CN102309393A - Exoskeleton type upper limb rehabilitation robot - Google Patents
Exoskeleton type upper limb rehabilitation robot Download PDFInfo
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- CN102309393A CN102309393A CN2010102180161A CN201010218016A CN102309393A CN 102309393 A CN102309393 A CN 102309393A CN 2010102180161 A CN2010102180161 A CN 2010102180161A CN 201010218016 A CN201010218016 A CN 201010218016A CN 102309393 A CN102309393 A CN 102309393A
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Abstract
The invention provides an exoskeleton type upper limb rehabilitation robot, comprising a five-degree-of-freedom or three-degree-of-freedom mechanical arm, an auxiliary mechanism and a control system. In the five-degree-of-freedom mechanical arm, a cross arm, a big arm and a small arm are sequentially connected in series to constitute an outreaching/adduction degree of freedom of a shoulder joint, a bending/stretching degree of freedom of the shoulder joint, and a bending/stretching degree of freedom of an elbow joint; the big arm and the small arm are respectively blocked by an arc-shaped sliding rail to respectively constitute an inwards rotation/outwards rotation degree of freedom of the shoulder joint and the inwards rotation/outwards rotation degree of freedom of a wrist joint; and the three-degree-of-freedom mechanical arm comprises three degrees of freedom of the shoulder joint. The auxiliary mechanism comprises a mobile base, servo stand columns and a saddle-shaped seat. The heights of the mechanical arm and the seat relative to the mobile base are respectively regulated by the two stand columns. By matched usage of mechanical limiting and electronic limiting, the rehabilitation safety of a patient is guaranteed. A display device placed before a patient seat can simulate training states under different scenes, and the training states can serve as input signals to control a virtual training game so as to improve the rehabilitation effect of the patient.
Description
Technical field
The present invention relates to medical instruments field, particularly a kind of upper limb rehabilitation robot.
Background technology
After the patients with cerebral apoplexy hemiplegia, the forfeiture of body part motor function.Clinical trial proves; Carry out the plasticity development that rehabilitation training can promote cerebral cortex motor function neurocyte after the hemiplegia as early as possible; The reorganization of promotion disease sites nervous tissue and compensatory improves the irritability of related neural system and the rapidity that stimulates to external world, thus the position that helps recovering the lost-motion function; And have the mobility that keeps the joint, prevent the amyotrophic effect of patient, improve the recovery extent of patient moving function to greatest extent.
Traditional rehabilitation training of upper limbs method is the rehabilitation training that the doctor carries out the patient one to one.There are problems in this training method.The first, the rehabilitation inefficiency: the restriction of man-to-man training method and doctor muscle power makes a doctor can only receive patient few in number every day between the doctors and patients; The second, can't guarantee the training effect: because doctor self, the dynamics of training and the concordance of intensity can't be guaranteed fully; The effect of training depends on doctor's level and experience; The doctor is busy with rehabilitation training, is too busy to attend to anything else, and lacks enough energy therapeutic effect and improves; At last, rehabilitation course is dry as dust, and the patient is passive to undergo training, and is unfavorable for strengthening the initiative that the patient participates in treating.
Use healing robot that the patient is carried out rehabilitation training, can solve the problems that exist in traditional rehabilitation training.At first, robot can full-time employment, satisfies in the rehabilitation training process requirement to training strength; Secondly, the data of treatment are convenient gathers, analyzes and puts in order, makes things convenient for the doctor that rehabilitation efficacy is carried out quantitatively evaluating, and rehabilitation course is improved and innovates; Again furthermore, the fusion of rehabilitation technique and multimedia technology will provide abundant more training content for the patient, and the more real training environment of simulation makes the more positive participation treatment of patient, thereby improves therapeutic effect.
Existing upper limb rehabilitation robot, man-machine interaction mode is single, will not carry out effective fusion to daily life common actions and virtual reality technology, is unfavorable for transferring to greatest extent rehabilitation of patients enthusiasm.In addition; Relative human body shoulder joint three degree of freedom quantity; Existing upper limb rehabilitation robot has only two degree of freedom, has limited the scope of training, the five-freedom degree dermaskeleton type upper limb rehabilitation robot described in Chinese patent CN101357097A; Its shoulder joint number of degrees of freedom, is less than the degree of freedom number of human body shoulder joint, so recovery function relatively limits to.
