CN104721012A - Inductive force feedback mechanism - Google Patents
Inductive force feedback mechanism Download PDFInfo
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- CN104721012A CN104721012A CN201310743065.0A CN201310743065A CN104721012A CN 104721012 A CN104721012 A CN 104721012A CN 201310743065 A CN201310743065 A CN 201310743065A CN 104721012 A CN104721012 A CN 104721012A
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- transverse slat
- riser
- force feedback
- feedback mechanism
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Abstract
An inductive force feedback mechanism comprises a fixed seat, a driving unit, a first limb supporting unit and a second limb supporting unit. The driving unit comprises a motor and an output shaft, the output shaft is connected with the motor which is arranged on the fixed seat, and the output shaft is capable of extending into a joint seat to be connected with an elastic unit. The first limb supporting unit comprises a first supporting part and a first myoelectrical signal sensor, and the first myoelectrical signal sensor is arranged on the first supporting part which is arranged on the fixed seat. The second limb supporting unit comprises a second supporting part and a second myoelectrical signal sensor, and the second myoelectrical sensor is arranged on the second supporting part which is arranged on the joint seat. The motor outputs proper auxiliary power according to induction results of the first and second myoelectrical sensors to enable the first and second supporting parts to move relatively truly, so that rehabilitation effects of a user can be improved.
Description
Technical field
The present invention is relevant with rehabilitation accessory, especially a kind of vicarious force feedback mechanism.
Background technology
For apoplexy, brain injury or the sufferer being subject to other neural injuries, usually all need the function recovering muscle and joint originally via long rehabilitation, to avoid the problem producing amyotrophy and degenerative joint in the future.
Can not need to rely on other people assist to allow sufferer and carry out rehabilitation voluntarily, many rehabilitation accessories are developed for sufferer at present, the such as U.S. the 8th, 211, No. 042 patent is to the effect reaching rehabilitation or produce as artificial limb joint by the collocation of MR damper and friction brakes, but in default of the design of drive source in this known patent, so the effect that in fact user can obtain is quite limited.In addition, the U.S.'s No. 2008/0071386 patent is utilize the judgement of myoelectricity signal transducer to be used as foundation that driving device provides driving force, but the size of this driving force needs to be controlled by the mathematical operation between virtual spring coefficient and automatic virtual blocks coefficient, except the easy problem that time of occurrence postpones on signal transmits, be also easy to be subject to the interference of extrinsic factor and the degree of accuracy that affects in signal process.
Summary of the invention
Main purpose of the present invention is to provide a kind of vicarious force feedback mechanism, and it is easy to operate and be swift in response, and has good stability.
To achieve these goals, vicarious force feedback mechanism of the present invention includes a holder, a driver element, a socket joint, a Flexible element, one first limbs breasting unit, and one second limbs breasting unit.This driver element has the motor, being located at this holder and is located at this holder and connects the reductor of this motor, and the output shaft of this reductor of connection; This socket joint has a collar portion and a support arm, and this collar portion is arranged in the reductor of this driver element rotationally and is sheathed on the output shaft of this driver element, this support arm from the outer ring surface of this collar portion radially toward extension; This Flexible element has a mount pad and most elastic parts being located at this mount pad, this mount pad is socketed on the output shaft of this driver element and is connected to the inner ring surface of the collar portion of this socket joint, makes this Flexible element can be subject to the driving of this output shaft and drive this socket joint synchronous axial system; This first limbs breasting unit has the first myoelectricity signal transducer that the first breasting part and being located at holder is located at the first breasting part; This second limbs breasting unit has is located at the second breasting part and one second myoelectricity signal transducer, and this second breasting part is located at the support arm of this socket joint, and this second myoelectricity signal transducer is located at this second breasting part.
From the above, the myoelectricity signal responded to by this first, second myoelectricity signal transducer is to judge the action of muscle, this motor is enable to export suitable auxiliary power to this Flexible element, then the mount pad of this Flexible element can drive the synchronous start of this socket joint, respectively this elastic parts of this Flexible element can produce the effect that distortion reaches strength control simultaneously, thus, this second bearing part can really and stably this first bearing part start relatively, to promote the rehabilitation effect of user.
