CN104688486A - Lower limbs rehabilitation robot motion control system - Google Patents
Lower limbs rehabilitation robot motion control system Download PDFInfo
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- CN104688486A CN104688486A CN201510070183.9A CN201510070183A CN104688486A CN 104688486 A CN104688486 A CN 104688486A CN 201510070183 A CN201510070183 A CN 201510070183A CN 104688486 A CN104688486 A CN 104688486A
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Abstract
The invention discloses a lower limbs rehabilitation robot movement control system which comprises a passive training mode and an active training mode these two working modes according to different rehabilitation effects at different restoration stages of a patient, wherein in the passive training mode, the patient is driven by mechanical legs to move according to a predetermined physiological gait trajectory, the generated abnormal movement is completely inhibited; in the active training mode, limited abnormal movement of the patient is inhibited by the mechanical legs, the joint driving force generated by the action of the patient on the mechanical legs is extracted by a man-machine inverse dynamics model through real-time detection of man-machine interaction, the active movement intent of the patient is acquired, so that the patient can initiatively adjust the gait trajectory in real time, and the enthusiasm of the patients initiatively participating in the rehabilitation training is improved. The lower limbs rehabilitation robot movement control system is suitable for the lower limbs rehabilitation training movement at different restoration stages, enhances the initiative of patients participating in the rehabilitation training, and establishes the rehabilitation confidence and the movement enthusiasm of the patients, so as to enhance the effect of rehabilitation training.
Description
Technical field
A kind of lower limb rehabilitation robot kinetic control system of the present invention, for the walking rehabilitation training of lower extremity motor function impaired patients.
Background technology
Nowadays, because the reasons such as spinal cord injury, brain soldier contingency injury cause the nerve damage of human body, and then the human motion dysfunction caused has become a kind of common disease.At present, loss of weight gait training is that lower limb hemiplegia patient treats one of effective ways generally adopted, and this rehabilitation mode has special curative effect to apoplexy and incomplete spinal injury etc., and its rehabilitation efficacy has obtained the generally approval of lot of domestic and foreign medical expert.When patient moving function is very poor, joint severe cramps, can not independent ambulation time, need the help of 1 ~ 3 specialty on rehabilitation Physical Therapist just can complete Walking.Therefore, the mode that current most of clinical hospitals adopts is that patient is under the guidance of Physical Therapist's teach-by-doing, complete correct gait walking, the effect of this traditional loss of weight gait training depends on experience and the level of Physical Therapist to a great extent, have that efficiency is low, working strength is large, the shortcomings such as training parameter is uncertain, and the initiative that patient participates in training is not strong, constrains the raising of rehabilitation training efficiency and the improvement of method.
For the deficiency of existing loss of weight rehabilitation training, robotics is incorporated in lower limb rehabilitation training and has important practical significance.Given this, robotics be combined with rehabilitation medicine, the kinetic control system designing a kind of lower limb rehabilitation robot replaces Physical Therapist to complete the body weight support treadmill training of patient, to improve the above-mentioned defect of prior art.
Summary of the invention
Problems existing and defect when carrying out artificial body weight support treadmill training for dysbasia patient, the invention provides a kind of lower limb rehabilitation robot kinetic control system, improve patient participate in rehabilitation training interest and initiative, strengthen its Rehabilitation confidence, improve rehabilitation training efficiency; And can patient's different restoration processes be applicable to.
The technical scheme that the present invention takes is:
A kind of kinetic control system of lower limb rehabilitation robot, rehabilitation efficacy for patient's different restoration processes is different, control system is divided into passive exercise and active training two kinds of mode of operations: under passive exercise pattern, patient is driven by pedipulator, by predetermined physiology's gait orbiting motion, its abnormal motion produced is totally constrained; Under active training pattern, the abnormal motion that pedipulator suppresses patient limited, by detecting human-computer interaction in real time, adopt man-machine inverse dynamics model to extract patient and act on the joint drive power that pedipulator produces, obtain the active exercise intention of patient, make patient can adjust gait track on one's own initiative in real time, the enthusiasm of its active participate rehabilitation training is improved.
