CN105919774A - Parallel flexible cable driven robot for upper limb rehabilitation and implementation method thereof - Google Patents
Parallel flexible cable driven robot for upper limb rehabilitation and implementation method thereof Download PDFInfo
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 73
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000012549 training Methods 0.000 claims abstract description 36
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 230000008569 process Effects 0.000 claims abstract description 5
- 230000033001 locomotion Effects 0.000 claims description 62
- 210000000245 forearm Anatomy 0.000 claims description 46
- 210000003414 extremity Anatomy 0.000 claims description 34
- 210000000323 shoulder joint Anatomy 0.000 claims description 30
- 210000002310 elbow joint Anatomy 0.000 claims description 21
- 238000005452 bending Methods 0.000 claims description 15
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- 230000005540 biological transmission Effects 0.000 claims description 12
- 210000003205 muscle Anatomy 0.000 claims description 12
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- 230000009471 action Effects 0.000 claims description 10
- 238000011156 evaluation Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 4
- 238000000926 separation method Methods 0.000 claims description 4
- 208000005392 Spasm Diseases 0.000 claims description 3
- 230000003387 muscular Effects 0.000 claims description 3
- 230000002459 sustained effect Effects 0.000 claims description 3
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- 238000010586 diagram Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- QEIQEORTEYHSJH-UHFFFAOYSA-N Armin Natural products C1=CC(=O)OC2=C(O)C(OCC(CCO)C)=CC=C21 QEIQEORTEYHSJH-UHFFFAOYSA-N 0.000 description 1
- 208000034657 Convalescence Diseases 0.000 description 1
- 206010068052 Mosaicism Diseases 0.000 description 1
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- 230000007774 longterm Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
- A61H1/0222—Traction tables
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/04—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
- A61F5/042—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for extension or stretching
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
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Abstract
The invention relates to a parallel flexible cable driven robot for upper limb rehabilitation and an implementation method thereof. The technical scheme is as follows: the whole upper limb rehabilitation robot forms a cuboid-shaped truss structure through support frames, wherein flexible cable drive modules, tension detection modules, fixed guide wheels and a chair drive motor are arranged on the bottom of the support frames, and meanwhile, a clean and tidy rehabilitation treatment platform is provided; a rotating chair is positioned above a base and drives the body of a patient to rotate freely according to the rehabilitation requirements; the seven groups of flexible cables are connected to a front arm support, and the upper limbs of the patient are driven by the front arm support to realize the rehabilitation training. The upper limb rehabilitation robot has the beneficial effects that the flexible cables are good in flexibility, so that the rigid contact with the human body can be avoided, and the comfort of the rehabilitation training is improved; the inside tension of the flexible cables is monitored in real time during the rehabilitation training process, so that the safety of the rehabilitation training is improved; the upper limb rehabilitation robot has three rehabilitation modes, including the passive mode, the assistant mode and the active mode, the rehabilitation mode can be freely selected according to the rehabilitation stage and the different rehabilitation requirements, therefore, multiple purposes are achieved with one device, and thus the cost of the device is reduced.
Description
Technical field
The present invention relates to a kind of medical rehabilitation exercising device, particularly to a kind of parallel wire driven upper limb rehabilitation robot and implementation thereof.
Background technology
Along with economic fast development, living standards of the people and the improvement of medical and health care cause, the quality of life of resident is greatly promoted, and meanwhile the problem of an aging population and disabled person's problem are but a kind of costs to be paid in social development process.The elderly and the disabled is relatively big to the demand of rehabilitation service, however all kinds of rehabilitation project but supply falls short of demand.Meet the rehabilitation medical demand of the socially disadvantageds such as the hugest elderly and the disabled, improve their locomitivity and then improve independent living ability, for ensureing that the harmony of society is stable and long-term stability has positive social effect.
