CN103750980A - Auxiliary rehabilitation training device for hemiplegic finger of patient - Google Patents
Auxiliary rehabilitation training device for hemiplegic finger of patient Download PDFInfo
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- CN103750980A CN103750980A CN201410030105.1A CN201410030105A CN103750980A CN 103750980 A CN103750980 A CN 103750980A CN 201410030105 A CN201410030105 A CN 201410030105A CN 103750980 A CN103750980 A CN 103750980A
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Abstract
The invention discloses a platform type auxiliary rehabilitation training device for a hemiplegic finger of a patient. The auxiliary rehabilitation training device for the hemiplegic finger of the patient comprises a finger training mechanism, a hybrid driving mechanism, a sensing device and a control system, wherein the hybrid driving mechanism comprises a motor and a magnetorheological fluid damper, the finger training mechanism comprises a slider-crank mechanism and a finger moving device which can rotate freely and slide forwards or backwards under the driving of the slider-crank mechanism, the control system comprises an upper computer and a lower computer, the PID control algorithm is configured in the lower computer, and a virtual scene module and a virtual reality feedback force module are arranged in the upper computer. By the adoption of the auxiliary rehabilitation training device for the hemiplegic finger of the patient, combination of active training and passive training can be achieved for the patient, the mechanical structure, the hybrid driving mechanism, the sensing device and the control system cooperate with one another to achieve man-machine interaction, a training process is controlled strictly, and the interestingness of the training process is improved by the adoption of game images.
Description
Technical field
The present invention relates to device for healing and training, particularly a kind of auxiliary rehabilitation exercise device for patient's hemiplegia finger rehabilitation exercise.
Background technology
Hands importance is in daily life self-evident, but due to the particularity of hand structure, has caused hand easily injured, causes the dysfunction of hands, to daily life, has brought great inconvenience.Hemiplegia refers to the dyskinesia of the side upper and lower extremities, facial muscle and the lingualis bottom that cause after capsules of brain infringement, usually can cause stiffization of finger, and most typical symptom is that finger is flexing, rolls up state, and the passive hands that stretches has stiff opposing sense.Actively developing early rehabilitation training is effectively to alleviate hemiplegia finger symptom, promotes finger function to recover, and farthest recovers the important step of finger motion function.
Rehabilitation training in Hospitals at Present is mainly that the auxiliary patient of doctor carries out reconditioning, and this Therapeutic Method time and effort consuming, can only rely on doctor's experience to judge to the judge of therapeutic effect, certainly will cause the reservation difficulty of medical expert's consultation, thereby affect treatment time.Training process is dry as dust in addition, easily makes the enthusiasm that patient trains be affected.
For this finger anchylosis causing due to hemiplegia, all hemiplegia finger rehabilitation training device is studied both at home and abroad, as force feedback data gloves: comprise that Rutgers Master II power feels glove and the force feedback data gloves CyberGrasp based on magnetic flow liquid.Certain effect has been played in these convalescence devices opponent's rehabilitation training, but also there are a little problems: (1) some data glove and ESD are dressed inconvenient, and big or smallly must be applicable to staff, if the preponderance installing in addition, the burden that can increase the weight of hand, causes the negative effects such as secondary damage; (2) these devices are often applicable to all fingers and train together, but sometimes only need to suffer from the training of fingering row to hemiplegia, have caused the waste of other mechanisms; (3) rehabilitation training of finger often needs active training just can obtain good effect in conjunction with passive exercise, and power feels that data glove can only produce active force or wherein a kind of by power substantially, cannot realize the combination of main passive exercise; (4) these apparatus structures are complicated, and cost is very high, very large to the economic pressures of general patient.
Therefore, for the rehabilitation of hemiplegic patient finger, develop main passive exercise combination, finger rehabilitation training device simple in structure and that need not dress is significant.
