CN101433491A - Multiple-freedom degree wearing type rehabilitation training robot for function of hand and control system thereof - Google Patents
Multiple-freedom degree wearing type rehabilitation training robot for function of hand and control system thereof Download PDFInfo
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- CN101433491A CN101433491A CNA2008102366816A CN200810236681A CN101433491A CN 101433491 A CN101433491 A CN 101433491A CN A2008102366816 A CNA2008102366816 A CN A2008102366816A CN 200810236681 A CN200810236681 A CN 200810236681A CN 101433491 A CN101433491 A CN 101433491A
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Abstract
The invention discloses a multi-freedom wearable robot for hand function recovery. The robot comprises mechanical arms and mechanical fingers; the mechanical fingers consist of a mechanical thumb, a forefinger, a middle finger, a ring finger and a little finger, wherein the forefinger, the middle finger, the ring finger and the little finger have the same structure as that of the thumb; the mechanical forefinger mainly comprises air muscle, a finger end bracket, a first middle connecting piece, a finger front end bracket and a second middle connecting piece which are connected in turn through a connecting rod; the air muscle drives the second middle connecting piece to move through a rigid string so that the finger of a patient makes lituate and adduction exercises; the inside of each connecting piece is provided with a pressure spring; and inside walls of the two connecting pieces are distributed with rolling beads to reduce friction between the connecting rod and the connecting pieces. The invention also provides a control system and an integrated electricity stimulation system of the robot to assist a patient to rebuild muscle function. The robot provides an assisted exercise mechanism for the fingers, has multiple freedom degrees and dimension adjustable movement mechanism, and can effectively assist the patient to finish repeated training of composite exercise for fingers and complicated finger dividing exercise.
Description
Technical field
The invention belongs to the healing robot technology, be specially a kind of wearing type rehabilitation training robot for function of hand.This recovery exercising robot adopts pneumatic muscles to drive, and can assist the patient to suffer from hands and lead passive motor function training of stretching in the wrong and other complex patterns.
Background technology
At present, because central nervous system injury such as spinal cord injury, cerebral trauma, cerebral palsy, apoplexy, and neuromuscular system damage and cause that the handicapped patient of hands significantly increases around the hand injury, hand muscle injury, soft tissue injury etc., the hands movement dysfunction is its common cardinal symptom, and the motor function recovery substantial connection of trouble hands is to patient's prognosis and life style in the future and quality of life.Clinical research shows, the patient in time participates in rehabilitation, carry out invalid functional training, increased functionality, function compensation, can bring into play himself potentiality effectively, avoid the complication or the secondary deformity that cause because of braking, thereby change no function life state, reduce disabled degree, prevention due to wound, sick secondary permanent disability.
Clinically, the hands dysfunction of limb disabled patient often shows as flexion contracture, and the musculus flexor tension force of hands is preponderated, and interphalangeal joint and metacarpophalangeal joints stretch difficulty, even can't realize simple grip function; The hand peripheral nerve injury can cause the bio electricity conduction abnormalities simultaneously, patient Chang Yin hand injury causes myasthenia, might cause hand amyotrophy, pain if can not effectively carry out rehabilitation training, therefore, spasm and amyotrophy are the matters of utmost importance that needs solution in the healing hand function.
Chinese patent 200710168725.1 discloses a kind of wearable robot for healing hand function.This robot system is extracted patient's active exercise wish by detection of cancerous watch face electromyographic signal, and obtains suffering from the limb state in conjunction with the data of angle and force sensor measuring.This healing robot can assist the trouble hands to carry out the multi-joint compound motion, and the multi-sensor data information fusion in the rehabilitation course is used for the rehabilitation efficacy assessment, also improves patient's initiative and training interest by the rehabilitation virtual environment on using a computer.
But the deficiency of this healing robot has: shared one of forefinger, middle finger, the third finger and little finger refer to the motion of holder support, and degree of freedom is few, can't assist the trouble hands to finish the more functional training of elaborate, and training mode is single, influences rehabilitation efficacy.
Summary of the invention
The object of the present invention is to provide a kind of multivariant wearing type rehabilitation training robot for function of hand, be respectively each finger the motion of assisting its self-movement is provided, has multiple degrees of freedom, repeat function training and the comparatively complicated branch that can effectively assist the patient to finish finger multi-joint compound motion refer to motion, dimension adjustable movement mechanism, the patient feels more comfortable in the use.