During rehabilitation, limb rehabilitating especially upper limb healing occupies an important position.Doctor's rehabilitation training to patient relatively, upper limb rehabilitation robot can repeat numerous and diverse training action for a long time, it is easy to accomplish complicated motion and the control of power, can train with one-to-many, remotely train, and human cost is low, and efficiency is high.Use upper limb rehabilitation robot to realize rehabilitation training and there is its unique advantage.According to the difference of configuration, upper limb rehabilitation robot is divided into tail end traction type and exoskeleton-type two class: the Typical Representative of tail end traction type is the 2-DOF plane upper limb rehabilitation robot MIT-MANUS of Massachusetts Institute of Technology's research and development；Relative maturity in the most numerous dermaskeleton type upper limb rehabilitation robot model machines and products, ARMin Series machine people.The patent " a kind of rope-traction upper limb rehabilitation robot and control method thereof " of Patent No. 201210052562.1 discloses a kind of stent-type and column rope-traction upper limb rehabilitation robot, the spatial three-dimensional movement of patient forearm is realized by 3 cable traction supporting plates, completing rehabilitation training task, its control method includes passively controlling and actively controls.But this upper limb rehabilitation robot belongs to flexible cable in parallel suspends robot in midair, no matter use how many servomotors, system itself has non-holonomic constraint characteristic, need the gravity impact considering supporting plate and upper limbs normally to work, and arbitrary complicated Pose Control and power in three dimensions cannot be realized and control.
There is following problem in existing upper limb rehabilitation robot and difficult point has to be solved: (1) configuration design problem, tail end traction type upper limb rehabilitation robot is difficult to carry out monarthric training, and dermaskeleton type upper limb rehabilitation robot also exists the shortcomings such as rigidity is relatively low, accumulated error is big, motion continuity is poor, inertia impact is big, power control difficulty；(2) man-machine compatibility sex chromosome mosaicism, upper limb rehabilitation robot needs the more free degree intactly to reappear, coincide upper extremity exercise, and this can cause, and mechanism is complicated, control difficulty；(3) gravity compensation problem, needs robot carries out gravity compensation and carries out robot light-weight design；(4) complicated power position control problem, existing upper limb rehabilitation robot is capable of high-precision Trajectory Tracking Control, but rare robot can provide the complicated power needed for meeting rehabilitation to control.
Summary of the invention
The purpose of the present invention is aiming at the drawbacks described above that prior art exists, a kind of modularization, restructural, multi-mode, forearm trail-type parallel wire driven upper limb rehabilitation robot and implementation thereof are provided, the patient that can assist the different rehabilitation stage carries out the rehabilitation training of aggressive mode, assistant mode and Passive Mode, provides a kind of significantly more efficient convalescence device and method for upper limb disability patient.
A kind of parallel wire driven upper limb rehabilitation robot that the present invention mentions, including Wire driven robot module (1), tension force detection module (2), stator wheel (3), turnover directive wheel (4), forearm supports (5), flexible cable (6), rotary seat (7), base (8), bracing frame (9), the overall truss structure being made up of rectangular shape bracing frame (9), base (8) is arranged on the bottom of bracing frame (9), hide the Wire driven robot module (1) of bracing frame (9) bottom, tension force detection module (2), stator wheel (3) and seat drive motor, the rehabilitation platform of neat and tidy is provided simultaneously；And rotary seat (7) is positioned at the top of base (8) and can require to drive patient body freely rotatable according to rehabilitation；Described turnover directive wheel (4) is provided with eight groups, four groups are fixed at the sustained height of the close base of the vertical bar of bracing frame (9), four groups are fixed at the top of vertical bar, select seven groups of transmission devices as flexible cable (6) therein, seven groups of flexible cables (6) are connected to forearm and support (5), and drive patient's upper limbs to realize rehabilitation training, wherein by forearm support (5), forearm supports the rear portion of (5) and is drawn by three flexible cables, and forearm supports the front portion of (5) and drawn by four flexible cables；In rehabilitation training, turnover directive wheel (4) can rotate corresponding angle along with the change in flexible cable (6) orientation, ensure that flexible cable (6) is supported (5) and completes the motion of space six degree of freedom by smooth the stretching of directive wheel, seven groups of flexible cable traction forearms, realized the rehabilitation action of complexity further.
