CN110801366A - Passive track error detection device and method for rocker type rehabilitation mechanism - Google Patents
Passive track error detection device and method for rocker type rehabilitation mechanism Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000012549 training Methods 0.000 claims abstract description 27
- 238000007906 compression Methods 0.000 claims abstract description 24
- 230000006835 compression Effects 0.000 claims abstract description 23
- 238000012360 testing method Methods 0.000 claims description 3
- 101000579647 Penaeus vannamei Penaeidin-2a Proteins 0.000 description 11
- 238000010586 diagram Methods 0.000 description 4
- 210000003414 extremity Anatomy 0.000 description 3
- 238000011161 development Methods 0.000 description 1
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- 239000013589 supplement Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
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Abstract
The invention provides a passive track error detection device and method for a rocker type rehabilitation mechanism. The rocker type rehabilitation mechanism comprises a rocker capable of three-dimensionally moving; the device comprises a clamp, a compression spring, a drawing pen, a drawing board, a fixed block and a bracket, wherein the clamp comprises a clamping part and a connecting part; when the drawing pen works, the clamping part clamps the rocker, the surface of the drawing board is parallel to the rocker, and the pen point of the drawing pen can move along with the rocker to draw a motion track on the drawing board; firstly, drawing a target motion track on a drawing board by adopting an active training mode, and then drawing a tracking motion track on the drawing board by adopting a passive training mode; and observing the directions of the tracking motion trail and the target motion trail to acquire the direction of the rocker deviating from the standard axis, and measuring the distance deviation value between the tracking motion trail and the target motion trail to acquire the angle of the rocker deviating from the standard axis.
Description
Technical Field
The invention belongs to the technical field of sports equipment, and particularly relates to a passive trajectory error detection device and method for a rocker type rehabilitation mechanism.
Background
The track error refers to an error between an actual motion curve and a specific motion track when the mechanism end effector tracks the specific motion track.
With the development of society, it is very common to use rehabilitation devices to replace therapists to perform auxiliary training in the existing rehabilitation treatment field, and the degree of intelligence of the rehabilitation devices reaches a new level. The rocker-type rehabilitation device is a rehabilitation device capable of realizing three-dimensional space movement, and mainly comprises a telescopic rocker and a driving unit for enabling the rocker to perform winding movement, for example, a rocker-type upper limb rehabilitation device disclosed in the patent document CN102631277A, a telescopic rocker-type limb movement mechanism disclosed in the patent document CN106176135A and the like, so that the rehabilitation training of the three-dimensional movement of the limb of a patient can be realized.
When the telescopic rocker type rehabilitation robot is used for rehabilitation training, the training modes comprise an active training mode, a passive training mode and a power-assisted training mode. In the active training mode, a patient applies force to the rocker through the handle to enable the rocker to move to a target position along a certain track; in the passive training mode, firstly, a target track and a target position are set, the rehabilitation robot is started, the rocker is made to move to the target position along the target track, and the limb of the patient is driven to move.
In practical application, to the patient that the motor ability is lost or weak, the rehabilitation therapist teaches the training orbit that is fit for the patient according to the actual conditions of patient generally, namely, the rehabilitation therapist utilizes the teaching of initiative training mode, makes the rocker follow certain orbit and move to a certain position, and the control unit of rehabilitation robot gathers this orbit as the target motion orbit, gathers this position as the target location, then when the patient carries out the rehabilitation training, utilizes the passive training mode to carry out the rehabilitation training.
However, in the passive training, an error between the actual motion trajectory and the target trajectory, which is called a passive trajectory error, affects the rehabilitation training, and particularly, the rehabilitation training effect is affected when the error is large. The common detection method is to use a laser tracker for detection, but the laser tracker is expensive, so the method cannot be widely popularized.
Disclosure of Invention
In view of the above technical situation, the present invention provides a passive trajectory error detection device for a rocker-type rehabilitation mechanism, which can detect a passive trajectory error of the rocker-type rehabilitation mechanism.
The technical scheme provided by the invention is as follows: a passive track error detection device of a rocker-type rehabilitation mechanism comprises a telescopic rocker, and the rocker can swing on a two-dimensional plane so as to realize three-dimensional motion;
the method is characterized in that: the passive error detection device comprises a clamp, a compression spring, a drawing pen, a drawing board, a fixed block and a bracket;
the clamp comprises a clamping part and a connecting part, and the clamping part is fixedly connected with the connecting part;
the clamping part is used for clamping the rocker; the connecting part is of a hollow structure with one open end;
the bracket is used for supporting the drawing board; the fixed block is used for fixing a drawing pen;
the fixed block is positioned in the hollow structure of the connecting part and can slide along the inner wall of the hollow structure;
one end of the compression spring is fixedly connected to the bottom of the hollow structure;
when the clamp works, the clamping part clamps the rocker to ensure that the clamp is fixedly connected with the rocker; the surface of the drawing board is parallel to the rocker; the drawing pen is fixed through the fixing block, and a pen point of the drawing pen is in contact with the board surface of the drawing board through the opening end of the connecting part and is perpendicular to the board surface of the drawing board; the fixed block contacts the other end of the compression spring and compresses the compression spring.
