CN101933876A - Two-freedom-degree upper-limb rehabilitation assistive exercise device driven by dielectric EAP (electroactive polymer) and method thereof - Google Patents

Two-freedom-degree upper-limb rehabilitation assistive exercise device driven by dielectric EAP (electroactive polymer) and method thereof Download PDF

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Publication number
CN101933876A
CN101933876A CN 201010275631 CN201010275631A CN101933876A CN 101933876 A CN101933876 A CN 101933876A CN 201010275631 CN201010275631 CN 201010275631 CN 201010275631 A CN201010275631 A CN 201010275631A CN 101933876 A CN101933876 A CN 101933876A
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driver
rocking bar
axle
training
exercise
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CN101933876B (en
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王化明
杨斌
吴孟
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Abstract

The invention discloses an upper-limb rehabilitation assistive exercise device driven by a dielectric EAP (Electroactive Polymer) and a method thereof, which relate to a medical rehabilitation appliance. The upper-limb rehabilitation assistive exercise device comprises a rocker, a cross hinge, a driver, a fixing rod, a connecting ring, a bracket and a base. The method comprises two exercise modes: in a passive exercise mode, changing an actual output moment of a driver set by changing voltage applied to the driver and an applying sequence in order to realize the rotation of the rocker, thereby driving the upper limbs of a patient to move; and in an active exercise mode, changing the actual output moment of the driver set by changing the voltage applied to the driver and the applying sequence, using the actual output moment as a damping moment, and overcoming the damping moment by moving the upper limbs of the patient in order to reversely rotate the rocker. The invention has the advantages of simple structure, convenient use, small size, low machining accuracy requirement and low cost; the characteristics of the dielectric EAP are similar to the characteristics of human muscle, and the flexible driving characteristic of the dielectric EAP increases the safety and the comfort of a rehabilitation exercise process.

