CN106913998A - The motor output-controlling device and method of a kind of limbs active-passive rehabilitation training aids - Google Patents
The motor output-controlling device and method of a kind of limbs active-passive rehabilitation training aids Download PDFInfo
- Publication number
- CN106913998A CN106913998A CN201710131816.1A CN201710131816A CN106913998A CN 106913998 A CN106913998 A CN 106913998A CN 201710131816 A CN201710131816 A CN 201710131816A CN 106913998 A CN106913998 A CN 106913998A
- Authority
- CN
- China
- Prior art keywords
- motor
- mode
- value
- limbs
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 15
- 210000003414 extremity Anatomy 0.000 claims description 39
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 23
- 238000011282 treatment Methods 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 11
- 208000005392 Spasm Diseases 0.000 claims description 10
- 230000003993 interaction Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 4
- 230000003247 decreasing effect Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 4
- 210000003141 lower extremity Anatomy 0.000 claims description 4
- 210000001364 upper extremity Anatomy 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 2
- 238000000926 separation method Methods 0.000 claims description 2
- 239000004973 liquid crystal related substance Substances 0.000 claims 1
- 230000004044 response Effects 0.000 abstract description 2
- 230000001225 therapeutic effect Effects 0.000 description 8
- 238000012360 testing method Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000003387 muscular Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000037152 sensory function Effects 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010061225 Limb injury Diseases 0.000 description 1
- 101000878457 Macrocallista nimbosa FMRFamide Proteins 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009514 concussion Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004836 empirical method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000036651 mood Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
-
- 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
- A61H2201/5023—Interfaces to the user
- A61H2201/5043—Displays
- A61H2201/5046—Touch screens
-
- 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
- A61H2201/5061—Force sensors
Abstract
A kind of motor control method of limbs active-passive rehabilitation training aids disclosed by the invention, including motor speed closed loop control method, and motor position determine method；The motor speed closed loop control method is the current value for gathering motor, velocity amplitude, the magnitude of voltage of real-time control motor, and motor position determines method, the left and right sides limbs pushes pedals or the distribution situation of the active force of drawing handle being connected by motor, it is determined that the balance of current both limbs, it is steady that there is method of the present invention motor to export, precise positioning, response is fast, the advantage of high precision.
Description
Technical field
The present invention relates to rehabilitation training field, more particularly to a kind of motor output control of limbs active-passive rehabilitation training aids
Device and method.
Background technology
Kinesiatrics, refers to using apparatus, free-hand or patient itself strength, by some motion modes (actively or passively
Motion etc.), patient is obtained the training method that whole body or local motion function, sensory function are recovered.
Kinesiatrics is mainly treated using " motion " this mechanical physical agent to patient, and body is carried out emphatically
The training of the functions such as the dry, motion of four limbs, sensation, balance.
Limbs active-passive rehabilitation training aids is a kind of recovery training appliance for recovery for human limbs, with motor and corresponding transmission
Structure drives limbs to move in a circle so that the muscle of limbs, bone, nerve etc. reach the effect of rehabilitation.With people
Growth in the living standard, the various demands to product during rehabilitation also increase, not be satisfied with it is simple
Limb motion is driven by motor, therapist needs to provide the parameter for the treatment of according to the actual conditions of patient, and every time before treatment
Needing therapist carries out the assessment of muscular strength size to patient, increased the workload of therapist, and professional degree, is owed many
Developed regions, promotion efficiency is smaller, and the Rehabilitation cycle is more long.
Training of the limbs active-passive rehabilitation therapeutic equipments to the sensory function of limbs, patient needs experience when using machine
The therapeutic effect of formula, comfortably, safety and has therapeutic effect, if there is spasm in patient in therapeutic process, the feelings such as transient drag is excessive
During condition, it is impossible to enough carry out timely responding to for motor part, change is slowly smooth etc., and patient occurs the mood for resisting treatment, drop
The therapeutic effect of low rehabilitation.
