CN105105970B - A kind of robot for rehabilitation of anklebone in parallel and its control method - Google Patents
A kind of robot for rehabilitation of anklebone in parallel and its control method Download PDFInfo
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- CN105105970B CN105105970B CN201510472613.XA CN201510472613A CN105105970B CN 105105970 B CN105105970 B CN 105105970B CN 201510472613 A CN201510472613 A CN 201510472613A CN 105105970 B CN105105970 B CN 105105970B
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Abstract
The invention discloses a kind of robot for rehabilitation of anklebone in parallel and control method, including base, support frame is fitted with the base, active card is equipped with governor motion on the support frame, the governor motion includes mobile jib, preceding armed lever and leg support bar, mobile jib front end and preceding armed lever attaching, and leg support bar is installed with mobile jib and is connected, attaching has connecting rod, mobile jib and support frame activity clamp on preceding armed lever；Also include governor motion and motion, driver, drive mechanism front end and the connecting rod attaching in governor motion, drive mechanism end and motion attaching, motion and mobile jib back end activity clamp are used as using pneumatic muscles or linear electric motors.Robot adjustable movement scope disclosed by the invention, can adapt to the use of different patients, can cover the training of ankle-joint three degree of freedom, using pneumatic muscles as driver, have the advantages that compliance is good, strong adaptability.
Description
Technical field
The present invention relates to technical field of medical instruments, specifically a kind of parallel robot for rehabilitation of anklebone and its control
Method processed.
Background technology
Ankle arthrosis is one of maximum weight-bearing joints of human body, it is easy to because moving improper (as run jump, walking), disease
(such as apoplexy, hemiplegia), accident (traffic accident, accident) reason cause joint and muscle damage.Ankle arthrosis have dorsiflex/plantar flexion,
Three freedoms of motion of inversion/eversion and interior receipts/abduction.It is man-to-man that traditional ankle rehabilitation depends on therapist
Empty-handed training, it is difficult to realize high intensity, targeted and repeated rehabilitation training requirement.At present, Duo Jia sections are had both at home and abroad
The research and development and clinical test of institutions conduct robot for rehabilitation of anklebone are ground, and are made some progress.Entered using robot
Row ankle joint rehabilitation training, not only can free therapist, and disclosure satisfy that difference from heavy training mission
Patient is required the difference of training method, therefore can solve some defects of Traditional Rehabilitation training.In addition, in rehabilitation of anklebone mistake
Can Cheng Zhong, healing robot simulate the characteristics of motion (dorsiflex/plantar flexion, inversion/eversion and the interior receipts/outer of model of human ankle completely
Exhibition motion) and the corresponding rehabilitation training of different patients' progress can be adapted to, the recovery effects for patient's ankle-joint have emphatically
Big meaning.
Existing robot for rehabilitation of anklebone is used as driver, such as line motor or electricity using rigid drive mechanism mostly
Machine, this robot causes its compliance poor due to the rigid nature of driver, and easily being produced in robot control can not
The active force of control, the uncomfortable even secondary damage of rehabilitation is brought to patient.In addition, the pivot of many ankle-joint robots is (main
Motion) it is inconsistent with human body ankle pivot, other positions of lower limb can be moved together therewith in the training process, and not only
It is ankle-joint, therefore it cannot be guaranteed that effective training to ankle-joint.Meanwhile, the adjustable fortune of most of robot for rehabilitation of anklebone
Dynamic scope very little, is only capable of realizing the motion of two frees degree, it is impossible to agree with the training posture required for different patients and ankle is closed
Save the gamut rehabilitation demands of rehabilitation.
Moreover, current ankle arthrosis healing robot is more based on passive exercise pattern, auxiliary of the patient in robot
The lower passive exercise for carrying out repeatability, it is impossible to the training of intelligent active is completed according to real-time, interactive, it is impossible to improve patient and participate in instruction
Experienced enthusiasm, thus limit the rehabilitation efficacy produced by it.For example, Chinese patent 200810052248.7 discloses one kind
Robot for rehabilitation of anklebone, its control section only realizes the basic exercise control of robot, does not consider to suffer from the training process
The active movement of person is intended to；Chinese patent 201310006399.X discloses a kind of active/passive ankle joint rehabilitation training device,
The training of semi-active type is only realized by equipment mechanism feature, the active control strategies of ankle arthrosis robot in itself are not carried
For more information.Clinical rehabilitation shows that the rehabilitation training for having patient to be actively engaged in will produce more preferable rehabilitation efficacy, meanwhile, when
When patient is not intended to be actively engaged in training, in addition it is also necessary to the muscle activity ability of patient is improved by passive exercise method.Therefore, grind
The intelligent control method that hair ankle arthrosis robot has passive and active training ability concurrently is vital.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of ankle-joint healing robot in parallel of pneumatic muscles driving and
Its intelligent control method, the robot is adjustable to be used with adapting to different patients, can cover the motion instruction of ankle-joint three degree of freedom
Practice, actively and passively training being combined, and realizes intelligent conversion, while have compliance good, the advantages of light quality.
One aspect of the present invention provides and is fitted with branch on a kind of robot for rehabilitation of anklebone in parallel, including base, the base
Active card is equipped with governor motion on support, the support frame, and the governor motion includes mobile jib, preceding armed lever and leg support bar, mobile jib
Front end and preceding armed lever attaching, leg support bar are installed with mobile jib and are connected, and attaching has connecting rod, mobile jib and support frame activity on preceding armed lever
Clamp；Also include drive mechanism and motion, drive mechanism front end and the connecting rod attaching in governor motion, drive mechanism end
With motion attaching, motion and mobile jib back end activity clamp.
