CN103750975A - Exoskeleton finger rehabilitation robot system based on electro-cerebral control and working method - Google Patents
Exoskeleton finger rehabilitation robot system based on electro-cerebral control and working method Download PDFInfo
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Abstract
An exoskeleton finger rehabilitation robot system based on electro-cerebral control is characterized by comprising a working station, a motor control unit, an exoskeleton finger rehabilitation robot, an electro-cerebral electrode, a brain myoelectricity analysis unit, a sensor unit and a human-computer interaction interface. A working method comprises the steps of visual stimulation, signal acquisition and transmission, rehabilitation robot movement, information feedback and training method optimization. The exoskeleton finger rehabilitation robot system based on the electro-cerebral control has the advantages of being intelligent, portable, simple in installation and efficient in training method and utilizing movements of palm finger joints to control rehabilitation exercises of patients.
Description
(1) technical field:
The invention belongs to medical instruments field, especially a kind of exoskeleton finger recovery robot system and method for work based on brain electric control, is specially adapted to the early stage finger rehabilitation exercise of hemiplegic patient that apoplexy causes.
(2) background technology:
Apoplexy (also claiming apoplexy) is the healthy disease of serious threat middle-aged and elderly people, and along with China progresses into aging society, sickness rate has the trend rising year by year, has every year 2000000 people of surpassing to die from apoplexy.This disease has caused forfeiture and the related complication of limbs of patient motor function.Especially the forfeiture of upper extremity exercise function, has greatly affected the ability of patient's daily life.Hands is one of most important ingredient of organization of human body, and it all seems to the mankind's function and outward appearance and be important.Particularly the motor capacity of hands is the mankind's daily life and the smooth basic guarantee of work.Science shows, paralytic upper limb great majority are first to recover from shoulder, be secondly upper arm and forearm, is finally the recovery of pointing.Meanwhile, due to staff segment set, to have suffered a large amount of joints, nerve, blood vessel, muscle many, and the hemiplegia that the cardiovascular disease such as joint disease, apoplexy cause also can cause the spasm atrophy of finger-joint tendon fibrosis and muscle, ligament.Therefore, most of during rehabilitation trainings are mainly usingd the sign that the active level of hands is recovered as upper extremity function.
In current athletic rehabilitation treatment Shi hospital, by rehabilitation therapist, undertaken, rehabilitation therapist points the application of force to patient, allows patient point and recovers strength and range of movement.Yet there are a lot of problems in current athletic rehabilitation treatment.First, rehabilitation course is that therapist and patient are man-to-man, larger to drain on manpower and material resources, and medical expense costliness causes huge financial burden to patient.Secondly, the rehabilitation course persistent period is longer, and process is uninteresting, and patient lacks initiatively row and enthusiasm, and this makes to recover the recovery that motion is difficult to effectively stimulate patient's nerve.Finally, current rehabilitation training depends on rehabilitation therapist's experience and subjective judgment, can not accurately control training parameter and lack the objective record of rehabilitation course, is difficult to the rehabilitation efficacy science of carrying out accurately to be evaluated, and is unfavorable for patient's recovery.
Exoskeleton rehabilitation robot mechanism design meets ergonomics, being equivalent to increases the external skeleton of one deck for patient's limbs, with this, assist patient to move, according to supporting sensor, control exoskeleton robot moves simultaneously, and patient's rehabilitation situation is carried out to objective evaluation, improve patient's rehabilitation efficacy.Yet the structure that existing exoskeleton finger healing robot adopts is huger, the external driver module of some needs carrys out vacant robot motion.In addition, the kind of drive more complicated of finger robot, is unfavorable for handling, and can not realizes family care.
