CN105078701A - Lower limb two-joint rehabilitation training mechanism based on parallel mechanism and two-dimensional force-measuring mechanism - Google Patents
Lower limb two-joint rehabilitation training mechanism based on parallel mechanism and two-dimensional force-measuring mechanism Download PDFInfo
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- CN105078701A CN105078701A CN201510556834.5A CN201510556834A CN105078701A CN 105078701 A CN105078701 A CN 105078701A CN 201510556834 A CN201510556834 A CN 201510556834A CN 105078701 A CN105078701 A CN 105078701A
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Abstract
The invention discloses a lower limb two-joint rehabilitation training mechanism based on a parallel mechanism and a two-dimensional force-measuring mechanism. The lower limb two-joint rehabilitation training mechanism is composed of the parallel mechanism and the two-dimensional force-measuring mechanism, wherein the parallel mechanism is composed of parallel linkage rods with unequal length, a short connecting rod with one end being fixed, a drive motor, an angle sensor and a rotation shaft; the two-dimensional force-measuring mechanism is composed of a pedal and two groups of bridge circuits; the angle sensor is connected with a computer through an amplification interface circuit; the bridge circuits are connected with the computer through an amplification interface circuit, the computer is connected with a control circuit of the drive motor, therefore, the computer acquires data measured by the angle sensor and the two groups of bridge circuits through the amplification interface circuit, and processes the data, and obtains the rotation angle information of the short connecting rod, and the acting forces of the feet to the pedal in the vertical direction and front-back direction, then the control circuit controls the drive motor to rotate, and thus the rehabilitation movement training of driving the knee joints and the ankle joints through one motor is realized.
Description
Technical field
The invention belongs to rehabilitation medical instrument field, particularly relate to and a kind ofly utilize parallel institution to realize the rehabilitation training of lower limb doublejointed and possess the lower limb doublejointed rehabilitation training mechanism of two-dimensional force measurement mechanism.
Background technology
Healing robot is the combination of engineering and rehabilitation medicine, and being typical people-machine integrated system, be the cutting edge technology of current rehabilitation medicine and robot field, and lower limb rehabilitation mechanism is the main study subject of current mechanical field in rehabilitation medicine field.Robot-aided training, as a kind of intelligent Rehabilitation Treatment Technique in the ascendant nearly ten years, obtains the most attention of each developed country.Physical Therapist not only can free by recovery exercising robot from doctors and patients one to one even many-to-one heavy rehabilitation course, and can carry out safe and reliable to the obstacle of limb movement patient caused because of apoplexy (apoplexy) and spinal cord injury etc., self adaptation and rehabilitation training with strong points, pass through quantitative exercise, Real-Time Monitoring can provide the rehabilitation training pattern of science more for patient, athletic rehabilitation therapy is tried out by automatization's rehabilitation equipment, for the Quality of rehabilitation improving obstacle of limb movement patient, promote the rehabilitation early of patient, alleviate burden on society significant.
Summary of the invention
The technical issues that need to address of the present invention are: in order to provide a kind of safe and effective lower limb doublejointed rehabilitation training mechanism design, can the rehabilitation training of lower limb knee joint and ankle joint be provided to rehabilitation training person simultaneously, propose a kind of lower limb doublejointed rehabilitation training mechanism based on parallel institution and two-dimensional force measurement mechanism.
For solving the problems of the technologies described above, the present invention adopts following technical scheme: provide a kind of lower limb doublejointed rehabilitation training mechanism based on parallel institution and two-dimensional force measurement mechanism, it is characterized in that these lower limb doublejointed rehabilitation training mechanism is made up of parallel institution and two-dimensional force measurement mechanism two parts: this parallel institution is installed on below seat 1, to be walked abreast link rod by Length discrepancy, the short connecting rod 2 that an one end is fixing, drive motors 4, angular transducer 3 and turning cylinder 0 and 7 form, the Length discrepancy link rod that walks abreast is made up of a rotating long connecting rod 5 and a rotatable short connecting rod 6, drive motors 4 shaft is connected at the turning cylinder 0 near seat 1 end with long connecting rod 5, angular transducer 3 is arranged at the junction of two short connecting rods 2 and 6, this two-dimensional force measurement mechanism is made up of pedal and two groups of bridge circuits, pedal comprises pedal 17, Left-side support beam 11, Right side support beam 12, front end fixture and periphery 16, often organize bridge circuit to be made up of 4 foil gauges 14, for measuring foot, the bridge circuit of the active force in pedal 17 vertical direction is made up of totally 4 foil gauges 14 on pedal 17 Left-side support beam 11 and Right side support beam about 12 four faces, and pedal 17 seesawed to the bridge circuit of active force on direction by before pedal 17 Left-side support beam 11 and Right side support beam 12 for measuring foot, after 4 foil gauges 14 on totally four faces form, wherein, angular transducer 3 is connected with computer through interface circuit, bridge circuit in two-dimensional force measurement mechanism is connected with computer through interface circuit, computer is connected with the control circuit of drive motors 4, the long connecting rod 5 that drive motors 4 can drive Length discrepancy to walk abreast in link rod rotates, and then drive the motion of pedal and rotatable short connecting rod 6, realize the rehabilitation exercise training in a driven by motor knee joint and ankle joint two joints, angular transducer 3 to walk abreast the rotational angle of the rotatable short connecting rod 6 in link rod for measuring Length discrepancy, computer is obtained by interface circuit and processes surveyed data, thus control the rotation of drive motors 4, by with the comparing of threshold value, the safety of rehabilitation training person and the safety of mechanism can be ensured.