Preferably, the end face of the collar portion of this socket joint is provided with a rotary damper, and this rotary damper connects this holder by a connecting axle, promotes the stability of start in order to provide damping to this socket joint.
Preferably, the motor of this driver element is provided with a rotary encoder, in order to measure the rotation amount of a driving shaft of this motor, and, a rotating potentiometer is equipped with in the output shaft of this driver element, one end of this rotating potentiometer is fixed in a rotating shaft of this reductor, and the other end of this rotating potentiometer is fixed in this connecting axle, in order to measure the angle variable quantity between this rotating shaft and this connecting axle.
Preferably, this the first breasting part has one first bolster and one first clamp ring, this first bolster is located at this holder and can be done the position adjustment of triple axle according to actual needs this holder relative, the outer ring surface of this first clamp ring is located at this first bolster, and the inner ring surface of this first clamp ring is provided with this first myoelectricity signal transducer.
Preferably, this the second breasting part has one second bolster and one second clamp ring, this second bolster be located at this socket joint support arm and can according to actual needs relatively this holder do the position adjustment of triple axle, the outer ring surface of this second clamp ring is located at this second bolster, and the inner ring surface of this second clamp ring is provided with this second myoelectricity signal transducer.
Accompanying drawing explanation
Fig. 1 is axonometric chart of the present invention.
Fig. 2 is sectional perspective exploded view of the present invention.
Fig. 3 is the combination view of socket joint of the present invention and Flexible element.
Fig. 4 is the three-dimensional exploded view of the first limbs breasting unit of the present invention.
Fig. 5 is the three-dimensional exploded view of the second limbs breasting unit of the present invention.
Fig. 6 is side view of the present invention.
Fig. 7 is the partial sectional view along 7-7 hatching line in Fig. 6.
Fig. 8 is block chart of the present invention.
Primary clustering symbol description in accompanying drawing:
10 vicarious force feedback mechanisms, 20 holders, 21 first fixing heads, 22 second fixing heads, 23X axial adjustment groove, 24 rectangular openings, 25 rod members, 30 driver elements, 31 motors, 312 driving shafts, 32 reductors, 33 first drives, 34 rotating shafts, 35 second drives, 36 driving-belts, 37 output shafts, 40 socket joint, 41 collar portion, 42 support arms, 50 Flexible elements, 51 mount pads, 52 first support bodys, 53 second support bodys, 532 axis holes, 54 elastic components, 60 first limbs breasting unit, 61 first breasting parts, 62 first bolsters, 63 first transverse slats, 632 first Y-axis adjustment tanks, 64 first transverse slat fixtures, 65 first risers, 652Z axle locating hole, 654 first fixing holes, 66 first riser fixtures, 67 first clamp rings, 70 second limbs breasting unit, 71 second breasting parts, 72 second bolsters, 73 adjutages, 74 levers, 75L shape riser, 752 second Y-axis adjustment tanks, 754Z axial adjustment groove, 76 second riser fixtures, 77 second transverse slats, 772X axle locating hole, 774 second fixing holes, 78 second transverse slat fixtures, 79 second clamp rings, 80 rotary dampers, 82 connecting axles, 84 first myoelectricity signal transducers, 86 second myoelectricity signal transducers, 90 rotary encoders, 92 rotating potentiometers.
Detailed description of the invention
Refer to Fig. 1 and Fig. 2, vicarious force feedback mechanism 10 of the present invention includes holder 20, driver element 30, socket joint 40, Flexible element 50, a 1 first limbs breasting unit 60, and one second limbs breasting unit 70.
Holder 20 has one first fixing head 21 and one second fixing head 22, and the bottom wherein on the top of the second fixing head 22 with the two X-axis adjustment tank be parallel to each other 23, second fixing heads 22 has a rectangular opening 24.When assembling, first, second fixing head 21,22 is linked together by three rod members 25.
