CN106618949A - Method of controlling rehabilitation training robot and rehabilitation training robot - Google Patents
Method of controlling rehabilitation training robot and rehabilitation training robot Download PDFInfo
- Publication number
- CN106618949A CN106618949A CN201610987676.3A CN201610987676A CN106618949A CN 106618949 A CN106618949 A CN 106618949A CN 201610987676 A CN201610987676 A CN 201610987676A CN 106618949 A CN106618949 A CN 106618949A
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- China
- Prior art keywords
- robot
- arm
- robot arm
- lower limb
- recovery exercising
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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
-
- 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
- A61H5/00—Exercisers for the eyes
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0142—Beds
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
-
- 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
- A61H2201/5007—Control means thereof computer controlled
Abstract
The invention discloses a method of controlling a rehabilitation training robot and a rehabilitation training robot. The rehabilitation training robot comprises a cabinet of a robot, arms of the robot, lower limb support components and drive components, the arms of the robot can be rotationally arranged on the cabinet of the robot, and the lower limb support components are arranged on the arms of the robot. The control method comprises the steps that S1, after a selection signal of a demonstration mode is received, the initial position and the terminate position suitable for training on a human body are recorded in the process of the arms of the robot moving between an initial position and a terminate position; S2, after a training mode signal is received, the arms of the robot moves between the initial position and the terminate position in order to carry through the rehabilitation training. The initial position and the terminate position suitable for training on the human body are recorded based on the method of controlling the rehabilitation training robot, and the lower limb of a patient moves between the initial position and the terminate position driven by the arms of the robot, when the rehabilitation training is needed.
Description
Technical field
The present invention relates to physical therapy apparatus technical field, the control method and health of more particularly to a kind of recovery exercising robot
Multiple image training robot.
Background technology
In the rehabilitation training of correlation technique, therapist gets used to manpower carries out rehabilitation exercise, by perception auxiliary patient
Training, carrying out usually accurately being corresponded to when starting point is arranged using robot, and must not infrequently trial and error, during waste
Between.
The content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.For this purpose, the present invention
One purpose is to propose a kind of control method of recovery exercising robot, and the control accuracy of the control method improves and can
It is time-consuming.
Further object is that proposing a kind of recovery exercising robot, the recovery exercising robot can be adopted
Above-mentioned control method carries out rehabilitation training.
The control method of the recovery exercising robot of embodiment according to a first aspect of the present invention, the healing robot includes
Robot cabinet, robot arm, lower limb support component and the drive component for driving the robot arm to rotate, institute
State robot arm to be rotatably arranged on robot cabinet, the lower limb support component is located on the robot arm, institute
Stating control method includes：Step S1, after receiving teaching mode select signal, in robot arm in original position and final position
Between in moving process, record is suitable to the original position and final position of human body training.Step S2, is receiving training mode letter
Robot arm runs to carry out rehabilitation training between the original position and the final position after number.
The control method of recovery exercising robot according to embodiments of the present invention, can be to being suitable to the start bit that human body is trained
Put and recorded with final position so that when needing to carry out rehabilitation training, trouble can be driven under the drive of robot arm
The lower limb of person action between the original position and the final position, so as to be conducive to carrying out in order for rehabilitation training.
In addition, the control method of recovery exercising robot according to the above embodiment of the present invention also has following additional skill
Art feature：
Some embodiments of the invention, are prefixed the operation rail of robot arm in the recovery exercising robot
Mark, the robot arm runs all the time along the running orbit.
Some embodiments of the invention, step S1 also includes：In robot arm in original position and termination
Between position in moving process, record is suitable to the running orbit of human body training.
Some embodiments of the invention, the robot arm includes large arm and forearm, the large arm and the machine
Device people's cabinet is rotationally connected, and the forearm is rotationally connected with the large arm, and the drive component includes being suitable to drive
First motor and the second motor for being suitable to drive the forearm to rotate, first motor and described second of the large arm rotation
Motor is respectively connected with the first encoder for being suitable to the position for recording the robot arm.
Further, the drive component also includes the 3rd motor for driving the lower limb support component motion, institute
Stating the 3rd motor connection has the second encoder of the position for being suitable to record the lower limb support component.
Further, first encoder, the second encoder and the drive component are instructed with the rehabilitation
The controller for practicing robot wirelessly or non-wirelessly connects to transmit signal.