Summary of the invention
The purpose of this invention is to provide a kind of dermaskeleton type upper limb rehabilitation robot that can help patients with cerebral apoplexy to carry out rehabilitation training of upper limbs.
Dermaskeleton type upper limb rehabilitation robot of the present invention comprises exoskeleton-type rehabilitation mechanical arm, auxiliary body and control system.
Mechanical arm adopts modular construction, and the physiatrician can be assembled into five degree-of-freedom manipulator or three-freedom mechanical arm with mechanical arm fast according to patient's the state of an illness and the requirement in different training stage.
Five degree-of-freedom manipulator is made up of transverse arm, big arm and forearm.Servo column, transverse arm, big arm, forearm are connected successively, have constituted the abduction/adduction degree of freedom of shoulder joint, the flexion/extension degree of freedom of shoulder joint, elbow joint flexion/extension degree of freedom.Big arm and forearm are blocked by the arc ball slide rail respectively, and its rotation centerline passes patient's shoulder joint kinesitherapy central point and elbow joint centre of motion point respectively, and constitutes the shoulder joint internal/external rotations respectively, carpal joint internal/external rotations degree of freedom.
Transverse arm is installed on the turbine and worm reducing motor reducer output shaft that is positioned on the servo column, the abduction/adduction degree of freedom of this Electric Machine Control shoulder joint.This freedom of motion is coaxial with the turbine and worm reducer output shaft, and axis passes rehabilitation object shoulder joint center of rotation.The planet wheel decelerator servomotor that is positioned at turbine and worm decelerator top and is installed on the transverse arm bends and stretches the degree of freedom connecting axle through the shoulder joint that the synchronous cog belt driving is positioned at the transverse arm other end, constitutes the flexion/extension degree of freedom of shoulder joint.The other end of above-mentioned connecting axle links to each other with big arm, and big arm is the almag telescoping structure, and scale is arranged on the sleeve, writes down the adjusting length of big arm to different patients.Sleeve one end and arc-shaped guide rail slide block are fixed, and in the enclosed space that constitutes thus a servomotor are installed, and this servomotor planet wheel decelerator output shaft drives the arc guide rail movement through gear mechanism, constitute shoulder joint internal/external rotations degree of freedom.The arc-shaped guide rail below links to each other with forearm through the elbow joint servomotor, and the arc-shaped guide rail and the gear mechanism that are similar to big arm are arranged on the forearm, constitutes carpal internal/external rotations degree of freedom.
When adopting five degree-of-freedom manipulator to carry out rehabilitation, patient's shoulder joint has three degree of freedom, and elbow joint has one degree of freedom, and carpal joint has one degree of freedom.The main foundation of this degree of freedom arrangement is: clinical trial proves; Patient's the weak and limp phase mainly is trained for the master with the simple joint muscular strength; Spasm period is main with the simple joint isolated movement mainly; Convalescent period is main with shoulder, elbow joint compound motion mainly, and wherein, shoulder joint is the most complicated and is the position that leads to complications the most easily.So this exoskeleton-type rehabilitation mechanical arm is designed with shoulder abduction/adduction, shoulder flexion/extension, shoulder internal/external rotations three degree of freedom with shoulder joint, the rotation centerline of this three degree of freedom intersects at a point, and coincides with the center of rotation of patient's shoulder joint.This design is simulated all degree of freedom of human body shoulder joint fully, can drive the patient and accomplish all shoulder joint actions that healthy subjects is accomplished.The mechanical arm elbow joint has ancon flexion/extension degree of freedom.The mechanical arm carpal joint only has an internal/external rotations degree of freedom, and does not have carpal all the other two degree of freedom.This design can be accomplished most of shoulders, elbow, wrist three joint compound motions on the one hand; Also avoid on the other hand because the forearm that all the other two degree of freedom of design carpal joint cause is long, rotary inertia is excessive, the safety problem that causes.
Three-freedom mechanical arm structurally is the subclass of five degree-of-freedom manipulator, only comprises the three degree of freedom of shoulder joint, and this structure is mainly towards the rehabilitation training to shoulder joint of weak and limp phase and spasm period.Shoulder joint is more common clinically site of pathological change, and the rehabilitation of shoulder joint has great importance to whole upper limb healing process, during rehabilitation training elbow joint and carpal joint is removed, and can avoid mechanical arm and human body to interfere the safety problem that is caused to greatest extent.