Description

The two degrees of freedom upper limb healing supplemental training device and method that dielectric EAP drives
Technical field
The present invention relates to the upper limb healing supplemental training device that a kind of dielectric EAP drives, belong to the technical field of medical rehabilitation apparatus.
Background technology
Apoplexy, the so-called apoplexy of people, morbidity is anxious, and severe patient shows as hemiplegia, aphasia, stupor even death.The national for the third time coroner's inquest result of China shows that apoplexy has been upgraded to first cause of the death of China.The recent two decades monitoring result shows, apoplexy year death toll exceed 2,000,000, a year rate of rise reaches 8.7%.Apoplexy also has the characteristics of high disability rate and high relapse rate except high fatality rate, national life of serious threat and quality of life.According to the investigation of national cardiovascular Professional Committee, the patients with cerebral apoplexy of whole nation survival has 3/4 deformity of suffering from various degree, and these people with disabilitys on the occasion of the more robust years of one's life have brought huge financial burden and social problem for family and society.Rehabilitation is to improve one of dyskinetic main method of limbs after the stroke onset at present.After the hemiplegia, in time patient part is carried out rehabilitation training by effective rehabilitation maneuver and can reduce the probability that disables greatly.
In traditional rehabilitation, treat one to one based on therapist and patient.Guide the patient to finish the passive exercise of limbs or apply suitable driving force or damping force guides the patient to finish active exercise by the therapist.The effect of this training method is subjected to the restriction of therapist's level to a great extent, and factors such as their subjective consciousness, muscle power also play a leading role in training process.Simultaneously, along with the continuous growth of China hemiplegic patient quantity, increasing rehabilitation task has also been brought white elephant to the therapist.In addition, this training method lacks the objective record to therapeutic process, thereby therapeutic scheme is effectively improved.
Therefore, the medical supplemental training device of designing corresponding upper limb healing is used for the rehabilitation training that the replacement therapy teacher finishes the hemiplegic patient and seems particularly important.Colleges and universities more both domestic and external and research institution have launched research in this field at present, and have obtained the part achievement.
In existing achievement, comparatively the forward position should belong to healing robot, with the artificial example of the ARMin series machine of research and development such as Tobias Nef of University of Zurich and Matjaz Mihelj.This robot mainly partly is made up of Wearable upper limb healing mechanism, mechanism's fixed support, seat and computer control system etc.The ectoskeleton similar of rehabilitation institution is in the mankind's arm, and the portion size size can carry out adjusting among a small circle, uses for the patient of different builds.The maximum characteristics of this series robot are to have than multiple degrees of freedom, comprise 6 degree of freedom of shoulder (3 rotational freedoms), ancon (1 rotational freedom), wrist (2 rotational freedoms) three parts.The driving force of this healing robot is provided by motor/gear mechanism and harmonic drive mechanism, makes the movement rate of hand and acceleration remain on 1m/s and 10m/s respectively in passive therapeutic process 2About, the comfort level of raising rehabilitation process.
Also have the upper limb healing device of part in addition than lower-mobility.A kind of wearable rehabilitation mechanical hand of Korea S Dong Yi university research and development is exactly a kind of typical two-freedom convalescence device.The driving force of this device is provided by three Pneumatic artificial muscles, and part is respectively adorned one, the driving force that provides wrist to swing about forearm; The driving force of forearm top to provide wrist to rotate is provided for another.Provide driving force by air pump to the expansion after the Pneumatic artificial muscle inflation, thereby realize corresponding rehabilitation campaign.
Because hemiplegia patient trains the required cycle longer, seem particularly important so seek a kind of small-sized device for healing and training that is fit to use at home.And the healing robot driving force of having researched and developed at present that has than multiple degrees of freedom is mainly provided by motor/gear mechanism, and this makes the price height of this series convalescence device, and takies than large space.And providing the convalescence device of driving force need attach a source of the gas by Pneumatic artificial muscle, this also may bring corresponding inconvenience.
Summary of the invention
The object of the present invention is to provide a kind of upper limb healing supplemental training device and method for hemiplegic patient's use, under the cooperation training of this device for healing and training, can promote patient's upper limb healing, the muscular movement of trouble limb is coordinated mutually with nervous system, help cell regeneration.
Purpose of the present invention is achieved through the following technical solutions: the two degrees of freedom upper limb healing supplemental training device that dielectric EAP drives, this device is made up of rocking bar, first connecting ring, driver, fixed bar, second connecting ring, support, base and cross hinge, wherein rocking bar is rack-mount by the cross hinge, rocking bar rotates around x, y power transmission shaft, wherein two turning cylinders of cross hinge are that x, y power transmission shaft are equipped with encoder respectively, are used to measure the rotational angle of two turning cylinders; Evenly arrange 2m fixed bar at the circumferencial direction that with the rocking bar is the center, arrange 1 driver bank between the every pair of fixed bar and the rocking bar, each driver bank comprises 2n driver, the relative rocking bar lateral symmetry of driver is arranged, also symmetric arrangement when driver bank relative rocking bar center of rotation in the same side is arranged up and down, wherein m, n are natural number; Driver one end is connected with rocking bar by connecting rod, first connecting ring successively, and the other end links to each other with fixed bar by connecting rod, second connecting ring successively.
Preferably, described driver adopts the dielectric EAP Linear actuator.
The training method of the two degrees of freedom upper limb healing supplemental training device that dielectric EAP drives comprises two kinds of training modes: passive exercise and initiatively training:
During passive exercise, during the driver energising of (or on) side, rocking bar rotates around the x axle on giving x axle one side under (or down) side and the x axle opposite side.During the driver energising of (or on) side, rocking bar rotates around the y axle, thereby drives patient's upper extremity exercise on giving y axle one side under (or down) side and the y axle opposite side.Be applied to the output torque of the voltage swing change rocking bar on the driver by change;