Angle positioning is provided between the mobile jib and support frame, the angle positioning includes regulation handle, preceding band tooth
Spacer, preceding stator, rear band tooth spacer, rear stator and fastening bolt, before preceding stator is installed on band tooth spacer,
After stator is installed on afterwards on band tooth spacer, fastening bolt from preceding stator, preceding band tooth spacer, rear band tooth spacer and after
Stator is passed through, and regulation handle, which is sleeved in fastening bolt and locked, makes preceding band tooth spacer and rear band tooth spacer engage peace
Dress, mobile jib is connected by screw with preceding stator, and support frame is connected by screw with rear stator, the handle portion of regulation handle
It is exposed at outside support frame.
Described preceding armed lever one end inserts the screw knob locking in mobile jib and being arranged on mobile jib front end, and connecting rod one end is inserted
Load in preceding armed lever and be arranged on the screw knob locking on preceding armed lever.
The drive mechanism includes driver, the first sleeve, the first candan universal joint shaft coupling, second sleeve, pulling force and passed
Sensor and the second candan universal joint shaft coupling, the first sleeve are connected on the front end of pneumatic muscles, the first candan universal joint shaft coupling with
First set wound packages is connect, the rear end attaching of second sleeve and pneumatic muscles, and pulling force sensor one end is connected with second sleeve, the other end
It is connected with the second candan universal joint shaft coupling, the first candan universal joint shaft coupling passes through clutch shaft bearing and connecting rod attaching, the 20th
Word gimbal coupling is connected by 3rd bearing with motion, and the driver is pneumatic muscles or linear electric motors or gas
Cylinder.
First sleeve is with pneumatic muscles, the first candan universal joint shaft coupling with thread connecting mode attaching, second set
Cylinder with pneumatic muscles, pulling force sensor with thread connecting mode attaching, pulling force sensor and the second candan universal joint shaft coupling with
Thread connecting mode attaching.
The motion includes the first moving lever, the second moving lever, the 3rd moving lever, motion platform, six axle powers sensing
Device and pin disk, mobile jib rear end are provided with second bearing and second bearing lid, and the termination of the first moving lever is installed in second bearing, the
One moving lever is provided with fourth bearing and fourth bearing lid, and the second moving lever front end is installed in fourth bearing, the second moving lever
Rear end be equiped with 5th bearing and 5th bearing lid, the 3rd motion rod rear end is installed in 5th bearing, motion platform and six
Axial force sensor is sleeved on the 3rd moving lever successively from the bottom up, and pin disk is installed in the front end of the 3rd moving lever, motion platform
It is provided with 3rd bearing and 3rd bearing lid, the second candan universal joint shaft coupling and 3rd bearing attaching.
It is provided with the second bearing in the first angular sensor, fourth bearing provided with second anglec of rotation sensing
The 3rd angular sensor is provided with device, 5th bearing.
Support frame as described above is provided with stopper slot, and base is provided with screw turn-knob, and the screw turn-knob inserts the spacing of support frame
In groove and lock, support frame is fixedly connected with base.
The present invention is using pneumatic muscles or linear electric motors as driver, then coordinates candan universal joint shaft coupling to transmit power, this
Each mechanism of robot is adjustable to be used with adapting to different patients, and the angle of adjustment mobile jib is the angle that have adjusted leg support bar,
Guarantee to cater to the angle that the leg of different patients can be bent and stretched, the training of ankle-joint three degree of freedom can be covered, simultaneously
It is good with compliance, the advantages of light quality；On the other hand, governor motion, telescoping support frame and the motion energy added
The range of movement of robot is effectively extended and controlled, controllability is improved；Another further aspect, the force snesor added can be effective
Ground monitors, handles and fed back power/torque that patient is suffered or applies, and realizes the impedance control of robot, improves the machine
Device people's rehabilitation training effect；Finally, the angular sensor added can effectively monitor and feed back the motion angle of patient in real time
Degree, further increases 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, including following step
Suddenly：
The Motion trajectory of initial machine people；
Actual interactive forces/torque between patient's ankle and robot is detected, by the actual interactive forces/torque
It is compared with default interactive forces/torque threshold；
If actual interactive forces/torque is less than default interactive forces/torque threshold, into passive exercise pattern,
Current kinetic track is kept, drives patient to carry out passive exercise；
If actual interactive forces/torque is more than default interactive forces/torque threshold, mould is trained into active correction
Formula, amendment current kinetic track and the direction of motion, while keeping the current movement velocity of robot and acceleration constant, it is ensured that machine
The continuity of device people motion, realizes 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, realized to movement locus
Accurate tracking.
In the active correction training mode, if interactive forces and current kinetic track are coaxial, current kinetic is kept
The axial direction of track, amendment current kinetic track and the direction of motion；
If interactive forces not on same axial direction, change current kinetic track axial direction with current kinetic track, make to work as
Front axle is transformed to another axial movement track to movement locus, is specially that will currently be axially moved first inversely to movement locus zero
Point stops, and is then transferred to another axial track motion in dead-center position, completes the conversion amendment of movement locus axial direction.