Some embodiments of the invention, the robot cabinet is provided with the slide block for moving along the vertical direction, described
Robot arm is located on the slide block.
The recovery exercising robot of embodiment according to a second aspect of the present invention, including：Robot cabinet；Robot arm,
The robot arm is rotationally connected with the robot cabinet；Lower limb support component, the lower limb support component is located at
On the robot arm；For driving the drive component of the robot arm rotation；For recording the robot arm
Position recorder, the recorder is suitable to original position and stop bit in robot arm described in teaching mode detection
Put.
Further, the robot arm includes large arm and forearm, and the large arm is rotatable with the robot cabinet
Ground is connected, and the forearm is rotationally connected with the large arm, and the drive component includes being suitable to drive the large arm rotation
First motor and the second motor for being suitable to drive the forearm to rotate, first motor and second motor are respectively connected with suitable
In the first encoder of the position for recording the robot arm.
Further, the drive component also includes the 3rd motor for driving the lower limb support component motion, institute
Stating the 3rd motor connection has the second encoder of the position for being suitable to record the lower limb support component.
Further, first encoder, the second encoder and the drive component are instructed with the rehabilitation
The controller for practicing robot wirelessly or non-wirelessly connects to transmit signal.
Some embodiments of the invention, the robot cabinet is provided with the slide block for moving along the vertical direction, described
Robot arm is located on the slide block.
In some embodiments of the invention, the lower limb support component includes：Pin fixator, the pin fixator is used for
Pin that is fixed and supporting human body；Leg support, the leg support is in predetermined angular with the pin fixator；Connector, it is described
Connector is connected with the robot arm, and one end of the connector is connected with the pin fixator and the other end is connected described
Leg support.
Further, the lower limb support component is provided with the pressure for detecting human body to the thrust of the robot arm
Power sensing module.
The additional aspect and advantage of the present invention will be set forth in part in the description, and partly will become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from the description with reference to accompanying drawings below to embodiment
It is substantially and easy to understand, wherein：
Fig. 1 is the structural representation of recovery exercising robot according to embodiments of the present invention；
Fig. 2 is the relative position relation schematic diagram of recovery exercising robot according to embodiments of the present invention and patient；
Fig. 3 is flow chart when rehabilitation training is carried out using the control method of recovery exercising robot.
Reference：
Recovery exercising robot 100,
Robot cabinet 1, slide block 11,
Robot arm 2, large arm 21, forearm 22,
Lower limb support component 3, pin fixator 31, leg support 32, connector 33, pressure sensing module 34.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
In correlation technique, device for healing and training needs user to arrange by operation interface behind the path of robot, makes machine
People moves along particular track.This is accomplished by expending the motion starting point of set of time robot, and to starting before robot motion
Point has no perceptual knowledge.
The control method of recovery exercising robot according to embodiments of the present invention is described in detail with reference to Fig. 1 to Fig. 3.
Specifically, the control method of the recovery exercising robot of embodiment according to a first aspect of the present invention, the rehabilitation
Robot includes robot cabinet, robot arm, lower limb support component and for driving what the robot arm was rotated
Drive component, the robot arm is rotatably arranged on robot cabinet, and the lower limb support component is located at the machine
In human arm, so by the drive component robot arm can be driven to rotate, by the robot arm
Rotation can drive the lower limb support component to carry out action, so as to the lower limb for being further driven to patient carry out rehabilitation training.Institute
Stating the control method of recovery exercising robot includes：Step S1, after receiving teaching mode select signal, is rising in robot arm
Beginning position and final position between in moving process, record is suitable to the original position and final position of human body training.Step S2,
Receive robot arm after training mode signal to run to carry out rehabilitation between the original position and the final position
Training.Thus, can be to being suitable to original position and the termination that human body is trained by the control method of the recovery exercising robot
Position is recorded (such as memory and storage etc.) so that can be in the drive of robot arm when needing to carry out rehabilitation training
Lower limb action between the original position and the final position of lower drive patient, so as to be conducive to the orderly of rehabilitation training
Carry out.
Wherein, the control method of recovery exercising robot according to embodiments of the present invention, can help patient to carry out rehabilitation instruction
Practice, can be accurate to up to original position and final position by recovery exercising robot (such as controller) control robot arm, it is complete
Arrange into motion；Then when needing to carry out rehabilitation training, the lower limb of patient are driven according to default by the robot arm
Training mode (such as the motion of high lift leg or bend tuck motion) carry out rehabilitation training.
