CN106110585B - Rehabilitation training of upper limbs equipment and its Virtual Reality Training System - Google Patents
Rehabilitation training of upper limbs equipment and its Virtual Reality Training System Download PDFInfo
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- CN106110585B CN106110585B CN201610649327.0A CN201610649327A CN106110585B CN 106110585 B CN106110585 B CN 106110585B CN 201610649327 A CN201610649327 A CN 201610649327A CN 106110585 B CN106110585 B CN 106110585B
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- rehabilitation training
- upper limbs
- rehabilitation
- training
- cavity
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/03516—For both arms together or both legs together; Aspects related to the co-ordination between right and left side limbs of a user
- A63B23/03533—With separate means driven by each limb, i.e. performing different movements
- A63B23/03541—Moving independently from each other
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/0355—A single apparatus used for either upper or lower limbs, i.e. with a set of support elements driven either by the upper or the lower limb or limbs
- A63B23/03558—Compound apparatus having multiple stations allowing an user to exercise different limbs
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/03575—Apparatus used for exercising upper and lower limbs simultaneously
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/03575—Apparatus used for exercising upper and lower limbs simultaneously
- A63B23/03591—Upper and lower limb moving in phase, i.e. right foot moving in the same direction as the right hand
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of rehabilitation training of upper limbs equipment and its Virtual Reality Training Systems, at least provided with rehabilitation training of upper limbs platform, the rehabilitation training of upper limbs platform includes pedestal, supporting rack, upper limb operating device, the upper limb operating device is flexibly connected with one end of support frame as described above, and the pedestal is set to the other end of support frame as described above；Wherein, the rotating mechanism and swing mechanism that the upper limb operating device is respectively provided with rotation process, swings up and down operation.Advantageous effect of the present invention is, realizes different training modes by different mechanism lockings or positioning, patient can be helped actively to complete the circular motion in the plane of upper limb, or the flexion and extension that patient can be helped actively to complete vertical direction；Secondly, by the cooperation of Virtual Reality Training System, the training environment of virtual reality has been built, patient is further helped to promote the interest and effect of rehabilitation training of upper limbs.
Description
Technical field
The present invention relates to the technical fields for assisting paralysed patient recovery upper extremity exercise function in medical rehabilitation apparatus, specifically
It is related to rehabilitation training of upper limbs equipment and its Virtual Reality Training System.
Background technology
Apoplexy, the cardinal symptom of patients with cerebral injury are quadriplegias, need positive rehabilitation that could restore its function.
The functional rehabilitation of paralytic upper limb and hand is more more than lower limb difficulty, and only 10% or so paralytic upper limb and hand can just be restored to tool
There is the level of utility function.But upper limb and hand function occupy the 60% of whole body function, in a sense, upper limb and hand
How functional prognosis decides whether patient can really return society and improve its quality of life.Suffer from so exploring and improving paralysis
The rehabilitation technique and equipment of person's upper limb and hand dysfunction are always the direction that rehabilitation worker makes great efforts research and development.
Upper limb and healing hand function are always the difficult point of clinical rehabilitation, and the effect of Traditional Rehabilitation means is often unsatisfactory.
With the development of science and technology the upper limb healing equipment occurred currently on the market, which is upper extremity exercise, feeds back rehabilitation system and upper limb health
Multiple image training robot, but have its disadvantage：
1, upper extremity exercise feedback rehabilitation system, which is only suitable for upper limb, has the paralysed patient of certain movement ability to use (oneself
It is active), if paralysed patient upper limb is not active, equipment if, makes to have more than is needed；
2, upper-limbs rehabilitation training robot is machine power-assist, belongs to passive rehabilitation, cannot embody initiative rehabilitation this rehabilitation
Technology idea of development；
3, upper extremity exercise feedback rehabilitation system and upper-limbs rehabilitation training robot are the feedbacks of vision play level,
Without body feeling interaction, virtual rehabilitation environment truly cannot be provided.
