TWI413517B - Upper limb rehabilitation device and process setting method thereof - Google Patents
Upper limb rehabilitation device and process setting method thereof Download PDFInfo
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Description
本發明係關於一種上肢復健器，尤指一種可設定行程之上肢復健器，以供復健者依照設定之復健行程，達到正確復健之目的。The invention relates to an upper limb rehabilitation device, in particular to a limb rehabilitation device capable of setting a stroke for the rehabilitation person to achieve the correct rehabilitation according to the set rehabilitation stroke.
由於患有神經傷害之病患，多數需藉由復健而恢復其原本肌肉及關節之功能，否則容易造成攣縮之現象，而導致肌肉及關節之退化。此類患有神經傷害之病患，部份可藉由自己的力量進行復健，部份卻需依賴照護者之協助才能進行復健。而在協助病患復健期間，照護者需隨時注意病患之復健狀況，以提供正確之姿勢調整以及支撐病患等之協助，使病患能正確的進行復健。然而長久下來，不但隨同之照護者會感到疲累，病患亦可能因此而姿勢錯誤，導致復健不良。Because of the patients with nerve damage, most of them need to restore their original functions of muscles and joints by rehabilitation. Otherwise, they will easily cause contracture and lead to the deterioration of muscles and joints. Some of these patients with neurological injuries can be rehabilitated by their own strength, but some rely on the assistance of caregivers to rehabilitate. During the rehabilitation of the patient, the caregiver should pay attention to the rehabilitation of the patient at all times to provide correct posture adjustment and support for the patient, so that the patient can properly rehabilitate. However, for a long time, not only the caregivers who are with them will feel tired, but the patients may have wrong postures, resulting in poor rehabilitation.
習知之上肢復健器多半不具有個人化之行程設定，對於需使用不同強度復健之上肢復健者來說，若使用相同之上肢復健器，顯然會因為個別狀況不同而影響正常之復健。此外，由於上肢之肌肉組成複雜，若於上肢復健之擺動動作中，皆使用相同之上肢復健器，則復健者較脆弱之上肢肌肉極可能會因此復健強度之不適應而造成肌肉受傷。再則，對於僅部份之上肢肌肉需進行復健之患者來說，習知之上肢復健器亦可能無法滿足其針對特定之上肢肌肉來進行復健。Most of the upper limb rehabilitation devices do not have a personalized stroke setting. For those who need to use different strengths to rehabilitate the upper limbs, if the same upper limb rehabilitation device is used, it will obviously affect the normal recovery due to different conditions. Jian. In addition, due to the complex muscle composition of the upper limbs, if the same upper limb rehabilitation device is used in the swinging motion of the upper limbs, the muscles of the weaker upper limbs of the rehabilitation are likely to cause muscles due to the incompatibility of the rehabilitation strength. Injured. Furthermore, for patients whose partial upper limb muscles need to be rehabilitated, the conventional upper limb rehabilitation device may not be able to meet the specific upper limb muscles for rehabilitation.
有鑑於此，提供一種具行程設定單元之上肢復健器，不但可使復健者必須完成應該達成之復健行程要求之外，亦可針對個別狀況設定個別化之上肢復健行程。In view of the above, an upper limb rehabilitation device with a stroke setting unit is provided, which not only allows the rehabilitation person to complete the rehabilitation stroke request that should be achieved, but also sets the individualized upper limb rehabilitation stroke for individual conditions.
本發明之主要目的係在提供一種上肢復健器，俾能依照復健者之不同需求而設定個別化之復健行程，以使復健者進行適當之上肢復建。The main object of the present invention is to provide an upper limb rehabilitation device that can set an individualized rehabilitation stroke according to different needs of the rehabilitation person, so that the rehabilitation person performs appropriate upper limb reconstruction.
本發明之另一目的係提供一種上肢復健器之行程設定方法，俾能設定復健上肢之擺動幅度、以及擺動速度，以針對不同復健者之需求而設定不同強度之復健。Another object of the present invention is to provide a method for setting the stroke of an upper limb rehabilitation device, which can set the swing amplitude of the rehabilitation upper limb and the swing speed to set the rehabilitation of different strengths for the needs of different rehabilitation persons.
