CN102184322B - Networked rehabilitation robot system based on virtual training environment - Google Patents
Networked rehabilitation robot system based on virtual training environment Download PDFInfo
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- CN102184322B CN102184322B CN 201110104868 CN201110104868A CN102184322B CN 102184322 B CN102184322 B CN 102184322B CN 201110104868 CN201110104868 CN 201110104868 CN 201110104868 A CN201110104868 A CN 201110104868A CN 102184322 B CN102184322 B CN 102184322B
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Abstract
The invention discloses a networked rehabilitation robot system based on a virtual training environment, which comprises a rehabilitation robot mechanical arm, a virtual training environment client, a lower computer controlling system, a network communication unit and an upper computer monitoring system. By means of the robot system, the condition of an affected limb is obtained through detecting the location of the robot system arranged in the mechanical arm and data measured by a force sensor; the doctor chooses a suitable training mode and a suitable virtual training environment from the upper computer monitoring system according to the condition of the affected limb, and sets reasonable training control parameters, and sends a control instruction to the lower computer controlling system through the network communication unit; and the lower computer controlling system is used for helping a patient carry out rehabilitation training through a drive motor by adopting a control algorithm. According to the invention, treadmill type upper and lower limb rehabilitation training in a vertical direction and upper limb rehabilitation training in a horizontal direction can be completed by converting the structure of the mechanical arm, and the virtual training environment is added in a rehabilitation training process, thus a remote rehabilitation training system is realized.
Description
Technical field
The present invention relates to a kind of recovery robot system, be specially a kind of networked recovery robot system based on the virtual training environment.
Background technology
Healing robot is foundation as a kind of robotization rehabilitation medicine equipment with the theory of medicine, helps the patient to carry out science and effectively rehabilitation training, and patient's motion function is better recovered.Healing robot is by computer control, and is furnished with corresponding sensor and security system, and rehabilitation training is carried out under the program of setting automatically, can automatic Evaluation rehabilitation training effect, according to patient's actual conditions adjustment movement parameter, realize optimum training.
The healing robot technology has obtained the generally attention of researcher and medical institutions in countries such as America and Europes, and many research institutions have all carried out relevant research work, have obtained some valuable achievements in recent years.1991, first upper-limbs rehabilitation training robot system MIT-MANUS finished in the MIT design; 2005, the Nef of Univ Zurich Switzerland etc. developed a kind of novel upper limb rehabilitation robot ARMin; 1999, Reinkensmeyer etc. developed auxiliary and have measured guide ARM-Guide; 2000, Rutgers and Stanford medical college developed a cover family expenses rehabilitation medical robot system.Domestic robot system for the rehabilitation medical training is fewer, but is also carrying out correlative study.Tsing-Hua University has namely carried out the research of the auxiliary nervous rehabilitation of robot from 2000 under country " 863 " plan is supported, developed a kind of upper limb healing equipment UE CM; The patriotic grade of Song of Southeast China University is applied to rehabilitation medical with force feedback remote sensing manipulation robot technology, designed based on the internet, and the power of one-to-many is felt aided remote rehabilitation medical robot system.
Application number is " 200710168725.1 ", name is called " a kind of apparel type robot for healing hand function and control system thereof ", a kind of wearable robot for healing hand function is disclosed, be mainly used in auxiliary because of headstroke, brain trauma, spinal injury and peripheral nerve injury cause the handicapped patient of hands movement to repeat the motion function rehabilitation training in community or family, though this healing robot degree of freedom is many, also add virtual environment and improved patient's initiative and training interest, but it does not add network service, the patient is merely able to just can train in hospital or corresponding rehabilitation training mechanism, belongs to typical local healing robot.
Application number is that " 200810064878.6 ", name are called " five-freedom degree dermaskeleton type upper limb rehabilitation robot " this machine people provides each joint for the patient simple joint motion and three dimensions multi-joint compound motion, and provide simple, basic activities of daily life to train, though this healing robot degree of freedom is many, actuating range is bigger, the general healing robot complexity of training action, but it does not add the virtual training environment, the patient can produce boredom unavoidably in the training process, influences the effect of rehabilitation training.
Summary of the invention
For addressing the above problem, the present invention proposes a kind of networked recovery robot system based on the virtual training environment, can finish rehabilitation training on horizontal direction and the vertical direction respectively by the structure that changes mechanical arm, add the virtual training environment and make that whole rehabilitation training process is no longer so dull, initiative and the interest of patient's participation rehabilitation training have been improved, and adding network communication unit makes the patient just can carry out rehabilitation training at home, and the doctor just can pass through the real-time observation patient physical training condition of ipc monitor system in hospital, sends the rehabilitation training instruction.