Above-mentioned Wire driven robot module (1) uses modular method for designing, have seven groups, it is separately mounted on the bracing frame (9) that base (8) is covered, Wire driven robot module (1) is mainly made up of torque motor, motor mounting rack, driving wheel and photoelectric encoder, torque motor is fixed on bracing frame (9) by motor mounting rack, its output is used for being wound around flexible cable (6) equipped with driving wheel, and its afterbody installs photoelectric encoder, can indirectly measure the stroke of flexible cable (6).
Above-mentioned tension force detection module (2) is fixed in the middle of the bottom of bracing frame (9), and near the position of Wire driven robot module (1), tension force detection module (2) includes support (2-1), pulling force sensor (2-2), wheel bracket (2-3), guide wheel (2-4), pulling force sensor (2-2) and wheel bracket (2-3) are fixed in the upper end of support (2-1), guide wheel (2-4) is installed on wheel bracket (2-3), flexible cable (6) first passes around tension detecting apparatus (2) after Wire driven robot module (1) is drawn, transmission direction changes 180 ° of outputs subsequently, pulling force sensor bears pulling force sizableness in the twice of flexible cable (6) inner tensions, flexible cable horizontal conveyor between described tension detecting apparatus (2) and Wire driven robot module (1).
Above-mentioned stator wheel (3) has eight groups, it is arranged on the bottom of four vertical bars of bracing frame (9), and and horizontal conveyor parallel with the flexible cable of tension detecting apparatus (2) both sides, flexible cable (6) transmission direction after stator wheel (3) changes 90 °, underdrive along the vertical bar of bracing frame 9.
Above-mentioned flexible cable (6) is wrapped on the driving wheel of Wire driven robot module (1), transmission direction is changed through tension detecting apparatus (2), stator wheel (3) and turnover directive wheel (4), its end is connected to forearm and supports on (5), the flexible photoelectric encoder utilizing motor end of flexible cable (6) is measured, the inner tensions of flexible cable (6) is measured by tension force detection module (2), the information collected is input to upper computer control system, upper computer control system sends control instruction, by stroke and the flexible cable inner tensions of torque motor control flexible cable.
Above-mentioned rehabilitation action includes the bending and stretching of shoulder joint, outreach adduction, inward turning outward turning, elbow bends and stretches and elbow joint bends and stretches action, wherein:
(1) the bending and stretching of shoulder joint: rotary seat (7) maintains static, robot drives upper limbs elbow joint to rotate upwardly and downwardly around shoulder joint with identical angular speed with hand, can realize shoulder joint bending and stretching in perpendicular；Rotary seat (7) left-right rotation, robot drives upper limbs elbow joint and hand to horizontally rotate around shoulder joint with angular speed equal in magnitude, that direction is contrary with seat speed, can realize shoulder joint bending and stretching in horizontal plane；
(2) receiving in shoulder abduction: rotary seat (7) maintains static after rotating 90 °, robot drives upper limbs elbow joint to rotate upwardly and downwardly around shoulder joint in coronal-plane with identical angular speed with hand, can realize the abduction of shoulder joint and interior receipts；
(3) shoulder internal rotator outward turning: rotary seat (7) maintains static, robot drives upper limbs extension, and then drive forearm circumference is around upper limbs own axis, thus realizes inward turning and the outward turning of shoulder joint；
(4) elbow joint bends and stretches: rotary seat (7) maintains static, forearm supports three flexible cable traction large arm at 5 rear portions and rotates around shoulder joint, forearm supports four anterior flexible cables of (5) and drives forearm circumference to rotate around elbow joint, forearm supports (5) and drives forearm motion in sagittal plane, thus realizes bending and stretching of elbow joint.