The present invention also provides a kind of above-mentioned ROBOT CONTROL system that is used for, and integrated electric stimulation alleviates the strong convulsion of muscle of suffering from hands, promotes the reconstruction and the recovery of patient's hand exercise function.
A kind of multivariant wearing type rehabilitation training robot for function of hand comprises mechanical arm 1 and the mechanical finger that joins with it, and mechanical finger is made of mechanical thumb, forefinger, middle finger, the third finger and little finger;
Mechanical thumb comprises that inlet end is fixed in first pneumatic muscles 11 of mechanical arm 1 rear end, be positioned at the thumb support 7 and first thumbstall 2 of mechanical arm 1 front end, thumb support 7 joins by the end of rotational pin 4 with thumb connecting rod 5, the other end of thumb connecting rod 5 links to each other with second thumbstall 3, one end of rigidity cord 12 links to each other with second thumbstall 3, and the other end links to each other with the blind end of first pneumatic muscles 11;
Machinery forefinger, middle finger, the third finger are identical with the little finger structure, the machinery forefinger comprises that inlet end is fixed in second pneumatic muscles 15 and the finger tips support 17 that is installed on mechanical arm 1 front end of mechanical arm 1 rear end, and finger tips support 17 is provided with terminal line ball pulley 16, end support pulley 19 and terminal rotating shaft 18; Terminal rotating shaft 18 connects first intermediate connector 22, the preceding end support 25 of finger successively by connecting rod, front end is installed on the end support 25 before the finger supports pulley 26 and front end rotating shaft 24, and front end rotating shaft 24 links to each other with second intermediate connector 29 by connecting rod; The bottom of second intermediate connector 29 is equipped with and refers to holder support 32, the top is fixed with rigidity cord 30, rigidity cord 30 passes front end and supports pulley 26, through the top of end support pulley 19 and the bottom of terminal line ball pulley 16, joins with the blind end of second pneumatic muscles 15.
The medial wall of first and second intermediate connectors 22,29 is evenly distributed with ball, and portion also is provided with the compression spring within it, and the compression both ends of the spring contacts with the connecting rod face that stretches into connector inside.
As improvement of the present invention, lay torque spring 8 on the described rotational pin 4.
As a further improvement on the present invention, the outer surface of described terminal rotating shaft 18 and front end rotating shaft 24 is with torque spring respectively.
A kind of control system that is used for above-mentioned healing robot comprises A/D capture card 200, signal pre-processing circuit 300, force transducer 400, angular transducer 500, electric Proportion valve 600, sEMG electrode 700, EMG amplifier 800, controller 900, electrostimulator 1000, stimulating electrode 1100;
Force transducer 400 comprises five force transducers, and an end of each force transducer is fixed on mechanical arm 1 rear end, and the other end joins with the pneumatic muscles inlet end of mechanical thumb, forefinger, middle finger, the third finger and little finger respectively;
Angular transducer 500 comprises nine angular transducers, one of them angular transducer is installed on the rotational pin 4 of mechanical thumb, and other eight angular transducers are installed in respectively on the terminal rotating shaft and front end rotating shaft of mechanical forefinger, middle finger, the third finger and little finger;
Electric Proportion valve 600 links to each other with the pneumatic muscles inlet end of mechanical thumb, forefinger, middle finger, the third finger and little finger;
SEMG electrode 700 is used to measure the biological electromyographic signal of hand muscle;
EMG amplifier 800 sends signal pre-processing circuit 300 to after the biological electromyographic signal of hand muscle is amplified;
Signal pre-processing circuit 300 links to each other with angular transducer 500, force transducer 400 and EMG amplifier 800, the signal of receiving is carried out amplification filtering after, send to controller 900 by A/D capture card 200;
Data after controller 900 received signal pre-process circuits 300 amplify, adopt the contraction of Intelligent Control Strategy by electromagnetic proportional valve 600 each pneumatic muscles of control, controller 900 also connects stimulating electrode 1100 by electrostimulator 1000, controller 900 produces control signal, control electrostimulator 1000 produces suitable electricity irritation ripple, causes the motion of the impaired muscle of hand.