The pneumatic muscles to robot carry out motion closed-loop control and specifically include following steps：
Desired trajectory is planned, determines the Motion correction form of robot, completes desired trajectory planning；
According to track, the desired length of pneumatic muscles is calculated by Inverse Kinematics Solution mode；
Pneumatic muscles Controlling model is set up, using formula F (p, k)=(p+a) eb·k+ cpk+dp+e sets up letter
Exponential model, wherein F are the static tensile force produced by pneumatic muscles, and P is the air pressure inside of pneumatic muscles；
According to pneumatic muscles Controlling model, the atmospheric pressure value required for the desired length of pneumatic muscles is calculated, to pneumatic muscles
/ bleed air operation is inflated, makes to produce corresponding atmospheric pressure value in pneumatic muscles；
The actual motion track of robot is obtained, the actual (tube) length for obtaining pneumatic muscles is calculated by Inverse Kinematics Solution mode
Degree；
Closed-loop control is carried out to pneumatic muscles, is specially physical length and the phase of pneumatic muscles of the pneumatic muscles that will be obtained
Hope length be compared, according to the atmospheric pressure value of relative error amendment pneumatic muscles, control pneumatic muscles length and then control machine
People tracks desired length.
The desired trajectory is dorsiflex/plantar flexion direction track, inversion/eversion direction track and interior receipts/abduction direction track.
The present invention is improved security of the robot when aiding in patient's training and is actively engaged in by above method control.
Methods described can aid in patient's ankle along desired trajectory function passive exercise, in the process, if patient and the machine human world
Active force/torque be more than given threshold, then switch to active correction training mode immediately, change current track state, simultaneously
Keep the parameter constants such as movement velocity/acceleration of robot, it is ensured that the compliance and continuity of motion, patient is obtained maximum
The comfortableness of degree.By above-mentioned control method, the intelligent conversion of passive exercise and active training is realized, patient is obtained more preferably
Training, effectively improve rehabilitation efficacy.
Brief description of the drawings
Accompanying drawing 1 is the dimensional structure diagram 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 preceding armed lever in the present invention；
Accompanying drawing 4 is the decomposing state structural representation of drive 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 driving robot in the inventive method.
Embodiment
For the ease of the understanding of those skilled in the art, the invention will be further described below in conjunction with the accompanying drawings.
As shown in accompanying drawing 1~5, one aspect of the present invention discloses a kind of robot for rehabilitation of anklebone in parallel, including base 2,
Support frame 7 is fitted with the base 2, active card is equipped with governor motion on the support frame 7, the governor motion includes mobile jib 9, forearm
Bar 10 and leg support bar 16, the front end of mobile jib 9 and the preceding attaching of armed lever 10, leg support bar 16 are installed with mobile jib 9 and are connected, and should
Leg support bar 16, which is typically installed in attaching on the medium position of mobile jib 9, preceding armed lever 10, connecting rod 11, and mobile jib 9 is lived with support frame 7
Dynamic clamp；Also include drive mechanism and motion, drive mechanism front end and the attaching of connecting rod 11 in governor motion, drive mechanism
End and motion attaching, motion and the back end activity clamp of mobile jib 9.When specific install, the preceding armed lever of part
10 are inserted in mobile jib 9, and screw knob is equiped with mobile jib 9, and the screw knob locks the part of preceding armed lever 10 in mobile jib 9
Tightly, so that preceding armed lever 10 is firmly fixedly connected with mobile jib 9.Before the one end of connecting rod 11 is inserted in armed lever 10, preceding armed lever 10
Screw knob is provided with, the screw knob is locked the part of connecting rod 11 in preceding armed lever 10, so that connecting rod 11
It is fixedly connected with preceding armed lever 10.Unclamp screw knob, you can the installation length of adjustment connecting rod or forearm, be adjusted to suitable length
After degree, then lock-screw knob, you can connecting rod is mutually fixed with preceding armed lever, or preceding armed lever is mutually fixed with mobile jib, it is convenient
Operation.
In addition, the vertical telescopic scope in order to be able to efficiently control robot, the adaptability of robot is improved, can be by
Support frame is installed with base in scalable form.Screw knob is set on stopper slot 71, base 2 by being set on support frame 7, should
Screw knob is locked and inserted in the stopper slot 71 of support frame 7 from the side wall of base 2, and being further continued for screwing can be by support frame and bottom
Seat locking, so as to realize being fixedly connected for support frame and base.When needing to adjust the height of support frame, screw knob is unclamped, will
Support frame lifts or sunk, and meets after requirement for height, then support frame can be fixedly connected by tightening screw knob with base, behaviour
Make very convenient.
Angle positioning is provided between mobile jib 9 and support frame 7, the angle positioning includes regulation handle 29, preceding fixation
Piece 283, preceding band tooth spacer 281, rear band tooth spacer 282, rear stator 284 and fastening bolt 27, the preceding clamp of stator 283
On preceding band tooth spacer 281, after rear stator 284 is installed on band tooth spacer 282, fastening bolt 27 is from preceding stator
283rd, preceding band tooth spacer 281, rear band tooth spacer 282 and rear stator 284 are passed through, and regulation handle 19 is sleeved on fastening bolt
On 27 and lock make before band tooth spacer 281 and rear band tooth spacer 282 engage and install, mobile jib 9 passes through screw and preceding stator
283 connections, support frame 7 is connected by screw with rear stator 284.Regulation handle 19 is entered with fastening bolt with thread connecting mode
Row connection, the handle portion of regulation handle is exposed at outside support frame.The screw thread is different equivalent to playing a part of one " nut "
It is with handle, convenient operation.It is equipped with shaggy tooth on preceding stator and rear stator, preceding stator is recessed by thereon
Double wedge is connected with preceding band tooth spacer, and rear stator is connected by shaggy tooth thereon with rear band tooth spacer, certainly can be with
Other modes achieve a fixed connection, and such as with screw locking, will not enumerate herein.
