CN100336636C - Motion control device for rehabilitation medical mechanism arm - Google Patents
Motion control device for rehabilitation medical mechanism arm Download PDFInfo
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- CN100336636C CN100336636C CNB2005100408191A CN200510040819A CN100336636C CN 100336636 C CN100336636 C CN 100336636C CN B2005100408191 A CNB2005100408191 A CN B2005100408191A CN 200510040819 A CN200510040819 A CN 200510040819A CN 100336636 C CN100336636 C CN 100336636C
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Abstract
The present invention discloses a motion control device for a rehabilitation medical mechanism arm, which is composed of a data acquisition module, an alternative A/D converting module, a single chip computer processing circuit module, a D/A converting circuit module, a motor drive circuit module and a USB interface circuit module, wherein a force signal output end of the data acquisition module and a position signal output end are respectively connected with the input end of the alternative A/D converting module, the output end of the alternative A/D converting module is connected with the input end of the single chip computer processing circuit module, and the output end of the single chip computer processing circuit module is connected with the input end of a patient end computer by the USB interface circuit module. The computer outputs a control command according to feedback information and outputs the feedback information to the D/A converting circuit module through the USB interface circuit module and the single chip computer processing circuit module; an analog signal of the D/A converting circuit module is output to the motor after being processed by the motor drive circuit module to be used for controlling the running of the motor. The present invention can realize the remote one-to-many rehabilitation, reasonably utilizes resources and optimizes the effects of diagnosis and treatment.
Description
Technical field
The present invention relates to a kind of convalescence device, require to relate to a kind of motion control device of rehabilitation medical mechanism arm.
Background technology
China is one of hotspot of apoplexy, after the paralytic survives through hospital's treatment, often leave over obstacles such as some motions, sensation and language, owing to be subjected to the restriction of various factors, they can not accept rehabilitation for a long time in hospital, and the laggard expert front yard reconditioning of leaving hospital is a kind of effective good method.For stroke patient, be very important and crucial medical procedure to the rehabilitation training of carrying out at its hemiplegia position, carry out rehabilitation training early and can significantly reduce disabled possibility.On the other hand, because the injured patient's of limbs that traffic accident, accident etc. cause clinical symptoms is the same with stroke patient, also need to carry out rehabilitation training timely.
Present above-mentioned patient's rehabilitation training or rehabilitation, main by the state of an illness and the recovery situation of veteran doctor according to patient, handle device for healing and training in person, patient's limbs are applied a certain size active force, the guiding patient carries out reciprocal limb motion and takes exercise.Yet the quantity of rehabilitation doctor is limited after all, can not make each patient can both obtain doctor's guidance in person and rehabilitation training.In the external existing rehabilitation medical device, relatively be typically the CPM machine, it is the machinery that utilizes the basic principle of continuous passive motion in the medical science of recovery therapy (Continuous Passive Motion/CPM) that injured limb is carried out rehabilitation, is an illustration of the application of a unique so far robot biomethanics or biophysical chemistry.The typical healing robot equipment of another one is the MITMANUS of Massachusetts Institute Technology's development, and it has two frees degree, can realize patient's shoulder, elbow and hands movement.Domestic similar devices is fewer, and South Airways has developed a kind of rehabilitation medical mechanism arm, adopts single-chip microcomputer and step motor control; Some enterprises in Zhejiang also develop some and the similar rehabilitation mechanical arm device of CPM.All there are some common defectives in these rehabilitation machineries: 1) can not operated from a distance; 2) doctor operates in person in this locality, implements man-to-man rehabilitation, or presses predefined path motion in the computer, can not realize that doctors and patients are mutual; 3) there is not force feedback function; 4) patient can not active movement, or rehabilitation equipment can not provide damping force.
Summary of the invention
The invention provides a kind of motion control device of rehabilitation medical mechanism arm,, can realize the remote rehabilitation training of one-to-many, reasonably utilize resource, optimize treatment effect by the form of doctors and patients' interaction.
