CN103006415A - Control device and method for upper limb movement training robot - Google Patents
Control device and method for upper limb movement training robot Download PDFInfo
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- CN103006415A CN103006415A CN2012105672684A CN201210567268A CN103006415A CN 103006415 A CN103006415 A CN 103006415A CN 2012105672684 A CN2012105672684 A CN 2012105672684A CN 201210567268 A CN201210567268 A CN 201210567268A CN 103006415 A CN103006415 A CN 103006415A
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Abstract
The invention discloses a control device and method for an upper limb movement training robot. The control system mainly consists of an upper limb movement training robot, a signal detection device, a data collecting device, a master control computer, a movement control device, a torque control deice, a driving device and an interactive interface. According to the control device and method for an upper limb movement training robot provided by the invention, the upper limb movement training robot assists a trained object to passively train the upper limb along a predetermined track, train actively along the predetermined track, and train actively in free movement. The upper limb is assisted to train by selecting the training mode and setting associated parameters according to condition of the upper limb of the trained object.
Description
Technical field
The present invention relates to a kind of upper extremity exercise image training robot control system and control method, belong to the Robot Control Technology field.
Background technology
Upper extremity exercise training machine robot system is mainly used in the Household fitness equipment that athlete's upper extremity exercise is trained, also be can be used as the non professional sportsman, or is used for the clinical training treatment for upper limb hemiplegia.Mostly tradition upper limb sports training method is to come the supplemental training object to carry out by specialized guidance person, it is high that this manual mode of operation causes the specialized guidance employee to make intensity, and the effect of training is subject to specialized guidance person's workmanship and factor affecting such as work mood etc. unavoidably, and the cost of training is higher.Researcher has been studied the upper extremity exercise image training robot and is replaced specialized guidance person's supplemental training object to finish training for this reason.But the deficiencies such as training mode is single, the objective training effect's evaluation index of shortage that traditional upper extremity exercise image training robot exists.
Summary of the invention
Problem for the prior art existence, the purpose of this invention is to provide a kind of upper extremity exercise image training robot control system and control method, this control system and control method can realize that upper extremity exercise image training robot supplemental training object is finished continuous passive motion and active exercise is trained, and can preserve and provide some data in the sport training process for specialized guidance person and training objects, with the reference index of estimating as the training effect, also as one of foundation of regulating training parameter.
For achieving the above object, the present invention takes following technical scheme:
A kind of upper extremity exercise image training robot control system, comprise the upper extremity exercise image training robot, signal detection apparatus, data acquisition equipment, main control computer, motion control apparatus, Torque Control equipment, driving arrangement and interactive interface, it is characterized in that: described signal detection apparatus is connected the upper extremity exercise image training robot with driving arrangement, the output of signal detection apparatus is connected to main control computer through data acquisition equipment, the output of main control computer is through motion control apparatus, Torque Control equipment and driving arrangement are connected to the upper extremity exercise image training robot, and the upper extremity exercise image training robot is connected by bandage with the upper limb of training objects; Interactive interface connects main control computer by the VGA interface; The position signalling that signal detection apparatus detects and force signal are transferred to main control computer behind data acquisition equipment, main control computer by analyzing and testing to signal and the deviation of setting signal and by calculating controlled quentity controlled variable, act on driving arrangement after the processing of controlled quentity controlled variable by motion control apparatus and Torque Control equipment, make driving arrangement by the regular movement of appointment, drive the upper extremity exercise image training robot by the orbiting motion of planning or follow the sports consciousness motion of training objects, carry out training thereby drive training objects; Main control computer is stored at any time related data and by interactive interface data result is showed specialized guidance person and training objects in the training process, specialized guidance person can understand the situation of training and according to the interchange result of training objects relevant training parameter being adjusted by data result, in addition the objective reference index that can also assess as follow-up training effect, training method of the data that preserve of main control computer; When interactive interface is switched to the scene display interface from data display interface, show for training objects provides the scene of virtual training, to strengthen the interest of training objects training, improve the training effect.
Described upper extremity exercise image training robot control system is characterized in that: the artificial a four-degree-of-freedom upper extremity exercise image training robot of described upper extremity exercise training machine; Described signal detection apparatus comprises encoder and force transducer, and wherein encoder is selected Omron E6J-CWZ1EA2 type encoder, force transducer for can detect three on the orthogonal direction power and the four dimensional force sensor of a moment; Data acquisition equipment and motion control apparatus are selected respectively integrated circuit board PCI2394 and the PCI8640 of Altay; Driving arrangement and Torque Control equipment are selected respectively east motor TM203C-MSE type torque motor and supporting torque controller; Main control computer and interactive interface are selected and are ground magnificent IPC-610MB industrial computer and supporting liquid crystal display.