When training of the limbs active-passive rehabilitation training aids to limbs equilibrium function, such as hemiplegia one side patient with limb injury are used,
The not energetic balance for reacting its both limbs, patient can not significantly see the effect for the treatment of after repeatedly treating, to suffering from
The treatment confidence of person has a certain impact, and reduces the effect for the treatment of.
The content of the invention
Shortcoming and deficiency it is an object of the invention to overcome prior art, there is provided a kind of limbs active-passive rehabilitation training aids
Motor output-controlling device.
Another object of the present invention is to provide a kind of motor output control method of limbs active-passive rehabilitation training aids.
The purpose of the present invention is realized by following technical scheme：
A kind of motor output-controlling device of limbs active-passive rehabilitation training aids, including the electric current electricity being connected with motor respectively
Pressure collector, motor encoder, and the velocity measuring that is connected with motor encoder of electric machine controller of controlled motor rotating speed are filled
Put, motor locating device, wherein electric machine controller respectively with Current Voltage collector, speed detector, motor locating device
Electrical connection；
The motor locating device, determines that it is positioned according to transmission gear for electric motor in limbs side loading angle, is applied to
Left and right sides balance, every machine fixes its installation site.First according to motor linkage device, and limbs left and right sides stress area
Situation, the installation site of fixed pedestal or handle, then according to the speed reducing ratio of motor, and motor encoder value, essence
After really calculating motor rotation, start position is set to 0, according to upper limbs or the current positional value of lower limb left and right sides, it is determined that rotation side
To umber of pulse is incremental then to be rotated forward, and it be then reversion that umber of pulse is successively decreased, and determines that still right side is exerted oneself in left side according to umber of pulse；
The Current Voltage collector, current value, magnitude of voltage for motor in real time, and transmit information to motor
Controller；
The motor encoder, for recording the umber of pulse produced when motor is rotated, and is transferred to speed detector；
The speed detector, for detecting the rotating speed of motor, and transmits information to electric machine controller；
The electric machine controller, using high-speed CPU, detects current operating state, by real time modifying electric moter voltage value come
Real-time control motor speed, and default multiple-working mode, including idle pulley, Auto-Sensing Mode, Passive Mode, aggressive mode,
Assistant mode, spasm alleviate pattern, constant velocity mode, steering pattern, computation schema, and wherein each mode of operation includes following shape
State：Idle pulley, passively park mode, acceleration pattern, passive constant speed mode.
The frequency of the motor is fixed, adjustable pulse width, using PWM controller control, exports variable voltage value Vvalue,
The value of PWM is separation with 5000, is turned clockwise more than 5500 motors, less than 4500 motor rotate counterclockwises, 5000 ±
In the range of 500, motor remains stationary state.
The Current Voltage collector is connected to the ADC ports of electric machine controller using bleeder circuit, and start is read current
The current value of motor under idle mode, as reference current value Cbase (value when testing of electric motors is unloaded is used as benchmark), record point
Peak C max, Vmax, calculate average value Caver.
The average value Caver is that after 3~5s of starting up, reading is current in the unit interval when state tends to be steady
Current value, removes peak and minimum, is calculated according to formula：
Caver=(C1+ ...+C100)/100.
The motor encoder, when motor every revolution counts are 500 times.
The speed detector, the value * speed reducing ratio of motor encoder, filtering are read according to electric machine controller external interrupt
Ignore kurtosis, draw the average value Saver in the unit interval, wherein Saver=umber of pulse/mono- per minute encloses total pulse
Number.
The motor output-controlling device of the limbs active-passive rehabilitation training aids, also including human-computer interaction interface, using liquid
The display of crystalline substance screen and touch-screen input, show for setting change, the switching of pattern of man-machine interface, and result after treatment end
Show.
The motor output-controlling device of the limbs active-passive rehabilitation training aids, also including Overtemperature protection device of motor, if
Determine overtemperature Tmax, motor temperature, Real-time Collection its value Tcurrent, as instantaneous value Tcurrent are detected using thermistor
When reaching this temperature, motor power is closed, protect machine.Setting Overtemperature protection device of motor can avoid because motor temperature is too high
Cause the damage of motor.
