CN103750975B - Based on exoskeleton finger recovery robot system and the method for work of brain electric control - Google Patents
Based on exoskeleton finger recovery robot system and the method for work of brain electric control Download PDFInfo
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Abstract
Based on an exoskeleton finger recovery robot system for brain electric control, it is characterized in that it comprises work station, motor control unit, exoskeleton finger healing robot, electrode for encephalograms, brain myoelectricity analytic unit, sensor unit and human-computer interaction interface; Its method of work comprises: visual stimulus, signals collecting and transmission, healing robot move, information feed back, training method optimization; Its superiority is: intelligent, portable, install simple, training method efficient, utilize the action of palm articulations digitorum manus to control the rehabilitation exercise of patient.
Description
(1) technical field:
The invention belongs to medical instruments field, especially a kind of exoskeleton finger recovery robot system based on brain electric control and method of work, be specially adapted to the finger rehabilitation exercise that hemiplegic patient that apoplexy causes is early stage.
(2) background technology:
Apoplexy (also claiming apoplexy) is the healthy disease of serious threat middle-aged and elderly people, and along with China progresses into aging society, sickness rate has the trend risen year by year, has every year and dies from apoplexy more than 2,000,000 people.This disease has caused forfeiture and the related complication of limbs of patient motor function.Especially the forfeiture of upper extremity exercise function, greatly have impact on the ability of patient's daily life.Hands is one of most important ingredient of organization of human body, and it all seems to the function of the mankind and outward appearance and important.Particularly the motor capacity of hands is the daily life of the mankind and the smooth basic guarantee that works.Science shows, paralytic upper limb great majority first recover from shoulder, is secondly upper arm and forearm, is finally the recovery of finger.Meanwhile, due to staff segment set suffered a large amount of joints, nerve, blood vessel, muscle are many, the hemiplegia that the cardiovascular disease such as joint disease, apoplexy causes also can cause the spasm atrophy of finger-joint tendon fibrosis and muscle, ligament.Therefore, the mark that mainly recovers using the active level of hands as upper extremity function of most of rehabilitation training.
Current athletic rehabilitation treatment is undertaken by rehabilitation therapist within the hospital, and rehabilitation therapist points force to patient, allows patient point and recovers strength and range of movement.But there is a lot of problem in current athletic rehabilitation treatment.First, rehabilitation course is that therapist and patient are man-to-man, larger to drain on manpower and material resources, and medical expense costliness causes huge financial burden to patient.Secondly, the rehabilitation course persistent period is longer, and process is uninteresting, and patient lacks initiatively row and enthusiasm, and this makes to recover motion and is difficult to the effective recovery stimulating patients' neural.Finally, current rehabilitation training depends on experience and the subjective judgment of rehabilitation therapist, can not accurate controlled training parameter and lack the objective record of rehabilitation course, is difficult to accurately evaluate rehabilitation efficacy science of carrying out, is unfavorable for the recovery of patient.
Exoskeleton rehabilitation robot mechanism design meets ergonomics, be equivalent to for the limbs of patient increase the external skeleton of one deck, carry out assisting patients with this to move, control exoskeleton robot according to supporting sensor to move simultaneously, and objective evaluation is carried out to the rehabilitation situation of patient, improves the rehabilitation efficacy of patient.But the structure comparison that existing exoskeleton finger healing robot adopts is huge, the external driver module of some needs carrys out vacant robot motion.In addition, the kind of drive more complicated of finger robot, is unfavorable for handling, and can not realizes family care.
(3) summary of the invention:
The object of the present invention is to provide a kind of exoskeleton finger recovery robot system based on brain electric control and method of work, construct a Motor stimulation-brain-neuro-computer information processing and control-driver element-hemiplegia position (such as pointing) moves-so a kind of closed-loop control system of feedback interface-nerve-brain; Can solve the rehabilitation problem of the finger motion function of hemiplegic patient, be the exoskeleton finger recovery robot system that a kind of help patient utilizing biofeedback (EEG signals) to control to be worn on patient's finger-joint based on brain electric control recovers motor function.
Technical scheme of the present invention: a kind of exoskeleton finger recovery robot system based on brain electric control, is characterized in that it comprises work station, motor control unit, exoskeleton finger healing robot, electrode for encephalograms, brain myoelectricity analytic unit, sensor unit and human-computer interaction interface; Wherein, described work station receives the output signal of brain myoelectricity analytic unit and sensor unit, and its outfan connects the input of electric machine controller; The input of described exoskeleton finger healing robot connects the outfan of motor control unit, its outfan by signal transmission to patient; The input of described sensor unit receives the cause of disease signal of patient, and its outfan is connected with the input of work station; The input of described electrode for encephalograms measures the eeg signal of patient, and its outfan connects the input of brain myoelectricity analytic unit; Described human-computer interaction interface exports sensory signal to patient.
