CN102631277B - Rocker type upper limb rehabilitation device and method for performing rehabilitation training by aid of rocker type upper limb rehabilitation device - Google Patents
Rocker type upper limb rehabilitation device and method for performing rehabilitation training by aid of rocker type upper limb rehabilitation device Download PDFInfo
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Abstract
The invention discloses a rocker type upper limb rehabilitation device, which mainly consists of a mechanical portion and a control portion. The mechanical portion mainly comprises a base, a retractable rocker, an outer arc-shaped track and an inner arc-shaped track, the retractable rocker consists of a linear motor, and the outer arc-shaped track and the inner arc-shaped track are connected with a servo motor. The control portion mainly comprises a position sensor, a photoelectric encoder, a movement control card, a display and a computer, and the movement control card controls voltage and current of a servo motor driver and a linear motor driver. The mechanical portion is organically combined with the control portion, the retractable rocker can move in a three-dimensional space along an optional trace, three training modes including a passive training mode, an active training mode and an assisted training mode can be provided for patients losing motion abilities in different degrees, and accordingly the rocker type upper limb rehabilitation device is simple and compact in structure, diversified in training modes and low in cost, is applicable to extensive patients, and has a fine application prospect.
Description
Technical field
The present invention relates to a kind ofly for the handicapped device for healing and training of upper extremity exercise, be specifically related to a kind of rocker-type upper limb healing device and utilize this device to carry out the method for rehabilitation training.
Background technology
The research of healing robot starts from the eighties in last century.Before nineteen ninety, be mainly the American-European and Japanese research in this respect of being engaged in.After nineteen ninety, the research of healing robot enters into all-round developing period.In the world, more and more automation and intellectuality of the research and development of healing robot.
At home, the research of healing robot has the trend of cumulative year after year, the people such as the prince legendary ruler of great antiquity, the first of the Three August Ones of Tsing-Hua University application in 2008, in the Chinese patent application that publication number is CN101347380A " a kind of upper limb hemiplegia rehabilitation robot device with adjustable training plan ", a kind of upper limb rehabilitation robot device is disclosed, this device comprises seat, training plan, training plan adjusting device, and be arranged on mechanical arm on training plan etc., by regulating height and the angle of training plan, to meet different patients, complete the needs of rehabilitation training in many planes.This apparatus structure is simple, can meet the demand of the multiple training of patient, but it is a kind of plane trainer in essence, thereby the refining of the instruction of the rehabilitation in three dimensions is limited to each plane, can't realize the motion of track arbitrarily in three dimensions, and this device do not possess compliance due to structural limitations while driving patient's rehabilitation training of upper limbs, make the patient may produce sense of discomfort in rehabilitation.
Summary of the invention
Technical purpose of the present invention is to provide a kind of rocker-type upper limb healing device, utilizes this device can realize the edge rehabilitation training of track arbitrarily in three dimensions in device.
The present invention realizes that the technical scheme that above-mentioned technical purpose adopts is:
A kind of rocker-type upper limb healing device, comprise mechanical part and control section,
Described mechanical part comprises base, flexible rocking bar, outer arcuate track and arc track;
Described outer arcuate track is fixed on base by bearing block, and the one end connects the first servomotor by the first reductor; Described arc track is fixed on base by bearing block, and the one end connects the second servomotor by the second reductor; Described outer arcuate track, its radius is slightly larger than the radius of arc track, across standing in arc track top, and forms certain angle with the arc track;
Described flexible rocking bar comprises linear electric motors and the rocking bar shell that is arranged on the linear electric motors outside;
Described linear electric motors comprise stator and are socketed in the mover on stator; Described mover is fixedly connected with the rocking bar shell, the relative mover moving linearly of described stator; Described stator one end is connected with handle by six-axis force sensor, and six-axis force sensor will be converted to voltage signal from the force signal of handle;
Described flexible rocking bar is vertically through outer arcuate track and outer arcuate track inside, and its rocking bar shell bottom is connected with the base fixed position by multi-directional ball; By vertically, through axle centered by the axis of base fixed position, described flexible rocking bar can carry out plane along outer arcuate track and arc track and detour and move;
Described control section comprises position sensor, the first photoelectric encoder, the second photoelectric encoder, signal conditioner, driver, motion control card, computer and the display be connected with computer;
Described position sensor is connected with stator, for recording the change in location of the relative mover of stator;
Described the first photoelectric encoder is connected with the other end of outer arcuate track, departs from the angle value of central shaft for recording the outer arcuate track; Described the second photoelectric encoder is connected with the other end of arc track, departs from the angle value of central shaft for recording the arc track;
Described signal conditioner is connected with six-axis force sensor, for the voltage signal by six-axis force sensor output, is enlarged into the voltage signal that is applicable to sampling.
