CN102715999B - Parallel robot for planarly training upper limbs hemiplegia for multistage rehabilitation - Google Patents
Parallel robot for planarly training upper limbs hemiplegia for multistage rehabilitation Download PDFInfo
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- CN102715999B CN102715999B CN201210214040.7A CN201210214040A CN102715999B CN 102715999 B CN102715999 B CN 102715999B CN 201210214040 A CN201210214040 A CN 201210214040A CN 102715999 B CN102715999 B CN 102715999B
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Abstract
The invention discloses a parallel robot for planarly training upper limbs hemiplegia for multistage rehabilitation, which belongs to the field of medical rehabilitation equipment. The robot consists of a parallel mechanism with a variable rod length, an operation handle, an ancon used for bearing the elbow of a patient, a bull eye universal wheel and a control system, wherein the parallel mechanism with the variable rod length is installed on a table top and is divided into a left part and a right part which are symmetric; one ends of two parts are hinged by the operation handle; the bull eye universal wheel is installed below the hinged position of the operation handle and is installed onto the ancon hinged with the operation handle; the position of the operation handle is determined according to the numerical value of two triangular bottom angles formed by a servo motor control mechanism via a computer to finish a target locus; by controlling a speed parameter, a velocity field is formed in the movement reachable space of the patient during passive movement, and the patient is guided to passively move along the set locus; during active movement, the force parameters of different points in a movement plane can be set; and a force field is formed in the movement reachable space and is used for the active movement training and the impedance movement training of the patient.
Description
Technical field
The invention belongs to medical rehabilitation instrument field, particularly a kind of plane training upper limb hemiplegia multistage rehabilitation parallel robot, can be applicable to cerebrovascular disease, the central nervous system injury Rehabilitation technical fields such as brain or spinal injury.
Background technology
Patient's disability rates such as the cerebrovascular disease such as apoplexy, brain or spinal injury, central nervous system injury are higher, and main sequela is acute nerve paralysis, has viability and DB in various degree.And in fact giving this type of patient rehabilitation timely, patient can recover most of motor function.To patients such as the cerebrovascular disease such as apoplexy, brain or spinal injury, central nervous system injuries, conventionally adopt the method for rehabilitation's teacher treatment one to one at present, this class methods efficiency is low, intensity is large, and can not give to evaluate accurately to Rehabilitation situation.Neural healing robot is according to rehabilitation medicine, and in conjunction with subjects such as mechanics, neuro-cognitive, electronics, auxiliary and part replaces the Therapy robot of Traditional Rehabilitation Shi Jinhang rehabilitation.Compared with physiatrician, healing robot not only can carry out rehabilitation nursing and can gather the various parameters in patient moving process, is beneficial to carry out accurately Rehabilitation Assessment, further formulate individual character rehabilitation scheme with strong points and carry out scientific research.
For cerebrovascular disease, different practical situations corresponding to rehabilitation stage of central nervous system injury patient, the different training modes of needs of patients and training mission.Training mode comprises passive exercise (power-assisting training), active training, impedance training etc., and training mission track comprises straight line, circular arc, customization of individual character track or approaches the track of daily exercise.But existing towed healing robot comes with some shortcomings at present, can not meet patient and train demand, its main manifestations is: can better realize passive exercise, but can not finely realize patient's active training, in patient's active exercise stage, there is operating difficulties, the speed and the acceleration that cause patient to operate are discontinuous, when namely patient's active exercise there is defect in towed robot, structure is dumb, and adaptability is not high, causes patient's operational capacity accurately to embody, even cause the dyskinesia, bring patients ' psychological burden; Abundant training track can not be provided, patient's training is not reached to daily life motion function rehabilitation, multistage, complicated training can not be provided.
Summary of the invention
For overcoming prior art and product deficiency, meet patient in hemiparalysis recovery training and, in the demand of the active and passive training of different phase, the present invention proposes a kind of plane training upper limb hemiplegia multistage rehabilitation parallel robot.
The technical solution used in the present invention is: by ancon, buphthalmos universal wheel and composition of the control system that variable rod length parallel institution on the table, operating grip, carrying patient ancon are installed.
