CN106074089B - A kind of both hands tracking mode finger gymnastic robot system - Google Patents

A kind of both hands tracking mode finger gymnastic robot system Download PDF

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Publication number
CN106074089B
CN106074089B CN201610553123.7A CN201610553123A CN106074089B CN 106074089 B CN106074089 B CN 106074089B CN 201610553123 A CN201610553123 A CN 201610553123A CN 106074089 B CN106074089 B CN 106074089B
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hand
joint
restoring
finger
normal
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CN106074089A (en
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熊鹏文
黄鑫
杨振
宋爱国
李建清
高硕�
廖波
杨大勇
胡凌燕
刘小平
熊根良
张华�
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Nanchang University
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Nanchang University
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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
    • 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
    • A61H1/0285—Hand
    • 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
    • A61H1/0285—Hand
    • A61H1/0288—Fingers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A61H2201/1269—Passive exercise driven by movement of healthy limbs
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands
    • A61H2205/067—Fingers

Abstract

The invention discloses a kind of both hands tracking mode finger gymnastic robot systems, and three including normal hand end, which refer to structure and restore the three of hand end, refers to structure, and rehabilitation course realizes that unit includes motion perception unit, training unit and movement executes and monitoring unit；Motion perception unit is respectively distributed to normal hand and restores hand, and output end is connect with training unit input terminal；Movement is executed to be connect with the input terminal of monitoring unit with the motion perception unit output end for restoring hand, is drawn patient's finger by the motor habit of normal hand and is moved；System passes through EMG sensor I, three-dimensional perspective sensor I and three-dimensional perspective sensor II first and measures to normal manual as result, and export and analyzed, trained and learnt to micro control system, micro control system is controlled according to judging result restores the progress symmetric motion of hand end.The present invention is designed using the rehabilitation of both hands tracking mode, can be restored with effective stimulus brain in patients and be established normal hand and restore symmetrically contacting for hand, accelerate the recovery of correlation function；And refer to structure using three, and it is light-weight, easy to carry, it is suitable for family care.

Description

A kind of both hands tracking mode finger gymnastic robot system
Technical field
The invention belongs to rehabilitation medical instrument field, especially a kind of both hands tracking mode finger gymnastic robot system is special Not Shi Yongyu hemiplegia patient caused by headstroke hand rehabilitation training.
Background technique
Cerebral apoplexy is a kind of acute cerebrovascular diseases.As China progresses into aging society, the disease incidence of cerebral apoplexy It rises year by year.Hemiplegia is the common sequelae of cerebral apoplexy, and patient symptom is mainly shown as side upper and lower extremities, face and lingualis lower part Dyskinesia.
The upper limb of hemiplegia patient restores mostly since shoulder, until upper arm, forearm, are finally hands.Upper limb health so far Research in apparatus for coating is towards upper arm and forearm mostly, and hand directly affects Rehabilitation as the final stage restored Effect.Based on the design of existing hand rehabilitation system is designed with the five fingers structure, and in actual life, thumb, index finger and in Refer to often other related two finger movements when this three finger moves, and can almost complete the exhausted big portion an of hand by this three finger Divide everyday actions.In addition, the motion blurredness that finger gymnastic has that kinematic accuracy is high and varies with each individual, thus only according to Be difficult to Shared control finger rehabilitation device opponent's fingering row rehabilitation training by single-ended finger rehabilitation device, rehabilitation efficacy also by Limitation.
Summary of the invention
It is an object of the invention to adopt in view of the above-mentioned problems, provide a kind of both hands tracking mode finger gymnastic robot system Refer to structure design with three, lesion side finger movement is guided by the normal side finger movement of patient itself, progressively reaches rehabilitation Purpose.
In order to achieve the above object, the technical solution of the present invention is as follows: a kind of both hands tracking mode finger gymnastic robot system, It is characterized by: three fingers that the both hands tracking mode finger gymnastic robot system refers to structure by the three of normal hand, restores hand Structure and micro control system composition.