Optimize, above-mentioned front end fixture, rear end fixture can be respectively elastic fixture, described angular transducer 3 is through amplification interface circuit and is connected by bus with computer, bridge circuit in two-dimensional force measurement mechanism is connected by bus with computer through amplifying interface circuit, and the front and back end of described pedal arranges front end Fuliang 9, rear end Fuliang 15 respectively in order to firm pedal.
In addition, the using method of the lower limb doublejointed rehabilitation training mechanism based on parallel institution and two-dimensional force measurement mechanism of the present invention, its concrete steps are as follows:
Step 1: by computer predetermined threshold value before using
, threshold angle
,
be respectively foot to the pressure threshold on four direction described in pedal 17, unit N,
be respectively the forward and backward rotational angle threshold value of rotatable short connecting rod 6, unit: degree;
Step 2: rehabilitation training person takes seat 1 and uses the front end elastic fixing device 10 on pedal 17 and rear end elastic fixing device 13 to be fixed on pedal 17 by rehabilitation training person foot;
Step 3: open each several part power supply after rehabilitation training person is ready to, namely mechanism starts working;
Step 4: angular transducer 3 is measured Length discrepancy and to be walked abreast the rotational angle of the rotatable short connecting rod 6 in link rod, computer by amplify interface circuit and obtain and process surveyed data and with the threshold value set
relatively, the safety of rehabilitation training person and mechanism is ensured;
Step 5: two bridge circuits that foil gauge 14 forms are measured foots and to be seesawed the active force to pedal 17 on direction in pedal 17 vertical direction and to pedal 17, computer obtains the output data of bridge circuit by amplifying interface circuit, and then Real Time Observation can adjust rehabilitation training strategy to rehabilitation training person foot stressing conditions, by with set threshold value
relatively, the safety of rehabilitation training person is ensured;
Step 6: computer is when the angle-data confirming to obtain and stress data meet setting threshold requirement, control drive motors 4 by drive circuit to rotate, drive long connecting rod 5 to rotate, drive the motion of pedal and rotatable short connecting rod 6, rehabilitation training person starts the rehabilitation training of lower limb doublejointed;
Step 7: the rehabilitation training of lower limb health doublejointed terminates, computer controls drive motors 4 by drive circuit and revolves, and drive long connecting rod to go to initial position, nursing staff helps rehabilitation training person to unload equipment safely, closing device power supply.
Compared with prior art, tool of the present invention has the following advantages:
(1) the present invention adopts parallel institution, the walk abreast cooperation of link rod and pedal of Length discrepancy wherein can realize the rehabilitation training of lower limb knee joint and ankle joint simply and effectively, angular transducer wherein can feedback mechanism attitude, ensures the safety of rehabilitation training person and mechanism;
(2) the two-dimensional force measurement mechanism in the present invention, can Real-Time Monitoring rehabilitation training person foot to the active force in pedal vertical direction and the active force that seesaws on direction, can effectively ensure the safety of rehabilitation training person under the help of setting threshold value while, rehabilitation exercise strategy can also be adjusted, improve rehabilitation exercise safety, science and efficiency;
(3) in the present invention, pedal adopts left and right sides brace summer, front and back Fuliang design, the while of making pedal structure more firm, non-damageable, front and back Fuliang design can not cause larger impact to the measurement result of group bridge-type measuring circuit of two on the brace summer of left and right, can not affect the functional realiey of bridge circuit;
(4) the present invention is by simplifying effective control method, control procedure is continuous, real-time is good, computer can according to obtaining and the angle information that records of analyzing and processing and by force information, programmes to control drive motors by drive circuit and rotate to realize the rehabilitation exercise application on this lower limb doublejointed rehabilitation training mechanism of recovery training method as knee joint according to certain rules and ankle joint.