Invention content
In view of the deficiencies in the prior art, the present invention intends to provide a kind of rehabilitation training of upper limbs equipment and its virtual reality instruction
Practice system, realized by upper limb operating device and patient is helped actively to complete the circular motion in the plane of upper limb, or helps to suffer from
Person actively completes the flexion and extension (swinging up and down) of vertical direction, and passes through the locking different to rotating mechanism, swing mechanism
Or different rehabilitation modalities is realized in positioning；Further, by combining the training system of virtual reality, virtual training ring is built
Interest of the patient to rehabilitation training is mentioned in border.
To achieve the goals above, the technical solution adopted by the present invention is as follows：
Rehabilitation training of upper limbs equipment, at least provided with rehabilitation training of upper limbs platform, the rehabilitation training of upper limbs platform includes bottom
Seat, supporting rack, upper limb operating device, the upper limb operating device are flexibly connected with one end of support frame as described above, and the pedestal is set
It is placed in the other end of support frame as described above；Wherein, the upper limb operating device is respectively provided with rotation process, swings up and down operation
Rotating mechanism and swing mechanism.
It should be noted that the rotating mechanism includes upper limb support plane, rotating disk, limit swivel base, fixed seat, rotation
Axis and lever, the upper limb support plane are equipped with cavity, and the rotating disk is movably set in the cavity, the fixed seat
Below the rotating disk, the limit swivel base is set between the rotating disk and the fixed seat, and the rotation axis is worn
The fixed seat, the limit swivel base and its top is connected to be fixedly connected with the bottom of the rotating disk；The lever is pairs of
And it is vertically installed in the surface of the rotating disk.
It should be noted that luffing mechanism includes pneumatic spring, fixed frame, the fixed mount setting is in the support
The top of frame one end, one end of the pneumatic spring is hinged with the fixed frame, the connection of the other end and the fixed seat.
It should be further noted that it is additionally provided with rotary locking mechanism, the rotation for locking the rotating disk；The limit
Cavity is equipped in the swivel base of position, the surface of the fixed seat is equipped with limiting slot；It is additionally provided with locating part, one end setting of the locating part
In in the cavity, the other end is movably set in the limiting slot；It is additionally provided with electronic lock, the periphery table of the limit swivel base
Face is equipped with the locking hole to match with the tapered end of the electronic lock.
It should be further noted that being additionally provided with swing lockable mechanism, the swing lockable mechanism includes upper frame, movable part
With bracing wire, the upper frame is set to the top of the piston rod of the pneumatic spring, and the movable part is rotationally connected with the upper frame
In, one end of the movable part is connect with one end of the bracing wire；Upon pulling the pull string, the other end of the movable part with
The switch of the piston rod part offsets.
As a kind of perferred technical scheme, it is corresponding to be respectively equipped with elbow placement position for the both sides of the upper limb support plane
Extension.
It should be noted that the pedestal includes pony sill, foot operation device, the pony sill is equipped with cavity, described
Foot operation device is movably set in pony sill cavity.
It should be further noted that the foot operation device includes foot pedal, rotation axis, bearing block and torsional spring, institute
It states bearing block to be set in the cavity, the rotation axis is set in the bearing block, the foot pedal and the rotation axis
It is fixedly connected, one end of the torsional spring is connect with the bottom of the foot pedal, and the other end is connect with the surface of the cavity.
As another embodiment of the invention：
The present invention is additionally provided with the rehabilitation exercising chair being made of seat, supporting rod, plint ontology, idler wheel and chair pedal, institute
It states supporting rod one end to connect with the seat, the other end is connect with the plint bottom；The chair pedal is movably connected on institute
State the side of seat；Wherein, the rehabilitation exercising chair is movable to rehabilitation training of upper limbs platform side and is used cooperatively, and institute
The position for stating chair pedal is corresponding to the foot pedal.
