CN101301250A - Five-freedom degree dermaskeleton type upper limb rehabilitation robot interactive rehabilitation training control policy - Google Patents
Five-freedom degree dermaskeleton type upper limb rehabilitation robot interactive rehabilitation training control policy Download PDFInfo
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- CN101301250A CN101301250A CNA2008100648790A CN200810064879A CN101301250A CN 101301250 A CN101301250 A CN 101301250A CN A2008100648790 A CNA2008100648790 A CN A2008100648790A CN 200810064879 A CN200810064879 A CN 200810064879A CN 101301250 A CN101301250 A CN 101301250A
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Abstract
The invention provides a five-degree of freedom exoskeleton-type upper limb recovery robot interactive recovery training control strategy. The strategy comprises two training patterns corresponding to the different recovery period of a patient, i.e. a passive interactive recovery training control strategy and an active-auxiliary interactive recovery training control strategy; during passive movement, a surface myoelectric signal of relevant muscles on a healthy upper limb of a patient is picked up and taken as the movement intention of the patient, thereby controlling a robot to drive a diseased side to realize movement passive training; during active movement, the movement intention of an upper limb of a human body is judged through acquiring in real time the arthrosis force moment generated by a diseased limb acting on the robot during movement, and an applied force is converted into the velocity quantity of the tail end of a mechanical arm by means of a proportional controller, thereby driving the robot to follow the intention so as to carry out recovery active-auxiliary training of the diseased limb. The five-degree of freedom exoskeleton-type upper limb recovery robot interactive recovery training control strategy can provide all-around recovery training movement for a clinic hemiplegia patient, thereby increasing the activeness of the patient in recovery training and the confidence of the patient in recovery; meanwhile, the recovery training control strategy also increases the attractiveness of a recovery process and promotes recovery efficacy.
Description
(1) technical field
The present invention relates to a kind of healing robot technology, be specifically related to a kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot interactive rehabilitation training control technology.
(2) background technology
At present, it is free-hand or utilize the man-to-man guiding of auxiliary implement patient to finish successional passive exercise that traditional upper limb clinical rehabilitation method mostly is physiatrician shown in Figure 1, or bestow suitable resistance or power-assisted guides patient moving.And the increase of apoplexy sickness rate makes the hemiplegic patient more and more, and heavy, high-intensity training mission brings white elephant for the treatment doctor, and doctors are too busy to attend to anything else, and do not have more time and energy to be absorbed in the analysis of clinical data and the improvement of therapeutic scheme.On the other hand, treatment doctor's factors such as subjective consciousness, muscle power and mood have played mastery reaction in training process, ignored by the displacement of therapist and be intended to, the language that the patient is sick in addition causes after sending out and the damage of cognitive function have weakened between doctors and patients the reciprocal action at the rehabilitation process.
Therefore, go out healing robot and substitute the doctor and finish rehabilitation training robot and correlation technique thereof and clinical rehabilitation medicine are designed in conjunction the hemiplegic patient.Though existing upper limb rehabilitation robot has realized alleviating doctor's burden, raise the efficiency, for the formulation and the optimization of patient's different times rehabilitation scheme provides function objective, the active data foundation, but still there are the following problems: the training action of suffering from limb and provide for the patient mostly is straight line or curvilinear path simply, actuating range is less, and kind is single; Use preset programs more or apply passive exercise or the assisted movement of predetermined resistance/power-assisted realization to upper limb, ignored the motion intention of patient's limbs equally, the active exercise that is unfavorable for stimulating the patient improves patient's motion interest, sets up patient's motion confidence.
(3) summary of the invention
The object of the present invention is to provide a kind ofly can provide omnibearing rehabilitation training campaign for clinical hemiplegic patient, thereby improved the initiative of patient's rehabilitation training, it has been strengthened restore confidence, the while has also strengthened the captivation of recovery process and has promoted the five-freedom degree dermaskeleton type upper limb rehabilitation robot interactive rehabilitation training control policy of rehabilitation effect.
The object of the present invention is achieved like this: the different convalescent two kinds of training modes of corresponding patient: the interactive rehabilitation training control policy of passive type and active-assist type, in passive exercise, the surface electromyogram signal that extracts patient's healthy side upper limb related muscles is intended to as patient moving, and the control robot drives the passive exercise that Ipsilateral is realized motion; In active exercise, suffer from limb and act on the motion intention that joint moment that robot produces is judged human upper limb by obtaining in real time in the motor process, and the proportion of utilization controller will apply the speed amount that power is converted into the mechanical arm end, and then the driven machine people follows intention and carries out active--the supplemental training of rehabilitation to suffering from limb.