As an implementation mode, the fixing block is provided with a groove structure, and the tail part of the drawing pen can be inserted into the groove structure for fixing.
Preferably, the inner wall of the hollow structure is tubular, and more preferably, is tubular.
Preferably, the open end of the connecting part is provided with a limiting block to prevent the compression spring and the fixing block from sliding out of the connecting part.
Preferably, the pen point of the drawing pen has scalability.
When the device provided by the invention is used for detecting the passive track error of the rehabilitation mechanism, the track error of an XZ plane or a YZ plane is tested on the assumption that the direction of a rocker is parallel to a Z axis, and the test method comprises the following steps:
(1) the clamping part clamps the rocker to ensure that the clamp is fixedly connected with the rocker; the surface of the drawing board is parallel to the rocker and is parallel to the X axis or the Y axis, namely parallel to the XZ plane or the YZ plane; the drawing pen is fixed through the fixing block, and a pen point of the drawing pen is in contact with the board surface of the drawing board through the opening end of the connecting part and is perpendicular to the board surface of the drawing board; the fixed block contacts with the other end of the compression spring and compresses the compression spring;
(2) an active training mode is adopted, an operator pushes a rocker to swing on an XZ plane or a YZ plane, a target motion track is taught, a drawing pen swings along with the rocker, the target motion track is drawn on a drawing board, and a control unit collects the target motion track;
(3) adopting a passive training mode, enabling the rocker to track the motion of the target track, enabling the drawing pen to swing along with the rocker, and drawing a tracking motion track on the drawing board;
in this process, if the rocking bar deviates from the Z axis θ in the clockwise direction, the pen point of the drawing pen moves upward, the compression spring extends, and pushes the fixing block to slide, so that the pen point of the drawing pen keeps in contact with the surface of the drawing board, and the tracking motion track generated on the surface of the drawing board deviates from the target motion track, causing a track error, and the geometric analysis is as shown in fig. 2. As can be seen from fig. 2, what causes the trajectory error is a change in the angle θ, and what needs to be detected is the change error in the angle θ during the movement. According to the geometrical principle, theta is theta 2+ theta 3-90 degrees,
from the practical situation and combining the above formula, it can be seen that L1, H, L, L2 are fixed values that are not affected by the trajectory motion and are measurable sizes, so the value of the angle θ can be obtained by obtaining the value of Δ L, so that the detection of the passive trajectory error can be completed by only measuring the value of Δ L.
Similarly, in this process, if the rocking bar deviates from the Z axis θ angle in the counterclockwise direction, the nib of the drawing pen moves down, the compression spring is further compressed by the fixed block, so that the nib of the drawing pen is kept in contact with the surface of the drawing board, and the tracking movement locus generated on the surface of the drawing board at this time deviates from the target movement locus, causing a locus error. As with the above analysis, detection of passive trajectory errors can be accomplished by measuring only the value of Δ L.
Therefore, the direction of the rocker deviating from the Z axis can be obtained by observing the directions of the tracking motion trail and the target motion trail, if the tracking motion trail is above the target motion trail, the rocker deviates from the Z axis along the anticlockwise direction, otherwise, the rocker deviates from the Z axis along the clockwise direction; and the angle of the rocker deviating from the Z axis can be obtained by measuring the value of the distance deviation value delta L between the tracking motion track and the target motion track, and the larger the value of delta L is, the larger the deviation angle is.
Compared with the prior art, the passive trajectory error detection device of the rocker-type rehabilitation mechanism is formed by a simple structure, is convenient to install and operate when in use, can visually know the position and the size of the rocker deviating from the standard position in the rocker-type rehabilitation mechanism, is a low-cost visual error detection device, and has a good application prospect.
Drawings
Fig. 1 is a schematic structural diagram of a tracking error detection apparatus in embodiment 1 of the present invention.
Fig. 2 is a schematic view of a sectional structure of the jig of fig. 1.
FIG. 3 is a schematic diagram of the detection of the passive tracking error detection apparatus according to the present invention.
Fig. 4 is a schematic diagram of detecting a passive tracking error of the rehabilitation mechanism in the YZ plane using the tracking error detecting device in embodiment 1.
Fig. 5 is a schematic diagram of detecting a passive trajectory error of a rehabilitation facility in an XZ plane by using a trajectory error detecting device in embodiment 1.