In morning, the mid-term in Rehabilitation stage, adopt passive rehabilitation training pattern, patient is completely under the drive of exoskeleton-type pedipulator, walk with predetermined physiology's gait track on a treadmill, by repeat, the training of particular task, excite patient to the sensation of proper exercise, learn and store correct motor pattern, suppress its muscle spasm and abnormal motion, the driving device bottom bands of trouser legs moves patient and realizes walking rehabilitation training.
In the intermediary and later stages in Rehabilitation stage, adopt initiative rehabilitation training mode, in rehabilitation training, utilize the active role power of pull pressure sensor Real-time Collection patient, the i.e. stress value at fixed constraint place, stress value judges the acceleration or deceleration action that treadmill is corresponding thus, thus patient can according to the demand of oneself, realize active exercise, strengthen the degree of patient's active participate rehabilitation training.Along with patient produces the movement tendency of acceleration and deceleration on a treadmill, the vc obtained is introduced treadmill speed control, treadmill is autonomous governing speed constantly, and the stiction Fx that patient is subject in X-direction relative to treadmill levels off to zero as early as possible, and what can complete speed follows Self Adaptive Control.The design of this controller eliminates steady-state error based on the feedback of status of power, to realize the accurate control to treadmill speed.Patient, by the walking of blink, adapts to this cover experimental provision very soon, and can realize speed on a treadmill independently follow adjustment.This system can realize on allokinetic basis preferably, introduce patient's active exercise intention, strengthen the aggressive property that patient participates in, be conducive to stimulating the nervus centralis do not damaged completely and the reconstruction and the restructuring that excite central nervous system, good effect is served to the recovery of motor function after central nervous system injury.
Lower limb rehabilitation robot kinetic control system by ectoskeleton gait orthosis, weight reducing device, treadmill and control system 4 part form.Wherein core component ectoskeleton gait orthosis is made up of two exoskeleton-type pedipulators, every bar pedipulator hip joint, knee joint, ankle joint have one degree of freedom, the rotation in three joints of people when walking in sagittal plane can be simulated, realize the motion of Three Degree Of Freedom.Posterior bracket is installed one dimension pull pressure sensor, is connected with the rubber strap at patient's hip joint place, measure the active exercise power of patient.This lower limb rehabilitation robot is the rehabilitation training campaign that patient provides applicable different restoration processes, comprises the rehabilitation training campaign under the passive and active training pattern of hip, SCID Mice, and walking rehabilitation motion.
A kind of lower limb rehabilitation robot kinetic control system of the present invention, compared with prior art, has following substantive distinguishing features and remarkable advantage:
Adopt the lower limbs rehabilitation training robot of automatization to replace traditional artificial body weight support treadmill training, improve the efficiency of rehabilitation training, and training effect is strengthened.System provides two kinds of rehabilitation training patterns, and the parameter such as gait cycle, amplitude, training time of rehabilitation training all can regulate manually or automatically, to meet the requirement in patient's different rehabilitation stage.
The present invention adopts a set of force measuring device to detect people to the active force of treadmill, utilizes this active force Real-time Feedback human motion state, controls treadmill speed, realize speed follower self adaptation, meet the demand of patient's active training.
Accompanying drawing explanation
Fig. 1 is lower limb walking rehabilitation training robot motor system schematic diagram of the present invention;
Fig. 2 is the mechanical model schematic diagram that people of the present invention walks on a treadmill;
Fig. 3 is the control principle block diagram of treadmill speed adaptive of the present invention;
Fig. 4 is that control system hardware of the present invention forms schematic diagram.
Detailed description of the invention
A kind of lower limb rehabilitation robot kinetic control system, rehabilitation efficacy for patient's different restoration processes is different, control system is divided into passive exercise and active training two kinds of mode of operations: under passive exercise pattern, patient is driven by pedipulator, by predetermined physiology's gait track, namely meet the gait orbiting motion of human physiology's characteristics of motion, its abnormal motion produced is totally constrained; Under active training pattern, the abnormal motion that pedipulator suppresses patient limited, by detecting human-computer interaction in real time, adopt man-machine inverse dynamics model (utilize computer-aid method to set up and solve the kinetic model of robot mechanism) to extract patient and act on the joint drive power that pedipulator produces, obtain the active exercise intention of patient, make patient can adjust gait track in real time according to the wish of oneself.
