CN108078733B - Training equipment and method for relieving upper extremity tremor and muscle rigidity in Parkinson's patients - Google Patents

Abstract

The invention relates to a training device for alleviating the tremor of the upper limbs of Parkinson's patients, comprising a tremor suppression device, which is used to suppress the tremor behavior of Parkinson's patients during training; a series robot is connected with the tremor suppression device and is used for cooperation Parkinson's patient training; a display device, which can receive relevant data of the tremor suppression device and the serial robot during training, and is used for real-time display of relevant image information of the upper limbs of Parkinson's patients during training; a computer, and the tremor suppression device The device is connected to the serial robot to process relevant data during the training process. The tremor suppression device is used to suppress the tremor behavior of Parkinson's patients during the training process in real time. Rehabilitation training for Parkinson's patients to help Parkinson's patients reduce tremor symptoms.

Description

Training equipment and method for relieving upper extremity tremor and muscle rigidity in Parkinson's patients

technical field

The invention relates to the field of medical devices, in particular to a training device and method for relieving the tremor and muscle rigidity of the upper limbs of Parkinson's patients.

Background technique

Myotonia and resting tremor are the two main symptoms of Parkinson's patients. When the joints of Parkinson's patients are passively active, their muscles will have high muscle tension, which will produce a feeling similar to bending a lead pipe. At the same time, the patient's own Muscles may also feel stiff and strenuous when moving. Tremor is the first symptom of Parkinson's patients. It often starts at the distal end of one upper extremity. It usually occurs when the patient is at rest. inconvenience.

At present, the treatment methods for Parkinson's disease are divided into drug therapy and physical therapy. Although drug therapy is the mainstream treatment method, there is a risk of drug side effects; although some physical therapy methods have also appeared, such as the use of wristbands on the hands of Parkinson's patients. However, the force of the bracelet is small, there is a certain hysteresis in tremor suppression, and it is unable to exercise the excessively high muscle tension of Parkinson's patients, which still cannot help Parkinson's patients reduce tremor symptoms.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide a training device and method for relieving the tremor and muscle rigidity of the upper limbs of Parkinson's patients, which can make it suitable for rehabilitation training of Parkinson's patients of different sizes, and reduce the tremor symptoms of Parkinson's patients.

According to a first aspect of the embodiments of the present invention, there is provided a training device for relieving upper limb tremor and muscle rigidity in Parkinson's patients, the training device comprising:

Tremor suppression device, used to immobilize the upper limbs of Parkinson's patients and inhibit the tremor behavior of Parkinson's patients during training;

A series robot, connected with the tremor suppression device, used for training with Parkinson's patients;

a display device, which can receive the relevant data of the tremor suppression device and the serial robot during the training process, and is used to display the relevant image information of the upper limbs of the Parkinson's patient during training in real time;

A computer, connected with the tremor suppression device, the serial robot and the display device, is used for processing relevant data in the training process.

In one of the embodiments, the tremor suppression device includes a fixing part for fixing the upper limb of a Parkinson's patient, and a tremor reduction part connected with the fixing part.

In one embodiment, the anti-vibration part includes a mounting plate, a return spring and at least one damper, two ends of the return spring abut the fixing part and the mounting plate respectively, and the at least one damper The two ends of the mounting plate are respectively connected with the fixing part.

In one of the embodiments, the tremor suppression device further comprises a connection base connected with the serial robot and a universal rotation part connected with the mounting plate.

In one embodiment, the vibration suppression device includes three angle sensors, one of which is disposed at the connection between the universal rotation part and the connection base, and is used to detect the rotation of the universal rotation part around the z-axis The other two angle sensors are arranged on the universal rotating part to detect the rotation angles of the universal rotating part around the x-axis and around the y-axis.

In one of the embodiments, the universal rotation part is a cross universal shaft coupling, and a rotary damper is provided on the cross universal shaft coupling.

In one embodiment, the fixation part comprises a support plate for carrying the upper limbs of Parkinson's patients, and a fixation belt provided on the support plate for positioning the upper limbs of Parkinson's patients, the at least one damper One end connected to the fixing portion is connected to the support plate, and one end of the return spring abutting to the fixing portion is abutted to the support plate.