The present invention adopts following technical scheme:
A kind of motion control device of rehabilitation medical mechanism arm, by data acquisition module, alternative A/D modular converter, the single-chip microcomputer processing circuit module, D/A change-over circuit module, motor-drive circuit module and usb circuit module are formed, the force signal output of data acquisition module and position signalling output respectively with the input (CH1 of alternative A/D modular converter, CH2) connect, the output (DOUT) of alternative A/D modular converter is connected with the input (P3.0) of single-chip microcomputer processing circuit module, the output of single-chip microcomputer processing circuit module (P1.0～P1.7) be connected with the patient end input end and computer through the usb circuit module, computer is exported control instruction according to feedback information, output to D/A change-over circuit module through usb circuit module and single-chip microcomputer processing circuit module, the analog signal of D/A change-over circuit module is transported to motor after by the motor-drive circuit resume module, is used to control motor rotation.
The present invention is the remote force feel auxiliary rehabilitation exercise mechanical arm based on the internet, and its system mainly holds control computer and Internet network etc. to form by mechanical arm for rehabilitation training, direct current torque motor, power and position sensor, signals collecting and drive circuit, video camera, patient end control computer, doctor.There are two kinds of working methods in system: the one, and the doctor holds computer to pass through the parameter of Internet network settings mechanical arm work, by control circuit control motor-driven manipulator motion, carries out reciprocal training campaign thereby drive patient's upper limbs.Can utilize handle 1 that patient's upper limbs is fixed on the pallet of mechanical arm end, the power sensor detects the interaction force between patient and the mechanical arm, position sensor detects the angle that mechanical arm rotates, and sensing circuit sends these information to doctor by the Internet network and holds computer.The effect of guard bar is that the rotational angle of limit mechanical arm is not more than 180 degree, avoids the excessive patient of pulling of manipulator motion angle.The 2nd, the doctor manipulates handle 2 driving device arms drive patient directly and trains.Hand rest that has force sensing element of the terminal installation of mechanical arm can be fixed on patient's limbs on the hand rest, and at this moment, force sensing element is experienced certain power, and system switching is opened, and the remote rehabilitation training system is started working.The control computer of mechanical arm for rehabilitation training is connected with the computer of hospital by the Internet network, after the subscriber dialing online, the doctor is the situation according to each patient in hospital, set motion control parameter such as speed, the power etc. of mechanical arm, the guiding patient carries out rehabilitation training at home, patient's training such as power and position and video information are sent to hospital by network, the doctor monitors these parameters, observe patient's recovery situation, thereby formulate the rehabilitation medical plan, change the motion control parameter of mechanical arm.
The present invention utilizes the sensing of force feedback-position type and feedback arrangement to realize having the motion guidance that power is felt.The patient end computer drives the training manipulator motion by certain control algolithm driving moment motor.In the motion process, mutual power between mechanical arm and the staff and positional information participate in the control loop on the one hand, form FEEDBACK CONTROL; Be transferred to the doctor by network on the other hand and hold computer, make the doctor monitor information in the training process, realize having power and feel auxiliary remote rehabilitation training.