The both hands tracking mode finger gymnastic robot system includes motion perception unit, training unit and movement Execution and monitoring unit；The motion perception unit is respectively distributed to normal hand and restores hand, and output end is learned with training Practise the connection of unit input terminal；The movement executes with the input terminal of monitoring unit and restores the motion perception unit output end of hand Connection is drawn patient's finger by the motor habit of normal hand and is moved.
The motion perception unit includes EMG sensor I, three-dimensional perspective sensor I, three-dimensional perspective sensor II, hand Metacarpus point, the joint finger MCP, the joint finger PIP, the joint finger DIP, the fixing groove in the joint finger MCP, the joint finger PIP Fixing groove, the fixing groove in the joint finger DIP；
The training unit include micro control system hardware composition part and machine learning algorithm realize it is soft Part part, wherein the hardware composition part of micro control system includes microcontroller and motor driver；
The movement execution and monitoring unit includes EMG sensor II, three-dimensional perspective sensor III, three-dimensional perspective sensing Device IV, motor driver, motor, palm portion, the joint finger MCP, rotating wheel, the joint finger PIP, the joint finger DIP；
Motor I, motor II and motor III are separately mounted to palm portion；Motor IV and motor V are separately mounted to finger The joint PIP；The joint finger MCP is fixed on palm part by connects hinge；The joint finger PIP passes through hinge It is connected with the adjustable sliding slot in the joint MCP of finger；The joint finger DIP passes through rotation axis and the joint finger PIP phase Connection；Rotating wheel C, rotating wheel I and rotating wheel II are connected through a screw thread respectively is separately fixed at motor I, motor II and motor III On；Rotating wheel III, rotating wheel VII and rotating wheel B are fixed on palm part by rotation axis；Rotating wheel IV and rotating wheel V pass through Rotation axis is fixed on thumb MCP joint；Rotating wheel VI is connected by rotation axis with the joint DIP of thumb；Rotating wheel VIII is logical Rotation axis is crossed to be connected with the joint MCP of index finger；Rotating wheel Ⅸ and gear II, which are connected through a screw thread, is fixed on motor IV；Gear I with Gear II is intermeshed the fixed joint index finger PIP；Rotating wheel Ⅹ is connected by rotation axis with the joint DIP of index finger；Rotating wheel A It is connected by the joint MCP of the rotation axis third finger；Rotating wheel Ⅺ and gear IV, which are connected through a screw thread, is fixed on motor V；Gear III The fixed nameless joint PIP is intermeshed with gear IV；Rotating wheel Ⅻ is connected by rotation axis with the nameless joint DIP It connects；
The EMG sensor is placed in arm to acquire electromyography signal；The three-dimensional perspective sensor I and three-dimensional perspective Sensor II is respectively placed in the joint each finger MCP and acquisition angles information, III He of three-dimensional perspective sensor are come in the joint each finger PIP Three-dimensional perspective sensor IV is respectively placed in the joint each finger MCP and the joint each finger PIP and carrys out acquisition angles information.
Be respectively equipped on the joint finger MCP, the joint finger PIP and the joint finger DIP the joint MCP fixing groove, The fixing groove in the joint PIP and the fixing groove in the joint DIP；Fixing groove carries out patient's finger and both hands tracking mode finger rehabilitation device Connection.
