CN104784006A - Method for determining working position of rehabilitation chair for coordinated limb and trunk movement - Google Patents
Method for determining working position of rehabilitation chair for coordinated limb and trunk movement Download PDFInfo
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Abstract
The invention discloses a method for determining the working position of a rehabilitation chair for coordinated limb and trunk movement. The method includes the following steps that a tail end gait locus curve of a training mechanism is obtained through simulation, wherein the distance between the point A and the point B on the locus curve is a rehabilitation training locus amplitude, and a specific training amplitude can be set by planning the distance between the point A and the point B; then, measurement parameters of the training mechanism are created, and an objective function of the training mechanism is established; according to the function, the working positions of various components of the rehabilitation chair under the planned training amplitude are worked out through optimization design; finally, the working positions of the components of the rehabilitation chair are adjusted, and scientific training can be started.
Description
Technical field:
The present invention relates to the defining method of the healthy chair operating position of limbs coordinate exercise, belong to rehabilitation and field of exercise.
Background technology:
Nian Lai, the patient populations of the obstacle of limb movement caused by reasons such as physiological function decline, apoplectic hemiplegia, spinal cord injury gets more and more, by simple armarium or artificial rehabilitation nursing, rehabilitation is carried out to it, far can not meet their demand.The earlier application of Wuhu Tianren Intelligent Machinery Co., Ltd.: the healthy chair of a kind of limbs coordinate exercise (2014101227578,2014201477507) or upper and lower extremities coordination exercise plint (2013204135066) that is collapsible, rail-variable, is intended to for these rehabilitation clientses provide personalized rehabilitation training.For the use crowd of different height, because the health status of limb size and limbs is different, training track and the training amplitude of needs are also not quite similar, and the training institution of healthy chair is adjusted to suitable operating position to meet user requirement with regard to needing by this.Therefore, the determination for the healthy chair operating position of different height crowd is extremely necessary, in addition, step-length is one of important parameter in gait feature, and reflect the locomotor activity of people, there is some difference for different people step-length.Therefore, make rational planning for the amplitude of movement locus and contribute to the sentific training of rehabilitation clients, rehabilitation clients is under hemiplegia state, and its training amplitude should be less than normal human's walking.Therefore, be that 500mm, 400mm, 300mm tri-kinds of situations contribute to improving user service efficiency by the amplitude set of planning.
Summary of the invention:
For overcoming the defect of prior art, the object of the present invention is to provide the defining method of the healthy chair operating position of a kind of limbs coordinate exercise, for the use crowd of different height, the defining method of healthy chair operating position is: set up training institution's matrix parameter model; Utilize the training institution's matrix parameter model set up, emulation draws training institution's end class gait geometric locus, geometric locus is put the distance between AB, is rehabilitation training track amplitude; By the distance between planning AB, specific training amplitude can be set; Then the object function of the measurement parameter structure training institution of training institution is created; Finally utilize optimal design from function, solve the operating position of healthy chair under three kinds of training amplitudes.