Summary of the invention
The technical problem solving: for the deficiencies in the prior art, the invention provides a kind of auxiliary rehabilitation exercise device for patient's hemiplegia finger, the finger rehabilitation training device that solves data glove of the prior art and ESD class easily causes secondary damage to patient, and when training all fingers train together, specific aim is low, cannot realize the training mode of main passive exercise combination, training effect is not good, with the technical problem such as timer is expensive.
Technical scheme: for solving the problems of the technologies described above, the present invention by the following technical solutions:
An auxiliary rehabilitation exercise device for patient's hemiplegia finger, comprises platform, finger training mechanism, hybrid drive, sensing device and control system, and described finger training mechanism and hybrid drive are all placed on platform;
Described hybrid drive comprises motor and magnetic rheological liquid damper, and the central shaft of the two is identical;
Described finger training mechanism comprises slider-crank mechanism and finger movement device, and wherein one end of the crank of slider-crank mechanism is fixed on the central shaft of hybrid drive, and the other end of crank is connected to slide block by connecting rod, and described slide block is placed on guide rail; Described finger movement device is fixed on slide block by strip pillar and reaches slide block outside, finger movement device comprises finger bracing frame and Ring put around finger for massage of cavity of human body, described finger bracing frame take the shape of the letter U and the bottom-hinged of pointing bracing frame U-shaped on slide block, described Ring put around finger for massage of cavity of human body snap in the opening of finger bracing frame U-shaped and the sidewall of Ring put around finger for massage of cavity of human body hinged respectively with two legs of finger bracing frame U-shaped;
Described sensing device comprises force transducer and angular transducer, and described force transducer is arranged on strip pillar, and described angular transducer and hybrid drive coaxially arrange;
Described control system comprises host computer and slave computer, wherein in slave computer, is provided with pid control algorithm, comprises virtual scene module and virtual reality feedback force module in host computer;
When passive exercise, first patient completes and promotes one of slide block motor process back and forth under doctor's help, information and angular transducer that in this process, pid control algorithm gathers the power on the strip pillar that force transducer detects constantly detect the angle information that central shaft turns over, and calculate needed each rotating speed and the power that constantly motor and magnetic rheological liquid damper need to provide of this process that repeats, patient is under the help that there is no doctor afterwards, the angle that current central shaft turns over fed back at any time of angular transducer offers pid control algorithm and calculates rotating speed and the power that current time motor and magnetic rheological liquid damper need to provide, controlling magnetic rheological liquid damper and motor coordinates the rotating speed and the power that provide as required to carry out the process that work reproduction promotion slide block moves back and forth,
When active training, in host computer, present game virtual scene, by angular transducer, the angle that current central shaft turns over detected and pass to host computer that virtual scene is realized to the movement position of pointing with reality is corresponding one by one, virtual reality feedback force module calculates in real time in corresponding virtual feedback force simulating reality environment and points grasping movement according to virtual scene, and the virtual feedback force information of needs is passed to pid control algorithm, the power simultaneously detecting in real time to pid control algorithm feedback by force transducer is coordinated to control, the power that the more virtual feedback force of pid control algorithm and force transducer detect is carried out closed loop control adjustment, final pid control algorithm calculates rotating speed and the power that current time motor and magnetic rheological liquid damper need to provide, drive motors and magnetic rheological liquid damper cooperating produce accurate feedback force, make the power that is applied to patient's hand equal virtual feedback force.
Further, in the present invention, during passive exercise, patient is not having under doctor helps, and the information of force transducer Real-time Collection power, surpasses threshold value once the size of power be detected, judge and occur fortuitous event, pid control algorithm is controlled motor and magnetic rheological liquid damper quits work.Because be applicable to the comparatively serious patient of injury of finger at passive exercise, their doigte is comparatively blunt, the power that the fortuitous event such as get stuck if occur in training process causes acting on is on hand excessive, patient cannot perception can cause secondary damage, utilize force transducer to detect, can avoid the generation of this situation.
As preferably, in the present invention, described slide block and guide rail are MR Miniature ball linear slide block and guide rail.MR Miniature ball linear slide block and the guide rail frictional resistance in sliding process is less, and the result that makes to be applied to after motor and magnetic rheological liquid damper cooperating the power of staff and the calculating of pid control algorithm is basic identical, improves the accuracy of controlling.