Described sensor unit is made up of bend sensor and force transducer, is arranged on exoskeleton finger healing robot.
Described work station is can the virtual system of simulating reality environment and state.
Described exoskeleton finger healing robot is by motor, driving shaft, palm portion, turning cylinder I, finger MCP(Metacarpophalangealjoint---metacarpophalangeal joints) joint, turning cylinder II, turning cylinder III, thread spindle, finger PIP(Proximalinterphalangealjoint---proximal interphalangeal joint) joint, turning cylinder IV, finger DIP(Distalinterphalangealjoint---DIPJ) joint, drive I, drive II, drive III, drive IV, drive V, parallel fluted shaft, connecting rod, wherein, described motor is arranged on palm portion, described driving shaft is connected with motor shaft by jackscrew, described parallel fluted shaft is connected with driving shaft, described drive V is connected to palm portion by turning cylinder I, described drive IV is connected with finger MCP joint with turning cylinder III by turning cylinder II with drive III, described drive I is connected on finger PIP joint by turning cylinder IV, described thread spindle and drive III form Miniature steel wire rope drive mechanism by steel wire rope, described drive II is threaded connection and is fixed on turning cylinder III, connect according to being threaded through connecting rod between described finger PIP joint and finger DIP joint, described finger DIP joint is fixed on turning cylinder IV by screw thread jackscrew.
Described drive I, drive II, drive III, drive IV and drive V all there is width be the parallel slot being used for carrying out with steel wire rope coordinating of 1.5-2mm.
Described drive I, drive II, drive III, to be connected by steel wire rope between drive IV and drive V, form Miniature steel wire rope drive mechanism.
Described finger MCP joint, finger PIP joint and finger Shang YouMCP joint, joint, DIP joint are connected fluting, finger PIP joint connects fluting and is connected fluting with finger DIP joint; Described fluting coordinates with nylon fastener belt to be installed, and is connected by patient's finger with exoskeleton finger healing robot.
The finger PIP articular portion of described exoskeleton finger healing robot has scalable chute, and described chute and screw fit are installed, and the finger size according to patient is regulated by screw.
Described exoskeleton finger healing robot adopts aluminium alloy and stainless steel material.
The place that described exoskeleton finger healing robot contacts with patient is curved, and radian meets the designing requirement of ergonomics.
Based on a method of work for the exoskeleton finger recovery robot system of brain electric control, it is characterized in that it comprises the following steps:
1. patient accepts the visual stimulus of man machine interface:
Human-computer interaction interface sends visual stimulus signal to patient, makes the brain of patient produce EEG signals;
2. the collection of EEG signals and transmission:
By being worn on the EEG signals of the electrode for encephalograms collection patient of brain in patients, and being passed to brain myoelectricity analytic unit, by brain myoelectricity analytic unit, the signal that electrode for encephalograms produces being analyzed, and analysis result is exported to work station;
3. the motion of exoskeleton finger healing robot:
Work station receives signal, work station is by the motor movement of motor control unit drive installation in ectoskeleton finger gymnastic robot, control exoskeleton finger healing robot, provide a driving moment assisting patients to perform rehabilitation training, impel it to complete bending and stretching;
4. the feedback of Rehabilitation information:
The bend sensor of sensor unit and the motion conditions of force transducer Real-Time Monitoring exoskeleton finger healing robot, continuous collection human skeleton information, carry out rehabilitation training and ensure the safety in training process, the information in rehabilitation training being passed to work station simultaneously;
5. the optimization of recovery training method:
Patient can see according to the virtual system of work station and oneself motion conditions obtains the movable information of oneself, impels the EEG signals changing oneself, and optimizes the recovery training method of oneself.
Described step 3. middle ectoskeleton finger gymnastic robot motion has following step to form:
(1) exoskeleton finger healing robot mainly adopts motor to drive, the parallel fluted shaft of driven by motor, by steel wire rope, drive V is rotated and realizes the bending of robot finger MCP joint;
(2) drive V drives drive IV and drive III to rotate by steel wire rope, and drive III and threaded shaft fits realize robot finger PIP arthrogryposis;
(3) turning cylinder III drives drive II rotate and pass motion to drive I by steel wire rope, makes turning cylinder IV produce motion and realizes the bending of robot finger DIP joint;
(4) above-mentioned steps arthrogryposis signal (1), (2) and (3) will pass to patient as driving moment, and assisting patients performs rehabilitation training, impel it to complete bending and stretching.