Technical solution problem of the present invention adopts following technical scheme:
The defining method of the healthy chair operating position of limbs coordinate exercise, carries out as follows:
Step one: set up healthy chair training institution matrix parameter model; Utilize the training institution's matrix parameter model set up, emulation draws training institution's end class gait geometric locus, geometric locus is put the distance between AB, is rehabilitation training track amplitude; By the distance between planning AB, specific training amplitude can be set;
Step 2: the measurement parameter creating training institution, creates according to following relational expression:
The i.e. foot-operated center of rotation D point of foot-operated some D described in formula; Geometric locus between the AB point i.e. movement locus of foot-operated center of rotation D point;
In formula (1): max_Dx, min_Dx---foot-operated some horizontal X direction of principal axis position maximum, minima;
Max_Dy, min_Dy are respectively the y coordinate figure corresponding with max_Dx, min_Dx point;
Or in formula (1): the foot-operated point of max_Dy, min_Dy----vertical Y direction maximum, minima;
Max_Dx, min_Dx are respectively the x coordinate figure corresponding with max_Dy, min_Dy point;
Step 3: the object function of structure training institution;
The crank that vm, max_vd, min_vd are respectively healthy Yi Zhong training institution in formula (2) rotates a circle the maximal rate of interior foot-operated some D, minimum speed and average speed;
Step 4: utilize optimal design to solve the operating position of each parts of healthy chair under planning training amplitude
The healthy chair of described motion comprises:
Seat frame, be located at the seat on described seat frame top, be located at the frame of described seat frame both sides, be located at seat frame bottom main drive and from actuating device, described main drive and be respectively arranged with overhanging driving shaft, asessory shaft from the both sides of actuating device, is distributed with Liang Gebagan limbs training institution or Liang Geqigan limbs training institution in described seat frame lateral symmetry;
Described eight bar limbs training institutions comprise crank, first connecting rod, second connecting rod, side link, third connecting rod, rocking bar, slide block, frame, one end and the driving shaft of described crank connect firmly, the head end of described first connecting rod and the hinged formation revolute pair of described crank, middle part and the hinged formation revolute pair of described second connecting rod head end, the end of described second connecting rod and the hinged formation revolute pair of described side link head end, end and the described asessory shaft of described side link connect firmly, one end of described third connecting rod and the hinged formation revolute pair of described first connecting rod, the hinged formation revolute pair in bottom of the other end and described rocking bar, the middle part of described rocking bar and the hinged formation revolute pair of described slide block, described slide block and described frame form moving sets, the position of slide block in described frame is with tune.
Described first connecting rod is provided with foot support, in the upper end of described rocking bar, handle is installed.
Described seven bar limbs training institutions comprise crank, first connecting rod, second connecting rod, side link, third connecting rod, rocking bar, frame; One end and the driving shaft of described crank connect firmly, the head end of described first connecting rod and the hinged formation revolute pair of described crank, middle part and the hinged formation revolute pair of described second connecting rod head end, the end of described second connecting rod and the hinged formation revolute pair of described side link head end, end and the described asessory shaft of described side link connect firmly, one end of described third connecting rod and the hinged formation revolute pair of described first connecting rod, the hinged formation revolute pair in bottom of the other end and described rocking bar, the middle part of described rocking bar and the hinged formation revolute pair of slide block, described slide block and described frame connect firmly; Or the middle part of described rocking bar is direct and the hinged formation revolute pair of described frame.
Described crank or be disk or for rod member, the position of the revolute pair of the hinged formation of head end of crank and described first connecting rod is with tune.
Described rocking bar is provided with sleeve, and the rod member of described handle is arranged in described sleeve, and handle rotates and the mobile adjustment carrying out angle and height in sleeve, and can locking positioning.
Described driving shaft is driven by described main drive, described asessory shaft by described from actuator drives.
Compared with the prior art, beneficial effect of the present invention is embodied in:
The earlier application of applicant: the healthy chair of a kind of limbs coordinate exercise (Authorization Notice No. CN203763459U), limb motion body-building and recovery chair (Authorization Notice No. CN302925142S), upper and lower extremities coordination exercise plint (Authorization Notice No. CN203315281U) that is collapsible, rail-variable belong to the novel healthy chair of limb motion at home and abroad at present, but for the user of different height, and plan the user of different range of motion, the determination of the operating position of healthy chair is very important.The advantages such as the defining method of this operating position that the present invention proposes has intelligence, accurate.This health builds the defining method of chair operating position, health can be made to build rehabilitation training requirement that chair meets different height user, is conducive to the sentific training that limbs have the rehabilitation clients of dyskinesia.
Accompanying drawing illustrates:
Fig. 1 is the front view of healthy chair; Fig. 2 is the structural representation of healthy Yi Zhongbagan limbs training institution; Fig. 3 behaviour-machine connecting rod illustraton of model; Fig. 4 is that strategic process figure is determined in rehabilitation training mechanism operating position; Fig. 5 is rehabilitation training mechanism conceptual scheme; Fig. 6 is mechanism parameter illustraton of model.
Number in the figure: 1 crank, 2 first connecting rods, 3 second connecting rods, 4 side links, 5 third connecting rods, 6 rocking bars, 7 frames, 8 foot support, 9 handles, 10 asessory shafts, 12 driving shafts, 14 seats, 18 seat frames, 19 main drives, 20 from actuating device, 21 slide blocks, 22 sleeves, 23 swivels.
Below by way of detailed description of the invention, and the invention will be further described by reference to the accompanying drawings.