Described three drivers are: the first motor servo driver be connected with the first servomotor takes the second motor servo driver that motor is connected, the linear motor driver be connected with linear electric motors with second;
Described motion control card is connected with computer by pci interface, for output voltage and the electric current of controlling three drivers;
In order to eliminate the gap between flexible rocking bar and outer arcuate track, and the frictional force produced while reducing the rocking bar that stretches along the outer arcuate orbital motion, preferably the gap between rocking bar shell and outer arcuate track arranges sliding bearing.
In like manner, in order to eliminate the gap between flexible rocking bar and arc track, and the frictional force produced while reducing the rocking bar that stretches along the arc orbital motion, preferably the gap between rocking bar shell and arc track arranges sliding bearing.
In order to limit the amplitude of fluctuation of stator in rocking bar shell inside, preferably in mover upper and lower position, arrange with the rocking bar shell, be fixedly connected with, for limiting the location bearing of relative position between stator and mover.
In order to improve the operating efficiency of linear electric motors, spring 18 preferably is set, for offsetting the weight of stator 17 self in stator bottom.
Described position sensor can adopt but be not limited to grating scale.
Described outer arcuate track can adopt with the contacted mode of arc track across standing in the arc track, also can adopt with the arc track and exist the mode of a determining deviation across standing in the arc track.As preferably, the angle of described outer arcuate rail and arc track is 90 °.
As preferably, described base fixed position is in the geometric center of base.
The control procedure of a kind of rocker-type upper limb healing of the present invention device is: computer is by output voltage and the output current of motion control card adjusted in concert linear motor driver, the first motor servo driver and the second motor servo driver; The current location of flexible rocking bar is backhauled moving control card by the first photoelectric encoder, the second photoelectric encoder and position sensor feedback, forms closed-loop control.The signal of telecommunication that six-axis force sensor produces is sent into computer after regulating by signal conditioner, after position signalling and the signal of telecommunication are sent into computer, is presented on display.
Utilize rocker-type upper limb healing device of the present invention can carry out three kinds of rehabilitation training patterns, be respectively passive exercise, active training and power-assist training.
Wherein, the passive exercise pattern is particularly useful for completely losing the patient of locomitivity, comprises the steps:
Step 1: create a target location, patient's upper limbs buttresses handle, and display shows current location and the target location of flexible rocking bar;
Step 2: output voltage and the output current of setting the first motor servo driver, the second motor servo driver and linear motor driver in motion control card, start this rocker-type upper limb healing device, make flexible rocking bar motion, to drive patient's upper extremity exercise;
Step 3: according to target location and the current location of flexible rocking bar, motion control card is adjusted output voltage and the output current of the first motor servo driver, the second motor servo driver and linear motor driver, while making the current location of flexible rocking bar reach target location, complete the rehabilitation training task one time.
The patient that the active training pattern is particularly useful for that the componental movement ability is arranged, can completes the rehabilitation training task, comprise the steps:
Step 1: create a target location, patient's upper limbs buttresses handle, and display shows current location and the target location of flexible rocking bar;
Step 2: the patient applies power to handle, makes flexible rocking bar motion;
Step 3: according to target location and the current location of flexible rocking bar, the patient adjusts applied force, while making the current location of flexible rocking bar reach target location, completes the rehabilitation training task one time.
The power-assist training mode is particularly useful for the componental movement ability is arranged but the patient that has been not enough to the rehabilitation training task, comprises the steps:
Step 1: create a target location, patient's upper limbs buttresses handle, and display shows current location and the target location of flexible rocking bar;
Step 2: the patient applies power to handle, and extra output voltage and the output current of setting the first motor servo driver, the second motor servo driver and linear motor driver in motion control card, make flexible rocking bar motion simultaneously;
Step 3: according to target location and the current location of flexible rocking bar, the patient adjusts applied force, motion control card is adjusted output voltage and the output current of the first motor servo driver, the second motor servo driver and linear motor driver simultaneously, while making the current location of flexible rocking bar reach target location, complete the rehabilitation training task one time.