Technique effect of the present invention is embodied in:
The present invention adopts the pneumatic muscles type of drive, makes machine person to person's finger limbs more adapt to more coupling with multiple degrees of freedom, bio-imitability and the compliance of its unique mechanical structure, is suitable for dressing and safety and comfort.This robot characteristic imbody is as follows: (1) pneumatic muscles is rather similar to biological muscles at aspects such as power/length characteristic, expansion and contraction scope and response speeds, makes it have good compliance; (2) for each finger provides an independently motion, have multiple degrees of freedom, freely stretching of effectively auxiliary each finger is in the wrong, makes the patient finally finish the repetition training and the complicated hand motion of finger multi-joint compound motion function; (3) motion size adjustable, the patient feels more comfortable in the use; (4) easily wear unload, light economy, be particularly suited for family and community and use, both simplified therapist and patient's " one to one " heavy therapeutic process, can be the patient again effective rehabilitation training be provided, have the potentiality of improving rehabilitation efficacy and raising rehabilitation efficient.
Control system provided by the invention, in conjunction with augmented reality technique construction rehabilitation virtual environment, utilize environments for computer games to increase the interest of rehabilitation training, improve initiative and enthusiasm that the patient participates in rehabilitation training, objective data in the real-time feedback training process, optimize training parameter according to data message and can optimize therapeutic scheme, have the potentiality of improving rehabilitation efficacy and improving rehabilitation efficient, integrated electric stimulation realizes that the patient of the different state of an illness selects different hand rehabilitation training modes simultaneously.
Description of drawings
Fig. 1 is multivariant wearing type rehabilitation training robot for function of hand front view;
Fig. 2 is multivariant wearing type rehabilitation training robot for function of hand vertical view;
Fig. 3 is multivariant wearing type rehabilitation training robot for function of hand upward view;
Fig. 4 is multivariant wearing type rehabilitation training robot for function of hand forefinger structural representation;
Fig. 5 is multivariant wearing type rehabilitation training robot for function of hand control system structural representation.
The specific embodiment
The present invention is further detailed explanation below in conjunction with accompanying drawing and example.
Shown in Fig. 1,2,3,4, the structure of apparel type robot for healing hand function is:
Machinery forefinger, middle finger, the third finger are identical with the little finger structure, and existing is that example illustrates its structure with mechanical forefinger.With reference to figure 1 and Fig. 2, second holder 13 is installed on the rear end of mechanical arm 1, and the inlet end and second force transducer 14 of also having laid second force transducer, 14, the second pneumatic muscles 15 on second holder 13 join.The front end of mechanical arm 1 is equipped with finger tips support 17, finger tips support 17 is provided with terminal line ball pulley 16, end support pulley 21 and terminal rotating shaft 18, terminal rotating shaft 18 is provided with second angular transducer 20, is used to measure the rotational angle of finger metacarpophalangeal joints.Terminal rotating shaft 18 connects first intermediate connector 22 by first connecting rod 21, first intermediate connector 22 connects the preceding end support 25 of finger by second connecting rod 23, front end is installed on the end support 25 before the finger supports pulley 26 and front end rotating shaft 24, front end rotating shaft 24 is provided with third angle degree pick off 27.Front end rotating shaft 24 links to each other with second intermediate connector 29 by third connecting rod 28; The lower end of second intermediate connector 29 is equipped with and refers to holder support 32, be fixed with rigidity cord 30 on the top end cover 31, rigidity cord 30 passes front end and supports pulley 26, through the top of end support pulley 21 and the bottom of terminal line ball pulley 16, joins with the blind end of second pneumatic muscles 15.
Force transducer has five, is respectively applied for the pulling force of the pneumatic muscles generation of measuring thumb, forefinger, middle finger, the third finger and little finger, and institute's dynamometry value is used for the feedback control of robot.One end of each force transducer is separately fixed on the holder of each mechanical finger of arm rear end, and the other end connects the pneumatic muscles inlet end of each mechanical finger respectively.
Angular transducer one has nine, and first angular transducer 6 is installed in thumb support rotational pin 4 places, is used to measure stretching of thumb and bends degree; Corresponding separately respectively two angular transducers of machinery forefinger, middle finger, the third finger and little finger, one of them is placed in terminal rotating shaft place, be used to measure stretching of forefinger metacarpophalangeal joints and bend degree, another one is placed in front end rotating shaft place, is used to measure stretching of forefinger interphalangeal joint and bends degree.
Electric Proportion valve links to each other with the pneumatic muscles inlet end of each mechanical finger, by charge and discharge the pulling force that gas is controlled pneumatic muscles to pneumatic muscles.First pneumatic muscles 11 drives rigidity cord 12 by inflation, and it is overhanging that rigidity cord 12 drives thumb connecting rod 5, and thumb is finished overhanging action; And adduction of thumb is to finish by 11 venting of first pneumatic muscles.The present invention has also laid torsion spring 8 on rotational pin 4, during venting, and the torsion that torsion spring 8 produces, receipts power is finished adduction of thumb jointly in the pulling force that produces with first pneumatic muscles 11 and the patient's thumb self.