In use, preceding stator 283 keeps installation of fitting with preceding band tooth spacer 281, and rear stator 284 is with after
Band tooth spacer 282 also keeps laminating to install.Because rear stator 284 is fixedly connected with support frame 7, preceding stator 283 is
It is fixedly connected, therefore, after angle is determined, pacifies preceding with this spacer with rear band tooth spacer intermeshing with mobile jib 9
Dress, then locks regulation handle, it is ensured that the preceding firm installation of fitting with tooth spacer with after with tooth spacer.Need to readjust
During angle, regulation handle is turned on, now preceding band tooth spacer and rear band tooth spacer are mutually disengaged, and are rotated actively, mobile jib drives
Preceding band tooth spacer is turned an angle, after adjusting angle, then preceding band tooth spacer is meshed with rear band tooth spacer,
Then regulation handle is locked again, it is ensured that fastening is installed, reach the purpose of regulation mobile jib angle.Pass through the angle positioning, energy
Positioning is adjusted in enough angles to mobile jib, can efficiently control the rotating range of robot, improves the suitable of robot
Ying Xing.
The drive mechanism includes pneumatic muscles 15, the first sleeve 14, the first candan universal joint shaft coupling 13, second sleeve
18th, the candan universal joint shaft coupling 23 of pulling force sensor 20 and second, the first sleeve 14 is connected on the front end of pneumatic muscles 15, the 10th
The attaching of 13 and first sleeve of word gimbal coupling 14, second sleeve 18 and the rear end attaching of pneumatic muscles 15, pulling force sensor
20 one end are connected with second sleeve 18, the other end is connected with the second candan universal joint shaft coupling 23, the first candan universal joint shaft coupling
Device 13 passes through 3rd bearing 22 and motion by clutch shaft bearing 12 and the attaching of connecting rod 11, the second candan universal joint shaft coupling 23
Connection, certainly, pneumatic muscles can also replace with linear electric motors or cylinder, select pneumatic muscles to be used as drive in the present embodiment
Dynamic device, and illustrated by taking pneumatic muscles as an example.
For the ease of installing, the first sleeve 14 is with pneumatic muscles 15, the first candan universal joint shaft coupling 13 to be threadedly coupled
Mode attaching, second sleeve 18 and pneumatic muscles 15, pulling force sensor 20 with thread connecting mode attaching, pulling force sensor 20 with
Second candan universal joint shaft coupling 23 is with thread connecting mode attaching.Clutch shaft bearing 12 is installed in connecting rod 11, and in connecting rod
Corresponding bearing cap can be installed, it is ensured that clutch shaft bearing, which can be stablized, to be arranged in connecting rod, and bearing cap can be by corresponding on 11
Screw is locked.And for the installation of the first candan universal joint shaft coupling and the second candan universal joint shaft coupling, phase can be used
The baffle plate and screw answered are locked.It is of course also possible to use other modes, as long as making the first candan universal joint shaft coupling
Firmly it can be connected with the second candan universal joint shaft coupling with clutch shaft bearing and motion.In the present invention by using
Pneumatic muscles, then with power is transmitted with candan universal joint shaft coupling, improve robot soft when aiding in patient to carry out rehabilitation
It is pliable.
The motion includes the first moving lever 4, the second moving lever 3, the 3rd moving lever 25, motion platform 24, six axles
Force snesor 19 and pin disk 17, the rear end of mobile jib 9 are provided with second bearing 31 and second bearing lid 30, the termination card of the first moving lever 4
In second bearing 31, the first moving lever 4 is provided with fourth bearing 5 and fourth bearing lid 51, the front end clamp of the second moving lever 3
In fourth bearing 5, the rear end of the second moving lever 3 is equiped with after 5th bearing 33 and 5th bearing lid 32, the 3rd moving lever 25
End is installed in 5th bearing 33, and motion platform 24 and six-axis force sensor 19 are sleeved on the 3rd moving lever 25 successively from the bottom up
On, pin disk 17 is installed in the front end of the 3rd moving lever 25, and motion platform 24 is provided with 3rd bearing 22 and 3rd bearing lid, the 3rd
Bearing cap by screw lock on motion platform 24, the second candan universal joint shaft coupling 23 and the attaching of 3rd bearing 22.Wherein,
Second bearing 31 is commonly mounted in the rear end of mobile jib 9, and second bearing lid 30 is then fixed by screws in the rear end of mobile jib 9 and covers second
Bearing 31, the end of the first moving lever 4 is typically provided with one section of axle, axle insertion second bearing 31 so that the first motion
Bar may be rotated relative to mobile jib.Similarly, fourth bearing 5 is also disposed in the first moving lever 4, and fourth bearing lid 51 is logical
Screw is crossed on the first moving lever 4 and clutch shaft bearing 5 is covered, the front end of the second moving lever 3 snaps fits into realization in the fourth bearing 5
Relative rotation between the front end of second moving lever 3 and the first moving lever 4.And 5th bearing 33 is also generally located on the second moving lever 3
In rear end, 5th bearing lid 32 is by the way that screw lock is in the second motion rod rear end and covers 5th bearing, the 3rd motion rod rear end
Be installed on realized in the 5th bearing it is relatively movable between the 3rd moving lever and the second moving lever.It should be noted that for
The setting of number of bearings, can flexibly select with configuration state, can be such as separately provided in corresponding position according to actual needs
One bearing, or two bearings are set, this is conventional selection, and in this not go into detail.
