CN105963102A - Parallel link-type lower limb rehabilitation robot and working method thereof - Google Patents
Parallel link-type lower limb rehabilitation robot and working method thereof Download PDFInfo
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- CN105963102A CN105963102A CN201610222681.5A CN201610222681A CN105963102A CN 105963102 A CN105963102 A CN 105963102A CN 201610222681 A CN201610222681 A CN 201610222681A CN 105963102 A CN105963102 A CN 105963102A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 14
- 210000002414 leg Anatomy 0.000 claims abstract description 19
- 244000309466 calf Species 0.000 claims abstract description 18
- 230000001360 synchronised effect Effects 0.000 claims abstract description 16
- 210000000629 knee joint Anatomy 0.000 claims abstract description 7
- 210000000689 upper leg Anatomy 0.000 claims description 43
- 230000033001 locomotion Effects 0.000 claims description 16
- 230000007246 mechanism Effects 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 7
- 210000003414 extremity Anatomy 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 230000035939 shock Effects 0.000 claims description 2
- 238000013519 translation Methods 0.000 claims description 2
- 239000003638 chemical reducing agent Substances 0.000 abstract description 2
- 208000012659 Joint disease Diseases 0.000 abstract 1
- 230000035876 healing Effects 0.000 description 7
- 238000011160 research Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 210000003205 muscle Anatomy 0.000 description 3
- 238000011217 control strategy Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008407 joint function Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
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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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
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- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
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Abstract
The invention relates to a parallel link-type lower limb rehabilitation robot and a working method thereof, and belongs to the technical field of a rehabilitation robot. The rehabilitation robot comprises a foot support, a parallel link, a triangular component, a calf part, a harmonic reducer, a leg part, a synchronous belt, a calf joint servo motor, a calf joint servo motor, a mechanical and electrical box body, a slipway servo motor, a leg sleeve, a calf sleeve (15), an encoder, a servo slipway, a pinion, a big gear, a synchronous belt wheel, an airbag and a pneumatic sensor. The rehabilitation robot adopts active and passive modes, and the rehabilitation robot is applicable to early-middle treatment of patients with knee-joint diseases.
Description
Technical field
The present invention relates to a kind of parallel link lower limb rehabilitation robot and method of work thereof, specifically, be a kind of servo-drive healing robot for the treatment of knee joint sufferer mid-early stage.
Background technology
The research of healing robot is an emerging focus of robot field, is increasingly subject to the concern of industrial quarters and academia.Currently for the research of human body lower limbs healing robot, American-European and Japan starts to walk relatively early, to be in rank first, and commercialization is done step-by-step, and becomes a kind of new industry.And the domestic institution of studying human body lower limbs healing robot is less, and mostly it is in the junior stage.
Wearable lower limb rehabilitation robot is as a brand-new robot research field, at present still in the exploratory development stage, owing to the domestic research to lower limb rehabilitation robot is less, the international non-full maturity of similar research, the such as key technology such as frame for movement, muscle signal feature extraction, man-machine harmony, work continuity needs to break through.
The common type of drive of healing robot has three kinds: hydraulic-driven, air pressure drive and driven by servomotor.Hydraulic-driven pollutes relatively big and structure is complicated；Air pressure drive pollution-free, mechanism is simple and lightweight, but position control accuracy is poor；Driven by servomotor control accuracy is good, it is easy to the realization of complex control strategy.
Summary of the invention
Based on above-mentioned background, the present invention proposes a kind of parallel link lower limb rehabilitation robot and method of work thereof.Purpose is to use a kind of new frame for movement and control mode to improve the design of wearable lower limb rehabilitation robot.