Superiority of the present invention is: 1, adopt EEG signals as control method, EEG signals is controlled to be combined with exoskeleton rehabilitation robot training system, with human biological signal as control signal, the plasticity of brain in patients can be stimulated efficiently to recover, and this system has intelligence, portability, is suitable for the features such as family care; 2, motor drive mode is adopted, change the shortcoming that the driving device of passing exoskeleton finger structure and telecontrol equipment are separated, substantially reduce the size of rehabilitation system, simultaneously, robot transmission structure adopts Miniature steel wire rope drive mechanism, solves drive mechanism and installs complicated problem; 3, exoskeleton robot mainly adopts aluminium alloy and stainless steel material, meets the design of ergonomics, is designed with dispensing device with the wearing demand of satisfied different patient at the joint of robot; 4, some sensor technologies are adopted, the movable information of the feedback system of real-time objective, for patient formulates the recovery training method of efficient science; 5, exoskeleton robot technology is combined with rehabilitation medicine, science proves that efficient Motor stimulation contributes to the neuronal plasticity of hemiplegic patient, therefore this robot mainly uses motor-driven mode to provide staff metacarpophalangeal joints (MCP joint), the flexion and extension of the three degree of freedom of proximal interphalangeal joint (PIP joint) DIPJ (DIP joint), stimulate patients' neural, help it to recover motor function.
(4) accompanying drawing illustrates:
The overall structure block diagram of Fig. 1 a kind of exoskeleton finger recovery robot system based on brain electric control involved by the present invention.
Fig. 2 is a kind of right side structure schematic diagram based on ectoskeleton finger gymnastic robot in the exoskeleton finger recovery robot system of brain electric control involved by the present invention.
Fig. 3 is a kind of left side structure schematic diagram based on ectoskeleton finger gymnastic robot in the exoskeleton finger recovery robot system of brain electric control involved by the present invention.
Wherein, 1 is motor, and 2 is driving shaft, 3 is palm portion, and 4 is turning cylinder I, and 5 is finger MCP joint, 6 is turning cylinder II, and 7 is turning cylinder III, and 8 is thread spindle, 9 is finger PIP joint, 10 is turning cylinder IV, and 11 is finger DIP joint, and 12 is drive I, 13 is drive II, 14 is drive III, and 15 is drive IV, and 16 is drive V, 17 is parallel fluted shaft, 18 slot for finger MCP joint connects, and 19 is that finger PIP joint connects fluting, and 20 is point PIP joint scalable chute, 21 is connecting rod, and 22 slot for finger DIP joint connects.
(5) detailed description of the invention:
Embodiment: a kind of exoskeleton finger recovery robot system (see figure 1) based on brain electric control, is characterized in that it comprises work station, motor control unit, exoskeleton finger healing robot, electrode for encephalograms, brain myoelectricity analytic unit, sensor unit and human-computer interaction interface; Wherein, described work station receives the output signal of brain myoelectricity analytic unit and sensor unit, and its outfan connects the input of electric machine controller; The input of described exoskeleton finger healing robot connects the outfan of motor control unit, its outfan by signal transmission to patient; The input of described sensor unit receives the cause of disease signal of patient, and its outfan is connected with the input of work station; The input of described electrode for encephalograms measures the eeg signal of patient, and its outfan connects the input of brain myoelectricity analytic unit; Described human-computer interaction interface exports sensory signal to patient.
Described sensor unit is made up of (see figure 1) bend sensor and force transducer, is arranged on exoskeleton finger healing robot.
Described work station (see figure 1) is can the virtual system of simulating reality environment and state.
