CN105105970A - Parallel ankle rehabilitation robot and control method thereof - Google Patents
Parallel ankle rehabilitation robot and control method thereof Download PDFInfo
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- CN105105970A CN105105970A CN201510472613.XA CN201510472613A CN105105970A CN 105105970 A CN105105970 A CN 105105970A CN 201510472613 A CN201510472613 A CN 201510472613A CN 105105970 A CN105105970 A CN 105105970A
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Abstract
The invention discloses a parallel ankle rehabilitation robot and a control method. The parallel ankle rehabilitation robot comprises a base, a driving mechanism and a motion mechanism, wherein the base is provided with a supporting frame in an inserting way; the supporting frame is movably provided with an adjusting mechanism in a clamping way; the adjusting mechanism comprises a main rod, a front arm rod and a leg supporting rod; the front end of the main rod is hinged to the front arm rod; the leg supporting rod is connected with the main rod; the front arm rod is provided with a connecting rod; the main rod is in movable clamping arrangement with the supporting frame; pneumatic muscle or a linear motor is used as a driver; the front end of the driving mechanism is connected with the connecting rod in the adjusting mechanism; the tail end of the driving mechanism is connected with the motion mechanism; the motion mechanism is in movable clamping arrangement with the rear end of the main rod. According to the parallel ankle rehabilitation robot disclosed by the invention, a motion range can be adjusted, so that the parallel ankle rehabilitation robot can adapt to different users for use, and three-DOF (Degree of Freedom) motion training of ankle joints can be covered; since the pneumatic muscle is adopted as the driver, the parallel ankle rehabilitation robot has the advantages of good flexibility, high adaptability and the like.
Description
Technical field
The present invention relates to technical field of medical instruments, specifically a kind of parallel robot for rehabilitation of anklebone and control method thereof.
Background technology
Ankle arthrosis is one of maximum weight-bearing joints of human body, is easy to because the reason such as improper (jump as run, walking), disease (as apoplexy, hemiplegia), accident (traffic accident, accident) of moving causes joint and muscle injury.Ankle arthrosis has dorsiflex/plantar flexion, varus/turn up and adduction/abduction three freedoms of motion.Traditional ankle rehabilitation depends on the man-to-man empty-handed training of therapist, is difficult to realize high strength, targeted and repeated rehabilitation training requirement.At present, existing Duo Jia scientific research institution has carried out research and development and the clinical trial of robot for rehabilitation of anklebone both at home and abroad, and makes some progress.Adopt robot to carry out ankle joint rehabilitation training, not only therapist can be freed from heavy training mission, and the different requirements of different patient to training method can be met, therefore some defects of Traditional Rehabilitation training can be solved.In addition, in rehabilitation of anklebone process, can can healing robot simulate the characteristics of motion (dorsiflex/plantar flexion, varus/turn up and adduction/abduction exercise) of model of human ankle completely and adapt to different patient and carry out corresponding rehabilitation training, and the recovery effects for patient's ankle joint has great meaning.
Existing robot for rehabilitation of anklebone adopts rigidity driving mechanism as driver mostly, such as line motor or motor, this robot causes its compliance poor due to the rigid nature of driver, easily in robot controlling, produce uncontrollable active force, rehabilitation discomfort even secondary damage is brought to patient.In addition, the center of rotation (main motion) of a lot of ankle joint robot is inconsistent with human body ankle center of rotation, can move in other positions of lower limb thereupon together in the training process, and be not only ankle joint, therefore can not ensure the effective training to ankle joint.Meanwhile, the adjustable range of movement of most of robot for rehabilitation of anklebone is very little, only can realize the motion of two degree of freedom, can not agree with the training attitude required for different patient and the gamut rehabilitation demands to rehabilitation of anklebone.
And, current ankle arthrosis healing robot is main mainly with passive exercise pattern, patient robot auxiliary under carry out the passive exercise of repeatability, intelligence training initiatively can not be completed according to real-time, interactive, the enthusiasm that patient participates in training cannot be improved, thus limit the rehabilitation efficacy that it produces.Such as, Chinese patent 200810052248.7 discloses a kind of robot for rehabilitation of anklebone, and the basic exercise that its control section only achieves robot controls, and does not consider the active exercise intention of patient in the training process; Chinese patent 201310006399.X discloses a kind of active/passive ankle joint rehabilitation training device, realizes the training of semi-active type by means of only equipment mechanism feature, does not provide more information to the active control strategies of ankle arthrosis robot itself.Clinical rehabilitation shows, has the rehabilitation training of patient's active participate will produce better rehabilitation efficacy, meanwhile, when patient does not wish that active participate is trained, also needs the musculation ability being improved patient by passive exercise method.Therefore, research and development ankle arthrosis robot has concurrently passive is vital with intelligent control method that is active training ability.
Summary of the invention
The technical problem to be solved in the present invention is to provide ankle joint healing robot in parallel and the intelligent control method thereof of the driving of a kind of pneumatic muscles, this robot is adjustable to be used to adapt to different patient, the training of ankle joint three degree of freedom can be covered, active and passive exercise combine, and realize intelligent conversion, there is compliance simultaneously good, the advantages such as light quality.
One aspect of the present invention provides a kind of robot for rehabilitation of anklebone in parallel, comprise base, described base is fitted with bracing frame, on this bracing frame, active card is equipped with governor motion, this governor motion comprises mobile jib, front armed lever and leg support bar, mobile jib front end and front armed lever attaching, and leg support bar is installed with mobile jib and is connected, on front armed lever, attaching has connecting rod, and mobile jib and bracing frame activity clamp; Also comprise governor motion and motion, the connecting rod attaching in driving mechanism front end and governor motion, driving mechanism end and motion attaching, motion and the activity of mobile jib rear end clamp.