A kind of parallel link lower limb rehabilitation robot, including foot support, the first parallel rod, the second parallel rod, triangle component, lower leg component, first harmonic reductor, second harmonic reductor, thigh parts, Timing Belt, thigh joint servo motor, calf joint servomotor, machinery and electrical box, slide unit servomotor, thigh sleeve, shank sleeve, encoder, servo slide table, little gear, gear wheel, the first synchronous pulley, the second synchronous pulley, air bag, baroceptor；Described thigh joint servo motor and first harmonic reductor assembly, be arranged on machinery and electrical box；Described calf joint servomotor is arranged on machinery and electrical box, output shaft couples described little gear, described gear wheel is installed on harmonic wave speed reducing machine output shaft, can pivot, little gear engages composition gear pair with gear wheel, described Timing Belt one end is engaged with the first synchronous pulley installed on gear wheel, and the other end engages with the second synchronous pulley installed on second harmonic reductor power shaft；Described thigh parts the first end is fixed on described first harmonic speed reducer output shaft, second end is hinged with described lower leg component the first end, first end of lower leg component is the most also fixed on the output shaft of second harmonic reductor, and lower leg component the second end is hinged with the joint in foot support；Described shank sleeve is installed on lower leg component, and thigh sleeve is installed on thigh parts；First end of described first parallel rod is hinged with the outrigger shaft on described machinery and electrical control casing, second end is hinged with joint, described triangle component the first side, described second parallel rod the first end is hinged with joint, triangle component the second side, and the second end is hinged with the joint in foot support；Described triangle component is between second harmonic reductor and lower leg component, and the output shaft being installed on second harmonic reductor can rotate around it；The distance of the output shaft that pitch second harmonic reductor is closed in joint, triangle component the first side, the second side is equal；Described pair of parallel-crank mechanism includes the parallel-crank mechanism that the second parallel rod, triangle component, lower leg component, foot support form；First parallel rod, triangle component, thigh parts, machinery and the parallel-crank mechanism of electrical box composition, can make foot support keep translation；Described slide unit servomotor is arranged on machinery and electrical box, on the power shaft of output shaft and servo slide table；
Described thigh support is arranged on the slide block of servo slide table, and foot support contacts side installing force sensor with sufferer foot；Described encoder is respectively arranged at the power shaft of harmonic wave speed reducing machine and lower leg component and foot support articulation joint；Described air bag is affixed on inside thigh sleeve and shank sleeve, by baroceptor detection gasbag pressure change.
The method of work of described parallel link lower limb rehabilitation robot, it is characterised in that include procedure below: rehabilitation course is divided into early stage and rehabilitation in mid-term；System uses dynamic pre-programmed, is carried out the flexion movement of leg before using by commissioning staff, gathers respective sensor, encoder and the parameter information of servomotor and is finely adjusted；Early stage rehabilitation course:Using servo slide table, foot support is installed on the slide block of servo slide table, seesaws, make patient legs bend and stretch under slide unit servomotor drives, and carries out the passive treatment in knee joint affected part；The automatically controlled fractional-sample force sensor data average being installed in machinery and electrical box and code device signal, regulate slide unit servomotor speed, for active force constant of limbs of patient during holding；Mid-term passive rehabilitation process:Foot support departs from from servo slide table and comes, by thigh joint servo motor, calf joint servomotor co-operating, drive be connected lower leg component, thigh parts, foot support action, make patient legs's flexion and extension；Thigh joint servo motor, the rotating speed difference of calf joint servomotor, the track of patient legs's motion is different, thus obtains the exercise of different modes；The motion controller being arranged in machinery and electrical box determines the trajectory planning in motor process, avoid causing excessive shock, also according to force sensor data and code device signal, regulate the speed of each track interval servomotor, for active force constant of limbs of patient during holding；Mid-term initiative rehabilitation process:The initiative rehabilitation stage, patient, according to own situation, independently carries out leg flexion and extension, and motion controller gathers force sensor data and code device signal, the lower leg component, thigh parts, the foot support that control to be connected carry out following action, and regulate the size of movement velocity in real time.
The present invention may be mounted on prone position or sitting posture equipment, it is to avoid leg mechanism the most too fat to move.
The present invention is directed to the training requirement in different rehabilitation stages, take different control modes.Invention uses main-passive combined training, compares and only carries out passive exercise, can substantially alleviate patient pain, accelerates joint function recovery.In rehabilitation course, track and the speed of motion can regulate in real time, and kinematic accuracy is high, can temper the muscle in affected part to greatest extent, have good application prospect.
Accompanying drawing explanation
Fig. 1 frame for movement of the present invention schematic diagram one；
Fig. 2 frame for movement of the present invention schematic diagram two；
Fig. 3 leg of the present invention pressure transducer scheme of installation；
Label title in figure: 1. foot support, 2. the second parallel rod, 3. the first parallel rod, 4. triangle component, 5. lower leg component, 7. first harmonic reductor, 6. second harmonic reductor, 8. thigh parts, 9. Timing Belt, 10. thigh joint servo motor, 11. calf joint servomotors, 12. machinery and electrical boxes, 13. slide unit servomotors, 14. thigh sleeves, 15. shank sleeves, 16. encoders, 17. servo slide tables, 18. little gears, 19. gear wheels, 21. first synchronous pulleys, 20. second synchronous pulleys, 22. air bags, 23. baroceptors, 22. air bags, 23. baroceptors, inside 24. leg joints.