In addition, sensor pallet 21 can be also set with the 3rd moving lever 25, the axle power of sensor pallet 21 and six sensing
Device 19 is connected and can be by screw lock on the 3rd moving lever 25 by screw lock, motion platform 24.Pass through the fortune
Motivation structure, realizes Three Degree Of Freedom (dorsiflex/plantar flexion, the inversion/eversion and interior receipts/abduction exercise) motion of robot, can
The distance between pin disk and ankle-joint are efficiently controlled, the rehabilitation efficacy and adaptability of robot is improved, and pass through fortune
The adjustment of dynamic scope, can adapt to the use of different patients, applicability is more extensive.
In addition, can also add angular sensor, the movement angle for detecting each movable connecting rod, in second bearing 31
Provided with the first angular sensor, it is provided with fourth bearing 5 in the second angular sensor, 5th bearing 33 and is provided with the 3rd
Angular sensor.The angular sensor is to include magnet end and die terminals, is known products, no longer it is entered herein
Row is described in detail.Wherein, the magnet end of the first angular sensor be arranged on that the first moving lever 4 inserts mobile jib 9 rear end the
On termination in two bearings 31, the die terminals of the first angular sensor are arranged within second bearing lid 30；Second rotation
The magnet end of angular transducer is arranged on the second moving lever 3 and inserted on the termination in the fourth bearing 5 on the first moving lever 4, the
The die terminals of two angular sensors are arranged in fourth bearing lid 51；The magnet end of 3rd angular sensor is arranged on
In 5th bearing 33 on second moving lever 3 insertion the 3rd moving lever 25 rear end, the die terminals peace of the 3rd angular sensor
In 5th bearing lid 32.The movement angle of three moving levers is monitored in real time by three angular sensors,
The movement angle of patient has been monitored, robot rehabilitation training effect is improved.
It should be noted that above-described second bearing, 3rd bearing, the first sleeve, second sleeve etc., corresponding portion
Part structure is identical, belongs to same part, only to facilitate explanation, and it is defined as second bearing, 3rd bearing, first set
Cylinder, second sleeve etc., have no other and are particularly limited to herein.
In addition, in the present invention, the left and right sides is symmetrically arranged with two mobile jibs on support frame, and on each mobile jib
The two ends of preceding armed lever one drive mechanism is all each installed, i.e., a total of four drive mechanisms, be also have four it is pneumatic
Muscle.The distance between two pneumatic muscles of the same side are generally 250mm to 350mm.For pin disk, a spacing can be also carried out
From regulation, adjustable range is traditionally arranged to be 0mm to 20mm.Motion platform can also be carried out adjusting up and down, and adjustable range is typically set
For 0mm to 100mm.And the distance between pin disk and motion platform is usually 0mm to 120mm, the adjustable extent of preceding armed lever arrives for 0mm
100mm, the adjustable extent of connecting rod is 0mm to 50mm, and the adjustable extent of support frame is 0mm to 300mm.Robot can reach
Dorsiflex/plantar flexion scope be 40 °/500.The inversion/eversion scope that robot can reach is 40 °/200.Robot institute energy
Interior receipts/abduction the scope reached is 20 °/200。
Detailed movement process is as follows：
First, patient is placed on injured pin on pin disk and fixed so that the kinematic axis of patient's ankle and the present invention
Motion platform in the second bearing centre of motion align.Then start machine people, starts training, pneumatic muscles are according to pre- first
The track setting in motion first set, pneumatic muscles lower end drives motion platform to be moved, and motion platform can be pneumatic according to four
Muscle, which shrinks and stretched accordingly, to be carried out echoing motion accordingly, and the 3rd moving lever is also moved therewith.And pneumatic muscles upper end
The clutch shaft bearing 12 of drive, the first candan universal joint shaft coupling 13 carry out echoing motion accordingly.Armed lever before when motion
All it is no motion of with mobile jib, as the effect of preceding armed lever 10 is, for adjusting range of movement, mobile jib 9 is with connecting rod 11
For adjusting overall angle.First moving lever is directly driven by motion platform, and either the second moving lever drives or by the
Three moving levers and the second moving lever drive together, depending on apparent motion track；The second same moving lever is by the direct band of lower platform
It is dynamic, or driven by the 3rd moving lever；3rd moving lever is driven by motion platform.It is between mobile jib and the first moving lever are straight
Connected by bearing.For specifically coming, in the training process, pneumatic muscles provide the power moved accordingly, and miscellaneous part is all
It is to echo motion to realize predetermined movement locus, the connecting rod 11 of pneumatic muscles upper end is fixed, connecting rod in addition
11 effect is used only to adjust range of movement, is fixed in air-actuated muscle motion.When needing regulation range of movement, unclamp
The screw turn-knob of connecting rod, is adjusted to relevant position by connecting rod and locks again.
Driver is used as by pneumatic muscles in robot of the present invention, changes traditional rigidity driving, improves the soft of robot
It is pliable so that submissive change can be produced in time according to the state of patient during man-machine interaction, farthest in rehabilitation training environment
The middle safety for ensureing patient and comfortable.Also, on the basis of above-mentioned robot, also by setting corresponding control method,
So that patient is during training, passive exercise and active training can be had concurrently, can be according to the intention of patient in passive exercise
Changed with active training, disclosure satisfy that the training demand of different rehabilitation Phase patients.