Angle positioning is provided with between described mobile jib and bracing frame, this angle positioning comprises regulating handle, front band tooth spacer, front stator, rear band tooth spacer, rear stator and fastening bolt, before front stator is installed on band tooth spacer, rear stator is installed on rear band tooth spacer, fastening bolt is stator in the past, front band tooth spacer, rear band tooth spacer and rear stator pass, regulating handle is sleeved on fastening bolt and locking makes front band tooth spacer and rear band tooth spacer engage installation, mobile jib is connected with front stator by screw, bracing frame is connected with rear stator by screw, be exposed at outside bracing frame outside the handle portion of regulating handle.
Described front armed lever one end plug-in mounting to enter in mobile jib and the screw knob locking be arranged on mobile jib front end, and connecting rod one end plug-in mounting to enter in front armed lever and the screw knob locking be arranged on front armed lever.
Described driving mechanism comprises driver, first sleeve, first candan universal joint shaft coupling, second sleeve, pulling force sensor and the second candan universal joint shaft coupling, first set socket joint is in the front end of pneumatic muscles, first candan universal joint shaft coupling and first set wound packages connect, the rear end attaching of the second sleeve and pneumatic muscles, pulling force sensor one end and the second sleeve connection, the other end is connected with the second candan universal joint shaft coupling, first candan universal joint shaft coupling is by clutch shaft bearing and connecting rod attaching, second candan universal joint shaft coupling is connected with motion by the 3rd bearing, described driver is pneumatic muscles or linear electric motors or cylinder.
Described first sleeve and pneumatic muscles, the first candan universal joint shaft coupling are with thread connecting mode attaching, second sleeve and pneumatic muscles, pulling force sensor are with thread connecting mode attaching, and pulling force sensor and the second candan universal joint shaft coupling are with thread connecting mode attaching.
Described motion comprises the first moving lever, second moving lever, 3rd moving lever, motion platform, six-axis force sensor and foot dish, mobile jib rear end is provided with the second bearing and the second bearing cap, the termination of the first moving lever is installed in the second bearing, first moving lever is provided with the 4th bearing and the 4th bearing cap, second moving lever front end is installed in the 4th bearing, the rear end of the second moving lever is equiped with the 5th bearing and the 5th bearing cap, 3rd moving lever rear end is installed in the 5th bearing, motion platform and six-axis force sensor are sleeved on the 3rd moving lever from the bottom up successively, foot dish is installed in the front end of the 3rd moving lever, motion platform is provided with the 3rd bearing and the 3rd bearing cap, second candan universal joint shaft coupling and the 3rd bearing attaching.
Be provided with the first angular sensor in described second bearing, in the 4th bearing, be provided with the second angular sensor, in the 5th bearing, be provided with the 3rd angular sensor.
Support frame as described above is provided with stopper slot, and base is provided with screw turn-knob, this screw turn-knob insert bracing frame stopper slot in and lock, bracing frame is fixedly connected with base.
The present invention with pneumatic muscles or linear electric motors for driver, candan universal joint shaft coupling is coordinated to transmit power again, each mechanism of robot is adjustable to be used to adapt to different patient, namely the angle of adjustment mobile jib have adjusted the angle of leg support bar, the angle that the lower limb guaranteeing to cater to different patient can bend and stretch, the training of ankle joint three degree of freedom can be covered, there is compliance good, the advantages such as light quality simultaneously; On the other hand, the range of movement of robot can be expanded and control to the governor motion added, telescoping support frame and motion effectively, improve controllability; Again on the one hand, power/moment that patient is suffered or apply can be monitored, processes and be fed back to the force transducer added effectively, achieves the impedance Control of robot, improve robot rehabilitation training effect; Finally, the angular sensor added can effectively Real-Time Monitoring and feedback patient movement angle, further increase robot rehabilitation training effect.
On the other hand, present invention also offers a kind of control method of robot for rehabilitation of anklebone in parallel, comprise the following steps:
The Motion trajectory of initial machine people;
Detect the actual interactive forces/moment between patient's ankle and robot, this actual interactive forces/moment and the interactive forces/torque threshold preset are compared;
If actual interactive forces/moment is less than default interactive forces/torque threshold, enter passive exercise pattern, keep current kinetic track, drive patient to carry out passive exercise;
If actual interactive forces/moment is greater than default interactive forces/torque threshold, enter active correction training mode, revise current kinetic track and the direction of motion, keep simultaneously the current movement velocity of robot and acceleration constant, ensure the seriality of robot motion, realize the active correction training of patient;
According to above-mentioned movement locus, motion closed loop control is carried out to the pneumatic muscles of robot, realizes the accurate tracking to movement locus.
In described active correction training mode, if interactive forces is coaxial with current kinetic track, then keep the axis of current kinetic track, revise current kinetic track and the direction of motion;
If interactive forces and current kinetic track be not axially same, then change current kinetic track axially, current axis is made to be transformed to another axially-movable track to movement locus, be specially and first stop reverse for current axially-movable to movement locus zero point, then be transferred to the motion of another axial track at dead-center position, complete the conversion correction of movement locus axis.
