CN101125112B - Wearing type upper limb recovery training robot device - Google Patents

Wearing type upper limb recovery training robot device Download PDF

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Publication number
CN101125112B
CN101125112B CN200710053293XA CN200710053293A CN101125112B CN 101125112 B CN101125112 B CN 101125112B CN 200710053293X A CN200710053293X A CN 200710053293XA CN 200710053293 A CN200710053293 A CN 200710053293A CN 101125112 B CN101125112 B CN 101125112B
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China
Prior art keywords
rotating shaft
turn
elbow
wrist
finger
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CN200710053293XA
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Chinese (zh)
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CN101125112A (en
Inventor
熊蔡华
杨明
陈文斌
王磊
熊有伦
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华中科技大学
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Priority to CN200710053293XA priority Critical patent/CN101125112B/en
Publication of CN101125112A publication Critical patent/CN101125112A/en
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Publication of CN101125112B publication Critical patent/CN101125112B/en

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Abstract

The present invention discloses a wearable upper extremity rehabilitation training robot device, including shoulder joints, upper arms, elbow joints, forearms, wrist joints and palms. The robot device of the present invention has eight free degrees to simulate the free degrees of the joints of the human upper extremities and can provide more free degrees, so as to guarantee the main joints of the human upper extremities to get assisted training during the rehabilitation training; the present invention uses the wearable structure, the structure is simple, the weight is light, which can be worn on the patients with the good comfort, furthermore, the present invention can directly act on the affected limb, so the pertinence of the training is strong and the effect is good. The structural design of multi-free degree can meet a variety of control methods and assist the affected limb to carry out the rehabilitation training of the single joint movement and multi-joint compound movement, so as to achieve the purpose of assisting the patients to fulfill the necessary things in the daily lives.

Description

A kind of wearing type upper limb recovery training robot device
Technical field
The invention belongs to medical assistance rehabilitation training equipment technical field, relate to a kind of recovery exercising robot, be specially a kind of wearing type upper limb recovery training robot device, this device can directly act on suffers from the limb joint, can carry out the rehabilitation training of local joint and multi-joint compound motion.
Technical background
Apoplexy is person in middle and old age's commonly encountered diseases, a frequently-occurring disease, is that the world today endangers one of 3 kinds of maximum diseases to the mankind.China has 6,600,000 apoplexy patients every year approximately, and along with countries in the world enter aging country in succession, the paralytic certainly will get more and more.Especially rank first with hemiplegia in numerous patient's sequela by the apoplexy generation.The hemiplegia that apoplexy caused usually causes the impact of psychology and other aspect to patient, family.Society and family need spend great cost and treat and nurse these patients, cause the significant wastage of social resources.The traditional therapy of hemiplegic upper limb rehabilitation training is that the auxiliary by doing and illustrating patient of therapist trains, there are problems in this method, as: influence, the training process initiative not attractive, that the patient participates in treating that training effectiveness and training strength are difficult to guarantee, the training effect is subjected to therapist's level is not enough etc.Therefore, seek effective rehabilitation maneuver, make the patient can recover the function that loses to a certain extent, not only help improving patient's quality of life itself, also can alleviate the overall burden of society.Introduce robotics in the hemiplegic upper limb rehabilitation training, its advantage is that there is not the problem of " tired " in robot, can satisfy the requirement of different patients to training strength, thereby the therapist is freed from heavy training mission; Robot can the objective record training process in the patient suffer from the various kinematic parameters of limb, analyze for the therapist, to estimate the effect of treatment; Also have, use robotics to provide colourful training content as the patient, make the patient can play an active part in treatment by multimedia technology.