The implementation of a kind of parallel wire driven upper limb rehabilitation robot that the present invention mentions, comprises the following steps:
First physiatrician determines the rehabilitation modality of patient according to the basic document of patient, and sets the operational mode of robot:
Under Passive Mode, patient's upper limbs fully relies on external force and completes motion, robot is with movement locus as control object, the stroke of each flexible cable of coordinated planning and the rotation of seat, during training, the forearm of robot supports (5) and drives suffering limb to move along desired trajectory by corresponding speed, and patient's upper limbs passively follows robot motion, simultaneity factor implements to measure the tension force of each flexible cable in the movement locus of suffering limb and motion process, the Muscle tensility of evaluation suffering limb and spasm extent；When suffering limb Muscle tensility is excessive, in order to keep the speed set, each flexible cable inner tensions increases accordingly, when flexible rope tension exceedes maximum limit definite value, and periods of robot operation stop, it is to avoid pull suffering limb；
Under assistant mode, patient has actively contracted muscles motion under the auxiliary of external force, and the inner tensions that robot is each flexible cable of control object coordinated planning with auxiliary force assists suffering limb to complete the movement locus specified；During training, patient is according to target trajectory autokinetic movement, robot controls auxiliary force according to position or velocity deviation, limit suffering limb to move on correct track, the record movement locus of suffering limb, movement velocity and the size of robot assisted power, such that it is able to the indexs such as the evaluation sports coordination of patient, control ability；
Under aggressive mode, suffering limb has actively contracted muscles motion, the tractive force resistance that robot is each flexible cable of control object coordinated planning with output resistance；During training, patient is from main separation forms of motion, robot coordinated each flexible cable follows the motion of upper limbs, demand according to patient applies the resistance of motion of various ways, the movement locus of record suffering limb, obtain its movement velocity, motion frequency parameter, the evaluation sports coordination of patient's suffering limb, control ability and muscular strength index.
Compared with prior art, its beneficial effect is specific as follows for the present invention:
(1) parallel wire driven upper limb rehabilitation robot uses flexible cable as actuated element and finally to perform rehabilitation training, robot modularized design, and integral mechanical structure is simple, and machining cost is low, installs and uses flexibly；
(2) flexible cable self compliance is good, can avoid and human body generation rigid contact, improves the comfortableness of rehabilitation training；Monitoring flexible cable inner tensions, the security of raising rehabilitation training in real time in rehabilitation training；
(3) the flexible cable robot in parallel used has complete binding feature, it is possible to the power position meeting different rehabilitation stage complexity controls to require: is realized the motion of forearm space six degree of freedom by seven flexible cables, can realize the rehabilitation exercise of upper limbs complexity pose；Simultaneously under the co-ordination of seven flexible cables, it is easy to accomplish the power of the multi-faceted arbitrary size in space controls；
(4) parallel wire driven upper limb rehabilitation robot has Passive Mode, assistant mode and three kinds of rehabilitation modalities of aggressive mode, can be according to the difference of rehabilitation stage and rehabilitation demands from main separation rehabilitation modality, it is achieved a tractor serves several purposes, reduces equipment cost.
Accompanying drawing explanation
The general structure schematic diagram of Fig. 1 present invention；
The base of Fig. 2 present invention open after structural representation；
The structural representation of the Wire driven robot module of Fig. 3 present invention；
The structural representation of the tension force detection module of Fig. 4 present invention；
Fig. 5 is parallel wire driven upper limb healing man-machine system general illustration of the present invention；
Fig. 6 is that parallel wire driven upper limb rehabilitation robot of the present invention is carried out shoulder joint and bent and stretched training schematic diagram；
Fig. 7 is to receive training schematic diagram in parallel wire driven upper limb rehabilitation robot of the present invention carries out shoulder abduction；
Fig. 8 is that parallel wire driven upper limb rehabilitation robot of the present invention carries out shoulder external rotator inward turning training schematic diagram；
Fig. 9 is that parallel wire driven upper limb rehabilitation robot of the present invention is carried out elbow joint and bent and stretched training schematic diagram；
In figure: Wire driven robot module 1, tension force detection module 2, stator wheel 3, turnover directive wheel 4, forearm support 5, flexible cable 6, rotary seat 7, base 8, bracing frame 9；Torque motor 1-1, motor mounting rack 1-2, driving wheel 1-3；Support 2-1, pulling force sensor 2-2, wheel bracket 2-3, guide wheel 2-4.