Beneficial effect:
The present invention has adopted a comparatively simple slider-crank mechanism just to realize the crooked compound movement process with stretching of movable hand articulations digitorum manus, slide block guide rail adopts the line slideway of ball-type, move resistance little, and machining cost is low, is applicable to producing in enormous quantities; This device mainly meets the demand that injured finger is carried out to special training, other unscathed fingers of training process are without participation, and finger bracing frame and finger ring be hinged rotating form, make finger-joint activity unrestricted, simple in structure, take up room less;
Secondly, control system, sensing device and hybrid drive cooperatively interact, and realize stable and accurate mixture control; And utilize pid control algorithm that main passive exercise all can be realized; When passive exercise, by this device, drive patient's finger motion completely, and monitoring is set, guarantee the still physical training condition of impercipient finger in safety of patient; When active training, in conjunction with the game of host computer, realize interpersonal alternately, make rehabilitation training no longer uninteresting, increased the enthusiasm of patient's training.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is control system block diagram of the present invention;
Fig. 3 is the schematic diagram that is related between host computer of the present invention and slave computer.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
As shown in Figure 1, a kind of auxiliary rehabilitation exercise device for patient's hemiplegia finger, comprises platform 1, finger training mechanism, hybrid drive, sensing device and control system, and described finger training mechanism and hybrid drive are all placed on platform;
Described hybrid drive comprises motor 2 and magnetic rheological liquid damper 3, and the central shaft of the two is identical and by shaft coupling 4, be connected on central shaft 5 respectively separately;
Described finger training mechanism comprises slider-crank mechanism and finger movement device, wherein one end of the crank 6 of slider-crank mechanism is screwed on the central shaft of hybrid drive, the other end of crank 6 is connected to slide block 8 by connecting rod 7, between crank 6 and connecting rod 7, by bearing, be connected with pin, between connecting rod 7 and slide block 8, also by bearing, be connected with pin; Described slide block 8 is placed on guide rail 9, and described slide block 8 and guide rail 9 are MR Miniature ball linear slide block and guide rail, and guide rail 9 two ends are provided with the anti-limited slip block 8 of limited post 10 and skid off guide rail; Described finger movement device is fixed on slide block 8 by strip pillar 11 and reaches the outside of slide block 8, finger movement device comprises finger bracing frame 12 and Ring put around finger for massage of cavity of human body 13, described finger bracing frame 12 take the shape of the letter U and the bottom-hinged of U-shaped of pointing bracing frame 12 on slide block 8, described Ring put around finger for massage of cavity of human body 13 snaps in the opening of U-shaped of finger bracing frame 12 and the sidewall of Ring put around finger for massage of cavity of human body 13 uses respectively pin hinged with two legs of the U-shaped of finger bracing frame 12.Hybrid drive drives the rotation of crank 6, and then drivening rod 7 motions, the motion of connecting rod 7 is with again movable slider 8 to seesaw together on guide rail 9, when people's finger-stall is when Ring put around finger for massage of cavity of human body 13 is interior, the front and back of having realized finger pull motion, and the rotation of Ring put around finger for massage of cavity of human body 13 and finger bracing frame 12 has met the motion of finger joint and wrist joint just in addition.
Described sensing device comprises force transducer 14 and angular transducer 15, and described force transducer 14 is arranged on strip pillar 11, and described angular transducer 15 coaxially arranges with hybrid drive;
As shown in Figures 2 and 3, described control system comprises host computer 16 and slave computer 17, wherein in slave computer 17, ARM system and pid control algorithm are installed, in host computer 17, comprise virtual scene module and virtual reality feedback force module, between host computer 17 and slave computer 16, by USB controller, carry out transfer of data; Between frame for movement part and control system, coordinate and realized man-machine interaction.