The described pneumatic muscles to robot carries out motion closed loop control and specifically comprises the following steps:
Desired trajectory is planned, determines the Motion correction form of robot, completes desired trajectory planning;
According to track, calculated the desired length of pneumatic muscles by Inverse Kinematics Solution mode;
Set up pneumatic muscles Controlling model, adopt formula F (p, k)=(p+a) e
bk+ cpk+dp+e sets up function model, wherein the static tensile force that produces for pneumatic muscles of F, and P is the air pressure inside of pneumatic muscles;
According to pneumatic muscles Controlling model, calculate the atmospheric pressure value required for desired length of pneumatic muscles, inflation/deflation operation is carried out to pneumatic muscles, makes in pneumatic muscles, to produce corresponding atmospheric pressure value;
Obtain the actual motion track of robot, calculated the physical length of pneumatic muscles by Inverse Kinematics Solution mode;
Closed loop control is carried out to pneumatic muscles, be specially and the physical length of the pneumatic muscles obtained and the desired length of pneumatic muscles are compared, according to the atmospheric pressure value of relative error correction pneumatic muscles, control pneumatic muscles length and then control tracking desired length.
Described desired trajectory is dorsiflex/plantar flexion direction track, varus/turn up direction track and adduction/abduction direction track.
The present invention is controlled by said method, improves the safety of robot when assisting patients trains and active participate.Described method can assisting patients's ankle along desired trajectory function passive exercise, in the process, if the active force/moment between patient and robot is greater than setting threshold value, then switch to active correction training mode immediately, change current track state, keep the parameter constants such as the movement velocity/acceleration of robot simultaneously, guarantee compliance and the seriality of motion, make patient obtain maximum comfortableness.By above-mentioned control method, realize the intelligent conversion of passive exercise and active training, patient is better trained, effectively improves rehabilitation efficacy.
Accompanying drawing explanation
Accompanying drawing 1 is the perspective view of robot of the present invention;
Accompanying drawing 2 is the decomposing state structural representation of angle positioning in the present invention;
Accompanying drawing 3 is the decomposing state structural representation of mobile jib and front armed lever in the present invention;
Accompanying drawing 4 is the decomposing state structural representation of driving mechanism in the present invention;
Accompanying drawing 5 is the decomposing state structural representation of motion in the present invention;
Accompanying drawing 6 is the air-actuated muscle motion control flow schematic diagram of method in the present invention;
Accompanying drawing 7 is the schematic vector diagram of pneumatic muscles driven machine people in the inventive method.
Detailed description of the invention
For the ease of the understanding of those skilled in the art, below in conjunction with accompanying drawing, the invention will be further described.
As shown in accompanying drawing 1 ~ 5, one aspect of the present invention discloses a kind of robot for rehabilitation of anklebone in parallel, comprise base 2, this base 2 is fitted with bracing frame 7, on this bracing frame 7, active card is equipped with governor motion, this governor motion comprises mobile jib 9, front armed lever 10 and leg support bar 16, mobile jib 9 front end and front armed lever 10 attaching, leg support bar 16 is installed with mobile jib 9 and is connected, and this leg support bar 16 is generally installed in the medium position of mobile jib 9, on front armed lever 10, attaching has connecting rod 11, and mobile jib 9 and bracing frame 7 activity clamp; Also comprise governor motion and motion, connecting rod 11 attaching in driving mechanism front end and governor motion, driving mechanism end and motion attaching, motion and mobile jib 9 rear end activity clamp.When concrete installation, front armed lever 10 plug-in mounting of part enters in mobile jib 9, and mobile jib 9 is equiped with screw knob, and this screw knob will be positioned at armed lever 10 part locking before mobile jib 9, thus front armed lever 10 is firmly fixedly connected with mobile jib 9.Connecting rod 11 one end plug-in mounting enters in front armed lever 10, and front armed lever 10 is provided with screw knob, and connecting rod 11 part being positioned at front armed lever 10 is locked by this screw knob, thus connecting rod 11 is fixedly connected with front armed lever 10.Unclamp screw knob, i.e. the installation length of adjustable link or forearm, after adjusting to suitable length, then lock-screw knob, connecting rod and front armed lever can be made to fix, or front armed lever and mobile jib are fixed, handled easily.
In addition, in order to the vertical telescopic scope of robot effectively can be controlled, improve the adaptability of robot, bracing frame and base can be installed with scalable form.By arranging stopper slot 71 on bracing frame 7, base 2 establishes screw knob, this screw knob is locked from base 2 sidewall and is inserted in the stopper slot 71 of bracing frame 7, then continues to screw and bracing frame and base can be locked, thus realizes being fixedly connected with of bracing frame and base.When needing the height adjusting bracing frame, unclamp screw knob, mentioned by bracing frame or sink, after meeting requirement for height, then bracing frame can be fixedly connected with base by tightening screw knob, and operation is very easy.
Angle positioning is provided with between mobile jib 9 and bracing frame 7, this angle positioning comprises regulating handle 29, front stator 283, front band tooth spacer 281, rear band tooth spacer 282, rear stator 284 and fastening bolt 27, before front stator 283 is installed on band tooth spacer 281, rear stator 284 is installed on rear band tooth spacer 282, fastening bolt 27 is stator 283 in the past, front band tooth spacer 281, rear band tooth spacer 282 and rear stator 284 pass, regulating handle 19 is sleeved on fastening bolt 27 and locking makes front band tooth spacer 281 and rear band tooth spacer 282 engage installation, mobile jib 9 is connected with front stator 283 by screw, bracing frame 7 is connected with rear stator 284 by screw.Regulating handle 19 is connected with thread connecting mode with fastening bolt, is exposed at outside bracing frame outside the handle portion of regulating handle.This screw thread is equivalent to the effect playing " nut ", and difference is to have handle, handled easily.Front stator and rear stator are equipped with shaggy tooth, front stator is connected with front band tooth spacer by the shaggy tooth on it, rear stator is connected with rear band tooth spacer by the shaggy tooth on it, certainly can also other modes achieve a fixed connection, as with screw locking etc., will not enumerate at this.