In one of the embodiments, the fixing part further includes a pressure sensor arranged on the support plate.

In one of the embodiments, it further includes a seat, which is spaced apart from the tremor suppression device and located at the front end of the tremor suppression device, for the Parkinson's disease patient to be trained to sit on.

According to a second aspect of the embodiments of the present invention, there is provided a training method for alleviating upper limb tremor in Parkinson's patients, comprising:

Fix the upper limbs of Parkinson's patients to be trained on the tremor suppression device;

controlling the serial robot to cooperate with the upper limbs of Parkinson's patients to perform training;

The relevant image information of the upper limbs of the Parkinson's patient during training is displayed on the display device.

Compared with the prior art, the training equipment for alleviating the tremor and muscle rigidity of the upper limbs of Parkinson's patients provided by the present invention can suppress the tremor behavior of Parkinson's patients in the training process in real time through the tremor suppression device, Patients with upper limb tremor and muscle rigidity training can be applied to Parkinson's patients of different body types for upper limb tremor and muscle rigidity rehabilitation training to help Parkinson's patients reduce tremor symptoms and muscle rigidity symptoms.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description serve to explain the principles of the invention.

1 is a schematic structural diagram of a training device for alleviating upper limb tremor in Parkinson’s patients according to an exemplary embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a tremor suppression device according to an exemplary embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a serial robot according to an exemplary embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a display device according to an exemplary embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a cardan shaft connector according to an exemplary embodiment of the present invention;

6 is a flowchart of a training method for alleviating upper limb tremor in Parkinson’s patients according to an exemplary embodiment of the present invention;

7 is a flowchart of another training method for alleviating upper limb tremor in Parkinson’s patients according to an exemplary embodiment of the present invention;

Fig. 8 is a flow chart of yet another training method for relieving upper limb tremor in Parkinson's patients according to an exemplary embodiment of the present invention.

Detailed ways

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. Where the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the illustrative examples below are not intended to represent all implementations consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with some aspects of the invention as recited in the appended claims.

1 is a schematic structural diagram of a training device for relieving upper limb tremor in Parkinson’s patients according to an exemplary embodiment of the present invention, the training device includes a seat 10, a tremor suppression device 20, a serial robot 30, a display device 40 and a computer 50. Wherein, the seat 10 is arranged at the front end of the training equipment, and is located in the middle, for the Parkinson's disease patient to be trained; the tremor suppression device 20 is used to suppress the Parkinson's disease patient during the training process. The tremor behavior that occurs; the tandem robot 30 is connected to the tremor suppression device for training with Parkinson's patients; the display device 40 can receive the relevant data of the tremor suppression device and the tandem robot during the training process , used to display the relevant image information of the upper limbs of Parkinson's patients during training in real time, the computer 50 is connected to the tremor suppression device, the serial robot and the display device, and is used to process the relevant data during the training process.

As shown in FIG. 2 , the tremor suppression device 20 includes a fixing part 200 , an anti-vibration part 210 and a connection base 220 supporting the rotating device, wherein the fixing part 200 is used for fixing the upper limbs of Parkinson's patients, and the The anti-tremor unit 210 is used to suppress tremor behavior of Parkinson's patients.

In this embodiment, the anti-vibration portion 210 includes a mounting plate 206, a return spring 205 and at least one damper 204. Both ends of the spring of the return spring 205 abut against the fixing portion 200 and the mounting plate 206, respectively. The at least one damper Two ends of the device 204 are respectively connected to the mounting plate 206 and the fixing portion 200 .

Specifically, three dampers 204 are provided on the above-mentioned mounting plate 206, two ends of the three dampers are respectively connected to the mounting plate 206 and the fixing part 200, one damper is arranged at one end of the mounting plate 206, and the other two dampers The dampers 204 are arranged at the other end of the mounting plate 206, and are arranged to form a stable triangle. A return spring 205 is arranged in the middle of the three dampers 204. The damper 204 can provide resistance to movement and absorb the tremor of the upper limbs of Parkinson's patients, and the return spring 205 can exert a reverse force to limit the tremor of the upper limbs of Parkinson's patients, so as to limit the amplitude of the tremor of the upper limbs. In this way, the return spring and damping The device can work together to suppress tremors in the hands of Parkinson's patients.