" recovery exercising robot of hemiplegic patient by upper compound motion " (the Chinese patent literature publication number is CN1480118A, open day is on 03 10th, 2004) adopt a mechanical arm to drive the patient to suffer from the limb motion, mechanical arm is installed on the column, mechanical arm can be done the motion of horizontal plane and along the elevating movement of the vertical direction of column, by an overhead support bracket patient's elbow joint is suspended in midair support, just can make the patient suffer from limb by the movement locus of controlling the mechanical arm end and move the rehabilitation training requirement that to satisfy to a certain extent according to certain mode.
But, the shortcoming of this known hemiplegic upper limb recovery exercising robot is: 1. its essence is industrial robot, complex structure, the interface is unfriendly, give raw food, fear sense, from the rehabilitation psychology angle, be unfavorable for that rehabilitation of patients .2. degree of freedom is limited, have three degree of freedom at most, only can give suffer from limb provide three mobilities, can not accomplish the main movable joint of suffering from limb is trained simultaneously, and also more complicated 3. training modes is single to the control of monarthric training, can only carry out single passive exercise, when active training that can participate in by the patient and main passive combined training, the control comparison difficulty .3. very flexible of getting up, not wearable, can only be positioned on the fixed seat and train in relatively-stationary place, the patient uses underaction.
Summary of the invention
The purpose of this invention is to provide a kind of wearing type upper limb recovery training robot device, this device can carry out part or whole comprehensive training to patient's upper limb joint, safe in utilization, dress comfortablely, be convenient to suffer from the rehabilitation training that limb carries out the compound motion function for a long time.
A kind of wearing type upper limb recovery training robot device provided by the invention comprises shoulder joint, upper arm, elbow joint, forearm, carpal joint and the hands palm; It is characterized in that:
Described shoulder joint comprises shoulder upper frame, shoulder bogie side frame and shoulder angular transducer, and shoulder upper frame and shoulder bogie side frame are semi-circular, connect by first, second rotating shaft in diameter end; The shoulder angular transducer is fixedlyed connected with first or second rotating shaft;
Described upper arm comprises arm angle sensor, goes up armed lever, upper arm bracing frame and first, second elbow connecting rod; One end of last armed lever links to each other by the 3rd rotating shaft with the shoulder bogie side frame, and last arm angle sensor is installed in the 3rd rotating shaft, and the other end of last armed lever has adjustment hole; The upper arm bracing frame is the U font, and its U font bottom is connected with adjustment hole on the last armed lever, and two side ends is connected with first, second elbow connecting rod respectively;
Described elbow joint comprises elbow ring stand, elbow joint angular transducer and preceding armed lever; The elbow ring stand is a U font support, the two side ends of U font support is connected with first, second elbow connecting rod by the 4th, the 5th rotating shaft respectively, preceding armed lever is big font, the trunk end of preceding armed lever links to each other by the 6th rotating shaft with the U font bottom of elbow ring stand, the axis of the 6th rotating shaft is positioned on the axis of symmetry of elbow ring stand, and the branch end of preceding armed lever is fixedlyed connected with forearm; The elbow joint angular transducer is installed in the 6th rotating shaft;
Described carpal joint comprises the preceding bar of wrist, wrist ring stand, carpal joint angular transducer and first, second wrist palm connecting rod; An end of bar is fixedlyed connected with forearm before the wrist, the wrist ring stand is the U font, fixedly connected with the bar other end before the wrist in its bottom, the two side ends of wrist ring stand links to each other by the 7th, the 8th rotating shaft with first, second wrist palm connecting rod respectively, and the carpal joint angular transducer is fixed in the 7th or the 8th rotating shaft;
Described palm comprises first, second finger, first, second finger securing member, holding rod and returns and stretch pull bar; First, second finger is the class pointer type, and middle circular portion is equipped with rolling bearing, links to each other with first, second wrist palm connecting rod by the 9th, the tenth rotating shaft respectively; Go back to the two ends stretch pull bar and be separately fixed at the hour hand part of first, second finger, the minute hand part of first, second finger is slidingly matched with first, second finger securing member respectively, and is provided with limit screw; The two ends of holding rod are separately fixed on first, second finger securing member;
Forearm comprises outer ring, ball axle, ball and inner ring; Internal and external cycle is semicircle fabricated structure, goes up outer half-turn and is formed by connecting by outer half-turn on the outer half-turn and second on first, and the plurality of balls axle along the circumferential direction is installed between the two, is installed with ball on the ball axle; Outer half-turn is formed by connecting by first time outer half-turn and second time outer half-turn down, and the plurality of balls axle along the circumferential direction also is installed between the two, also is installed with ball on the ball axle; Described outer half-turn links to each other by the 9th rotating shaft on perpendicular to the diameter section of ring surface with following outer half-turn;
Half-turn is formed by connecting by half-turn on the half-turn and second on first in going up, half-turn is formed by connecting by half-turn in lower branch in first and second time down, inner ring has the ring groove shape raceway in the external diameter direction, on first on the half-turn and second in half-turn on diameter section, link to each other by the tenth rotating shaft perpendicular to ring surface.