Detailed description of the invention:
Embodiment: see accompanying drawing, the healthy chair of limbs coordinate exercise, it comprises seat frame 18, be located at the seat 14 on described seat frame top, be located at the frame 7 of described seat frame both sides, be located at seat frame bottom main drive 19 and from actuating device 20, main drive 19 and the both sides from actuating device 20 are respectively arranged with overhanging driving shaft 12, asessory shaft 10, are distributed with Liang Gebagan limbs training institution or Liang Geqigan limbs training institution in seat frame lateral symmetry;
Eight bar limbs training institutions comprise crank 1, first connecting rod 2, second connecting rod 3, side link 4, third connecting rod 5, rocking bar 6, slide block 21, frame 7; One end and the driving shaft 12 of crank 5 connect firmly, the head end of first connecting rod 2 and the hinged formation revolute pair of crank 1, middle part and the hinged formation revolute pair of second connecting rod 3 head end, the end of second connecting rod 3 and the hinged formation revolute pair of side link 4 head end, end and the asessory shaft 10 of side link 4 connect firmly, one end of third connecting rod 5 and the hinged formation revolute pair of first connecting rod 2, the hinged formation revolute pair in bottom of the other end and rocking bar 6, the middle part of rocking bar 6 and the hinged formation revolute pair of slide block 21, slide block 21 and frame 7 form moving sets, and the position of slide block 21 in frame 7 is with tune.
Described first connecting rod 2 is provided with foot support 8, in the upper end of rocking bar 6, handle 9 is installed.
Described seven bar limbs training institutions comprise crank 1, first connecting rod 2, second connecting rod 3, side link 4, third connecting rod 5, rocking bar 6, frame 7, one end and the driving shaft 12 of described crank 5 connect firmly, the head end of described first connecting rod 2 and the hinged formation revolute pair of described crank 1, middle part and the hinged formation revolute pair of described second connecting rod 3 head end, the end of described second connecting rod 3 and the hinged formation revolute pair of described side link 4 head end, end and the described asessory shaft 10 of described side link 4 connect firmly, one end of described third connecting rod 5 and the hinged formation revolute pair of described first connecting rod 2, the hinged formation revolute pair in bottom of the other end and described rocking bar 6, the middle part of described rocking bar 6 and the hinged formation revolute pair of slide block 21, described slide block 21 connects firmly with described frame 7, or the middle part of described rocking bar 6 is direct and the hinged formation revolute pair of described frame 7.
In specifically arranging, crank 1 or be disk or for rod member, the position of the revolute pair of the hinged formation of head end of crank and first connecting rod 2 is with tune.
Rocking bar 6 is provided with sleeve 22, the rod member of handle 9 is arranged in sleeve 22, and handle rotates and the mobile adjustment carrying out angle and height in sleeve 22, and can locking positioning.
Driving shaft 12 is driven by main drive 19, and asessory shaft 10 drives by from actuating device 20.
Seat 14 can move forward and backward and locate on seat frame 18, and the angle of back-rest of seat 14 can regulate and locate, and can adapt to different height crowd requirement to the motion amplitude of leg and hand under different training stages and different sitting posture.
The moving sets that slide block 21 and frame 7 are formed, can along rectilinear movement, also can move along circular arc, the method regulated or manually regulate or change the position of slide block in frame by automatically regulating, concrete or realized by screw, or move realization by lead screw guide rails, or realized by push rod.
The change of slide block 21 position can regulate movement locus and the amplitude of rocking bar 6, makes the motion of handle can adapt to wider crowd and training area, meets the hand exercise demand of different height, different training stages and different attitude.
Crank 1 is disk, cross the center of circle and radially have rectangular groove, the revolute pair that crank 1 and first connecting rod 2 are formed and swivel 23, can move and locate in rectangular groove, thus regulate length and the radius of gyration of crank, the convenient motion amplitude regulating hand and foot.
Handle 9 can rotate and move and locate in sleeve 2, thus carries out the adjustment of angle and height, is convenient to the motor adjustment of hand.
Seat frame 18 and frame 7 are without relative motion.