Mechanical position limitation mechanism and Hall switch electronic limit system all are housed on the joint of mechanical arm, and caging system guarantees that the range of movement of mechanical arm is no more than the extreme sport scope of pairing human synovial.Because the work space of human arm self and trunk and head interference, so in active rehabilitation training process or under the situation such as system's open loop inefficacy, rehabilitation mechanical arm is had reason with patient's trunk and head impact and had an accident.Servosystem detects servomotor open loop accident out of control through being positioned at the terminal acceleration transducer of mechanical arm, and timely disable motor power supply.In active rehabilitation training process, setting outside the patient skin is the speed limit zone within 5 centimetres, in case mechanical arm is interfered in the zone therewith, servo-control system limits interference point place movement velocity, thereby guarantees in active rehabilitation training process safe property.
Auxiliary body comprises elevating mechanism and movable base.Elevating mechanism comprises two servo columns and a shape of a saddle seat.Servo column provides the degree of freedom of patient and the motion of rehabilitation mechanical arm vertical direction.
Servo column can be regulated height according to the instruction of control system.Servo column has two, and one connects base and mechanical arm, is used to regulate the height of mechanical arm, to adapt to the different trunk height of patient; Another root connects base and shape of a saddle seat, the different rehabilitation attitudes such as standing or squat that is used to regulate the patient.The state of sitting up straight provides comparatively comfortable rehabilitation posture for the patient, and standing state has been avoided sitting up straight the situation that shank and forearm movement locus interfere under the state and taken place.
The movable base below is equipped with four universal wheels that have self-locking mechanism, is placed with the ultrasonic ranging pick off around the base, and in system's reseting procedure, in case there is the people to get into the deathtrap, reseting procedure stops automatically.
Control system is by the combined training computer, and the SERVO CONTROL computer is formed.SERVO CONTROL computer and motor driver, force transducer, acceleration transducer links to each other, tasks such as the operation inverse kinematics is resolved, the generation of mechanical arm track, impedance Control.Combined training computer run virtual reality program, the limb motion state of simulated patient under real scene.The combined training computer is according to the mechanical arm of SERVO CONTROL computer acquisition and patient's kinestate, and the input information of composing training recreation is accomplished the virtual training recreation, improves the enthusiasm of patient's rehabilitation.Another of combined training computer be important to be made of being that all training informations to the patient carry out record, and instructs the doctor to carry out next stage recovery training method and goal setting according to the rehabilitation training evaluation result that each record and analysis obtain.
This machine people has realized active rehabilitation and the passive rehabilitation training in three dimensions to the patient for the patient provides simple joint and multi-joint hybrid motion.Through virtual reality technology, simulated the typical action of patient in rehabilitation course, as carry trousers, wear the clothes, feed etc., promote the plasticity development of cerebral cortex motion-related function, the reorganization that impels the focus peripheral cell is with compensatory, the recovery of realization loss of function.This robot has alleviated doctor's work load, through accurate comprehensively data record, has estimated the rehabilitation training level objectively, and the accuracy that has improved training is with scientific, and make doctor in the training process to the innovation of rehabilitation maneuver have something to base on more.When satisfying training function, this robot passes through mechanical position limitation, electronic limit, and security protection means such as open loop monitoring have ensured that the patient is in the rehabilitation training process safe.
Description of drawings
Fig. 1 is traditional clinical rehabilitation method sketch map;
Fig. 2 is a structural representation of the present invention;
Fig. 3 is the five degree-of-freedom manipulator structure chart;
Fig. 4 is the three-freedom mechanical arm structure chart;
Fig. 5 is cross arm structure figure;
Fig. 6 is big arm and forearm structure chart;
Fig. 7 is an elbow joint servo-driven module explosive view;
Fig. 8 is the robot control system block diagram.
1 mechanical arm among the figure, 2 auxiliary bodies, 3 control system, 11 transverse arms, 12 big arms, 13 forearms; 14 mechanical arm bases, 21 servo column A, the servo upright B of 22 posts, 23 shape of a saddle seats, 24 movable bases; 25 universal wheels, 31 display devices, 32 comprehensive training systems, 33 servo-control systems, 111 turbine and worm reducing motors; 112 planetary gear reducing motor A, 113 synchronous cog belts, 121 planetary gear reducing motor B, 122 inner sleeves, 123 outer sleeves; 124 length scales, 125 big arm arc-shaped slide rails, 126 big arm carriages, 127 degree of freedom conversion supports, 128 elbow joint servo-driven modules; 131 planetary gear reducing motor C, 132 forearm arc-shaped guide rails, 133 forearm carriages, 281 harmonic reduction servomotors, 282 position-limit mechanisms.
