CN102793616B - Vicarious grip device in arm rehabilitation training robot - Google Patents
Vicarious grip device in arm rehabilitation training robot Download PDFInfo
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- CN102793616B CN102793616B CN201210289742.1A CN201210289742A CN102793616B CN 102793616 B CN102793616 B CN 102793616B CN 201210289742 A CN201210289742 A CN 201210289742A CN 102793616 B CN102793616 B CN 102793616B
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- arm
- force transducer
- arm support
- support seat
- rehabilitation training
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Abstract
The invention discloses the vicarious grip device in the arm rehabilitation training robot of the change of power when a kind of energy real-time perception Rehabilitation is trained needed for reality, comprise: support, support is provided with telescopic arm and control device, the front end of telescopic arm is provided with grip assembly mount pad, grip assembly mount pad is provided with force transducer, the lower end of force transducer is set with arm support seat, arm support seat does not contact within the scope of both deflections with force transducer, and arm support seat is fixedly mounted on grip assembly mount pad, arm support seat is movably installed with arm support fagging, force transducer above arm support fagging is movably installed with and holds cover, hold cover not contact with arm support seat, hold between cover and force transducer and be provided with rotary sleeve, described rotary sleeve is sleeved on force transducer, the outfan of described force transducer is connected with the input of control device.
Description
Technical field
The present invention relates to field of medical device, be specifically related to for the grip device in the arm rehabilitation training robot of arm rehabilitation training.
Background technology
Robot assisted treatment technology is incorporated in limb rehabilitation training, obtains the attention of domestic and international research worker gradually, develop into heat subject, and obtain good rehabilitation effect clinically.Wherein arm rehabilitation training robot is a kind of for causing the auxiliary rehabilitation exercise robot of arm motion impaired patients because of hemiplegia, wound etc., it is as a kind of automatization rehabilitation medicine equipment, take theory of medicine as foundation, use the characteristics of motion of computer technology simulation human arm, help patient to carry out science and effective rehabilitation training, thus the motion function of patient is recovered better.
The arm rehabilitation training robot of current Clinical practice, mainly comprise support, support is provided with telescopic arm, the front end of telescopic arm is provided with grip device, grip device is the handle being arranged on telescopic arm front end, the rear end of telescopic arm is provided with retractable driving device, support is also provided with rotating driving device and overturning drive device and control device.Under the driving of retractable driving device, telescopic arm can outwards extend or inwardly shorten, thus carry out patient's arm bend and stretch rehabilitation training; Under the driving of rotating driving device, telescopic arm can planar rotate, thus carries out the swing rehabilitation training of patient's arm; Under the driving of overturning drive device, telescopic arm can turn to different training plans jointly from rotating driving device, thus in different training plans, carry out the swing of arm or flexible rehabilitation training; Control device is made up of a few parts such as PC or single-chip microcomputer, drive system, input keyboard and display usually, the control system be made up of PC or single-chip microcomputer and drive system carry out motor control to overturning drive device, rotating driving device and retractable driving device jointly, thus power-assisted or the size of resistance when controlling rehabilitation training.In above-mentioned arm rehabilitation training robot architecture, patient only need hold handle can carry out rehabilitation training, but due to the change of the power needed for real-time perception patient reality can not be realized, all train under the pattern preset at control device during training, namely power-assisted during rehabilitation training or resistance preset, the size of resistance or power-assisted can only be estimated, and namely patient carries out the rehabilitation training of arm under the power-assisted estimating setting or resistance.Because extent is different and the individual variation of patient itself, power-assisted or the resistance of estimating setting can not be applicable to patient completely, and the power-assisted that patient can bear in rehabilitation training or resistance also can change in real time, and the constant magnitude of the power-assisted preset or resistance, the needs of patient's real-time change in rehabilitation training cannot be met.
Summary of the invention
The technical issues that need to address of the present invention are: the change of power when providing a kind of energy real-time perception Rehabilitation to train needed for reality, thus make control device can produce vicarious grip device in the arm rehabilitation training robot of corresponding power-assisted or resistance.