Driver element 30 has motor 31 and a reductor 32, motor 31 is fixed on the medial surface of the first fixing head 21 of holder 20 and has a driving shaft 312, driving shaft 312 is connected with one first drive 33 through the first fixing head 21, the medial surface of the first fixing head 21 of holder 20 is located at by reductor 32 by a rotating shaft 34, one end of rotating shaft 34 is connected with one second drive 35 through the first fixing head 21, first, second drive 33, a driving-belt 36 is arranged with between 35, in addition, driver element 30 also has an output shaft 37, one end of output shaft 37 connects reductor 32 and can start synchronous with reductor 32.Thus, when motor 31 starts to start, the driving shaft 312 of motor 31 can first drive the first drive 33 to rotate, then the first drive 33 can drive the second drive 35 to rotate by driving-belt 36, then the second drive 35 can drive reductor 32 by rotating shaft 34 again, makes output shaft 37 can along with reductor 32 together start.
Socket joint 40 has collar portion 41 and a support arm 42, and collar portion 41 is arranged in one end of reductor 32 rotationally and in being set in by output shaft 37, support arm 42 radially extends outward from the outer ring surface of collar portion 41.
As shown in Figures 2 and 3, Flexible element 50 has a mount pad 51, mount pad 51 has 2 first support body 52 and one second support bodys 53, each first support body 52 is fixed on the inner ring surface of the collar portion 41 of socket joint 40, second support body 53 is between this 2 first support body 52 and have the axis hole 532 of a socket output shaft 37, in addition, the height of the second support body 53 is greater than the height of each first support body 52, and, an elastic component 54 is connected with between the top of the second support body 53 and the top of each first support body 52, an elastic component 54 is connected with between the bottom of the second support body 53 and the bottom of each first support body 52.Thus, the second support body 53 of mount pad 51 can be subject to the driving of output shaft 37 and start to rotate, and in the process of rotating, driven the first support body 52 of mount pad 51 by those elastic components 54, and socket joint 40 so can be made to rotate together along with mount pad 51.
In order to maintain the stability of socket joint 40 when rotating, the present invention also provides a rotary damper 80, because rotary damper 80 is known technology, in order to save space, does not repeat its thin portion structure and operating principle in this appearance.For another example shown in Fig. 2 and Fig. 7, rotary damper 80 is locked on the end face of the collar portion 41 of socket joint 40 when mounted and is plugged in the rectangular opening 24 of the second fixing head 22 of holder 20 by a connecting axle 82, can provide damping to socket joint 40 to complete installation, connecting axle 82 wherein coaxially corresponds to the rotating shaft 34 of reductor 32.
As shown in Figures 2 and 4, first limbs breasting unit 60 has one first breasting part 61, first breasting part 61 has one first bolster 62, first bolster 62 has one first transverse slat 63,2 first transverse slat fixture 64,1 first riser 65, and one first riser fixture 66, wherein: the first transverse slat 63 has one first Y-axis adjustment tank 632, be fixed on one end of the first transverse slat 63 in the X-axis adjustment tank 23 that the second fixing head 22 of holder 20 is located at slippingly by first transverse slat fixture 64, make the first transverse slat 63 can carry out the position adjustment of fore-and-aft direction; First riser 65 has in staggered most Z axis locating hole 652 and most first fixing hole 654, selectively be fixed in one of them Z axis locating hole 652 of the first riser 65 in the first Y-axis adjustment tank 632 that the first transverse slat 63 is located at slippingly by first riser fixture 66, the position making the first riser 65 can carry out left and right directions and above-below direction adjusts.In addition, first breasting part 61 also has one first clamp ring 67 for upper arm breasting, the inner ring surface of the first clamp ring 67 is laid with most first myoelectricity signal transducer 84, one end of each first myoelectricity signal transducer 84 is fixed in the first fixing hole 654 of the first riser 65 through the first clamp ring 67, to complete fixing between the first clamp ring 67 and the first riser 65.Thus, the first clamp ring 67 can carry out the position adjustment of triple axle with the use of the demand of person.