Described variable rod length parallel institution is divided into symmetrical two parts, and every side has two guide rails, is respectively lower guideway and upper rail, and the two ends of lower guideway and upper rail arrange spacer pin respectively; One end of lower guideway is arranged on motor shaft by motor and guide-rail coupling member, and locates by motor positioning key; The first slide block is arranged on lower guideway, and the second slide block is arranged on upper rail, and the first slide block and the second slide block are affixed by flange; The 3rd slide block is arranged on upper rail, and one end of connecting rod is fixed on the 3rd slide block; The other end of the two-part connecting rod in left and right is hinged by operating grip;
Below the hinged place of two connecting rods and operating grip, buphthalmos universal wheel is installed, and is installed on the hinged ancon of operating grip, the two-part variable rod length parallel institution in left and right and ancon form " Y " shape structure;
Control system is connected with the motor of the left and right sides respectively; The triangle two base angle angle numerical value that computer consists of servomotor controller structure, determine position, operating grip place (triangular apex), complete target trajectory, by control rate parameter, in the time of passive exercise, can reach and in space, form velocity field in patient's motion, guiding patient passive along setting orbiting motion; In the time of active exercise, can set the force parameter of the difference in plane of movement, can reach in space and form the field of force in motion, be used in patient's active exercise training and resistive exercise training etc.
When passive exercise, the motor of both sides drives lower guideway to swing simultaneously, connecting rod and three slide blocks are driven, in the time that the 3rd slide block slides into spacer pin place and stops sliding, the first slide block and the second slide block are still slidably, in this process, the second slide block and the 3rd slide block are selected to slide at random, until the scope that reaches capacity, complete the planned trajectory of operating grip under Passive Mode by controlling the pivot angle of symmetrical guide rail; When active exercise, manual control operating grip, the part that connecting rod and the 3rd slide block are composed of a fixed connection becomes driving link, the first slide block, the second slide block, lower guideway and upper rail become driven member, connecting rod and the 3rd slide block slide and swing simultaneously on upper rail, drive drivenly with side slide and guide rail, left and right two parts mechanism, according to stressed variation free-extension, realizes the track that operating grip place will complete.
Fixing bandage is set on described ancon.
Beneficial effect of the present invention is:
When training, provide required passive or active training according to the different phase of Rehabilitation, meet the patient demand of Different Individual and different phase.The present invention is simple in structure, rationally distributed, reliable and stable.Variable rod length mechanism is by multiple slide blocks and connecting rod assembly, slide block in operating process and the movable independent of connecting rod distribute, realize mechanism stable inertia, patient's operation is not produced to obstacle, the speed, the acceleration that reach operation are continuous, robot end's motion does not produce sudden change, makes patient there is no psychological burden, the rehabilitation efficacy having reached.Can accurately gather the kinematic parameter in patient's training process, meet multiple rehabilitation scheme and formulate demand and scientific research needs simultaneously.This robot improves smooth-going and mechanism's fault-tolerant ability of motion by redundancy, mechanism's motility is high, has good interactive capability.In upper limb healing technical field, particularly early stage, mid-term, multistage in later stage rehabilitation field will have wide practical use in the present invention.
Brief description of the drawings
Fig. 1 is the structural scheme of mechanism of plane training upper limb hemiplegia multistage rehabilitation parallel robot;
Fig. 2 is upper limb hemiplegia rehabilitation redundancy variable rod length parallel institution schematic diagram.
Number in the figure:
1-motor and guide-rail coupling member; 2-lower guideway; 3-the first slide block; 4-the second slide block; 5-the 3rd slide block; 6-upper rail; 7-connecting rod; 8-operating grip; 9-ancon; 10-buphthalmos universal wheel; 16-motor positioning key; 17-desktop.
Detailed description of the invention
The invention provides a kind of plane training upper limb hemiplegia multistage rehabilitation parallel robot, below in conjunction with the drawings and specific embodiments, the present invention will be further described.