Through main drive 19, power is passed to driving shaft 12, main drive 19 is the combination of decelerator and motor, this decelerator or be V belt translation or for gear drive or for Chain conveyer or be their combination.The rotation of asessory shaft 10 drives by from actuating device 20, from actuating device or be decelerator and motor combination or for linear actuators, this decelerator or be V belt translation or for gear drive or for Chain conveyer or be their combination, in figure, adopt linear brake as from actuating device 20, its one end and seat frame 18 are hinged to revolute pair, and the bar that connects firmly of the other end and asessory shaft 10 is hinged to revolute pair.By the elongation of linear brake with shorten the angle change realizing side link 4.In concrete enforcement, linear brake can adopt the thrust linear brake of Dayin Microsystem Co Ltd, and model selects LAN, the array of linear brakes such as LAS, LAM.
In using, according to body parameter and the training requirement of training objects, the angle of the angle of the adjustment front and back position of seat and backrest, the angle of side link 4, the length of crank 1, the position of slide block 21 and handle 9 and height.Seat can adopt automotive seat, and rotation that is movable and backrest can be manual, also can be electronic, after seat position and backrest angle mix up, keeps motionless.After the angular adjustment of side link 4 is good, keep side link 4 motionless.Regulate slide block 21 behind the position of frame 7, keep the position of slide block 21 in frame 7 motionless.Trainer's upper limb two handss contact with left and right handle 9 respectively, and two feet of lower limb contact with two, left and right foot support 8 respectively.Driving shaft 12 is by motor and the revolution of deceleration device driving crank 1 complete cycle.Crank 1 is with fixed handle 9, foot support 8 by projected path and speed motion, reaches training objectives; If the movement locus of the handle (foot support 8) supported is not in the suitable range of movement of user, can first moved seat position, regulate the angle of backrest, again side link 4 is turned to certain angle or moving slider 21 to certain position, to realize the position adjustment of respective range, make the movement locus of handle, foot support in the suitable range of movement of user, thus also can meet the training demand of different crowd, different phase and different sitting posture.In order to realize more complicated forms of motion, side link 4, slide block 21 and crank 1 can be allowed to rotate simultaneously.
If at the built-in drag devices of main drive 19 as magnetic control wheel, friction pulley, motor resistance etc., the size of the moment of resistance can be controlled, for active training provides resistance, realizes the object of carrying out strength building in the active exercise of regulation track; In conjunction with the passive exercise of motor, thus the needs of main passive exercise can be met.
To realize synchronous training mode, then the crank 1 of eight bar limbs training institutions about scalable, makes it initial phase identical, and to realize asynchronous training mode, then the crank 1 of eight bar limbs training institutions about scalable, makes it initial phase difference 180 degree.
The moving sets that slide block 21 and frame 7 are formed, also can develop into revolute pair, slide block 21 develops into pivoted arm, and pivoted arm one end and frame form revolute pair, and the other end and rocking bar 6 form revolute pair; The control method that pivoted arm rotates or manually regulate or change its position in frame 7 by automatically regulating; Concrete or regulate location by screw, or rotated by worm and gear and realize, or realized by push rod.
Crank 1, first connecting rod 2 can respectively with the location swap of side link 4, second connecting rod 3.
In the operating position deterministic process of healthy chair, side link 4 operating position (angle formed with horizontal plane) the most key, the extension elongation of crank, foot-operated present position are also very crucial in addition, the operating position of each parts relates to the upper and lower extremities of rehabilitation training person, the mobility in each joint, and then directly affect rehabilitation training effect, in the present invention, each component working method for determining position of healthy chair, carries out as follows:
Step one: set up healthy chair eight bar limbs training institution matrix parameter model; Utilize the training institution's matrix parameter model set up, emulation draws training institution's end class gait geometric locus, geometric locus is put the distance between AB, is rehabilitation training track amplitude; By the distance between planning AB, specific training amplitude can be set;
Step 2: the measurement parameter creating training institution, creates according to following relational expression:
The i.e. foot-operated center of rotation D point of foot-operated some D described in formula; Geometric locus between the AB point i.e. movement locus of foot-operated center of rotation D point;
In formula (1): max_Dx, min_Dx---foot-operated some horizontal X direction of principal axis position maximum, minima;
Max_Dy, min_Dy are respectively the y coordinate figure corresponding with max_Dx, min_Dx point;
Or in formula (1): the foot-operated point of max_Dy, min_Dy----vertical Y direction maximum, minima;
Max_Dx, min_Dx are respectively the x coordinate figure corresponding with max_Dy, min_Dy point;
Step 3: the object function of structure training institution;
The crank that vm, max_vd, min_vd are respectively healthy chair training institution in formula (2) rotates a circle the maximal rate of interior foot-operated some D, minimum speed and average speed;
Step 4: utilize optimal design to solve the operating position of each parts of healthy chair under three kinds of training amplitudes
Therefore, when planning that training amplitude is 500mm, now crank should be adjusted to 95mm, side link and horizontal plane angle angle are 20 degree; When planning that training amplitude is 400mm, now crank should be adjusted to 85mm, side link and horizontal plane angle angle are 30. degree.When planning that training amplitude is 300mm, now crank should be adjusted to 75mm, side link and horizontal plane angle angle are 60 degree.