For solving the problem, the technical solution used in the present invention is: the vicarious grip device in arm rehabilitation training robot, comprise: support, support is provided with telescopic arm and control device, the front end of telescopic arm is installed with grip assembly mount pad, grip assembly mount pad is fixedly installed force sensor, arm support seat is set with outside the lower end of force transducer, described arm support seat does not contact within the scope of both deflections with force transducer, and arm support seat is fixedly mounted on grip assembly mount pad, arm support seat is movably installed with arm support fagging, be positioned at the force transducer above arm support fagging is movably installed with and hold cover, described cover of holding does not contact with arm support seat, hold between cover and force transducer and be provided with rotary sleeve, described rotary sleeve is sleeved on force transducer, the outfan of described force transducer is connected with the input of control device.
Further, the vicarious grip device in aforesaid arm rehabilitation training robot, wherein, described force transducer is 2 D force sensor.
Further, the vicarious grip device in aforesaid arm rehabilitation training robot, wherein, described force transducer is provided with a circle stopper slot, and described holding between cover and stopper slot is provided with stop screw.
Beneficial effect of the present invention: holding in cover of telescopic arm front end is provided with force transducer, patient in rehabilitation training can be transformed into electrical signal transfer in control device to the curable grip holding cover by force transducer, thus the control system in control device and drive system are control effectively to overturning drive device, rotating driving device and retractable driving device jointly, and the power-assisted in real time corresponding with curable grip can be produced or resistance confession Rehabilitation is trained; In addition owing to being provided with the arm support fagging for supporting arm, and do not contact within the scope of both deflections with force transducer for the arm support seat installing arm support fagging, namely the gravity of patient's arm can not be passed on force transducer, thus eliminates the impact of arm gravity on the measured value of patient's curable grip; Hold cover also not contact with between arm support seat, so more ensure that the accuracy of force transducer to the measured value of patient's curable grip.
Accompanying drawing explanation
Fig. 1 is the installation site schematic diagram of the vicarious grip device in arm rehabilitation training robot of the present invention.
The structural representation of the vicarious grip device in Tu2Shi Tu1Zhong arm rehabilitation training robot.
Detailed description of the invention
As Fig. 1, vicarious grip device in Fig. 2 arm rehabilitation training robot, comprise: support 1, support 1 is provided with telescopic arm 2 and control device 3, the front end of telescopic arm 2 is installed with grip assembly mount pad 4, grip assembly mount pad 4 is fixedly installed 2 D force sensor 5, the outside of 2 D force sensor 5 lower end is set with arm support seat 6, described arm support seat 6 does not contact within the scope of both deflections with 2 D force sensor 5, and arm support seat 6 is fixedly mounted on grip assembly mount pad 4, arm support seat 6 is movably installed with arm support fagging 7, be positioned at the 2 D force sensor 5 above arm support fagging 7 is movably installed with and hold cover 8, the bottom of holding cover 8 does not contact with arm support seat 6, hold between cover 8 and 2 D force sensor 5 and be provided with two rotary sleeves 9, described rotary sleeve 9 is all sleeved on 2 D force sensor 5, the outfan of 2 D force sensor 5 is connected with the input of control device 3.Described 2 D force sensor 5 is provided with a circle stopper slot, described holding between cover 8 and stopper slot is provided with stop screw 10, holds cover 8 like this and rotates around 2 D force sensor 5 on rotary sleeve 9, and can not be separated with 2 D force sensor 5.
Operation principle of the present invention is as follows: when patient carries out rehabilitation training, to hold and hold cover 8, arm is bearing on arm support fagging 7, because the arm support seat 6 installing arm support fagging 7 does not contact within the scope of both deflections with 2 D force sensor 5, therefore the gravity of arm can not have influence on the measured value of 2 D force sensor 5 pairs of patient's curable grips, the bottom of holding cover 8 does not also contact with arm support seat 6, more ensure that the accuracy of 2 D force sensor 5 pairs of curable grip measured values.Under the effect of patient's curable grip, hold 2 D force sensor 5 stress deformation in cover 8, produce electrical signal transfer in control device 3, thus the control system in control device 3 and drive system are control effectively to overturning drive device, rotating driving device and retractable driving device, and generation is trained for Rehabilitation with the real-time corresponding power-assisted of curable grip or resistance.Like this in rehabilitation training, patient oneself can grasp the size of power-assisted or resistance, makes recovery exercising robot hommization more, rehabilitation training better effects if.