This invention system carries out the rehabilitation medical training to patient can adopt 4 kinds of patterns commonly used clinically: passive movement, assist exercise, active movement and resistance exercise.The specific implementation of rehabilitation medical training mode is: (1) passive movement motor adopts speed control mode, is determined the desired value of movement velocity to be provided with simultaneously to maximum auxiliary torque by network remote by the doctor.The experimenter moves under the drive of robot during training, but auxiliary torque is no more than set threshold value, in case pull a muscle.This training mode is suitable for not having substantially the patient of motor function.(2) assist exercise: motor adopts Torque Control pattern, setting speed scope.When experimenter's movement velocity was lower than motor minimum pre-set velocity, the motor output torque increased; During greater than minimum speed, output torque reduces; When being higher than maximum speed, output torque reduces to zero, and is too fast to avoid experimenter's movement velocity.This training mode is suitable for having the certain movement function but the less patient of motion amplitude.(3) active movement: motor adopts Torque Control pattern, setting speed scope.Motor output torque balancing equipment gravity and frictional force, initiatively execution of experimenter.This training mode can be used for the test of patient's active movement function.(4) resistance exercise: motor adopts Torque Control pattern, setting speed scope.The motor output torque provides the resistance of motion, and the experimenter overcomes resistance and finishes training; Also can realize that set motor speed this moment is zero by the speed control mode of motor, the moment scope is determined the size of the resistance of motion.This training mode is suitable for wishing further to improve the patient of motor function.
For these 4 kinds of training modes, the computer in the patients home receives the systematic parameter that the doctor sets by network, the motion of control direct current generator driving device arm.The power of mechanical arm and position and video information are sent on the control computer of hospital by network simultaneously; the doctor can monitor each patient's training mechanical arm output signal simultaneously; and revise therapeutic scheme as the case may be; if meet accident in the training process; the doctor can in time be interrupted training, the protection patient.
Compared with prior art, the concrete advantage of the present invention is as follows:
1) mechanical arm is a Long-distance Control: the control computer of mechanical arm for rehabilitation training holds computer to be connected by the Internet network with the doctor, patient end computer and doctor hold computer to adopt the mode of client/server, the doctor can long-rangely be provided with the motor pattern of parameter control mechanical arm, patient performs physical exercise voluntarily according to doctor's setting at home, makes things convenient for the patient to carry out rehabilitation training;
2) this rehabilitation medical training system is an one-to-many: the doctor controls a plurality of manipulator motions simultaneously in hospital, instructs several patients to carry out rehabilitation training, reasonably utilizes resource;
3) realized that the power feel is auxiliary: adopt sensing and feedback arrangement based on force feedback-position type, utilize the reciprocation power of direct current torque motor generation and staff and realize motion control, power and positional information and video information send to the doctor by the Internet net, thereby make the doctor can monitor patient's training, and revise the rehabilitation training scheme in time, realize doctors and patients' interaction effectively, improve diagnosis and treatment efficient;
4) this rehabilitation mechanical arm is except driving the patient moves back and forth, and the patient can also active movement, and the rehabilitation mechanical arm system can provide certain damping force;
5) turning cylinder design is at the mechanical arm middle part, both can be by doctor's one-to-many ground Long-distance Control motor-driven mechanical arm drive patient limb motion, also can the direct control mechanical arm other end, and guide patient to carry out rehabilitation training one to one.
Remote force feels that the realization of recovering aid medical robotic system will not only can improve the operating efficiency of rehabilitation doctor widely, and is very easy to vast wounded or disabled patient and stroke patient, satisfies the needs of wounded or disabled patient and stroke patient rehabilitation training and medical treatment.This is for the living standard that improves stroke patient and alleviate family and social economy's burden is significant.
Description of drawings
Fig. 1 is a circuit block diagram of the present invention.
Fig. 2 is a data acquisition module circuit diagram of the present invention.
Fig. 3 is an alternative A/D modular converter circuit diagram of the present invention.
Fig. 4 is a usb circuit module circuit diagram of the present invention.
Fig. 5 is a single-chip microcomputer processing circuit module circuit diagram of the present invention.
Fig. 6 is a D/A change-over circuit module circuit diagram of the present invention.
Fig. 7 is a motor-drive circuit module circuit diagram of the present invention.