As shown in figures 2 and 5, second limbs breasting unit 70 has one second breasting part 71, second breasting part 71 has one second bolster 72, second bolster 72 has adjutage 73, lever 74, L shape riser 75,2 second riser fixture 76,1 second transverse slat 77, and one second transverse slat fixture 78, wherein: one end of adjutage 73 is connected to the end of the support arm 42 of socket joint 40, the other end of adjutage 73 is connected with a lever 74; L shape riser 75 has one second Y-axis adjustment tank 752 and two Z axis adjustment tanks 754, is fixed on adjutage 73 in the Z axis adjustment tank 754 that L shape riser 75 is located at slippingly by each second riser fixture 76, makes L shape riser 75 can carry out the position adjustment of above-below direction; Second transverse slat 77 has in staggered most X-axis locating hole 772 and most second fixing hole 774, selectively be fixed in one of them X-axis locating hole 772 of the second transverse slat 77 in the second Y-axis adjustment tank 752 that L shape riser 75 is located at slippingly by second transverse slat fixture 78, the position making the second transverse slat 77 can carry out fore-and-aft direction and left and right directions adjusts.In addition, second breasting part 71 also has one second clamp ring 79 for forearm breasting, the inner ring surface of the second clamp ring 79 is laid with most second myoelectricity signal transducer 86, one end of each second myoelectricity signal transducer 86 is fixed in the second fixing hole 774 of the second transverse slat 77 through the second clamp ring 79, to complete fixing between the second clamp ring 79 and the second transverse slat 77.Thus, the second clamp ring 79 can carry out the position adjustment of triple axle with the use of the demand of person.
If completely lose the user of function for forearm, as shown in Figure 6 to 8, first can control motor 31 by a controller 12 to rotate forward, now the power of motor 31 can be passed to output shaft 37 via reductor 32, the mount pad 51 of Flexible element 50 is passed to again by output shaft 37, socket joint 40 is made to drive the relative first limbs breasting unit 60 up lifting of the second limbs breasting unit 70 by the driving of Flexible element 50, after the second limbs breasting unit 70 is by forearm lifting one section of height, control motor 31 again reverse, forearm is put down by the second limbs breasting unit 70, control motor 31 like this carries out continuous print rotating can reach rehabilitation effect to the forearm of loss of function.
If forearm still possesses motor capacity slightly, user can be selected to perform an assistant mode or a resistance mode to controller 12.In assistant mode, user needs to exert a force voluntarily by the second limbs breasting unit 70 up lifting, now first, second myoelectricity signal transducer 84, 86 can start the myoelectricity signal capturing upper arm and forearm, and by the myoelectricity signal that captures be passed in controller 12 and judge, judge that the forearm strength deficiency of user can control motor 31 and rotate forward once controller 12, the power of motor 31 is enable to be helped the forearm of user by the elastic component 54 of Flexible element 50 by the up lifting smoothly of the second limbs breasting unit 70, repeatable operation like this can improve the motor function of forearm.
In addition in resistance mode, controller 12 can control motor 31 and reverse, the outputting power of motor 31 is made to bestow resistance to a certain degree by the elastic component 54 of Flexible element 50 to the second limbs breasting unit 70, user now must overcome the lifting that this resistance could complete forearm smoothly, to reach the effect of rehabilitation campaign.But controller 12 also can at any time according to first, second myoelectricity signal transducer 84,86 the myoelectricity signal that captures adjust the outputting power of motor 31, to provide suitable drag size.
What add a supplementary explanation at these needs is, the power exported to allow motor 31 can accurately be passed to socket joint 40, the present invention also provides rotary encoder 90 and a rotating potentiometer 92, as shown in Fig. 2 and Fig. 7, rotary encoder 90 is wherein installed on motor 31, in order to measure the rotation amount of the driving shaft 312 of motor 31, rotating potentiometer 92 passes output shaft 37, and, one end of rotating potentiometer 92 is fixed in rotating shaft 34, the other end of rotating potentiometer 92 is fixed in connecting axle 82, in order to measure the angle variable quantity between rotating shaft 34 and connecting axle 82.Thus, controller 12 can compare for the measurement of rotary encoder 90 and the measurement of rotating potentiometer 92, and revises the rotation amount of the driving shaft 312 of motor 31 according to difference between the two, to promote the running accuracy of integrated model.