(3) summary of the invention:
The object of the present invention is to provide a kind of exoskeleton finger recovery robot system and method for work based on brain electric control, construct the information processing of a Motor stimulation-brain-neuro-computer and control-driver element-hemiplegia position (for example finger) a kind of like this closed-loop control system of motion-feedback interface-nerve-brain; Can solve the rehabilitation problem of hemiplegic patient's finger motion function, be a kind of exoskeleton finger recovery robot system that recovers motor function based on the help patient who utilizes biofeedback (EEG signals) control to be worn on patient's finger-joint of brain electric control.
Technical scheme of the present invention: a kind of exoskeleton finger recovery robot system based on brain electric control, is characterized in that it comprises work station, motor control unit, exoskeleton finger healing robot, electrode for encephalograms, brain myoelectricity analytic unit, sensor unit and human-computer interaction interface; Wherein, described work station receives the output signal of brain myoelectricity analytic unit and sensor unit, and its outfan connects the input of electric machine controller; The input of described exoskeleton finger healing robot connects the outfan of motor control unit, and its outfan passes to patient by signal; The input of described sensor unit receives patient's cause of disease signal, and its outfan is connected with the input of work station; The input of described electrode for encephalograms measures patient's eeg signal, and its outfan connects the input of brain myoelectricity analytic unit; Described human-computer interaction interface output sensory signal is to patient.
Described sensor unit consists of bend sensor and force transducer, is arranged on exoskeleton finger healing robot.
Described work station is can simulating reality environment and the virtual system of state.
Described exoskeleton finger healing robot is by motor, driving shaft, palm portion, turning cylinder I, finger MCP(Metacarpophalangeal joint---metacarpophalangeal joints) joint, turning cylinder II, turning cylinder III, thread spindle, finger PIP(Proximal interphalangeal joint---proximal interphalangeal joint) joint, turning cylinder IV, finger DIP(Distal interphalangeal joint---DIPJ) joint, drive I, drive II, drive III, drive IV, drive V, parallel fluted shaft, connecting rod, wherein, described motor is arranged on palm portion, described driving shaft is connected with motor shaft by jackscrew, described parallel fluted shaft is connected with driving shaft, described drive V is connected to palm portion by turning cylinder I, described drive IV is connected with finger MCP joint with turning cylinder III by turning cylinder II with drive III, described drive I is connected on finger PIP joint by turning cylinder IV, described thread spindle and drive III form micro wire rope drive structure by steel wire rope, described drive II is threaded connection and is fixed on turning cylinder III, between described finger PIP joint and finger DIP joint, according to screw thread, by connecting rod, connect, described finger DIP joint is fixed on turning cylinder IV by screw thread jackscrew.
On described drive I, drive II, drive III, drive IV and drive V, all having width is the parallel slot that coordinates with steel wire rope of being used for of 1.5-2mm.
Between described drive I, drive II, drive III, drive IV and drive V, by steel wire rope, connect, form micro wire rope drive structure.
Described finger MCP joint, finger PIP joint and finger Shang YouMCP joint, joint, DIP joint are connected fluting, finger PIP joint connects fluting and is connected fluting with finger DIP joint; Described fluting coordinates installation with nylon fastener belt, patient's finger is connected with exoskeleton finger healing robot.
The finger PIP joint component of described exoskeleton finger healing robot has scalable chute, and described chute and screw fit are installed, and according to patient's finger size, by screw, regulate.
Described exoskeleton finger healing robot adopts aluminium alloy and stainless steel material.
The place that described exoskeleton finger healing robot contacts with patient is curved, and radian meets the designing requirement of ergonomics.