In use, front stator 283 keeps fitting with front band tooth spacer 281 and installs, and rear stator 284 also keeps fitting installing with rear band tooth spacer 282.Because rear stator 284 is fixedly connected with bracing frame 7, front stator 283 is fixedly connected with mobile jib 9, therefore, after determining angle, installation is engaged each other by being front with this spacer and rear band tooth spacer, then lock regulating handle, ensure that firm laminating of front band tooth spacer and rear band tooth spacer is installed.When needing to readjust angle, turn on regulating handle, now front band tooth spacer and rear band tooth spacer depart from mutually, rotate initiatively, before mobile jib drives, band tooth spacer turns an angle, after adjusting angle, again front band tooth spacer is meshed with rear band tooth spacer, and then lock regulating handle, ensure fastening installation, reach the object regulating mobile jib angle.By this angle positioning, adjustment location can be carried out to the angle of mobile jib, effectively can control the rotating range of robot, improve the adaptability of robot.
Described driving mechanism comprises pneumatic muscles 15, first sleeve 14, first candan universal joint shaft coupling 13, second sleeve 18, pulling force sensor 20 and the second candan universal joint shaft coupling 23, first sleeve 14 is connected on the front end of pneumatic muscles 15, first candan universal joint shaft coupling 13 and the first sleeve 14 attaching, the rear end attaching of the second sleeve 18 and pneumatic muscles 15, pulling force sensor 20 one end is connected with the second sleeve 18, the other end is connected with the second candan universal joint shaft coupling 23, first candan universal joint shaft coupling 13 is by clutch shaft bearing 12 and connecting rod 11 attaching, second candan universal joint shaft coupling 23 is connected with motion by the 3rd bearing 22, certainly, pneumatic muscles also can replace with linear electric motors or cylinder, select pneumatic muscles as driver in the present embodiment, and be described for pneumatic muscles.
For the ease of installing, first sleeve 14 and pneumatic muscles 15, first candan universal joint shaft coupling 13 are with thread connecting mode attaching, second sleeve 18 and pneumatic muscles 15, pulling force sensor 20 are with thread connecting mode attaching, and pulling force sensor 20 and the second candan universal joint shaft coupling 23 are with thread connecting mode attaching.Clutch shaft bearing 12 is installed in connecting rod 11, and can install corresponding bearing cap on connecting rod 11, and ensure that clutch shaft bearing can be stabilized in and be arranged in connecting rod, bearing cap is locked by corresponding screw.And for the installation of the first candan universal joint shaft coupling and the second candan universal joint shaft coupling, corresponding baffle plate and screw can be adopted to be locked.Certainly, also other modes can be adopted, as long as enable the first candan universal joint shaft coupling firmly be connected with clutch shaft bearing and motion with the second candan universal joint shaft coupling.By adopting pneumatic muscles in the present invention, then joining and candan universal joint shaft coupling transmission power, improve the compliance of robot when assisting patients carries out rehabilitation.
Described motion comprises the first moving lever 4, second moving lever 3, 3rd moving lever 25, motion platform 24, six-axis force sensor 19 and foot dish 17, mobile jib 9 rear end is provided with the second bearing 31 and the second bearing cap 30, the termination of the first moving lever 4 is installed in the second bearing 31, first moving lever 4 is provided with the 4th bearing 5 and the 4th bearing cap 51, second moving lever 3 front end is installed in the 4th bearing 5, the rear end of the second moving lever 3 is equiped with the 5th bearing 33 and the 5th bearing cap 32, 3rd moving lever 25 rear end is installed in the 5th bearing 33, motion platform 24 and six-axis force sensor 19 are sleeved on the 3rd moving lever 25 from the bottom up successively, foot dish 17 is installed in the front end of the 3rd moving lever 25, motion platform 24 is provided with the 3rd bearing 22 and the 3rd bearing cap 221, 3rd bearing cap 221 by screw lock on motion platform 24, second candan universal joint shaft coupling 23 and the 3rd bearing 22 attaching.Wherein, second bearing 31 is contained in mobile jib 9 rear end usually, second bearing cap 30 is fixed by screws in mobile jib 9 rear end and covers the second bearing 31, the end of the first moving lever 4 is generally provided with one section of axle, this axle inserts in the second bearing 31, and the first moving lever can be rotated relative to mobile jib.In like manner, 4th bearing 5 is also arranged in the first moving lever 4, and the 4th bearing cap 51 to be contained on the first moving lever 4 by screw and to cover clutch shaft bearing 5, the second moving lever 3 front end snaps fits in the 4th bearing 5 and realizes relatively rotating between the second moving lever 3 front end and the first moving lever 4.And the 5th bearing 33 is also generally arranged in the second moving lever 3 rear end, 5th bearing cap 32 covers the 5th bearing by screw lock in the second moving lever rear end, and the 3rd moving lever rear end is installed in the 5th bearing the relative motion realized between the 3rd moving lever and the second moving lever.It should be noted that, for the setting of number of bearings, can select flexibly with configuration state according to actual needs, as arranged separately a bearing in corresponding position, or arrange two bearings, this is conventional selection, and in this not go into detail.