When passive exercise, first patient completes and promotes one of slide block motor process back and forth under doctor's help, information and angular transducer 15 that in this process, pid control algorithm gathers the power on the strip pillar 11 that force transducer 14 detects constantly detect the angle information that central shaft 5 turns over, wherein the information exchange of power is crossed modulate circuit and analog-to-digital conversion module ADC passes to slave computer, angle information passes to slave computer by hardware decoding circuit, slave computer receives and calculates needed each rotating speed and the power that motor 2 and magnetic rheological liquid damper 3 need to provide constantly of this process that repeats after these two kinds of information.Patient is under the help that there is no doctor afterwards, angular transducer 15 feeds back at any time the angle that current central shaft 5 turns over and offers pid control algorithm, rotating speed and the power that for calculating current time motor 2 and magnetic rheological liquid damper 3, need to provide, control magnetic rheological liquid damper 3 and motor 2 cooperations, the rotating speed providing as required and power are carried out work and are reappeared the process that slide block moves back and forth that promotes.
In the time of passive exercise, patient is not having under doctor helps, and the information of force transducer 14 Real-time Collection power, surpasses threshold value once the size of power detected, judges and occurs fortuitous event, and pid control algorithm is controlled motor 2 and magnetic rheological liquid damper 3 quits work.
When active training, in host computer 16, present game virtual scene, the angle that the current central shaft 5 that the movement locus of slide block 8 can detect by angular transducer 15 turns over is carried out record, angular transducer 15 is crossed hardware decoding circuit by the information exchange being recorded to and is passed to slave computer 17, slave computer 17 again by this information transmission to host computer 16, thereby the movement position that virtual scene and reality are pointed in realization is object one to one, patient's finger motion can be controlled the game in host computer, make rehabilitation training no longer uninteresting, game in concrete host computer can have submarine game, aircraft game, LODE RUNNER game, vehicle game etc., patient can select to log in certain interface by logging in module according to the hobby of oneself.
Patient, control in the process of game, virtual reality feedback force module calculates corresponding virtual feedback force in real time according to virtual scene, carrys out to point in simulating reality environment grasping movement and the information of this virtual feedback force is sent to pid control algorithm; Meanwhile, the power that force transducer 14 also detects in real time to pid control algorithm feedback.In pid control algorithm, proportion of utilization, integration, differential are controlled, by power and virtual feedback force that relatively force transducer 14 detects, obtain difference, then through the continuous adjustment of pid control algorithm, coordinate to control, final pid control algorithm calculates rotating speed and the power that current time motor 2 and magnetic rheological liquid damper 3 need to provide; Then slave computer 17 control motor-drive circuits carry out drive motors 2 work, slave computer 17 is also controlled current source by D/A converter module DAC and is controlled magnetic rheological liquid damper 3 work simultaneously, motor 2 and magnetic rheological liquid damper 3 the two cooperating produce accurate feedback force, make the power that is applied to patient's hand equal virtual feedback force, whole control system is in accurate, stable state.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (4)
1. the auxiliary rehabilitation exercise device for patient's hemiplegia finger, it is characterized in that: comprise platform (1), finger training mechanism, hybrid drive, sensing device and control system, described finger training mechanism and hybrid drive are all placed on platform (1);
Described hybrid drive comprises motor (2) and magnetic rheological liquid damper (3), and the central shaft of the two (5) is identical;