A method of work for exoskeleton finger recovery robot system based on brain electric control, is characterized in that it comprises the following steps:
1. patient accepts the visual stimulus of man machine interface:
Human-computer interaction interface sends visual stimulus signal to patient, makes patient's brain produce EEG signals;
2. the collection of EEG signals and transmission:
By being worn on the electrode for encephalograms collection patient's of brain in patients EEG signals, and passed to brain myoelectricity analytic unit, signal electrode for encephalograms being produced by brain myoelectricity analytic unit is analyzed, and analysis result is exported to work station;
3. the motion of exoskeleton finger healing robot:
Work station receives signal, work station is by the motor movement of motor control unit drive installation in ectoskeleton finger gymnastic robot, control exoskeleton finger healing robot, provide the auxiliary patient of a driving moment to carry out rehabilitation training, impel it to complete bending and stretching;
4. the feedback of Rehabilitation information:
The motion conditions of the bend sensor of sensor unit and force transducer Real-Time Monitoring exoskeleton finger healing robot, constantly gather human skeleton information, carry out rehabilitation training and guarantee the safety in training process, the information in during rehabilitation training is passed to work station simultaneously;
5. the optimization of recovery training method:
Patient can see the motion conditions of oneself according to the virtual system of work station, obtain the movable information of oneself, impels the EEG signals that changes oneself, and optimizes the recovery training method of oneself.
Described step 3. middle ectoskeleton finger gymnastic robot motion has following step to form:
(1) exoskeleton finger healing robot mainly adopts motor to drive, and the parallel fluted shaft of driven by motor makes drive V rotate the bending that realizes robot finger MCP joint by steel wire rope;
(2) drive V drives drive IV and drive III to rotate by steel wire rope, and drive III and thread spindle coordinate realizes robot finger PIP arthrogryposis;
(3) turning cylinder III drives drive II rotate and pass motion to drive I by steel wire rope, makes turning cylinder IV produce the bending that motion realizes robot finger DIP joint;
(4) above-mentioned steps arthrogryposis signal (1), (2) and (3) will pass to patient as driving moment, and auxiliary patient carries out rehabilitation training, impel it to complete bending and stretching.
Superiority of the present invention is: 1, adopt EEG signals as control method, EEG signals is controlled and is combined with exoskeleton rehabilitation robot training system, with human biological signal as control signal, can stimulate efficiently the plasticity of brain in patients to recover, and this system has intelligence, portability, is suitable for the features such as family care; 2, adopt motor drive mode, change the driving device of passing exoskeleton finger structure and the shortcoming that telecontrol equipment is separated, greatly reduced the size of rehabilitation system, simultaneously, robot transmission structure adopts micro wire rope drive structure, has solved drive mechanism complicated problem is installed; 3, exoskeleton robot mainly adopts aluminium alloy and stainless steel material, meets the design of ergonomics, at the joint of robot, is designed with dispensing device to meet different patients' wearing demand; 4, adopt some sensor technologies, the movable information of the feedback system of real-time objective, for patient formulates the recovery training method of efficient science; 5, exoskeleton robot technology is combined with rehabilitation medicine, science proves that efficient Motor stimulation contributes to hemiplegic patient's neuronal plasticity, therefore this robot mainly uses motor-driven mode that staff metacarpophalangeal joints (MCP joint) is provided, the flexion and extension of the three degree of freedom of proximal interphalangeal joint (PIP joint) DIPJ (DIP joint), stimulate patient neural, help it to recover motor function.
(4) accompanying drawing explanation:
Fig. 1 is the overall structure block diagram of the related a kind of exoskeleton finger recovery robot system based on brain electric control of the present invention.
Fig. 2 is the right side structural representation of ectoskeleton finger gymnastic robot in the related a kind of exoskeleton finger recovery robot system based on brain electric control of the present invention.
Fig. 3 is the left side structural representation of ectoskeleton finger gymnastic robot in the related a kind of exoskeleton finger recovery robot system based on brain electric control of the present invention.
Wherein, 1 is motor, and 2 is driving shaft, 3 is palm portion, and 4 is turning cylinder I, and 5 is finger MCP joint, 6 is turning cylinder II, and 7 is turning cylinder III, and 8 is thread spindle, 9 is finger PIP joint, 10 is turning cylinder IV, and 11 is finger DIP joint, and 12 is drive I, 13 is drive II, 14 is drive III, and 15 is drive IV, and 16 is drive V, 17 is parallel fluted shaft, 18 for finger MCP joint connects fluting, and 19 for finger PIP joint connects fluting, and 20 is finger PIP joint scalable chute, 21 is connecting rod, and 22 slot for finger DIP joint connects.