Detailed description of the invention
Below in conjunction with the accompanying drawings embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.The structure of any application present invention and the design of method are the most within the scope of the present invention.
As shown in Figure 1-2, the present invention includes foot support the 1, first parallel rod the 3, second parallel rod 2, triangle component 4, lower leg component 5, first harmonic reductor 7, second harmonic reductor 6, thigh parts 8, Timing Belt 9, thigh joint servo motor 10, calf joint servomotor 11, machinery and electrical box 12, slide unit servomotor 13, thigh sleeve 14, shank sleeve 15, encoder 16, servo slide table 17, little gear 18, gear wheel the 19, first synchronous pulley the 21, second synchronous pulley 20, air bag 22, baroceptor 23.
Whole mechanism may be provided on horizontal or sitting posture equipment.Thigh parts 8 and lower leg component 5 are hinged at knee joint, rely on the thigh sleeve 14 being mounted above and shank sleeve 15 to be supported thigh and shank side respectively.Thigh joint servo motor 10 and first harmonic reductor 7 assembly, be arranged on machinery and electrical box 12, and first harmonic reductor 7 output shaft is connected in thigh parts 8 one end so that it is swings pitching around axle.
Calf joint servomotor 11 is arranged on machinery and electrical box 12, and output shaft couples a little gear 18.Gear wheel 19 is installed on first harmonic reductor 7 output shaft, can pivot.Little gear 18 engages composition gear pair with gear wheel 19.Timing Belt 9 one end is engaged with the synchronous pulley 21 installed on gear wheel 19, and the other end engages with the synchronous pulley 20 installed on second harmonic reductor 6 power shaft.Second harmonic reductor 6 output shaft couples and lower leg component one end.Calf joint servomotor 11 action, drives lower leg component around axle pitching.
The feature of the design is to be linked with thigh joint servo motor 10 by calf joint servomotor 11, makes end i.e. foot support 1 reach any range of its work space, and avoids the most too fat to move of leg mechanism.
Second parallel rod 2 couples foot support and triangle component 4 respectively, and first parallel rod 3 one end is hinged with the outrigger shaft coupled on machinery and electrical control casing 12, the other end is hinged with triangle component 4 opposite side joint.Triangle component 4 is isosceles triangle shape, is arranged between second harmonic reductor 6 and lower leg component 5, can be around the output shaft rotation of second harmonic reductor 6.
Foot support 1 uses a kind of parallel moving mechanism, essence is a kind of double parallelogram sturcutre, including the second parallel rod 2, triangle component 4, lower leg component 5, the parallel-crank mechanism of foot support 1 composition and the first parallel rod 3, triangle component 4, thigh parts 8, machinery and the parallel-crank mechanism of electrical box 12 composition.Arranging of this geometry can make patient raise at leg, and when knee joint is bent and stretched, sole keeps a fixing angle relative to ground.More meet the mode of normal human's leg exercise, reduce the excessive tensile to affected part muscle.And the signal making the force transducer arranged in foot support 1 gather is the most steady.
Encoder 16 is respectively arranged at the power shaft of second harmonic reductor 6 and lower leg component 5 and foot support 1 articulation joint, produces joint angles variable signal.
Foot support 1 is put on servo slide table 17, individually can be seesawed by slide block drive and carry out bending and stretching of leg.Force transducer is arranged on foot support 1 and contacts several positions of side with patient feet.
As it is shown on figure 3, install air bag 22 in thigh sleeve 14 and shank sleeve 15 and be connected with baroceptor 23.Air bag is flat, is affixed on inside sleeve.During rehabilitation action, extruding gasbag produces pressure change, and is detected by baroceptor.
Control strategy: whole healing robot includes three servomotors, and wherein thigh joint servo motor and calf joint servomotor need coordinated signals.The design uses motion controller or ARM chip controls servomotor generation action, carries out locus interpolation and path planning.The sensor signal collected according to data collecting card and encoder pulse signal, regulate the speed of each track interval servomotor, keeps in rehabilitation course the constant of active force for limbs of patient.Ethernet is used to carry out data communication.Use digital display and regulating element display motor speed, action frequency, pressure and other parameters, and use button to carry out the real-time regulation of speed or moment.Use the soft spacing and proximity transducer of servomotor or the most spacing safety ensureing rehabilitation action of angular transducer simultaneously.This healing robot uses actively and Passive Mode, treats for the mid-early stage of knee joint sufferer.