In addition, also can be set with sensor pallet 21 on the 3rd moving lever 25, this sensor pallet 21 is connected with six-axis force sensor 19 and by screw lock, motion platform 24 by screw lock on the 3rd moving lever 25.By this motion, achieve Three Degree Of Freedom (dorsiflex/plantar flexion, varus/turn up and the adduction/abduction exercise) motion of robot, can distance effectively between control pin dish and ankle joint, improve rehabilitation efficacy and the adaptability of robot, and by the adjustment of range of movement, can adapt to the use of different patient, the suitability is more extensive.
In addition, also can adding angular sensor, for detecting the movement angle of each movable connecting rod, in the second bearing 31, being provided with the first angular sensor, be provided with the second angular sensor in 4th bearing 5, in the 5th bearing 33, be provided with the 3rd angular sensor.This angular sensor, for comprising magnet end and die terminals, is known products, is no longer described in detail it at this.Wherein, the magnet end of the first angular sensor is arranged on the termination that the first moving lever 4 inserts in the second bearing 31 of mobile jib 9 rear end, and the die terminals of the first angular sensor is arranged within the second bearing cap 30; The magnet end of the second angular sensor is arranged on the termination in the 4th bearing 5 that the second moving lever 3 inserts on the first moving lever 4, and the die terminals of the second angular sensor is arranged in the 4th bearing cap 51; The magnet end of the 3rd angular sensor is arranged in the 5th bearing 33 that the second moving lever 3 inserts on the 3rd moving lever 25 rear end, and the die terminals of the 3rd angular sensor is arranged in the 5th bearing cap 32.Carried out the movement angle of Real-Time Monitoring three moving levers by these three angular sensors, also namely monitored the movement angle of patient, improve robot rehabilitation training effect.
It should be noted that, above-described second bearing, the 3rd bearing, the first sleeve, the second sleeve etc., corresponding modular construction is identical, belong to same parts, just for convenience of explanation, and be defined as the second bearing, the 3rd bearing, the first sleeve, the second sleeve etc., there is no other at this and be particularly limited to.
In addition, in the present invention, on bracing frame, left and right lateral symmetry is provided with two mobile jibs, and the two ends of front armed lever on each mobile jib are provided with a driving mechanism separately, and namely always having four driving mechanisms, is also have four pneumatic muscles.Distance between two pneumatic muscles of the same side is generally 250mm to 350mm.For foot dish, also can carry out the adjustment of certain distance, range of accommodation is traditionally arranged to be 0mm to 20mm.Motion platform also can carry out up-down adjustment, and range of accommodation is generally set to 0mm to 100mm.And the distance between foot dish and motion platform is generally 0mm to 120mm, the adjustable extent of front armed lever is 0mm to 100mm, and the adjustable extent of connecting rod is 0mm to 50mm, and the adjustable extent of bracing frame is 0mm to 300mm.The dorsiflex that robot can reach/plantar flexion scope is 40 °/50 °.Varus/eversion range that robot can reach is 40 °/20 °.The adduction that robot can reach/abduction scope is 20 °/20 °.
Detailed movement process is as follows:
First, patient is placed on injured foot on foot dish also fixing, makes the second bearing movable central alignment in the kinematic axis of patient's ankle and motion platform of the present invention.Then start the machine people, start training, first pneumatic muscles is according to the track setting in motion preset, and pneumatic muscles lower end brought into motion platform moves, motion platform can shrink accordingly according to four pneumatic muscles and stretching, extension echos motion accordingly, and the 3rd moving lever also moves thereupon.And clutch shaft bearing 12, the first candan universal joint shaft coupling 13 that pneumatic muscles upper end drives echos motion accordingly.When motion, front armed lever and mobile jib do not move, and the effect of front armed lever 10 is the same with connecting rod 11, be used for adjustment movement scope, and mobile jib 9 is used to the angle that regulates entirety.First moving lever is directly driven by motion platform, or the second moving lever drives, or is driven together with the second moving lever by the 3rd moving lever, apparent motion track and determining; The second same moving lever is directly driven by lower platform, or driven by the 3rd moving lever; 3rd moving lever is driven by motion platform.Connected by bearing between mobile jib and the first moving lever are straight.Concrete next, in the training process, pneumatic muscles provides the power of corresponding motion, miscellaneous part is all echo motion thus realize predetermined movement locus, in addition the connecting rod 11 of pneumatic muscles upper end is fixed, the effect of connecting rod 11 is only used to adjustment movement scope, is fixing when air-actuated muscle motion.When needing adjustment movement scope, unclamp the screw turn-knob of connecting rod, connecting rod is adjusted to relevant position and locks again.
Robot of the present invention by pneumatic muscles as driver, change traditional rigidity to drive, improve the compliance of robot, make can produce submissive change in time according to the state of patient during man-machine interaction, in rehabilitation training environment, farthest ensure the safety and comfort of patient.And, on the basis of above-mentioned robot, also by the corresponding control method of setting, make patient in the process of training, passive exercise and active training can be had concurrently, can change in passive exercise and active training according to the intention of patient, the training demand of different rehabilitation Phase patient can be met.