Another object of the present invention is realized by following technical scheme：
A kind of motor output control method of limbs active-passive rehabilitation training aids, comprises the steps of：
S1, motor locating device according to motor linkage device, and limbs left and right sides stress area situation, fixed pedestal
Or the installation site of handle, then according to the speed reducing ratio of motor, and motor encoder value, start position is set to 0, root
According to upper limbs or the current positional value of lower limb left and right sides, rotation direction is determined, umber of pulse is incremental then to be rotated forward, and it be then anti-that umber of pulse is successively decreased
Turn, determine that left side or right side are exerted oneself according to umber of pulse；
Current value, the magnitude of voltage of S2, Current Voltage collector motor in real time, and transmit information to motor control
Device；The umber of pulse that motor encoder record motor is produced when rotating, and it is transferred to speed detector；Speed detector is detected
The rotating speed of motor, and transmit information to electric machine controller；
S3, electric machine controller detection current operating state, are turned by real time modifying electric moter voltage value come real-time control motor
Speed, and default multiple-working mode, including idle pulley, Auto-Sensing Mode, Passive Mode, aggressive mode, assistant mode, spasm are slow
Solution pattern, constant velocity mode, steering pattern, computation schema, wherein each mode of operation include following state：Idle pulley, pause
Pattern, passively acceleration pattern, passive constant speed mode.
The present invention compared with prior art, has the following advantages that and beneficial effect：
1st, it is of the invention by presetting multiple mode of operations and multiple working conditions in electric machine controller, in each Working mould
Switching reaches response quickly between formula, and conversion is smooth, and protects patient's safe operation under any circumstance.
2nd, the present invention is capable of muscular strength, the Muscle tensility of automatic identification patient, it is not necessary to which doctor is commented the muscular strength of each patient
Estimate, it is convenient using simple to operate.And the switching of various patterns is smoothed in use, display is clear understandable, treatment end
Summary interface is very clear.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the motor output-controlling device of limbs active-passive rehabilitation training aids of the present invention
Figure.
Fig. 2 is the working mode change schematic diagram of motor output-controlling device described in Fig. 1.
Fig. 3 is state transition diagram of the motor output-controlling device under certain mode of operation described in Fig. 1.
Fig. 4 is that motor positions figure.
Fig. 5 is the structural representation of the motor locating device of motor output-controlling device described in Fig. 1.
Specific embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited
In this.
A kind of motor output-controlling device of limbs active-passive rehabilitation training aids, will be debugged before work.First, adopt
It is that scene allows the forward and reverse concussion of motor to run with empirical method, debugs from small to large, when the forward and reverse amplitude of motor is identical, determines that this is
P values, then gradually determine I values, thus obtain P, the value of I.
The direction of motor rotation reverse motor is exerted oneself under certain rotating speed, tests current value, and repeatedly test taking reasonable value, leads to
Cross actual test and show that many tests of freezing current value Cspase take reasonable value, it is too small not utilize sufferer to treat, it is excessive to sufferer
It is likely to result in injury.
Resistance current value Cresis, is test value；Constant velocity mode is set, every grade of resistance electric current is tested, reasonable value is taken.
Selected motor changes a value for output voltage per 50ms, in maximum speed, PWM should not be allowed to reach
99%, the upper limit is set, otherwise motor change has shake, not enough smooths, and motor should not be excessive when changing, in case motor instantaneously becomes
Change causes curent change too fast, causes power-supply fluctuation, influences complete machine stability.