In this embodiment, the tremor suppression device 20 further includes a connection base 220 connected to the serial robot 30 and a universal rotation part 208 connected to the mounting plate 206 .

Specifically, the universal rotation part 208 is a cross universal shaft coupling, and a rotary damper 207 is arranged on the universal universal shaft coupling to increase the resistance of the universal rotation part. As shown in FIG. 5 , the two axes of the above-mentioned cross universal joint 208 are in a crisscross shape, the center of the intersection of the two axes is the center of the circle, and the straight line where the two axes are located is used as the x-axis and the y-axis, respectively. The parts connected by the cross universal joint 208 can rotate around the x-axis and the y-axis respectively, and if the axis of the connecting base 220 is used as the z-axis, the whole cross universal joint can also rotate around the z-axis. In other embodiments, the above-mentioned universal connector 208 can be replaced by a ball joint embedded in the cavity of the connection base 220 , so that the components connected with the ball joint can rotate in all directions relative to the connection base 220 .

In this embodiment, the tremor suppression device 20 includes three angle sensors 209 , wherein one angle sensor 209 is disposed at the connection between the universal rotation part 208 and the connection base 220 , and is used to detect the rotation of the universal rotation part 208 around the z-axis For the rotation angle, the other two angle sensors are provided on the universal rotation part 208 to detect the rotation angles of the universal rotation part 208 around the x-axis and around the y-axis respectively.

In this embodiment, the fixing part 200 includes a support plate 203 for carrying the upper limbs of Parkinson's patients, and a fixing belt 201 arranged on the support plate 203 for positioning the upper limbs of Parkinson's patients. The above-mentioned at least one damper One end of 204 connected to the fixing part 200 is connected to the support plate 203 , and one end of the return spring 205 abutting to the fixing part 200 is abutted to the support plate 203 .

Specifically, the supporting plate 203 is set in a shape suitable for placing fingers together, and two fixing straps 201 are respectively provided at the front and rear positions on the supporting plate 203, and the supporting plate 203 is fixed on the supporting plate 203. Kinsen patient's hand. Of course, the present invention does not limit the shape of the support plate 203 and the number and location of the fixing straps 201 , as long as the embodiments that can fix the upper limbs of Parkinson's patients on the support plate 203 are within the protection scope of the present invention.

In this embodiment, the fixing part 200 further includes a pressure sensor 202 . The pressure sensor 202 is disposed on the support plate 203 and can collect the force on the upper limb of the Parkinson's patient placed on the support plate 203 . During training, the system can detect the force on the Parkinson's patient's hand through the pressure sensor 202. When the force on the patient's hand exceeds the preset range, the system will emergency stop the patient's training to play a safe and secure way. effect.

As shown in FIG. 3 , the serial robot 30 includes a serial robot body 301 and a connecting frame 302 connected to the serial robot body 301 , and the connecting frame 302 can move with the serial robot body 301 .

Specifically, the body 301 of the serial robot includes a first link and a second link, the end of the first link is connected with the second link through a third joint, and the other end of the first link is connected with a second joint, The second joint is installed at the end of the first joint, and the first joint is installed on the base (not shown) that fixes the above-mentioned serial robot body 302. In addition, the second link is connected to the connecting frame 302 through the serial connection. With the rotation of the joints of the robot body 301, the connecting frame 302 can move between any positions in the reachable space. Since the equipment has a wide range of motion, the training equipment can be used for training patients with different body shapes and different arm lengths.