The control method of recovery exercising robot according to embodiments of the present invention, can be to being suitable to the start bit that human body is trained
Put and recorded (such as memory and storage etc.) with final position so that when needing to carry out rehabilitation training, can be in robot
Lower limb action between the original position and the final position of patient is driven under the drive of arm, so as to be conducive to rehabilitation
That what is trained is carried out in order.
The control method of recovery exercising robot according to embodiments of the present invention, can be used for cardiovascular and cerebrovascular disease
Lower limb rehabilitation treatment is carried out etc. the patient of similar disease.
Some specific embodiments of the invention, are prefixed the operation of robot arm in the recovery exercising robot
Track (such as the running orbit of high lift leg motion bends running orbit for motion of tucking etc.), the robot arm is all the time along institute
State running orbit operation.Thus, be conducive to avoiding the repetition to original position and final position from arranging, so as to be conducive to controlling health
The precision and accuracy of running orbit are practiced in refreshment, and then are favorably improved rehabilitation training effect.
Some specific embodiments of the invention, step S1 also includes：Robot arm in original position and
Between final position in moving process, record is suitable to the running orbit of human body training.Thus, it is possible to reducing repetition arranges start bit
Put and final position, such that it is able to reduce the duplication of labour, be conducive to improving the automaticity of rehabilitation training and rehabilitation being ensured
The degree of accuracy of the running orbit of training, and then it is favorably improved rehabilitation training effect.
Referring to figs. 1 to Fig. 3, some specific embodiments of the invention, the robot arm includes large arm and forearm,
The large arm is rotationally connected with the robot cabinet, and the forearm is rotationally connected with the large arm, the driving
Component includes the first motor and the second motor.Wherein, first motor is suitable to drive large arm rotation, second motor to be suitable to
Forearm rotation is driven, and first motor and second motor are respectively connected with the first encoder, first encoder is fitted
In the position of recorder human arm (including large arm and forearm).That is, being connected with the first coding on first motor
Device, is also connected with the first encoder on second motor, first encoder is suitable to the position of recorder human arm.By
This, accurate recording can be carried out by first encoder to the position of robot arm, so as to contribute to controlling rehabilitation instruction
Practice the accuracy of running orbit, and then be conducive to improving rehabilitation training effect.
Further, the drive component also includes the 3rd motor, and the 3rd motor is used to drive the lower limb to support
Component movement, the 3rd motor connection has second encoder, and the second encoder is suitable to record the lower limb support component
Position.Thus, the position of the lower limb support component can be recorded by the second encoder so that under described
The position of limb support component can carry out accommodation with reference to the concrete condition of different patients, so as to be conducive to raising patient to exist
Comfortable sexual experience in rehabilitation training.
Recovery exercising robot can also include controller.Further, first encoder, the second encoder
And the drive component is wirelessly or non-wirelessly connected to transmit signal with the controller of the recovery exercising robot.Thus,
Effective control to first encoder, the second encoder and the drive component can be realized by the controller
System, so as to be conducive to controlling being smoothed out for rehabilitation training.
With reference to Fig. 1, some embodiments of the invention, the robot cabinet is provided with the cunning for moving along the vertical direction
Block, the robot arm is located on the slide block.As a result, the robot arm can be with the slide block it is upper and lower
Movement carries out corresponding action such that it is able to which driving the lower limb of patient further carries out rehabilitation training.
See figures.1.and.2, according to a second aspect of the present invention the recovery exercising robot 100 of embodiment, including：Robot
Cabinet 1, robot arm 2, lower limb support component 3, drive component and recorder (do not show in drive component and recorder figure
Go out).
Specifically, robot arm 2 is rotationally connected with robot cabinet 1 so that robot arm 2 can be relative
Rotate in robot cabinet 1.Lower limb support component 3 is located on robot arm 2, and the drive component is used for driven machine staff
Arm 2 rotates.So that can be rotated with driven machine human arm 2 by the drive component, can be with by the rotation of robot arm 2
Drive the action of lower limb support component 3 such that it is able to which driving the lower limb of patient carries out rehabilitation training.The recorder is used for logging machine
The position of device human arm 2, the recorder is suitable to original position and final position in teaching mode detection robot arm 2.