(5) specific embodiment:
Embodiment: a kind of exoskeleton finger recovery robot system (see figure 1) based on brain electric control, is characterized in that it comprises work station, motor control unit, exoskeleton finger healing robot, electrode for encephalograms, brain myoelectricity analytic unit, sensor unit and human-computer interaction interface; Wherein, described work station receives the output signal of brain myoelectricity analytic unit and sensor unit, and its outfan connects the input of electric machine controller; The input of described exoskeleton finger healing robot connects the outfan of motor control unit, and its outfan passes to patient by signal; The input of described sensor unit receives patient's cause of disease signal, and its outfan is connected with the input of work station; The input of described electrode for encephalograms measures patient's eeg signal, and its outfan connects the input of brain myoelectricity analytic unit; Described human-computer interaction interface output sensory signal is to patient.
Described sensor unit consists of (see figure 1) bend sensor and force transducer, is arranged on exoskeleton finger healing robot.
Described work station (see figure 1) is can simulating reality environment and the virtual system of state.
Described exoskeleton finger healing robot (is shown in Fig. 2, Fig. 3) by motor 1, driving shaft 2, palm portion 3, turning cylinder I4, finger MCP(Metacarpophalangeal joint---metacarpophalangeal joints) joint 5, turning cylinder II6, turning cylinder III7, thread spindle 8, finger PIP(Proximal interphalangeal joint---proximal interphalangeal joint) joint 9, turning cylinder IV10, finger DIP(Distal interphalangeal joint---DIPJ) joint 11, drive I12, drive II13, drive III14, drive IV15, drive V16, parallel fluted shaft 17, connecting rod 21, wherein, described motor 1 is arranged on palm portion 3, described driving shaft 2 is connected with motor shaft by jackscrew, described parallel fluted shaft 17 is connected with driving shaft 2, described drive V16 is connected to palm portion 3 by turning cylinder I4, described drive IV15 is connected with finger MCP joint 5 with turning cylinder III7 by turning cylinder II6 with drive III14, described drive I12 is connected on finger PIP joint 9 by turning cylinder IV10, described thread spindle 8 forms micro wire rope drive structure with drive III14 by steel wire rope, described drive II13 is threaded connection and is fixed on turning cylinder III7, between described finger PIP joint and finger DIP joint, according to screw thread, by connecting rod 21, connect, described finger DIP joint 11 is fixed on turning cylinder IV10 by screw thread jackscrew.
On described drive I12, drive II13, drive III14, drive IV15 and drive V16, all having width is the parallel slot (see figure 3) that coordinates with steel wire rope of being used for of 1.5mm.
Between described drive I12, drive II13, drive III14, drive IV15 and drive V16, by steel wire rope, connect, form micro wire rope drive structure (see figure 3).
Described finger MCP joint 5, finger PIP joint 9 and finger 11 Shang YouMCP joints, joint, DIP joint are connected fluting 18, finger PIP joint connects fluting 19 and is connected fluting 22 with finger DIP joint; Described fluting coordinates installation with nylon fastener belt, patient's finger is connected to (see figure 3) with exoskeleton finger healing robot.
Finger PIP joint 9 parts of described exoskeleton finger healing robot have scalable chute 20, and described chute and screw fit are installed, and according to patient's finger size, by screw, regulate (see figure 3).
Described exoskeleton finger healing robot adopts aluminium alloy and stainless steel material.
The place that described exoskeleton finger healing robot contacts with patient is curved, and radian meets the designing requirement of ergonomics.