Such as Fig. 1, a kind of motor output-controlling device of limbs active-passive rehabilitation training aids, including：
Electric machine controller uses the parameters such as high speed cpu, motor in real time current value, temperature value, velocity amplitude.And according to work as
Preceding state refreshes the value of man-machine interface, switches Therapeutic mode.Human-computer interaction interface, using serial ports touch-screen, real time scan button
Value, and whether the current change for having an interface is judged according to key assignments, or pattern change.Refresh one per 500ms using dma mode
Secondary display.Various parameters value is recorded in therapeutic process, result computing interface is displayed in after treatment end.Electric machine controller is collected
Temperature maximum Tmax, current maxima Cmax, voltage max Vmax, protect or calculate.Tmax does temperature protection, temperature
It is 100 °, more than this value, then closes motor, interface prompt motor crosses heat anomaly.Current maxima Cmax, voltage max
Vmax, for calculating power.Peak power Pmax=Vmax*Cmax.It is displayed in result computing interface.
Motor encoder, motor locating device all uses external interrupt, electric machine controller is linked into, in external interrupt program
Recording gauge numerical value, various calculating are not processed.
Current Voltage collector, Overtemperature protection device of motor are interrupted using ADC, are linked into electric machine controller, motor control
The switching that device passes through passage, records current temperature value of current collection etc. respectively.
As Fig. 2, start enter Auto-Sensing Mode, idle pulley is entered after self-inspection, then cut automatically by button or patient
Mold changing formula.The pattern of button switching has assistant mode, steering pattern, constant velocity mode.The pattern of switching at runtime is by being passively switched to
Active impedance mode, and each pattern is switched to spasm pattern according to condition.Machine self-inspection after start, electric current, voltage acquisition
Device test obtains Cbase values, and patient fixes affected part, clicks on human-computer interaction interface and starts treatment, and motor is passively carried out
Circular motion, Current Voltage collector real-time detection electric current Caver, speed detector real-time detection speed Saver,
(Caver-Cbase) value>Cspase, and speed, for 0 more than 1s, this is to judge the condition that spasm is produced, and each pattern is identical,
No longer elaborate below, switch to spasm and alleviate pattern, spasm is alleviated pattern and is made up of 2 stages, and 1 is stop phase, is gone through
When 3 seconds, 2 to change motor drive direction, and slow Accelerating running is transformed into passive Therapeutic mode to setting speed value.When treating
Cheng Zhong, when the value that speed detector collects average speed Saver exceedes setting speed Sset+5, and holds time more than 4
Second, then into active treatment impedance mode.
Steering pattern is clicked on human-computer interaction interface, motor reduces to halted state with certain speed, changes motor drive direction,
Motor accelerates to setting value from 0 speed again.
Assistant mode is clicked on human-computer interaction interface, into assistant mode, more than 15rpm, continuous 4s is transferred to master to speed
Impedance,motional Therapeutic mode.
Constant velocity mode is clicked on human-computer interaction interface, constant velocity mode is run always, passive constant velocity mode can be carried out, if fast
Degree exceedes setting value, then motor increases the power opposite with patient, increases resistance, keeps constant-speed operation.
All mode treatments all enter result operational pattern after terminating, and show collecting for various treatment parameters, click on and return
After enter into idle waiting pattern.
Such as Fig. 3, each Therapeutic mode is divided into several states.As being divided into idle pulley in Passive Mode, passively accelerating mould
Formula, passive constant speed mode,
Startup self-detection enters passive idle pulley after terminating, motor enters passive acceleration pattern after starting, by 0 speed,
Setting speed value is accelerated to, then into passive constant speed mode.
Such as Fig. 4, motor locating device has 2 kinds of applications：
1. applied in active impedance mode, the angle that the transmission mechanism and human body limb connected according to motor are exerted oneself
Degree, the position of determines counting 0, and limbs body deviation angle forward or backwards.After patient is actively trampled or push-and-pull one is enclosed, cut
Fall deviation angle, it is 50 that total numerical value is defined as when 100, i.e. left and right sides are identical:50, calculate value of the side in whole circle
Pvalue, opposite side is then 100-Pvalue.