As a result, in teaching pattern, can be carried out to the original position of robot arm 2 and final position by the recorder
Detection, can so accurately determine the original position and the final position, such that it is able to guarantee rehabilitation training campaign rail
The accuracy of mark, improves rehabilitation training effect.
In addition, can also avoid repeating to arrange the original position and the final position during rehabilitation training, from
And can be time-consuming.
Recovery exercising robot 100 according to embodiments of the present invention, can be with driver human arm 2 by the drive component
Rotation, can drive the action of lower limb support component 3 such that it is able to which the lower limb for driving patient enter by the rotation of robot arm 2
Row rehabilitation training.In addition, in teaching pattern, can be to the original position of robot arm 2 and termination by the recorder
Position detected, can so accurately determine the original position and the final position, such that it is able to guarantee that rehabilitation is instructed
Practice the accuracy of movement locus, improve rehabilitation training effect.
Further, with reference to Fig. 1 and Fig. 2, robot arm 2 includes large arm 21 and forearm 22, large arm 21 and robot cabinet
Body 1 is rotationally connected, and forearm 22 is rotationally connected with large arm 21, and the drive component is electric including the first motor and second
Machine.Wherein, first motor is suitable to drive large arm 21 to rotate, and second motor is suitable to drive forearm 22 to rotate, and described
First motor and second motor are respectively connected with the first encoder, and first encoder is suitable to the (bag of recorder human arm 2
Include large arm 21 and forearm 22) position.That is, the first encoder is connected with first motor, second motor
On be also connected with the first encoder, first encoder is suitable to the position of recorder human arm 2.Thus, by described
One encoder can carry out accurate recording to the position of robot arm 2, so as to contribute to controlling the accurate of rehabilitation training track
Property, and then be conducive to improving rehabilitation training effect.
Further, the drive component also includes the 3rd motor, and the 3rd motor is used to drive lower limb support component 3
Motion, the 3rd motor connection has second encoder, and the second encoder is suitable to record the position of lower limb support component 3.
Thus, the position of lower limb support component 3 can be recorded by the second encoder so that lower limb support component 3
Position can carry out accommodation with reference to the concrete condition of different patients, so as to be conducive to improving patient in rehabilitation training
In comfortable sexual experience.
Recovery exercising robot 100 according to embodiments of the present invention also includes controller.Further, first coding
Device, the second encoder and the drive component with the controller of recovery exercising robot 100 wirelessly or non-wirelessly
Connect to transmit signal.Thus, by the controller can realize to first encoder, the second encoder and
The effective control of the drive component, so as to be conducive to controlling being smoothed out for rehabilitation training.
With reference to Fig. 1, some specific embodiments of the invention can be provided with slide block 11, slide block 11 on robot cabinet 1
Move along the vertical direction, robot arm 2 is located on slide block 11.As a result, robot arm 2 can be with slide block 11 it is upper
Lower movement carries out corresponding action such that it is able to which driving the lower limb of patient further carries out rehabilitation training.
See figures.1.and.2, in some specific embodiments of the present invention, lower limb support component 3 includes：Pin fixator 31,
Leg support 32 and connector 33.
Specifically, pin fixator 31 is used to fixing and supporting the pin of human body, and leg support 32 is with pin fixator 31 in pre-
Determine angle (such as 60 ° to 90 °), connector 33 is connected with robot arm 2, one end and the phase of pin fixator 31 of connector 33
Connect, and the other end connection leg support 32 of connector 33.Thus, can be realized under patient by lower limb support component 3
The secure support of limb (such as pin, shank etc.) such that it is able to preferably carry out rehabilitation training.
Wherein, when robot arm 2 remains static, pin fixator 31 can be in 30 ° to 60 ° of folder with horizontal plane
Angle.The comfortable sexual experience of patient can so be improved such that it is able to preferably carry out rehabilitation training.Specifically, pin fixator 31
The angle for being between horizontal plane can be 30 °, 35 °, 40 °, 45 °, 50 °, 55 ° or 60 ° etc..Pin fixator 31 and horizontal plane
Between be in angle can according to actual needs adaptability arrange.