According to the technical solution of the present invention, further Virtual Reality Training System can be coordinated to use：
A kind of Virtual Reality Training System that cooperation rehabilitation training of upper limbs equipment uses, including rehabilitation training of upper limbs platform,
Rehabilitation exercising chair, the virtual reality system include control unit, display unit and sensor, described control unit respectively with institute
Display unit, sensor electrical connection are stated, the sensor distribution is set to the upper limb operating device and the foot
Operating device.
It should be noted that the display unit can be that either circulating type display environment or wear-type VR are empty for display
Quasi- reality eyeshade.
As a kind of perferred technical scheme, the display unit, rehabilitation training of upper limbs platform, rehabilitation exercising chair can divide
Opening is set, and it is staggered relatively on a platform also to can be used as an entirety.
Advantageous effect of the present invention is, realizes different training modes by different mechanism lockings or positioning, can help
Patient actively completes the circular motion (pendulum lock of vertical direction locks) in the plane of upper limb, or patient can be helped actively complete
At the flexion and extension (the circular motion locking in plane) of vertical direction；Secondly, by the cooperation of Virtual Reality Training System,
The training environment of virtual reality has been built, patient is further helped to promote the interest of rehabilitation training.
Description of the drawings
Fig. 1 is the structural schematic diagram of the rehabilitation training of upper limbs platform of the present invention；
Fig. 2 is the left view of Fig. 1；
Fig. 3 is the structural schematic diagram of rotating mechanism in Fig. 2；
Fig. 4 is the structural schematic diagram of swing mechanism in Fig. 2；
Fig. 5 is the structural schematic diagram of the rehabilitation exercising chair of the present invention；
Fig. 6 is the rehabilitation training of upper limbs platform of the present invention and the structural schematic diagram that rehabilitation exercising chair is used cooperatively；
Fig. 7 is the rehabilitation training of upper limbs platform of invention, rehabilitation exercising chair is matched makes with the cooperation of virtual reality rehabilitation training system
Structural schematic diagram.
Specific implementation mode
Under will the invention will be further described in conjunction with attached drawing, it should be noted that the present embodiment is with the technical program
Premised on, detailed embodiment and specific operating process are given, but protection scope of the present invention is not limited to this implementation
Example.
As shown in Figure 1, the present invention is a kind of rehabilitation training of upper limbs equipment, at least provided with rehabilitation training of upper limbs platform 100, institute
State rehabilitation training of upper limbs platform 100 include pedestal 1, supporting rack 2, upper limb operating device 3, the upper limb operating device 3 with it is described
One end of supporting rack 2 is flexibly connected, and the pedestal 1 is set to the other end of support frame as described above 2；Wherein, the upper limb operation dress
Set 3 rotating mechanisms and swing mechanism for being respectively provided with rotation process, swinging up and down operation.
As shown in Figure 1 and Figure 2, the rotating mechanism includes upper limb support plane 41, rotating disk 42 and lever 43, described
Upper limb support plane 41 is equipped with cavity, and the rotating disk 42 is movably set in the cavity, and the lever 43 is pairs of and hangs down
Directly it is set to the surface of the rotating disk 42.
Shown in Fig. 3, the rotating mechanism further includes limit swivel base 44, fixed seat 45 and rotation axis 46, the fixed seat 45
Positioned at 42 lower section of the rotating disk, the limit swivel base 44 is set between the rotating disk 42 and the fixed seat 45, described
Rotation axis 46 is connected to the fixed seat 45, the limit swivel base 44 and its top and company is fixed in the bottom of the rotating disk 42
It connects.
One explanation of progress, the surface periphery of the rotation axis 46 is needed to be equipped with convex block, the limit swivel base 44 is equipped with
For wearing the axis hole for connecing the rotation axis 46, the axis hole is equipped with the groove body to match with the convex block, the height of the groove body
It is highly consistent with the axis hole.