As shown in FIG. 4 , the display device 40 includes a display 402 and a stand 401 supporting the display. The display can receive the relevant data of the tremor suppression device 20 and the serial robot 30 during the training process, so as to display Parkinson's disease in real time. Relevant image information of the patient's upper limbs during training. For example, when the upper limbs of Parkinson's patients are passively trained, the monitor can display interesting games that interact with the Parkinson's patients' upper limbs, and when the Parkinson's patients' upper limbs are actively training, the monitor can display the Parkinson's patients' upper limbs. The trajectory of the upper body during training. The computer 50 is connected to the tremor suppression device 20, the serial robot 30 and the display device 40, and is used for processing relevant data in the training process, and can collect the data of the tremor suppression device 20 and the serial robot 30 during the training process, And send the relevant data to the above-mentioned display device 20 for display.

Corresponding to the above-mentioned training equipment for alleviating the tremor of the upper extremity of the Parkinson's patient, the present invention also provides a training method for slowing the tremor of the upper extremity of the Parkinson's patient, comprising:

Fix the upper limbs of Parkinson's patients to be trained on the tremor suppression device;

controlling the serial robot to cooperate with the upper limbs of Parkinson's patients to perform training;

The relevant image information of the upper limbs of the Parkinson's patient during training is displayed on the display device.

In order to facilitate a clearer understanding of the technical solutions of the present invention, the following specific embodiments will further describe the training equipment and training method of the present invention for alleviating the tremor of the upper limbs of Parkinson's patients. For the convenience of description, various embodiments are distinguished based on the training methods of the upper limbs of Parkinson's patients. Among them, the training methods of Parkinson's patients include at least one of the following: single-joint passive training, multi-joint compound passive training and active training.

Example 1: Passive training of joints

FIG. 6 is a flowchart of a training method for alleviating upper limb tremor in Parkinson’s patients according to an exemplary embodiment of the present invention, and the method includes:

In step 601, the Parkinson's patient's hand is fixed on the pallet.

In this embodiment, the Parkinson's patient's hand can be fixed on the support board through the fixing belt, so that the Parkinson's patient's palm is closely attached to the pressure sensor set on the support board, and the pressure sensor can monitor the Parkinson's patient's hand in real time. When the force on the patient's hand exceeds a certain range, the system will urgently stop the training of the patient to play a role in safety protection.

In step 602, the distance between each joint of the upper limb of the Parkinson's patient is calculated.

In this embodiment, due to the different body shapes of different Parkinson's patients, the corresponding arm lengths are different, so the distance between the shoulder joint and the elbow joint (that is, the length of the big arm) and the distance between the elbow joint and the wrist joint (that is, the small arm length) are also different. During passive training, in order to enable the tandem robot to train according to the arm length of the patient to be trained, it is first necessary to measure the length of the forearm and forearm of the patient to be trained.

Specifically, the wrist joint and elbow joint can be fixed with straps first, and the shoulder joint can be driven by the hand to move independently. At this time, driven by the hand of the Parkinson's patient, the joints of the serial robot move, and each joint of the serial robot can be moved. The joint angle data is sent to the computer for storage; then, the wrist joint and shoulder joint are fixed with straps, and the hand drives the elbow joint to move independently, which also drives the movement of each joint of the tandem robot, and sends the data of each joint angle of the tandem robot. In the same way, the elbow joint and shoulder joint are fixed with straps, the hand drives the wrist joint to move independently, and the computer records the rotation angle data of each joint of the robot in series when the wrist joint moves alone. The rotation angle data and the position of the patient are combined with a certain algorithm to calculate the length of the forearm and forearm of Parkinson's patients.

In step 603, the serial robot drives the Parkinson's patient's hand to perform single-joint training.

In this embodiment, the serial robot can perform single-joint training for the Parkinson's patient according to the length of the forearm and the forearm of the Parkinson's patient's upper limb obtained by computer processing in step 602 .

Specifically, for example, when training the shoulder joint, the wrist joint and the elbow joint can be fixed with straps, the tandem robot drives the tremor suppression device to move, and the tremor suppression device will perform under the joint action of the tandem robot and the patient's hand. Attitude adjustment, the patient's hand can be in a more comfortable posture during training. Parkinson's patient's hand is centered on the shoulder joint and the arm length is the radius. Vertical rotation is performed in the vertical direction. Of course, the present invention does not limit the rotation mode of the hand. Any rotation mode that can center on the shoulder joint and within the reachable range of the arm is within the protection scope of the present invention.