The present invention adopts following technical scheme for achieving the above object:
A kind of networked recovery robot system based on the virtual training environment of the present invention, comprise healing robot mechanical arm, virtual training environment client, slave computer control system, network communication unit, ipc monitor system, wherein the healing robot mechanical arm respectively with virtual training environment client, down level controlling system interconnection, network communication unit respectively with virtual training environment client, slave computer control system, ipc monitor system interconnection.
Described healing robot mechanical arm comprises base, the first and second support bar fixed parts, the scalable part of first and second support bars, the first and second rotation rocking bars, display, the mechanical arm of convertible structure, wherein the fixed part of first and second support bars is installed on the base respectively, first, the second rotation rocking bar is installed in first of correspondence respectively, on the fixed part of second support bar, first, the scalable part of second support bar is installed in first of correspondence respectively, on the fixed part of second support bar, display is installed on the scalable part of second support bar, and the mechanical arm of convertible structure is installed on the scalable part of first support bar.
The mechanical arm of described convertible structure comprises the mechanical arm fixed part, the mechanical arm rotatable portion, turning axle, patient's handle, supporting plate, the limbs backplate, handle and connecting rod, transmission shaft, the power sensor, position transducer and direct current torque motor, the mechanical arm rotatable portion is connected with the mechanical arm fixed part by turning axle, direct current torque motor is installed in mechanical arm rotatable portion inside, position transducer is installed in the rotating shaft of direct current torque motor, transmission shaft links to each other with the rotating shaft of direct current torque motor, handle and connecting rod is installed on the transmission shaft, the limbs backplate is installed on the handle and connecting rod, supporting plate and patient's handle are installed on the limbs backplate, and the power sensor is installed on patient's handle.
Described slave computer control system comprises the motor message Acquisition Circuit, signal conditioning circuit, the ARM circuit system, keyboard circuit, the LCD display circuit, network interface circuit, the storage card circuit, optical coupling isolation circuit and driving amplifying circuit, wherein the input end of motor message Acquisition Circuit links to each other with the motor message output terminal of healing robot mechanical arm, the output terminal of motor message Acquisition Circuit links to each other with the input end of signal conditioning circuit, the output terminal of signal conditioning circuit, the output terminal of keyboard circuit links to each other with the input end of ARM circuit system respectively, the input end of LCD display circuit, the input end of optical coupling isolation circuit links to each other with the output terminal of ARM circuit system respectively, network interface circuit, storage card circuit and the interconnection of ARM circuit system, the output terminal of optical coupling isolation circuit links to each other with the input end that drives amplifying circuit, the output terminal that drives amplifying circuit links to each other network interface circuit and ipc monitor system interconnection with the control signal input end of healing robot mechanical arm.
Described virtual training environment client comprises PC and the virtual training environment software of operation virtual training environment software, and described virtual training environment software adopts the OpenGL exploitation.
Described network communication unit adopts Internet to carry out network service.
Compared with prior art, major advantage of the present invention has:
1, existing healing robot generally can only be finished the rehabilitation training of upper limbs or lower limb, training mode is more single, and the structure of the present invention by the switch machine arm can be finished rehabilitation training of upper limbs on the horizontal direction and the multifunctional recovery training of the upper limbs on the vertical direction or lower limb.
2, added the virtual training environment, give the feedback that patient's vision and power are felt, make the patient be easier to understand the requirement of rehabilitation training, and in the rehabilitation training process, furnish a hint for the patient and help, make training process dry as dust become interesting lively, the initiative and the enthusiasm that excite patient to train reach better rehabilitation training effect.
3, add network communication unit, the patient both can hospitalization, also can carry out the remote rehabilitation training, patient end and doctor hold the mode that adopts client/server, connect by Internet, the doctor can long-rangely arrange training parameter, the motor pattern of control mechanical arm, power in the training process and positional information and video information send to the doctor by Internet, make the doctor can monitor patient's training, and revise the rehabilitation training scheme in time, and realize doctors and patients' interaction effectively, improve diagnosis and treatment efficient.
Description of drawings
Fig. 1 is overall construction drawing of the present invention;
Fig. 2 is one-piece construction and the schematic appearance of healing robot mechanical arm of the present invention;
Fig. 3 is the structural representation of the mechanical arm of convertible structure of the present invention;
Fig. 4 is the structural representation of slave computer control system of the present invention;
Fig. 5 is virtual training environment software operational scheme synoptic diagram of the present invention;
Fig. 6 is workflow synoptic diagram of the present invention.
Embodiment
The invention will be further described below with reference to the drawings and specific embodiments.