A kind of upper extremity exercise image training robot control method, adopt upper extremity exercise image training robot control system claimed in claim 1 to control, it is characterized in that: 1. described control method comprises along the Passive Control of desired trajectory, 2. free-moving ACTIVE CONTROL and 3. along three kinds of control of ACTIVE CONTROL training method of desired trajectory:
1. the initial stage of training is selected the Passive Control training, and the upper extremity exercise image training robot is pressed the projected path motion, drives the upper extremity exercise of training objects, and this stage upper limb need not provide power, is driven by the upper extremity exercise image training robot fully.This moment, operating procedure was as follows:
1). by the trajectory path planning movement locus that helps to improve the training effect;
2). solve the object pose in each joint by kinesiology and dynamics calculation according to planned trajectory;
3). detect the current pose that detects in real time each joint by signal detection apparatus, and send main control computer to by data acquisition equipment;
4) main control computer calculates controlled quentity controlled variable according to the deviation of current pose and object pose by specific algorithm, and controlled quentity controlled variable passed to driving arrangement after motion control apparatus and Torque Control device processes, turning round by expection of control driving arrangement realized the moving target of expection.
2. training later stage, the paleocinetic ability of upper limb obviously strengthens, can adopt free-moving ACTIVE CONTROL, training objects according to sports consciousness with being intended to motion upper limb in the safety range, the upper extremity exercise image training robot is followed the tracks of upper extremity exercise and is provided auxiliary force for the motion of upper limb, the size of auxiliary force can be adjusted according to the upper extremity exercise level, can be adjusted into negative value.This moment, operating procedure was as follows:
1). signal detection apparatus detects the interaction force between upper extremity exercise image training robot and the training objects;
2). force signal is transferred to main control computer through data acquisition equipment, main control computer thus can be according to the movement tendency of ad hoc approach training of judgement object upper limb, and the corresponding controlled quentity controlled variable that calculates, after motion control apparatus and Torque Control device processes, pass to driving arrangement, the working order of control driving arrangement, realization upper extremity exercise image training robot is followed the sports consciousness of training objects, provides auxiliary force to come the supplemental training object to finish training.The size of auxiliary force can be adjusted according to the level of upper extremity exercise ability, and motor capacity is stronger, and auxiliary force is less.Provide the upper extremity exercise that certain resistance hinders training objects when auxiliary force is adjusted into negative value, play the effect of consolidating the training effect in early stage, tempering upper limb.
Carry out the active training along desired trajectory when 3. the upper limb in mid-term of training has part autonomic movement ability, training objects is moved upper limb consciously along desired trajectory, this stage upper extremity exercise image training robot only provides part power to assist upper extremity exercise, and upper limb need to provide part power.The operating process of this moment is the combination with the above-mentioned two situations process.Progressively realize the training of upper extremity exercise ability according to the order of training early stage, mid-term, later stage in the whole training process.
Above-mentioned Passive Control along desired trajectory is based on the impedance Control of position, calculated the theoretical value of the angular displacement in each joint through inverse kinematics by the track of expection, and drive accordingly each joint, in the driving process, detect in real time the actual displacement angle in each joint, deviation according to the theoretical value of the actual displacement angle that detects and angular displacement is carried out fuzzy control, moves along desired trajectory comparatively exactly so that the upper extremity exercise image training robot drives upper limb.Be based on the impedance Control of power position mixture control along the ACTIVE CONTROL of desired trajectory, free-moving ACTIVE CONTROL is based on the impedance Control of power, can realize the motion of upper extremity exercise image training robot tracking upper limb and certain auxiliary upper extremity exercise of auxiliary force is provided, and the size of auxiliary force can be adjusted according to training need.Keep monitoring location information in the training process, control all training activities and all in safety range, carry out.
Upper extremity exercise image training robot control system of the present invention and control method compared with prior art have following outstanding substantive distinguishing features and remarkable advantage:
1), can realize that the supplemental training object finishes initiatively and passive training, and parameter can be regulated as required in the training process, and is easy to adjust; 2), this device can be estimated for follow-up training effect reservation and sufficient data are provided; 3), good interactive interface Combining with technology of virtual reality can improve the enthusiasm of training objects training.
Description of drawings
Fig. 1 is the structure chart of control system of the present invention.