Robot device of the present invention designs according to rehabilitation medicine theory and ergonomics data, can carry out part or whole comprehensive training to patient's upper limb joint.Robot device of the present invention is a typical serial machine people device, and the structure of its envelope human upper limb skeleton is semicircle or U font, and is simple in structure, in light weight, has good wearable property.This wearable upper limb recovery training robot device has 8 degree of freedom, is used for anthropomorphic dummy's upper limb joint degree of freedom.Robot device of the present invention can be dressed on one's body the patient, and directly to suffering from the limb effect, therefore training is with strong points, effective, and more mobility can be provided, and makes the main joint of human upper limb can both obtain supplemental training.Robot device's joint overlaps with human synovial, compliance is good, and is safe in utilization, dresses comfortable, can assist and suffer from the rehabilitation training that limb carries out simple joint motion and multi-joint compound motion, can adopt multiple mode to reach the purpose that the auxiliary daily life of finishing the patient needs.
Description of drawings
Fig. 1 is the structural representation of wearing type upper limb recovery training robot device of the present invention.
Fig. 2 is the structural representation of palm among Fig. 1, and wherein Fig. 2 (a) is a front view, and Fig. 2 (b) is a left view.
Fig. 3 is the structural representation of forearm among Fig. 1.
The specific embodiment
With reference to Fig. 1, the population structure of a kind of wearable upper limb recovery training robot device of the present invention will obtain describing in detail.This wearable upper limb recovery training robot device is a typical serial machine people, comprises 8 degree of freedom, is used for anthropomorphic dummy's upper limb joint degree of freedom, can satisfy people's daily life needs.The structure of this upper limb recovery training robot device envelope human upper limb skeleton is semicircle or U font, has good wearable property.
Robot device's of the present invention population structure comprises shoulder joint, upper arm, elbow joint, forearm, carpal joint and palm.
As shown in Figure 1, shoulder joint is made up of shoulder upper frame 11, shoulder bogie side frame 12 and shoulder angular transducer 13, and shoulder upper frame 11 and shoulder bogie side frame 12 are semi-circular, link to each other by first, second rotating shaft in diameter end, shoulder upper frame 11 and shoulder bogie side frame 12 can relatively rotate, and constitute a rotational freedom.When takeing on bogie side frame 12, can assist patient to carry out the abduction/adduction functional training of shoulder joint around 11 rotations of shoulder upper frame.The endoporus of shoulder angular transducer 13 and first or second rotating shaft are connected, and when shoulder upper frame 11 relatively rotated with shoulder bogie side frame 12, shoulder angular transducer 13 went out both relative rotation values with regard to energy measurement.By auxiliary patient's shoulder joint abduction/adduction, can recover shoulder joint componental movement function of nervous system, strengthen patient's shoulder joint muscle strength.