In sum, a kind of rocker-type upper limb healing of the present invention device mainly consists of mechanical part and control section, mechanical part mainly comprises base, the flexible rocking bar that comprises linear electric motors, and the outer arcuate track and the arc track that connect servomotor, wherein flexible rocking bar is vertically through outer arcuate track and outer arcuate track inside, realize the axially-movable of flexible rocking bar by linear electric motors, realize that by servomotor outer arcuate track and arc track depart from the motion of central axis, detour and move from making flexible rocking bar carry out plane along outer arcuate track and arc track, therefore in the present invention flexible rocking bar can be in convalescence device in three dimensions along orbiting motion arbitrarily, with existing convalescence device, compare, there is following advantage:
(1) broken through the restriction of plane training, can provide in three-dimensional space along the rehabilitation training of track arbitrarily;
(2) design ingenious, combination by mechanical part and control section, can provide three kinds of training modes that comprise passive exercise pattern, active training pattern and power-assist training mode for the patient of LOM in various degree, therefore applicable patient crowd is extensive, the training mode variation;
(3) cost is low, simple and compact for structure, is convenient to move, and is applicable to use in varying environment.
The accompanying drawing explanation
Fig. 1 is the structural representation of rocker-type upper limb healing device of the present invention;
Fig. 2 is the cross-sectional view of flexible rocking bar in Fig. 1;
Fig. 3 is the cross-sectional view of Fig. 2 cathetus motor;
Fig. 4 is the control flow chart of rocker-type upper limb healing device of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention is described in further detail, it is pointed out that the following stated embodiment is intended to be convenient to the understanding of the present invention, and it is not played to any restriction effect.
Label in Fig. 1 to Fig. 4 is: base 1, flexible rocking bar 2, outer arcuate track 3, arc track 4, the first servomotor 51, the second servomotor 52, bearing block (61, 62), the first reductor 71, the second reductor 72, the first photoelectric encoder 81, the second photoelectric encoder 82, six-axis force sensor 9, handle 10, multi-directional ball 11, rocking bar shell 12, position sensor 13, sliding bearing (141, 142), location bearing (151, 152), mover 16, stator 17, spring 18, computer 19, the first motor servo driver 21, the second motor servo driver 22, linear motor driver 23, signal conditioner 24, motion control card 25, display 26.
As shown in Figure 1, rocker-type upper limb healing device comprises base 1, flexible rocking bar 2, outer arcuate track 3 and arc track 4.Outer arcuate track 3 is fixed on base 1 by bearing block 61.Arc track 4 is fixed on base 1 by bearing block 62.Wherein, the radius of outer arcuate track 3 is slightly larger than the radius of arc track 4, and outer arcuate track 3 is across standing in arc track 4 tops, and forms the angle of 90 ° with arc track 4.Outer arcuate track 3 one ends are equipped with the first photoelectric encoder 81, and the other end is connected with the first reductor 71, and the first reductor 71 inputs are connected with the first servomotor 51, the first servomotors 51 and are connected with the first motor servo driver 21.Arc track 4 has being connected of same size with outer arcuate track 3, be that arc track 4 one ends are equipped with the second photoelectric encoder 82, the other end is connected with the second reductor 72, the second reductor 72 inputs are connected with the second servomotor 52, the second servomotors 52 and are connected with the second motor servo driver 22.
As shown in Figure 2 and Figure 3, flexible rocking bar 2 comprise linear electric motors, the linear motor driver 23 be connected with linear electric motors and the rocking bar shell 12 that is arranged on the linear electric motors outside.Linear electric motors comprise stator 17 and mover 16.Mover 16 is socketed on stator 17, and is fixedly connected with rocking bar shell 12.Relative mover 16 moving linearlies of stator 17, be equipped with position sensor 13 on stator 17, for recording relative mover 16 change in location of stator 17.The present embodiment Position Sensor 13 is chosen as grating scale.Stator 17 1 ends are connected with handle 10 by six-axis force sensor 9, and six-axis force sensor 9 will be converted to voltage signal from the force signal of handle 10.Signal conditioner 24 is connected with six-axis force sensor 9, and the voltage signal of six-axis force sensor 9 outputs is enlarged into to the voltage signal that is applicable to sampling.