Because of forefinger, middle finger, the third finger and little finger four refer to frame for movement and motor process all similar, thus with forefinger (with reference to figure 1 and Fig. 4) be example introduce four finger structures with and Machine Movement Process.Rigidity cord 30 pullings second intermediate connector 29 is ordered about in 15 inflations of second pneumatic muscles, suffers from the overhanging motion of hands forefinger thereby drive.15 venting of second pneumatic muscles, the pulling force of 30 pairs second intermediate connectors 29 of rigidity cord reduces gradually, suffers from the hands forefinger and does the interior motion of receiving.But when 15 venting of second pneumatic muscles finish, suffer from the hands forefinger and can not reset to its initial interior receipts state fully, therefore the outer surface of rotating shaft 18 and front end rotating shaft 24 is with torque spring 33 respectively endways, 34 (abbreviation torsion springs), the torsion of torsion spring can assist forefinger finally to finish passive reset.If patient's ability is enough to implement positive return, can suitably regulate second pneumatic muscles, 15 discharge quantities, make second pneumatic muscles 15 by pulling force and torsion spring torsion balance that cord 3 produces, receive in patient's forefinger, realize positive return.At first and second intermediate connectors 22,29 medial wall is evenly distributed with ball, can put into compression spring (abbreviation stage clip) to its inside by connector end cap 31, the stage clip two ends contact with the connecting rod face that stretches into connector inside, stretching in the process of bending of forefinger, connecting rod cooperates the ball on stage clip and the connector wall to regulate robot forefinger length, reaches healing robot and refers to the adjustable purpose of long motion, and the patient is more comfortable in finishing the action in the wrong of stretching of finger.Wherein, the effect of ball be for make connecting rod in telescopic process with the rolling friction of connector wall, but not sliding friction is with the friction effect between maximum minimizing connecting rod and the connector.
The present invention is used for above-mentioned ROBOT CONTROL system global structure sketch map as shown in Figure 5, and it comprises A/D capture card 200, signal pre-processing circuit 300, force transducer 400, angular transducer 500, electric Proportion valve 600, sEMG electrode 700, EMG amplifier 800, controller 900, electrostimulator 1000, stimulating electrode 1100, computer 1200.
Force transducer 400 detects the auxiliary pulling force of five sections pneumatic muscles respectively, can not only avoid under spasticity, assisting excessive the causing of pulling force to suffer from the damage of hand muscle meat, but also can be used for the active degree of participation that hands is suffered from the quantitative assessment rehabilitation training, reduce extraneous auxiliary force as far as possible, allow the initiatively execution of patient's muscular force on one's own account.
Angular transducer 500 is measured thumb respectively and is stretched bent angle, forefinger, middle finger, the third finger and the little finger metacarpophalangeal joints anglec of rotation and forefinger, middle finger, the third finger and the little finger interphalangeal joint anglec of rotation.
The measuring-signal of 300 pairs of angular transducers 500 of signal pre-processing circuit, force transducer 400 and carry out amplification filtering by the electromyographic signal that sEMG electrode 700 is handled through EMG amplifier 800, controller 100 obtains the motion feature parameter of man-robot system and suffers from the hands state by the measured value and the electromyographic signal of each joint angles after A/D capture card 200 acquisition process and the auxiliary pulling force of pneumatic muscles.
Can adopt different rehabilitation training means according to different patients, drive functional training and electricity irritation training as pneumatic muscles, as shown in Figure 5, I represents two kinds of different rehabilitation training means with II.When adopting pneumatic muscles to drive the functional training mode, adopt Intelligent Control Strategy, residue active exercise based on the patient applies external pneumatic muscle auxiliary force, measure the biological electromyographic signals of hand muscle and power, each joint angles sensing data by surface myoelectric sEMG (SurfaceElectromyogram) electrode 700, force transducer 400 and angular transducer 500, controller 900 is controlled electric Proportion valve 600 according to the data message of measuring and is carried out the contraction of pneumatic muscles, thereby control is suffered from the pneumatic auxiliary force of hands to the patient.In the rehabilitation training process, by suffering from the auxiliary force size that the hands state self-adaption is adjusted pneumatic muscles, make robot only finish the necessary minimum auxiliary force of training action when suffering from providing when hands stops active exercise, the auxiliary hands of suffering from is finished multi-joint compound motion functional training, avoids under spasticity excessive the causing of pneumatic myotility to suffer from the damage of hand muscle meat simultaneously; When adopting low-frequency electrostimulating to alleviate spasm and training muscle, according to the biological electromyographic signal of measuring and power, each joint angles sensing data, adopt the closed loop feedback control technology to regulate electrical stimulation parameters in real time, produce suitable electrical stimulation signal by controller 900 control electrostimulators 1000, be passed to surface stimulating electrode and cause muscle contraction, strengthen muscular blood circulation and nutrition supply, promote nerve excitability and conduction function to recover, alleviate spasm, muscle strength reinforcing, promote the reconstruction and the recovery of the impaired motor function of hand.