2. applied when needing motor two-way locked, such as patient produces spasm, or when standby.Umber of pulse detects 100,
Pulse value PositiveC is rotated forward, umber of pulse is rotated backward for Negativec, is standby current motor when two values are equal,
Output PWM value is 5000. people when being pushing motor, and read pulse value judges the steering of motor, is positive or reversely, if motor turn
During to for forward direction, reverse impulse number Negativec is less than 100 pulses (the pulse sum of 100*360 °/mono- circle, be 5 °), this
When motor PWM output valve be 5000- (50* (PositiveC-Negativec)), if reverse impulse number Negativec more than etc.
In 5 °, then motor PWM output valve is 5000, rotates forward pulse value PositiveC clear 0, and rotating backward umber of pulse is
Negativec clear 0. is similar to if being reversely if motor steering, and direct impulse number PositiveC is less than 5 °, now motor PWM output
It is 5000+ (50* (Negativec-PositiveC)) to be worth, if reverse impulse number PositiveC is more than or equal to 5 °, motor PWM
Output valve is 5000, rotates forward pulse value PositiveC clear 0, rotate backward umber of pulse for Negativec clear 0. in this process
Middle 50* (Negativec-PositiveC) will be limited, it is impossible to which, more than 4750, the excessive power of easily causing of value is excessive, and motor is damaged
It is bad.
Above-described embodiment is the present invention preferably implementation method, but embodiments of the present invention are not by above-described embodiment
Limitation, it is other it is any without departing from Spirit Essence of the invention and the change, modification, replacement made under principle, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (9)
1. a kind of motor output-controlling device of limbs active-passive rehabilitation training aids, it is characterised in that：Including respectively with motor phase
Current Voltage collector, motor encoder even, and the electric machine controller of controlled motor rotating speed is connected with motor encoder
Speed detector, motor locating device, wherein electric machine controller respectively with Current Voltage collector, speed detector, electricity
Machine positioning device is electrically connected；
The motor locating device, first according to motor linkage device, and limbs left and right sides stress area situation, fixation step on
The installation site of plate or handle, then according to the speed reducing ratio of motor, and motor encoder value, start position is set to 0,
According to upper limbs or the current positional value of lower limb left and right sides, rotation direction is determined, umber of pulse is incremental then to be rotated forward, and umber of pulse is successively decreased, and is
Reversion, determines that left side or right side are exerted oneself according to umber of pulse；
The Current Voltage collector, current value, magnitude of voltage for motor in real time, and transmit information to motor control
Device；
The motor encoder, for recording the umber of pulse produced when motor is rotated, and is transferred to speed detector；
The speed detector, for detecting the rotating speed of motor, and transmits information to electric machine controller；
The electric machine controller, using high-speed CPU, detects current operating state, by real time modifying electric moter voltage value come in real time
Controlled motor rotating speed, and default multiple-working mode, including idle pulley, Auto-Sensing Mode, Passive Mode, aggressive mode, power-assisted
Pattern, spasm alleviate pattern, constant velocity mode, steering pattern, computation schema, and wherein each mode of operation includes following state：It is empty
Not busy pattern, passively park mode, acceleration pattern, passive constant speed mode.
2. the motor output-controlling device of limbs active-passive rehabilitation training aids according to claim 1, it is characterised in that：It is described
The frequency of motor is fixed, adjustable pulse width, and using PWM controller control, the value of output variable voltage value Vvalue, PWM is with 5000
It is separation, is turned clockwise more than 5500 motors, less than 4500 motor rotate counterclockwise, in the range of 5000 ± 500, motor
Remains stationary state.
3. the motor output-controlling device of limbs active-passive rehabilitation training aids according to claim 1, it is characterised in that：It is described
Current Voltage collector is connected to the ADC ports of electric machine controller using bleeder circuit, and electricity under current idle mode is read in start
The current value of machine, as reference current value Cbase, records kurtosis Cmax, Vmax, calculates average value Caver.
4. the motor output-controlling device of limbs active-passive rehabilitation training aids according to claim 3, it is characterised in that：It is described
Average value Caver is after 3~5s of starting up, to read current current value when state tends to be steady in the unit interval, is removed
Peak and minimum, calculate according to formula：
Caver=(C1+ ...+C100)/100.