The reference numerals in fig. 1 to 5 are: 1-clamping; 2-drawing pen; 3-drawing board; 4-a scaffold; 5-compression spring; 6, fixing blocks; 7-a limit cover plate; 8-a rocker; 9-target motion trajectory; 10-tracking the motion track; 11-tracking the motion track; 12-a clamping portion; 13-a connecting part.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings, which are intended to facilitate the understanding of the present invention and are not intended to limit the present invention in any way.
As shown in fig. 1 and 2, the trajectory error detecting apparatus includes a clamp 1, a compression spring 5, a drawing pen 2, a drawing board 3, a fixing block 6, and a bracket 4.
The holder 4 is used to support the drawing board 3. The clamp 1 comprises a clamping part 12 and a connecting part 13, wherein the clamping part 12 is fixedly connected with the connecting part 13.
The connecting part 13 is a hollow structure with one open end, and one end of the compression spring 5 is fixedly connected to the bottom of the hollow structure. The fixing block 6 is located in the hollow structure and used for fixing the drawing pen 2.
In this embodiment, the inner wall of the hollow structure is in a circular tube shape, and the fixing block is in a cylindrical structure with a groove and can slide along the inner wall of the hollow structure. The tail of the drawing pen 2 can be inserted into the slot for fixing.
In this embodiment, the open end of the connecting portion 13 is provided with a limiting cover plate 7 for preventing the compression spring 5 and the fixing block 6 from sliding out of the connecting portion 13.
The rocker-type rehabilitation mechanism includes a rocker 8 which can be extended and contracted along the Z-axis, and the rocker 8 can swing on two-dimensional planes XZ and YZ, thereby realizing three-dimensional motion, as shown in fig. 4 and 5.
The method for detecting the passive track error of the rocker type rehabilitation mechanism by using the track error detection device comprises the following steps:
firstly, testing the track error of a YZ plane
(1) As shown in fig. 4, the clamping part 12 clamps the rocker to fixedly connect the clamp 1 with the rocker 8; the surface of the drawing board 3 is parallel to the YZ plane; the drawing pen 2 is fixed by the fixing block 6, and the pen point of the drawing pen 2 is in contact with the board surface of the drawing board 3 through the opening end of the connecting part 13 and is perpendicular to the board surface of the drawing board 3; the fixed block 6 contacts the other end of the compression spring 5 and compresses the compression spring 5.
(2) And an active training mode is adopted, an operator pushes the rocker 8 to swing on a YZ plane, a target motion track is taught, the drawing pen 2 swings along with the rocker, the target motion track 9 is drawn on the drawing board, and the control unit collects the target motion track.
(3) A passive training mode is adopted, the rocker 8 tracks the motion of the target track, the drawing pen 2 swings along with the motion of the target track, and the tracking motion track is drawn on the drawing board 3; observing the tracking motion track and the target motion track 9, as shown in fig. 4, if the tracking motion track is shown as a curve 10, and is above the target motion track 9, the rocker 8 deviates from the Z axis along the counterclockwise direction, and the information of the angle of the rocker 8 deviating from the Z axis can be obtained by measuring the distance deviation value delta L between the curve 10 and the target motion track 9, wherein the larger the value of the delta L is, the larger the deviation angle is; on the contrary, if the tracking motion trajectory is shown by the curve 11, the rocker 8 deviates from the Z axis in the clockwise direction, and the information of the angle of the rocker 8 deviating from the Z axis can be obtained by measuring the distance deviation Δ L between the curve 11 and the target motion trajectory 9, wherein the larger the Δ L value is, the larger the deviation angle is.
(II) testing the trajectory error of the XZ plane
(1) As shown in fig. 5, the clamping part 12 clamps the rocker to fixedly connect the clamp 1 with the rocker 8; the surface of the drawing board 3 is parallel to the XZ plane; the drawing pen 2 is fixed by the fixing block 6, and the pen point of the drawing pen 2 is in contact with the board surface of the drawing board 3 through the opening end of the connecting part 13 and is perpendicular to the board surface of the drawing board 3; the fixed block 6 contacts the other end of the compression spring 5 and compresses the compression spring 5.
(2) By adopting an active training mode, an operator pushes the rocker 8 to swing on an XZ plane to teach a target motion track, the drawing pen 2 swings along with the rocker to draw the target motion track 9 on the drawing board, and the control unit collects the target motion track.
