256 results about "Upper limb exercises" patented technology

The invention discloses an upper limb movement rehabilitation training system and method based on a Kinect sensor. The system comprises the Kinect sensor and a computer carrying an upper limb movement rehabilitation training module. The Kinect sensor is connected with the computer through a data line and arranged above a computer display screen. The upper limb movement rehabilitation training module comprises a single-joint rehabilitation training module, a comprehensive rehabilitation training module, a grading module and a correcting module and can conduct upper limb single-joint training and comprehensive training of shoulders, elbows and wrist joints. Patients do not need to wear or operate any interactive devices and only need to face the Kinect sensor and finish rehabilitation training movement according to the words or voice prompt on the display screen. The Kinect sensor conducts position capture on the upper limb joints, records and feeds back space position information of the upper limb joints of the patients in real time, guides the patients to finish rehabilitation training through motion sensing interaction and corrects non-standard training movement. The training method is simple, easy to master, good in enjoyment and low in use device cost.

The present invention allows a robot to operate accurately while canceling an affect of pitch-axis, roll-axis, and yaw-axis moments, these moments being applied on the robot body during a leg-moving operation such as walking. First, by calculating a pitch-axis moment and / or a roll-axis moment generated on the robot body at a preset ZMP by set motions of upper limbs, a trunk, and lower limbs, motions of the lower limbs and the trunk for canceling the pitch-axis moment and / or the roll-axis moment are obtained. Then, by calculating a yaw-axis moment generated on the robot body lying at the preset ZMP by the calculated motions of the lower limbs and the trunk, a motion of the upper limbs for canceling the yaw-axis moment is obtained.

An arrangement, method and computer program for determining the physical activity level of a human being. The arrangement comprises a movement sensor to be attached to an upper limb of the human being for measuring upper limb movements, a processing unit connected to the movement sensor for filtering upper limb movements following one another more frequently than a predetermined threshold period from upper limb movements during a determination period, for forming the number of upper limb movements during the determination period from the filtered upper limb movements during the determination period, and for determining the physical activity level on the basis of the number of upper limb movements during the determination period formed from the filtered upper limb movements during the determination period.

The invention relates to a rehabilitation training system of amputation upper limb based on virtual reality, comprising the following parts: myoelectric signal detection and processing, amputation upper limb modeling and virtual reality scene interaction. The myoelectric signal detection and processing is realized by the steps of extracting, amplifying, filtering, A / D-transferring and multipath-acquiring myielectric signals on a stump by using a myoelectric tester ; extracting, extracting Rubust features of the myielectric signals and recognizing a fast and effective upper limb movement gesture together with an on-line learning method; the amputation upper limb modeling is realized by the steps of carrying out three-dimensional reconstruction on the amputation upper limb by adopting a three-dimensional parametric grid model and using a photo of a healthy upper limb, and realizing motion simulation of a virtual hand by taking the tracked upper limb movement parameters as model driven data; and the virtual reality scene interaction is realized by the steps of carrying out real three-dimensional interactional scene modeling and realizing real time interaction between the stump musclemovement and the three-dimensional scene through myoelectricity. The rehabilitation training system is mainly used to assist an upper limb amputated patient to carry out necessary adaptive training before installing an artificial limb so as to help the patient to adapt to the usage of the artificial limb as soon as possible.

The invention relates to a rehabilitation training device for the nervous system. The problems that an existing rehabilitation training device has a monotonous training function and cannot achieve upper-and-lower-limb synergistic exercise, and the training intensity cannot be adjusted are effectively solved. According to the technical scheme, a pedal box is fixed to a base support, an upper limb exercising device is arranged at the top of the pedal box, pedals are rotatably installed at the two longitudinal sides of the pedal box, the upper limb exercising device and the pedals are driven by adriving motor arranged in the pedal box, a reversing device is connected to the driving motor, the rotating direction of the pedals and the upper limb exercising device can be changed, and the upperand lower limbs of a patient are driven by the driving motor to follow the pedals and the upper limb exercising device to be subjected to passive training; the reversing device also enables the driving motor to be separated from the pedals and the upper limb exercising device, so that the upper limb exercising device and the pedals are rotated through of the strength of the patient, passive training is switched into active training for the patient, and thus the applicability of the rehabilitation training device for the nervous system is higher.