5. the motor output-controlling device of limbs active-passive rehabilitation training aids according to claim 1, it is characterised in that：It is described
Motor encoder, when motor every revolution counts are 500 times.
6. the motor output-controlling device of limbs active-passive rehabilitation training aids according to claim 1, it is characterised in that：It is described
Speed detector, the value * speed reducing ratio of motor encoder is read according to electric machine controller external interrupt, and kurtosis is ignored in filtering,
The average value Saver in the unit interval is drawn, wherein Saver=umber of pulse/mono- per minute encloses total umber of pulse.
7. the motor output-controlling device of limbs active-passive rehabilitation training aids according to claim 1, it is characterised in that：Also wrap
Human-computer interaction interface is included, is shown using liquid crystal display and touch-screen is input into, for setting change, the switching of pattern of man-machine interface,
And the result after treatment end shows.
8. the motor output-controlling device of limbs active-passive rehabilitation training aids according to claim 1, it is characterised in that：, also
Including Overtemperature protection device of motor, overtemperature Tmax is set, motor temperature is detected using thermistor, Real-time Collection its value
Tcurrent, when instantaneous value Tcurrent reaches this temperature, closes motor power, protects machine.
9. the motor output-controlling device of limbs active-passive rehabilitation training aids described in claim 1 to 8 any claim is based on
A kind of limbs active-passive rehabilitation training aids motor output control method, comprise the steps of：
S1, motor locating device according to motor linkage device, and limbs left and right sides stress area situation, fixed pedestal or
The installation site of handle, then according to the speed reducing ratio of motor, and motor encoder value, start position is set to 0, according to upper
Limb or the current positional value of lower limb left and right sides, determine rotation direction, and umber of pulse is incremental then to be rotated forward, and it be then reversion that umber of pulse is successively decreased,
Determine that left side or right side are exerted oneself according to umber of pulse；
Current value, the magnitude of voltage of S2, Current Voltage collector motor in real time, and transmit information to electric machine controller；Electricity
The umber of pulse that machine encoder record motor is produced when rotating, and it is transferred to speed detector；Speed detector detects motor
Rotating speed, and transmit information to electric machine controller；
S3, electric machine controller detection current operating state, by real time modifying electric moter voltage value come real-time control motor speed, and
Default multiple-working mode, including idle pulley, Auto-Sensing Mode, Passive Mode, aggressive mode, assistant mode, spasm alleviate mould
Formula, constant velocity mode, steering pattern, computation schema, wherein each mode of operation include following state：Idle pulley, park mode,
It is passive to accelerate pattern, passive constant speed mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710131816.1A CN106913998B (en) | 2017-03-07 | 2017-03-07 | A kind of the motor output-controlling device and method of limbs active-passive rehabilitation training aids |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710131816.1A CN106913998B (en) | 2017-03-07 | 2017-03-07 | A kind of the motor output-controlling device and method of limbs active-passive rehabilitation training aids |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106913998A true CN106913998A (en) | 2017-07-04 |
| CN106913998B CN106913998B (en) | 2019-05-24 |
Family
ID=59460774