為達上述之目的，本發明乃提供一種上肢復健器，其中包括：一底座、一驅動單元、一擺臂、以及一擺臂行程設定單元。其中，驅動單元係組設於底座上。擺臂係耦接至驅動單元上，且此擺臂係會受到驅動單元之驅動而進行一往復運動，以帶動復健者之上肢進行往復擺動。該驅動單元之功能除了可帶動復健者之上肢擺動外，亦可給予擺臂一阻抗力，而讓復健者於進行上肢之往復運動時，訓練上肢之肌耐力。而擺臂行程設定單元係設置於驅動單元之一側表面上，並位於擺臂及驅動單元之間，以設定擺臂擺動。To achieve the above object, the present invention provides an upper limb rehabilitation device including: a base, a driving unit, a swing arm, and a swing arm stroke setting unit. Wherein, the driving unit is assembled on the base. The swing arm is coupled to the driving unit, and the swing arm is driven by the driving unit to perform a reciprocating motion to drive the rehabilitated upper limb to reciprocate. In addition to driving the upper limb of the rehabilitation person, the function of the driving unit can also give the swing arm a resistance force, and let the rehabilitation person train the muscular endurance of the upper limb when performing the reciprocating motion of the upper limb. The swing arm stroke setting unit is disposed on one side surface of the driving unit and located between the swing arm and the driving unit to set the swing arm swing.
上述之擺臂行程設定單元包含一滑軌及複數個滑設於滑軌上之端點設定單元，以設定擺臂所進行之往復運動的行程。而當擺臂進行該往復運動時，一旦擺臂與其中之一該等端點設定單元相對應時，驅動單元便會改變往復運動的擺動模式。The swing arm stroke setting unit includes a slide rail and a plurality of end point setting units slidably disposed on the slide rail to set a stroke of the reciprocating motion performed by the swing arm. When the swing arm performs the reciprocating motion, the drive unit changes the swing mode of the reciprocating motion once the swing arm corresponds to one of the end point setting units.
上述之驅動單元係包含一馬達及複數個驅動皮帶，且該等驅動皮帶係分別耦接至馬達及擺臂，以帶動擺臂擺動。The driving unit includes a motor and a plurality of driving belts, and the driving belts are respectively coupled to the motor and the swing arm to drive the swing arm to swing.
上述擺臂行程設定單元之端點設定單元，其中，此端點設定單元係可感應擺臂擺動，進而偵測擺臂是否擺動至其所設定之端點。而此端點設定單元係可為定向磁場感應單元、光電單元、機械式觸發單元、電子式觸發單元、或緩衝單元。其中，定向磁場感應單元係透過感應擺臂磁場之方向，以偵測擺臂是否到達設定之端點：光電單元係透過擺臂之光、電訊號之感應，或透過擺臂與此端點設定單元之光電訊號轉換，以感應擺臂是否到達設定之端點；機械式觸發單元則係透過擺臂到達端點後，擺臂會依重力或驅動單元之驅動力量而壓制一機械開關，以偵測擺臂是否到達設定之端點；另外，電子式觸發單元則係藉由擺臂觸碰此電子式觸發單元後，其會產生一流通之電流，以達到偵測擺臂是否到達設定之端點之功能；而緩衝單元則是透過油壓緩衝之方式，於擺臂即將達到端點時，減低速度，透過油壓緩衝之緩衝強弱以偵測擺臂是否到達設定之端點。The end point setting unit of the swing arm stroke setting unit, wherein the end point setting unit can sense the swing arm swing, thereby detecting whether the swing arm swings to its set end point. The endpoint setting unit can be a directional magnetic field sensing unit, a photoelectric unit, a mechanical trigger unit, an electronic trigger unit, or a buffer unit. The directional magnetic field sensing unit transmits the direction of the magnetic field of the swing arm to detect whether the swing arm reaches the set end point: the photoelectric unit transmits light from the swing arm, the signal of the electric signal, or is set through the swing arm and the end point. The photoelectric signal of the unit is converted to sense whether the swing arm reaches the set end point; the mechanical trigger unit passes through the swing arm to reach the end point, and the swing arm presses a mechanical switch according to the driving force of gravity or the driving unit to detect Whether the measuring arm reaches the set end point; in addition, the electronic trigger unit touches the electronic trigger unit by the swing arm, and generates a circulating current to detect whether the swing arm reaches the set end. The function of the point is; the buffer unit is through the oil buffer mode, when the swing arm is about to reach the end point, the speed is reduced, and the buffer strength of the oil pressure buffer is used to detect whether the swing arm reaches the set end point.