Detailed description of the invention
In conjunction with accompanying drawing 1-9, the invention will be further described:
A kind of parallel wire driven upper limb rehabilitation robot that the present invention mentions, including Wire driven robot module 1, tension force detection module 2, stator wheel 3, turnover directive wheel 4, forearm support 5, flexible cable 6, rotary seat 7, base 8, bracing frame 9, the overall truss structure being made up of rectangular shape bracing frame 9, the rehabilitation training of patient also performs inside the truss structure of cuboid.
Wherein, base 8 is arranged on the bottom of bracing frame 9, hides the Wire driven robot module 1 bottom bracing frame 9, tension force detection module 2, stator wheel 3 and seat and drives motor, provides the rehabilitation platform of neat and tidy simultaneously；And rotary seat 7 is positioned at the top of base 8 and can require to drive patient body freely rotatable according to rehabilitation；Described turnover directive wheel 4 is provided with eight groups, four groups are fixed at the sustained height of the close base of the vertical bar of bracing frame 9, four groups are fixed at the top of vertical bar, select seven groups of transmission devices as flexible cable 6 therein, seven groups of flexible cables 6 are connected to forearm and support 5, and realize rehabilitation training, wherein by forearm support 5 drive patient's upper limbs, forearm supports the rear portion of 5 and is drawn by three flexible cables, and forearm supports the front portion of 5 and drawn by four flexible cables；In rehabilitation training, turnover directive wheel 4 can rotate corresponding angle along with the change in flexible cable 6 orientation, ensure that flexible cable 6 is by smooth the stretching of directive wheel, seven groups of flexible cable traction forearms support 5 motions completing space six degree of freedom, the parallel wire driven upper limb rehabilitation robot constituted is a flexible cable robot in parallel with holonomic constriants characteristic, can realize takeing on complicated rehabilitation actions such as bending and stretching, receive in shoulder abduction, shoulder inward turning outward turning, elbow bend and stretch.
Referring to the drawings 3, described Wire driven robot module 1 uses modular method for designing, have seven groups, it is separately mounted on the bracing frame 9 that base 8 is covered, Wire driven robot module 1 is mainly made up of torque motor 1-1, motor mounting rack 1-2, driving wheel 1-3 and photoelectric encoder, wherein, photoelectric encoder is blocked in the drawings, not shown；Torque motor 1-1 is fixed on bracing frame 9 by motor mounting rack 1-2, and its output is used for being wound around flexible cable 6 equipped with driving wheel 1-3, and its afterbody installs photoelectric encoder, can indirectly measure the stroke of flexible cable 6.
Referring to the drawings 4, tension force detection module 2 is fixed in the middle of the bottom of bracing frame 9, and near the position of Wire driven robot module 1, tension force detection module 2 includes support 2-1, pulling force sensor 2-2, wheel bracket 2-3, guide wheel 2-4, pulling force sensor 2-2 and wheel bracket 2-3 is fixed in the upper end of support 2-1, guide wheel 2-4 is installed on wheel bracket 2-3, flexible cable 6 first passes around tension detecting apparatus 2 after Wire driven robot module 1 is drawn, transmission direction changes 180 ° of outputs subsequently, pulling force sensor bears pulling force sizableness in the twice of flexible cable 6 inner tensions, flexible cable horizontal conveyor between described tension detecting apparatus 2 and Wire driven robot module 1.
Above-mentioned stator wheel 3 has eight groups, it is arranged on the bottom of four vertical bars of bracing frame 9, and and horizontal conveyor parallel with the flexible cable of tension detecting apparatus 2 both sides, flexible cable 6 transmission direction after stator wheel 3 changes 90 °, underdrive along the vertical bar of bracing frame 9.
Above-mentioned flexible cable 6 is wrapped on the driving wheel of Wire driven robot module 1, transmission direction is changed through tension detecting apparatus 2, stator wheel 3 and turnover directive wheel 4, its end is connected to forearm and supports on 5, the flexible photoelectric encoder utilizing motor end of flexible cable 6 is measured, the inner tensions of flexible cable 6 is measured by tension force detection module 2, the information collected is input to upper computer control system, upper computer control system sends control instruction, by stroke and the flexible cable inner tensions of torque motor control flexible cable.