The specific embodiment
A kind of motion control device of rehabilitation medical mechanism arm, by data acquisition module 100, alternative A/D modular converter 200, single-chip microcomputer processing circuit module 300, D/A change-over circuit module 400, motor-drive circuit module 500 and usb circuit module 600 are formed, the force signal output of data acquisition module 100 and position signalling output respectively with the input CH1 of alternative A/D modular converter 200, CH2 connects, the output DOUT of alternative A/D modular converter 200 is connected with the input (P3.0) of single-chip microcomputer processing circuit module 300, the output of single-chip microcomputer processing circuit module 300 (P1.0～P1.7) be connected through the input of usb circuit module 600 with patient end computer 700, computer is exported control instruction according to feedback information, output to D/A change-over circuit module 400 through usb circuit module 600 and single-chip microcomputer processing circuit module 300, the analog signal of D/A change-over circuit module 400 is transported to motor after being handled by motor-drive circuit module 500, is used to control motor rotation.(referring to Fig. 2) data acquisition module 100 is made up of position sensor 111, follower 112, power sensor 121 and power conditioning amplifying circuit 122, it is the instrumentation amplifier AD620 of AD620 that power conditioning amplifying circuit adopts model, the output of position sensor 111 and power sensor 121 is connected with the input of follower 112 with power conditioning amplifying circuit 122 respectively, the output of the output OUT2 composition data acquisition module 100 of the output OUT1 of instrumentation amplifier AD620 and follower 112, the peripheral circuit connection of above-mentioned instrumentation amplifier AD620 is with reference to its technical manual; It is the single chip computer AT 89C52 of AT89C52 that (referring to Fig. 5) single-chip microcomputer processing circuit module 300 adopts model, it is 12 analogue data A/D converter MCP3204 of the successive approximation of MCP3204 that alternative A/D modular converter 200 adopts model, its input CH1, CH2 links to each other with the output of data acquisition module respectively, clock signal terminal CLK links to each other with the P1.2 pin of single chip computer AT 89C52, serial data input DIN links to each other with the P3.1 pin of single chip computer AT 89C52, sheet choosing/pass broken ends of fractured bone CS/SHDN links to each other with the P2.6 pin of single chip computer AT 89C52, and A/D modular converter 200 is output as the serial data output DOUT pin of MCP3204; (referring to Fig. 4) usb circuit module 600 is the common apparatus interface chip CH372 of a usb bus, the BDB Bi-directional Data Bus interface D0～D7 of this chip links to each other with P1.0～P1.7 of single chip computer AT 89C52 respectively, data wire (the D+ of usb bus, D-) link to each other with patient end computer 700, address wire input A0 links to each other with the P2.4 pin of single chip computer AT 89C52, read gate input RD# links to each other with the P3.6 pin of single chip computer AT 89C52, write gate input WR# links to each other with the P3.7 pin of single chip computer AT 89C52, interrupt requests output INT# links to each other with the P3.2 pin of single chip computer AT 89C52, sheet selected control system input CS# links to each other with the P2.7 pin of single chip computer AT 89C52, and the connection of above-mentioned usb bus interface chip CH372 peripheral circuit is with reference to the technical manual of usb bus interface chip CH372; (referring to Fig. 6) D/A change-over circuit module 400 is that the D/A conversion chip 410 of DAC0832 and D/A conversion discharge circuit 420 are formed by model, P0 mouth (the P0.0～P0.7) be connected of the input DI0～DI7 of D/A conversion chip 410 and single chip computer AT 89C52, write gate signal end WR1 links to each other with the P3.6 pin of single chip computer AT 89C52 with WR2, output IOUT1 is connected with the input of D/A conversion discharge circuit 420 with IOUT2, J6 is the exclusion of 10K*8, link to each other with the P0 mouth of single chip computer AT 89C52, No. 8 pins of capacitor C 27 1 termination D/A conversion chip DAC0832, other end ground connection, it is the double operational TL082 of TL082 that D/A conversion discharge circuit adopts model, No. 2 pins of double operational TL082 link to each other with the IOUT1 of D/A conversion chip DAC0832, No. 3 pin links to each other and ground connection with the IOUT2 of D/A conversion chip DAC0832, No. 1 pin links to each other with the REF end of D/A conversion chip DAC0832, and resistance R 24 links to each other with No. 6 pins with No. 1 pin of double operational TL082 respectively with the two ends of resistance R 1; Resistance R 2 one ends link to each other with the VREF end of D/A conversion chip DAC0832, the other end links to each other with No. 6 pins of double operational TL082, one end of resistance R 3 links to each other with No. 6 pins of double operational TL082, the other end links