The present invention another kind of operating position defining method is that defining method carries out in accordance with the following steps according to planning that the height of training amplitude and rehabilitation training person determines the operating position of healthy chair:
Step one: set up 150cm, the man-machine connecting rod equivalent model of the different height user of 160cm, 170cm, 180cm tetra-kinds and healthy chair training institution; Utilize multi rigid body system dynamics method, be simplified to the metamorphic mechanisms of 11 bars in human body sagittal plane;
Step 2: utilize simulation software to carry out man-machine simulation to the 11 bar metamorphic mechanisms that step one is set up; Draw the limbs joint mobility data of the crowd of above-mentioned four kinds of different heights under the operating position that training institution is different and change curve; According to the data obtained and curve building database:
1. height 150cm man-machine simulation data:
Table 1. height 1500mm user limbs joint mobility (unit: degree)
2. height 160cm man-machine simulation data:
Table 2 height 1600mm user limbs joint mobility (unit: degree)
3. height 170cm man-machine simulation data
Table 3 height 1700mm user limbs joint mobility (unit: degree)
4. height 180cm man-machine simulation data
Table 4 height 1800mm user limbs major joint mobility (unit: degree)
Height 150cm, healthy chair has two operating positions: β=10 °, β=20 °;
Height 160cm, healthy chair has four operating positions: β=10 °, β=20 °, β=30 °, β=40 °;
Height 170cm, healthy chair has five operating positions: β=20 °, β=20 °, β=30 °, β=40 °, β=50 °;
Height 180cm, healthy chair has six operating positions: β=20 °, β=20 °, β=30 °, β=40 °, β=50 °, β=60 °;
Above-mentioned β is side link 4 and horizontal plane angle in healthy chair, i.e. the angle that formed towards one end and the horizontal plane of asessory shaft of side link 4;
Step 3: according to Fig. 4, carries out the adjustment of operating position.Lower extremity motor function obstacle rehabilitation training person for height 1700mm: first according to rehabilitation Shi Jianyi, determines the concrete rehabilitation stage that rehabilitation clients is in.Suppose that rehabilitation is in the phase of collapsing from physical exhaustion, need to carry out gamut rehabilitation training to hip joint, knee joint.Because hip joint is coupled with knee joint, a joint is planned.Suppose that regulation hip joint mobility is train within the scope of 0-45 °, by this parameter of height 1700mm, and the hip joint mobility 45 ° of planning, look-up table 3 can be looked into, the working position meeting this training requirement is equipped with two kinds of β=40 °, 50 °, the angle of β angle and side link 4 and horizontal plane, adjust operating position, the training of the science of carrying out can be started.