In this regard, present invention is disclosed a kind of based on the above-mentioned ankle-joint robot in parallel by driver of pneumatic muscles, tool
Body is the active and passive intelligent control method based on the above-mentioned ankle-joint robot in parallel by driver of pneumatic muscles, including with
Lower step：
Step 1, the Motion trajectory of initial machine people.Conversion for the ease of lopcus function and ensure its position/speed
The continuity of degree/acceleration, as the initial track of healing robot by taking SIN function as an example, the method is also applied for other and answered
Close sin cos functionses track.By initial motion track along exemplified by x-axis, the rule of robot initial track are carried out using equation below
Draw：
xinit(t)=Axsin(2πft)。
Step 2, actual interactive forces/torque between detection patient's ankle and robot, by the actual reciprocation
Power/torque is compared with default interactive forces/torque threshold.Using between the motion platform and pin disk for being installed in robot
Six axle powers/torque sensor, lasting detection is in training patient's ankle and the interactive forces/torque in the machine human world, by this
Interactive forces/torque is used as the judgement of amendment robot motor pattern compared with default interactive forces/torque threshold
Condition.
Step 3, if actual interactive forces/torque is less than default interactive forces/torque threshold, into passive exercise
Pattern, keeps current kinetic track, drives patient to carry out passive exercise.
Step 4, if actual reciprocal force/torque is more than default threshold value, into active correction training mode, the current fortune of amendment
Dynamic rail mark and the direction of motion, while keeping the current movement velocity of robot and acceleration constant, it is ensured that the company of robot motion
Continuous property, realizes the active correction training of patient.
In active correction training mode, two kinds of situations are included.One is active correction training mode-coaxial；Another
It is active correction training mode-different axle.
Active correction training mode-coaxial, i.e., actual interactive forces/torque and current kinetic track are coaxial, now protect
The axial direction of current kinetic track is held, while keeping the current movement velocity/acceleration of robot constant, it is ensured that its continuity, is repaiied
Proper preceding movement locus and the direction of motion, realize the active correction training of patient.
In moment t1Patient's active interactive forces/torque (Fint/τint) it is more than default reciprocation threshold value F0/τ0If handing over
Interreaction force/torque and current track are coaxial, then are intended to change current track direction according to patient, while ensureing its motion speed
Degree/acceleration it is continuous, realized by correcting the phase of lopcus function：
xadap(t)=xinit(t+φxadap)=Axsin(2πf(t+φxadap))
Wherein
X in formula1For track correct front position, x1' it is speed, φ before track correctxadapFor phase error.
Active correction training mode-different axle, i.e. interactive forces/torque and current kinetic track not on same axial direction,
Then change current kinetic track axial direction, current axial movement locus is transformed to another axial movement track, first will be specially
Current be axially moved inversely stops to movement locus zero point, is then transferred to another axial track motion in dead-center position, completes
The conversion amendment of movement locus axial direction.Here so that x-axis turns to y-axis to track as an example：
X-axis is changed to track and in t by above formula2Moment moves to zero point, then plans y again in zero point by following formula
Axial track：
yadap(t)=Aysin(2πf(tyadap+φyadap)),whenxadap(t)=0
Wherein tyadap=t-t3,
In above formula, to ensure the continuity of its run duration and track, its time and phase value are all corrected.
Step 5, according to above-mentioned movement locus, motion closed-loop control is carried out to the pneumatic muscles of robot, realized to motion
The accurate tracking of track.After new track is cooked up according to patient's intention, the essence to track is realized according to the control method
True tenacious tracking.During thereafter, if actively applying power does not produce sufficiently large interactive forces/torque, machine to patient
People drives patient to carry out continuous passive motion；If patient's active applying power/torque, according to above-mentioned steps again planned trajectory letter
Number, and then realize the intelligent robot control that Passive Mode is docked with active correction pattern.
In addition, in the motion control of the pneumatic muscles to robot, also specifically including following steps：
Step 5.1 desired trajectory is planned, determines the amendment form of robot, completes desired trajectory planning.By ankle rehabilitation
The demand of training determines the direction of motion and the expectation displacement of robot, calculates the position coordinates of desired motion and carries out online
Trajectory planning.Planned trajectory is carried out here with sin cos functionses fitting curve movement.Desired trajectory is dorsiflex/plantar flexion direction rail
Mark, inversion/eversion direction track and interior receipts/abduction direction track.
Step 5.2, according to desired trajectory, the desired length of pneumatic muscles is calculated by Inverse Kinematics Solution mode.Below with
Specific example is illustrated.As shown in Figure 7, define motion platform and the tie point of fixed platform is respectivelympiWithfsi,fO is
Center vector in fixed platform,fRmIt is spin matrix of the motion platform relative to original coordinate systems, and motion platform
Position vector can be calculated by the information of this matrix and fixed platform, such as following formula：
fPi=fRm·mPi
A12=-sin θzcosθx+cosθzsinθysinθx
A22=cos θzcosθx+sinθzsinθysinθx
A31=-cos θzsinθx+sinθzsinθycosθx
A23=sin θzsinθx+cosθzsinθycosθx
fLi=fO+fRm·mPi-fSi
Position vectorfLiThe as length vector of pneumatic muscles, its length value can be calculated by following formula：
Step 5.3, pneumatic muscles Controlling model is set up, using formula F (p, k)=(p+a) eb·k+c·p·k+d·p+
E sets up function model, and wherein F is the static tensile force produced by pneumatic muscles, and P is the air pressure inside of pneumatic muscles, k, a, b, c,
The parameters such as d, e are the coefficients obtained by the relationship experiments between pneumatic muscles air pressure, length, pulling force.
The convergent force of pneumatic muscles depends on shrinkage factor and air pressure inside.Empirical data is obtained by testing based on this,
Statical model is set up under inflatable and deflatable two kinds of different situations.