to each other with No. 7 pins of double operational TL082, the two ends of capacitor C 26 link to each other with the IOUT end with the REF end of D/A conversion chip DAC0832 respectively, and as decoupling capacitor, capacitor C 25 1 ends link to each other with No. 8 pins of double operational TL082, other end ground connection is as filter capacitor; Capacitor C 24 1 ends link to each other with No. 4 pins of double operational TL082, and other end ground connection is as filter capacitor; One end of capacitor C 28 links to each other with the VREF end of D/A conversion chip DAC0832, other end ground connection, as filter capacitor, the function of D/A conversion discharge circuit converts bipolar voltage output to for the output with D/A conversion chip DAC0832, thereby rotating and reverse of control motor, its output VIN is as the output of D/A change-over circuit module; (referring to Fig. 7) motor-drive circuit module 500 is made up of photoelectricity isolating amplifier circuit 510 and motor-drive circuit 520, it is the optocoupler linear isolation amplifier IS0124 of IS0124 that photoelectricity isolating amplifier circuit 510 adopts model, its input VIN is connected with the output of D/A conversion discharge circuit 420, its output VOUT is connected with the input of motor-drive circuit 520, and motor-drive circuit 520 employing models are the power amplification chip LM1875 of LM1875, voltage-stabiliser tube D1 oppositely is connected back one end with voltage-stabiliser tube D2 and links to each other other end ground connection with No. 1 pin of power amplification chip LM1875.An end links to each other other end ground connection, No. 2 pins of resistance R 8 one termination power amplification chip LM1875, other end ground connection with No. 4 pins of power amplification chip LM1875 and resistance R 10 links to each other afterwards with C12; No. 2 pins of resistance R 9 one termination power amplification chip LM1875, No. 4 pins of another termination power amplification chip LM1875.No. 5 pins of capacitor C 8, capacitor C 9 one termination power amplification chip LM1875, other end ground connection; No. 3 pins of capacitor C 10, capacitor C 11 1 termination power amplification chip LM1875, other end ground connection, the output OUT of motor-drive circuit 520 is the output of motor-drive circuit module 500, and the connection of the peripheral circuit of optocoupler linear isolation amplifier ISO124 is with reference to its technical manual in the photoelectricity isolating amplifier circuit 510.
A kind of motion control device of rehabilitation medical mechanism arm, by data acquisition module 100, alternative A/D modular converter 200, single-chip microcomputer processing circuit module 300, D/A change-over circuit module 400, motor-drive circuit module 500 and usb circuit module 600 are formed, the force signal output of data acquisition module 100 and position signalling output respectively with the input CH1 of alternative A/D modular converter 200, CH2 connects, the output DOUT of alternative A/D modular converter 200 is connected with the input (P3.0) of single-chip microcomputer processing circuit module 300, the output of single-chip microcomputer processing circuit module 300 (P1.0～P1.7) be connected through the input of usb circuit module 600 with patient end computer 700, computer is exported control instruction according to feedback information, output to D/A change-over circuit module 400 through usb circuit module 600 and single-chip microcomputer processing circuit module 300, the analog signal of D/A change-over circuit module 400 is transported to motor after being handled by motor-drive circuit module 500, be used to control motor rotation, it is the single chip computer AT 89C52 of AT89C52 that single-chip microcomputer processing circuit module 300 adopts model, (P0.0～P0.7) input DI0～DI7's P0 mouth of single-chip microcomputer with D/A conversion chip DAC0832410 links to each other, P1 mouth (P1.0～P1.1) link to each other with BDB Bi-directional Data Bus interface D0～D7 of usb bus interface chip CH372, the P2.4 pin links to each other with the address wire input A0 of usb bus interface chip CH372, the P3.6 pin links to each other with WR2 with the read gate input RD# of usb bus interface chip CH372 and the write gate signal end WR1 of D/A conversion chip DAC0832410 respectively, the P3.7 pin links to each other with the write gate input WR# of usb bus interface chip CH372, the P3.2 pin links to each other with the interrupt requests output INT# of usb bus interface chip CH372, the P2.7 pin links to each other with the sheet selected control system input CS# of usb bus interface chip CH372, the P1.2 pin links to each other with the clock signal terminal CLK of analogue data A/D converter MCP3204, the P3.1 pin links to each other with the serial data input DIN of analogue data A/D converter MCP3204, the P2.6 pin links to each other with the sheet choosing/pass broken ends of fractured bone CS/SHDN of analogue data A/D converter MCP3204, and the peripheral circuit connection of single chip computer AT 89C52 is with reference to the technical manual of AT89C52.