本發明上肢復健器之行程設定單元之滑軌係為一弧狀滑軌，而擺臂之往復運動移動模式，係為擺臂之擺動方向、擺臂之擺動角速度、或擺動次數。The slide rail of the stroke setting unit of the upper limb rehabilitation device of the present invention is an arc-shaped slide rail, and the reciprocating movement mode of the swing arm is the swing direction of the swing arm, the swing angular velocity of the swing arm, or the number of swings.
此外，本發明之上肢復健器係可包含一電腦控制單元，與此上肢復健器連接，以利用電腦直接進行端點設定單元於滑軌位置之設定，以及擺臂之往復運動行程之設定，另可透過此電腦控制單元，以隨時停止上肢復健器之運作。In addition, the upper limb rehabilitation device of the present invention may include a computer control unit connected to the upper limb rehabilitation device to directly set the position of the end point setting unit on the slide rail and the setting of the reciprocating stroke of the swing arm by using a computer. The computer control unit can also be used to stop the operation of the upper limb rehabilitation device at any time.
本發明另提供上肢復健器之種行程設定方法，包括：(A)提供一上肢復健器，而此上肢復健器係包括一底座、一驅動單元、一擺臂以及一擺臂行程設定單元，且其擺臂行程設定單元係包含一滑軌、及複數個滑設於該滑軌上之端點設定單元；以及(B)設定該等端點設定單元於滑軌上的位置，以設定擺臂所進行之往復運動的行程。其中，設定端點設定單元之方法係可利用手動，移動此端點設定單元於滑軌上之位置，亦可透過上肢復健器上之電腦控制單元進行端點設定單元之設定。The invention further provides a method for setting the stroke of the upper limb rehabilitation device, comprising: (A) providing an upper limb rehabilitation device, wherein the upper limb rehabilitation device comprises a base, a driving unit, a swing arm and a swing arm stroke setting a unit, and the swing arm stroke setting unit includes a slide rail and a plurality of end point setting units slidably disposed on the slide rail; and (B) setting a position of the end point setting unit on the slide rail, Set the stroke of the reciprocating motion of the swing arm. The method for setting the endpoint setting unit can manually move the position of the endpoint setting unit on the slide rail, and can also set the endpoint setting unit through the computer control unit on the upper limb rehabilitation device.
其中，步驟(A)所述之上肢復健器，其中驅動單元係組設底座上，擺臂則耦接至驅動單元上，並受驅動單元驅動而進行往復運動。而擺臂行程設定單元係設置於驅動單元之一側表面並位於擺臂及驅動單元之間。而當擺臂進行往復運動時，一旦擺臂與其中一端點設定單元相對應，驅動單元便可改變往復運動的擺動模式。Wherein, the upper limb rehabilitation device of step (A), wherein the driving unit is assembled on the base, the swing arm is coupled to the driving unit, and is driven by the driving unit to reciprocate. The swing arm stroke setting unit is disposed on one side surface of the driving unit and located between the swing arm and the driving unit. When the swing arm reciprocates, once the swing arm corresponds to one of the end point setting units, the drive unit can change the swing mode of the reciprocating motion.
上述行程設定方法之端點設定單元係可為定向磁場感應單元、光電單元、機械式觸發單元、電子式觸發單元、或緩衝單元。The endpoint setting unit of the above stroke setting method may be an orientation magnetic field sensing unit, a photoelectric unit, a mechanical trigger unit, an electronic trigger unit, or a buffer unit.
上述行程設定方法中，擺臂所進行之往復運動擺動模式，可為擺臂之擺動方向、擺臂之擺動角速度、或擺動次數。In the above stroke setting method, the reciprocating motion swing mode performed by the swing arm may be the swinging direction of the swing arm, the swing angular speed of the swing arm, or the number of swings.