It should be further noted that the diameter of the rotating disk 42 should be less than the internal diameter of the cavity；Its is movable
Mode is that rotating disk 42 is rotated relative to the cavity.
It should be further noted that as shown in figure 3, rotary locking mechanism is additionally provided with, for locking the rotating disk 42
Rotation；Cavity 441 is equipped in the limit swivel base 44, the surface of the fixed seat 45 is equipped with limiting slot 451；It is additionally provided with limit
One end of part 47, the locating part 47 is set in the cavity 441, and the other end is movably set in the limiting slot 451；
It is additionally provided with electronic lock 200, the peripheral edge surface of the limit swivel base 44 is equipped with the locking to match with the tapered end of the electronic lock 200
Hole 442.
As a kind of perferred technical scheme, the length of the limiting slot is half of circumference, i.e., the described rotating disk is described
Under the cooperation of locating part and limiting slot, Plane Rotation 180 degree.
It should be further noted that the electronic lock and the rotary locking button being set in upper limb support plane are electrical
It connects, the confession of electronic lock, off-position described in the button control.
It should be further noted that the electronic lock can be set to any position of the periphery of the limit swivel base.
As shown in Fig. 2, the luffing mechanism includes pneumatic spring 51, fixed frame 52, the fixed frame 52 is set to
The top of 2 one end of support frame as described above, one end of the pneumatic spring 51 and the fixed frame 52 are hinged, the other end with it is described solid
Reservation 45 connects.
As shown in figure 4, being additionally provided with swing lockable mechanism, the swing lockable mechanism includes upper frame 53, movable part 54 and draws
Line, the upper frame 53 are set to the top of the piston rod of the pneumatic spring 51, and the movable part 54 is rotationally connected with the top
In frame 53, one end of the movable part 54 is connect with one end of the bracing wire；Upon pulling the pull string, the movable part 54
The switch 300 of the other end and the piston rod part offsets.
As a kind of perferred technical scheme, the pneumatic spring can be nitrogen gas spring.
As a kind of perferred technical scheme, movable part of the invention is the hook set, the hook of the bracing wire and hook
Body connects.
It should be further noted that the other end of the bracing wire and the pendulum lock being set in the upper limb support plane
Only button connects.
It should be further noted that the weight of the pulling force of the pneumatic spring and the upper limb operating device should
Match, under upper limb operating device reduced gravity situations, the lever and ancon that patient is held by both hands are in upper limb support plane
Strength does swinging up and down for upper limb operating device.
As a kind of perferred technical scheme, it is corresponding to be respectively equipped with elbow placement position for the both sides of the upper limb support plane
Extension.
It should be noted that pedestal 1 includes pony sill, foot operation device, the pony sill is equipped with cavity, the foot
Operating device is movably set in pony sill cavity.
It should be further noted that the foot operation device includes foot pedal 6, rotation axis, bearing block and torsional spring, institute
It includes foot pedal, rotation axis, bearing block and torsional spring to state foot operation device, and the bearing block is set in the cavity, described
Rotation axis is set in the bearing block, and the foot pedal is fixedly connected with the rotation axis, one end of the torsional spring with it is described
The bottom of foot pedal connects, and the other end is connect with the surface of the cavity；Further, since foot pedal and rotation axis are fixed on
Together, it is fixed in pony sill cavity by bearing block, torsional spring will produce reaction force after foot pedal steps down, and work as foot pedal
When not having stress, torsional spring can make foot pedal is past to upwarp；Further, in order to which hemiplegic patient's (i.e. left or right side is paralysed) is by strong
Health foot drives paralysis foot to carry out rehabilitation, and the pedal can be integrally formed by rotation axis, then by rotation axis and bearing block it
Between hinged realization rotation, you can realize that two independent pedals rotate simultaneously by shaft.