Fig. 2 is driving arrangement of the present invention, signal detection apparatus installation diagram.
Fig. 3 is the interactive interface that position data of the present invention detects debugging.
Fig. 4 is the initial interactive interface of application of the present invention.
Fig. 5 is the flow chart of training of the present invention.
Fig. 6 is control algolithm block diagram of the present invention.
Fig. 7 is control sequence flow chart of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing the preferred embodiments of the present invention are elaborated.
Embodiment one:
Referring to Fig. 1-Fig. 7, this upper extremity exercise image training robot control system, comprise upper extremity exercise image training robot 1, signal detection apparatus 2, data acquisition equipment 3, main control computer 4, motion control apparatus 5, Torque Control equipment 6, driving arrangement 7 and interactive interface 8, wherein signal detection apparatus 2 and driving arrangement 7 are connected by screw with key and are mounted on upper extremity exercise image training robot 1 relevant position, the output lead of signal detection apparatus 2 is connected to the corresponding port of data acquisition equipment 3, data acquisition equipment 3 and motion control apparatus 5 are installed in the PCI slot of main control computer 4, the corresponding output port of motion control apparatus 5 links to each other by the respective terminal of wire with Torque Control equipment 6, the output port of Torque Control equipment 6 is connected on the driving arrangement, and interactive interface 8 display are connected on the main control computer 4 by the VGA interface.The position signalling that signal detection apparatus 2 detects and force signal are transferred to main control computer 4 behind data acquisition equipment 3, main control computer 4 by analyzing and testing to signal and the deviation of setting signal and calculate controlled quentity controlled variable by specific algorithm, controlled quentity controlled variable is by motion control apparatus 5, act on driving arrangement 7 after the processing of Torque Control equipment 6 grades, driving arrangement 7 is moved according to certain rules, and then drive upper extremity exercise image training robot 1 by the orbiting motion of planning or follow the sports consciousness motion of training objects 10, carry out training thereby drive training objects 10.Main control computer 4 is stored at any time related data and by interactive interface 8 data result is showed specialized guidance person 9 and training objects 10 in the training process, specialized guidance person 9 can understand the situation of training and according to the interchange result of training objects 10 relevant training parameter being adjusted by data result, in addition the objective reference index that can also assess as follow-up training effect, training method of the data that preserve of main control computer.When interactive interface 8 is switched to the scene display interface from data display interface, show for training objects 10 provides the scene of virtual training by virtual reality technology, to strengthen the interest of training objects 10 training, improve the training effect.
Embodiment two: the present embodiment and embodiment one are basic identical, and special feature is as follows:
Described upper extremity exercise image training robot control system is characterized in that described upper extremity exercise image training robot 1 is a four-degree-of-freedom upper extremity exercise image training robot; Described signal detection apparatus 2 comprises encoder and force transducer, and wherein encoder can be selected Omron E6J-CWZ1EA2 type encoder, force transducer for can detect three on the orthogonal direction power and the four dimensional force sensor of a moment; Data acquisition equipment 3 and motion control apparatus 5 can be selected respectively integrated circuit board PCI2394 and the PCI8640 of Altay; Driving arrangement 7 and Torque Control equipment 6 can be selected respectively east motor TM203C-MSE type torque motor and supporting torque controller; Main control computer 4 and interactive interface 8 can be selected and grind magnificent IPC-610MB industrial computer and supporting liquid crystal display.
Embodiment three:
This upper extremity exercise image training robot control method, adopt upper extremity exercise image training robot control system claimed in claim 1 to control, it is characterized in that: 1. described control method comprises along the Passive Control of desired trajectory, 2. free-moving ACTIVE CONTROL and 3. along three kinds of control of ACTIVE CONTROL training method of desired trajectory:
1. the initial stage of training is selected the Passive Control training, and upper extremity exercise image training robot 1 is pressed the projected path motion, drives the upper extremity exercise of training objects 10, and this stage upper limb need not provide power, is driven by upper extremity exercise image training robot 1 fully.This moment, operating procedure was as follows:
1). by the trajectory path planning movement locus that helps to improve the training effect;
2). solve the object pose in each joint by kinesiology and dynamics calculation according to planned trajectory;
3). detect the current pose that detects in real time each joint by signal detection apparatus 2, and send main control computer 4 to by data acquisition equipment 3;
4) main control computer 4 calculates controlled quentity controlled variable according to the deviation of current pose and object pose by specific algorithm, and controlled quentity controlled variable after processing, motion control apparatus 5 and Torque Control equipment 6 passed to driving arrangement 7, turning round by expection of control driving arrangement realized the moving target of expection.