上述本發明之上肢復健器之種行程設定方法，其中更包括一步驟(C)：設定當擺臂與每一該等端點設定單元相對應時，其驅動單元所需改變之往復運動的擺動模式。其中，該擺動模式可為在遇到端點設定單元後，其擺臂之擺動方向改變、擺動角速度改變等。The method for setting the stroke of the upper limb rehabilitation device of the present invention further comprises a step (C) of: setting the reciprocating motion of the driving unit to be changed when the swing arm corresponds to each of the end point setting units Swing mode. The swing mode may be a change in the swing direction of the swing arm, a change in the swing angular velocity, and the like after the end point setting unit is encountered.
而上述複數之端點設定單元係為一第一端點設定單元、一第二端點設定單元、及一第三端點設定單元。當擺臂位於第一端點設定單元、及第二端點設定單元之間時，其擺臂係會以一第一角速度擺動。而當擺臂位於第二端點設定單元、及第三端點設定單元之間時，則擺臂會以一異於該第一角速度之第二角速度擺動。透過上述之第一、第二、及第三端點設定單元之設定，以使上肢復健者得以透過不同擺動角速度之情況下，對上肢不同部位進行不同之復健強度。The plurality of endpoint setting units are a first endpoint setting unit, a second endpoint setting unit, and a third endpoint setting unit. When the swing arm is located between the first end point setting unit and the second end point setting unit, the swing arm system swings at a first angular velocity. When the swing arm is located between the second end point setting unit and the third end point setting unit, the swing arm swings at a second angular velocity different from the first angular velocity. Through the setting of the first, second, and third end point setting units described above, in order to enable the upper limb rehabilitation person to transmit different swing angular velocities, different rehabilitation strengths are performed on different parts of the upper limb.
此外，本發明之上肢復健器，其擺臂於進行往復運動時，當擺臂與其中一端點設定單元相對應時，上肢復健器即會發出一音響，以告知復健者已達到其上肢擺動之設定標準。此外，本發明之上肢復健器，尚可於一特定時間內，當擺臂與端點設定單元相對應達一特定次數時，其亦可發出一音響，以告知復健者已完成復健之流程。In addition, in the upper limb rehabilitation device of the present invention, when the swing arm performs the reciprocating motion, when the swing arm corresponds to one of the end point setting units, the upper limb rehabilitation device emits an acoustic sound to inform the rehabilitation person that it has reached the The setting standard for upper limb swing. In addition, the upper limb rehabilitation device of the present invention can also emit an acoustic sound to inform the rehabilitation person that the rehabilitation has been completed when the swing arm and the end point setting unit correspond to a certain number of times within a certain time. The process.
實施例1Example 1
圖1係本發明實施例1之上肢復健器立體圖，其中係包含：一底座11、一驅動單元12、一擺臂13、及一擺臂行程設定單元14。於本實施例之上肢復健器中，驅動單元12係設於底座11上，而驅動單元12與底座11間設有一支架111，其中支架111上設有一高度調整元件112，使驅動單元12得以調整高度。另外，驅動單元12之側邊具有一軸心133，擺臂13設置於此軸心133上，以使驅動單元12驅動擺臂13進行往復運動。再則，擺臂行程設定單元14係設於驅動單元12的側面，並且與軸心133同側。其中，如圖2之本發明實施例1之擺臂行程設定單元立體圖所示。擺臂行程設定單元14具有一滑軌141以及兩個端點行程設定單元，分別為第一端點設定單元142、及第二端點設定單元143。當擺臂13透過軸心133而進行擺動時，則其擺臂13之擺動軌跡係為滑軌141之軌跡，於本實施例中，此滑軌141係為弧狀滑軌。1 is a perspective view of an upper limb rehabilitation device according to Embodiment 1 of the present invention, which includes a base 11, a driving unit 12, a swing arm 13, and a swing arm stroke setting unit 14. In the upper limb rehabilitation device of the present embodiment, the driving unit 12 is disposed on the base 11, and a bracket 111 is disposed between the driving unit 12 and the base 11. The bracket 111 is provided with a height adjusting component 112, so that the driving unit 12 can be Adjust the height. In addition, the side of the driving unit 12 has a shaft center 133, and the swing arm 13 is disposed on the shaft center 133 to cause the driving unit 12 to drive the swing arm 13 to reciprocate. Further, the swing arm stroke setting unit 14 is provided on the side surface of the drive unit 12 and is on the same side as the shaft center 133. 2 is a perspective view of the swing arm stroke setting unit of Embodiment 1 of the present invention. The swing arm stroke setting unit 14 has a slide rail 141 and two end stroke setting units, which are a first end point setting unit 142 and a second end point setting unit 143, respectively. When the swing arm 13 is swung through the shaft center 133, the swinging trajectory of the swing arm 13 is the trajectory of the slide rail 141. In the embodiment, the slide rail 141 is an arc-shaped slide rail.