As another embodiment of the invention：
As shown in figure 5, the present invention is additionally provided with by seat base 71, supporting rod 72, plint ontology 73, idler wheel 74 and chair pedal
The rehabilitation exercising chair 7 of 75 compositions, 72 one end of the supporting rod are connect with the seat base 71, the other end and the plint ontology
73 bottoms connect；The chair pedal 75 is movably connected on the side of the seat base 71.
It is used cooperatively as shown in fig. 6, the rehabilitation exercising chair 7 is movable to 100 side of rehabilitation training of upper limbs platform,
And the position of the chair pedal is corresponding to the pedal.
It should be further noted that being additionally provided with locking mechanism at the idler wheel, the rolling of idler wheel is realized by locking mechanism
Dynamic or stopping, being moved or be positioned to rehabilitation exercising chair.
As another preferred technical solution, idler wheel and seat bottom are additionally provided with lifting gear, the lifting gear by
Spring and locating part are constituted, and adjust the different compressive state of spring by locating part, rehabilitation exercising chair is made to be suitble to different heights
Patient.
According to the technical solution of the present invention, further Virtual Reality Training System can be coordinated to use：
As shown in fig. 7, a kind of Virtual Reality Training System that cooperation rehabilitation training of upper limbs equipment uses, including upper limb healing
Training platform 100, rehabilitation exercising chair 7, the Virtual Reality Training System 400 include control unit, display unit and sensor,
Described control unit is electrically connected with the display unit, the sensor respectively, and the sensor distribution is set on described
Limb operating device and the foot operation device.
It should be noted that the display unit can be that either circulating type display environment or wear-type VR are empty for display
Quasi- reality eyeshade.
Can be respective as the Virtual Reality Training System, rehabilitation training of upper limbs platform, rehabilitation exercising chair to the present invention
Independent unit, then be used cooperatively；Alternatively, it is also possible to be installed in as a whole in a platform.
As a kind of perferred technical scheme, the Virtual Reality Training System further includes audio playing unit, further
Increase the authenticity for the training environment built by Virtual Reality Training System, reduces patient to greatest extent in rehabilitation training
Dullness, to enhance interest of the patient to rehabilitation training.
Embodiment
The rotating mechanism rehabilitation training pattern of rehabilitation training of upper limbs platform：
Patient hold rotating disk on lever, then by it is suitable, rotating disk is rotated counterclockwise；Due to rotating disk
It can be freely rotated in the cavity of upper limb support plane, therefore patient controls the direction of rotation realization health of rotating disk by handle
Refreshment is practiced.
The swing mechanism rehabilitation training pattern of rehabilitation training of upper limbs platform：
Patient holds the lever in rotating disk, and then ancon is placed on the extension of upper limb support plane both sides, by
In being equipped with the pneumatic spring hinged with supporting rack in the bottom of upper limb support plane, for upper limb operating device to be mitigated or eliminated
Therefore weight freely can pull up or push upper limb support plane, the rehabilitation training swung above and below.
The rotational structure of rehabilitation training of upper limbs platform and the rehabilitation training binding pattern of swing mechanism：
Rotating mechanism, swing mechanism are respectively equipped with lockable mechanism and detent mechanism.After rotating mechanism is locked up, that is, suffer from
Person presses rotary locking button, will be powered down with the electronic lock of rotary locking button electrical connection, and the tapered end of electronic lock is immediately
Pop-up, if rotating disk is resetted (i.e. two lever lines are relatively parallel with patient) by patient at this time, tapered end can stretch into limit and turn
In the locking hole being arranged on seat periphery, rotating disk can be locked.At this point, patient may only above and below be put by swing mechanism
Dynamic rehabilitation training；
After swing mechanism is positioned, that is, patient, which presses, to be swung locking button and rotate fixation, is pulled and is drawn by button
Line, to drive hook to rotate, until the other side of hook offsets with the switch on pneumatic spring piston rod, at this point, pneumatic bomb
Spring can be compressed, and patient can swing up and down training；And shelves rotate button, release and fix, can be locked to pneumatic spring
Only, at this point, patient only can carry out rotary rehabilitation training by rotating mechanism；If patient pulls up process or pushing in swing mechanism
Any position of process is positioned, and is then carried out rehabilitation training using rotating mechanism, be the advantage is that, due to different positions
Point forearm is different at a distance from postbrachium, so as to realize different training contents；In addition, when patient unlocks whirler simultaneously
Structure, swing mechanism, patient can pull up or push swing mechanism while carrying out rotation rehabilitation training, further increase rehabilitation
Trained difficulty and intensity.