Claims (2)
1. a parallel link lower limb rehabilitation robot, including foot support (1), first parallel rod (3), second parallel rod (3), triangle component (4), lower leg component (5), first harmonic reductor (7), second harmonic reductor (6), thigh parts (8), Timing Belt (9), thigh joint servo motor (10), calf joint servomotor (11), machinery and electrical box (12), slide unit servomotor (13), thigh sleeve (14), shank sleeve (15), encoder (16), servo slide table (17), little gear (18), gear wheel (19), first synchronous pulley (21), second synchronous pulley (20), air bag (22), baroceptor (23)；
Described thigh joint servo motor (10) and first harmonic reductor (7) assembly, be arranged on machinery and electrical box (12)；
Described calf joint servomotor (11) is arranged on machinery and electrical box (12), output shaft couples described little gear (18), described gear wheel (19) is installed on first harmonic reductor (7) output shaft, can pivot, little gear (18) engages composition gear pair with gear wheel (19), described Timing Belt (9) one end first synchronous pulley (21) of installing upper with gear wheel (19) engages, and the other end engages with the second synchronous pulley (20) installed on second harmonic reductor (6) power shaft；
Described thigh parts (8) first end is fixed on described first harmonic reductor (7) output shaft, second end is hinged with described lower leg component (5) first end, first end of lower leg component (5) is the most also fixed on the output shaft of second harmonic reductor (6), and lower leg component (5) second end is hinged with the joint in foot support (1)；Described shank sleeve (15) is installed on lower leg component (5), and thigh sleeve (14) is installed on thigh parts (8)；
First end of described first parallel rod (3) is hinged with the outrigger shaft on described machinery and electrical control casing (12), second end is hinged with described triangle component (4) first joint, side, described second parallel rod (2) first end is hinged with triangle component (4) second joint, side, and the second end is hinged with the joint in foot support (1)；Described triangle component (4) is positioned between second harmonic reductor (6) and lower leg component (5), and the output shaft being installed on second harmonic reductor (6) can rotate around it；The distance of the output shaft that pitch second harmonic reductor (6) is closed in triangle component (4) first joint, side, the second side is equal；
Described pair of parallel-crank mechanism includes the parallel-crank mechanism that the second parallel rod (2), triangle component (4), lower leg component (5), foot support (1) form；The parallel-crank mechanism that first parallel rod (3), triangle component (4), thigh parts (8), machinery and electrical box (12) form, can make foot support (1) keep translation；
Described slide unit servomotor (13) is arranged on machinery and electrical box (12), on the power shaft of output shaft and servo slide table (17)；Described thigh support (1) is arranged on the slide block of servo slide table (17), and foot support (1) contacts side installing force sensor with sufferer foot；
Described encoder (16) is respectively arranged at the power shaft of second harmonic reductor (6) and lower leg component (5) and foot support (1) articulation joint；
Described air bag (22) is affixed on thigh sleeve (14) and shank sleeve (15) inner side, by baroceptor (23) detection gasbag pressure change.