Accompanying drawing explanation
Fig. 1 is the structural representation of parallel institution in the present invention;
Fig. 2 is the structural representation of pedal in the present invention;
Fig. 3 is the top view of pedal front end in the present invention;
Fig. 4 is the oblique view of pedal front end in the present invention;
Fig. 5 is the motion morphology schematic diagram of parallel institution in the present invention;
Attached number in the figure is: 0. turning cylinder; 1. seat; 2. the short connecting rod that one end is fixing; 3. angular transducer; 4. drive motors; 5. long connecting rod; 6. rotatable short connecting rod; 7. turning cylinder; 8. pedal front end; 9. front end Fuliang; 10. front end elastic fixing device; 11. Left-side support beams; 12. Right side support beams; 13. rear end elastic fixing devices; 14. foil gauges; 15. rear end Fuliangs; 16. peripheries; 17. pedals.
detailed description of the invention:
Below for the structural representation of the structural representation of Fig. 1 parallel institution and Fig. 2 pedal, the motion morphology schematic view illustrating specific embodiment of the invention step of the top view of composition graphs 3 pedal front end, the oblique view of Fig. 4 pedal front end and Fig. 5 parallel institution:
The invention discloses a kind of lower limb doublejointed rehabilitation training mechanism based on parallel institution and two-dimensional force measurement mechanism, it is characterized in that these lower limb doublejointed rehabilitation training mechanism is made up of parallel institution and two-dimensional force measurement mechanism two parts: this parallel institution is installed on below seat 1, to be walked abreast link rod by Length discrepancy, the short connecting rod 2 that an one end is fixing, drive motors 4, angular transducer 3 and turning cylinder 0 and 7 form, the Length discrepancy link rod that walks abreast is made up of a rotating long connecting rod 5 and a rotatable short connecting rod 6, drive motors 4 shaft is connected with the turning cylinder 0 of long connecting rod 5 near seat 1 end, angular transducer 3 is arranged at the junction of two short connecting rods 2 and 6, this two-dimensional force measurement mechanism is made up of pedal and two groups of bridge circuits, pedal is by pedal 17, front end Fuliang 9, rear end Fuliang 15, Left-side support beam 11, Right side support beam 12, front end elastic fixing device 10, rear end elastic fixing device 13 and periphery 16 form, often organize bridge circuit to be made up of 4 foil gauges 14, for measuring foot, the bridge circuit of the active force in pedal 17 vertical direction is made up of totally 4 foil gauges 14 on pedal 17 Left-side support beam 11 and Right side support beam about 12 four faces, and pedal 17 seesawed to the bridge circuit of active force on direction by before pedal 17 Left-side support beam 11 and Right side support beam 12 for measuring foot, after 4 foil gauges 14 on totally four faces form, wherein, angular transducer 3 is connected by bus with computer through amplifying interface circuit, and the bridge circuit in two-dimensional force measurement mechanism is connected by bus with computer through amplifying interface circuit, and computer is connected with the control circuit of drive motors 4.The long connecting rod 5 that drive motors 4 can drive Length discrepancy to walk abreast in link rod rotates, and then drive the motion of pedal and rotatable short connecting rod 6, realize the rehabilitation exercise training in a driven by motor knee joint and ankle joint two joints, angular transducer 3 to walk abreast the rotational angle of the rotatable short connecting rod 6 in link rod for measuring Length discrepancy, computer obtains by amplifying interface circuit and processes surveyed data, thus control the rotation of drive motors 4, by with the comparing of threshold value, the safety of rehabilitation training person and the safety of mechanism can be ensured.The bridge circuit utilizing 4 foil gauges 14 on totally four faces of Left-side support beam 11 and Right side support beam about 12 in pedal 17 to form can measure foot to the active force in pedal 17 vertical direction, and before pedal 17 Left-side support beam 11 and Right side support beam 12, after a bridge circuit forming of 4 foil gauges 14 on totally four faces can measure foot to the active force in pedal 17 direction of motion, computer obtains the output data of bridge circuit by amplifying interface circuit, and then Real Time Observation can adjust rehabilitation training strategy to rehabilitation training person foot stressing conditions, the safety of rehabilitation training person can be ensured by threshold value setting.