Claims (7)
1, a kind of motion control device of rehabilitation medical mechanism arm, it is characterized in that by data acquisition module (100), alternative A/D modular converter (200), single-chip microcomputer processing circuit module (300), D/A change-over circuit module (400), motor-drive circuit module (500) and usb circuit module (600) are formed, the force signal output of data acquisition module (100) and position signalling output respectively with the input CH1 of alternative A/D modular converter (200), CH2 connects, the output DOUT of alternative A/D modular converter (200) is connected with the input P3.0 of single-chip microcomputer processing circuit module (300), output P1.0～the P1.7 of single-chip microcomputer processing circuit module (300) is connected through the input of usb circuit module (600) with patient end computer (700), computer is exported control instruction according to feedback information, output to D/A change-over circuit module (400) through usb circuit module (600) and single-chip microcomputer processing circuit module (300), the analog signal of D/A change-over circuit module (400) is transported to motor after being handled by motor-drive circuit module (500), is used to control motor rotation.
2, the motion control device of rehabilitation medical mechanism arm according to claim 1, it is characterized in that data acquisition module (100) is by position sensor (111), follower (112), power sensor (121) and power conditioning amplifying circuit (122) are formed, it is the instrumentation amplifier AD620 of AD620 that power conditioning amplifying circuit adopts model, the output of position sensor (111) and power sensor (121) is connected the output of the output 0UT2 composition data acquisition module (100) of the output 0UT1 of instrumentation amplifier AD620 and follower (112) with the input of follower (112) and power conditioning amplifying circuit (122) respectively.
3, the motion control device of rehabilitation medical mechanism arm according to claim 2, it is characterized in that it is the single chip computer AT 89C52 of AT89C52 that single-chip microcomputer processing circuit module (300) adopts model, it is 12 analogue data A/D converter MCP3204 of the successive approximation of MCP3204 that alternative A/D modular converter (200) adopts model, its input CH1, CH2 links to each other with the output of data acquisition module respectively, clock signal terminal CLK links to each other with the P1.2 pin of single chip computer AT 89C52, serial data input DIN links to each other with the P3.1 pin of single chip computer AT 89C52, sheet choosing/pass broken ends of fractured bone CS/SHDN links to each other with the P2.6 pin of single chip computer AT 89C52, and A/D modular converter (200) is output as the serial data output DOUT of MCP3204.