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710131816.1A Active CN106913998B (en) | 2017-03-07 | 2017-03-07 | A kind of the motor output-controlling device and method of limbs active-passive rehabilitation training aids |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106913998B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108175638A (en) * | 2017-12-26 | 2018-06-19 | 广东美的安川服务机器人有限公司 | For the training method and device of the robot of rehabilitation training |
| CN108187313A (en) * | 2018-01-16 | 2018-06-22 | 文立 | A kind of muscle training apparatus and system |
| CN110051978A (en) * | 2019-05-29 | 2019-07-26 | 苏州轰天炮光电科技有限公司 | Four limbs linkage rehabilitation medical instrument, control method and exchange method |
| CN110251832A (en) * | 2019-07-10 | 2019-09-20 | 北京京一合符医药科技发展有限公司 | A kind of adaptive rehabilitation training treadmill system and its control method |
| TWI682800B (en) * | 2019-01-31 | 2020-01-21 | 上銀科技股份有限公司 | Training system for upper limb and control method thereof |
| CN111281717A (en) * | 2020-03-18 | 2020-06-16 | 王加玮 | Medical surgery wraps fixing device |
| CN112823830A (en) * | 2019-11-20 | 2021-05-21 | 深圳市英汉思动力科技有限公司 | Motor output control method, device, equipment and medium for constant velocity muscle strength trainer |
| US11123608B2 (en) | 2019-03-05 | 2021-09-21 | Hiwin Technologies Corp. | Upper limb training system and control method thereof |
| CN116999773A (en) * | 2023-10-07 | 2023-11-07 | 南通鸿图健康科技有限公司 | Self-adaptive training management method and system for fitness equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201208376Y (en) * | 2008-06-27 | 2009-03-18 | 常州市钱璟康复器材有限公司 | Intelligent active passive training device |
| CN201223524Y (en) * | 2008-05-06 | 2009-04-22 | 南京康龙威康复医学工程有限公司 | Intelligent upper and lower limbs trainer |
| CN202288732U (en) * | 2011-10-13 | 2012-07-04 | 无锡佑仁科技有限公司 | Lower extremity function recovery trainer |
| KR101257624B1 (en) * | 2011-12-28 | 2013-04-29 | 주식회사 싸이버메딕 | Balence inspection and exercising apparatus of dynamic body |
| CN103142383A (en) * | 2013-03-22 | 2013-06-12 | 芜湖天人智能机械有限公司 | Active and passive realizing method of healthy exercise trainer |
-
2017
- 2017-03-07 CN CN201710131816.1A patent/CN106913998B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201223524Y (en) * | 2008-05-06 | 2009-04-22 | 南京康龙威康复医学工程有限公司 | Intelligent upper and lower limbs trainer |
| CN201208376Y (en) * | 2008-06-27 | 2009-03-18 | 常州市钱璟康复器材有限公司 | Intelligent active passive training device |
| CN202288732U (en) * | 2011-10-13 | 2012-07-04 | 无锡佑仁科技有限公司 | Lower extremity function recovery trainer |
| KR101257624B1 (en) * | 2011-12-28 | 2013-04-29 | 주식회사 싸이버메딕 | Balence inspection and exercising apparatus of dynamic body |
| CN103142383A (en) * | 2013-03-22 | 2013-06-12 | 芜湖天人智能机械有限公司 | Active and passive realizing method of healthy exercise trainer |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108175638A (en) * | 2017-12-26 | 2018-06-19 | 广东美的安川服务机器人有限公司 | For the training method and device of the robot of rehabilitation training |
| CN108187313A (en) * | 2018-01-16 | 2018-06-22 | 文立 | A kind of muscle training apparatus and system |
| TWI682800B (en) * | 2019-01-31 | 2020-01-21 | 上銀科技股份有限公司 | Training system for upper limb and control method thereof |
| US11123608B2 (en) | 2019-03-05 | 2021-09-21 | Hiwin Technologies Corp. | Upper limb training system and control method thereof |
| CN110051978A (en) * | 2019-05-29 | 2019-07-26 | 苏州轰天炮光电科技有限公司 | Four limbs linkage rehabilitation medical instrument, control method and exchange method |
| CN110251832A (en) * | 2019-07-10 | 2019-09-20 | 北京京一合符医药科技发展有限公司 | A kind of adaptive rehabilitation training treadmill system and its control method |
| CN110251832B (en) * | 2019-07-10 | 2020-05-15 | 北京京一合符医药科技发展有限公司 | Self-adaptive treadmill system for rehabilitation training and control method thereof |
| CN112823830A (en) * | 2019-11-20 | 2021-05-21 | 深圳市英汉思动力科技有限公司 | Motor output control method, device, equipment and medium for constant velocity muscle strength trainer |