Operation principle of the present invention is: in rehabilitation course, the impact that auxiliary device is brought into is the smaller the better, perfect condition is without bad load, does not bring the factor swaying the emotion in the time of patient moving into, and patient's nerve control and kinetism can embody in such mechanism.Do not meet patient with delay, mechanism and operate will when patient moving consciousness is interfered, when man-machine interaction produces obstacle, hemiplegic patient's psychology and physiology all can be affected, and even produce spasm when situation is serious.Particularly, in the situation that needs are observed patient and recorded kinematic parameter, bad load is interfered training motion, causes recording accurate data, can not carry out Rehabilitation Assessment accurately.The present invention is based on the requirement of above when training to mechanism, finds and can realize satisfactory mechanism, particularly meets the mechanism of active exercise.While using this robot active operation, that between slide block and connecting rod, slides freely selects, moves with meeting, and except frictional force, without other power impact operations, makes system inertia stable.Carry out planned trajectory by controlling triangular apex position, tactile feedback control is by being installed on the alternately vibration of oscillator of both sides, patient's ancon front and back, and prompting patient completes interior receipts, arms sideward lift.
Structure of the present invention is as depicted in figs. 1 and 2: variable rod length parallel institution is divided into symmetrical two parts, and every side has two guide rails, is respectively lower guideway 2 and upper rail 6, and the two ends of lower guideway 2 and upper rail 6 arrange spacer pin respectively; One end of lower guideway 2 is arranged on motor shaft by motor and guide-rail coupling member 1, and locates by motor positioning key 16; The first slide block 3 is arranged on lower guideway 2, and the second slide block is arranged on upper rail 6, and the first slide block 3 and the second slide block 4 are affixed by flange; The 3rd slide block 5 is arranged on upper rail 6, and one end of connecting rod 7 is fixed on the 3rd slide block 5; The other end of the two-part connecting rod 7 in left and right is hinged by operating grip 8.
Below the hinged place of two connecting rods 7 and operating grip 8, buphthalmos universal wheel 10 is installed, and is installed on the hinged ancon of operating grip 89, the two-part variable rod length parallel institution in left and right and ancon 9 form " Y " shape structure.Fixing bandage is set on ancon 9.
Control system is connected with the motor of the left and right sides respectively; The triangle two base angle angle numerical value that computer consists of servomotor controller structure, determine position, operating grip place (triangular apex), complete target trajectory, by control rate parameter, in the time of passive exercise, can reach and in space, form velocity field in patient's motion, guiding patient passive along setting orbiting motion; In the time of active exercise, can set the force parameter of the difference in plane of movement, can reach in space and form the field of force in motion, be used in patient's active exercise training and resistive exercise training etc.
When passive exercise, the motor of both sides drives lower guideway 2 to swing simultaneously, connecting rod 7 and three slide blocks are driven, in the time that the 3rd slide block 5 slides into spacer pin place and stops sliding, the first slide block 3 and the second slide block 4 are still slidably, in this process, random selection of the second slide block 4 and the 3rd slide block 5 slided, until the scope that reaches capacity, completes the planned trajectory of operating grip 8 under Passive Mode by controlling the pivot angle of symmetrical guide rail; When active exercise, manual control operating grip 8, the part that connecting rod 7 and the 3rd slide block 5 are composed of a fixed connection becomes driving link, the first slide block 3, the second slide block 4, lower guideway 2 and upper rail 6 become driven member, connecting rod 7 and the 3rd slide block 5 slide and swing simultaneously on upper rail 6, drive drivenly with side slide and guide rail, left and right two parts mechanism, according to stressed variation free-extension, realizes the track that operating grip 8 places will complete.
By regulating stroke, speed and the thrust of servomotor, realize different training burden, training mode; Different training modes is realized in the velocity field, the field of force that form in space by multiple motor coordinations, comprises Passive Mode, aggressive mode, impedance mode, assistant mode etc., applies optimal training mode period for patient's different rehabilitation.
The present embodiment monnolithic case full-size is: length × wide × height=840mm × 750mm × 150mm,
Minimum dimension is: length × wide × height=840mm × 350mm × 150mm.