Upper arm comprises arm angle sensor 21, goes up armed lever 22, upper arm bracing frame 23 and first, second elbow connecting rod 24 and 25.One end of last armed lever 22 links to each other by the 3rd rotating shaft with shoulder bogie side frame 12, and last armed lever 22 can rotate around the shaft, constitutes a rotational freedom.When last armed lever 22 when the 3rd rotating shaft is rotated, can realize the human body shoulder joint anteflexion/after stretch function.Last arm angle sensor 21 is installed in the 3rd rotating shaft, and when last armed lever 22 relatively rotated with shoulder bogie side frame 12, last arm angle sensor 21 went out both relative rotation values with regard to energy measurement, and promptly forearm forward and the angle of lifting backward.The other end of last armed lever 22 links to each other with upper arm bracing frame 23, upper arm bracing frame 23 is a U font part, can be at outside envelope people's upper limb, its bottom is connected by screw with adjustment hole on the last armed lever 22, and two side ends is connected by screw with first, second elbow connecting rod 24 and 25 respectively.
Elbow joint comprises elbow ring stand 31, elbow joint angular transducer 32 and preceding armed lever 33.Elbow ring stand 31 is a U font support, be used for envelope human upper limb elbow joint, two side ends links to each other with first, second elbow connecting rod 24,25 respectively by the 4th, the 5th rotating shaft, and elbow ring stand 31 can relatively rotate around the 4th, the 5th rotating shaft of diameter end, constitutes a rotational freedom.This rotational freedom can guarantee that in the rehabilitation exercise process, the patient joint has enough compliances.Preceding armed lever 33 is big font, and the trunk end links to each other by the 6th rotating shaft with elbow ring stand 31, constitutes a rotational freedom.The axis of its shaft is positioned on the axis of symmetry of elbow ring stand 31, drives the flexion/extension function that this rotational freedom can be realized patient's elbow joint, tempers elbow joint motion muscle group.Elbow joint angular transducer 32 is installed in the 6th rotating shaft, is used for measuring the flexion/extension angle of elbow joint.
Carpal joint by wrist before bar 51, wrist ring stand 52, carpal joint angular transducer 53 and first, second wrist palm connecting rod 54,55 form.Wrist ring stand 52 is the U font, is used for from the outer envelope carpal joint, and bar 51 1 ends are connected by screw before its bottom and the wrist, and two side ends links to each other by the 7th, the 8th rotating shaft with first, second wrist palm connecting rod 54,55 respectively, constitutes a rotational freedom.Slap connecting rod 54,55 when the 7th, the 8th rotating shaft is rotated when first, second wrist, can realize carpal flexion/extension function.Carpal joint angular transducer 53 is fixed in the 7th or the 8th rotating shaft, is used for measuring carpal flexion/extension angle, for control and rehabilitation training reference data is provided.
Shown in Fig. 2 (a) and 2 (b), palm is by first, second finger 62 and 66, first, second finger securing member 63 and 65, holding rod 64 and return and stretch pull bar 61 and form.First, second finger 62 and 66 is the class pointer type, middle circular portion is equipped with rolling bearing, link to each other with first, second wrist palm connecting rod 54,55 respectively by the 9th, the tenth rotating shaft, constitute a rotational freedom, point 62 and 66 when the 9th, the tenth rotating shaft is rotated when first, second, can realize the flexion/extension function of pointing.First, second finger 62 and 66 is positioned on the hour hand end partly and has an aperture, is used for fixing back and stretches pull bar 61.Return and to stretch pull bar 61 and be used for fixing artificial-muscle,, make finger be in straight configuration when returning when stretching pull bar 61 and being subjected to tensile force.The minute hand part of first, second finger 62 and 66 is slidingly matched with first, second finger securing member 63 and 65 respectively, and will point and the locking of finger securing member by limit screw.The two ends of holding rod 64 are connected by screw and first, second finger securing member 63 and 65 respectively, because the diversity of human finger size, by regulating first, second finger securing member 63 and 65 and the relative position of first, second finger minute hand of 62 and 66 part, just can regulate, thereby adapt to different patients' instructions for use holding rod.