Described finger training mechanism comprises slider-crank mechanism and finger movement device, wherein one end of the crank of slider-crank mechanism (6) is fixed on the central shaft (5) of hybrid drive, the other end of crank (6) is connected to slide block (8) by connecting rod (7), and described slide block (8) is placed on guide rail (9); Described finger movement device is fixed on slide block (8) by strip pillar (11) and goes up and reach slide block (8) outside, finger movement device comprises finger bracing frame (12) and Ring put around finger for massage of cavity of human body (13), described finger bracing frame (12) take the shape of the letter U and the bottom-hinged of pointing bracing frame (12) U-shaped upper at slide block (8), described Ring put around finger for massage of cavity of human body (13) snap in the opening of finger bracing frame (12) U-shaped and the sidewall of Ring put around finger for massage of cavity of human body (13) hinged respectively with two legs of finger bracing frame (12) U-shaped;
Described sensing device comprises force transducer (14) and angular transducer (15), and it is upper that described force transducer (14) is arranged on strip pillar (11), and described angular transducer (15) coaxially arranges with hybrid drive;
Described control system comprises host computer (16) and slave computer (17), wherein in slave computer (17), is provided with pid control algorithm, comprises virtual scene module and virtual reality feedback force module in host computer (16);
When passive exercise, first patient completes and promotes (8) one of slide blocks motor process back and forth under doctor's help, information and angular transducer (15) that in this process, pid control algorithm gathers the power on the strip pillar (11) that force transducer (14) detects constantly detect the angle information that central shaft (5) turns over, and calculate needed each rotating speed and the power that motor (2) and magnetic rheological liquid damper (3) need to provide constantly of this process that repeats; Then patient is under the help that there is no doctor, angular transducer (15) feeds back at any time the angle that current central shaft (5) turns over and offers rotating speed and the power that pid control algorithm need to provide to calculate current time motor (2) and magnetic rheological liquid damper (3), controls magnetic rheological liquid damper (3) and motor (2) and coordinates the rotating speed that provides as required and power to carry out work to reappear the process that promotion slide block (8) moves back and forth;
When active training, host computer presents game virtual scene in (16), by angular transducer (15), the angle that current central shaft (5) turns over detected and pass to host computer (16) that to realize the movement position that virtual scene is pointed with reality corresponding one by one, virtual reality feedback force module calculates in real time corresponding virtual feedback force according to virtual scene and points grasping movement in simulating reality environment, and the virtual feedback force information of needs is passed to pid control algorithm, the power simultaneously detecting in real time to pid control algorithm feedback by force transducer (14) is coordinated to control, the power that the more virtual feedback force of pid control algorithm and force transducer (14) detect is carried out closed loop control adjustment, final pid control algorithm calculates rotating speed and the power that current time motor (2) and magnetic rheological liquid damper (3) need to provide, drive motors (2) and magnetic rheological liquid damper (3) cooperating produce accurate feedback force, make the power that is applied to patient's hand equal virtual feedback force.
2. a kind of auxiliary rehabilitation exercise device for patient's hemiplegia finger according to claim 1, it is characterized in that: during passive exercise, patient is not having under doctor helps, the information of force transducer (14) Real-time Collection power, once the size of power detected, surpass threshold value, judge and occur fortuitous event, pid control algorithm is controlled motor (2) and magnetic rheological liquid damper (3) quits work.
3. a kind of auxiliary rehabilitation exercise device for patient's hemiplegia finger according to claim 1, is characterized in that: described slide block (8) and guide rail (9) are MR Miniature ball linear slide block (8) and guide rail (9).
4. a kind of auxiliary rehabilitation exercise device for patient's hemiplegia finger according to claim 1, is characterized in that: guide rail (9) two ends are provided with limited post (10).