The invention discloses a portable and wearable upper limb exoskeleton rehabilitation training device. The portable and wearable upper limb exoskeleton rehabilitation training device is characterized by comprising a back module, two shoulder modules, two elbow modules and a bearing mechanism, wherein the back module is used for bearing a control system and a battery power component and used for achieving the bearing function; the two shoulder modules are arranged on the left side and the right side of the back module; the two elbow modules are connected with the two shoulder modules; the bearing mechanism is arranged on the back module and used for achieving the bearing function. By means of the portable and wearable upper limb exoskeleton rehabilitation training device, the structure can be effectively simplified, the weight can be reduced, the size can be reduced, the battery life can be prolonged, portability of the device is enhanced, and the effect of assisting a patient with a damaged upper limb movement function in accepting rehabilitation training is guaranteed; meanwhile, due to the modular design, the patient can choose to wear the device with the shoulders or the whole arm module for certain life assisting, and the device has wider practicality.

The invention relates to the technical field of medical rehabilitation instruments and specifically to an intelligent upper limb rehabilitation training device. The main structure comprises a controller, a detection module, a power driving device and a training device mechanism. The intelligent upper limb rehabilitation training device formed through the matching of the parts is suitable for rehabilitation training / training aiding of patients suffering from upper limb dyskinesia caused by hemiplegia and / or other factors, is especially suitable for the patients suffering from functional disorder of upper limbs, and can provide passive, active and / or resisting training according to the requirements of different patients and achieve an effect of targeted rehabilitation. During use, the device can guarantee accurate location and be attached to each joint of the upper limbs, thereby preventing the tissue damage and muscle strain caused by wrong practices. The intelligent upper limb rehabilitation training device is simple in structure, small in size, light in mass, convenient to use, good in training effect, high in training accuracy, low in manufacture cost and wide in application range.

The invention discloses a rehabilitation training and evaluating method based on Kinect for upper limbs. The method comprises a method for testing upper limbs based on Kinect and an exercise rehabilitation training module and evaluation module for upper limbs. According to the method for testing upper limbs based on Kinect, the spatial positions of shoulders, elbows, wrist joints of upper limbs of rehabilitation physician and patients are extracted in real time through the Kinet; the motion angles of three degrees of freedom of the shoulders and the elbows in relative to reference articulation points; for the upper limb exercise rehabilitation training module and the evaluation module, a set of simulation rehabilitation environment of cleaning tables and cleaning glass is designed at first; secondly, a set of standard motions for completing virtual environment tasks is designed by a rehabilitation physician and a standard exercise angle data module is calculated and generated according to the testing method of upper limbs based on the Kinect; finally, a real exercise data module for the patient to complete the simulation rehabilitation tasks is obtained through the Kinect method for testing upper limbs; by matching the real exercise data module with standard exercise data, the rehabilitation physician evaluates real exercise quality of the patient and provides reasonable rehabilitation feedback for the patient.

The invention discloses a postoperative exercise device for the thoracic surgery department. On the basis of the design, the problems that an existing postoperative rehabilitation exercise device forthe thoracic surgery is single in exercise mode to prolong the recovery period of the patient, only upper limbs or lower limbs can be exercised, some upper limb exercises similar to chest expanding exercises cannot be carried out, and the patient needs to lie still on the bed at the early stage after operation and the back is compressed frequently to cause non-circulation of blood and pressure sores and thus the pain of a patient is increased invisibly are solved. The postoperative exercise device comprises a base; the right side of the upper end of the base is fixedly connected with a supporting frame; a movable box capable of sliding up and down is arranged in the supporting frame; two rotatable massage boxes are arranged in the movable box; a cylindrical cam capable of synchronously rotating along with the corresponding massage box is arranged on the right side of each massage box; a fixed rod is correspondingly provided with the rear side of each cylindrical cam in a matching mode,a movable rod is fixedly connected to the left side of each cylindrical cam, four massage rods are evenly hinged to the left side of each movable rod, and a massage ball is fixedly connected to the left end of each massage rod.