A kind of both hands tracking mode finger gymnastic robot system, which is characterized in that its application method the following steps are included:
A) movement of the normal hand of system senses patient:
The normal hand of patient makes elemental motion, and EMG sensor I, three-dimensional perspective sensor I and three-dimensional perspective sensor II are right The result of the action is measured, is exported；
B) training and study of sample:
The signal that micro control system is exported by EMG sensor I, three-dimensional perspective sensor I and three-dimensional perspective sensor II It analyzed, trained and is learnt；
C) detection and identification to hand is restored:
EMG sensor II restores the electromyography signal that hand generates to patient and measures and export, and micro control system passes through it Preceding learning outcome judges that the movement of patient is intended to；
D) restore the movement at hand end:
Micro control system is controlled according to judging result restores the progress symmetric motion of hand end；
E) feedback of patient motion information:
Three-dimensional perspective sensor III and three-dimensional perspective sensor IV are measured and are exported to the movement that patient makes, and with Learning outcome compares；
F) optimization resumed training:
By the way that patient is restored the comparison made manually and learnt again, optimize rehabilitation training model, and then reach preferably extensive Multiple effect.
The rehabilitation training model is extracted from the exercise habit of the normal hand of patient, without the master by health care workers Judgement is seen to establish.
Present invention has an advantage that 1, resume training model and extracted from the exercise habit of the normal hand of patient, rather than with The subjective judgement of health care workers is established, and can ensure the safe and reliable of rehabilitation course to the full extent；2, using both hands with Track formula rehabilitation design can be restored with effective stimulus brain in patients and establish normal hand and restore symmetrically contacting for hand, accelerated related The recovery of function；3, under the premise of guaranteeing that hand can complete most everyday actions, refer to mechanism design using three, effectively mitigate Rehabilitation system weight, it is easy to carry；4, rehabilitation course is also the optimization process of model simultaneously, and constantly training makes rehabilitation exercise More accurately and efficiently.
Detailed description of the invention
Fig. 1 is a kind of overall structure block diagram of both hands tracking mode finger gymnastic robot system involved by the present invention.
Fig. 2 is a kind of recovery hand left side structure signal of both hands tracking mode finger gymnastic robot system involved by the present invention Figure.
Fig. 3 is a kind of recovery hand right side structure signal of both hands tracking mode finger gymnastic robot system involved by the present invention Figure.
Fig. 4 is a kind of normal hand left side structure signal of both hands tracking mode finger gymnastic robot system involved by the present invention Figure.
Fig. 5 is a kind of normal hand right side structure signal of both hands tracking mode finger gymnastic robot system involved by the present invention Figure.
A kind of control flow chart of both hands tracking mode finger gymnastic robot system involved by the present invention of the position Fig. 6.
1 is motor I in the figure, and 2 be motor II, and 3 be rotating wheel I, and 4 be palm portion, and 5 be motor III, and 6 be rotating wheel II, 7 be rotating wheel III, and 8 be rotating wheel IV, and 9 be rotating wheel V, and 10 be the joint thumb MCP, and 11 be rotating wheel VI, 12 thumb DIP Joint, 13 be rotating wheel VII, and 14 be rotating wheel VIII, and 15 joints index finger MCP, 16 be the fixing groove in the joint index finger MCP, and 17 be gear I, 18 be rotating wheel Ⅸ, and 19 be gear II, and 20 be the joint index finger PIP, and 21 be rotating wheel Ⅹ, and 22 be the joint index finger DIP, and 23 be tooth Wheel III, 24 be rotating wheel Ⅺ, and 25 be gear IV, and 26 be rotating wheel Ⅻ, and 27 be the regulating tank in the joint index finger MCP, and 28 be motor IV, 29 be the fixing groove in the joint index finger DIP, and 30 be the third finger joint DIP, and 31 be the fixing groove in the third finger joint DIP, and 32 be nothing Name refers to the joint PIP, and 33 be motor V, and 34 be the third finger joint MCP, and 35 be the fixing groove in the third finger joint MCP, and 36 be the third finger The regulating tank in the joint MCP, 37 be rotating wheel A, and 38 be rotating wheel B, and 39 be palm portion fixing groove, and 40 be rotating wheel C.