As shown in Figure 1, a kind of networked recovery robot system based on the virtual training environment of the present invention's design, it comprises healing robot mechanical part 1, virtual training environment client 2, slave computer control system 3, network communication unit 4, ipc monitor system 5, and wherein healing robot mechanical arm 1 is to drive the topworks that patient's trouble limb carries out rehabilitation training; Virtual training environment client 2 provides the virtual environment scene mutual with the patient, and slave computer control system 3 receives the data that processes sensor is gathered, and receives the instruction of ipc monitor system 5, the operation of control total system; Data communication, command transfer that network communication unit 4 is responsible between virtual training environment client 2, slave computer control system 3, the ipc monitor system 5; Ipc monitor 5 shows that in real time the rehabilitation training data for doctor's reference, arrange the rehabilitation training parameter then, sends instruction.
As shown in Figure 2, described healing robot mechanical arm 1 comprises base 6, the first and second support bar fixed parts 7,8, the scalable part 9 of first and second support bars, 10, the first and second rotation rocking bars 11,12, display 13, the mechanical arm 14 of convertible structure, the fixed part 7 of first and second support bars wherein, 8 are installed in respectively on the base 6, first, the second rotation rocking bar 11,12 are installed in the fixed part 11 of corresponding support bar respectively, on 12, first, the scalable part 9 of second support bar, 10 are installed in the fixed part 7 of corresponding support bar respectively, on 8, display 13 is installed on the scalable part 10 of second support bar, the mechanical arm 14 of convertible structure is installed on the scalable part 9 of first support bar, by adjusting first, the second rotation rocking bar 11,12 height that change the mechanical arm 14 of convertible structure and display 13 reach and are fit to the position that the patient carries out rehabilitation training.
As shown in Figure 3, the mechanical arm 14 of convertible structure of the present invention comprises mechanical arm fixed part 15, mechanical arm rotatable portion 16, turning axle 17, patient's handle 18, supporting plate 19, limbs backplate 20, handle and connecting rod 21, transmission shaft 22, power sensor 23, position transducer 24 and direct current torque motor 25, mechanical arm rotatable portion 16 is connected with mechanical arm fixed part 15 by turning axle 17, direct current torque motor 25 is installed in mechanical arm rotatable portion 16 inside, position transducer 24 is installed in the rotating shaft of direct current torque motor 25, transmission shaft 22 links to each other with the rotating shaft of direct current torque motor 25, handle and connecting rod 21 is installed on the transmission shaft 22, limbs backplate 20 is installed on the handle and connecting rod 21, supporting plate 19 and patient's handle 18 are installed on the limbs backplate 20, and power sensor 23 is installed on patient's handle 18.Under this structure, the patient is placed on arm on the supporting plate 19 and holds patient's handle 18, adjust the first and second rotation rocking bars 11,12 up to the mechanical arm 14 of convertible structure and display 13 reach be fit to position that patient's upper limbs carries out rehabilitation training after the patient just can carry out rehabilitation training of upper limbs on the perpendicular; After the mechanical arm 14 of adjusting convertible structure carried out the position of lower limb rehabilitation training to suitable patient, the patient was placed on pin the lower limb rehabilitation training of the circulation treadmill formula that just can carry out on the supporting plate 19 (this moment, supporting plate 19 can be regarded pedal as); When mechanical arm rotatable portion 16 is revolved turn 90 degrees after, take off supporting plate 19, the patient behind the suitable position who adjusts the mechanical arm 14 of convertible structure equally is placed on limbs backplate 20 (this moment, limbs backplate 20 can be regarded the supporting plate of arm as) with arm and holds patient's handle 18 and just can carry out the rehabilitation training of upper limbs on the horizontal direction.
As shown in Figure 4, slave computer control system 3 of the present invention comprises the position signal acquisition circuit, signal conditioning circuit, the ARM circuit system, keyboard circuit, the LCD display circuit, network interface circuit, the storage card circuit, optical coupling isolation circuit and driving amplifying circuit, the motor message Acquisition Circuit is gathered the signal of power sensor 23 (acting force between monitoring patient's arm and the patient's handle 18) and position transducer 24 (position of monitoring mechanical arm), after passing the signal to signal conditioning circuit and nursing one's health amplification, send into and data are passed in the network interface circuit after handling in the ARM circuit system, by network communication unit 4 data are sent in the ipc monitor 5 for doctor's reference, the doctor sends by ipc monitor system 5 and delivers in the ARM circuit system after instruction is sent on the network interface circuit through network communication unit 4, through sending pwm signal after the algorithm process to photoelectric isolating circuit, through amplifying circuit rear drive direct current torque motor 25 motions of overdriving.