To this, present invention is disclosed a kind of based on above-mentioned take pneumatic muscles as the ankle joint robot in parallel of driver, specifically based on above-mentioned take pneumatic muscles as the active and passive intelligent control method of the ankle joint robot in parallel of driver, comprise the following steps:
Step 1, the Motion trajectory of initial machine people.For the ease of lopcus function conversion and ensure the seriality of its location/velocity/acceleration, using SIN function as the initial track of healing robot, the method is also applicable to other compound sin cos functions tracks.For initial motion track along x-axis, following formula is adopted to carry out the planning of robot initial track:
x
init(t)＝A
xsin(2πft)。
Step 2, detects the actual interactive forces/moment between patient's ankle and robot, this actual interactive forces/moment and the interactive forces/torque threshold preset is compared.Utilize the six axle power/torque sensors be installed between the motion platform of robot and foot dish, continue to detect the interactive forces/moment between training patient's ankle and robot, by this interactive forces/moment compared with the interactive forces/torque threshold preset, as the Rule of judgment revising robot motor pattern.
Step 3, if actual interactive forces/moment is less than default interactive forces/torque threshold, enters passive exercise pattern, keeps current kinetic track, drives patient to carry out passive exercise.
Step 4, if actual reciprocal force/moment is greater than default threshold value, enters active correction training mode, revise current kinetic track and the direction of motion, keep simultaneously the current movement velocity of robot and acceleration constant, ensure the seriality of robot motion, realize the active correction training of patient.
In active correction training mode, comprise two kinds of situations.One is active correction training mode-coaxial; Another is active correction training mode-different axle.
Active correction training mode-coaxial, namely actual interactive forces/moment is coaxial with current kinetic track, now keep the axis of current kinetic track, movement velocity/the acceleration simultaneously keeping robot current is constant, ensure its seriality, revise current kinetic track and the direction of motion, realize the active correction training of patient.
In the moment
t1patient is interactive forces/moment (F initiatively
int/ τ
int) be greater than default reciprocal action threshold value F
0/ τ
0if interactive forces/moment is coaxial with current track, is then intended to change current track direction according to patient, ensures the continuous of its movement velocity/acceleration simultaneously, realized by the phase place revising lopcus function:
x
adap(t)＝x
init(t+φ
xadap)＝A
xsin(2πf(t+φ
xadap))
Wherein
X in formula
1for track correct front position, x
1' be speed before track correct, φ
xadapfor phase error.
Active correction training mode-different axle, namely interactive forces/moment and current kinetic track be not axially same, then change current kinetic track axially, current axis is made to be transformed to another axially-movable track to movement locus, be specially and first stop reverse for current axially-movable to movement locus zero point, then be transferred to the motion of another axial track at dead-center position, complete the conversion correction of movement locus axis.Here y-axis is turned to for x-axis to track:
X-axis is changed to track and at t by above formula
2moment moves to zero point, then again plans that y-axis is to track by following formula at zero point:
y
adap(t)＝A
ysin(2πf(t
yadap+φ
yadap)),whenx
adap(t)＝0
Wherein t
yadap=t-t
3,
In above formula, for ensureing the seriality of its movement time and track, its time and phase value are all revised.
Step 5, according to above-mentioned movement locus, carries out motion closed loop control to the pneumatic muscles of robot, realizes the accurate tracking to movement locus.After be intended to plan the track made new advances according to patient, realize the precise and stable tracking to track according to this control method.In after this process, if patient does not initiatively apply power produce enough large interactive forces/moment, then robot drives patient to carry out continuous passive motion; If patient initiatively applies power/moment, then according to above-mentioned steps again planned trajectory function, and then realize the intelligent robot that Passive Mode docks with active correction pattern and control.
In addition, at the motor control of the pneumatic muscles to robot, also specifically comprise the following steps:
Step 5.1 desired trajectory is planned, determines the correction form of robot, completes desired trajectory planning.By the direction of motion and the expectation displacement of the demand determination robot of ankle rehabilitation training, the position coordinates calculating desired motion also carries out online trajectory planning.Here sin cos functions matching curve movement is utilized to carry out planned trajectory.Desired trajectory is dorsiflex/plantar flexion direction track, varus/turn up direction track and adduction/abduction direction track.
Step 5.2, according to desired trajectory, calculates the desired length of pneumatic muscles by Inverse Kinematics Solution mode.Be described with object lesson below.As shown in Figure 7, the junction point defining motion platform and fixed platform is respectively
mp
iwith
fs
i,
fo is the center vector in fixed platform,
fr
mbe the spin matrix of motion platform relative to original coordinate systems, and the position vector of motion platform calculate by the information of this matrix and fixed platform, as shown in the formula:
fP
i＝
fR
m·
mP
i
A
12＝-sinθ
zcosθ
x+cosθ
zsinθ
ysinθ
x
A
22＝cosθ
zcosθ
x+sinθ
zsinθ
ysinθ
x
A
31＝-cosθ
zsinθ
x+sinθ
zsinθ
ycosθ
x
A
23＝sinθ
zsinθ
x+cosθ
zsinθ
ycosθ
x
fL
i＝
fO+
fR
m·
mP
i-
fS
i
Position vector
fl
ibe the length vector of pneumatic muscles, its length value can be calculated by following formula:
Step 5.3, sets up pneumatic muscles Controlling model, adopts formula F (p, k)=(p+a) e
bk+ cpk+dp+e sets up function model, wherein the static tensile force that produces for pneumatic muscles of F, and P is the air pressure inside of pneumatic muscles, and the parameters such as k, a, b, c, d, e are the coefficients obtained by the relationship experiments between pneumatic muscles air pressure, length, pulling force.
The contractility of pneumatic muscles depends on shrinkage factor and air pressure inside.Obtain empirical data by experiment based on this, under inflation and venting two kinds of different situations, set up statical model.