Claims (6)
1. the defining method of the healthy chair operating position of limbs coordinate exercise, is characterized in that carrying out as follows:
Step one: set up healthy chair training institution matrix parameter model; Utilize the training institution's matrix parameter model set up, emulation draws training institution's end class gait geometric locus, geometric locus is put the distance between AB, is rehabilitation training track amplitude; By the distance between planning AB, specific training amplitude can be set;
Step 2: the measurement parameter creating training institution, creates according to following relational expression:
The i.e. foot-operated center of rotation D point of foot-operated some D described in formula; Geometric locus between the AB point i.e. movement locus of foot-operated center of rotation D point;
In formula (1): max_Dx, min_Dx---foot-operated some horizontal X direction of principal axis position maximum, minima;
Max_Dy, min_Dy are respectively the y coordinate figure corresponding with max_Dx, min_Dx point;
Or in formula (1): the foot-operated point of max_Dy, min_Dy----vertical Y direction maximum, minima;
Max_Dx, min_Dx are respectively the x coordinate figure corresponding with max_Dy, min_Dy point;
Step 3: the object function of structure training institution;
Object function min
Vm, max_ in formula (2)
vd, min_
vdthe crank being respectively healthy Yi Zhong training institution rotates a circle the maximal rate of interior foot-operated some D, minimum speed and average speed;
Step 4: utilize optimal design to solve the operating position of each parts of healthy chair under planning training amplitude
2. the defining method of the healthy chair operating position of limbs coordinate exercise according to claim 1, is characterized in that, the healthy chair of described motion comprises:
Seat frame (18), be located at the seat (14) on described seat frame top, be located at the frame (7) of described seat frame both sides, be located at seat frame bottom main drive (19) and from actuating device (20), described main drive (19) and be respectively arranged with overhanging driving shaft (12), asessory shaft (10) from the both sides of actuating device (20), is distributed with Liang Gebagan limbs training institution or Liang Geqigan limbs training institution in described seat frame lateral symmetry;
Described eight bar limbs training institutions comprise crank (1), first connecting rod (2), second connecting rod (3), side link (4), third connecting rod (5), rocking bar (6), slide block (21), frame (7), one end and the driving shaft (12) of described crank (5) connect firmly, the head end of described first connecting rod (2) and the hinged formation revolute pair of described crank (1), middle part and the hinged formation revolute pair of described second connecting rod (3) head end, the end of described second connecting rod (3) and the hinged formation revolute pair of described side link (4) head end, end and the described asessory shaft (10) of described side link (4) connect firmly, one end of described third connecting rod (5) and the hinged formation revolute pair of described first connecting rod (2), the hinged formation revolute pair in bottom of the other end and described rocking bar (6), the middle part of described rocking bar (6) and the hinged formation revolute pair of described slide block (21), described slide block (21) and described frame (7) form moving sets, the position of slide block in described frame is with tune.
Described first connecting rod (2) is provided with foot support (8), in the upper end of described rocking bar (6), handle (9) is installed.
3. the defining method of the healthy chair operating position of limbs coordinate exercise according to claim 2, is characterized in that:
Described seven bar limbs training institutions comprise crank (1), first connecting rod (2), second connecting rod (3), side link (4), third connecting rod (5), rocking bar (6), frame (7), one end and the driving shaft (12) of described crank (5) connect firmly, the head end of described first connecting rod (2) and the hinged formation revolute pair of described crank (1), middle part and the hinged formation revolute pair of described second connecting rod (3) head end, the end of described second connecting rod (3) and the hinged formation revolute pair of described side link (4) head end, end and the described asessory shaft (10) of described side link (4) connect firmly, one end of described third connecting rod (5) and the hinged formation revolute pair of described first connecting rod (2), the hinged formation revolute pair in bottom of the other end and described rocking bar (6), the middle part of described rocking bar (6) and the hinged formation revolute pair of slide block (21), described slide block (21) and described frame (7) connect firmly, or the middle part of described rocking bar (6) is direct and the hinged formation revolute pair of described frame (7).
4. the defining method of the healthy chair operating position of limbs coordinate exercise according to claim 1, it is characterized in that, described crank (1) or be disk or for rod member, the position of the revolute pair of the hinged formation of head end of crank and described first connecting rod (2) is with tune.
5. the defining method of the healthy chair operating position of limbs coordinate exercise according to claim 1, it is characterized in that, described rocking bar (6) is provided with sleeve (22), the rod member of described handle (9) is arranged in described sleeve (22), handle rotates and the mobile adjustment carrying out angle and height in sleeve (22), and can locking positioning.
6. the defining method of the healthy chair operating position of limbs coordinate exercise according to claim 1, it is characterized in that, described driving shaft (12) is driven by described main drive (19), and described asessory shaft (10) is driven from actuating device (20) by described.
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| CN111097133A (en) * | 2018-10-27 | 2020-05-05 | 山东罗赛罗德健康产业有限公司 | Full-automatic strength fitness equipment |
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