Its concrete steps are as follows:
Step 1: by computer predetermined threshold value before using
, threshold angle
,
be respectively foot to the pressure threshold on four direction described in pedal 17, unit N,
be respectively the forward and backward rotational angle threshold value of rotatable short connecting rod 6, unit: degree;
Step 2: rehabilitation training person takes seat 1 and uses the front end elastic fixing device 10 on pedal 17 and rear end elastic fixing device 13 to be fixed on pedal 17 by rehabilitation training person foot;
Step 3: open each several part power supply after rehabilitation training person is ready to, namely mechanism starts working;
Step 4: angular transducer 3 is measured Length discrepancy and to be walked abreast the rotational angle of the rotatable short connecting rod 6 in link rod, computer by amplify interface circuit and obtain and process surveyed data and with the threshold value set
relatively, the safety of rehabilitation training person and mechanism is ensured;
Step 5: two bridge circuits that foil gauge 14 forms are measured foots and to be seesawed the active force to pedal 17 on direction in pedal 17 vertical direction and to pedal 17, computer obtains the output data of bridge circuit by amplifying interface circuit, and then Real Time Observation can adjust rehabilitation training strategy to rehabilitation training person foot stressing conditions, by with set threshold value
relatively, the safety of rehabilitation training person is ensured;
Step 6: computer is when the angle-data confirming to obtain and stress data meet setting threshold requirement, control drive motors 4 by drive circuit to rotate, drive long connecting rod 5 to rotate, drive the motion of pedal and rotatable short connecting rod 6, rehabilitation training person starts the rehabilitation training of lower limb doublejointed;
Step 7: the rehabilitation training of lower limb health doublejointed terminates, computer controls drive motors 4 by drive circuit and revolves, and drive long connecting rod to go to initial position, nursing staff helps rehabilitation training person to unload equipment safely, closing device power supply.
Fig. 3 and Fig. 4 presents the schematic construction of pedal front end 8 with depression angle and stravismus angle respectively, and Fig. 5 (a) illustrates that rehabilitation training person travels forward under mechanism drives and reaches forward direction threshold value
time state, the original state that (b) illustrates mechanism to set, (c) illustrate rehabilitation training person mechanism drive under backward motion reach after to threshold value
time state, indicated in figure
be respectively the forward and backward rotational angle threshold value of rotatable short connecting rod 6,
the rehabilitation training angle of i.e. rehabilitation training person's ankle joint, as can be seen from the figure its angle change.
More than show and describe ultimate principle of the present invention, principal character and advantage of the present invention.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and description just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (6)
1. the lower limb doublejointed rehabilitation training mechanism based on parallel institution and two-dimensional force measurement mechanism, it is characterized in that these lower limb doublejointed rehabilitation training mechanism is made up of parallel institution and two-dimensional force measurement mechanism two parts: this parallel institution is installed on seat (1) below, to be walked abreast link rod by Length discrepancy, the short connecting rod (2) that an one end is fixing, drive motors (4), angular transducer (3) and turning cylinder (0) and (7) composition, the Length discrepancy link rod that walks abreast is made up of a rotating long connecting rod (5) and a rotatable short connecting rod (6), drive motors (4) shaft is connected with the turning cylinder (0) that long connecting rod (5) is being held near seat (1), angular transducer (3) is arranged at the junction of two short connecting rods (2) and (6), this two-dimensional force measurement mechanism is made up of pedal and two groups of bridge circuits, pedal comprises pedal (17), Left-side support beam (11), Right side support beam (12), front end fixture and periphery (16), often organize bridge circuit to be made up of (4) sheet foil gauge (14), for measuring foot, the bridge circuit of the active force in pedal (17) vertical direction is made up of pedal (17) Left-side support beam (11) and Right side support beam (12) (4) sheet foil gauge (14) up and down on totally four faces, and for measure foot pedal (17) seesawed active force on direction bridge circuit by pedal (17) Left-side support beam (11) and Right side support beam (12) front, after (4) sheet foil gauge (14) composition on totally four faces, wherein, angular transducer (3) is connected with computer through interface circuit, bridge circuit in two-dimensional force measurement mechanism is connected with computer through interface circuit, computer is connected with the control circuit of drive motors (4), the long connecting rod (5) that drive motors (4) can drive Length discrepancy to walk abreast in link rod rotates, and then drive the motion of pedal and rotatable short connecting rod (6), realize the rehabilitation exercise training in a driven by motor knee joint and ankle joint two joints, angular transducer (3) to walk abreast the rotational angle of the rotatable short connecting rod (6) in link rod for measuring Length discrepancy, computer is obtained by interface circuit and processes surveyed data, thus control the rotation of drive motors (4), by with the comparing of threshold value, the safety of rehabilitation training person and the safety of mechanism can be ensured.