When initiatively training, during the driver energising of (or on) side, rocking bar produces the moment around the x axle on giving x axle one side under (or down) side and the x axle opposite side.During the driver energising of (or on) side, rocking bar produces the moment around the y axle on giving y axle one side under (or down) side and the y axle opposite side.As damping torque, patient's upper extremity exercise overcomes this moment with this, makes the rocking bar backward rotation, realizes initiatively training.Be applied to the output resistance square of the voltage swing change rocking bar on the driver by change.
Dielectric EAP is a kind of novel intelligent material, compares with traditional electromagnetic technique than other intellectual material to have many good qualities: can directly externally do work, need not drive mechanism, simple in structure, volume is little, light weight; Action is level and smooth, no relative fricting movement parts, do not have hot, noiseless; Power-mass ratio is big, energy conversion efficiency is high; Distortion is big, can produce big displacement, response speed is fast; Have flexibility, be convenient to advantages such as structure arrangement, and at the most approaching natural muscle in aspect such as strain, driving force, energy density, efficient, these advantages make dielectric EAP that tempting application prospect be arranged in medical apparatus and instruments.
The advantage of dielectric EAP driver in rehabilitation training is: 1. antivibrator and driver are united two into one, make the mechanism simplifying compactness and be easy to control.2. the soft drive characteristic of dielectric type driver increases the safety and the comfort of rehabilitation training process, the phenomenon of similar shake can not occur and cause therapeutic outcome to be had a greatly reduced quality under main passive treatment pattern.
The present invention is easy and simple to handle, can satisfy the rehabilitation training requirement of patient to upper limb, is particularly suitable for this crowd and uses in daily life.Have simultaneously simple in structure, compact, the less demanding characteristics of machining accuracy.
Description of drawings
Fig. 1 is the medical supplemental training structure drawing of device that is used to realize upper limb healing
Title label among the figure: 1 is that rocking bar, 2 is that connecting ring, 3 is that driver, 4 is that fixed bar, 5 is that connecting ring, 6 is that encoder, 7 is that connecting rod, 8 is that support, 9 is that connecting rod, 10 is that base, 11 is that encoder, 12 is that cross cuts with scissors.
Control system block diagram when Fig. 2 is this training devices passive exercise.
Control system block diagram when Fig. 3 initiatively trains for this training devices.
The specific embodiment
As shown in Figure 1, upper limb healing supplemental training device of the present invention has two rotational freedoms, promptly rotates around the rotation of x axle with around the y axle.Mechanism's part is made up of rocking bar 1, connecting ring 2, cross hinge 12, driver 3, fixed bar 4, connecting ring 5, support 8 and base 10.Wherein rocking bar 1 cuts with scissors 12 rack-mountly by cross, on two turning cylinders of cross hinge two encoders 11 and 6 is installed respectively, is respectively applied for and detects the rotational angle of rocking bar around x, y axle.Arrange 1 set drive between the every pair of fixed bar 4 and the rocking bar 1, every set drive comprises 2n driver 3, and rocking bar 1 lateral symmetry layout relatively, also symmetric arrangement when driver relative rocking bar center of rotation in the same side is arranged up and down, and wherein m, n are natural number; Driver 3 two ends by connecting rod 7,9 respectively be installed in fixed bar 4 and link to each other with 2 with connecting ring 5 on the rocking bar 1.Driver adopts the dielectric EAP Linear actuator.
As shown in Figure 2, under the passive exercise pattern, when the driver energising of the driver of y axle one side, center of rotation upside (downside) and y axle opposite side, center of rotation downside (upside), pulling force after the driver energising diminishes, and rocking bar is rotated around the y axle.When the driver energising of the driver of x axle one side, center of rotation upside (downside) and x axle opposite side, center of rotation downside (upside), then rocking bar rotates around the x axle.Encoder 11,6 is gathered the rotational angle of rocking bar around x, y axle, be input to computer and handle, thereby object moves the interest of increase training in the realization virtual reality.Control system is rotated requirement as required, determine the power on/off order and the energising size of driver, to driver output voltage, rocking bar is rotated, and the rotational angle signal of encoder collection delivered in the controller, compare control voltage swing, the feedback control of realization rocking bar rotational angle with input signal.
As shown in Figure 3, under the active training mode, rocking bar is rotated when the patient overcomes damping force.When the patient makes rocking bar produce around the clockwise rotation of x axle, pass to suitable voltage in the driver of x axle right side upside and the driver of x axle left side downside, energising driver pulling force reduces, then All Drives can produce around the anticlockwise moment of resistance of x axle, and needs of patients overcomes the moment of resistance produces around the clockwise rotation of x axle rocking bar.Pass to suitable voltage in the driver of x axle right side downside and the driver of x axle left side upside, energising driver pulling force reduces, then All Drives can produce around the clockwise moment of resistance of x axle, and needs of patients overcomes the moment of resistance produces around the anticlockwise rotation of x axle rocking bar.Pass to suitable voltage in the driver of y axle right side upside and the driver of y axle left side downside, energising driver pulling force reduces, then All Drives can produce around the anticlockwise moment of resistance of y axle, and needs of patients overcomes the moment of resistance produces around the clockwise rotation of y axle rocking bar.Pass to suitable voltage in the driver of y axle right side downside and the driver of y axle left side upside, energising driver pulling force reduces, then All Drives can produce around the clockwise moment of resistance of y axle, and needs of patients overcomes the moment of resistance produces around the anticlockwise rotation of y axle rocking bar.Encoder 11,6 is gathered the rotational angle of rocking bar around x, y axle, be input to computer and handle, thereby object moves the interest of increase training in the realization virtual reality.Control system moment of resistance requirement as required, determine the power on/off and the energising size of driver, to driver output voltage, make rocking bar produce the corresponding moment of resistance, and the rotational angle signal of encoder collection is delivered to controller, obtain the deformation state of driver, and according to the power output property calculation moment of resistance at that time of driver, compare control voltage swing, the feedback control of the realization rocking bar moment of resistance with input moment of resistance signal.