本實施例之上肢復健器之驅動單元12具有一馬達121以及皮帶122，而皮帶122係會與馬達121以及擺臂13耦接，當馬達121運作時，則會透過皮帶122以驅動擺臂13擺動。The driving unit 12 of the upper limb rehabilitation device of the present embodiment has a motor 121 and a belt 122, and the belt 122 is coupled to the motor 121 and the swing arm 13. When the motor 121 operates, the belt 122 is driven to drive the swing arm. 13 swings.
本實施例之上肢復健器擺臂13具有一擺臂長度調整元件132，以隨上肢復健者之需求而進行擺臂長度之調整。另外，其底座11具有四個腳輪113，以使上肢復健器得以輕易移動，並且隨著上肢復健者之不同需求，而於選擇適當之復健地點。再則，其底座11上之腳輪113更具有煞車片114，可固定腳輪113，以避免上肢復健器於復健者進行上肢復健時移動。The upper limb rehabilitation swing arm 13 of the present embodiment has a swing arm length adjusting member 132 for adjusting the swing arm length as required by the upper limb rehabilitation person. In addition, the base 11 has four casters 113 to allow the upper limb rehabilitation device to be easily moved, and to select an appropriate rehabilitation site as the upper limb rehabilitation person has different needs. Furthermore, the caster 113 on the base 11 further has a brake shoe 114 for fixing the caster 113 to prevent the upper limb rehabilitation device from moving when the rehabilitation person performs the upper limb rehabilitation.
此外，本實施例之第一端點設定單元142、及第二端點設定單元143係為定向磁場開關，當擺臂13到達第一端點設定單元142時，則擺臂13即會停止，並反向擺動，直到擺臂13到達第二端點設定單元143時，擺臂13即會再次停止，並往回擺動，如此以使擺臂13進行往復運動。In addition, the first end point setting unit 142 and the second end point setting unit 143 of the embodiment are directional magnetic field switches. When the swing arm 13 reaches the first end point setting unit 142, the swing arm 13 stops. And swinging in the reverse direction until the swing arm 13 reaches the second end point setting unit 143, the swing arm 13 is stopped again, and swings back, so that the swing arm 13 reciprocates.
另外，本實施例係提供一電腦控制系統(圖未示)，以依照復健者之需求而設定專屬化之擺臂行程設定單元14之復健行程。In addition, the present embodiment provides a computer control system (not shown) for setting the rehabilitation stroke of the dedicated swing arm stroke setting unit 14 in accordance with the needs of the rehabilitation person.
本實施例乃係以上述之具有行程設定之上肢復健器，來進行上肢復健。首先，先提供上述之上肢復健器，其中此上肢復健器具有一底座11、一驅動單元12、一擺臂13、及一擺臂行程設定單元14，且此擺臂行程設定單元14具有一弧形之滑軌141以及兩個端點設定單元，分別為第一端點設定單元142、及第二端點設定單元143。而此上肢復健器係連接一電腦控制系統(圖未示)，以設定擺臂行程設定單元14之行程。In the present embodiment, the upper limb rehabilitation is performed by the above-described stroke setting upper limb rehabilitation device. First, the above-mentioned upper limb rehabilitation device is provided. The upper limb rehabilitation device has a base 11, a driving unit 12, a swing arm 13, and a swing arm stroke setting unit 14, and the swing arm stroke setting unit 14 has a The curved slide rail 141 and the two end point setting units are a first end point setting unit 142 and a second end point setting unit 143, respectively. The upper limb rehabilitation device is connected to a computer control system (not shown) to set the stroke of the swing arm stroke setting unit 14.