Specific embodiment
As shown, a kind of both hands tracking mode finger gymnastic robot system, including motion perception unit, training study list Member and movement execution and monitoring unit；The motion perception unit is respectively distributed to normal hand and restores hand, and output end is equal It is connect with training unit input terminal；The movement executes with the input terminal of monitoring unit and restores the motion perception list of hand First output end connection, draws patient's finger by the motor habit of normal hand and moves.
A kind of each finger structure of both hands tracking mode finger gymnastic robot system is similar, therefore is retouched by taking index finger as an example here It states, other fingers are similar:
The motion perception unit includes EMG sensor I, three-dimensional perspective sensor I, three-dimensional perspective sensor II, hand Metacarpus point (4), the joint thumb MCP (10), the joint index finger MCP (15), the third finger joint MCP (34), the joint index finger PIP (20), The nameless joint PIP (32), the joint thumb DIP (12), the joint index finger DIP (22), the third finger joint DIP (30)；The instruction Practice the hardware composition part that unit includes micro control system and the software section that machine learning algorithm is realized；Described is dynamic It include EMG sensor II, three-dimensional perspective sensor III, three-dimensional perspective sensor IV, motor driver, motor I as execution unit (1), motor II (2), motor III (5), motor IV (28), motor V (33).
The control unit in the joint index finger MCP includes motor II (2), rotating wheel I (3), rotating wheel VII (13), rotation Take turns VIII (14), the joint finger MCP (15).
The control unit in the joint index finger PIP and the joint index finger DIP includes motor IV (28), gear I (17), gear II (19), rotating wheel III (18), rotating wheel Ⅹ (21), the joint index finger PIP (20), the joint index finger DIP (22).
Motor I (1), motor II (2) and the motor III (5) of the both hands tracking mode finger rehabilitation device are separately mounted to Palm portion (4)；Motor IV (28) and motor V (33) are separately mounted to the joint index finger PIP (20), the third finger joint PIP (32)；The joint thumb MCP (10), the joint index finger MCP (15), the third finger joint MCP (34) are fixed on by connects hinge respectively Palm portion (4)；The joint thumb DIP (12), the joint index finger PIP (20), the third finger joint PIP (32) pass through hinge and thumb respectively Refer to the joint MCP (10), the joint index finger MCP (15), the third finger joint MCP (34) adjustable sliding slot be connected；The joint index finger DIP (22), the third finger joint DIP (30) is connected by rotation axis with the joint index finger PIP (20), the third finger joint PIP (32) respectively It connects；Rotating wheel (40), rotating wheel I (3) and rotating wheel II (6) are connected through a screw thread respectively is separately fixed at motor I (1), motor On II (2) and motor III (5)；Rotating wheel III (7), rotating wheel VII (13) and rotating wheel B(38) palm is fixed on by rotation axis Partially (4)；Rotating wheel IV (8) and rotating wheel V (9) are fixed at the joint thumb MCP (10) by rotation axis；Rotating wheel VI (11) it is connected by rotation axis with the joint DIP (12) of thumb；Rotating wheel VIII (14) passes through the joint MCP of rotation axis and index finger (15) it is connected；Rotating wheel Ⅸ (18) and gear II (19), which are connected through a screw thread, is fixed on motor IV (28)；Gear I (17) and gear II (19) are intermeshed fixed the joint index finger PIP (20)；Rotating wheel Ⅹ (21) passes through the joint DIP (22) phase of rotation axis and index finger Connection；Rotating wheel A(37) it is connected by rotation axis with the nameless joint MCP (34)；Rotating wheel Ⅺ (24) and gear IV (25) It is connected through a screw thread and is fixed on motor V (33)；Gear III (23) and the fixed nameless PIP of gear IV (25) intermeshing are closed It saves (30)；Rotating wheel Ⅻ (26) is connected by rotation axis with the nameless joint DIP (30).