In the same way, when training the wrist joint and elbow joint, it is also carried out in a similar way as above.

During the training process, the tandem robot can drive the tremor suppression device to move, and the tremor suppression device can adjust the posture under the joint action of the tandem robot and the patient's hand force, so that the patient's hand is in a more comfortable posture. When a patient with Parkinson's hand tremors, it will drive the support plate to tremble, and the support plate drives the return spring to move. At this time, the return spring exerts a reverse force on the hand to limit the tremor of the hand of the patient with Parkinson's disease, so that the tremor amplitude of the hand At the same time, the damper can absorb the energy of the Parkinson's patient's hand tremor, so that the return spring and the damper can cooperate to suppress the Parkinson's patient's hand tremor.

In the process of single-joint passive training, using the training equipment for relieving the tremor of the upper limbs of Parkinson's patients provided by the present invention can also train the myotonia of Parkinson's patients. A group of muscle diseases that can aggravate symptoms, commonly referred to as muscle stiffness. The muscle tension caused by Parkinson's disease is different from the increased muscle tension caused by hemiplegia and paraplegia. The muscle tension caused by Parkinson's disease is characterized by extensor and flexor. Muscle tension was increased, and flexors were more pronounced. Myotonia can cause the patient to become slow and increasingly difficult to turn, stand up, unbutton buttons, and other daily movements, as well as stiff facial expressions, difficulty swallowing and salivation, and monotonous and slow speech.

Specifically, when performing single-joint training, such as training the shoulder joint, the patient's wrist and elbow joints can be fixed first, and the tandem robot drives the tremor suppression device to move. Under the joint action, the posture is adjusted so that the patient's hand is in a more comfortable posture. Then, in the same way, the shoulder joint, wrist joint and elbow joint are individually trained in turn, so as to achieve the effect of training each muscle and reduce the strong muscle tension of Parkinson's patients.

In addition, in the training process, some interesting games can be displayed on the display of the display device. For example, some human-computer interaction games can be designed, so that Parkinson's patients can complete joint training while playing games, and increase the interest of Parkinson's patients' exercise. .

Example 2: Multi-joint compound passive training

FIG. 7 is a flowchart of another training method for relieving upper limb tremor in Parkinson’s patients according to an exemplary embodiment of the present invention. As shown in FIG. 7 , the training method includes:

In step 701, the Parkinson's patient's hand is fixed on the pallet.

In this embodiment, the Parkinson's patient's hand can be fixed on the support board through the fixing belt, so that the Parkinson's patient's palm is closely attached to the pressure sensor set on the support board, and the pressure sensor can monitor the Parkinson's patient's hand in real time. When the force on the patient's hand exceeds a certain range, the system will urgently stop the training of the patient to play a role in safety protection.

In step 702, the distance between each joint of the upper limb of the Parkinson's patient is calculated.

In this embodiment, due to the different body shapes of different Parkinson's patients, the corresponding arm lengths are different, so the distance between the shoulder joint and the elbow joint (that is, the length of the big arm) and the distance between the elbow joint and the wrist joint (that is, the small arm length) are also different. During passive training, in order to enable the tandem robot to train according to the arm length of the patient to be trained, it is first necessary to measure the length of the forearm and forearm of the patient to be trained.

Specifically, the wrist joint and elbow joint can be fixed with straps first, and the shoulder joint can be driven by the hand to move independently. At this time, driven by the hand of the Parkinson's patient, the joints of the serial robot move, and each joint of the serial robot can be moved. The joint angle data is sent to the computer; then, the wrist joint and shoulder joint are fixed with straps, and the hand drives the elbow joint to move independently, which also drives the movement of each joint of the serial robot, and sends the joint angle data of the serial robot to Computer; in the same way, the elbow joint and shoulder joint are fixed with straps, the hand drives the wrist joint to move independently, the computer records the rotation angle data of each joint of the robot in series when the wrist joint moves alone, and finally, the computer records the rotation angle according to the recorded The data and the position of the patient are combined with a certain algorithm to calculate the length of the forearm and forearm of Parkinson's patients.