接著，於電腦控制系統(圖未示)設定復健行程，如擺臂13擺動之次數，驅動單元12之驅動力量等。再設定當擺臂13與第一端點設定單元142、及第二端點設定單元143相對應時，其驅動單元12所需改變擺臂13之往復運動模式。Next, a rehabilitation stroke is set in a computer control system (not shown), such as the number of swings of the swing arm 13, the driving force of the drive unit 12, and the like. Further, when the swing arm 13 corresponds to the first end point setting unit 142 and the second end point setting unit 143, the driving unit 12 needs to change the reciprocating motion mode of the swing arm 13.
以上復健行程設定完成後，上肢復健者先會握住擺臂13之握把131，以擺臂長度調整單元132，調整擺臂13之長度。接著，啟動本實施例之上肢復健器，以使上肢復健者克服驅動單元12給予擺臂13之阻力，而使擺臂13擺動，當擺臂13沿著滑軌141擺動至第一端點設定單元142時，擺臂13即會因定向磁場感應單元之作用，而停止並往回擺動，接著，當擺臂13往回擺動至第二行程設定端點143時，則擺臂13同樣會因定向磁場感應單元之作用而停止並再度往回擺動，直到完成復健流程為止。After the above rehabilitation stroke setting is completed, the upper limb rehabilitation person first holds the grip 131 of the swing arm 13 to adjust the length of the swing arm 13 by the swing arm length adjusting unit 132. Next, the upper limb rehabilitation device of the present embodiment is activated, so that the upper limb rehabilitation person overcomes the resistance of the driving unit 12 to the swing arm 13, and swings the swing arm 13 when the swing arm 13 swings along the slide rail 141 to the first end. When the setting unit 142 is set, the swing arm 13 stops and swings back due to the action of the directional magnetic field sensing unit. Then, when the swing arm 13 swings back to the second stroke setting end point 143, the swing arm 13 is also It will stop due to the action of the directional magnetic field sensing unit and swing back again until the rehabilitation process is completed.
實施例2Example 2
如圖3本發明實施例2之擺臂行程設定單元立體圖所示。本實施例與實施例1大致相同，差別僅在於本實施例之擺臂行程設定單元14具有一個第一端點設定單元142、一個第二端點設定單元143、及一個第三端點設定單元144。3 is a perspective view showing a swing arm stroke setting unit according to Embodiment 2 of the present invention. This embodiment is substantially the same as the first embodiment except that the swing arm stroke setting unit 14 of the present embodiment has a first endpoint setting unit 142, a second endpoint setting unit 143, and a third endpoint setting unit. 144.
本實施例之上肢復健器係以電腦控制系統(圖未示)預先設定上肢復健行程，如擺臂13擺動之次數、驅動單元12之驅動力量、擺臂13由第一端點設定單元142擺動至第三端點設定單元144時之第一阻力，以及擺臂13由第三端點設定單元144擺動至第二端點設定單元143時之第二阻力。故於上肢復健者進行復健時，可具有兩段式之復健行程，以因應上肢復健者之不同狀況，而進行不同程度之復健流程調整，以利需要上肢復健之復健者康復。The upper limb rehabilitation device of the present embodiment presets the upper limb rehabilitation stroke by a computer control system (not shown), such as the number of swings of the swing arm 13 , the driving force of the driving unit 12 , and the swing arm 13 by the first end point setting unit. The first resistance when 142 is swung to the third end point setting unit 144, and the second resistance when the swing arm 13 is swung by the third end point setting unit 144 to the second end point setting unit 143. Therefore, when the rehabilitation of the upper limbs is rehabilitation, there may be a two-stage rehabilitation exercise to adjust the rehabilitation process to different degrees in response to the different conditions of the upper limb rehabilitation, in order to facilitate the rehabilitation of the upper limb rehabilitation. Rehabilitation.
上述實施例僅係為了方便說明而舉例而已，本發明所主張之權利範圍自應以申請專利範圍所述為準，而非僅限於上述實施例。The above-mentioned embodiments are merely examples for convenience of description, and the scope of the claims is intended to be limited to the above embodiments.