A method of work for exoskeleton finger recovery robot system based on brain electric control, is characterized in that it comprises the following steps:
1. patient accepts the visual stimulus of man machine interface:
Human-computer interaction interface sends visual stimulus signal to patient, makes patient's brain produce EEG signals;
2. the collection of EEG signals and transmission:
By being worn on the electrode for encephalograms collection patient's of brain in patients EEG signals, and passed to brain myoelectricity analytic unit, signal electrode for encephalograms being produced by brain myoelectricity analytic unit is analyzed, and analysis result is exported to work station;
3. the motion of exoskeleton finger healing robot:
Work station receives signal, work station is by the motor movement of motor control unit drive installation in ectoskeleton finger gymnastic robot, control exoskeleton finger healing robot, provide the auxiliary patient of a driving moment to carry out rehabilitation training, impel it to complete bending and stretching;
4. the feedback of Rehabilitation information:
The motion conditions of the bend sensor of sensor unit and force transducer Real-Time Monitoring exoskeleton finger healing robot, constantly gather human skeleton information, carry out rehabilitation training and guarantee the safety in training process, the information in during rehabilitation training is passed to work station simultaneously;
5. the optimization of recovery training method:
Patient can see the motion conditions of oneself according to the virtual system of work station, obtain the movable information of oneself, impels the EEG signals that changes oneself, and optimizes the recovery training method of oneself.
Described step 3. middle ectoskeleton finger gymnastic robot motion has following step to form:
(1) exoskeleton finger healing robot mainly adopts motor to drive, and the parallel fluted shaft of driven by motor makes drive V rotate the bending that realizes robot finger MCP joint by steel wire rope;
(2) drive V drives drive IV and drive III to rotate by steel wire rope, and drive III and thread spindle coordinate realizes robot finger PIP arthrogryposis;
(3) turning cylinder III drives drive II rotate and pass motion to drive I by steel wire rope, makes turning cylinder IV produce the bending that motion realizes robot finger DIP joint;
(4) above-mentioned steps arthrogryposis signal (1), (2) and (3) will pass to patient as driving moment, and auxiliary patient carries out rehabilitation training, impel it to complete bending and stretching.
Claims (10)
1. the exoskeleton finger recovery robot system based on brain electric control, is characterized in that it comprises work station, motor control unit, exoskeleton finger healing robot, electrode for encephalograms, brain myoelectricity analytic unit, sensor unit and human-computer interaction interface; Wherein, described work station receives the output signal of brain myoelectricity analytic unit and sensor unit, and its outfan connects the input of electric machine controller; The input of described exoskeleton finger healing robot connects the outfan of motor control unit, and its outfan passes to patient by signal; The input of described sensor unit receives patient's cause of disease signal, and its outfan is connected with the input of work station; The input of described electrode for encephalograms measures patient's eeg signal, and its outfan connects the input of brain myoelectricity analytic unit; Described human-computer interaction interface output sensory signal is to patient.
2. a kind of exoskeleton finger recovery robot system based on brain electric control according to claim 1, is characterized in that described sensor unit consists of bend sensor and force transducer, is arranged on exoskeleton finger healing robot.
3. a kind of exoskeleton finger recovery robot system based on brain electric control according to claim 1, is characterized in that described work station is can simulating reality environment and the virtual system of state.
4. a kind of exoskeleton finger recovery robot system based on brain electric control according to claim 1, is characterized in that described exoskeleton finger healing robot is by motor, driving shaft, palm portion, turning cylinder I, finger MCP joint, turning cylinder II, turning cylinder III, thread spindle, finger PIP joint, turning cylinder IV, finger DIP joint, drive I, drive II, drive III, drive IV, drive V, parallel fluted shaft, connecting rod; Wherein, described motor is arranged on palm portion; Described driving shaft is connected with motor shaft by jackscrew; Described parallel fluted shaft is connected with driving shaft; Described drive V is connected to palm portion by turning cylinder I; Described drive IV is connected with finger MCP joint with turning cylinder III by turning cylinder II with drive III; Described drive I is connected on finger PIP joint by turning cylinder IV; Described thread spindle and drive III form micro wire rope drive structure by steel wire rope; Described drive II is threaded connection and is fixed on turning cylinder III; Between described finger PIP joint and finger DIP joint, according to screw thread, by connecting rod, connect; Described finger DIP joint is fixed on turning cylinder IV by screw thread jackscrew.