The specific embodiment
For making the above-mentioned feature and advantage of the present invention can be more obviously understandable, be elaborated below in conjunction with the accompanying drawing specific embodiments of the invention.
Fig. 2 is a structural representation of the present invention.Comprise mechanical arm (1), auxiliary body (2), control system (3).Auxiliary body comprises elevating mechanism and movable base (24), four universal wheels (25) with auto-lock function be evenly distributed on movable base around.Elevating mechanism comprises servo column A (21), servo column B (22) and shape of a saddle seat (23).Shape of a saddle seat is fixed on the servo column B, and the height of seat can be regulated through the instruction of control system, the patient can be risen in difference carry out rehabilitation training under the seat state.Mechanical arm is installed on the servo column A.Two servo columns are installed on the movable base, and this structure makes patient and the mechanical arm distance with respect to movable base, and mechanical arm and patient's relative distance can be adjusted through control system, and the people of convenient different heights carries out rehabilitation training.Control system comprises servo-control system and comprehensive training system, and comprehensive training system can strengthen the sense of reality of training according to patient's display device (31) the simulation training scene of physical training condition through being positioned at patient the place ahead, improves the training effect.
Mechanical arm of the present invention can be assembled into five degree-of-freedom manipulator or three-freedom mechanical arm according to patient's different rehabilitation demands.
Structure chart when Fig. 3 is five degree-of-freedom manipulator for mechanical arm of the present invention.Five degree-of-freedom manipulator comprises transverse arm (11), big arm (12), forearm (13), mechanical arm base (14).Mechanical arm base, transverse arm, big arm, forearm are connected successively, have constituted the abduction/adduction degree of freedom of shoulder joint, the flexion/extension degree of freedom of shoulder joint, elbow joint flexion/extension degree of freedom.Structure chart when Fig. 4 is three-freedom mechanical arm for mechanical arm of the present invention, it only comprises transverse arm and big arm, is the subclass of five degree-of-freedom manipulator on the structure.
Fig. 5 is a cross arm structure sketch map of the present invention, and turbine and worm reducing motor A (111) is installed on the mechanical arm base, and the reducer output shaft extended line passes patient's shoulder joint and constitutes shoulder joint abduction/adduction degree of freedom, and reducer output shaft is installed on the transverse arm root.On the transverse arm above the turbine and worm reducing motor A, planetary gear reducing motor B (112) is installed, and passes through synchronous cog belt (113) the other end of transmission of power to transverse arm, constitute shouldejoint flexion/extension degree of freedom.The arrangement of this motor helps reducing the inertia of mechanical arm, improves controllability and safety simultaneously.Fig. 6 is big arm and forearm structural representation, and big arm is linked to each other by elbow joint servo-driven module (128) with forearm.Big arm is made up of inner sleeve (122) and outer sleeve (123), and inner sleeve inserts in the outer sleeve and through the gas thread structure and clamps each other.The inner sleeve outside has length scales (124) to be used to observe big arm brachium.The planetary gear reducing motor B (121) that is embedded in the inner sleeve goes up motion through the gear mechanism driving sliding block at big arm arc-shaped slide rail (125), and its centre of motion line constitutes shoulder joint internal/external rotations degree of freedom.Shoulder joint internal/external rotations degree of freedom, shoulder joint abduction/adduction degree of freedom, shouldejoint flexion/extension degree of freedom rotating shaft extended line quadrature and intersect at a point, this point overlaps with patient's shoulder joint center of rotation.Big arm links to each other through degree of freedom conversion support (127) with the elbow joint servo-driven module, and this internal stent has control and drive cable slot.After unclamping two set bolts, remove the elbow joint servo-driven module, then constitute three-freedom mechanical arm.When mechanical arm was five degree of freedom, elbow joint servo-driven module rotating shaft extended line passed patient's elbow joint.Planetary gear reducing motor C (131) driving sliding block goes up motion at forearm arc-shaped guide rail (132), constitutes carpal joint internal/external rotations degree of freedom.Big arm carriage (126) is installed on the guide rail side with forearm carriage (133), is used to support patient's big arm and forearm.Fig. 7 is an elbow joint servo-driven module explosive view of the present invention, and by harmonic reduction servomotor (281) driving device elbow joint rotation, its rotating shaft center's line passes patient's elbow joint.Position-limit mechanism (282) is installed on the mechanical position limitation mechanism at elbow joint place, and the limit rotational angle of its qualification can be regulated by the physiatrician.
