CN104605868A - Sole multi-dimensional sensing device of lower limb rehabilitation robot - Google Patents
Sole multi-dimensional sensing device of lower limb rehabilitation robot Download PDFInfo
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- CN104605868A CN104605868A CN201510033085.8A CN201510033085A CN104605868A CN 104605868 A CN104605868 A CN 104605868A CN 201510033085 A CN201510033085 A CN 201510033085A CN 104605868 A CN104605868 A CN 104605868A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 18
- 239000011230 binding agent Substances 0.000 claims description 6
- 230000000903 blocking effect Effects 0.000 abstract 1
- 230000035876 healing Effects 0.000 description 8
- 238000012549 training Methods 0.000 description 7
- 230000000153 supplemental effect Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 229920002379 silicone rubber Polymers 0.000 description 2
- 239000004945 silicone rubber Substances 0.000 description 2
- 241000167880 Hirundinidae Species 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013079 data visualisation Methods 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
A sole multi-dimensional sensing device of a lower limb rehabilitation robot mainly comprises sole supporting plates, a bandage, a heel stop block, a torque pressure-bearing plate, sensors, a sensor support, a large supporting frame, a fixing frame, a connecting plate, a middle supporting plate, a blocking plate, a guide rail and a sliding block. Feet of a patient are bound on the sole supporting plates, the sole multi-dimensional sensing device obtains toques, friction forces and vertical pressures of the feet of the patient to the sole supporting plates through seven sensors correspondingly when the patient perform linear motion and treadwheel motion in a sagittal plane. The sole multi-dimensional sensing device is compact in structure and low in cost and can directly obtain the pressure, friction force and torque of the soles of the patient.
Description
Technical field
The invention belongs to rehabilitation medical instrument, particularly a kind of vola multidimensional sensing device of lower limb rehabilitation robot.
Background technology
Lower limb rehabilitation robot is the new and high technology product that Rehabilitation Treatment Technique is combined with robotics, is mainly used in the lower extremity motor function of restore functionality impaired patients.Nervus centralis device has the plasticity of height, this has effectively been illustrated at neural rehabilitation field and has been verified, healing robot drives patient's repetition training, and the plasticity of patient moving function can be made to reach optimum, by functional gradual treatment, final help patient regains motor function.
The multi-joint lower limb rehabilitation robot of University On The Mountain Of Swallows's research and development, there are passive exercise, supplemental training and work against resistance three kinds of training modes, and the function of lower limb rehabilitation robot supplemental training being the motion intention by identifying patient, following and assisting human body lower limbs to complete the process of set orbiting motion.
Obtain in the technology of patient moving intention, acquisition based on the motion intention under bioelectrical signals is the focus that healing robot field was studied in recent years, but the obtain manner of this motor message is also under test in document at home and abroad, does not also really enter the practical stage of " motion intention ".And the Technical comparing that power controls to obtain motion intention is ripe, based on force control method, a kind of vola multidimensional sensing device is proposed, for obtaining patient's lower limb end vola power, the each joint moment of patient's lower limb is calculated by equilibrium equation and torque equilibrium equation, and then according to this joint moment, analyze the motion intention obtaining patient, and utilize pid algorithm to control each motor movement speed of healing robot, drive healing robot mechanical arm to drive patient to carry out simple joint supplemental training and multi-joint supplemental training.
The scholar expert of domestic and international research vola Force sensor is many, but fewer for healing robot vola Force sensor.Main at present have the people such as the Zhang Lixun of Harbin Engineering University, in patent " force transducer for sole of foot ", a kind of force transducer for sole of foot is disclosed, the sensor that it is made up of the cantilever beam that four are posted foil gauge, five-dimension force/the torgue measurement except cross force can be realized, have cost low, the errors of principles is little, and structure is simple, durable, the feature that reliability is high.It is low that the sole pressure distribution measurer that the people such as Zhao little Wen propose in " a kind of white carbon black-silicone rubber sole pressure distribution measurer " article devises a set of cost, simple to operate, response is fast, can be used for Human Sole pressure distribution measurement device, this device is based on the good pressure-sensitive character of white carbon black-silicone rubber, pressure distribution and the size of various contact surface can be detected, have and be similar to the flexible touch sensor of skin, and utilize LabVIEW programmable software, devise Human Sole pressure distribution measurement device, its software programming simple and flexible, human-computer interaction interface is directly perceived, portable strong, there is the features such as powerful data visualization fractional analysis and instrument controlling ability, this device can realize the real-time display of Human Sole pressure distribution.