The present invention also has some technical characterictics like this:
1, described morning, mid-term of recovering the patient, comprise the phase of collapsing from physical exhaustion and spasm period, use continuous passive motion, the characteristics impaired according to hemiplegic patient by upper, extract the control signal of four muscle surface electromyographic signals of healthy side upper limb (sEMG) of hemiplegic patient as healing robot, comprise in the corresponding successively triangular muscle of each surface myoelectric electrode, before the triangular muscle, biceps brachii m. and brachioradialis, utilize AR parameter model and BP neutral net to understand patient's motion intention, the auxiliary Ipsilateral upper limb of driving device arm is realized rehabilitation training action undetermined;
2, the described intermediary and later stages of recovering the patient, comprise spasm period and improvement phase, application active exercise training, it is a typical dicyclo control system structure, outer shroud is the terminal power control loop of mechanical arm, and internal ring is the joint velocity control loop, at sampling instant t, utilize the joint moment sensor collection to be applied to moment values on each joint by hemiplegic patient's active exercise, calculate unloaded moment values simultaneously as the robot of each joint angles function of current time; The two is sent into robot end's power synthesizer obtain terminal power, promptly the hemiplegic patient is applied to the estimated value of the power at robot end's point place, thereby obtains patient's motion intention; The proportion of utilization controller is translated into robot end's movement velocity, and is mapped as the angular velocity instruction in each joint of robot by kinesiology Jacobi inverse matrix; Angular velocity instruction is input in the joint of robot in the middle of the ring controller, control the servomotor in each joint and realize stable angular velocity output, thereby the driven machine people follows and realize the power assist control of rehabilitation training to patient's active exercise intention.
Five-freedom degree dermaskeleton type upper limb rehabilitation robot interactive formula rehabilitation training control policy of the present invention, at the different recovery situation of clinical hemiplegic patient, adopt passive respectively and active--auxiliary training mode, the moment information that produces in surface electromyogram signal by obtaining related muscles in the patient moving process and the motor process predicts the patient moving intention, and with the auxiliary patient of this driven machine people suffer from that limb realizes that each is single, the training of multi-joint and activities of daily life.This control strategy is introduced patient's active exercise intention, and to stimulation patient active exercise, thereby excited pathological changes brain promotes the effect of rehabilitation to play good effect.
The five-freedom degree dermaskeleton type upper limb rehabilitation robot system is made up of mechanical arm body, drive motors, torque sensor, surface myoelectric electrode, switch board, installing rack, seat, by computer in the switch board drive motors that is installed on each pivot center is driven, make mechanical arm body drive patient suffer from limb and carry out the rehabilitation training campaign, each joint torque sensor is measured the moment information in the motor process, the machining surface signal of telecommunication of surface myoelectric electrode measurement motion related muscles.The version of exoskeleton-type bilateral structure has alleviated quality under the prerequisite that guarantees rigidity.Provide simple joint and the compound rehabilitation training campaign of multi-joint for the hemiplegic patient simultaneously.For the hemiplegic patient provides simple daily life function sexual act--take food, propose the training of trousers, the present invention introduces the hemiparalysis recovery training control strategy of the man-machine interactive of patient's displacement intention.This healing robot provides omnibearing rehabilitation training campaign for clinical hemiplegic patient, from training action, it has included the training to all joints of upper limb, comprise passive exercise and active--assisted movement from the big joint of shoulder to the little joint of wrist, and be aided with simple activities of daily life---take food, propose the training of trousers, each simple joint action training is deepened and used.From the pattern of training, the different convalescent two kinds of training modes of corresponding patient are provided respectively in each motion that provides healing robot: the interactive rehabilitation training control policy of passive type and active-assist type.Promptly in passive type and active-assist type training process, the patient suffers from limb motion intention and is embodied by the surface electromyogram signal of upper limb related muscles and each joint moment of generation respectively, and suffers from limb according to this auxiliary patient of intention control robot and carry out the rehabilitation training campaign.Thereby improved the initiative of patient's rehabilitation training, made it strengthen treatment confidence, the while has also strengthened the captivation of therapeutic process and has promoted the effect of rehabilitation.
(4) description of drawings
Fig. 1 is traditional clinical rehabilitation method sketch map;
Fig. 2 is the upper limb rehabilitation robot system schematic;
Fig. 3 is a healing robot electrical control cubicles sketch map;
Fig. 4 is a upper limb healing mechanical arm structure chart;
Fig. 5 is a surface myoelectric distribution of electrodes sketch map;
Fig. 6 is passive, interactive rehabilitation training control policy of two stages of active;
Fig. 7 is an active force auxiliary rehabilitation exercise control principle block diagram.
(5) specific embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments:
In conjunction with Fig. 2, present embodiment system device for healing and training is made of rehabilitation mechanical arm body 1, drive motors, scalable lifting installing rack 2, seat 3 and switch board (in conjunction with Fig. 3).Be designed to the exoskeleton-type bilateral structure of duralumin material in conjunction with Fig. 4 rehabilitation mechanical arm body, have shoulder abduction/adduction I, shoulder flexion/extension II, ancon flexion/extension III, wrist flexion/extension IV and wrist medial rotation/revolve these 5 degree of freedom of outer V, 5 drive motors are installed in respectively on the axis of each rotational freedom and are used to drive each degree of freedom activity.This device for healing and training provides the simple joint motion and three dimensions multi-joint compound motion in each joint from the clinical rehabilitation angle for the patient, and simple, basic activities of daily life training is provided: take food, carry trousers.Four torque sensors (wherein two of shoulders, one of ancon, one at the wrist place of bending and stretching) that are installed in shoulder, ancon and wrist and drive motors cascade are respectively measured the moment information that human body in the motor process imposes on robot, surface myoelectric electrode 4,5,6,7 (in conjunction with Fig. 5) is used for obtaining the directly surface electromyogram signal of reflection muscular movement of motion, two kinds of signals all are used for the motion of monitoring robot, and are applied in the interactive rehabilitation control strategy of different mode.