Robot control system is made up of comprehensive training system (32) and servo-control system (33).Pick off in the servo-control system comprises photoelectric encoder, force transducer, acceleration transducer etc.Photoelectric encoder, SERVO CONTROL computer, power amplifier, servomotor constitute typical position closed loop system.Force transducer connection reducer and actuator, the signal of collection can be positioned over outside the position ring, constitute resistance control and assisted control system.End at big arm and forearm is placed with acceleration transducer, and it is used to monitor the terminal operation conditions of mechanical arm, prevents that the situation of hurting sb.'s feelings that system's open loop caused when photoelectric encoder lost efficacy from taking place.IMAQ video camera A and B are positioned over the patient opposite, are used for the threedimensional model of reconstruct patient body, prevent that mechanical arm and patient's limbs from bumping, and when mechanical arm edge and patient's epidermis distance during less than five centimetres, servo-control system automatically performs the speed limit program.
Operation virtual reality program in the comprehensive training system, simulated patient are under the dining state as daily life common actions such as sit, have meal, wear the clothes, drink water.Strengthen the sense of reality of training, improve the training effect.The combined training computer is according to the mechanical arm of SERVO CONTROL computer acquisition and patient's kinestate; The input information of composing training recreation; The recreation of completion virtual training; And all training informations are carried out record, the rehabilitation training result who obtains according to each record analysis instructs the doctor to carry out next stage recovery training method and goal setting.
Claims (8)
1. a dermaskeleton type upper limb rehabilitation robot comprises mechanical arm, auxiliary body, reaches control system, and it is characterized in that: said mechanical arm adopts modular construction, can convert five degree of freedom or three-freedom mechanical arm fast into;
Said five degree-of-freedom manipulator is made up of transverse arm, big arm and forearm; Transverse arm, big arm, forearm are connected successively, have constituted the abduction/adduction degree of freedom of shoulder joint, the flexion/extension degree of freedom of shoulder joint, elbow joint flexion/extension degree of freedom; Big arm and forearm are blocked by the arc ball slide rail respectively, constitute the shoulder joint internal/external rotations respectively, carpal joint internal/external rotations degree of freedom;
Said three-freedom mechanical arm is the structural subclass of five degree-of-freedom manipulator, only comprises the shoulder joint three degree of freedom;
Said auxiliary body comprises elevating mechanism and movable base;
Said control system comprises servo-control system and comprehensive training system.
2. according to claims 1 said upper limb rehabilitation robot, it is characterized in that: said shoulder joint comprises three degree of freedom, and its rotation axis is orthogonal to one point union and overlaps with human body shoulder joint kinesitherapy central point.
3. according to claims 1 said upper limb rehabilitation robot, it is characterized in that: be provided with the brachium governor motion between the shoulder joint of said mechanical arm and elbow joint, brachium governor motion upper arm has long graduated scale.
4. according to claims 1 said upper limb rehabilitation robot, it is characterized in that: said elevating mechanism comprises two servo columns and a shape of a saddle seat, and the distance of shape of a saddle seat, mechanical arm and movable base can be regulated respectively through two servo columns.
5. according to claims 1 said upper limb rehabilitation robot, it is characterized in that: be equipped with caging system in said each joint, the range of movement of limit mechanical arm is between the maximum rotation angle and limit rotational angle of corresponding human synovial.
6. according to claims 1 said upper limb rehabilitation robot, it is characterized in that: said mechanical arm end has acceleration transducer, guarantees mechanical arm disable motor power supply automatically under runaway condition.
7. according to claims 1 said upper limb rehabilitation robot; It is characterized in that: comprise the electronic limit function in the said servo-control system; Setting in 5 centimetres on the limbs surface be safe interference region, and when mechanical arm when interfere in the zone therewith, system is automatically to motor execution speed limit program.
8. according to claims 1 said upper limb rehabilitation robot; It is characterized in that: said comprehensive training system can be according to patient's physical training condition simulation training scene; Strengthen the sense of reality of training; Improve the training effect, the movable information of patient and mechanical arm is controlled the virtual training recreation as input signal, thereby improves the rehabilitation of patients effect.
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