As shown in Figure 5, virtual training environment client 2 of the present invention comprises PC and the virtual training environment software of operation virtual training environment software, and wherein the virtual training environment software adopts the OpenGL exploitation.OpenGL is a 3D routine interface of specialty, be one powerful, call bottom 3D shape library easily, adopt virtual reality technology, utilize OpenGL to draw the games with good user interface, with this platform as patient's rehabilitation training, be that the patient finishes exercise unawares in game process, to play effect energetically to patient's psychological regulation, native system is drawn the required virtual scene of training by OpenGL, after the recreation beginning, the right and left that the patient moves to control racing car by the mechanical arm left and right horizontal is always avoided the barrier that occurs previously, and whether detection bumps, and takes place if any collision, just sends instruction generation force feedback to the patient.
In conjunction with Fig. 1-6, principle of work and the flow process of a kind of networked recovery robot system based on the virtual training environment of the present invention design are as follows: the mechanical arm 1 of healing robot is placed on the ground, the patient is sitting on the adjacent chair, it is rehabilitation training of upper limbs or the lower limb rehabilitation training that carries out on the vertical direction that the doctor selects according to patient's situation, or the rehabilitation training of upper limbs on the horizontal direction, be that example is introduced with the rehabilitation training on the carrying out horizontal direction below, with mechanical arm rotatable portion 16 revolve turn 90 degrees after, take off supporting plate 19, shake the first and second rotation rocking bars 11, the mechanical arm 14 of the convertible structure of 12 rises and display 13 are behind suitable position, the patient is placed on arm on the limbs backplate 20, the patient's handle 18 of holding with a firm grip, the doctor is according to the rehabilitation training policy selection training mode that designs for the patient, set training parameter, and whether selection adds the virtual training environment scene, as require to add and then select suitable virtual scene, begin training, power sensor 23 in the mechanical arm 14 of convertible structure and position transducer 24 are gathered the rehabilitation training data in real time and are observed for the doctor, background program records these rehabilitation training data, the doctor is according to these data, grasp the patient and suffer from the rehabilitation situation of limb, in time change the rehabilitation training strategy and make it be fit to the rehabilitation training requirement that the patient suffers from limb more, be conducive to patient's early recovery.
Claims (3)
1. networked recovery robot system based on the virtual training environment, comprise healing robot mechanical arm (1), virtual training environment client (2), slave computer control system (3), network communication unit (4), ipc monitor system (5), wherein healing robot mechanical arm (1) interconnects with virtual training environment client (2), slave computer control system (3) respectively, and network communication unit (4) is respectively at virtual training environment client (2), slave computer control system (3), ipc monitor system (5) interconnection; It is characterized in that: described healing robot mechanical arm (1) comprises base (6), the first and second support bar fixed parts (7,8), the scalable part (9 of first and second support bars, 10), the first and second rotation rocking bars (11,12), the mechanical arm (14) of display (13) and convertible structure, the fixed part (7 of first and second support bars wherein, 8) be installed in respectively on the base (6), first, the second rotation rocking bar (11,12) be installed in first of correspondence respectively, the fixed part (7 of second support bar, 8) on, first, the scalable part (9 of second support bar, 10) be installed in first of correspondence respectively, the fixed part (7 of second support bar, 8) on, display (13) is installed on the scalable part (10) of second support bar, and the mechanical arm of convertible structure (14) is installed on the scalable part (9) of first support bar.
2. a kind of networked recovery robot system based on the virtual training environment according to claim 1, the mechanical arm (14) that it is characterized in that described convertible structure comprises mechanical arm fixed part (15), mechanical arm rotatable portion (16), turning axle (17), patient's handle (18), supporting plate (19), limbs backplate (20), handle and connecting rod (21), transmission shaft (22), power sensor (23), position transducer (24) and direct current torque motor (25), mechanical arm rotatable portion (16) is connected with mechanical arm fixed part (15) by turning axle (17), direct current torque motor (25) is installed in mechanical arm rotatable portion (16) inside, position transducer (24) is installed in the rotating shaft of direct current torque motor (25), transmission shaft (22) links to each other with the rotating shaft of direct current torque motor (25), handle and connecting rod (21) is installed on the transmission shaft (22), limbs backplate (20) is installed on the handle and connecting rod (21), supporting plate (19) and patient's handle (18) are installed on the limbs backplate (20), and power sensor (23) is installed on patient's handle (18).