The method of work of parallel link lower limb rehabilitation robot the most according to claim 1, it is characterised in that include procedure below:
Rehabilitation course is divided into early stage and rehabilitation in mid-term；System uses dynamic pre-programmed, is carried out the flexion movement of leg before using by commissioning staff, gathers respective sensor, encoder and the parameter information of servomotor and is finely adjusted；
Early stage rehabilitation course:Using servo slide table (17), foot support (1) is installed on the slide block of servo slide table (17), seesaws, make patient legs bend and stretch under slide unit servomotor (13) drives, and carries out the passive treatment in knee joint affected part；The automatically controlled fractional-sample force sensor data average being installed in machinery and electrical box (12) and code device signal, regulate slide unit servomotor (13) speed, for active force constant of limbs of patient during holding；
Mid-term passive rehabilitation process:Foot support (1) disengaging from servo slide table (17) is come, by thigh joint servo motor (10), calf joint servomotor (11) co-operating, drive be connected lower leg component (5), thigh parts (8), foot support (1) action, make patient legs's flexion and extension；Thigh joint servo motor (10), the rotating speed difference of calf joint servomotor (11), the track of patient legs's motion is different, thus obtains the exercise of different modes；The motion controller being arranged in machinery and electrical box (12) determines the trajectory planning in motor process, avoid causing excessive shock, also according to force sensor data and code device signal, regulate the speed of each track interval servomotor, for active force constant of limbs of patient during holding；
Mid-term initiative rehabilitation process:The initiative rehabilitation stage, patient is according to own situation, independently carry out leg flexion and extension, motion controller gathers force sensor data and code device signal, the lower leg component (5), thigh parts (8), the foot support (1) that control to be connected carry out following action, and regulate the size of movement velocity in real time.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106621207A (en) * | 2016-11-09 | 2017-05-10 | 广东美的安川服务机器人有限公司 | Training method for recovery robot and recovery robot |
| CN107754217A (en) * | 2017-10-27 | 2018-03-06 | 南京思伯德生物科技有限公司 | Intelligent lower limb device for rehabilitation |
| CN107998608A (en) * | 2017-12-25 | 2018-05-08 | 重庆三峡学院 | A kind of recovery set for lower limbs |
| CN108294913A (en) * | 2017-01-12 | 2018-07-20 | 上海理工大学 | Lower limbs active-passive rehabilitation training aids |
| KR101904468B1 (en) | 2017-08-21 | 2018-11-30 | (주)광원메디텍 | Walking rehabilitation apparatus for bed-ridden patient |
| CN109106531A (en) * | 2018-08-14 | 2019-01-01 | 温州医科大学附属第二医院、温州医科大学附属育英儿童医院 | A kind of multi-joint synkinesia bed |
| CN110170104A (en) * | 2019-06-25 | 2019-08-27 | 北京石油化工学院 | A kind of exercise therapy healing robot coupling physical therapy device |
| CN110192964A (en) * | 2019-07-01 | 2019-09-03 | 河南科技大学 | A kind of pedal gait rehabilitation robot foot movement device |
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| CN112515785A (en) * | 2020-12-21 | 2021-03-19 | 北京铸正机器人有限公司 | Auxiliary leg fixing device |
| CN112891090A (en) * | 2021-01-21 | 2021-06-04 | 王防旭 | Special orthopedics sickbed convenient for angle adjustment and used by orthopedic patients |
| CN114053046A (en) * | 2021-12-15 | 2022-02-18 | 杭州电子科技大学 | Wheeled outdoor hard and soft coupling shank rehabilitation device |
| WO2023115298A1 (en) * | 2021-12-21 | 2023-06-29 | Elekta Beijing Medical Systems Co., Ltd. | Patient positioning apparatus for a radiotherapy system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109106531A (en) * | 2018-08-14 | 2019-01-01 | 温州医科大学附属第二医院、温州医科大学附属育英儿童医院 | A kind of multi-joint synkinesia bed |
| CN110170104A (en) * | 2019-06-25 | 2019-08-27 | 北京石油化工学院 | A kind of exercise therapy healing robot coupling physical therapy device |
| CN110170104B (en) * | 2019-06-25 | 2023-03-14 | 北京石油化工学院 | Motion treatment rehabilitation robot of coupling physiotherapy device |
| CN110192964A (en) * | 2019-07-01 | 2019-09-03 | 河南科技大学 | A kind of pedal gait rehabilitation robot foot movement device |
| CN112451310A (en) * | 2020-11-23 | 2021-03-09 | 宝鸡市中医医院 | Restorer is tempered to orthopedics joint muscle power |
| CN112451310B (en) * | 2020-11-23 | 2022-10-04 | 宝鸡市中医医院 | Restorer is tempered to orthopedics joint muscle power |
| CN112515785A (en) * | 2020-12-21 | 2021-03-19 | 北京铸正机器人有限公司 | Auxiliary leg fixing device |
| CN112891090A (en) * | 2021-01-21 | 2021-06-04 | 王防旭 | Special orthopedics sickbed convenient for angle adjustment and used by orthopedic patients |
| CN114053046A (en) * | 2021-12-15 | 2022-02-18 | 杭州电子科技大学 | Wheeled outdoor hard and soft coupling shank rehabilitation device |
| WO2023115298A1 (en) * | 2021-12-21 | 2023-06-29 | Elekta Beijing Medical Systems Co., Ltd. | Patient positioning apparatus for a radiotherapy system |
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