The invention provides a novel multifunctional safe running machine and belongs to the field of fitness facilities. The novel multifunctional safe running machine comprises a left base frame, a right base frame, an electric running machine treadmill, a left front column, a right front column, a left middle column, a right middle column, a left horizontal armrest frame, a right horizontal armrest frame, an instrument control panel, a left connecting rod, a right connecting rod, a left vertical armrest rod, a right vertical armrest rod, a high armrest rod, a left chest expander, a right chest expander, safety belts, a chest and abdominal binding belt, front rolling wheels, rear rolling wheels and adjustable shock-absorbing pads. The novel multifunctional safe running machine is characterized in that the running machine is provided with the front rolling wheels, the rear rolling wheels and the adjustable shock-absorbing pads, adopts and has the advantages of adopting four-wheel movement, being more convenient and saving more effort in movement; the running machine is provided with the adjustable base frame shock-absorbing pads, the whole machine is movable after the shock-absorbing pads are put away, and the shock-absorbing effect is better after the shock-absorbing pads are placed or arranged; a user can do upper limb exercise through the horizontal rods and the chest expanders separately or do it while running, and the machine makes exercise more comprehensive; the running direction can be adjusted to be forward walking and forward running, or reverse walking and reverse running, or alternative performing of forward walking and forward running and reverse walking and reverse running, and the user can run with double hands in front of the chest, or behind the back or above the head or on the higher armrests so as to achieve a better exercise effect.

The invention discloses a human-computer interaction system for upper limb rehabilitation training. The human-computer interaction system comprises an upper limb training robot which can implement rotating in a multi-dimension mode, an upper computer which is used for implementing information interaction with the upper limb training robot, and an interactive interface for displaying interaction information, wherein the upper limb training robot is provided with a detection device for capturing motion morphology of upper limbs; the upper computer comprises a virtual reality module for generating a virtual scene; the detection device is used for transmitting collected upper limb motion data signals to the upper computer in real time; and the upper computer is used for converting the data signals into real-time motion morphology characteristics through an artificial intelligence algorithm and for combining the motion morphology characteristics with the virtual scene, so that human-computer interaction is achieved. According to the human-computer interaction system for the upper limb rehabilitation training provided by the invention, the upper limb training robot and the upper computer are arranged and the upper computer is in charge of combining the motion characteristics of a trained object with the virtual scene which is established by the arranged virtual reality module, so that human-machine interaction is implemented, and interesting in a training process and initiative of training are enhanced.

The invention relates to a wearable high-precision data acquisition upper limb exoskeleton, comprising an adjustable base, a shoulder rotation pair mechanism, a shoulder slide ring mechanism, an upper arm connecting rod length sliding adjusting mechanism, an elbow parallel rotation pair mechanism, an elbow slide ring mechanism, a lower arm connecting rod length sliding adjusting mechanism, a wrist rotation pair mechanism, a tail end operation handle and a tool clamping device. A high-precision photoelectric encoder is mounted on each joint, the position and the posture of a tail end can be accurately acquired via forward kinematics, and a manipulator can be accurately controlled. The wearable high-precision data acquisition upper limb exoskeleton is compact in structure, light in weight and high in rigidity, is applicable to different operation heights and arm lengths, two control buttons are arranged on the handle to control procedures of an upper computer, and the exoskeleton further can be used as a guiding hand to be used for realizing upper limb exercise rehabilitation training of hemiplegia patients.