The EMG sensor is placed in arm to acquire electromyography signal；The three-dimensional perspective sensor I and three-dimensional perspective Sensor II is respectively placed in the joint index finger MCP (15) and the joint index finger PIP (20) and comes acquisition angles information, three-dimensional perspective sensor III and three-dimensional perspective sensor IV be respectively placed in the joint index finger MCP (15) and the joint index finger PIP (20) and carry out acquisition angles information.
A kind of both hands tracking mode finger gymnastic robot system, in use, specific as follows:
A) acquisition of training signal:
The index finger mechanism of normal hand in both hands tracking mode finger gymnastic robot passes through index finger MCP arthrodesis slot, food Refer to PIP arthrodesis slot and index finger DIP fixing groove, is fixed on the normal finger of auxiliary patient's training.Remedy finger mechanism is logical Cross the finger that index finger MCP arthrodesis slot (16), index finger PIP arthrodesis slot and index finger DIP fixing groove (29) are fixed on patient On.When assisting the normal finger of patient's training to make movement, three-dimensional perspective sensor and EMG sensor are the signal detected It is transmitted in microcontroller, controls the movement of finger after microcontroller progress signal processing by driving motor, patient is allowed to carry out Rehabilitation training.
B) movement in the joint index finger MCP:
Motor II (2) rotation drives rotating wheel I (3) rotation, and rotating wheel I (3) drives rotating wheel VII (13) by synchronous belt Rotation with the rotation of rotating wheel VIII (14), rotating wheel VIII (14) drives the joint MCP (15) of index finger to make corresponding actions.
C) movement in the joint index finger PIP:
The rotation of motor IV (28) rotation driven gear II (19) passes through gear between gear II (19) and gear I (17) The rotation of transmission, gear I (17) drives the joint PIP (20) of index finger to make corresponding actions.
D) movement in the joint index finger DIP:
The rotation that rotating wheel III (18) are driven while motor IV (28) drives the joint index finger PIP (20) to make movement, turns Driving wheel Ⅸ (18) drives the rotation of rotating wheel Ⅹ (21) by synchronous belt, and the rotation of rotating wheel Ⅹ (21) drives the joint index finger DIP (22) corresponding actions are made.
A kind of both hands tracking mode finger gymnastic robot system, which is characterized in that its application method the following steps are included:
A) movement of the normal hand of system senses patient
The normal hand of patient makes elemental motion, and EMG sensor I, three-dimensional perspective sensor I and three-dimensional perspective sensor II are right The result of the action is measured, is exported；
B) training and study of sample
The signal that micro control system is exported by EMG sensor I, three-dimensional perspective sensor I and three-dimensional perspective sensor II It analyzed, trained and is learnt；
C) detection and identification to hand is restored
EMG sensor II restores the electromyography signal that hand generates to patient and measures and export, and micro control system passes through it Preceding learning outcome judges that the movement of patient is intended to；
D) restore the movement at hand end
Micro control system is controlled according to judging result restores the progress symmetric motion of hand end；
E) feedback of patient motion information
Three-dimensional perspective sensor III and three-dimensional perspective sensor IV are measured and are exported to the movement that patient makes, and with Learning outcome compares；
F) optimization resumed training
By the way that patient is restored the comparison made manually and learnt again, optimize rehabilitation training model, and then reach preferably extensive Multiple effect, rehabilitation training model is extracted from the exercise habit of the normal hand of patient, without the subjective judgement by health care workers It establishes.