In step 703, the serial robot drives the Parkinson's patient's hand to perform multi-joint compound passive training.

In this embodiment, the serial robot can perform multi-joint compound passive training on the Parkinson's patient according to the length of the forearm and the forearm of the Parkinson's patient's upper limb obtained by computer processing in step 702 .

Specifically, there is no need to fix any joints of the upper limbs of Parkinson's patients, and the serial robot can drive the shoulder, elbow and wrist joints of the Parkinson's patients' upper limbs to move at the same time, which can train the muscle stiffness of Parkinson's patients and reduce Parkinson's disease The patient has strong muscle tone. During the training process, driven by the tandem robot, the shoulder joint, wrist joint and elbow joint of Parkinson's patients move at the same time, which has the effect of training the entire muscle group and reduces the strong muscle tension of Parkinson's patients.

When a patient with Parkinson's hand trembles, the support plate will be driven to tremble, and the support plate will drive the return spring to move. At this time, the return spring exerts a reverse force on the hand to limit the tremor of the hand of the patient with Parkinson's disease, thereby causing the tremor of the hand The amplitude is limited, and at the same time, the damper can absorb the energy of the Parkinson's patient's hand tremor, so that the return spring and the damper can cooperate to suppress the Parkinson's patient's hand tremor.

In this embodiment, the movement mode of the serial robot driving the Parkinson's patient's hand is not limited, and may be other curved movements such as linear movement, oblique movement, circular movement, etc., which is not limited in the present invention. Similarly, some interesting games can be displayed on the display of the display device, such as an interactive game specially aimed at multi-joint compound passive training of the upper limbs of Parkinson's patients, so as to increase the interest of Parkinson's patients' exercise.

Example 3: Active training

Passive training is that the tandem robot drives the upper limbs of Parkinson's patients, while active training is that the upper limbs of Parkinson's patients drive the tandem robot to move. FIG. 8 is a flowchart of another training method for alleviating upper limb tremor in Parkinson’s patients according to an exemplary embodiment of the present invention. As shown in FIG. 8 , the training method includes:

In step 801, the Parkinson's patient's hand is fixed on the pallet.

In this embodiment, the Parkinson's patient's hand can be fixed on the support board through the fixing belt, so that the Parkinson's patient's palm is closely attached to the pressure sensor set on the support board, and the pressure sensor can monitor the Parkinson's patient's hand in real time. When the force on the patient's hand exceeds a certain range, the system will urgently stop the training of the patient to play a role in safety protection.

In step 802, the upper limb of the Parkinson's patient actively drives the serial robot to move.

In this embodiment, the upper limb of the Parkinson's patient drives the motion of the tremor suppression device, thereby driving the motion of each joint of the serial robot. While the upper limb of the Parkinson's patient moves, the computer collects the data in the serial robot and the tremor suppression device in real time. , and display the motion trajectory of the upper limbs of Parkinson's patients on the monitor of the display device in real time, which can encourage Parkinson's patients to actively participate in training.

In the process of active training, the hands of Parkinson's patients also tremble while actively moving, which drives the support plate to tremble, and the support plate drives the return spring to move. At this time, the return spring exerts a reverse force on the hand to limit Parkinson's disease The tremor of the patient's hand can limit the tremor amplitude of the hand. At the same time, the damper can absorb the energy of the Parkinson's patient's hand tremor, so that the return spring and the damper can cooperate to suppress the hand tremor of the Parkinson's patient.

In order to increase the training intensity of Parkinson's patients, impedance training can also be performed on Parkinson's patients. At this time, each joint of the series robot can provide resistance, and the tremor suppression device acts on the Parkinson's patient's hand, so that the Parkinson's patient's hand can be improved. Rehabilitation of the hand under resistance. During the impedance training process, some training games may be displayed on the display of the display device, for example, some confrontational games are added to stimulate the training morale of Parkinson's patients.