In structure chart, can carry out the setting and the demonstration of the information in the training process of recovery exercising robot training parameter (as frequency of training, training time, electrical stimulation parameters etc.) by computer 1200, simultaneously on computer 1200 in conjunction with the augmented reality technology, for the patient provides virtual game environment, the mobility situation of suffering from hands according to the patient, automatically adjust the grade of difficulty of recreation, make the patient in training process, keep higher enthusiasm and interest always, thereby improve the effect of rehabilitation training.
The existence of active exercise wish has important positive impact to rehabilitation efficacy, the present invention is that the closed loop feedback ring has been set up at the center with patient, based on the further research and pay attention to the initiatively application of wish of human brain of sEMG signal, strengthen in the neural rehabilitation stimulation and integration process to kinetic system.By to suffering from the agonist and Antagonistic muscle such as the extensor digitorum that play a major role in the hands movement functional training process, referring to that the multichannel sEMG of musculus flexor, palmaris longus, abductor digiti minimi etc. carries out time frequency analysis, extract the principal character parameter, patient's hands movement function is carried out quantitative assessment such as muscle active force, exercise duration, movement angle etc., and suffering from the hands state parameter by the Based Intelligent Control decision analysis provides the auxiliary patient of extraneous minimum auxiliary force to suffer from the hand rehabilitation training to greatest extent.
Preferably, the present invention is except that adopting the auxiliary patient of pneumatic muscles machine driven people to carry out the healing hand function training, also integrated electric stimulation relieve muscle spasms, the hands movement dysfunction that treatment hand injury or other peripheral nerve injurys cause, by the suitable electrical stimulation signal of controller 900 control electrostimulators, 1000 outputs, be passed to 1100 pairs of hand muscle of surface stimulating electrode and implement low-frequency electrostimulating.During use, sEMG electrode 700 sticks on patient's hand or forearm, the sEMG signal of muscle plays a major role in the detection of cancerous hands movement function rehabilitation training process, after amplifying, EMG amplifier 800 all wave rectifications import controllers 900 by A/D capture card 200, extract patient's active exercise wish and suffer from the hands state, be used to adjust electrical stimulation parameters.
In the rehabilitation training process, the auxiliary patient of healing robot suffers from the hands master, finishes the training of hands functional movement passively, and this long-time, multiple training undoubtedly is dry for patients.In order to improve patient's enthusiasm, performance patient's subjective initiative makes it can obtain happy successful emotional experience in training process, thereby impels it to practise incessantly, and design rehabilitation virtual game environment just seems significant.
The present invention also can adopt computer 1200 that healing hand function treatment virtual environment interface is provided, and is connected in controller 900.Controller 900 is with the pneumatic muscles power of force transducer 400 inputs, the joint angles of angular transducer 500 inputs, and the parameters such as angle on target in each joint of setting are passed to computer 1200, computer 1200 realizes suffering from the quantitative assessment of hands movement function rehabilitation training process and rehabilitation efficacy according to input parameter, comprise thumb and terminal current location and the movement locus of all the other four fingers, the speed of each joint motions and stationarity, the deviation of finger tips movement locus and target trajectory, the size of robot auxiliary force, the evaluation of indexs such as whether the functional training task completes successfully, and utilize the augmented reality technology to feed back to the patient, virtual scene that computer is generated and information are added to and realize enhancing to reality in the real scene, a kind of rehabilitation virtual environment is provided, makes the patient get information about rehabilitation training process and the rehabilitation efficacy of self.Robot system rehabilitation virtual environment comprises computer virtual recreation, training beginning and the prompting that finishes, training effect's vision and auditory feedback.This mode can be when robot offers patient's mechanical assistant, the quantitative assessment of rehabilitation training process and rehabilitation efficacy is fed back to the patient in real time, and utilize computer game to excite patient's training interest, to overcome the problem that the patient initiatively participates in training in the current rehabilitation training enthusiasm is difficult to improve.Rehabilitation training based on virtual environment also combines with network in addition, has the characteristics of remote rehabilitation robot system.