Claims (1)

1. a kind of both hands tracking mode finger gymnastic robot system, it is characterised in that: the both hands tracking mode finger gymnastic machine Device people system is made of the three finger structures, three finger structures of recovery hand and micro control system of normal hand；
The both hands tracking mode finger gymnastic robot system includes that motion perception unit, training unit and movement execute With monitoring unit；The motion perception unit is respectively distributed to normal hand and restores hand, and output end is single with training study First input terminal connection；The movement is executed to be connected with the motion perception unit output end of the input terminal of monitoring unit and recovery hand It connects, patient's finger is drawn by the motor habit of normal hand and is moved；
The motion perception unit includes the EMG sensor I of normal hand, the three-dimensional perspective sensor I of normal hand, normal hand Three-dimensional perspective sensor II, the palm portion of normal hand, the joint finger MCP of normal hand, the joint finger PIP of normal hand, just The joint finger DIP of normal hand, the fixing groove in the joint finger MCP of normal hand, normal hand the joint finger PIP fixing groove, just The fixing groove in the joint finger DIP of normal hand；
The joint finger MCP of the normal hand includes the joint index finger MCP, normal in the joint thumb MCP of normal hand, normal hand The nameless joint MCP of hand, the joint finger PIP of the normal hand include the nothing in the joint index finger PIP of normal hand, normal hand Name refers to that the joint PIP, the joint finger DIP of the normal hand include the index finger DIP in the joint thumb DIP of normal hand, normal hand Joint, normal hand the nameless joint DIP；
The joint finger MCP of the recovery hand includes the joint thumb MCP for restoring hand, the joint index finger MCP for restoring hand, restores The nameless joint MCP of hand, the joint finger PIP of the recovery hand include the joint index finger PIP for restoring hand, the nothing for restoring hand Name refers to that the joint PIP, the joint finger DIP of the recovery hand include the joint thumb DIP for restoring hand, the index finger DIP for restoring hand Joint, the nameless joint DIP for restoring hand；
The training unit includes the hardware composition part of micro control system and the software portion that machine learning algorithm is realized Point, wherein the hardware composition part of micro control system includes microcontroller and motor driver；
The described movement execute with monitoring unit include the EMG sensor II for restoring hand, the three-dimensional perspective sensor III for restoring hand, The three-dimensional perspective sensor IV for restoring hand, the motor I for restoring hand, the motor II for restoring hand, restores the motor driver for restoring hand The motor III of hand, the motor IV for restoring hand and the motor V for restoring hand, the palm portion for restoring hand, the finger for restoring hand The joint MCP, the joint finger DIP for restoring hand, the rotating wheel I for restoring hand, is restored at the joint finger PIP for restoring hand The rotating wheel II of hand, the rotating wheel III for restoring hand, the rotating wheel IV for restoring hand, the rotating wheel V for restoring hand, the rotation for restoring hand Wheel VI, the rotating wheel VIII for restoring hand, the rotating wheel Ⅸ for restoring hand, the rotating wheel Ⅹ for restoring hand, restores the rotating wheel VII for restoring hand The rotating wheel Ⅺ of hand, the rotating wheel Ⅻ for restoring hand, the rotating wheel A for restoring hand, the rotating wheel B for restoring hand and the rotating wheel for restoring hand C；
The motor I of the recovery hand, the motor II for restoring hand and the motor III for restoring hand are mounted on the palm portion for restoring hand, The motor IV of the recovery hand and the motor V for restoring hand are separately mounted to the joint index finger PIP for restoring hand and the nothing for restoring hand Name refers to that the joint PIP, the joint finger MCP of the recovery hand are fixed on the palm portion for restoring hand by hinge, and described is extensive The joint finger PIP of multiple hand is connected by hinge with the adjustable sliding slot in the joint finger MCP for restoring hand, the recovery hand The joint finger DIP be connected by rotation axis with the joint finger PIP for restoring hand, the rotating wheel C of the described recovery hand, restore The motor that the rotating wheel I of hand and the rotating wheel II for restoring hand are connected through a screw thread and are separately fixed at the motor I for restoring hand, restore hand II on the motor III of recovery hand, and the rotating wheel III of the recovery hand restores the rotating wheel VII of hand and restores the rotating