In sum, the auxiliary power that vicarious force feedback mechanism 10 of the present invention is exported by motor 31 is to Flexible element 50, make the effect that the distortion of each elastic component 54 utilization itself controls to reach strength, and coordinate myoelectricity signal that first, second myoelectricity signal transducer 84,86 is responded to judge the action of muscle, integrate the damping of rotary damper 80, to promote rehabilitation effect and dynamic stability is made in maintenance simultaneously.
Claims (10)
1. a vicarious force feedback mechanism, includes:
One holder;
One driver element, has the motor, being located at this holder and is located at this holder and connects the reductor of this motor, and the output shaft of this reductor of connection;
One socket joint, has a collar portion and a support arm, and this collar portion is arranged in the reductor of this driver element rotationally and is sheathed on the output shaft of this driver element, this support arm from the outer ring surface of this collar portion radially toward extension;
One Flexible element, has a mount pad and most elastic parts being located at this mount pad, and this mount pad is socketed on the output shaft of this driver element and is connected to the inner ring surface of the collar portion of this socket joint;
One first limbs breasting unit, have one first breasting part and at least one first myoelectricity signal transducer, this first breasting part is located at this holder, and this first myoelectricity signal transducer is located at this first breasting part; And
One second limbs breasting unit, have one second breasting part and at least one second myoelectricity signal transducer, this second breasting part is located at the support arm of this socket joint, and this second myoelectricity signal transducer is located at this second breasting part.
2. vicarious force feedback mechanism according to claim 1, wherein, this motor has a driving shaft, this reductor is located at this holder by a rotating shaft, this driver element has one first drive, one second drive, and a driving-belt, and this first drive connects the driving shaft of this motor, this the second drive connects one end of this power transmission shaft, and this driving-belt is set around this first, second drive.
3. vicarious force feedback mechanism according to claim 2, wherein, include a rotating potentiometer, this rotating potentiometer passes the output shaft of this driver element, one end of this rotating potentiometer is fixed in the rotating shaft of this reductor, and the other end of this rotating potentiometer is fixed in this connecting axle.
4. vicarious force feedback mechanism according to claim 1, wherein, the mount pad of this Flexible element has 2 first support bodys and one second support body, respectively this first support body is fixed on the inner ring surface of the collar portion of this socket joint, this second support body is between this 2 first support body and have the axis hole of this output shaft of socket, the height of this second support body is greater than the height of respectively this first support body, this elastic component is connected with between the top of the top of this second support body and respectively this first support body, this elastic component is connected with between the bottom of the bottom of this second support body and respectively this first support body.
5. vicarious force feedback mechanism according to claim 1, wherein, this the first breasting part has one first bolster and one first clamp ring, this first bolster is located at this holder, the outer ring surface of this first clamp ring is located at this first bolster, and the inner ring surface of this first clamp ring is provided with this first myoelectricity signal transducer.
6. vicarious force feedback mechanism according to claim 5, wherein, this holder has an X-axis adjustment tank, this first bolster has one first transverse slat, one first transverse slat fixture, one first riser, and one first riser fixture, this first transverse slat has a Y-axis adjustment tank, one end of this first transverse slat is fixed in the X-axis adjustment tank that this holder is located at slippingly by this first transverse slat fixture, this first riser is connected to the outer ring surface of this first clamp ring and has most Z axis locating hole, selectively be fixed in wherein this Z axis locating hole of this first riser in the Y-axis adjustment tank that this first transverse slat is located at slippingly by this first riser fixture.
7. vicarious force feedback mechanism according to claim 6, wherein, this first riser has most first fixing hole, in being staggered between those first fixing holes and those Z axis locating holes, the inner ring surface of this first clamp ring is provided with this first myoelectricity signal transducer most, and respectively one end of this first myoelectricity signal transducer passes this first clamp ring and is fixed in this first fixing hole of this first riser.
8. vicarious force feedback mechanism according to claim 1, wherein, this the second breasting part has one second bolster and one second clamp ring, this the second bolster is located at the support arm of this socket joint, the outer ring surface of this second clamp ring is located at this second bolster, and the inner ring surface of this second clamp ring is provided with this second myoelectricity signal transducer.