2. training later stage, the paleocinetic ability of upper limb obviously strengthens, can adopt free-moving ACTIVE CONTROL, training objects 10 according to sports consciousness with being intended to motion upper limb in the safety range, upper extremity exercise image training robot 1 is followed the tracks of upper extremity exercise and is provided auxiliary force for the motion of upper limb, the size of auxiliary force can be adjusted according to the upper extremity exercise level, can be adjusted into negative value.This moment, operating procedure was as follows:
1). the interaction force that signal detection apparatus 2 detects between upper extremity exercise image training robot 1 and the training objects 10;
2). force signal is transferred to main control computer 4 through data acquisition equipment 3, main control computer 4 thus can be according to the movement tendency of ad hoc approach training of judgement object 10 upper limb, and the corresponding controlled quentity controlled variable that calculates, after motion control apparatus 5 and 6 processing of Torque Control equipment, pass to driving arrangement 7, the working order of control driving arrangement, realization upper extremity exercise image training robot 1 is followed the sports consciousness of training objects 10, provides auxiliary force to come supplemental training object 10 to finish training.The size of auxiliary force can be adjusted according to the level of upper extremity exercise ability, and motor capacity is stronger, and auxiliary force is less.Provide the upper extremity exercise that certain resistance hinders training objects when auxiliary force is adjusted into negative value, play the effect of consolidating the training effect in early stage, tempering upper limb.
Carry out the active training along desired trajectory when 3. the upper limb in mid-term of training has part autonomic movement ability, training objects 10 is moved upper limb consciously along desired trajectory, this 1 of stage upper extremity exercise image training robot provides part power to assist upper extremity exercise, and upper limb need to provide part power.The operating process of this moment is the combination with the above-mentioned two situations process.Progressively realize the training of upper extremity exercise ability according to the order of training early stage, mid-term, later stage in the whole training process.
With reference to Fig. 5-Fig. 7, above-mentioned Passive Control along desired trajectory is based on the impedance Control of position, calculated the theoretical value of the angular displacement in each joint through inverse kinematics by the track of expection, and drive accordingly each joint, in the driving process, detect in real time the actual displacement angle in each joint, deviation according to the theoretical value of the actual displacement angle that detects and angular displacement is carried out fuzzy control, moves along desired trajectory comparatively exactly so that the upper extremity exercise image training robot drives upper limb.Be based on the impedance Control of power position mixture control along the ACTIVE CONTROL of desired trajectory, free-moving ACTIVE CONTROL is based on the impedance Control of power, can realize upper extremity exercise image training robot track training object 10 upper limb motion and provide certain auxiliary force auxiliary upper extremity exercise, and the size of auxiliary force can be adjusted according to training need.Control system keeps monitoring location information in the training process, controls all training activities and all carries out in safety range.
The invention is not restricted to above-described embodiment, all according to technical solution of the present invention spirit and principle under make change, modification, substitute, combination, simplify, all should be the substitute mode of equivalence, all belong to protection scope of the present invention.
Claims (4)
1. upper extremity exercise image training robot control system, comprise upper extremity exercise image training robot (1), signal detection apparatus (2), data acquisition equipment (3), main control computer (4), motion control apparatus (5), Torque Control equipment (6), driving arrangement (7) and interactive interface (8), it is characterized in that: described signal detection apparatus (2) is connected 7 with driving arrangement) connection upper extremity exercise image training robot (1), the output of signal detection apparatus (2) is connected to main control computer (4) through data acquisition equipment (3), the output of main control computer (4) is through motion control apparatus (5), Torque Control equipment (6) and driving arrangement (7) are connected to upper extremity exercise image training robot (1), and upper extremity exercise image training robot (1) is connected by bandage with the upper limb of training objects (10); Interactive interface (8) connects main control computer (4) by the VGA interface; The position signalling that signal detection apparatus (2) detects and force signal are transferred to main control computer (4) behind data acquisition equipment (3), main control computer (4) by analyzing and testing to signal and the deviation of setting signal and by calculating controlled quentity controlled variable, act on driving arrangement (7) after the processing of controlled quentity controlled variable by motion control apparatus (5) and Torque Control equipment (6), make driving arrangement (7) by the regular movement of appointment, drive upper extremity exercise image training robot (1) by the orbiting motion of planning or follow the sports consciousness motion of training objects (10), carry out training thereby drive training objects (10); Main control computer in the training process (4) is stored at any time related data and by interactive interface (8) data result is showed specialized guidance person (9) and training objects (10), and specialized guidance person (9) can understand the situation of training also according to the interchange result of training objects (10) relevant training parameter being adjusted by data result; When interactive interface (8) is switched to the scene display interface from data display interface, for providing the scene of virtual training, training objects (10) shows.