As shown in Figure 1, the vertical inside through outer arcuate track 3 and outer arcuate track 4 of flexible rocking bar 2, its rocking bar shell 12 bottoms are connected with base geometric center position by multi-directional ball 11.Should flexible rocking bar 2 can be by vertically through axle centered by the axis of base geometric center position, carrying out plane along outer arcuate track 3 and arc track 4 detours and moves, the first photoelectric encoder 81 departs from the angle value of central shaft for recording outer arcuate track 3, the second photoelectric encoder 82 departs from the angle value of central shaft for recording arc track 4.
As shown in Figure 4, the control flow of this rocker-type upper limb healing device is: computer 19 and control program thereof are by output voltage and the output current of motion control card 25 adjusted in concert the first motor servo drivers 21, the second motor servo driver 22 and linear motor driver 23; The current location of flexible rocking bar 2 is gathered by the first photoelectric encoder 81, the second photoelectric encoder 82 and position sensor 13, and the position signalling obtained feeds back to motion control card 25, thereby forms closed-loop control.The signal of telecommunication that six-axis force sensor 9 produces is inputted computer 19 after regulating by signal conditioner 24, is presented on display 26.After the position signalling input computer 19 of flexible rocking bar 2, be presented on display 26.
While adopting above-mentioned rocker-type upper limb healing device to carry out rehabilitation training, this rocker-type upper limb healing is placed on to ground, the patient is sitting on adjacent seat (according to needs of patients, can adopt the trunk of constraint chair immobilized patients), patient's upper limbs buttresses the handle 10 of this rehabilitation, perhaps, according to needs of patients, patient's upper limbs is fixed on handle 10.Personal considerations according to the patient, movement velocity is set in display 26, tempers the parameters such as number of times, moving region, training mode, can demonstrate concrete rehabilitation training task in display 26 and the performance of feedback patient to the rehabilitation training task after training finishes.
Below three kinds of rehabilitation training patterns that adopt this rocker-type upper limb healing device to carry out:
(1) passive exercise:
This rehabilitation training pattern is particularly useful for completely losing the patient of locomitivity.Concrete training method is as follows:
Step 1: create a target location, patient's upper limbs is buttressed to handle 10, display 26 shows current location and the target location of flexible rocking bar 2;
Step 2: according to the hands-on parameter, such as movement velocity, exercise number of times and moving region etc., set output voltage and the output current of the first motor servo driver 21, the second motor servo driver 22 and linear motor driver 23 in motion control card 25, start this rocker-type upper limb healing device, make flexible rocking bar 2 motions, to drive patient's upper extremity exercise;
Step 3: according to target location and the current location of flexible rocking bar 2, motion control card 25 is adjusted output voltage and the output current of the first motor servo driver 21, the second motor servo driver 22 and linear motor driver 23, while making the current location of flexible rocking bar 2 reach target location, complete the rehabilitation training task one time.
Below control procedure concrete in this rehabilitation training:
(1) according to output voltage and the output current of the first motor servo driver 21, the second motor servo driver 22 and the linear motor driver 23 set in motion control card 25, control the first servomotor 51, the second servomotor 52 and linear electric motors work, to drive outer arcuate track 3, arc track 4 and linear motor stator electric 17 motions, thereby drive patient's upper extremity exercise;
(2) current position signal that gathers flexible rocking bar 2 by the first photoelectric encoder 81, the second photoelectric encoder 82 and position sensor 13 feeds back to motion control card 25, and is presented on display 26; Six-axis force sensor 9 gathers this and executes to the force signal of handle 10 and be converted into the signal of telecommunication, feeds back to computer 19 after amplifying by signal conditioner 24, and is presented on display 26;
(3) according to set target location and the current position signal that feeds back to motion control card 25, motion control card 25 is adjusted output voltage and the output current of the first motor servo driver 21, the second motor servo driver 22 and linear motor driver 23, repeat (2) and make flexible rocking bar 2 reach target location, complete training mission.