Step 5.4, according to pneumatic muscles Controlling model, calculates the atmospheric pressure value required for desired length of pneumatic muscles, carries out inflation/deflation operation, make to produce corresponding atmospheric pressure value in pneumatic muscles to pneumatic muscles.Generally herein to be realized by Air Valve Control, cross the air pressure control ratio valve of configuration, inflation/deflation operation is carried out to pneumatic muscles, makes in pneumatic muscles, to produce corresponding atmospheric pressure value.
Step 5.5, is obtained the actual motion track of robot, is calculated the physical length of pneumatic muscles by Inverse Kinematics Solution mode.Ordinary circumstance is the actual motion track being obtained robot by the angular transducer be arranged in robot, thus according to this actual motion track, utilizes Inverse Kinematics Solution mode to calculate the physical length of pneumatic muscles.
Step 5.6, closed loop control is carried out to pneumatic muscles, be specially and the physical length of the pneumatic muscles obtained and the desired length of pneumatic muscles are compared, according to the atmospheric pressure value of relative error correction pneumatic muscles, control pneumatic muscles length and then control tracking desired trajectory.In this case, robot moving platform can follow the tracks of predetermined ankle motion track to greatest extent.Here Advanced PID control method is adopted to realize pneumatic muscles closed loop control, to ensure the Stability and veracity of robot motion.
By above control method, can realize that the main passive exercise pattern of ankle joint robot is seamless freely to be switched.Suffering limb is driven to carry out passive exercise when patient does not wish active training by robot, when patient wishes active training, by its interactive forces/moment correction orbiting motion state, embody its active control ability to robot, greatly can improve the active participate of patient in training and recovery level.
Claims (12)
1. a robot for rehabilitation of anklebone in parallel, comprise base, it is characterized in that, described base is fitted with bracing frame, and on this bracing frame, active card is equipped with governor motion, and this governor motion comprises mobile jib, front armed lever and leg support bar, mobile jib front end and front armed lever attaching, leg support bar is installed with mobile jib and is connected, and on front armed lever, attaching has connecting rod, and mobile jib and bracing frame activity clamp;
Also comprise governor motion and motion, the connecting rod attaching in driving mechanism front end and governor motion, driving mechanism end and motion attaching, motion and the activity of mobile jib rear end clamp.
2. robot for rehabilitation of anklebone in parallel according to claim 1, it is characterized in that, angle positioning is provided with between described mobile jib and bracing frame, this angle positioning comprises regulating handle, front band tooth spacer, front stator, rear band tooth spacer, rear stator and fastening bolt, before front stator is installed on band tooth spacer, rear stator is installed on rear band tooth spacer, fastening bolt is stator in the past, front band tooth spacer, rear band tooth spacer and rear stator pass, regulating handle is sleeved on fastening bolt and locking makes front band tooth spacer and rear band tooth spacer engage installation, mobile jib is connected with front stator by screw, bracing frame is connected with rear stator by screw, be exposed at outside bracing frame outside the handle portion of regulating handle.
3. robot for rehabilitation of anklebone in parallel according to claim 2, it is characterized in that, described front armed lever one end plug-in mounting to enter in mobile jib and the screw knob locking be arranged on mobile jib front end, and connecting rod one end plug-in mounting to enter in front armed lever and the screw knob locking be arranged on front armed lever.
4. the robot for rehabilitation of anklebone in parallel according to claim 1 or 2 or 3, it is characterized in that, described driving mechanism comprises driver, first sleeve, first candan universal joint shaft coupling, second sleeve, pulling force sensor and the second candan universal joint shaft coupling, first set socket joint is in the front end of pneumatic muscles, first candan universal joint shaft coupling and first set wound packages connect, the rear end attaching of the second sleeve and pneumatic muscles, pulling force sensor one end and the second sleeve connection, the other end is connected with the second candan universal joint shaft coupling, first candan universal joint shaft coupling is by clutch shaft bearing and connecting rod attaching, second candan universal joint shaft coupling is connected with motion by the 3rd bearing, described driver is pneumatic muscles or linear electric motors or cylinder.
5. robot for rehabilitation of anklebone in parallel according to claim 4, it is characterized in that, described first sleeve and pneumatic muscles, the first candan universal joint shaft coupling are with thread connecting mode attaching, second sleeve and pneumatic muscles, pulling force sensor are with thread connecting mode attaching, and pulling force sensor and the second candan universal joint shaft coupling are with thread connecting mode attaching.
6. robot for rehabilitation of anklebone in parallel according to claim 4, it is characterized in that, described motion comprises the first moving lever, second moving lever, 3rd moving lever, motion platform, six-axis force sensor and foot dish, mobile jib rear end is provided with the second bearing and the second bearing cap, the termination of the first moving lever is installed in the second bearing, first moving lever is provided with the 4th bearing and the 4th bearing cap, second moving lever front end is installed in the 4th bearing, the rear end of the second moving lever is equiped with the 5th bearing and the 5th bearing cap, 3rd moving lever rear end is installed in the 5th bearing, motion platform and six-axis force sensor are sleeved on the 3rd moving lever from the bottom up successively, foot dish is installed in the front end of the 3rd moving lever, motion platform is provided with the 3rd bearing and the 3rd bearing cap, second candan universal joint shaft coupling and the 3rd bearing attaching.
7. robot for rehabilitation of anklebone in parallel according to claim 6, is characterized in that, is provided with the first angular sensor in described second bearing, is provided with the second angular sensor in the 4th bearing, is provided with the 3rd angular sensor in the 5th bearing.