Compared with the prior art, the training equipment and training method for alleviating the tremor of the upper limbs of Parkinson's patients provided by the present invention have the following advantages:

1. It can not only be used to reduce the tremor training of the upper limbs of patients with Parkinson's disease, but also can be used to train the muscle rigidity of patients with Parkinson's disease, and reduce the strong muscle tension of patients with Parkinson's disease.

2. It can not only train a single joint of the upper limbs of Parkinson's patients, but also realize multi-joint compound training and resistance training, which is helpful for the recovery of the mobility of the upper limbs of patients with Parkinson's disease;

3. The training equipment for relieving the tremor of the upper limbs of Parkinson's patients can be applied to the rehabilitation of Parkinson's patients of different sizes, and has a strong adaptability;

4. In the tremor suppression device, the return spring and damper are used to suppress the tremor of the upper limbs of Parkinson's patients, the structure is simple, and it can be adapted to the Parkinson's patients with different tremor frequencies to suppress tremor;

5. In passive training, the arm length of Parkinson's patients will be measured in advance, and the series robot will perform different degrees of exercise according to Parkinson's patients with different arm lengths to avoid injury to patients during training;

6. Add human-computer interactive games in the training process to improve the enthusiasm of Parkinson's patients in training.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

The above-mentioned embodiments only represent several embodiments of the present invention, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present invention, several modifications and improvements can be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the appended claims.

Claims (8)

1. a kind of training equipment for alleviating Parkinson's patient's upper limb tremor and muscle rigidity, is characterized in that, this training equipment comprises: Tremor suppression device, used to immobilize the upper limbs of Parkinson's patients and inhibit the tremor behavior of Parkinson's patients during training; A series robot, connected with the tremor suppression device, used for training with Parkinson's patients; The tremor suppression device includes a universal rotation part and an angle sensor, the universal rotation part is connected with the serial robot, and the angle sensor is used for detecting the rotation angle of the universal rotation part; The tremor suppression device includes three angle sensors for obtaining rotation angle data, one of which is arranged at the connection between the universal rotation part and the connection base, and is used for detecting the rotation of the universal rotation part around the z-axis. angle, and the other two angle sensors are arranged on the universal rotating part to detect the rotation angles of the universal rotating part around the x-axis and around the y-axis; a display device, which can receive the relevant data of the tremor suppression device and the serial robot during the training process, and is used to display the relevant image information of the upper limbs of the Parkinson's patient during training in real time; a computer connected to the tremor suppression device, the tandem robot and the display device for processing The relevant data in the training process is obtained by obtaining the rotation angle data collected by the angle sensor, and the patient's arm length is calculated according to the rotation angle data, so that the serial robot can be trained according to the arm length of the trained patient. 2 . The training equipment according to claim 1 , wherein the tremor suppression device comprises a fixing part for fixing the upper limbs of Parkinson's patients and an anti-tremor part connected with the fixing part. 3 . 3 . The training device according to claim 2 , wherein the anti-vibration part comprises a mounting plate, a return spring and at least one damper, and both ends of the return spring abut against the fixing part and the an installation plate, two ends of the at least one damper are respectively connected to the installation plate and the fixing part. 4 . The training equipment according to claim 3 , wherein the tremor suppression device further comprises a connection base connected with the serial robot and a universal rotation part connected with the mounting plate. 5 . 5 . The training equipment according to claim 4 , wherein the universal rotation part is a cross universal shaft coupling, and a rotary damper is provided on the cross universal shaft coupling. 6 . 6 . The training device according to claim 3 , wherein the fixing portion comprises a support plate for carrying the upper limbs of Parkinson’s patients, and a support plate for positioning the upper limbs of Parkinson’s patients. 7 . In the fixing belt, one end of the at least one damper connected with the fixing part is connected with the support plate, and one end of the return spring in contact with the fixing part is abutted with the support plate. 7. The training device according to claim 6, wherein the fixing part further comprises a pressure sensor arranged on the support plate. 8 . The training equipment according to claim 1 , further comprising a seat, which is spaced apart from the tremor suppressing device and located at the front end of the tremor suppressing device, for the Parkinson's disease patient to be trained to ride on. 9 .

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