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| CN104239713A (en) * | 2014-09-11 | 2014-12-24 | 华东理工大学 | System and method for testing upper limb functions |
| CN104825291A (en) * | 2015-06-02 | 2015-08-12 | 王玲 | Multifunctional nursing bed for intensive care in neurosurgery |
| CN104840334A (en) * | 2015-04-30 | 2015-08-19 | 东南大学 | Finger movement function rehabilitation training device |
| CN104921907A (en) * | 2015-07-17 | 2015-09-23 | 东南大学 | Finger movement mechanism used for hemiplegic patient rehabilitation training and rehabilitation training device |
| CN105999652A (en) * | 2016-04-26 | 2016-10-12 | 珠海云智医疗科技有限公司 | Brain injury rehabilitation training device based on pinching of double finger pulps |
| CN106038168A (en) * | 2016-05-13 | 2016-10-26 | 燕山大学 | Finger rehabilitation training device |
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| CN104239713A (en) * | 2014-09-11 | 2014-12-24 | 华东理工大学 | System and method for testing upper limb functions |
| CN104840334A (en) * | 2015-04-30 | 2015-08-19 | 东南大学 | Finger movement function rehabilitation training device |
| CN104825291A (en) * | 2015-06-02 | 2015-08-12 | 王玲 | Multifunctional nursing bed for intensive care in neurosurgery |
| CN104921907A (en) * | 2015-07-17 | 2015-09-23 | 东南大学 | Finger movement mechanism used for hemiplegic patient rehabilitation training and rehabilitation training device |
| CN105999652A (en) * | 2016-04-26 | 2016-10-12 | 珠海云智医疗科技有限公司 | Brain injury rehabilitation training device based on pinching of double finger pulps |
| CN106038168A (en) * | 2016-05-13 | 2016-10-26 | 燕山大学 | Finger rehabilitation training device |
| CN106038168B (en) * | 2016-05-13 | 2018-07-03 | 燕山大学 | finger rehabilitation training device |
| CN107997861A (en) * | 2016-10-27 | 2018-05-08 | 韩国机器人和融合研究院 | The nervous system disease and disease of the musculoskeletal system hand convalescence device |
| CN107997861B (en) * | 2016-10-27 | 2021-08-10 | 韩国机器人和融合研究院 | Hand rehabilitation device for nervous system diseases and musculoskeletal system diseases |
| CN106389072A (en) * | 2016-11-28 | 2017-02-15 | 东北大学 | Virtual reality interactive system and method of five-degree-of-freedom upper limb rehabilitation robot |
| CN106377397A (en) * | 2016-12-06 | 2017-02-08 | 常州工学院 | Finger trainer |
| CN107049702A (en) * | 2017-03-29 | 2017-08-18 | 东南大学 | A kind of lower limbs rehabilitation training robot system based on virtual reality |
| CN107233190A (en) * | 2017-06-26 | 2017-10-10 | 东南大学 | A kind of multiple degrees of freedom thumb device for healing and training for hemiplegic patient |
| CN107343844A (en) * | 2017-09-06 | 2017-11-14 | 江苏恒毅运控智能设备科技有限公司 | Control method, device and the upper limbs assistance exoskeleton system of upper limbs assistance exoskeleton |
| CN107928983A (en) * | 2017-12-05 | 2018-04-20 | 彭煜翔 | A kind of upper-limbs rehabilitation training robot |
| CN108478384A (en) * | 2018-01-29 | 2018-09-04 | 上海师范大学 | A kind of wearable hand function rehabilitation training device |
| CN108415319A (en) * | 2018-02-07 | 2018-08-17 | 江苏理工学院 | A kind of multi-functional finger gymnastic control system |
| CN108161983A (en) * | 2018-02-09 | 2018-06-15 | 武汉沃森拓客科技有限公司 | Healing robot joint arrangement |
| CN109124982A (en) * | 2018-06-29 | 2019-01-04 | 燕山大学 | A kind of wearable rehabilitation power-assisted flexible pneumatic joint |
| CN109512639A (en) * | 2018-11-16 | 2019-03-26 | 陈西伟 | A kind of foot-operated arm activity intelligent nursing equipment |
| CN109998858A (en) * | 2019-04-25 | 2019-07-12 | 南通大学附属医院 | A kind of hand surgery rehabilitation exercise device |
| CN111150975A (en) * | 2020-02-26 | 2020-05-15 | 陕西科技大学 | Leg muscle rehabilitation training device and control method thereof |
| CN112294596A (en) * | 2020-03-24 | 2021-02-02 | 南通大学 | Finger rehabilitation training device convenient for adjusting training track |
| CN116617053A (en) * | 2023-07-20 | 2023-08-22 | 山东泽普医疗科技有限公司 | Upper limb force touch feedback rehabilitation training instrument |
| CN116617053B (en) * | 2023-07-20 | 2023-10-20 | 山东泽普医疗科技有限公司 | Upper limb force touch feedback rehabilitation training instrument |
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