Forearm 4 is the subdivision rotational structure, can realize the front/rear function of revolving of patient's forearm.As shown in Figure 3, forearm 4 comprises outer ring, ball axle 44, ball 45 and inner ring.The outer ring links to each other by screw with the branch end of preceding armed lever 33.An end of bar 51 is connected by screw before inner ring and the wrist.Internal and external cycle is semicircle fabricated structure, and wherein the outer ring is made up of last lower branch: outer half-turn comprises first time outer half-turn 43 and second time outer half-turn 42 down, and the two also connects by screw.Between first time outer half-turn 43 and second time outer half-turn 42 plurality of balls axle 44 is installed along the circumferential direction, is installed with ball 45 on the ball axle 44.Go up outer half-turn and comprise on first outer half-turn 40 on the outer half-turn 41 and second, the two connects by screw; Equally, between the outer half-turn 40 the plurality of balls axle is installed along the circumferential direction on the outer half-turn 41 and second on first, is installed with ball on the ball axle 44.Ball 45 is used for to inner ring provides rotational support, can also can rotate around the axis of ball axle 44 along the endwisely slipping of ball axle 44.The last lower branch of outer ring links to each other by the tenth rotating shaft on perpendicular to the diameter section of ring surface, can relatively rotate, and opens when initial, and after patient's forearm placed, the outer ring closed up and in end locking in relative rotation.Inner ring also is made up of last lower branch: interior half-turn 49 on the half-turn 48 and second in half-turn comprises on first in going up connects by screw; Half-turn comprises in first time half-turn 46 in half-turn 47 and second time down, connects by screw.The last lower branch of inner ring links to each other by the 11 rotating shaft on perpendicular to the diameter section of ring surface, can relatively rotate.Half-turn all has the ring groove shape raceway in the external diameter direction in upper and lower, and when ball 45 rolled in the flute profile raceway, relative rotation promptly took place inside and outside circle, constituted a rotational freedom.When patient's forearm end rotated, the inner ring that drives forearm 4 by bar before the wrist 51 rotated, and can realize the front/rear function of revolving of patient's forearm.Inner ring drives ball 45 and endwisely slips along ball axle 44, constitutes a free sliding degree.The relative slip of Internal and external cycle, the center of rotation skew in the time of can compensating the elbow joint flexion/extension.
Specific implementation process of the present invention is as follows: this wearable upper limb recovery training robot device comprises 8 joint freedom degrees, by these 8 joint freedom degrees, can realize various simple and complicated upper limb joint motions.Early stage in rehabilitation training, in order to train some specific joints separately, can drive separately, do single back and forth movement, promote the recovery of motor function, strength simultaneously exercises one's muscles, avoid amyotrophy, such as driving the carpal joint back and forth movement separately, realize the function of flexion/extension, temper the wrist muscle group.Training along with single joint, the strength of muscle of upper extremity strengthens gradually, when returning to certain phase, aggregate motion by a plurality of joint freedom degrees, realize complicated motion, finish daily simple motion,, can finish simple everyday actions such as drinking water, comb one's hair such as combination by 8 degree of freedom.By such training process, progressively realize suffering from the rehabilitation of limb.
The present invention not only is confined to this embodiment, and every employing project organization of the present invention and thinking are done some simple designs that change or change, and all fall into the scope of protection of the invention.