Claims (3)
1. the vicarious grip device in arm rehabilitation training robot, comprise: support, support is provided with telescopic arm and control device, it is characterized in that: the front end of telescopic arm is installed with grip assembly mount pad, grip assembly mount pad is fixedly installed force sensor, the lower end of force transducer is set with arm support seat, described arm support seat does not contact within the scope of both deflections with force transducer, and arm support seat is fixedly mounted on grip assembly mount pad, arm support seat is movably installed with arm support fagging, be positioned at the force transducer above arm support fagging is movably installed with and hold cover, described cover of holding does not contact with arm support seat, hold between cover and force transducer and be provided with rotary sleeve, described rotary sleeve is sleeved on force transducer, the outfan of described force transducer is connected with the input of control device.
2. the vicarious grip device in arm rehabilitation training robot according to claim 1, is characterized in that: described force transducer is 2 D force sensor.
3. the vicarious grip device in arm rehabilitation training robot according to claim 1 and 2, is characterized in that: described force transducer is provided with a circle stopper slot, and described holding between cover and stopper slot is provided with stop screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210289742.1A CN102793616B (en) | 2012-08-15 | 2012-08-15 | Vicarious grip device in arm rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210289742.1A CN102793616B (en) | 2012-08-15 | 2012-08-15 | Vicarious grip device in arm rehabilitation training robot |
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| Publication Number | Publication Date |
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| CN102793616A CN102793616A (en) | 2012-11-28 |
| CN102793616B true CN102793616B (en) | 2015-12-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210289742.1A Active CN102793616B (en) | 2012-08-15 | 2012-08-15 | Vicarious grip device in arm rehabilitation training robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109173173A (en) * | 2018-10-13 | 2019-01-11 | 孙淑文 | A kind of medical arm device for healing and training |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6042555A (en) * | 1997-05-12 | 2000-03-28 | Virtual Technologies, Inc. | Force-feedback interface device for the hand |
| CN201949284U (en) * | 2010-03-10 | 2011-08-31 | 广州一康医疗设备实业有限公司 | Robot used for upper limb rehabilitation |
| CN102184322A (en) * | 2011-04-26 | 2011-09-14 | 江苏科技大学 | Networked rehabilitation robot system based on virtual training environment |
| CN102274106A (en) * | 2011-08-08 | 2011-12-14 | 东南大学 | Multifunctional torque sensing arm rehabilitation device for rehabilitation robot |
| CN202776915U (en) * | 2012-08-15 | 2013-03-13 | 张家港市永发机器人科技有限公司 | Induction type grip device of arm rehabilitation training robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100841177B1 (en) * | 2007-05-04 | 2008-06-24 | 경상대학교산학협력단 | A walking training robot system having upper limbs linking device |
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2012
- 2012-08-15 CN CN201210289742.1A patent/CN102793616B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6042555A (en) * | 1997-05-12 | 2000-03-28 | Virtual Technologies, Inc. | Force-feedback interface device for the hand |
| CN201949284U (en) * | 2010-03-10 | 2011-08-31 | 广州一康医疗设备实业有限公司 | Robot used for upper limb rehabilitation |
| CN102184322A (en) * | 2011-04-26 | 2011-09-14 | 江苏科技大学 | Networked rehabilitation robot system based on virtual training environment |
| CN102274106A (en) * | 2011-08-08 | 2011-12-14 | 东南大学 | Multifunctional torque sensing arm rehabilitation device for rehabilitation robot |
| CN202776915U (en) * | 2012-08-15 | 2013-03-13 | 张家港市永发机器人科技有限公司 | Induction type grip device of arm rehabilitation training robot |
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| CN102793616A (en) | 2012-11-28 |
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Effective date of registration: 20191126 Address after: 215622 Changfeng Village, Leyu Town, Zhangjiagang City, Suzhou City, Jiangsu Province Patentee after: Jiangsu Yongfa medical equipment Polytron Technologies Inc Address before: Chang Feng Cun Le Yu town Zhangjiagang city Suzhou city Jiangsu province 215622 Zhangjiagang Yongfa Robot Technology Co Ltd Patentee before: Zhangjiagang Yongfa Robot Technology Co., Ltd. |
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