The force transducer for sole of foot of people's researchs such as Zhang Lixun is five-dimensional force sensor, and most of existing healing robot is all the three degree of freedom in research people sagittal plane, and a three-dimensional force sensor device is just enough, reduces device operand; And the vola power apparatus for measuring distribution that Zhao little Wen proposes relies on the change being distributed in foot plate diverse location sensor signal to judge the change of gait, has only measured the pressure perpendicular to foot plate in simple terms.
Summary of the invention
The object of the present invention is to provide the lower limb rehabilitation robot vola multidimensional sensing device that a kind of compact conformation, cost are low, directly can obtain patient's multidimensional plantar pressure, friction force and moment.The present invention mainly proposes a kind of lower limb rehabilitation robot vola multidimensional sensing device based on force control method, for obtaining patient's lower limb end foot bottom stress situation, the each joint moment data of patient's lower limb are calculated by equilibrium equation and torque equilibrium equation, and then the motion intention of patient is obtained according to this joint moment data analysis, and utilize pid algorithm to control each motor movement rule of healing robot, drive healing robot to drive patient to carry out simple joint and multi-joint supplemental training.
Vola of the present invention multidimensional sensing device mainly comprises vola gripper shoe, binder, heel block, moment bearing plate, sensor, sensor stand, large bracing frame, fixed mount, connecting plate, intermediate support plate, baffle plate, guide rail and slide block.Wherein, vola gripper shoe is a rectangular frame, is provided with heel block in one end of this vola gripper shoe minor face, and two, front and back binder is separately fixed on the frame before and after the long limit of vola gripper shoe, for binding instep.The large bracing frame be made up of two risers and connecting plate is fixed on the framework of intermediate lateral both sides, gripper shoe bottom surface, vola by two risers, two Qian shape first sensor supports and the second sensor stand are separately fixed on the framework of gripper shoe bottom surface, vola of large bracing frame both sides, first sensor is fixed on first sensor support, second sensor is fixed on the second sensor stand, moment bearing plate is provided with in the centre of vola gripper shoe, journal stirrup is respectively equipped with in the middle of the both sides on this long limit of moment bearing plate, the through hole that bearing pin is each passed through on this journal stirrup and large bracing frame forms revolute pair, two trip bolts are separately fixed in screw hole corresponding with the first and second center sensors on moment bearing plate, these two screws and the first and second sensors have suitable pretightning force, Qian shape intermediate support plate is provided with two through holes, is connected after two risers of above-mentioned large bracing frame are each passed through through hole with connecting plate, first baffle plate and second baffle are separately fixed at the both sides below the gripper shoe of vola, third and fourth sensor is separately fixed at the outside of the third and fourth sensor connecting plate, third and fourth sensor connecting plate is separately fixed at outside the riser at above-mentioned intermediate support plate two ends, two trip bolts are each passed through screwed hole corresponding with the third and fourth sensor on the first and second baffle plates, and these two screws and the third and fourth sensor have suitable pretightning force, vertical little guide rail is respectively provided with outside the riser at above-mentioned intermediate support plate two ends, this vertical little guide rail is equipped with small slide block, the two ends of large guide rail are fixed on the lower end of above-mentioned two little guide rails, and this large guide rail is provided with large slide block, and this large slide block is fixed on below the connecting plate of above-mentioned large bracing frame, five, the 6th, the 7th sensor is separately fixed on the bottom surface of intermediate support plate, the fixed mount being fixed on moment bearing plate bottom surface is provided with between large bracing frame two risers, center on this fixed mount is provided with the screwed hole corresponding with the 7th sensor, pretension the 7th sensor is used for by trip bolt, when vola gripper shoe has fore-and-aft direction relative motion trend relative to intermediate support plate, sensor can detect the frictional force of patient's foot, large guide rail is provided with the screwed hole corresponding with the 5th, the 6th sensor, by trip bolt pretension residue the 5th, the 6 two sensor, fixed mount, large bracing frame, connecting plate, large slide block are connected by screw into and are integrated, thus by by the little guide rail slide block of two covers, form the pair that moves up and down relative to intermediate support plate.Thus during patient's sole force, the pressure perpendicular to foot plate can be detected.
The foot of patient is bundled in the gripper shoe of vola, and when patient does rectilinear motion, treadmill movement in sagittal plane, vola multidimensional sensing device obtains patient's feet to the moment of foot plate, frictional force and pressure at right angle by seven sensors correspondence.