(2) active training:
This rehabilitation training pattern is particularly useful for having the patient of componental movement ability.Concrete training method is as follows:
Step 1: create a target location, patient's upper limbs buttresses handle 10, and display 26 shows current location and the target location of flexible rocking bar 2;
Step 2: the patient applies power to handle 10, makes flexible rocking bar 2 motions;
Step 3: according to target location and the current location of flexible rocking bar 2, the patient adjusts applied force, makes the current location of flexible rocking bar 2 reach target location, completes the rehabilitation training task one time.
Below control procedure concrete in this rehabilitation training:
(1) patient applies power to handle 10, six-axis force sensor 9 collects this force signal, be converted into the signal of telecommunication, feed back to computer 19 by signal conditioner 24, computer 19 is by the computing based on kinetics equation, obtain movement locus, control the first servomotor 51, the second servomotor 52 and linear electric motors by motion control card 25 and realize this track;
(2) current location information that gathers flexible rocking bar 2 by the first photoelectric encoder 81, the second photoelectric encoder 82 and position sensor 13 feeds back to motion control card 25, and is presented on display 26; Six-axis force sensor 9 gathers from the force signal of handle and is converted into the signal of telecommunication, feeds back to computer 19 after amplifying by signal conditioner 24, and is presented on display 26;
(3) according to set target location and current location, the patient adjusts applied force, repeats (2) and makes flexible rocking bar 2 reach target location, completes training mission.
(3) power-assist training:
This rehabilitation training pattern is particularly useful for the componental movement ability is arranged but the patient that has been not enough to the rehabilitation training task.Concrete training method is as follows:
Step 1: create a target location, patient's upper limbs is buttressed to handle 10, display 26 shows current location and the target location of flexible rocking bar 2;
Step 2: the patient applies power to handle 10, and extra output voltage and the output current of setting the first motor servo driver 21, the second motor servo driver 22 and linear motor driver 23 of motion control card 25, make flexible rocking bar 2 motions simultaneously;
Step 3: according to target location and current location, the patient adjusts applied force, motion control card 25 is adjusted output voltage and the output current of the first motor servo driver 21, the second motor servo driver 22 and linear motor driver 23 simultaneously, while making the current location of flexible rocking bar 2 reach target location, complete the rehabilitation training task one time.
Below control procedure concrete in this rehabilitation training:
(1) patient applies power to handle 10, six-axis force sensor 9 collects this force signal, be converted into the signal of telecommunication, feed back to computer 19 by signal conditioner 24, computer 19 is by the computing based on kinetics equation, draw movement locus, then in motion control card, set output voltage and the output current of corresponding the first motor servo driver 21, the second motor servo driver 22 and linear motor driver 23; Simultaneously, superimposed with output voltage and the output current of extra the first motor servo driver 21, the second motor servo driver 22 and the linear motor driver 23 of setting in motion control 25, co-controlling the first servomotor 51, the second servomotor 52 and linear electric motors work, to drive outer arcuate track 3, arc track 4 and linear motor stator electric 17 motions;
(2) current position signal that gathers flexible rocking bar 2 by the first photoelectric encoder 81, the second photoelectric encoder 82 and position sensor 13 feeds back to motion control card 25, and is presented on display 26; Six-axis force sensor 9 gathers this signal of telecommunication from handle 10 and is converted into the signal of telecommunication, feeds back to computer 19 after amplifying by signal conditioner 24, and is presented on display 26; ;
(3) according to target location and current location, the patient adjusts applied force, motion control card 25 is adjusted extra output voltage and the output current of extra the first motor servo driver 21, the second motor servo driver 22 and the linear motor driver 23 of setting, repeat (2) and make flexible rocking bar 2 reach target location, complete training mission.
Above-described embodiment has been described in detail technical scheme of the present invention; be understood that and the foregoing is only specific embodiments of the invention; be not limited to the present invention; all any modifications of making in principle scope of the present invention, supplement or similar fashion substitutes etc., within all should being included in protection scope of the present invention.