Step 5.4, according to pneumatic muscles Controlling model, the atmospheric pressure value required for the desired length of pneumatic muscles is calculated, it is right
Pneumatic muscles are inflated/bleed air operation, make to produce corresponding atmospheric pressure value in pneumatic muscles.It is general real by Air Valve Control herein
It is existing, the air pressure control proportioning valve of configuration is crossed, pneumatic muscles are inflated with/bleed air operation, makes generation in pneumatic muscles corresponding
Atmospheric pressure value.
Step 5.5, the actual motion track of robot is obtained, is calculated by Inverse Kinematics Solution mode and obtains pneumatic muscles
Physical length.Ordinary circumstance is that the actual motion track of robot is obtained by the angular transducer being arranged in robot, from
And according to the actual motion track, the physical length for obtaining pneumatic muscles is calculated using Inverse Kinematics Solution mode.
Step 5.6, closed-loop control is carried out to pneumatic muscles, be specially the physical length of pneumatic muscles that will obtain with it is pneumatic
The desired length of muscle is compared, according to the atmospheric pressure value of relative error amendment pneumatic muscles, control pneumatic muscles length and then
Control machine people tracks desired trajectory.In this case, robot moving platform can track predetermined ankle-joint fortune to greatest extent
Dynamic rail mark.Here pneumatic muscles closed-loop control is realized using Advanced PID control method, with ensure robot motion accuracy and
Stability.
By above control method, the main seamless free switching of passive exercise pattern of ankle-joint robot can be achieved.Suffering from
Person is not intended to drive suffering limb to carry out passive movement by robot during active training, when patient wishes active training, is handed over by it
Interreaction force/torque amendment track motion state, embodies its active control ability to robot, is greatly improved patient in instruction
Being actively engaged in white silk and recovery level.
Claims (10)
1. a kind of robot for rehabilitation of anklebone in parallel, including base, it is characterised in that be fitted with support frame on the base, should
Active card is equipped with governor motion on support frame, and the governor motion includes mobile jib, preceding armed lever and leg support bar, and mobile jib front end is with before
Armed lever attaching, leg support bar is installed with mobile jib and is connected, and attaching has connecting rod, mobile jib and support frame activity clamp on preceding armed lever；
Also include drive mechanism and motion, drive mechanism front end and the connecting rod attaching in governor motion, drive mechanism end
With motion attaching, motion and mobile jib back end activity clamp；
The drive mechanism includes driver, the first sleeve, the first candan universal joint shaft coupling, second sleeve, pulling force sensor
With the second candan universal joint shaft coupling, the first sleeve is connected on the front end of pneumatic muscles, the first candan universal joint shaft coupling and first
The rear end attaching of sleeve attaching, second sleeve and pneumatic muscles, pulling force sensor one end is connected with second sleeve, the other end and
Two candan universal joint shaft couplings are connected, and the first candan universal joint shaft coupling passes through clutch shaft bearing and connecting rod attaching, the driver
For pneumatic muscles or linear electric motors or cylinder；
The motion include the first moving lever, the second moving lever, the 3rd moving lever, motion platform, six-axis force sensor and
Pin disk, mobile jib rear end is provided with second bearing and second bearing lid, and the termination of the first moving lever is installed in second bearing, the first fortune
Lever is provided with fourth bearing and fourth bearing lid, and the second moving lever front end is installed in fourth bearing, after the second moving lever
End is equiped with 5th bearing and 5th bearing lid, and the 3rd motion rod rear end is installed in 5th bearing, motion platform and six axle powers
Sensor is sleeved on the 3rd moving lever successively from the bottom up, and pin disk is installed on the front end of the 3rd moving lever, motion platform and set
There are 3rd bearing and 3rd bearing lid；
Motion passes through the second candan universal joint shaft coupling attaching in 3rd bearing and drive mechanism.
2. robot for rehabilitation of anklebone in parallel according to claim 1, it is characterised in that set between the mobile jib and support frame
Angled detent mechanism, the angle positioning include regulation handle, preceding band tooth spacer, preceding stator, rear band tooth spacer,
Stator and fastening bolt afterwards, before preceding stator is installed on band tooth spacer, after rear stator is installed on band tooth spacer,
Fastening bolt is passed through from preceding stator, preceding band tooth spacer, rear band tooth spacer and rear stator, and regulation handle is sleeved on fastening
On bolt and lock make before band tooth spacer and rear band tooth spacer engagement install, mobile jib is connected by screw with preceding stator,
Support frame is connected by screw with rear stator, and the handle portion of regulation handle is exposed at outside support frame.
3. robot for rehabilitation of anklebone in parallel according to claim 2, it is characterised in that described preceding armed lever one end insert into
In mobile jib and the screw knob locking that is arranged on mobile jib front end, before connecting rod one end is inserted in armed lever and before being arranged on armed lever
Screw knob locking.
4. robot for rehabilitation of anklebone in parallel according to claim 3, it is characterised in that first sleeve and pneumatic flesh
Meat, the first candan universal joint shaft coupling are with thread connecting mode attaching, and second sleeve is with pneumatic muscles, pulling force sensor with screw thread
Connected mode attaching, pulling force sensor and the second candan universal joint shaft coupling are with thread connecting mode attaching.
5. robot for rehabilitation of anklebone in parallel according to claim 4, it is characterised in that provided with the in the second bearing
It is provided with one angular sensor, fourth bearing in the second angular sensor, 5th bearing and is provided with the 3rd anglec of rotation
Sensor.
6. robot for rehabilitation of anklebone in parallel according to claim 5, it is characterised in that support frame as described above is provided with spacing
Groove, base is provided with screw turn-knob, the stopper slot of screw turn-knob insertion support frame and locked, and support frame is fixed with base
Connection.