2. a kind of lower limb doublejointed rehabilitation training mechanism based on parallel institution and two-dimensional force measurement mechanism according to claim 1, is characterized in that: described pedal is also provided with rear end fixture and fixes in order to strengthen foot further.
3. a kind of lower limb doublejointed rehabilitation training mechanism based on parallel institution and two-dimensional force measurement mechanism according to claim 2, is characterized in that: described front end fixture, rear end fixture are respectively elastic fixing device.
4. a kind of lower limb doublejointed rehabilitation training mechanism based on parallel institution and two-dimensional force measurement mechanism according to claim 1, it is characterized in that: described angular transducer (3) is through amplification interface circuit and is connected by bus with computer, the bridge circuit in two-dimensional force measurement mechanism is connected by bus with computer through amplifying interface circuit.
5. a kind of lower limb doublejointed rehabilitation training mechanism based on parallel institution and two-dimensional force measurement mechanism according to claim 1, is characterized in that: the front and back end of described pedal arranges front end Fuliang (9), rear end Fuliang (15) respectively in order to firm pedal.
6. the using method of the lower limb doublejointed rehabilitation training mechanism based on parallel institution and two-dimensional force measurement mechanism according to claims 1 to 5, its concrete steps are as follows:
Step 1: by computer predetermined threshold value z before using
1, z
2, z
3, z
4, threshold angle θ
1, θ
2, z
1, z
2, z
3, z
4be respectively foot to the pressure threshold on pedal (17) described four direction, unit N, θ
1, θ
2be respectively the forward and backward rotational angle threshold value of rotatable short connecting rod (6), unit: degree;
Step 2: rehabilitation training person takes seat (1) and uses the front end elastic fixing device (10) on pedal (17) and rear end elastic fixing device (13) rehabilitation training person foot to be fixed on pedal (17);
Step 3: open each several part power supply after rehabilitation training person is ready to, namely mechanism starts working;
Step 4: angular transducer (3) is measured Length discrepancy and to be walked abreast the rotational angle of the rotatable short connecting rod (6) in link rod, computer by amplify interface circuit and obtain and process surveyed data and with the threshold value θ set
1, θ
2relatively, the safety of rehabilitation training person and mechanism is ensured;
Step 5: two bridge circuits that foil gauge (14) forms are measured foots and to be seesawed the active force to pedal (17) on direction in pedal (17) vertical direction and to pedal (17), computer obtains the output data of bridge circuit by amplifying interface circuit, and then Real Time Observation can adjust rehabilitation training strategy to rehabilitation training person foot stressing conditions, by with set threshold value z
1, z
2, z
3, z
4relatively, the safety of rehabilitation training person is ensured;
Step 6: computer is when the angle-data confirming to obtain and stress data meet setting threshold requirement, control drive motors (4) by drive circuit to rotate, long connecting rod (5) is driven to rotate, drive the motion of pedal and rotatable short connecting rod (6), rehabilitation training person starts the rehabilitation training of lower limb doublejointed;
Step 7: the rehabilitation training of lower limb health doublejointed terminates, computer controls drive motors (4) by drive circuit and revolves, and drive long connecting rod to go to initial position, nursing staff helps rehabilitation training person to unload equipment safely, closing device power supply.
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| CN201510556834.5A CN105078701B (en) | 2015-09-02 | 2015-09-02 | Lower limb doublejointed rehabilitation training mechanism based on parallel institution and two-dimensional force measurement mechanism |
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| CN106131112A (en) * | 2016-06-14 | 2016-11-16 | 上海电气集团股份有限公司 | A kind of rehabilitation training apparatus monitoring method and rehabilitation training of upper limbs equipment |
| WO2019119723A1 (en) * | 2017-12-21 | 2019-06-27 | 东南大学 | Lower limb connecting rod model and force sensing information-based method for controlling virtual scenario interactive rehabilitation training robot |
| CN112315735A (en) * | 2020-10-27 | 2021-02-05 | 宜昌市中心人民医院(三峡大学第一临床医学院、三峡大学附属中心人民医院) | Electronic multi-functional rehabilitation training frame of integration |
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