In addition, between pin fixator 31 and leg support 32 can be in predetermined angular, the predetermined angular can for 60 °,
70 °, 80 °, 85 ° or 90 ° etc..The predetermined angular can accommodation according to actual needs.
Further, as shown in figure 1, lower limb support component 3 is provided with pressure sensing module 34, pressure sensing module 34 can
For detecting thrust of the human body to robot arm 2.Wherein, pressure sensing module 34 can communicate with the controller, make
Difference of the human body that can be detected according to pressure sensing module 34 of the controller to the thrust of robot arm 2, enter one
The action of step control robot arm 2, so as to be favorably improved the comfortableness of rehabilitation training.
For example, pressure sensing module 34 can be provided with least one of pin fixator 31 and leg support 32.
That is, it is possible to pressure sensing module 34 is provided with pin fixator 31, or feeling of stress is provided with leg support 32
Know module 34, can also be and be equipped with pressure sensing module 34 on pin fixator 31 and leg support 32.Pressure sensing module
34 concrete set location and set-up mode adaptability can be arranged according to actual needs.
A specific embodiment according to recovery exercising robot of the present invention 100 is described below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of recovery exercising robot 100, and recovery exercising robot 100 mainly includes robot cabinet
Body 1, slide block 11 (such as robot lifting seat), robot arm 2 (including large arm 21 and forearm 22), (bag of lower limb support component 3
Include pin fixator 31, leg support 32 and connector 33) etc..
The relative position relation schematic diagram of recovery exercising robot 100 and patient when Fig. 2 carries out rehabilitation training for patient,
It is general in rehabilitation training by therapist the side limbs for needing training to be placed and tightened in lower limb support component 3.
Fig. 3 is flow chart when being trained using the control method of recovery exercising robot.
Describe the control method of recovery exercising robot according to embodiments of the present invention in detail with reference to Fig. 1 to Fig. 3
The course of work.
Specifically, recovery exercising robot 100 according to embodiments of the present invention, mainly includes robot cabinet 1, slide block
11 (such as robot lifting seats), robot arm 2 (including large arm 21 and forearm 22), lower limb support component 3 (are fixed including pin
Device 31, leg support 32 and connector 33) etc..
It is (such as described in the control system of robot arm 2 in advance when being trained using recovery exercising robot 100
Controller) middle setting training mode, as high lift leg is moved, motion of tucking in the wrong.After being provided with, into teaching pattern, using volume
Code device (such as described first encoder) carries out accurate recording to the position of robot arm 2, arrives separately at robot arm 2
Training original position and final position.Then teaching pattern is terminated, into physical training condition.
Specifically, by the drive component robot arm can be driven to rotate, by the robot arm
Rotation the lower limb support component can be driven to carry out action, so as to the lower limb for being further driven to patient carry out rehabilitation training.
The control method of the recovery exercising robot includes：After receiving teaching mode select signal, in robot arm in start bit
Put and final position between in moving process, record is suitable to the original position and final position of human body training.In robot arm
Between original position and final position in moving process, record is suitable to the running orbit of human body training.Weight can so be reduced
Original position and final position are set again, such that it is able to reduce the duplication of labour, are conducive to improving the automaticity of rehabilitation training
And the degree of accuracy of the running orbit of rehabilitation training can be ensured, and then it is favorably improved rehabilitation training effect.
Robot arm runs between the original position and the final position after training mode signal is received
To carry out rehabilitation training.So can be to being suitable to the start bit that human body is trained by the control method of the recovery exercising robot
Put and recorded (such as memory and storage etc.) with final position so that can be in robot when needing to carry out rehabilitation training
Lower limb action between the original position and the final position of patient is driven under the drive of arm, so as to be conducive to rehabilitation to instruct
Experienced is carried out in order.