Claims (1)

1. a wearing type upper limb recovery training robot device comprises shoulder joint, upper arm, elbow joint, forearm, carpal joint and the hands palm; It is characterized in that:
Described shoulder joint comprises shoulder upper frame (11), shoulder bogie side frame (12) and shoulder angular transducer (13), and shoulder upper frame (11) and shoulder bogie side frame (12) are semi-circular, connect by first, second rotating shaft in diameter end; Shoulder angular transducer (13) is fixedlyed connected with first or second rotating shaft;
Described upper arm comprises arm angle sensor (21), goes up armed lever (22), upper arm bracing frame (23) and first, second elbow connecting rod (24,25); One end of last armed lever (22) links to each other by the 3rd rotating shaft with shoulder bogie side frame (12), and last arm angle sensor (21) is installed in the 3rd rotating shaft, and the other end of last armed lever (22) has adjustment hole; Upper arm bracing frame (23) is the U font, and its U font bottom is connected with adjustment hole on the last armed lever (22), and an end of two side ends and the first elbow connecting rod (24) are connected, and the other end and the second elbow connecting rod (25) are connected;
Described elbow joint comprises elbow ring stand (31), elbow joint angular transducer (32) and preceding armed lever (33); Elbow ring stand (31) is a U font support, and a side of U font support is connected with the first elbow connecting rod (24) by the 4th rotating shaft, and another side is connected with the second elbow connecting rod (25) by the 5th rotating shaft; Preceding armed lever (33) is big font, and the trunk end of preceding armed lever (33) links to each other by the 6th rotating shaft with the U font bottom of elbow ring stand (31), and the axis of the 6th rotating shaft is positioned on the axis of symmetry of elbow ring stand (31), and the branch end of preceding armed lever (33) is fixedlyed connected with forearm (4); Elbow joint angular transducer (32) is installed in the 6th rotating shaft;
Described carpal joint comprises the preceding bar (51) of wrist, wrist ring stand (52), carpal joint angular transducer (53) and first, second wrist palm connecting rod (54,55); An end of bar (51) is fixedlyed connected with forearm (4) before the wrist, wrist ring stand (52) is the U font, fixedly connected with bar (51) other end before the wrist in its bottom, one side of wrist ring stand (52) links to each other by the 7th rotating shaft with first wrist palm connecting rod (54), another side links to each other by the 8th rotating shaft with second wrist palm connecting rod (55), and carpal joint angular transducer (53) is fixed in the 7th or the 8th rotating shaft;
Described palm comprise first finger (62),, second finger (66), the first finger securing member (63), the second finger securing member (65), holding rod (64) and time stretch pull bar (61); First, second finger (62,66) is the class pointer type, middle circular portion is equipped with rolling bearing, first finger (62) links to each other with first wrist palm connecting rod (54) by the 9th rotating shaft, and second finger (66) links to each other with second wrist palm connecting rod (55) by the tenth rotating shaft; Go back to the two ends stretch pull bar (61) and be separately fixed at the hour hand part of first, second finger (62,66), the minute hand part of first, second finger (62,66) is slidingly matched with first, second finger securing member (63,65) respectively, and is provided with limit screw; One end of holding rod (64) is fixed on the first finger securing member (63), and the other end is fixed on the second finger securing member (65);
Forearm (4) comprises outer ring, ball axle (44), ball (45) and inner ring; Internal and external cycle is semicircle fabricated structure, goes up outer half-turn and is formed by connecting by outer half-turn (40) on the outer half-turn (41) and second on first, and the plurality of balls axle along the circumferential direction is installed between the two, is installed with ball on the ball axle; Outer half-turn is formed by connecting by first time outer half-turn (43) and second time outer half-turn (42) down, and the plurality of balls axle along the circumferential direction also is installed between the two, also is installed with ball on the ball axle; Described outer half-turn links to each other by the 9th rotating shaft on perpendicular to the diameter section of ring surface with following outer half-turn;
Half-turn is formed by connecting by interior half-turn (49) on the half-turn (48) and second on first in going up, half-turn is formed by connecting by half-turn (46) in lower branch (47) in first and second time down, inner ring has the ring groove shape raceway in the external diameter direction, on first on the half-turn (48) and second interior half-turn (49) on diameter section, link to each other by the tenth rotating shaft perpendicular to ring surface.
CN200710053293XA 2007-09-20 2007-09-20 Wearing type upper limb recovery training robot device CN101125112B (en)

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