The present invention compared with prior art tool has the following advantages:
The present invention is mainly used in sitting and lying formula lower limb rehabilitation robot, and its structure is compacter, and cost is low, can directly obtain patient's plantar pressure, friction force and moment.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention.
Fig. 2 is upper part structural representation of the present invention.
Fig. 3 is the schematic diagram that the moment bearing plate bearing pin through hole be each passed through on moment bearing plate long limit journal stirrup and large bracing frame of the present invention forms revolute pair.
Fig. 4 is mid portion structural representation of the present invention.
Fig. 5 is lower part structural representation of the present invention.
In figure: the gripper shoe of 1-vola, 2-the three sensor, 3-moment bearing plate, 4-first sensor, 5-the seven sensor, 6-fixed mount, 7-the second sensor, 8-the second sensor stand, 9-binder, 10-heel block, 11-intermediate support plate, 12-the four-sensor, 13-small slide block, 14-little guide rail, 15-large guide rail, 16-the six sensor, 17-large bracing frame, 18-large slide block, 19-first sensor support, 20-the five sensor, 21-little guide rail, 22-small slide block, 23-the first baffle plate, 24-trip bolt, 25-trip bolt, 26-bearing pin, 27-screw, 28-connecting plate, 29-second baffle, 30-trip bolt, 31-the three sensor connecting plate, 32-the four-sensor connecting plate, 33-holding screw, 34-holding screw.
Detailed description of the invention
In the lower limb rehabilitation robot vola multidimensional sensing device schematic diagram shown in Fig. 1-5,
Vola gripper shoe 1 is a rectangular frame, is provided with heel block 10 in one end of this vola gripper shoe minor face, and two, front and back binder 9 is separately fixed on the frame before and after the long limit of vola gripper shoe, for binding instep.The large bracing frame 17 be made up of two risers and connecting plate 28 is fixed on the framework of intermediate lateral both sides, gripper shoe bottom surface, vola by two risers, two Qian shape first sensor supports 19 and the second sensor stand 8 are separately fixed on the framework of gripper shoe bottom surface, vola of large bracing frame both sides, first sensor 4 is fixed in the middle of first sensor support, second sensor 7 is fixed in the middle of the second sensor stand, moment bearing plate 3 is provided with in the centre of vola gripper shoe, journal stirrup is respectively equipped with in the middle of the both sides on this long limit of moment bearing plate, the through hole that bearing pin 26 is each passed through on this journal stirrup and large bracing frame forms revolute pair, two trip bolts 24, 25 are separately fixed in screw hole corresponding with the first and second center sensors on moment bearing plate, these two screws and the first and second sensors have suitable pretightning force, Qian shape intermediate support plate 11 is provided with two through holes, is connected after two risers of above-mentioned large bracing frame are each passed through through hole with connecting plate, first baffle plate 23 and second baffle 29 are separately fixed at the both sides below the gripper shoe of vola, 3rd sensor 2 and four-sensor 12 are separately fixed at the outside of the 3rd sensor connecting plate 31 and four-sensor connecting plate 32, third and fourth sensor connecting plate is separately fixed at outside the riser at above-mentioned intermediate support plate two ends, two trip bolts 33,30 are each passed through screwed hole corresponding with the third and fourth sensor on the first and second baffle plates, and these two screws and the third and fourth sensor have suitable pretightning force, vertical little guide rail 21,14 is respectively provided with outside the riser at above-mentioned intermediate support plate two ends, this vertical little guide rail is equipped with small slide block 22,13, the two ends of large guide rail 15 are fixed on the lower end of above-mentioned two little guide rails, this large guide rail is provided with large slide block 18, and this large slide block is fixed on the connecting plate bottom surface of above-mentioned large bracing frame, 5th sensor 20, the 6th sensor 16, the 7th sensor 5 are separately fixed on the bottom surface of intermediate support plate, the fixed mount 6 being fixed on moment bearing plate bottom surface is provided with between large bracing frame two risers, this fixed mount is separately fixed on large bracing frame two risers by screw 27, center on this fixed mount is provided with the screwed hole corresponding with the 7th sensor, by trip bolt 34 for pretension the 7th sensor, when vola gripper shoe has fore-and-aft direction relative motion trend relative to intermediate support plate, sensor can detect the frictional force of patient's foot, large guide rail is respectively equipped with the screwed hole corresponding with the 5th, the 6th sensor, by trip bolt 33 pretension the 5th, the 6 two sensor, fixed mount, large bracing frame, connecting plate, large slide block are connected by screw into and are integrated, thus by by the little guide rail slide block of two covers, form the pair that moves up and down relative to intermediate support plate.