11．．．底座11. . . Base
111．．．支架111. . . support
112．．．高度調整元件112. . . Height adjustment component
113．．．腳輪113. . . Casters
114．．．煞車片114. . . Brake
12．．．驅動單元12. . . Drive unit
121．．．馬達121. . . motor
122．．．皮帶122. . . Belt
13．．．擺臂13. . . Swing arm
131．．．握把131. . . Grip
132．．．擺臂長度調整元件132. . . Swing arm length adjustment element
133．．．軸心133. . . Axis
14．．．擺臂行程設定單元14. . . Swing arm stroke setting unit
141．．．滑軌141. . . Slide rail
142．．．第一端點設定單元142. . . First endpoint setting unit
143．．．第二端點設定單元143. . . Second endpoint setting unit
144．．．第三端點設定單元144. . . Third endpoint setting unit
圖1係本發明實施例1之上肢復健器立體圖。1 is a perspective view of an upper limb rehabilitation device according to Embodiment 1 of the present invention.
圖2係本發明實施例1之擺臂行程設定單元立體圖。Fig. 2 is a perspective view showing the swing arm stroke setting unit of the first embodiment of the present invention.
圖3係本發明實施例2之擺臂行程設定單元立體圖。Fig. 3 is a perspective view showing a swing arm stroke setting unit of a second embodiment of the present invention.
11‧‧‧底座11‧‧‧Base
111‧‧‧支架111‧‧‧ bracket
112‧‧‧高度調整元件112‧‧‧ Height adjustment components
113‧‧‧腳輪113‧‧‧ casters
114‧‧‧煞車片114‧‧‧煞车片
12‧‧‧驅動單元12‧‧‧Drive unit
121‧‧‧馬達121‧‧‧Motor
122‧‧‧皮帶122‧‧‧Land
13‧‧‧擺臂13‧‧‧ swing arm
131‧‧‧握把131‧‧‧ grip
132‧‧‧擺臂長度調整元件132‧‧‧Swing arm length adjustment element
133‧‧‧軸心133‧‧‧Axis
14‧‧‧擺臂行程設定單元14‧‧‧Swing arm stroke setting unit
141‧‧‧滑軌141‧‧‧rails
142‧‧‧第一端點設定單元142‧‧‧First Endpoint Setting Unit
143‧‧‧第二端點設定單元143‧‧‧Second endpoint setting unit
Claims (12)
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| TW100129108A TWI413517B (en) | 2011-08-15 | 2011-08-15 | Upper limb rehabilitation device and process setting method thereof |
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| TW100129108A TWI413517B (en) | 2011-08-15 | 2011-08-15 | Upper limb rehabilitation device and process setting method thereof |
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| TW201306819A TW201306819A (en) | 2013-02-16 |
| TWI413517B true TWI413517B (en) | 2013-11-01 |
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| TWI612987B (en) * | 2017-03-23 | 2018-02-01 | 崑山科技大學 | Fitness equipment for two-dimensional movement |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9375598B1 (en) | 2015-02-09 | 2016-06-28 | Hiwin Technologies Corp. | Upper extremity rehabilitation device |
| RU2766754C1 (en) * | 2021-03-17 | 2022-03-15 | Общество с ограниченной ответственностью "АйТи Юниверс" | Robotic device of the simulator for the rehabilitation of limbs and the method for its application |
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| CN201328990Y (en) * | 2008-12-10 | 2009-10-21 | 南京康龙威康复医学工程有限公司 | Intelligent multifunctional upper limb healing device |
| US7789816B2 (en) * | 2004-07-17 | 2010-09-07 | Mark Howard Krietzman | Dynamic variable resistance dual circling exercise method and device |
| TW201119707A (en) * | 2009-12-04 | 2011-06-16 | Univ Nan Kai Technology | Electronic shoulder joint rehabilitative machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7789816B2 (en) * | 2004-07-17 | 2010-09-07 | Mark Howard Krietzman | Dynamic variable resistance dual circling exercise method and device |
| CN201328990Y (en) * | 2008-12-10 | 2009-10-21 | 南京康龙威康复医学工程有限公司 | Intelligent multifunctional upper limb healing device |
| TW201119707A (en) * | 2009-12-04 | 2011-06-16 | Univ Nan Kai Technology | Electronic shoulder joint rehabilitative machine |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI612987B (en) * | 2017-03-23 | 2018-02-01 | 崑山科技大學 | Fitness equipment for two-dimensional movement |
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