Described exoskeleton finger healing robot is (see Fig. 2, Fig. 3) by motor 1, driving shaft 2, palm portion 3, turning cylinder I4, finger MCP(Metacarpophalangealjoint---metacarpophalangeal joints) joint 5, turning cylinder II6, turning cylinder III7, thread spindle 8, finger PIP(Proximalinterphalangealjoint---proximal interphalangeal joint) joint 9, turning cylinder IV10, finger DIP(Distalinterphalangealjoint---DIPJ) joint 11, drive I12, drive II13, drive III14, drive IV15, drive V16, parallel fluted shaft 17, connecting rod 21, wherein, described motor 1 is arranged on palm portion 3, described driving shaft 2 is connected with motor shaft by jackscrew, described parallel fluted shaft 17 is connected with driving shaft 2, described drive V16 is connected to palm portion 3 by turning cylinder I4, described drive IV15 is connected with finger MCP joint 5 with turning cylinder III7 by turning cylinder II6 with drive III14, described drive I12 is connected on finger PIP joint 9 by turning cylinder IV10, described thread spindle 8 forms Miniature steel wire rope drive mechanism with drive III14 by steel wire rope, described drive II13 is threaded connection and is fixed on turning cylinder III7, connect according to being threaded through connecting rod 21 between described finger PIP joint and finger DIP joint, described finger DIP joint 11 is fixed on turning cylinder IV10 by screw thread jackscrew.
Described drive I12, drive II13, drive III14, drive IV15 and drive V16 all there is width be the parallel slot (see figure 3) being used for carrying out with steel wire rope coordinating of 1.5mm.
Described drive I12, drive II13, drive III14, to be connected by steel wire rope between drive IV15 and drive V16, form Miniature steel wire rope drive mechanism (see figure 3).
Described finger MCP joint 5, finger PIP joint 9 and finger Shang YouMCP joint, joint, DIP joint 11 are connected fluting 18, finger PIP joint connects fluting 19 and is connected fluting 22 with finger DIP joint; Described fluting coordinates with nylon fastener belt to be installed, and is carried out being connected (see figure 3) by patient's finger with exoskeleton finger healing robot.
Finger PIP joint 9 part of described exoskeleton finger healing robot has scalable chute 20, and described chute and screw fit are installed, and the finger size according to patient carries out adjustment (see figure 3) by screw.
Described exoskeleton finger healing robot adopts aluminium alloy and stainless steel material.
The place that described exoskeleton finger healing robot contacts with patient is curved, and radian meets the designing requirement of ergonomics.
Based on a method of work for the exoskeleton finger recovery robot system of brain electric control, it is characterized in that it comprises the following steps:
1. patient accepts the visual stimulus of man machine interface:
Human-computer interaction interface sends visual stimulus signal to patient, makes the brain of patient produce EEG signals;
2. the collection of EEG signals and transmission:
By being worn on the EEG signals of the electrode for encephalograms collection patient of brain in patients, and being passed to brain myoelectricity analytic unit, by brain myoelectricity analytic unit, the signal that electrode for encephalograms produces being analyzed, and analysis result is exported to work station;
3. the motion of exoskeleton finger healing robot:
Work station receives signal, work station is by the motor movement of motor control unit drive installation in ectoskeleton finger gymnastic robot, control exoskeleton finger healing robot, provide a driving moment assisting patients to perform rehabilitation training, impel it to complete bending and stretching;
4. the feedback of Rehabilitation information:
The bend sensor of sensor unit and the motion conditions of force transducer Real-Time Monitoring exoskeleton finger healing robot, continuous collection human skeleton information, carry out rehabilitation training and ensure the safety in training process, the information in rehabilitation training being passed to work station simultaneously;
5. the optimization of recovery training method:
Patient can see according to the virtual system of work station and oneself motion conditions obtains the movable information of oneself, impels the EEG signals changing oneself, and optimizes the recovery training method of oneself.
Described step 3. middle ectoskeleton finger gymnastic robot motion has following step to form:
(1) exoskeleton finger healing robot mainly adopts motor to drive, the parallel fluted shaft of driven by motor, by steel wire rope, drive V is rotated and realizes the bending of robot finger MCP joint;
(2) drive V drives drive IV and drive III to rotate by steel wire rope, and drive III and threaded shaft fits realize robot finger PIP arthrogryposis;
(3) turning cylinder III drives drive II rotate and pass motion to drive I by steel wire rope, makes turning cylinder IV produce motion and realizes the bending of robot finger DIP joint;
(4) above-mentioned steps arthrogryposis signal (1), (2) and (3) will pass to patient as driving moment, and assisting patients performs rehabilitation training, impel it to complete bending and stretching.