2. upper extremity exercise image training robot control system claimed in claim 1 is characterized in that described upper extremity exercise image training robot (1) is a four-degree-of-freedom upper extremity exercise image training robot; Described signal detection apparatus (2) comprises encoder and force transducer, and wherein encoder is selected Omron E6J-CWZ1EA2 type encoder, force transducer for can detect three on the orthogonal direction power and the four dimensional force sensor of a moment; Data acquisition equipment (3) and motion control apparatus (5) are selected respectively integrated circuit board PCI2394 and the PCI8640 of Altay; Driving arrangement (7) and Torque Control equipment (6) are selected respectively east motor TM203C-MSE type torque motor and supporting torque controller; Main control computer (4) and interactive interface (8) are selected and are ground magnificent IPC-610MB industrial computer and supporting liquid crystal display.
3. upper extremity exercise image training robot control method, adopt upper extremity exercise image training robot control system claimed in claim 1 to control, it is characterized in that: 1. described control method comprises along the Passive Control of desired trajectory, 2. free-moving ACTIVE CONTROL and 3. along three kinds of control of ACTIVE CONTROL training method of desired trajectory:
1. the initial stage of training is selected the Passive Control training, and upper extremity exercise image training robot (1) is pressed the projected path motion, drives the upper extremity exercise of training objects (10), and this stage upper limb need not provide power, is driven by upper extremity exercise image training robot (1) fully.This moment, operating procedure was as follows:
1). by the trajectory path planning movement locus that helps to improve the training effect;
2). solve the object pose in each joint by kinesiology and dynamics calculation according to planned trajectory;
3). detect the current pose that detects in real time each joint by signal detection apparatus (2), and send main control computer (4) to by data acquisition equipment (3);
4) main control computer (4) calculates controlled quentity controlled variable according to the deviation of current pose and object pose by given algorithm, and controlled quentity controlled variable after processing, motion control apparatus (5) and Torque Control equipment (6) passed to driving arrangement (7), turning round by expection of control driving arrangement realized the moving target of expection;
2. training later stage, the paleocinetic ability of upper limb obviously strengthens, can adopt free-moving ACTIVE CONTROL, training objects (10) according to sports consciousness with being intended to motion upper limb in the safety range, upper extremity exercise image training robot (1) is followed the tracks of upper extremity exercise and is provided auxiliary force for the motion of upper limb, the size of auxiliary force can be adjusted according to the upper extremity exercise level, can be adjusted into negative value; This moment, operating procedure was as follows:
1). signal detection apparatus (2) detects the interaction force between upper extremity exercise image training robot (1) and the training objects (10);
2). force signal is transferred to main control computer (4) through data acquisition equipment (3), main control computer (4) thus can be according to the movement tendency of given method training of judgement object (10) upper limb, and the corresponding controlled quentity controlled variable that calculates, after motion control apparatus (5) and Torque Control equipment (6) processing, pass to driving arrangement (7), the working order of control driving arrangement, realization upper extremity exercise image training robot (1) is followed the sports consciousness of training objects (10);
Carry out the active training along desired trajectory when 3. the upper limb in mid-term of training has part autonomic movement ability, training objects (10) is moved upper limb consciously along desired trajectory, this stage upper extremity exercise image training robot (1) only provides part power to assist upper extremity exercise, and upper limb need to provide part power; The operating process of this moment is the combination with the above-mentioned two situations process.
4. upper extremity exercise image training robot control method according to claim 3, it is characterized in that: described Passive Control along desired trajectory is the impedance Control of position, is based on the impedance Control of power position mixture control along the ACTIVE CONTROL of desired trajectory; Free-moving ACTIVE CONTROL also is based on the impedance Control of power, keeps monitoring location information in the training process, is controlled in the safety range and trains.
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| WO2021068542A1 (en) * | 2019-10-12 | 2021-04-15 | 东南大学 | Force feedback technology-based robot system for active and passive rehabilitation training of upper limbs |
| US11771613B2 (en) | 2019-10-12 | 2023-10-03 | Southeast University | Robot system for active and passive upper limb rehabilitation training based on force feedback technology |
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