(3) A passive training mode is adopted, the rocker 8 tracks the motion of the target track, the drawing pen 2 swings along with the motion of the target track, and the tracking motion track is drawn on the drawing board 3; observing the tracking motion track and the target motion track 9, as shown in fig. 5, if the tracking motion track is shown as a curve 10, and is above the target motion track 9, the rocker 8 deviates from the Z axis along the counterclockwise direction, and the information of the angle of the rocker 8 deviating from the Z axis can be obtained by measuring the distance deviation value delta L between the curve 10 and the target motion track 9, wherein the larger the value of the delta L is, the larger the deviation angle is; on the contrary, if the tracking motion trajectory is shown by the curve 11, the rocker 8 deviates from the Z axis in the clockwise direction, and the information of the angle of the rocker 8 deviating from the Z axis can be obtained by measuring the distance deviation Δ L between the curve 11 and the target motion trajectory 9, wherein the larger the Δ L value is, the larger the deviation angle is.
The embodiments described above are intended to illustrate the technical solutions of the present invention in detail, and it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modification, supplement or similar substitution made within the scope of the principles of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A passive track error detection device of a rocker-type rehabilitation mechanism comprises a telescopic rocker, and the rocker can swing on a two-dimensional plane so as to realize three-dimensional motion;
the method is characterized in that: the passive error detection device comprises a clamp, a compression spring, a drawing pen, a drawing board, a fixed block and a bracket;
the clamp comprises a clamping part and a connecting part, and the clamping part is fixedly connected with the connecting part;
the clamping part is used for clamping the rocker; the connecting part is of a hollow structure with one open end;
the bracket is used for supporting the drawing board; the fixed block is used for fixing a drawing pen;
the fixed block is positioned in the hollow structure of the connecting part and can slide along the inner wall of the hollow structure;
one end of the compression spring is fixedly connected to the bottom of the hollow structure;
when the clamp works, the clamping part clamps the rocker to ensure that the clamp is fixedly connected with the rocker; the surface of the drawing board is parallel to the rocker; the drawing pen is fixed through the fixing block, and a pen point of the drawing pen is in contact with the board surface of the drawing board through the opening end of the connecting part and is perpendicular to the board surface of the drawing board; the fixed block contacts the other end of the compression spring and compresses the compression spring.
2. The passive trajectory error detecting device of a rocker-type rehabilitation mechanism according to claim 1, wherein: the fixed block is provided with a groove structure, and the tail part of the drawing pen can be inserted into the groove to be fixed.
3. The passive trajectory error detecting device of a rocker-type rehabilitation mechanism according to claim 1, wherein: the inner wall of the hollow structure is tubular.
4. The passive trajectory error detecting device of a rocker-type rehabilitation mechanism according to claim 1, wherein: the inner wall of the hollow structure is in a circular tube shape.
5. The passive trajectory error detecting device of a rocker-type rehabilitation mechanism according to claim 1, wherein: the open end of the connecting part is provided with a limiting block.
6. The passive trajectory error detecting device of a rocker-type rehabilitation mechanism according to claim 1, wherein: the pen point of the drawing pen has scalability.
7. The method for detecting a passive tracking error of a rehabilitation facility using the tracking error detecting device as claimed in any one of claims 1 to 6, characterized by: assuming that the direction of the rocker is parallel to the Z axis, testing the track error of the XZ plane or the YZ plane by the following method:
(1) the clamping part clamps the rocker to ensure that the clamp is fixedly connected with the rocker; the surface of the drawing board is parallel to an XZ plane or a YZ plane; the drawing pen is fixed through the fixing block, and a pen point of the drawing pen is in contact with the board surface of the drawing board through the opening end of the connecting part and is perpendicular to the board surface of the drawing board; the fixed block contacts with the other end of the compression spring and compresses the compression spring;
(2) an active training mode is adopted, an operator pushes a rocker to swing on an XZ plane or a YZ plane, a target motion track is taught, a drawing pen swings along with the rocker, the target motion track is drawn on a drawing board, and a control unit collects the target motion track;
(3) adopting a passive training mode, enabling the rocker to track the motion of the target track, enabling the drawing pen to swing along with the rocker, and drawing a tracking motion track on the drawing board;
the direction of the rocker deviating from the Z axis is obtained by observing the directions of the tracking motion trail and the target motion trail, and the angle of the rocker deviating from the Z axis is obtained by measuring the distance deviation value between the tracking motion trail and the target motion trail.
8. The method of detecting passive trajectory errors of a rocker-type rehabilitation facility as recited in claim 7, further comprising: if the tracking motion track is above the target motion track, the rocker deviates from the Z axis along the counterclockwise direction, otherwise, the rocker deviates from the Z axis along the clockwise direction.
9. The method of detecting passive trajectory errors of a rocker-type rehabilitation facility as recited in claim 7, further comprising: the greater the distance deviation value between the tracking motion track and the target motion track, the greater the angle of the rocker deviating from the Z axis.
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