9. vicarious force feedback mechanism according to claim 8, wherein, this second bolster has an adjutage, one lever, one L shape riser, one second riser fixture, one second transverse slat, and one second transverse slat fixture, one end of this adjutage is connected to the end of the support arm of this socket joint, the other end of this adjutage is provided with this lever, this L shape riser has a Y-axis adjustment tank and a Z axis adjustment tank, be fixed on this adjutage in the Z axis adjustment tank that this L shape riser is located at slippingly by this second riser fixture, this second transverse slat is connected to the outer ring surface of the second clamp ring and has most X-axis locating hole, selectively be fixed in wherein this locating hole of this second transverse slat in the Y-axis adjustment tank that this L shape riser is located at slippingly by this second transverse slat fixture.
10. vicarious force feedback mechanism according to claim 9, wherein, this second transverse slat has most second fixing hole, in being staggered between those second fixing holes and those X-axis locating holes, the inner ring surface of this second clamp ring is provided with this second myoelectricity signal transducer most, and respectively one end of this second myoelectricity signal transducer passes this second clamp ring and is fixed in this second fixing hole of this second transverse slat.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310743065.0A CN104721012B (en) | 2013-12-24 | 2013-12-24 | Vicariouss force feedback mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310743065.0A CN104721012B (en) | 2013-12-24 | 2013-12-24 | Vicariouss force feedback mechanism |
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| CN104721012A true CN104721012A (en) | 2015-06-24 |
| CN104721012B CN104721012B (en) | 2017-03-15 |
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| CN201310743065.0A Active CN104721012B (en) | 2013-12-24 | 2013-12-24 | Vicariouss force feedback mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI703799B (en) * | 2019-10-16 | 2020-09-01 | 徐義銘 | Hybrid speed increaser |
| CN112274376A (en) * | 2020-10-09 | 2021-01-29 | 重庆大学 | Upper arm and elbow joint module of upper limb rehabilitation robot |
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| US20040106881A1 (en) * | 2002-11-21 | 2004-06-03 | Mcbean John M. | Powered orthotic device |
| US6821259B2 (en) * | 2001-07-30 | 2004-11-23 | The Nemours Foundation | Orthosis device |
| CN101057795A (en) * | 2007-05-18 | 2007-10-24 | 天津大学 | Artificial hand using muscle electrical and electroencephalogram cooperative control and controlling method thereof |
| WO2007128225A1 (en) * | 2006-04-29 | 2007-11-15 | The Hong Kong Polytechnic University | Robotic system and training method for rehabilitation using emg signals to provide mechanical help |
| US20080071386A1 (en) * | 2006-09-19 | 2008-03-20 | Myomo, Inc. | Powered Orthotic Device and Method of Using Same |
| CN103006358A (en) * | 2012-12-27 | 2013-04-03 | 东南大学 | Control method of myoelectric artificial hand |
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| US4612919A (en) * | 1984-10-03 | 1986-09-23 | Best Walter E | Adjustable limb support |
| US6821259B2 (en) * | 2001-07-30 | 2004-11-23 | The Nemours Foundation | Orthosis device |
| US20040106881A1 (en) * | 2002-11-21 | 2004-06-03 | Mcbean John M. | Powered orthotic device |
| WO2007128225A1 (en) * | 2006-04-29 | 2007-11-15 | The Hong Kong Polytechnic University | Robotic system and training method for rehabilitation using emg signals to provide mechanical help |
| US20080071386A1 (en) * | 2006-09-19 | 2008-03-20 | Myomo, Inc. | Powered Orthotic Device and Method of Using Same |
| CN101057795A (en) * | 2007-05-18 | 2007-10-24 | 天津大学 | Artificial hand using muscle electrical and electroencephalogram cooperative control and controlling method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI703799B (en) * | 2019-10-16 | 2020-09-01 | 徐義銘 | Hybrid speed increaser |
| CN112274376A (en) * | 2020-10-09 | 2021-01-29 | 重庆大学 | Upper arm and elbow joint module of upper limb rehabilitation robot |
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|---|---|
| CN104721012B (en) | 2017-03-15 |
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