4, the motion control device of rehabilitation medical mechanism arm according to claim 3, it is characterized in that usb circuit module (600) is the common apparatus interface chip CH372 of a usb bus, the BDB Bi-directional Data Bus interface D0～D7 of this chip links to each other with P1.0～P1.7 of single chip computer AT 89C52 respectively, the data wire D+ of usb bus, D-links to each other with patient end computer (700), address wire input A0 links to each other with the P2.4 pin of single chip computer AT 89C52, read gate input RD# links to each other with the P3.6 pin of single chip computer AT 89C52, write gate input WR# links to each other with the P3.7 pin of single chip computer AT 89C52, interrupt requests output INT# links to each other with the P3.2 pin of single chip computer AT 89C52, and sheet selected control system input CS# links to each other with the P2.7 pin of single chip computer AT 89C52.
5, the motion control device of rehabilitation medical mechanism arm according to claim 4, it is characterized in that D/A change-over circuit module (400) is that the D/A conversion chip (410) of DAC0832 and D/A conversion discharge circuit (420) are formed by model, input DI0～the DI7 of D/A conversion chip (410) is connected with P0 mouth P0.0～P0.7 of single chip computer AT 89C52, write gate signal end WR1 links to each other with the P3.6 pin of single chip computer AT 89C52 with WR2, output IOUT1 is connected with the input of D/A conversion discharge circuit (420) with IOUT2, J6 is the exclusion of 10K*8, link to each other with the P0 mouth of single chip computer AT 89C52, No. 8 pins of capacitor C 27 1 termination D/A conversion chip DAC0832, other end ground connection, it is the double operational TL082 of TL082 that D/A conversion discharge circuit adopts model, No. 2 pins of double operational TL082 link to each other with the IOUT1 of D/A conversion chip DAC0832, No. 3 pin links to each other and ground connection with the IOUT2 of D/A conversion chip DAC0832, No. 1 pin links to each other with the REF end of D/A conversion chip DAC0832, and resistance R 24 links to each other with No. 6 pins with No. 1 pin of double operational TL082 respectively with the two ends of resistance R 1; Resistance R 2 one ends link to each other with the VREF end of D/A conversion chip DAC0832, the other end links to each other with No. 6 pins of double operational TL082, one end of resistance R 3 links to each other with No. 6 pins of double operational TL082, the other end links to each other with No. 7 pins of double operational TL082, the two ends of capacitor C 26 link to each other with the IOUT end with the REF end of D/A conversion chip DAC0832 respectively, and as decoupling capacitor, capacitor C 25 1 ends link to each other with No. 8 pins of double operational TL082, other end ground connection is as filter capacitor; Capacitor C 24 1 ends link to each other with No. 4 pins of double operational TL082, and other end ground connection is as filter capacitor; One end of capacitor C 28 links to each other with the VREF end of D/A conversion chip DAC0832, other end ground connection, as filter capacitor, the function of D/A conversion discharge circuit converts bipolar voltage output to for the output with D/A conversion chip DAC0832, thereby rotating and reverse of control motor, its output VIN is as the output of D/A change-over circuit module.
6, the motion control device of rehabilitation medical mechanism arm according to claim 5, it is characterized in that motor-drive circuit module (500) is made up of photoelectricity isolating amplifier circuit (510) and motor-drive circuit (520), it is the optocoupler linear isolation amplifier ISO124 of ISO124 that photoelectricity isolating amplifier circuit (510) adopts model, its input VIN is connected with the output of D/A conversion discharge circuit (420), its output VOUT is connected with the input of motor-drive circuit (520), and motor-drive circuit (520) employing model is the power amplification chip LM1875 of LM1875, voltage-stabiliser tube D1 oppositely is connected back one end with voltage-stabiliser tube D2 and links to each other with No. 1 pin of power amplification chip LM1875, other end ground connection, an end links to each other with No. 4 pins of power amplification chip LM1875 and resistance R 10 links to each other afterwards with C12, other end ground connection, No. 2 pins of resistance R 8 one termination power amplification chip LM1875, other end ground connection; No. 2 pins of resistance R 9 one termination power amplification chip LM1875, No. 4 pins of another termination power amplification chip LM1875, No. 5 pins of capacitor C 8, capacitor C 9 one termination power amplification chip LM1875, other end ground connection; No. 3 pins of capacitor C 10, capacitor C 11 1 termination power amplification chip LM1875, other end ground connection, the output OUT of motor-drive circuit (520) is the output of motor-drive circuit module (500).