The invention discloses a two-degree-of-freedom upper limb rehabilitation training robot system which comprises a rehabilitation robot mechanism, a mechanism supporting table and an elbow supporting frame, wherein the rehabilitation robot mechanism comprises a mechanism outer frame, a two-parallel-connection-rod mechanism capable of realizing motion with two degrees-of-freedom, a first driving mechanism for driving the two-parallel-connection-rod mechanism to do motion in the x direction and a second driving mechanism for driving the two-parallel-connection-rod mechanism to do motion in the y direction; the elbow supporting frame comprises a base for fixing, a supporting shaft fixed on the base, a rotating shaft arranged on the supporting shaft in a rotatable manner, a guide rail which is fixed on the rotating shaft and is provided with a groove, and a sliding block for freely sliding along the groove of the guide rail. The two-degree-of-freedom upper limb rehabilitation training robot system is simple in structure and moves flexibly and can help a patient suffering from upper limb dyskinesia performe upper limb rehabilitation training to fulfill the aim of enhancing the rehabilitation effect.

The invention relates to the field of fitness equipment, in particular to a comprehensive fitness system. The system includes a lower limb exercise system, an upper limb exercise system, a human body sign monitoring system and an indoor environment monitoring system. The lower body exercising system includes a treadmill and a running game host, and the treadmill communicates with the running game host to interact with the running game. The upper limb exercise system includes a rope traction mechanism and a roller moving device. The roller moving device is used to adjust the position of the roller to apply tension at different angles to the upper limbs; the rope traction mechanism can apply different sizes of tension to the upper limbs by changing the contraction degree of the pull rope. The human body sign monitoring system is used to collect user sign data during exercise, and control the fitness system to stop working when the exercise limit is reached. The indoor environment monitoring system is used to collect indoor air humidity and carbon dioxide concentration, and start the air switch for ventilation when the two values ​​exceed the standard.

The invention relates to a four-freedom-degree wearable upper limb exercise auxiliary device with optimized freedom degree. The device comprises a shoulder-back fixing module, an upper arm auxiliary module and a forearm auxiliary module; the shoulder-back fixing module comprises a shoulder-back fixing bracket, a backpack module, a driving control module and a power module, wherein the driving control module and the power module are arranged in the backpack module; and the forearm auxiliary module comprises a motor base, a shoulder turntable motor, a fixed connecting piece, a bearing support rod, a first turntable base, a linear driving device and a first upper arm fixing sleeve. The four-freedom-degree wearable upper limb exercise auxiliary device with the optimized freedom degree can be used for the daily exercise training aiding of the upper limb of a wearer and can complete single-freedom-degree motion training and multi-freedom-degree linkage training, only utilize three active driving units to achieve four freedom degrees of flexion / extension, abduction / adduction and intorsion / extorsion of the shoulder joint and buckling / overextension of the elbow joint, and can be used for portable upper limb exercise aiding. The four-freedom-degree wearable upper limb exercise auxiliary device with the optimized freedom degree has the advantages that the structure is simple, wearingis convenient and fast, and the clinical significance and practical value are higher.

The invention discloses a vehicle for rehabilitation training of limbs. The vehicle consists of a rear wheel actuating mechanism, a limb movement mechanism, an armchair mechanism and a vehicle frame. The rear wheel actuating mechanism comprises two rear wheels, a clutch mechanism and a chain-drive mechanism, wherein, the rear wheels are driving wheels and can be pushed by hands to move, the chain-drive mechanism consists of a driving shaft, a front chain wheel, a chain, a back chain wheel and a driven wheel, and the mechanism controls the movements of limbs through the connection or disconnection of the front chain wheel and a pin wheel. Upper limbs movement mechanism comprises an upper limb connecting rod and a sliding block and the lower limbs movement mechanism comprises a lower limb connecting rod, a sliding block and a pedal. Movements of the back wheels can be transmitted to the pedal and the sliding block to make them perform reciprocating motions, then, the limbs are driven to move, and thus, rehabilitation training for users can be realized. The height of the armchair can be adjusted for users having different heights. The invention possesses the advantages of integration of walk replacing and rehabilitation training, simple structure, convenient operation, safety and reliability.