The present invention adopts lower limbs rehabilitation training robot, and lower limbs rehabilitation training robot comprises ectoskeleton gait orthosis 2, weight reducing device 1, treadmill 3; Replace traditional artificial loss of weight rehabilitation training.For morning, the mid-term in Rehabilitation stage, comprise the phase of collapsing from physical exhaustion and spasm period, patient's lower limb muscles lacks the ability of paleocinetic strength and heavy burden, adopt passive rehabilitation training pattern, patient, completely under the drive of exoskeleton-type pedipulator, with predetermined physiology's gait track on treadmill 3, that is: meets the gait orbiting motion walking of human physiology's characteristics of motion, suppress its muscle spasm and abnormal motion, the driving device bottom bands of trouser legs moves patient and realizes walking rehabilitation training.Along with the improvement of conditions of patients, its active consciousness constantly strengthens, and now patient carries out the recovery that active training is more conducive to motor function.Utilize the active role power of pull pressure sensor 5 Real-time Collection patient, i.e. the stress value at fixed constraint place, stress value judges the acceleration or deceleration action that treadmill is corresponding thus, thus patient according to the demand of oneself, can realize active exercise.
See Fig. 1, a kind of lower limb rehabilitation robot kinetic control system of the present invention, is made up of weight reducing device 1, ectoskeleton gait orthosis 2, treadmill 3 and electrical control cabinet.Wherein, weight reducing device 1 mainly comprises fixing support rack, loss of weight control station, electric lifting rod, loss of weight suspender belt etc.Loss of weight control station controls the lifting of electric lifting rod, and along with the rising of elevating lever, patient is upwards sling gradually, and loading by lower limbs reduces, and the weight of minimizing can show on loss of weight control station.Can bear a heavy burden completely from lower limb 0%(on demand) ~ 100%(do not bear a heavy burden completely) adjustment lower limb loss of weight amount.Ectoskeleton gait orthosis 2 is designed to two exoskeleton-type pedipulators, every bar pedipulator has hip joint flexion/extension, knee joint bending/stretching, extension, ankle joint plantar flexion/dorsiflex 3 degree of freedom, the rotation in three joints of people when walking in sagittal plane can be simulated, realize the motion of Three Degree Of Freedom, at each joint, ball screw linear driver is installed, for driving each joint motions of orthosis.Patient dresses the belt 4 be fixed on connecting rod end, is set the height of the connecting rod other end by operator according to the height of its belt 4, ensures to be in level.Running experiment program, under Passive Mode, treadmill 3 starts with the parameter preset, and patient follows treadmill 3 and starts Walking; Under aggressive mode, pull pressure sensor 5 detects the movement tendency of patient, makes patient can adjust gait track on one's own initiative in real time.
The walking movement of people is mainly carried out on human body sagittal plane.Definition X-direction is walking movement direction, and Y-direction is that in gait processes, gravity center of human body deflects direction, and Z-direction is that body weight for humans descend moving direction in the heart, the mechanical model that foundation people as shown in Figure 2 walks on a treadmill.Add the fixed constraint of human body X direction motion in the model, thus the constraint in the lower limb rehabilitation training of simulation reality suffered by patient's hip joint.Fx is the stiction that human body is subject in X-direction relative to treadmill, and Fm is the stressed of fixed constraint place.According to force analysis, Fm=Fx.When people is in the state of static or uniform motion, Fx is zero; When people has acceleration movement tendency forward, Fx > 0; When people has deceleration movement tendency backward, Fx < 0.Although the value of Fx cannot directly obtain, but the value of Fm but can be measured by installing pull pressure sensor 5, the signal value detected by pull pressure sensor 5 judges the corresponding acceleration or deceleration action of treadmill 3, thus realize the speed follower Self Adaptive Control of treadmill 3, see Fig. 3.
See Fig. 4, control system hardware of the present invention is made up of walking rehabilitation training robot and control section.Control section comprises signal processing circuit, servo-driver, data collecting card, motion control card, industrial computer etc.When industrial computer sends instruction according to control sequence, through motion control card output motor controlled quentity controlled variable in drive circuit, servo-driver receives instruction, controls motor and realizes the function that pedipulator drives patient's ambulation training.Meanwhile, industrial computer sends by serial ports the synchronous coordination motion that instruction realizes treadmill 3; By signals such as data collecting card Real-time Collection joint angles, driving force, limit switches, feed back in gait tracking controller, realize the TRAJECTORY CONTROL under different mode.