7, the motion control device of rehabilitation medical mechanism arm according to claim 1, it is characterized in that it is the single chip computer AT 89C52 of AT89C52 that single-chip microcomputer processing circuit module (300) adopts model, the P0 mouth P0.0～P0.7 of single-chip microcomputer links to each other with input DI0～DI7 of D/A conversion chip DAC0832 (410), P1 mouth P1.0～P1.1 links to each other with BDB Bi-directional Data Bus interface D0～D7 of usb bus interface chip CH372, the P2.4 pin links to each other with the address wire input A0 of usb bus interface chip CH372, the P3.6 pin links to each other with WR2 with the read gate input RD# of usb bus interface chip CH372 and the write gate signal end WR1 of D/A conversion chip DAC0832 (410) respectively, the P3.7 pin links to each other with the write gate input WR# of usb bus interface chip CH372, the P3.2 pin links to each other with the interrupt requests output INT# of usb bus interface chip CH372, the P2.7 pin links to each other with the sheet selected control system input CS# of usb bus interface chip CH372, the P1.2 pin links to each other with the clock signal terminal CLK of analogue data A/D converter MCP3204, the P3.1 pin links to each other with the serial data input DIN of analogue data A/D converter MCP3204, and the P2.6 pin links to each other with the sheet choosing/pass broken ends of fractured bone CS/SHDN of analogue data A/D converter MCP3204.
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| CN100398273C (en) * | 2006-07-10 | 2008-07-02 | 东南大学 | Joint structure for rehabilitation training robot |
| CN101978940A (en) * | 2010-10-25 | 2011-02-23 | 北京航空航天大学 | Virtual and real combined robot-assisted finger motion function rehabilitation training system |
| CN102611367A (en) * | 2011-01-25 | 2012-07-25 | 南京普爱射线影像设备有限公司 | Electric control device of medical machine operated at bedside |
| CN102229146B (en) * | 2011-04-27 | 2013-05-08 | 北京工业大学 | Remote control humanoid robot system based on exoskeleton human posture information acquisition technology |
| CN106984008B (en) * | 2017-05-18 | 2019-03-01 | 广州人来康复设备制造有限公司 | A kind of muscular training and assessment system and method |
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| CN2558375Y (en) * | 2002-08-14 | 2003-07-02 | 哈尔滨工程大学 | Lower extremity recovery training robot |
| CN1561923A (en) * | 2004-03-17 | 2005-01-12 | 哈尔滨工业大学 | Robot assisted bone setting operation medical system with lock marrow internal nail |
| CN2688278Y (en) * | 2004-04-07 | 2005-03-30 | 哈尔滨工程大学 | Multifunctional robot for upper limb rehabilitating exercise |
-
2005
- 2005-06-29 CN CNB2005100408191A patent/CN100336636C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2558375Y (en) * | 2002-08-14 | 2003-07-02 | 哈尔滨工程大学 | Lower extremity recovery training robot |
| CN1561923A (en) * | 2004-03-17 | 2005-01-12 | 哈尔滨工业大学 | Robot assisted bone setting operation medical system with lock marrow internal nail |
| CN2688278Y (en) * | 2004-04-07 | 2005-03-30 | 哈尔滨工程大学 | Multifunctional robot for upper limb rehabilitating exercise |
Non-Patent Citations (2)
| Title |
|---|
| 一种偏瘫上肢复合运动的康复训练机器人 胡宇川，季林红，机械设计与制造，第6期 2004 * |
| 下肢康复训练机器人单片机控制系统设计 颜庆，张立勋，杨勇，夏昊昕，应用科技，第31卷第11期 2004 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1709660A (en) | 2005-12-21 |
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