The cooperation rehabilitation training pattern of rehabilitation training of upper limbs platform and foot operation device：
Patient is stated on the implementation under rehabilitation training of upper limbs pattern, can be by the foot pedal of foot operation device, and its is passed
Other virtual reality devices such as sensor coordinate rehabilitation training of upper limbs, further increase the difficulty of upper limb training effect or training, or
Reach the rehabilitation efficacy of four limbs linkage.
For the patient of obstructed height, one end that can be by rehabilitation exercising chair and lifting reach comfortable sitting posture, convenient
Operate the rehabilitation training equipment.
In addition, the present invention also provides a kind of virtual realities being used cooperatively with rehabilitation training of upper limbs platform, rehabilitation exercising chair
Rehabilitation training system, the system is at least provided with control unit, display unit, several sensors and audio playing unit, the control
Different simulated scenarios (task or game) have been preset in unit processed, have been shown by display unit, and distribution setting is recycled to exist
Sensor in rotating mechanism, swing mechanism, foot pedal obtains action of the patient in corresponding mechanism in real time, and the action is anti-
It is fed in control unit, then is reflected in a certain dynamic of concrete scene in display unit (task or game) after being handled by control unit
Make；In order to increase presence, the display unit is preferably screen or the projection of circulating type, or is directly carried out by VR eyeshades
Display.For those skilled in the art, various other phases are made in technical solution that can be as described above and design
The change and deformation answered, and all these change and deformation should all belong to the claims in the present invention protection domain it
It is interior.
Claims (8)
1. rehabilitation training of upper limbs equipment, at least provided with rehabilitation training of upper limbs platform, which is characterized in that the rehabilitation training of upper limbs is flat
Platform includes pedestal, supporting rack, upper limb operating device, and the upper limb operating device is flexibly connected with one end of support frame as described above, institute
State the other end that pedestal is set to support frame as described above；Wherein, the upper limb operating device be respectively provided with rotation process, up and down
The rotating mechanism and swing mechanism of swinging operation；
The rotating mechanism includes upper limb support plane, rotating disk, limit swivel base, fixed seat, rotation axis and lever, it is described on
Limb supporting plane is equipped with cavity, and the rotating disk is movably set in the cavity, and the fixed seating is under the rotating disk
Side, the limit swivel base are set between the rotating disk and the fixed seat, and the rotation axis is connected to the fixed seat, institute
It states limit swivel base and its top is fixedly connected with the bottom of the rotating disk；The lever is pairs of and is vertically installed in the rotation
The surface of turntable；
The swing mechanism includes pneumatic spring, fixed frame, and the fixed mount setting is described in the top of support frame as described above one end
One end of pneumatic spring is hinged with the fixed frame, and the other end is connect with the fixed seat.
2. rehabilitation training of upper limbs equipment according to claim 1, which is characterized in that cavity is equipped in the limit swivel base,
The surface of the fixed seat is equipped with limiting slot；It is additionally provided with locating part, one end of the locating part is set in the cavity, another
One end is movably set in the limiting slot；It is additionally provided with electronic lock, the peripheral edge surface of the limit swivel base is equipped with and the electronics
The locking hole that the tapered end of lock matches.