Claims (7)
1. a lower limb rehabilitation robot kinetic control system, is characterized in that, the rehabilitation efficacy for patient's different restoration processes is different, and this control system is divided into passive exercise and active training two kinds of mode of operations:
Under passive exercise pattern, patient is driven by pedipulator, and by predetermined physiology's gait orbiting motion, its abnormal motion produced is totally constrained;
Under active training pattern, the abnormal motion that pedipulator suppresses patient limited, by detecting human-computer interaction in real time, adopt man-machine inverse dynamics model, extraction patient acts on the joint drive power that pedipulator produces, and obtains the active exercise intention of patient.
2. a kind of lower limb rehabilitation robot kinetic control system according to claim 1, it is characterized in that, for morning, the mid-term in Rehabilitation stage, comprise the phase of collapsing from physical exhaustion and spasm period, adopt described passive exercise training mode, patient is completely under the drive of exoskeleton-type pedipulator, treadmill (3) is walked with predetermined physiology's gait track, excite patient to the sensation of proper exercise, suppress its muscle spasm and abnormal motion, the driving device bottom bands of trouser legs moves patient and realizes walking rehabilitation training.
3. a kind of lower limb rehabilitation robot kinetic control system according to claim 1, it is characterized in that, for the intermediary and later stages in Rehabilitation stage, comprise spasm period and improvement phase, adopt described active training pattern, in rehabilitation training, utilize the active role power of pull pressure sensor (5) Real-time Collection patient, i.e. the stress value at fixed constraint place, stress value judges the acceleration or deceleration action that treadmill is corresponding thus, thus patient according to the demand of oneself, can realize active exercise.
4. a kind of lower limb rehabilitation robot kinetic control system according to claim 1, it is characterized in that, this control system is made up of ectoskeleton gait orthosis (2), weight reducing device (1), treadmill (3) and control system four part,
Wherein ectoskeleton gait orthosis (2) is made up of two exoskeleton-type pedipulators, every bar exoskeleton-type pedipulator hip joint, knee joint, ankle joint have one degree of freedom, the rotation in three joints of people when walking in sagittal plane can be simulated, realize the motion of Three Degree Of Freedom; Posterior bracket is installed pull pressure sensor (5), is connected with the rubber strap at patient's hip joint place, measure the active exercise power of patient.
5. a kind of lower limb rehabilitation robot kinetic control system according to claim 4, it is characterized in that, lower limb rehabilitation robot kinetic control system is made up of walking rehabilitation training robot, signal processing circuit, servo-driver, data collecting card, motion control card, industrial computer; When industrial computer sends instruction according to control sequence, through motion control card output motor controlled quentity controlled variable in drive circuit, servo-driver receives instruction, controls motor and realizes the function that pedipulator drives patient's ambulation training; Meanwhile, industrial computer sends by serial ports the synchronous coordination motion that instruction realizes treadmill (3); By signals such as data collecting card Real-time Collection joint angles, driving force, limit switches, feed back in gait tracking controller, realize the TRAJECTORY CONTROL under different mode.
6. a kind of lower limb rehabilitation robot kinetic control system according to claim 4, is characterized in that, along with patient produces the movement tendency of acceleration and deceleration on a treadmill, by the speed v obtained
cintroduce treadmill speed control, treadmill (3) is autonomous governing speed constantly, and the stiction Fx that patient is subject in X-direction relative to treadmill (3) levels off to zero as early as possible, and what can complete speed follows Self Adaptive Control.
7. a kind of lower limb rehabilitation robot kinetic control system as described in claim 1 ~ 6 any one, is characterized in that, for the walking rehabilitation training of lower extremity motor function impaired patients.
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| CN105596018A (en) * | 2016-03-25 | 2016-05-25 | 上海电气集团股份有限公司 | Force sensor-based human motion tendency detection device and detection method |
| CN106422172A (en) * | 2016-11-22 | 2017-02-22 | 西安交通大学 | Speed self-adaptive control method of lower limb rehabilitation training system treadmill based on myoelectricity |
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| CN116807839B (en) * | 2023-08-30 | 2023-11-28 | 山东泽普医疗科技有限公司 | Exoskeleton rehabilitation robot gait algorithm and control system |
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