The invention provides a limb movement recognition method based on the autonomous motor imagery electroencephalogram. Survey data show that when a person does the same movement, the brain can generatesimilar electroencephalogram signals, and therefore the feature signals can be extracted to achieve movement of the mechanical arm, and then the disabled can be assisted in moving. According to the method, the brain network is established to classify the actions, so that the consideration of the correlation among the regions of the brain is enhanced, and the working mechanism behind the EEG signals and the related rhythm characteristics thereof is displayed. A brand-new brain factor effect network analysis method based on a nonlinear partial directional coherence method is used for carrying out upper limb movement classification by utilizing a random forest, the classification accuracy is high, and corresponding actions are judged according to electroencephalogram signals, so that the mechanical arm moves, and the purpose of assisting the disabled in movement is achieved.

The invention provides an upper limb external skeleton device. The upper limb external skeleton device is installed on a wheelchair and used for assisting a patient suffering from upper and lower limb dysfunction in upper limb movement and active exercise. The upper limb external skeleton device is characterized by comprising a connecting and supporting mechanism, a shoulder joint motion mechanism, an elbow joint motion mechanism and a wrist joint motion mechanism, wherein the connecting and supporting mechanism is used for being connected with the wheelchair and supporting the external skeleton of the upper limb of the patient, and comprises a wheelchair fixing rod, a first wheelchair locking clamp, a supporting frame, a pulling rod and a single-end locking clamp; the shoulder joint motion mechanism is used for enabling the patient to do shoulder joint exercise and comprises a supporting disc, a rotating piece, an upper arm supporting piece and an upper arm rotating shaft piece, and when rotating, the rotating piece and the upper arm supporting piece drive the shoulder joints of the patient to stretch and retract; the elbow joint motion mechanism is used for enabling the patient to do elbow joint exercise and comprises an upper arm fixing piece, an upper elbow joint connecting piece, a lower elbow joint connecting piece and a forearm fixing piece; the wrist joint motion mechanism is used for enabling the patient to do wrist joint exercise and comprises a grip, flexural springs, a forearm adjusting rod and a forearm supporting piece which are connected in sequence.

The invention discloses an anti-falling rehabilitation device for old people, and solves the problem that exercise equipment is inconvenient for old people to use because old people need more exerciseequipment when taking comprehensive exercise. The device comprises a moving body, a first telescopic frame, a second telescopic frame, a moving frame and a folding plate; and a leg exercise device, ahandclap mechanism, an upper limb exercise device and a cognitive function exercise device are arranged in the moving body. The cognitive function can be exercised while the strength is exercised through the leg exercise device and the upper limb exercise device; the handclap mechanism acts for encouraging an exerciser; uphill and downhill exercise can be taken through the folding plate; the first telescopic frame and the second telescopic frame provide protection in the exercise process; and the device is simple to operate, various in function and convenient to contract, and can be used forcomprehensively exercising old people in an anti-falling mode.

The invention provides an upper limb rehabilitation evaluation system and method based on surface electromyography and motion modules. The system comprises a host computer, a single chip microcomputercontrol end, a surface electromyography collection module and a motion parameter collection module, wherein the surface electromyography collection module comprises two electrodes, a low-pass filtering circuit, a common-mode rejection module, an amplification circuit and a subtraction circuit which are connected sequentially; the host computer comprises a display; the subtraction circuit and themotion parameter collection module are connected with the single chip microcomputer control end; the single chip microcomputer control end is connected with the host computer. Through the adoption ofthe upper limb rehabilitation evaluation system and method based on the surface electromyography and motion modules, motion parameters and surface electromyography signals of a trainee in the motion process can be collected automatically for analysis, smoothness, intensity and muscle function of upper limb motion are evaluated, evaluation information is fed back to a tester in real time, so that much time and labor for subjective evaluation are reduced, and evaluation actions are simplified.

The invention provides an upper limb exoskeleton robot control method and device based on an LSTM neural network. A robot arm of an upper limb exoskeleton robot moves along with the upper limb of a human body, and the method comprises the steps: carrying out the processing of the historical movement track data of the human body through a built LSTM neural network prediction model, and predicting to obtain future movement state data of the human body; according to the future movement state data of the human body and a pre-established kinetic model of the upper limb exoskeleton robot, obtaining compensation torque required for controlling the upper limb exoskeleton robot; obtaining human-computer interaction force of the upper limb exoskeleton robot; and processing the compensation torque and the human-computer interaction force, and controlling the upper limb exoskeleton robot according to the processing result. Under the condition that the human-computer interaction force is zero, the upper limb exoskeleton robot can follow the movement of the human body.