The robot of the present invention realizes the motion of forearm space six degree of freedom by seven flexible cables, can realize the rehabilitation exercise of upper limbs complexity pose；Simultaneously under the co-ordination of seven flexible cables, it is easy to accomplish the power of the multi-faceted arbitrary size in space controls.Upper computer control system controls requirement according to the different Servo Control Modes formulating Wire driven robot module of rehabilitation modality, the power position meeting different rehabilitation stage complexity.
Additionally, the present invention can rearrange each Wire driven robot module and the position of each directive wheel according to actual rehabilitation demands, reconstruct robot modeling, the scope of application of robot can be expanded.
In conjunction with Fig. 5-Fig. 9, concrete rehabilitation action includes the following:
(1) the bending and stretching of shoulder joint: seat 8 maintains static, robot drives upper limbs elbow joint to rotate upwardly and downwardly around shoulder joint with identical angular speed with hand, can realize shoulder joint bending and stretching in perpendicular；Seat 8 left-right rotation, robot drives upper limbs elbow joint and hand to horizontally rotate around shoulder joint with angular speed equal in magnitude, that direction is contrary with seat speed, can realize shoulder joint bending and stretching in horizontal plane.
(2) receiving in shoulder abduction: seat 8 maintains static after rotating 90 °, robot drives upper limbs elbow joint to rotate upwardly and downwardly around shoulder joint in coronal-plane with identical angular speed with hand, can realize the abduction of shoulder joint and interior receipts.
(3) shoulder internal rotator outward turning: seat 8 maintains static, robot drives upper limbs extension, and then drive forearm circumference is around upper limbs own axis, thus realizes inward turning and the outward turning of shoulder joint.
(4) elbow joint bends and stretches: seat 8 maintains static, forearm supports three flexible cable traction large arm at 5 rear portions and rotates around shoulder joint, forearm supports four flexible cables of 5 front portions and drives forearm circumference to rotate around elbow joint, and forearm supports 5 drive forearm motions in sagittal plane, thus realizes bending and stretching of elbow joint.
Further, according to the demand of actual rehabilitation training, each Wire driven robot module and the position of each directive wheel can be rearranged, reconstruct robot modeling, the scope of application of robot can be expanded, increase the training form of robot.
It addition, the concrete implementation of each rehabilitation action is as follows:
First physiatrician determines the rehabilitation modality of patient according to the basic document of patient, and sets the operational mode of robot.
Under Passive Mode, patient's upper limbs fully rely on external force complete motion, robot with movement locus as control object, the stroke of each flexible cable of coordinated planning and the rotation of seat.During training, robot drives suffering limb to move along desired trajectory by corresponding speed, patient's upper limbs passively follows robot motion, and simultaneity factor implements to measure the tension force of each flexible cable in the movement locus of suffering limb and motion process, the Muscle tensility of evaluation suffering limb and spasm extent.When suffering limb Muscle tensility is excessive, in order to keep the speed set, each flexible cable inner tensions increases accordingly, when flexible rope tension exceedes maximum limit definite value, and periods of robot operation stop, it is to avoid pull suffering limb.
Under assistant mode, patient has actively contracted muscles motion under the auxiliary of external force, and the inner tensions that robot is each flexible cable of control object coordinated planning with auxiliary force assists suffering limb to complete the movement locus specified.During training, encourage patient to control auxiliary force according to target trajectory autokinetic movement, robot according to position or velocity deviation, limit suffering limb and move on correct track.The record movement locus of suffering limb, movement velocity and the size of robot assisted power, such that it is able to the indexs such as the evaluation sports coordination of patient, control ability.
Under aggressive mode, suffering limb has actively contracted muscles motion, the tractive force resistance that robot is each flexible cable of control object coordinated planning with output resistance.During training, patient is from main separation forms of motion, and robot coordinated each flexible cable follows the motion of upper limbs, applies the resistance of motion of various ways according to the demand of patient.The movement locus of record suffering limb, obtains the indexs such as its parameter such as movement velocity, motion frequency, the evaluation sports coordination of patient's suffering limb, control ability and muscular strength.