Claims (9)
1. a rocker-type upper limb healing device is characterized in that: comprise mechanical part and control section, described mechanical part comprises base (1), flexible rocking bar (2), outer arcuate track (3) and arc track (4);
It is upper that described outer arcuate track (3) is fixed on base (1) by clutch shaft bearing seat (61), and the one end connects the first servomotor (51) by the first reductor (71); It is upper that described arc track (4) is fixed on base (1) by the second bearing block (62), and the one end connects the second servomotor (52) by the second reductor (72); Described outer arcuate track (3), its radius is slightly larger than the radius of arc track (4), across standing in arc track (4) top, and forms certain angle with arc track (4);
Described flexible rocking bar (2) comprises linear electric motors and the rocking bar shell (12) that is arranged on the linear electric motors outside;
Described linear electric motors comprise stator (17), and are socketed in the mover (16) on stator (17); Described mover (16) is fixedly connected with rocking bar shell (12), and described stator (17) is mover (16) moving linearly relatively; Described stator (17) one ends are connected with handle (10) by six-axis force sensor (9), and described six-axis force sensor (9) will be converted to voltage signal from the force signal of handle (10);
Described flexible rocking bar (2) is vertically through outer arcuate track (3) and arc track (4) inside, and its rocking bar shell (12) bottom is connected with the base fixed position by multi-directional ball (11); By vertically, through axle centered by the axis of base fixed position, described flexible rocking bar (2) can carry out the plane motion of detouring along outer arcuate track (3) and arc track (4);
Described control section comprises position sensor (13), the first photoelectric encoder (81), the second photoelectric encoder (82), signal conditioner (24), three drivers (21,22,23), motion control card (25), computer (9) and the display (26) be connected with computer (9);
Described position sensor (13) is connected with stator (17), for recording the change in location of the relative mover of stator (17) (16);
Described the first photoelectric encoder (81) is connected with the other end of outer arcuate track (3), departs from the angle value of central shaft for recording outer arcuate track (3); Described the second photoelectric encoder (82) is connected with the other end of arc track (4), departs from the angle value of central shaft for recording arc track (4);
Described signal conditioner (24) is connected with six-axis force sensor (9), for the voltage signal by six-axis force sensor (9) output, is enlarged into the voltage signal that is applicable to sampling;
Described three drivers are: the first motor servo driver (21) be connected with the first servomotor (51), take the second motor servo driver (22) that motor (52) is connected, the linear motor driver be connected with linear electric motors (23) with second;
Described motion control card (25) is connected with computer (19) by pci interface, for controlling output voltage and the electric current of three drivers (21,22,23).
2. rocker-type upper limb healing device according to claim 1, it is characterized in that: the gap between described rocking bar shell (12) and outer arcuate track (3) arranges sliding bearing (141).
3. rocker-type upper limb healing device according to claim 1, it is characterized in that: the gap between described rocking bar shell (12) and arc track (4) arranges sliding bearing (142).
4. rocker-type upper limb healing device according to claim 1, it is characterized in that: the top of described mover (16) arranges the first location bearing (151) be fixedly connected with rocking bar shell (12), below arranges the second location bearing (152) be fixedly connected with rocking bar shell (12), for limiting relative position between stator (17) and mover (16).
5. rocker-type upper limb healing device according to claim 1, is characterized in that: spring (18) is set bottom described stator (17).
6. rocker-type upper limb healing device according to claim 4 is characterized in that: described stator (17) bottom arranges spring (18), and described the second location bearing (152) is arranged on the tip position of spring (18).
7. rocker-type upper limb healing device according to claim 1, it is characterized in that: described position sensor (13) is grating scale.
8. according to the described rocker-type upper limb healing of arbitrary claim device in claim 1 to 7, it is characterized in that: described outer arcuate track (3) is 90 ° with the angle of arc track (4).
9. according to the described rocker-type upper limb healing of arbitrary claim device in claim 1 to 7, it is characterized in that: described base fixed position is in the geometric center position of base (1).
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| EP3056182A1 (en) * | 2015-02-09 | 2016-08-17 | Hiwin Technologies Corp. | Upper extremity rehabilitation device |
| EP3165208A4 (en) * | 2014-07-03 | 2017-06-14 | Teijin Pharma Limited | Rehabilitation assistance device and program for controlling rehabilitation assistance device |
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| EP3165208A4 (en) * | 2014-07-03 | 2017-06-14 | Teijin Pharma Limited | Rehabilitation assistance device and program for controlling rehabilitation assistance device |
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| CN102631277A (en) | 2012-08-15 |
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