8. robot for rehabilitation of anklebone in parallel according to claim 7, it is characterized in that, support frame as described above is provided with stopper slot, and base is provided with screw turn-knob, this screw turn-knob insert bracing frame stopper slot in and lock, bracing frame is fixedly connected with base.
9. a control method for the robot for rehabilitation of anklebone in parallel according to any one of claim 1 ~ 8, comprises the following steps:
The Motion trajectory of initial machine people;
Detect the actual interactive forces/moment between patient's ankle and robot, this actual interactive forces/moment and the interactive forces/torque threshold preset are compared;
If actual interactive forces/moment is less than default interactive forces/torque threshold, enter passive exercise pattern, keep current kinetic track, drive patient to carry out passive exercise;
If actual interactive forces/moment is greater than default interactive forces/torque threshold, enter active correction training mode, revise current kinetic track and the direction of motion, keep simultaneously the current movement velocity of robot and acceleration constant, ensure the seriality of robot motion, realize the active correction training of patient;
According to above-mentioned movement locus, motion closed loop control is carried out to the pneumatic muscles of robot, realizes the accurate tracking to movement locus.
10. the control method of robot for rehabilitation of anklebone in parallel according to claim 9, it is characterized in that, in described active correction training mode, if interactive forces/moment is coaxial with current kinetic track, then keep the axis of current kinetic track, revise current kinetic track and the direction of motion;
If interactive forces/moment and current kinetic track be not axially same, then change current kinetic track axially, current axis is made to be transformed to another axially-movable track to movement locus, be specially and first stop reverse for current axially-movable to movement locus zero point, then be transferred to the motion of another axial track at dead-center position, complete the conversion correction of movement locus axis.
The control method of 11. robot for rehabilitation of anklebone in parallel according to claim 10, is characterized in that, the described pneumatic muscles to robot carries out motion closed loop control and specifically comprises the following steps:
Desired trajectory is planned, determines the Motion correction pattern of robot, completes desired trajectory planning;
According to track, calculated the desired length of pneumatic muscles by Inverse Kinematics Solution mode;
Set up pneumatic muscles Controlling model, adopt formula F (p, k)=(p+a) e
bk+ cpk+dp+e sets up function model, wherein the static tensile force that produces for pneumatic muscles of F, and P is the air pressure inside of pneumatic muscles;
According to pneumatic muscles Controlling model, calculate the atmospheric pressure value required for desired length of pneumatic muscles, inflation/deflation operation is carried out to pneumatic muscles, makes in pneumatic muscles, to produce corresponding atmospheric pressure value;
Obtain the actual motion track of robot, calculated the physical length of pneumatic muscles by Inverse Kinematics Solution mode;
Closed loop control is carried out to pneumatic muscles, be specially and the physical length of the pneumatic muscles obtained and the desired length of pneumatic muscles are compared, according to the atmospheric pressure value of relative error correction pneumatic muscles, control pneumatic muscles length and then control tracking desired length.
The control method of 12. robot for rehabilitation of anklebone in parallel according to claim 11, is characterized in that, described desired trajectory is dorsiflex/plantar flexion direction track, varus/turn up direction track and adduction/abduction direction track.
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| CN108113849A (en) * | 2018-01-31 | 2018-06-05 | 广东省智能制造研究所 | Rehabilitation of anklebone system and its control method |
| CN108888477A (en) * | 2018-06-07 | 2018-11-27 | 中国工程物理研究院总体工程研究所 | Flexible control method for medical rehabilitation ectoskeleton |
| CN109771895A (en) * | 2019-02-25 | 2019-05-21 | 橙象医疗科技（广州）有限公司 | A kind of control method and device that auxiliary walking restores |
| CN110575359A (en) * | 2019-09-25 | 2019-12-17 | 深圳市丞辉威世智能科技有限公司 | Limb rehabilitation exoskeleton and limb rehabilitation system |
| CN111345971A (en) * | 2020-03-14 | 2020-06-30 | 北京工业大学 | Multi-mode flexible training method of ankle rehabilitation robot based on admittance model |
| CN112847372A (en) * | 2021-01-12 | 2021-05-28 | 河南科技大学 | Delta robot control system based on PMAC |
| CN113332678A (en) * | 2021-04-30 | 2021-09-03 | 西安交通大学 | Parallel ankle joint rehabilitation system driven by pneumatic muscle flexibility and control method |
| CN114028174A (en) * | 2021-12-13 | 2022-02-11 | 杭州电子科技大学 | Ankle rehabilitation massage chair |
| CN114668629A (en) * | 2022-04-22 | 2022-06-28 | 河北工业大学 | Novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with son closed chain |
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| CN112847372A (en) * | 2021-01-12 | 2021-05-28 | 河南科技大学 | Delta robot control system based on PMAC |
| CN113332678A (en) * | 2021-04-30 | 2021-09-03 | 西安交通大学 | Parallel ankle joint rehabilitation system driven by pneumatic muscle flexibility and control method |
| CN114028174A (en) * | 2021-12-13 | 2022-02-11 | 杭州电子科技大学 | Ankle rehabilitation massage chair |
| CN114028174B (en) * | 2021-12-13 | 2024-01-30 | 杭州电子科技大学 | Ankle rehabilitation massage chair |
| CN114668629A (en) * | 2022-04-22 | 2022-06-28 | 河北工业大学 | Novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with son closed chain |
| CN114668629B (en) * | 2022-04-22 | 2024-01-12 | 河北工业大学 | Four-degree-of-freedom ankle joint rehabilitation parallel mechanism with closed chain of children |
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