The above, be only the part preferred embodiment of the present invention, and any those of ordinary skill in the art all technical schemes possibly also with above-mentioned elaboration are revised or are revised as the technical scheme of equivalent.Therefore, any simple modification carried out according to technical scheme or substitute equivalents, belong to the greatest extent the scope of protection of present invention.
Claims (7)
1. a parallel wire driven upper limb rehabilitation robot, it is characterized in that: include Wire driven robot module (1), tension force detection module (2), stator wheel (3), turnover directive wheel (4), forearm supports (5), flexible cable (6), rotary seat (7), base (8), bracing frame (9), the overall truss structure being made up of rectangular shape bracing frame (9), base (8) is arranged on the bottom of bracing frame (9), hide the Wire driven robot module (1) of bracing frame (9) bottom, tension force detection module (2), stator wheel (3) and seat drive motor, the rehabilitation platform of neat and tidy is provided simultaneously；And rotary seat (7) is positioned at the top of base (8) and can require to drive patient body freely rotatable according to rehabilitation；Described turnover directive wheel (4) is provided with eight groups, four groups are fixed at the sustained height of the close base of the vertical bar of bracing frame (9), four groups are fixed at the top of vertical bar, select seven groups of transmission devices as flexible cable (6) therein, seven groups of flexible cables (6) are connected to forearm and support (5), and drive patient's upper limbs to realize rehabilitation training, wherein by forearm support (5), forearm supports the rear portion of (5) and is drawn by three flexible cables, and forearm supports the front portion of (5) and drawn by four flexible cables；In rehabilitation training, turnover directive wheel (4) can rotate corresponding angle along with the change in flexible cable (6) orientation, ensure that flexible cable (6) is supported (5) and completes the motion of space six degree of freedom by smooth the stretching of directive wheel, seven groups of flexible cable traction forearms, realized the rehabilitation action of complexity further.
Parallel wire driven upper limb rehabilitation robot the most according to claim 1, it is characterized in that: described Wire driven robot module (1) uses modular method for designing, have seven groups, it is separately mounted on the bracing frame (9) that base (8) is covered, Wire driven robot module (1) is main by torque motor (1-1), motor mounting rack (1-2), driving wheel (1-3) and photoelectric encoder composition, torque motor (1-1) is fixed on bracing frame (9) by motor mounting rack (1-2), its output is used for being wound around flexible cable (6) equipped with driving wheel (1-3), its afterbody installs photoelectric encoder, can indirectly measure the stroke of flexible cable (6).
nullParallel wire driven upper limb rehabilitation robot the most according to claim 1，It is characterized in that: described tension force detection module (2) is fixed in the middle of the bottom of bracing frame (9)，And near the position of Wire driven robot module (1)，Tension force detection module (2) includes support (2-1)、Pulling force sensor (2-2)、Wheel bracket (2-3)、Guide wheel (2-4)，Pulling force sensor (2-2) and wheel bracket (2-3) are fixed in the upper end of support (2-1)，Guide wheel (2-4) is installed on wheel bracket (2-3)，Flexible cable (6) first passes around tension detecting apparatus (2) after Wire driven robot module (1) is drawn，Transmission direction changes 180 ° of outputs subsequently，Pulling force sensor bears pulling force sizableness in the twice of flexible cable (6) inner tensions，Flexible cable horizontal conveyor between described tension detecting apparatus (2) and Wire driven robot module (1).
Parallel wire driven upper limb rehabilitation robot the most according to claim 1, it is characterized in that: described stator wheel (3) has eight groups, it is arranged on the bottom of four vertical bars of bracing frame (9), and and horizontal conveyor parallel with the flexible cable of tension detecting apparatus (2) both sides, flexible cable (6) transmission direction after stator wheel (3) changes 90 °, underdrive along the vertical bar of bracing frame 9.