In conjunction with Fig. 6, in each motion that robot provides, adopt the different convalescent two kinds of training modes of corresponding patient respectively: the interactive rehabilitation training control policy of passive type and active-assist type.In morning, the mid-term (comprising the phase of collapsing from physical exhaustion and spasm period) that the patient recovers, use continuous passive motion, the characteristics impaired according to hemiplegic patient by upper, four muscle of healthy side upper limb that extract the hemiplegic patient are (in conjunction with Fig. 5, in the corresponding successively triangular muscle of each surface myoelectric electrode, before the triangular muscle, biceps brachii m., brachioradialis) surface electromyogram signal (sEMG) as the control signal of healing robot, utilize AR parameter model and BP neutral net to understand patient's motion intention, the auxiliary Ipsilateral upper limb of driving device arm is realized rehabilitation training action undetermined.In the intermediary and later stages (comprising spasm period and improvement phase) that the patient recovers, application active exercise training, as active force auxiliary rehabilitation exercise control principle block diagram (in conjunction with Fig. 7), this is a typical dicyclo control system structure, outer shroud is the terminal power control loop of mechanical arm, and internal ring is the joint velocity control loop.Concrete operation principle is: at sampling instant t, utilize the joint moment sensor collection to be applied to moment values on each joint by hemiplegic patient's active exercise, calculate the unloaded moment values as the robot of each joint angles function of current time simultaneously; The two is sent into robot end's power synthesizer obtain terminal power, promptly the hemiplegic patient is applied to the not estimated value of the power at end points place of robot, thereby obtains patient's motion intention; The proportion of utilization controller is translated into robot end's movement velocity, and is mapped as the angular velocity instruction in each joint of robot by kinesiology Jacobi inverse matrix; Angular velocity instruction is input in the joint of robot in the middle of the ring controller, control the servomotor in each joint and realize stable angular velocity output, thereby the driven machine people follows and realize the power assist control of rehabilitation training to patient's active exercise intention.
Claims (3)
1, a kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot interactive rehabilitation training control policy, it is characterized in that: the different convalescent two kinds of training modes of corresponding patient: the interactive rehabilitation training control policy of passive type and active one assist type, in passive exercise, the surface electromyogram signal that extracts patient's healthy side upper limb related muscles is intended to as patient moving, and the control robot drives the passive exercise that Ipsilateral is realized motion; In the active exercise, suffer from limb and act on the motion intention that joint moment that robot produces is judged human upper limb by obtaining in real time in the motor process, and the proportion of utilization controller will apply the speed amount that power is converted into the mechanical arm end, and then the driven machine people follows intention and carries out active--the supplemental training of rehabilitation to suffering from limb.
2, five-freedom degree dermaskeleton type upper limb rehabilitation robot interactive rehabilitation training control policy according to claim 1, it is characterized in that: described morning of recovering the patient, mid-term, comprise the phase of collapsing from physical exhaustion and spasm period, use continuous passive motion, the characteristics impaired according to hemiplegic patient by upper, extract the control signal of four muscle surface electromyographic signals of healthy side upper limb (sEMG) of hemiplegic patient as healing robot, comprise in the corresponding successively triangular muscle of each surface myoelectric electrode, before the triangular muscle, biceps brachii m. and brachioradialis, utilize AR parameter model and BP neutral net to understand patient's motion intention, the auxiliary Ipsilateral upper limb of driving device arm is realized rehabilitation training action undetermined.
3, five-freedom degree dermaskeleton type upper limb rehabilitation robot interactive rehabilitation training control policy according to claim 1 and 2, it is characterized in that: described in patient's recovery, later stage, comprise spasm period and improvement phase, application active exercise training, it is a typical dicyclo control system structure, outer shroud is the terminal power control loop of mechanical arm, internal ring is the joint velocity control loop, at sampling instant t, utilize the joint moment sensor collection to be applied to moment values on each joint by hemiplegic patient's active exercise, calculate unloaded moment values simultaneously as the robot of each joint angles function of current time; The two is sent into robot end's power synthesizer obtain terminal power, promptly the hemiplegic patient is applied to the estimated value of the power at robot end's point place, thereby obtains patient's motion intention; The proportion of utilization controller is translated into robot end's movement velocity, and is mapped as the angular velocity instruction in each joint of robot by kinesiology Jacobi inverse matrix; Angular velocity instruction is input in the joint of robot in the middle of the ring controller, control the servomotor in each joint and realize stable angular velocity output, thereby the driven machine people follows and realize the power assist control of rehabilitation training to patient's active exercise intention.
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