7. a kind of control method according to robot for rehabilitation of anklebone in parallel according to any one of claims 1 to 6, including with
Lower step：
The Motion trajectory of initial machine people；
Actual interactive forces/torque between patient's ankle and robot is detected, by the actual interactive forces/torque and in advance
If interactive forces/torque threshold be compared；
If actual interactive forces/torque is less than default interactive forces/torque threshold, into passive exercise pattern, keep
Current kinetic track, drives patient to carry out passive exercise；
If actual interactive forces/torque is more than default interactive forces/torque threshold, into active correction training mode,
Current kinetic track and the direction of motion are corrected, while keeping the current movement velocity of robot and acceleration constant, it is ensured that machine
The continuity of people's motion, realizes 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, realized to the accurate of movement locus
Tracking.
8. the control method of robot for rehabilitation of anklebone in parallel according to claim 7, it is characterised in that the active is repaiied
In positive training mode, if interactive forces/torque and current kinetic track are coaxial, the axial direction of current kinetic track is kept, is repaiied
Proper preceding movement locus and the direction of motion；
If interactive forces/torque not on same axial direction, changes current kinetic track axial direction with current kinetic track, make to work as
Front axle is transformed to another axial movement track to movement locus, is specially that will currently be axially moved first inversely to movement locus zero
Point stops, and is then transferred to another axial track motion in dead-center position, completes the conversion amendment of movement locus axial direction.
9. the control method of robot for rehabilitation of anklebone in parallel according to claim 8, it is characterised in that described to machine
The pneumatic muscles of people carry out motion closed-loop control and specifically include following steps：
Desired trajectory is planned, determines the Motion correction pattern of robot, completes desired trajectory planning；
According to track, the desired length of pneumatic muscles is calculated by Inverse Kinematics Solution mode；
Pneumatic muscles Controlling model is set up, using formula F (p, k)=(p+a) eb·k+ cpk+dp+e sets up Function Modules
Type, wherein F are the static tensile force produced by pneumatic muscles, and P is the air pressure inside of pneumatic muscles；
According to pneumatic muscles Controlling model, the atmospheric pressure value required for the desired length of pneumatic muscles is calculated, pneumatic muscles are carried out
Inflation/deflation is operated, and makes to produce corresponding atmospheric pressure value in pneumatic muscles；
The actual motion track of robot is obtained, the physical length for obtaining pneumatic muscles is calculated by Inverse Kinematics Solution mode；
Pneumatic muscles are carried out with closed-loop control, the physical length for the pneumatic muscles that will specially obtain and the expectation of pneumatic muscles are long
Degree is compared, according to the atmospheric pressure value of relative error amendment pneumatic muscles, control pneumatic muscles length so that control machine people with
Track desired length.
10. the control method of robot for rehabilitation of anklebone in parallel according to claim 9, it is characterised in that the expectation
Track is dorsiflex/plantar flexion direction track, inversion/eversion direction track and interior receipts/abduction direction track.
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| CN105943307B (en) * | 2016-05-31 | 2018-01-12 | 天津大学 | A kind of ankle-joint parallel connection convalescence device |
| CN105943306B (en) * | 2016-05-31 | 2017-12-12 | 天津大学 | A kind of three-degree of freedom ankle joint convalescence device of pneumatic muscles driving |
| 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 |
| CN108888477B (en) * | 2018-06-07 | 2020-06-16 | 中国工程物理研究院总体工程研究所 | Flexible control method for medical rehabilitation exoskeleton |
| JP7274846B2 (en) | 2018-09-28 | 2023-05-17 | Ntn株式会社 | link actuator |
| CN109771895B (en) * | 2019-02-25 | 2020-11-24 | 橙象医疗科技（广州）有限公司 | Control method and device for assisting walking recovery |
| CN110575359B (en) * | 2019-09-25 | 2022-04-22 | 深圳市丞辉威世智能科技有限公司 | Limb rehabilitation exoskeleton and limb rehabilitation system |
| CN111345971B (en) * | 2020-03-14 | 2022-03-08 | 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 |
| CN113332678B (en) * | 2021-04-30 | 2023-05-02 | 西安交通大学 | Pneumatic muscle flexible driving parallel ankle joint rehabilitation system and control method |
| CN113730178B (en) * | 2021-07-27 | 2024-08-23 | 深圳华鹊景医疗科技有限公司 | Rehabilitation robot system for constant-speed training of upper limbs and robot control method |
| CN114028174B (en) * | 2021-12-13 | 2024-01-30 | 杭州电子科技大学 | Ankle rehabilitation massage chair |
| 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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| US6277057B1 (en) * | 2000-02-28 | 2001-08-21 | Craig Hayden | Ankle rehabilitation device |
| CN201168163Y (en) * | 2008-02-02 | 2008-12-24 | 河北工业大学 | Rehabilitation robot for anklebone |
| ITMI20112325A1 (en) * | 2011-12-20 | 2013-06-21 | Consiglio Nazionale Ricerche | DEVICE AND METHOD FOR REHABILITATION OF FOOT MOVEMENTS |
| CN103070757B (en) * | 2013-01-08 | 2014-10-15 | 北京工业大学 | Parallel-type initiative/passive ankle rehabilitation training device |
| CN103156756B (en) * | 2013-04-07 | 2014-09-10 | 福州大学 | Adjustable ankle recovering device |
| CN103479502B (en) * | 2013-09-16 | 2015-02-25 | 北京交通大学 | Ankle joint rehabilitation device |
| CN204072672U (en) * | 2014-09-09 | 2015-01-07 | 佳木斯大学 | Parallel robot for rehabilitation of anklebone |
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