Claims (2)
1. a plane training upper limb hemiplegia multistage rehabilitation parallel robot, by the motor of desktop (17), the left and right sides, be arranged on ancon (9), buphthalmos universal wheel (10) and the composition of the control system of variable rod length parallel institution on desktop (17), operating grip (8), carrying patient ancon, it is characterized in that
Described variable rod length parallel institution is divided into symmetrical two parts, and every side has two guide rails, is respectively lower guideway (2) and upper rail (6), and the two ends of lower guideway (2) and upper rail (6) arrange spacer pin respectively; One end of lower guideway (2) is arranged on the motor shaft of corresponding side motor by motor slide rails connector (1), and by motor positioning key (16) location; It is upper that the first slide block (3) is arranged on lower guideway (2), and it is upper that the second slide block is arranged on upper rail (6), and the first slide block (3) and the second slide block (4) are affixed by flange; It is upper that the 3rd slide block (5) is arranged on upper rail (6), and left and right two parts also respectively have a connecting rod (7), and one end of connecting rod (7) is fixed on the 3rd slide block (5); The other end of the two-part connecting rod in left and right (7) is hinged by operating grip (8);
Buphthalmos universal wheel (10) is installed in below in the hinged place of two connecting rods (7) and operating grip (8), and the installation ancon (9) hinged with operating grip (8), the two-part variable rod length parallel institution in left and right and ancon (9) formation " Y " shape structure;
Control system is connected with the motor of the left and right sides respectively;
When passive exercise, the motor of both sides drives lower guideway (2) to swing simultaneously, connecting rod (7) is driven with three slide blocks, in the time that the 3rd slide block (5) slides into spacer pin place and stops sliding, the first slide block (3) and the second slide block (4) are still slidably, in this process, the second slide block (4) slides with random selection of the 3rd slide block (5), until the scope that reaches capacity completes the planned trajectory of operating grip under Passive Mode (8) by controlling the pivot angle of symmetrical guide rail; When active exercise, manual control operating grip (8), connecting rod (7) becomes driving link with the part that the 3rd slide block (5) is composed of a fixed connection, the first slide block (3), the second slide block (4), lower guideway (2) and upper rail (6) become driven member, connecting rod (7) swings upper slip of upper rail (6) with the 3rd slide block (5) simultaneously, drive drivenly with side slide and guide rail, left and right two parts mechanism, according to stressed variation free-extension, realizes operating grip (8) and locates the track that will complete.
2. a kind of plane training upper limb hemiplegia multistage rehabilitation parallel robot according to claim 1, is characterized in that, described ancon arranges fixing bandage on (9).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210214040.7A CN102715999B (en) | 2012-06-25 | 2012-06-25 | Parallel robot for planarly training upper limbs hemiplegia for multistage rehabilitation |
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| CN201210214040.7A CN102715999B (en) | 2012-06-25 | 2012-06-25 | Parallel robot for planarly training upper limbs hemiplegia for multistage rehabilitation |
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| CN102715999A CN102715999A (en) | 2012-10-10 |
| CN102715999B true CN102715999B (en) | 2014-06-18 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105232291A (en) * | 2015-09-18 | 2016-01-13 | 中国科学院自动化研究所 | Rehabilitation training bed supportive of continuous adjustment of gravity center and inclination angle |
| CN105476818B (en) * | 2016-01-14 | 2017-10-24 | 清华大学 | The device for healing and training detected based on reciprocal force |
| CN106512328A (en) * | 2017-01-03 | 2017-03-22 | 上海卓道医疗科技有限公司 | Planar upper limb rehabilitation training robot |
| CN106512329A (en) * | 2017-01-03 | 2017-03-22 | 上海卓道医疗科技有限公司 | Planar upper limb rehabilitation training robot with flexible joints |
| CN107951680A (en) * | 2017-12-27 | 2018-04-24 | 北京航空航天大学 | A kind of Table top type wrist joint recovery exercising robot structure |
| CN108013959A (en) * | 2018-01-25 | 2018-05-11 | 李文平 | Upper limb healing Medical Devices |
| CN108542704A (en) * | 2018-04-10 | 2018-09-18 | 广西科技大学 | Upper limb healing Medical Devices patient activity's device |
| CN110169894A (en) * | 2019-06-24 | 2019-08-27 | 深圳睿瀚医疗科技有限公司 | Drawing-type upper limb integrated training device |
| CN112057292A (en) * | 2019-12-04 | 2020-12-11 | 宁波大学 | Six-degree-of-freedom series-parallel upper limb rehabilitation robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7204814B2 (en) * | 2003-05-29 | 2007-04-17 | Muscle Tech Ltd. | Orthodynamic rehabilitator |
| CN201186005Y (en) * | 2008-04-17 | 2009-01-28 | 白焕峰 | Machine for exercising elbow joint |
| CN101347380A (en) * | 2008-09-05 | 2009-01-21 | 清华大学 | Upper limb hemiplegia rehabilitation robot device with adjustable training plan |
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