wheel B of hand The palm portion for restoring hand is fixed on by rotation axis, the rotating wheel IV of the recovery hand and the rotating wheel V for restoring hand pass through Rotation axis is fixed on the thumb MCP joint for restoring hand, and the rotating wheel VI of the recovery hand by rotation axis and restores hand The joint thumb DIP is connected, and the rotating wheel VIII of the recovery hand is connected by rotation axis with the joint index finger MCP for restoring hand, The rotating wheel Ⅸ of the recovery hand and the gear II for restoring hand are connected through a screw thread the motor IV for being fixed on and restoring hand, described Restore the gear I of hand and restore the fixed joint index finger PIP for restoring hand of the intermeshing of gear II of hand, the recovery hand turns Driving wheel Ⅹ is connected by rotation axis with the joint index finger DIP for restoring hand, the rotating wheel A of the described recovery hand by rotation axis with The nameless joint MCP for restoring hand is connected, and the rotating wheel Ⅺ of the recovery hand and the gear IV for restoring hand are connected through a screw thread It is fixed on the motor V for restoring hand, the gear III for restoring hand and the gear IV for restoring hand are intermeshed fixed recovery hand The rotating wheel Ⅻ in the nameless joint PIP, the recovery hand is connected by rotation axis with the nameless joint DIP for restoring hand；
The EMG sensor I of the normal hand is placed in the arm of normal hand to acquire electromyography signal, the EMG of the recovery hand Sensor II is placed in the arm of recovery hand to acquire electromyography signal；The three-dimensional perspective sensor I of the normal hand be placed in it is described just Acquisition angles information is carried out in the joint finger MCP of normal hand, and the three-dimensional perspective sensor II of the normal hand is placed in the normal hand Finger PIP carrys out in joint acquisition angles information, and the three-dimensional perspective sensor III for restoring hand is placed in the finger MCP for restoring hand Acquisition angles information is carried out in joint, and the three-dimensional perspective sensor IV for restoring hand, which is placed in the joint finger PIP for restoring hand, to be come Acquisition angles information；
The joint finger MCP of the recovery hand is equipped with the fixing groove for restoring the joint finger MCP of hand, the recovery hand The joint finger PIP is equipped with the fixing groove for restoring the joint finger PIP of hand, and the joint finger DIP of the recovery hand is equipped with Restore the fixing groove in the joint finger DIP of hand；Restore the fixing groove of each finger-joint of hand for patient's finger and both hands tracking mode Finger rehabilitation device is attached；
The both hands tracking mode finger gymnastic robot system, application method the following steps are included:
The movement of the normal hand of system senses patient:
The normal hand of patient makes elemental motion, the EMG sensor I of normal hand, the three-dimensional perspective sensor I of normal hand and normal hand Three-dimensional perspective sensor II the result of the action is measured, is exported；
The training and study of sample:
The three dimensional angular that micro control system passes through the EMG sensor I of normal hand, the three-dimensional perspective sensor I of normal hand and normal hand The signal that degree sensor II exports is analyzed, trained and is learnt；
Detection and identification to hand is restored:
The EMG sensor II for restoring hand restores the electromyography signal that hand generates to patient and measures and export, and micro control system is logical Learning outcome before crossing judges that the movement of patient is intended to；
Restore the movement at hand end:
Micro control system is controlled according to judging result restores the progress symmetric motion of hand end；
The feedback of patient motion information:
The three-dimensional perspective sensor III for restoring hand, the three-dimensional perspective sensor IV for restoring hand measure the movement that patient makes With output, and compared with learning outcome；
The optimization resumed training:
By the way that patient is restored the comparison made manually and learnt again, optimize rehabilitation training model, and then reach and preferably restore effect Fruit；
The rehabilitation training model is extracted from the exercise habit of the normal hand of patient.
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CN108814895A (en) * 2018-04-25 2018-11-16 李晨阳 A kind of adaptive type hand finger joint restoring device and system
CN109481226A (en) * 2018-09-27 2019-03-19 南昌大学 A kind of both hands tracking mode multiple degrees of freedom software finger gymnastic robot and application method
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