoided;
the elastic manipulator is made of elastic resin materials and is used for simulating the hand of a human and realizing the function of pushing or clamping the trunk and the pelvis of a rehabilitee;
the inertial sensors are respectively attached to the chest and the back of a rehabilitee and used for acquiring the body sitting posture data of the rehabilitee and displaying the sitting posture data on the display in a graphical interface mode;
the electric lifting arm support frames are respectively arranged on the left side and the right side of a rehabilitee, the rehabilitee synchronously adjusts the heights of the two electric lifting arm support frames through a remote controller, and the electric lifting arm support frames are locked when rotating to proper positions;
the electric lifting seat comprises an electric lifting column and a sponge seat cushion, the sponge seat cushion is connected with the electric lifting column through a bolt, and a rehabilitee adjusts the electric lifting column through a remote controller so as to adjust the height of the seat;
the plantar pressure distribution test sensor is a double-sided induction pressure sensing coating, is adsorbed and attached to the base plate through a thin silica gel pad attached to the surface of the plantar pressure distribution test sensor, is used for acquiring plantar pressure data of the left foot and the right foot of a rehabilitee and displaying the data on a display in a graphical interface mode;
when a rehabilitee uses the rehabilitation device to perform trunk training, the rehabilitee sits on the electric lifting seat, the electric lifting seat and the electric lifting arm support frame are adjusted to proper heights through a remote controller, when the electric lifting arm support frame rotates to a proper position and is locked, the rehabilitee places arms on the electric lifting seat, places two feet on the plantar pressure distribution test sensor in a flat mode, and then attaches the inertial sensors to the chest and the back of the rehabilitee; then, the two six-axis mechanical arms complete the formulated action in the space, and the elastic mechanical arms interact with the user, so that the rehabilitation training action of a doctor can be simulated, the function of pushing or clamping the trunk and the pelvis of a rehabilitee is realized, and the rehabilitation training of the trunk of the rehabilitee is assisted;
when a rehabilitee performs forward leaning training on the trunk and the pelvis, the six-axis mechanical arm at an angle of 45 degrees behind the rehabilitee drives the elastic mechanical hand to push the pelvis of the rehabilitee to move forwards, and the six-axis mechanical arm at an angle of 45 degrees in front of the rehabilitee drives the elastic mechanical hand to abut against the chest of the rehabilitee and move forwards and downwards along with the trunk of the rehabilitee;
when a rehabilitee performs backward tilting training on the trunk, the six-axis mechanical arm at an angle of 45 degrees in front of the rehabilitee drives the elastic mechanical arm to abut against the chest of the rehabilitee to push the trunk of the rehabilitee to move backward, and the six-axis mechanical arm at an angle of 45 degrees behind the rehabilitee drives the elastic mechanical arm to abut against the back of the rehabilitee to move backward and downward along with the trunk of the rehabilitee;
when a rehabilitee carries out trunk rotation training, the two six-axis mechanical arms with the front and rear angles of 45 degrees of the rehabilitee drive the two elastic mechanical arms to be respectively clamped at the left side and the right side of the pelvis of the rehabilitee, and then the six-axis mechanical arms at the two sides cooperate with each other to drive the trunk of the rehabilitee to carry out rotation action training;
when a rehabilitee carries out lateral bending training of the trunk, the two six-axis mechanical arms at 45 degrees in front and back of the rehabilitee drive the two elastic mechanical arms to respectively clamp the left/right pelvis and the right/left rib of the rehabilitee, then the elastic mechanical arm for clamping the left/right pelvis of the rehabilitee is driven by the six-axis mechanical arms to push the trunk of the rehabilitee to the right/left side, the elastic mechanical arm for clamping the right/left rib of the rehabilitee is driven by the six-axis mechanical arms to push the trunk of the rehabilitee to the left/right side, and the trunk of the rehabilitee is driven to carry out left/right lateral bending training movement under the cooperation of the six.
2. The rehabilitation apparatus for seated torso training of hemiplegic patients according to claim 1, wherein said six-axis mechanical arm comprises: the device comprises a base flange, a first shaft motor and a speed reducer, a lower arm cylinder, a third shaft motor and a speed reducer, an upper arm cylinder, a fourth shaft motor and a speed reducer, a second shaft motor and a speed reducer, a fifth shaft motor and a speed reducer, and a sixth shaft motor and a speed reducer;
the base flange is connected with the lower ends of the first shaft motor and the speed reducer through bolts; the side ends of the first shaft motor and the speed reducer are connected with the side ends of the second shaft motor and the speed reducer through bolts; the lower arm cylinder is connected to the upper ends of the second shaft motor and the speed reducer through bolts; the lower ends and the side ends of the third shaft motor and the speed reducer are respectively connected with the lower arm cylinder and the upper arm cylinder; the other end of the upper arm cylinder is connected with a fourth shaft motor and the lower end of the speed reducer through bolts; the side ends of the fourth shaft motor and the speed reducer are connected with the fifth shaft motor and the speed reducer; the other end of the fifth shaft motor and the speed reducer are connected with the sixth shaft motor and the speed reducer through bolts; six motors, an upper arm cylinder and a lower arm cylinder are connected into a mechanical arm with six degrees of freedom, the mechanical arms are respectively arranged in the front direction and the rear direction of a rehabilitee at 45 degrees, and the two six mechanical arms are matched and cooperated, so that the arm movement of a rehabilitation doctor can be simulated.
3. A rehabilitation apparatus for seated torso training of hemiplegic patients, according to claim 1, wherein said motorized lift arm support comprises: the device comprises an electric lifting column, a connecting plate, a steel column, an annular plate, a plane thrust bearing, a lower sleeve, a lower cam handle, an upper sleeve, an upper cam handle, a plastic supporting plate, a rib plate and a supporting plate;
the electric lifting column is fixedly connected with the foundation plate through a countersunk bolt, and the connecting plate is welded with the steel column and is connected with the electric lifting column through a bolt and a nut; the cam handle is sleeved on the steel column from the annular plate to the upper part from bottom to top in sequence; respectively connecting the rib plate and the support plate with the lower sleeve and the upper sleeve through bolts and nuts, and then mutually connecting the rib plate and the support plate through the bolts and the nuts; the plastic supporting plate is fixed on the supporting plate through a countersunk bolt, and finally, a sponge contact surface is covered on the plastic supporting plate, so that the arm supporting frame is soft and comfortable; the recovered person passes through the remote controller and adjusts the height of electric lift arm support frame, and backup pad round steel column rotation regulation in accommodation process when electric lift arm support frame rotates suitable position, through the cam handle with lock its position at arbitrary angle.
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