The invention relates to a whole-body recovery machine for bedridden patients. The whole-body recovery machine is characterized in that a movable chassis and two stand columns on the chassis; a guide rail is arranged between the stand columns; a sliding block connected with a lifting stand column together is installed on the guide rail; a horizontal beam is arranged at the top end of the lifting stand column; a lower limb power box capable of moving front and back is installed below the horizontal beam; cranks with foot boxes are installed at the output end of the power box and the lower limbs of a patient can be driven by the cranks to move; a bearing beam capable of moving front and back is installed above the horizontal beam; supporting rods are installed on the two sides of the extending end of the bearing beam; a front steel frame and a rear steel frame are installed on the bearing beam; lifting mechanisms are installed on the two steel frames; the body of a patient can be driven through a steel wire rope and a kicking strap to perform bridge type motion; an iron tube capable of moving front and back penetrates through the middle part of the front steel frame; an upper limb power box is arranged at the extending end of the iron tube; cranks with hand supporting boards are installed at the output end of the power box; and the upper limbs of the patient can be driven by the cranks to move. The whole-body recovery machine for the bedridden patients is reasonable in structure; positions of motion centers can be electrically adjusted; the training speed is adjustable; and early-stage whole-body recovery training of the bedridden patients is achieved.

The invention relates to an upper limb rehabilitation training system based on virtual reality and sports relearning. The upper limb rehabilitation training system comprises virtual reality training equipment, the virtual reality training equipment comprises virtual scene building equipment and a motion function training program; the virtual scene building equipment comprises a virtual scene building module for building virtual scene and giving upper limb motion hints to users, a stereo display module for displaying virtual scene and the upper limb motion hints of the users and a somatosensoryinteraction module for real-time acquisition of motion data when upper limbs of the users conduct the motion function training program; and the motion function training program comprises a data processing module for receiving and processing the motion data transmitted by the somatosensory interaction module and creating virtual upper limbs synchronizing with the upper limbs of the users accordingto the processed motion data, and is used for guiding the users to conduct motion relearning rehabilitation training according to the virtual scene building equipment to complete analysis of motion obstacles, motion function training and training effect feedback sequentially. The users conduct motion relearning rehabilitation training in the virtual scene to achieve the maximum recovery.

The invention discloses a four-limb linkage type rehabilitation training device which comprises a bottom frame, a lower limb exercising module arranged on the bottom frame, an upper limb exercising module arranged in linkage with the lower limb exercising module, a balance weight module arranged at one end of the bottom frame and a seat module arranged at the other end of the bottom frame. The counterweight module can apply movement resistance to the lower limb exercising module and the upper limb exercising module so as to achieve the purpose of rehabilitation training of a patient. Accordingto the invention, the seat module can be adjusted to adapt to users with different body types; four-limb stretching rehabilitation training can be carried out by applying force to a handle and a pedal by a user; the training intensity can be adjusted according to the use amount of balancing weights; lower limbs can be pulled by upper limbs to perform follow-up training; and under the action of aretractor, a bearing plate can be prevented from rapidly descending, and accidents are avoided. Limb strength rehabilitation training, limb coordination training and lower limb passive rehabilitationtraining can be conducted on a patient, and positive rehabilitation training significance is achieved.

An upper limb motion support apparatus and an upper limb motion support system which are capable of significantly improving the enhancement of an operator's work efficiency and the reduction of their workload are proposed. A controller which causes an articulated arm and an end effector to perform three-dimensional motion according to the operator's intention based on a biological signal acquired by a biological signal detection unit causes the articulated arm and the end effector to perform cooperative motion in conjunction with the operator's upper limb motion by referring to content recognized by an upper limb motion recognition unit.