Claims (3)

1. the two degrees of freedom upper limb healing supplemental training device that drives of a dielectric EAP, it is characterized in that this device cuts with scissors (12) by rocking bar (1), first connecting ring (2), driver (3), fixed bar (4), second connecting ring (5), support (8), base (10) and cross and forms, wherein rocking bar (1) is installed on the support (8) by cross hinge (12), rocking bar (1) rotates around x, y power transmission shaft, wherein two turning cylinders of cross hinge (12) are that x, y turning cylinder are equipped with encoder (6) and (11) respectively, are used to measure the rotational angle of two turning cylinders; Evenly arrange 2m fixed bar (4) at the circumferencial direction that with rocking bar (1) is the center, arrange 1 driver bank between every pair of fixed bar (4) and the rocking bar (1), each driver bank comprises 2n driver (3), driver (3) rocking bar (1) lateral symmetry is relatively arranged, also symmetric arrangement when driver bank relative rocking bar center of rotation in the same side is arranged up and down, wherein m, n are natural number; Driver (3) one ends are connected with rocking bar (1) by connecting rod (9), first connecting ring (2) successively, and the other end links to each other with fixed bar (4) by connecting rod (7), second connecting ring (5) successively.
2. the two degrees of freedom upper limb healing supplemental training device that dielectric EAP according to claim 1 drives is characterized in that described driver (3) adopts the dielectric EAP Linear actuator.
3. the training method of a two degrees of freedom upper limb healing supplemental training device that drives based on the described dielectric EAP of claim 1 is characterized in that comprising two kinds of training modes: passive exercise and initiatively training:
During passive exercise, during the driver energising of (or on) side, rocking bar rotates around the x axle on giving x axle one side under (or down) side and the x axle opposite side; During the driver energising of (or on) side, rocking bar rotates around the y axle, thereby drives patient's upper extremity exercise on giving y axle one side under (or down) side and the y axle opposite side; Be applied to the output torque of the voltage swing change rocking bar on the driver by change;
When initiatively training, during the driver energising of (or on) side, rocking bar produces the moment around the x axle on giving x axle one side under (or down) side and the x axle opposite side; During the driver energising of (or on) side, rocking bar produces the moment around the y axle on giving y axle one side under (or down) side and the y axle opposite side; As damping torque, patient's upper extremity exercise overcomes this moment with this, makes the rocking bar backward rotation, realizes initiatively training; Be applied to the output resistance square of the voltage swing change rocking bar on the driver by change.
CN 201010275631 2010-09-07 2010-09-07 Two-freedom-degree upper-limb rehabilitation assistive exercise device driven by dielectric EAP (electroactive polymer) and method thereof Expired - Fee Related CN101933876B (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102631277A (en) * 2012-03-31 2012-08-15 中国科学院宁波材料技术与工程研究所 Rocker type upper limb rehabilitation device and method for performing rehabilitation training by aid of rocker type upper limb rehabilitation device
EP2682087A1 (en) * 2011-02-28 2014-01-08 Murata Machinery, Ltd. Upper limb training device
CN106176135A (en) * 2016-07-12 2016-12-07 宁波瑞泽西医疗科技有限公司 A kind of flexible rocker-type limb motion mechanism
CN109464265A (en) * 2018-12-20 2019-03-15 燕山大学 A kind of upper limb rehabilitation robot based on Coupling System of Flexible Structures And Rigid Body

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EP1645254A1 (en) * 2004-10-11 2006-04-12 SMM Medical AB Electro active compression bandage
CN201446531U (en) * 2009-06-19 2010-05-05 南京航空航天大学 Multidimensional active joint based on dielectric type EAP

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2682087A1 (en) * 2011-02-28 2014-01-08 Murata Machinery, Ltd. Upper limb training device
EP2682087A4 (en) * 2011-02-28 2015-04-15 Murata Machinery Ltd Upper limb training device
CN102631277A (en) * 2012-03-31 2012-08-15 中国科学院宁波材料技术与工程研究所 Rocker type upper limb rehabilitation device and method for performing rehabilitation training by aid of rocker type upper limb rehabilitation device
CN106176135A (en) * 2016-07-12 2016-12-07 宁波瑞泽西医疗科技有限公司 A kind of flexible rocker-type limb motion mechanism
CN109464265A (en) * 2018-12-20 2019-03-15 燕山大学 A kind of upper limb rehabilitation robot based on Coupling System of Flexible Structures And Rigid Body
CN109464265B (en) * 2018-12-20 2019-11-01 燕山大学 A kind of upper limb rehabilitation robot based on Coupling System of Flexible Structures And Rigid Body

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