| CN112823830B (en) * | 2019-11-20 | 2022-04-01 | 深圳市英汉思动力科技有限公司 | Motor output control method, device, equipment and medium for constant velocity muscle strength trainer |
| CN111281717A (en) * | 2020-03-18 | 2020-06-16 | 王加玮 | Medical surgery wraps fixing device |
| CN116999773A (en) * | 2023-10-07 | 2023-11-07 | 南通鸿图健康科技有限公司 | Self-adaptive training management method and system for fitness equipment |
| CN116999773B (en) * | 2023-10-07 | 2023-12-22 | 南通鸿图健康科技有限公司 | Self-adaptive training management method and system for fitness equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106913998B (en) | 2019-05-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106913998A (en) | The motor output-controlling device and method of a kind of limbs active-passive rehabilitation training aids | |
| CN103558786B (en) | Based on the hand function healing robot human-computer interactive control system embedding Android mobile terminal and FPGA | |
| CN107736982A (en) | A kind of active-passive rehabilitation robot | |
| CN110731879B (en) | Robot for rehabilitation of hand functions of stroke patient and use method | |
| CN101301250A (en) | Five-freedom degree dermaskeleton type upper limb rehabilitation robot interactive rehabilitation training control policy | |
| CN105213153A (en) | Based on the lower limb rehabilitation robot control method of brain flesh information impedance | |
| CN108888477B (en) | Flexible control method for medical rehabilitation exoskeleton | |
| CN102600031B (en) | Treatment and rehabilitation system | |
| CN201223524Y (en) | Intelligent upper and lower limbs trainer | |
| CN206453982U (en) | A kind of intelligent massaging gloves | |
| CN106974795A (en) | A kind of drive lacking upper limb rehabilitation robot control system | |
| CN107753242A (en) | A kind of mirroring apparatus for alleviating wrist joint spasm | |
| CN110251898A (en) | A kind of closed-loop control system of the wrist rehabilitation ectoskeleton based on force feedback | |
| CN106974801A (en) | A kind of lower limb spasm stretches rehabilitation security control method | |
| CN2928082Y (en) | Training device for limb recovery | |
| CN109124996B (en) | Multi-mode rehabilitation training device and method with comprehensive evaluation function | |
| Noviyanto et al. | Design of a continuous passive motion (CPM) machine for wrist joint therapy | |
| CN111281752A (en) | Upper limb rehabilitation training system and method for executing movement intention | |
| CN108113845A (en) | A kind of rehabilitation of anklebone system | |
| CN204428386U (en) | A kind of interactive device for realizing hand rehabilitation training | |
| CN206491990U (en) | Rehabilitation of anklebone system | |
| CN108553834A (en) | A kind of Isokinetic muscle strength training system and its control method | |
| CN207012487U (en) | A kind of Intellectualized electric abdominal muscle wheel | |
| CN107970106A (en) | A kind of finger tendon healing robot | |
| CN1597025A (en) | Servo electric machine resistance device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A motor output control device and method of limb active and passive rehabilitation trainer Effective date of registration: 20220711 Granted publication date: 20190524 Pledgee: Shanghai Pudong Development Bank Limited by Share Ltd. Guangzhou branch Pledgor: GUANGZHOU LONGEST SCIENCE & TECHNOLOGY Co.,Ltd. Registration number: Y2022440000141 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230731 Granted publication date: 20190524 Pledgee: Shanghai Pudong Development Bank Limited by Share Ltd. Guangzhou branch Pledgor: GUANGZHOU LONGEST SCIENCE & TECHNOLOGY Co.,Ltd. Registration number: Y2022440000141 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Motor output control device and method for a limb active passive rehabilitation trainer Effective date of registration: 20231208 Granted publication date: 20190524 Pledgee: Shanghai Pudong Development Bank Limited by Share Ltd. Guangzhou branch Pledgor: GUANGZHOU LONGEST SCIENCE & TECHNOLOGY Co.,Ltd. Registration number: Y2023980070353 |