The invention discloses an upper limb nursing exercise device after radiotherapy. The upper limb nursing exercise device after radiotherapy comprises a base, wherein a groove is formed in the base; afirst support plate and a second support plate are arranged above the base; one end of the first support plate is hinged to the base; the other end of the first support plate is hinged to the second support plate; a separation plate is fixedly arranged in the groove; load bearing sponge is arranged in the groove formed in the lower side of the first support plate; an angle regulating structure isarranged in the groove formed in the lower side of the second support plate; an upper limb exercise structure is arranged above the first support plate; a cavity is formed inside the second support plate; and a massage structure is arranged in the cavity. The upper limb nursing exercise device after radiotherapy is provided with the upper limb exercise structure; a patient holds a pulling ring byhand and downwards pulls the pulling ring by force to do arm exercises; the self immunity recovery of the patient after the radiotherapy is facilitated; a massage structure is arranged in the second support plate, and can be used for massaging the arms of the patient, so that the unsmoothness of blood circulation because the arms are put onto the device for too long time is prevented; and meanwhile, the comfort degree of the patient is improved.

The invention discloses a multifunctional physical exercise device, which comprises a base plate, a fixing mechanism, a power mechanism, a massage mechanism, an upper limb exercise mechanism, a lowerlimb exercise mechanism, a transmission mechanism and an auxiliary mechanism. Left and right sides of the bottom of the base plate are symmetrically equipped with pedestals, and the bottom of the pedestal is provided with a mobile wheel; the bottom inside the base plate is provided with a mounting groove 1; the lower part inside the mounting groove 1 is provided with the fixing mechanism; the upper part inside the mounting groove 1 is provided with the massage mechanism; the right end inside the mounting groove 1 is provided with the power mechanism; and the power mechanism provides a power source for the fixing mechanism and the massage mechanism. When the device of the invention is in use, the transmission mechanism drives a fan blade in the auxiliary mechanism to rotate while a user takes exercise through the lower limb exercise mechanism. Thereby, cool wind is generated, and the power source is from the exerciser. The exercise effect is achieved, and comfort level of the exerciseris also improved during the exercise, thus killing two birds with one stone. Meanwhile, a display screen can provide music, video and the like for the exercise to watch, and then fatigue of the exerciser is relieved.

The invention relates to an exoskeleton robot for upper limb rehabilitation training, which comprises a base, two shoulder joints, two elbow joints and two wrist joints. A shoulder joint, an elbow joint and a wrist joint are arranged on the two sides of the base in a mirror image mode. The shoulder joint is installed on the base, the elbow joint is installed on the shoulder joint, and the wrist joint is installed on the elbow joint. Each shoulder joint comprises a big arm connecting rod, a first joint, a second joint and a third joint; the elbow joint comprises an installation shell and a hydraulic cylinder placed in the installation shell, the installation shell is fixedly installed on the big arm connecting rod, the upper end of a hydraulic cylinder body of the hydraulic cylinder is rotationally connected with the top end of the installation shell, a piston rod of the hydraulic cylinder is rotationally connected with the wrist joint, and the wrist joint is rotationally installed on the installation shell. The exoskeleton robot is compact in structure, can be used for performing exercise rehabilitation treatment on patients with limited upper limb exercise functions caused by upper limb muscle damage or hemiplegia cerebral infarction and the like, and can reduce the labor intensity of rehabilitation training medical staff.

The invention discloses an upper limb exercising device for physical training, which comprises a base, a protective sleeve, fan blades, a fixed pulley, an electric telescopic rod, a movable pulley, a No. 1 rigid pull rope, a No. 2 rigid pull cord, a No. 2 pull sleeve, No. 1 tension sleeve and support pad, the inner cavity of the protective sleeve is provided with a fan, the lower surface of the right support beam and the lower surface of the left support beam are fixedly installed with an electric telescopic rod and two electric telescopic rods on both sides. A fixed pulley, wherein the bottom end of the electric telescopic rod is also connected with a movable pulley, the left upper surface of the base is also fixedly installed with No. 2 tension sleeve, and the right upper surface of the base is also fixedly installed with the No. 1 tension sleeve. The invention has simple structure and reasonable design, can exercise the upper limbs, has good use effect, wide applicability and strong practicability.