3. rehabilitation training of upper limbs equipment according to claim 1, which is characterized in that it is additionally provided with swing lockable mechanism, it is described
It includes upper frame, movable part and bracing wire to swing lockable mechanism, and the upper frame is set to the top of the piston rod of the pneumatic spring, institute
It states movable part to be rotationally connected in the upper frame, one end of the movable part is connect with one end of the bracing wire；Described in pulling
When bracing wire, the other end of the movable part and the switch of the piston rod part offset.
4. rehabilitation training of upper limbs equipment according to claim 1, which is characterized in that the both sides of the upper limb support plane point
It She You not the corresponding extension in elbow placement position.
5. rehabilitation training of upper limbs equipment according to claim 1, which is characterized in that the pedestal includes pony sill, foot
Operating device, the pony sill are equipped with cavity, and the foot operation device is movably set in pony sill cavity.
6. rehabilitation training of upper limbs equipment according to claim 5, which is characterized in that the foot operation device includes foot-operated
Plate, rotation axis, bearing block and torsional spring, the bearing block are set in the cavity, and the rotation axis is set to the bearing block
In, the foot pedal is fixedly connected with the rotation axis, and one end of the torsional spring is connect with the bottom of the foot pedal, the other end
It is connect with the surface of the cavity.
7. rehabilitation training of upper limbs equipment according to claim 6, which is characterized in that be additionally provided with by seat base, supporting rod, instruction
Practice the rehabilitation exercising chair of chair ontology, idler wheel and chair pedal composition, described supporting rod one end is connect with the seat base, the other end and
The plint body bottom portion connection；The chair pedal is movably connected on the side of the seat base；Wherein, the rehabilitation training
Chair is movable to rehabilitation training of upper limbs platform side and is used cooperatively, and the position of the chair pedal and the foot pedal phase
It answers.
8. a kind of Virtual Reality Training System that rehabilitation training of upper limbs equipment according to claim 7 uses, feature exist
In, including rehabilitation training of upper limbs platform, rehabilitation exercising chair, the Virtual Reality Training System include control unit, display unit
With sensor, described control unit is electrically connected with the display unit, the sensor respectively, the sensor distribution setting
In upper limb operating device and foot operation device；Wherein, the rehabilitation training of upper limbs platform, rehabilitation exercising chair and display unit can
It is separated or whole staggered relatively in platform.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610649327.0A CN106110585B (en) | 2016-08-09 | 2016-08-09 | Rehabilitation training of upper limbs equipment and its Virtual Reality Training System |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610649327.0A CN106110585B (en) | 2016-08-09 | 2016-08-09 | Rehabilitation training of upper limbs equipment and its Virtual Reality Training System |
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| CN106110585A CN106110585A (en) | 2016-11-16 |
| CN106110585B true CN106110585B (en) | 2018-10-09 |
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| CN109663302A (en) * | 2018-12-26 | 2019-04-23 | 广州晓康医疗科技有限公司 | Four limbs rehabilitation training system based on virtual reality |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4811868B2 (en) * | 2006-09-13 | 2011-11-09 | 国立大学法人岐阜大学 | Upper limb finger function recovery training device |
| US9358173B2 (en) * | 2008-05-09 | 2016-06-07 | National Taiwan University | Rehabilitation and training apparatus and method of controlling the same |
| TWI554262B (en) * | 2013-05-13 | 2016-10-21 | Univ Nat Taiwan | Limb rehabilitation and training system |
| CN203829258U (en) * | 2014-04-19 | 2014-09-17 | 山东泽普医疗科技有限公司 | Multidirectional upper limb rehabilitation machine |
| CN104473751B (en) * | 2014-12-25 | 2017-01-04 | 哈尔滨工程大学 | A kind of right-hand man's dual-purpose type upper limb rehabilitation robot |
| CN206121040U (en) * | 2016-08-09 | 2017-04-26 | 广州晓康医疗科技有限公司 | Recovered training device of upper limbs and virtual reality training system thereof |
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2016
- 2016-08-09 CN CN201610649327.0A patent/CN106110585B/en active Active
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