Claims (4)
1, multivariant wearing type rehabilitation training robot for function of hand comprises mechanical arm (1) and the mechanical finger that joins with it, and mechanical finger is made of mechanical thumb, forefinger, middle finger, the third finger and little finger; Mechanical thumb comprises that inlet end is fixed in first pneumatic muscles (11) of mechanical arm (1) rear end, be positioned at the thumb support (7) and first thumbstall (2) of mechanical arm (1) front end, thumb support (7) joins by the end of rotational pin (4) with thumb connecting rod (5), thumb connecting rod (5), the other end link to each other with second thumbstall (3), one end of the first rigidity cord (12) links to each other with second thumbstall (3), and the other end links to each other with the blind end of first pneumatic muscles (11); It is characterized in that:
Machinery forefinger, middle finger, the third finger are identical with the little finger structure, the machinery forefinger comprises that inlet end is fixed in second pneumatic muscles (15) of mechanical arm (1) rear end and is installed on the finger tips support (17) of mechanical arm (1) front end, and finger tips support (17) is provided with terminal line ball pulley (16), end support pulley (19) and terminal rotating shaft (18); Terminal rotating shaft (18) connects first intermediate connector (22), the preceding end support (25) of finger successively by connecting rod, front end is installed on the end support (25) before the finger supports pulley (26) and front end rotating shaft (24), front end rotating shaft (24) links to each other with second intermediate connector (29) by connecting rod; The bottom of second intermediate connector (29) is equipped with and refers to holder support (32), the top is fixed with the second rigidity cord (30), the second rigidity cord (30) passes front end and supports pulley (26), through the top of end support pulley (19) and the bottom of terminal line ball pulley (16), join with the blind end of second pneumatic muscles (15);
The medial wall of first and second intermediate connectors (22,29) is evenly distributed with ball, and portion also is provided with the compression spring within it, and the compression both ends of the spring contacts with the connecting rod face that stretches into connector inside.
2, multivariant wearing type rehabilitation training robot for function of hand according to claim 1 is characterized in that, lays torque spring (8) on the described rotational pin (4).
3, multivariant wearing type rehabilitation training robot for function of hand according to claim 1 is characterized in that, is with torque spring respectively at the outer surface of described terminal rotating shaft (18) and front end rotating shaft (24).
4, a kind of control system that is used for above-mentioned healing robot comprises A/D capture card (200), signal pre-processing circuit (300), force transducer (400), angular transducer (500), electric Proportion valve (600), sEMG electrode (700), EMG amplifier (800), controller (900), electrostimulator (1000), stimulating electrode (1100);
Force transducer (400) comprises five force transducers, and an end of each force transducer is fixed on mechanical arm (1) rear end, and the other end joins with the pneumatic muscles inlet end of mechanical thumb, forefinger, middle finger, the third finger and little finger respectively;
Angular transducer (500) comprises nine angular transducers, one of them angular transducer is installed on the rotational pin (4) of mechanical thumb, and other eight angular transducers are installed in respectively on the terminal rotating shaft and front end rotating shaft of mechanical forefinger, middle finger, the third finger and little finger;
Electric Proportion valve (600) links to each other with the pneumatic muscles inlet end of mechanical thumb, forefinger, middle finger, the third finger and little finger;
SEMG electrode (700) is used to measure the biological electromyographic signal of hand muscle;
EMG amplifier (800) sends signal pre-processing circuit (300) to after the biological electromyographic signal of hand muscle is amplified;
Signal pre-processing circuit (300) links to each other with angular transducer (500), force transducer (400) and EMG amplifier (800), the signal of receiving is carried out amplification filtering after, send to controller (900) by A/D capture card (200);
Data after controller (900) received signal pre-process circuit (300) amplifies, adopt Intelligent Control Strategy to control the contraction of each pneumatic muscles by electromagnetic proportional valve (600), controller (900) also connects stimulating electrode (1100) by electrostimulator (1000), controller (900) produces control signal, control electrostimulator (1000) produces suitable electricity irritation ripple, causes the motion of the impaired muscle of hand;
Controller (900) also connects computer (1200), and the setting and the information in the training process of carrying out the recovery exercising robot training parameter by computer (1200) show, provide virtual game environment for the patient simultaneously.
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