5. according to the parallel wire driven upper limb rehabilitation robot according to any one of claim 1-4, it is characterized in that: described flexible cable (6) is wrapped on the driving wheel of Wire driven robot module (1), through tension detecting apparatus (2), stator wheel (3) and turnover directive wheel (4) change transmission direction, its end is connected to forearm and supports on (5), the flexible photoelectric encoder utilizing motor end of flexible cable (6) is measured, the inner tensions of flexible cable (6) is measured by tension force detection module (2), the information collected is input to upper computer control system, upper computer control system sends control instruction, by stroke and the flexible cable inner tensions of torque motor control flexible cable.
Parallel wire driven upper limb rehabilitation robot the most according to claim 1, is characterized in that: described rehabilitation action includes the bending and stretching of shoulder joint, outreach adduction, inward turning outward turning, elbow bends and stretches and elbow joint bends and stretches action, wherein:
(1) the bending and stretching of shoulder joint: rotary seat (7) maintains static, robot drives upper limbs elbow joint to rotate upwardly and downwardly around shoulder joint with identical angular speed with hand, can realize shoulder joint bending and stretching in perpendicular；Rotary seat (7) left-right rotation, robot drives upper limbs elbow joint and hand to horizontally rotate around shoulder joint with angular speed equal in magnitude, that direction is contrary with seat speed, can realize shoulder joint bending and stretching in horizontal plane；
(2) receiving in shoulder abduction: rotary seat (7) maintains static after rotating 90 °, robot drives upper limbs elbow joint to rotate upwardly and downwardly around shoulder joint in coronal-plane with identical angular speed with hand, can realize the abduction of shoulder joint and interior receipts；
(3) shoulder internal rotator outward turning: rotary seat (7) maintains static, robot drives upper limbs extension, and then drive forearm circumference is around upper limbs own axis, thus realizes inward turning and the outward turning of shoulder joint；
(4) elbow joint bends and stretches: rotary seat (7) maintains static, forearm supports three flexible cable traction large arm at 5 rear portions and rotates around shoulder joint, forearm supports four anterior flexible cables of (5) and drives forearm circumference to rotate around elbow joint, forearm supports (5) and drives forearm motion in sagittal plane, thus realizes bending and stretching of elbow joint.
7. an implementation for the parallel wire driven upper limb rehabilitation robot as according to any one of claim 1-4, is characterized in that comprising the following steps:
First physiatrician determines the rehabilitation modality of patient according to the basic document of patient, and sets the operational mode of robot:
Under Passive Mode, patient's upper limbs fully relies on external force and completes motion, robot is with movement locus as control object, the stroke of each flexible cable of coordinated planning and the rotation of seat, during training, the forearm of robot supports (5) and drives suffering limb to move along desired trajectory by corresponding speed, and patient's upper limbs passively follows robot motion, simultaneity factor implements to measure the tension force of each flexible cable in the movement locus of suffering limb and motion process, the Muscle tensility of evaluation suffering limb and spasm extent；When suffering limb Muscle tensility is excessive, in order to keep the speed set, each flexible cable inner tensions increases accordingly, when flexible rope tension exceedes maximum limit definite value, and periods of robot operation stop, it is to avoid pull suffering limb；
Under assistant mode, patient has actively contracted muscles motion under the auxiliary of external force, and the inner tensions that robot is each flexible cable of control object coordinated planning with auxiliary force assists suffering limb to complete the movement locus specified；During training, patient is according to target trajectory autokinetic movement, robot controls auxiliary force according to position or velocity deviation, limit suffering limb to move on correct track, the record movement locus of suffering limb, movement velocity and the size of robot assisted power, such that it is able to the indexs such as the evaluation sports coordination of patient, control ability；
Under aggressive mode, suffering limb has actively contracted muscles motion, the tractive force resistance that robot is each flexible cable of control object coordinated planning with output resistance；During training, patient is from main separation forms of motion, robot coordinated each flexible cable follows the motion of upper limbs, demand according to patient applies the resistance of motion of various ways, the movement locus of record suffering limb, obtain its movement velocity, motion frequency parameter, the evaluation sports coordination of patient's suffering limb, control ability and muscular strength index.
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