Some specific embodiments of the invention, are prefixed the operation of robot arm in the recovery exercising robot
Track (such as the running orbit of high lift leg motion bends running orbit for motion of tucking etc.), the robot arm is all the time along institute
State running orbit operation.Be conducive to avoiding the repetition to original position and final position from arranging, so as to be conducive to controlling rehabilitation instruction
Practice the precision and accuracy of running orbit, and then be favorably improved rehabilitation training effect.So far complete according to present invention enforcement
The course of work of the control method of the recovery exercising robot of example.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or feature that the embodiment or example are described
In being contained at least one embodiment of the present invention or example.In this manual, need not to the schematic representation of above-mentioned term
Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be arbitrary
Combine in an appropriate manner in individual or multiple embodiments or example.Additionally, in the case of not conflicting, the technology of this area
Personnel can be combined the feature of the different embodiments or example described in this specification and different embodiments or example
And combination.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (14)
1. a kind of control method of recovery exercising robot, it is characterised in that the healing robot includes robot cabinet, machine
Device human arm, lower limb support component and the drive component for driving the robot arm to rotate, the robot arm
It is rotatably arranged on robot cabinet, the lower limb support component is located on the robot arm, the control method bag
Include：
Step S1, after receiving teaching mode select signal, is moved through in robot arm between original position and final position
Cheng Zhong, record is suitable to the original position and final position of human body training.
Step S2, robot arm is transported between the original position and the final position after training mode signal is received
Go to carry out rehabilitation training.
2. the control method of recovery exercising robot according to claim 1, it is characterised in that the rehabilitation training machine
The running orbit of robot arm is prefixed in people, the robot arm runs all the time along the running orbit.
3. the control method of recovery exercising robot according to claim 1, it is characterised in that step S1 is also wrapped
Include：
In moving process, the operation rail for being suitable to human body training is recorded in robot arm between original position and final position
Mark.
4. the control method of the recovery exercising robot according to any one of claim 1-3, it is characterised in that the machine
Device human arm includes large arm and forearm, and the large arm is rotationally connected with the robot cabinet, and the forearm is big with described
Arm is rotationally connected, and it is described little that the drive component includes being suitable to drive the first motor of the large arm rotation and being suitable to drive
Second motor of arm rotation, first motor and second motor are respectively connected with the position for being suitable to record the robot arm
The first encoder put.
5. the control method of recovery exercising robot according to claim 4, it is characterised in that the drive component is also wrapped
The 3rd motor for driving the lower limb support component motion is included, the 3rd motor connection is suitable to record the lower limb
The second encoder of the position of support component.
6. the control method of recovery exercising robot according to claim 5, it is characterised in that first encoder,
The second encoder and the drive component be wirelessly or non-wirelessly connected with the controller of the recovery exercising robot with
Transmission signal.
7. the control method of the recovery exercising robot according to any one of claim 1-3, it is characterised in that the machine
Device people's cabinet is provided with the slide block for moving along the vertical direction, and the robot arm is located on the slide block.
8. a kind of recovery exercising robot, it is characterised in that include：
Robot cabinet；
Robot arm, the robot arm is rotationally connected with the robot cabinet；
Lower limb support component, the lower limb support component is located on the robot arm；
For driving the drive component of the robot arm rotation；
For recording the recorder of the position of the robot arm, the recorder is suitable in machine described in teaching mode detection
The original position and final position of human arm.
9. recovery exercising robot according to claim 8, it is characterised in that the robot arm includes large arm and little
Arm, the large arm is rotationally connected with the robot cabinet, and the forearm is rotationally connected with the large arm, the drive
Dynamic component includes being suitable to the first motor and the second motor for being suitable to drive the forearm to rotate that drive the large arm rotation, described
First motor and second motor are respectively connected with the first encoder for being suitable to the position for recording the robot arm.
10. recovery exercising robot according to claim 9, it is characterised in that the drive component is also included for driving
3rd motor of the dynamic lower limb support component motion, the 3rd motor connection has and is suitable to record the lower limb support component
The second encoder of position.
11. recovery exercising robots according to claim 10, it is characterised in that first encoder, described second
Encoder and the drive component are wirelessly or non-wirelessly connected to transmit signal with the controller of the recovery exercising robot.
12. recovery exercising robots according to any one of claim 8-11, it is characterised in that the robot cabinet
The slide block for moving along the vertical direction is provided with, the robot arm is located on the slide block.
13. recovery exercising robots according to claim 8, it is characterised in that the lower limb support component includes：
Pin fixator, the pin fixator is used to fixing and supporting the pin of human body；
Leg support, the leg support is in predetermined angular with the pin fixator；
Connector, the connector is connected with the robot arm, and one end of the connector is connected with the pin fixator
And the other end connects the leg support.
14. recovery exercising robots according to claim 13, it is characterised in that
The lower limb support component is provided with the pressure sensing module for detecting human body to the thrust of the robot arm.
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Application publication date: 20170510 |