Claims (1)
1. a lower limb rehabilitation robot vola multidimensional sensing device, it mainly comprises vola gripper shoe, binder, heel block, moment bearing plate, sensor, sensor stand, large bracing frame, fixed mount, connecting plate, intermediate support plate, baffle plate, guide rail and slide block, it is characterized in that: vola gripper shoe is a rectangular frame, be provided with heel block in one end of this vola gripper shoe minor face, two, front and back binder is separately fixed on the frame before and after the long limit of vola gripper shoe, the large bracing frame be made up of two risers and connecting plate is fixed on the framework of intermediate lateral both sides, gripper shoe bottom surface, vola by two risers, two Qian shape first sensor supports and the second sensor stand are separately fixed on the framework of gripper shoe bottom surface, vola of large bracing frame both sides, first sensor is fixed on first sensor support, second sensor is fixed on the second sensor stand, moment bearing plate is provided with in the centre of vola gripper shoe, journal stirrup is respectively equipped with in the middle of the both sides on this long limit of moment bearing plate, the through hole that bearing pin is each passed through on this journal stirrup and large bracing frame forms revolute pair, two trip bolts are separately fixed in screw hole corresponding with the first and second center sensors on moment bearing plate, these two screws and the first and second sensors have suitable pretightning force, Qian shape intermediate support plate is provided with two through holes, is connected after two risers of above-mentioned large bracing frame are each passed through through hole with connecting plate, first baffle plate and second baffle are separately fixed at the both sides below the gripper shoe of vola, third and fourth sensor is separately fixed at the outside of the third and fourth sensor connecting plate, third and fourth sensor connecting plate is separately fixed at outside the riser at above-mentioned intermediate support plate two ends, two trip bolts are each passed through screwed hole corresponding with the third and fourth sensor on the first and second baffle plates, and these two screws and the third and fourth sensor have suitable pretightning force, vertical little guide rail is respectively provided with outside the riser at above-mentioned intermediate support plate two ends, this vertical little guide rail is equipped with small slide block, the two ends of large guide rail are fixed on the lower end of above-mentioned two little guide rails, and this large guide rail is provided with large slide block, and this large slide block is fixed on below the connecting plate of above-mentioned large bracing frame, five, the 6th, the 7th sensor is separately fixed on the bottom surface of intermediate support plate, the fixed mount being fixed on moment bearing plate bottom surface is provided with between large bracing frame two risers, center on this fixed mount is provided with the screwed hole corresponding with the 7th sensor, is used for pretension the 7th sensor by trip bolt, large guide rail is provided with the screwed hole corresponding with the 5th, the 6th sensor, by trip bolt pretension the 5th, the 6 two sensor, fixed mount, large bracing frame, connecting plate, large slide block are connected by screw into and are integrated, thus by by the little guide rail slide block of two covers, form the pair that moves up and down relative to intermediate support plate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510033085.8A CN104605868B (en) | 2015-01-22 | 2015-01-22 | A kind of lower limb rehabilitation robot vola multidimensional sensing device |
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| CN201510033085.8A CN104605868B (en) | 2015-01-22 | 2015-01-22 | A kind of lower limb rehabilitation robot vola multidimensional sensing device |
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| Publication Number | Publication Date |
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| CN104605868A true CN104605868A (en) | 2015-05-13 |
| CN104605868B CN104605868B (en) | 2016-10-05 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111588381A (en) * | 2019-02-20 | 2020-08-28 | 宁波大学 | Plantar multidimensional sensing device of lower limb rehabilitation robot |
| CN114486037A (en) * | 2022-02-18 | 2022-05-13 | 橙象医疗科技（广州）有限公司 | Road condition simulation equipment with force measuring device and control method thereof |
-
2015
- 2015-01-22 CN CN201510033085.8A patent/CN104605868B/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111588381A (en) * | 2019-02-20 | 2020-08-28 | 宁波大学 | Plantar multidimensional sensing device of lower limb rehabilitation robot |
| CN111588381B (en) * | 2019-02-20 | 2022-11-15 | 宁波大学 | Foot sole multidimensional sensing device of lower limb rehabilitation robot |
| CN114486037A (en) * | 2022-02-18 | 2022-05-13 | 橙象医疗科技（广州）有限公司 | Road condition simulation equipment with force measuring device and control method thereof |
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| Publication number | Publication date |
|---|---|
| CN104605868B (en) | 2016-10-05 |
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