Claims (7)
1., based on an exoskeleton finger recovery robot system for brain electric control, it is characterized in that it comprises work station, motor control unit, exoskeleton finger healing robot, electrode for encephalograms, brain myoelectricity analytic unit, sensor unit and human-computer interaction interface; Wherein, described work station receives the output signal of brain myoelectricity analytic unit and sensor unit, and its outfan connects the input of motor control unit; The input of described exoskeleton finger healing robot connects the outfan of motor control unit, its outfan by signal transmission to patient; The input of described sensor unit receives the cause of disease signal of patient, and its outfan is connected with the input of work station; The input of described electrode for encephalograms measures the eeg signal of patient, and its outfan connects the input of brain myoelectricity analytic unit; Described human-computer interaction interface exports sensory signal to patient; Described exoskeleton finger healing robot comprises motor, driving shaft, palm portion, turning cylinder I, finger MCP joint, turning cylinder II, turning cylinder III, thread spindle, finger PIP joint, turning cylinder IV, finger DIP joint, drive I, drive II, drive III, drive IV, drive V, parallel fluted shaft, connecting rod; Wherein, described motor is arranged on palm portion; Described driving shaft is connected with motor shaft by jackscrew; Described parallel fluted shaft is connected with driving shaft; Described drive V is connected to palm portion by turning cylinder I; Described drive IV is connected with finger MCP joint with turning cylinder III by turning cylinder II with drive III; Described drive I is connected on finger PIP joint by turning cylinder IV; Described thread spindle and drive III form Miniature steel wire rope drive mechanism by steel wire rope; Described drive II is threaded connection and is fixed on turning cylinder III; Connect according to being threaded through connecting rod between described finger PIP joint and finger DIP joint; Described finger DIP joint is fixed on turning cylinder IV by screw thread jackscrew.
2. a kind of exoskeleton finger recovery robot system based on brain electric control according to claim 1, is characterized in that described sensor unit is made up of bend sensor and force transducer, is arranged on exoskeleton finger healing robot.
3. a kind of exoskeleton finger recovery robot system based on brain electric control according to claim 1, is characterized in that described work station is can the virtual system of simulating reality environment and state.
4. a kind of exoskeleton finger recovery robot system based on brain electric control according to claim 1, is characterized in that described drive I, drive II, drive III, drive IV and drive V all have width to be the parallel slot being used for carrying out with steel wire rope coordinating of 1.5-2mm.
5. a kind of exoskeleton finger recovery robot system based on brain electric control according to claim 1, it is characterized in that described drive I, drive II, drive III, connected by steel wire rope between drive IV and drive V, form Miniature steel wire rope drive mechanism.
6. a kind of exoskeleton finger recovery robot system based on brain electric control according to claim 1, to is characterized in that on described finger MCP joint, finger PIP joint and finger DIP joint that correspondence is provided with that MCP joint is connected fluting respectively, finger PIP joint connects and slot and point DIP joint and be connected fluting; Described MCP joint connects fluting, finger PIP joint connects fluting and is connected fluting with finger DIP joint and all coordinates with nylon fastener belt and install, and patient is pointed and is connected with exoskeleton finger healing robot;
The finger PIP articular portion of described exoskeleton finger healing robot has scalable chute, and described chute and screw fit are installed, and the finger size according to patient is regulated by screw.
7. a kind of exoskeleton finger recovery robot system based on brain electric control according to claim 1, is characterized in that described exoskeleton finger healing robot adopts aluminium alloy and stainless steel material;
The place that described exoskeleton finger healing robot contacts with patient is curved, and radian meets the designing requirement of ergonomics.
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| CN104000586B (en) * | 2014-05-12 | 2017-12-29 | 燕山大学 | Patients with cerebral apoplexy rehabilitation training system and method based on brain myoelectricity and virtual scene |
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| CN108420577A (en) * | 2018-03-20 | 2018-08-21 | 上海念通智能科技有限公司 | A kind of hand function rehabilitation equipment based on patient's active consciousness control |
| CN109568083B (en) * | 2018-12-15 | 2024-01-05 | 华南理工大学 | Multi-mode interaction upper limb rehabilitation robot training system |
| CN109464266A (en) * | 2018-12-28 | 2019-03-15 | 辽宁科技大学 | A kind of convalescence device based on brain-machine interaction |
| CN110393652A (en) * | 2019-08-14 | 2019-11-01 | 上海念通智能科技有限公司 | A kind of the healing hand function training system and training method of brain wave control |
| CN111110982A (en) * | 2019-12-02 | 2020-05-08 | 燕山大学 | Hand rehabilitation training method based on motor imagery |
| CN111281752A (en) * | 2020-03-18 | 2020-06-16 | 山东建筑大学 | Upper limb rehabilitation training system and method for executing movement intention |
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