5. a kind of exoskeleton finger recovery robot system based on brain electric control according to claim 4, it is characterized in that all having on described drive I, drive II, drive III, drive IV and drive V width is the parallel slot that coordinates with steel wire rope of being used for of 1.5-2mm;
6. a kind of exoskeleton finger recovery robot system based on brain electric control according to claim 4, it is characterized in that by steel wire rope, connecting between described drive I, drive II, drive III, drive IV and drive V, form micro wire rope drive structure.
7. a kind of exoskeleton finger recovery robot system based on brain electric control according to claim 4, is characterized in that described finger MCP joint, finger PIP joint and finger Shang YouMCP joint, joint, DIP joint are connected fluting, finger PIP joint and connect to slot and point DIP joint and be connected fluting; Described fluting coordinates installation with nylon fastener belt, patient's finger is connected with exoskeleton finger healing robot;
The finger PIP joint component of described exoskeleton finger healing robot has scalable chute, and described chute and screw fit are installed, and according to patient's finger size, by screw, regulate.
8. a kind of exoskeleton finger recovery robot system based on brain electric control according to claim 1, is characterized in that described exoskeleton finger healing robot adopts aluminium alloy and stainless steel material;
The place that described exoskeleton finger healing robot contacts with patient is curved, and radian meets the designing requirement of ergonomics.
9. a method of work for the exoskeleton finger recovery robot system based on brain electric control, is characterized in that it comprises the following steps:
1. patient accepts the visual stimulus of man machine interface:
Human-computer interaction interface sends visual stimulus signal to patient, makes patient's brain produce EEG signals;
2. the collection of EEG signals and transmission:
By being worn on the electrode for encephalograms collection patient's of brain in patients EEG signals, and passed to brain myoelectricity analytic unit, signal electrode for encephalograms being produced by brain myoelectricity analytic unit is analyzed, and analysis result is exported to work station;
3. the motion of exoskeleton finger healing robot:
Work station receives signal, work station is by the motor movement of motor control unit drive installation in ectoskeleton finger gymnastic robot, control exoskeleton finger healing robot, provide the auxiliary patient of a driving moment to carry out rehabilitation training, impel it to complete bending and stretching;
4. the feedback of Rehabilitation information:
The motion conditions of the bend sensor of sensor unit and force transducer Real-Time Monitoring exoskeleton finger healing robot, constantly gather human skeleton information, carry out rehabilitation training and guarantee the safety in training process, the information in during rehabilitation training is passed to work station simultaneously;
5. the optimization of recovery training method:
Patient can see the motion conditions of oneself according to the virtual system of work station, obtain the movable information of oneself, impels the EEG signals that changes oneself, and optimizes the recovery training method of oneself.
10. a kind of method of work of the exoskeleton finger recovery robot system based on brain electric control according to claim 9, is characterized in that during described step is 3. that ectoskeleton finger gymnastic robot motion has following step to form:
(1) exoskeleton finger healing robot mainly adopts motor to drive, and the parallel fluted shaft of driven by motor makes drive V rotate the bending that realizes robot finger MCP joint by steel wire rope;
(2) drive V drives drive IV and drive III to rotate by steel wire rope, and drive III and thread spindle coordinate realizes robot finger PIP arthrogryposis;
(3) turning cylinder III drives drive II rotate and pass motion to drive I by steel wire rope, makes turning cylinder IV produce the bending that motion realizes robot finger DIP joint;
(4) above-mentioned steps arthrogryposis signal (1), (2) and (3) will pass to patient as driving moment, and auxiliary patient carries out rehabilitation training, impel it to complete bending and stretching.
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