3. a kind of networked recovery robot system based on the virtual training environment according to claim 1, it is characterized in that described slave computer control system (3) comprises the motor message Acquisition Circuit, signal conditioning circuit, the ARM circuit system, keyboard circuit, the LCD display circuit, network interface circuit, the storage card circuit, optical coupling isolation circuit and driving amplifying circuit, wherein the input end of motor message Acquisition Circuit links to each other with the motor message output terminal of healing robot mechanical arm (1), the output terminal of motor message Acquisition Circuit links to each other with the input end of signal conditioning circuit, the output terminal of signal conditioning circuit, the output terminal of keyboard circuit links to each other with the input end of ARM circuit system respectively, the input end of LCD display circuit, the input end of optical coupling isolation circuit links to each other with the output terminal of ARM circuit system respectively, network interface circuit, storage card circuit and the interconnection of ARM circuit system, the output terminal of optical coupling isolation circuit links to each other with the input end that drives amplifying circuit, the output terminal that drives amplifying circuit links to each other with the control signal input end of healing robot mechanical arm (1), and network interface circuit is by network communication unit (4) and ipc monitor system (5) interconnection.
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| CN 201110104868 CN102184322B (en) | 2011-04-26 | 2011-04-26 | Networked rehabilitation robot system based on virtual training environment |
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| CN 201110104868 CN102184322B (en) | 2011-04-26 | 2011-04-26 | Networked rehabilitation robot system based on virtual training environment |
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| CN102184322B true CN102184322B (en) | 2013-08-07 |
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Families Citing this family (19)
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| CN102567638B (en) * | 2011-12-29 | 2018-08-24 | 无锡微感科技有限公司 | A kind of interactive upper limb healing system based on microsensor |
| CN102600031B (en) * | 2012-03-22 | 2013-09-25 | 北京威力恒科技股份有限公司 | Treatment and rehabilitation system |
| CN102793616B (en) * | 2012-08-15 | 2015-12-02 | 张家港市永发机器人科技有限公司 | Vicarious grip device in arm rehabilitation training robot |
| CN103192389B (en) * | 2013-04-08 | 2015-08-26 | 布法罗机器人科技（苏州）有限公司 | A kind of exoskeleton robot control system and method |
| CN104706499B (en) * | 2013-12-12 | 2018-01-09 | 宁波瑞泽西医疗科技有限公司 | Upper limbs cranial nerves rehabilitation training system |
| WO2016008109A1 (en) * | 2014-07-15 | 2016-01-21 | 中国科学院自动化研究所 | Rehabilitation robot system of upper limb |
| CN105640733B (en) * | 2014-11-11 | 2018-09-18 | 深圳宝葫芦机器人有限公司 | A kind of upper limb rehabilitation robot and its control method |
| CN106779045A (en) * | 2016-11-30 | 2017-05-31 | 东南大学 | Rehabilitation training robot system and its application method based on virtual scene interaction |
| CN107049702A (en) * | 2017-03-29 | 2017-08-18 | 东南大学 | A kind of lower limbs rehabilitation training robot system based on virtual reality |
| CN109009873A (en) * | 2018-08-16 | 2018-12-18 | 常州市钱璟康复股份有限公司 | The recovery training method and its rehabilitation training system of upper-limbs rehabilitation training robot |
| CN109199791A (en) * | 2018-10-26 | 2019-01-15 | 上海伟赛智能科技有限公司 | A kind of upper limb rehabilitation robot of various dimensions |
| CN109875834B (en) * | 2019-02-18 | 2021-07-20 | 解国强 | Spine rehabilitation equipment and control method thereof |
| CN110038270A (en) * | 2019-05-14 | 2019-07-23 | 上海大学 | A kind of upper limb single armed recovery exercising robot man-machine interactive system and method |
| CN110013421A (en) * | 2019-05-22 | 2019-07-16 | 哈尔滨理工大学 | A kind of long-range monitoring auxiliary rehabilitation exercise system |
| CN109998867B (en) * | 2019-05-23 | 2023-09-19 | 华北理工大学 | Under-actuated upper and lower limb rehabilitation training robot |
| CN111035535A (en) * | 2019-12-19 | 2020-04-21 | 成都信息工程大学 | Cerebral apoplexy rehabilitation training system and method |
| CN111415721A (en) * | 2020-03-18 | 2020-07-14 | 汕头大学 | More efficient orofacial muscle function training system |
| CN112245224A (en) * | 2020-10-21 | 2021-01-22 | 中国科学院宁波材料技术与工程研究所慈溪生物医学工程研究所 | Elbow joint mirror image rehabilitation training device |
| CN114712151B (en) * | 2022-03-01 | 2023-09-19 | 南京伟思医疗科技股份有限公司 | Virtual obstacle avoidance method and system for upper limb rehabilitation robot |
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