CN107184361A - Hand rehabilitation ectoskeleton man-machine interactive system based on ARM and (SuSE) Linux OS - Google Patents
Hand rehabilitation ectoskeleton man-machine interactive system based on ARM and (SuSE) Linux OS Download PDFInfo
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- CN107184361A CN107184361A CN201710277685.8A CN201710277685A CN107184361A CN 107184361 A CN107184361 A CN 107184361A CN 201710277685 A CN201710277685 A CN 201710277685A CN 107184361 A CN107184361 A CN 107184361A
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- 230000002452 interceptive effect Effects 0.000 title claims abstract description 24
- 238000012549 training Methods 0.000 claims abstract description 43
- 230000003993 interaction Effects 0.000 claims abstract description 10
- 238000005452 bending Methods 0.000 claims description 14
- 238000013461 design Methods 0.000 claims description 11
- 230000002093 peripheral effect Effects 0.000 claims description 11
- 238000011084 recovery Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 9
- 230000003750 conditioning effect Effects 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 claims description 7
- 229920001971 elastomer Polymers 0.000 claims description 6
- 239000000806 elastomer Substances 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 229910000737 Duralumin Inorganic materials 0.000 claims description 3
- 210000000988 bone and bone Anatomy 0.000 claims description 3
- 238000011217 control strategy Methods 0.000 claims description 3
- 210000001145 finger joint Anatomy 0.000 claims description 3
- 230000005057 finger movement Effects 0.000 claims description 3
- 239000011888 foil Substances 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims 1
- 230000035876 healing Effects 0.000 description 4
- 208000011092 Hand injury Diseases 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000002478 hand joint Anatomy 0.000 description 1
- 238000002683 hand surgery Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- 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
-
- 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
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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
- 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
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
Hand rehabilitation ectoskeleton man-machine interactive system based on ARM and (SuSE) Linux OS, it is characterized in that, including joint moment sensor, joint angles sensor, hardware platform and software platform, motor drive module, human-computer interaction interface and exoskeleton manipulator, joint moment sensor is used for the rotating torque for gathering exoskeleton manipulator joint, joint angles sensor is used for the rotational angle for gathering exoskeleton manipulator joint, realization of the hardware platform with software platform for handling rehabilitation exoskeleton manipulator, with reference to hardware platform, software platform uses hierarchical parallel contention control structure, hand rehabilitation training is carried out by way of game.The sensing capabilities having for current hand rehabilitation exoskeleton system are poor, and system bulk is excessive to be unfavorable for carrying, and rehabilitation mode it is single the problem of there is provided a kind of hand rehabilitation ectoskeleton man-machine interactive system based on ARM and (SuSE) Linux OS.
Description
Technical field
The present invention relates to robot human-computer interaction technique field, and in particular to hand rehabilitation ectoskeleton man-machine interactive system.
Background technology
With the progress and its continuous extension of application field of robot technology, healing robot is used as intelligent robot
One branch is stepping into our life, and the development theoretical to rehabilitation and the progress of clinical rehabilitation technology are brought newly
Power.At present, healing robot technology is being increasingly becoming the study hotspot of robot field.People's hand injury or postoperative work(
It is the problem of hand surgeon must face that can recover.At present, Continuous Passive Movement theory is going into clinical practice and is wide
Big physiatrician increasingly receives.This patent proposes a kind of ectoskeleton man-machine interactive system based on ARM and linux system, gives
Patients with hand injury, which provides one, is used for the CPM machines that healing hand function is treated, and a clinical research is provided to hand surgery physiatrician
Instrument and equipment, improve healing hand function treatment automation, intelligent level.
The content of the invention
The sensing capabilities that the present invention has for current hand rehabilitation exoskeleton system are poor, and system bulk is excessive unfavorable
There is provided a kind of hand rehabilitation dermoskeleton based on ARM and (SuSE) Linux OS the problem of carrying, and rehabilitation mode are single
Bone man-machine interactive system.
To achieve the above object, the present invention uses following technical scheme：
Hand rehabilitation ectoskeleton man-machine interactive system based on ARM and (SuSE) Linux OS, it is characterised in that it includes joint
Torque sensor, joint angles sensor, hardware platform and software platform, motor drive module, human-computer interaction interface and dermoskeleton
Bone manipulator,
Sensing system is made up of joint moment sensor and joint angles sensor,
Joint moment sensor is used for the rotating torque for gathering exoskeleton manipulator joint,
Joint angles sensor is used for the rotational angle for gathering exoskeleton manipulator joint,
Joint moment sensor will collect the moment information in ectoskeleton joint and information be transmitted into data by signal conditioning circuit
Acquisition module,
Joint angles sensor passes information the angle information of the ectoskeleton articulation collected by signal conditioning circuit
To data acquisition module,
Realization of the hardware platform with software platform for handling rehabilitation exoskeleton manipulator,
System hardware platform is built using the method for function modoularization, is divided into based on Serial Peripheral Interface (SPI)（SPI）Bus
Data acquisition module and motor control module, power supply and power management module, system platform,
With reference to system hardware, software platform uses hierarchical parallel contention control structure,
Human-computer interaction interface allows users to use passive rehabilitation mode or semi-passive rehabilitation mode according to rehabilitation modality, passes through
The mode of game carries out hand rehabilitation training,
Preferably, the joint moment sensor is the strain gauge transducer based on strain measurement principle design.
Preferably, the elastomer of sensor and the mechanism body of manipulators in rehabilitation are merged, the elastomer is
Cantilever beam structure, is made up of duralumin ZA12, and the conciliation circuit of the joint moment sensor is two foil gauge composition half-bridge electricity
Road, obtains desired signal, and be transferred to data acquisition module by amplifying circuit.
Preferably, the twin shaft Hall sensor 2D-VH-11 that the joint angles sensor is used, permanent magnet is produced
Magnetic field parallel to 2D-VH-11 surface, the rotational angle data in ectoskeleton joint are transferred to by data by modulate circuit and adopted
Collect module.
Preferably, the hardware platform uses modular designs method, it is divided into 4 functional modules：Power supply and power supply pipe
Module, system platform, data acquisition module and motor control module are managed,
The data acquisition module and motor control module are all articulated to S3C2410 Serial Peripheral Interface (SPI)（SPI）In bus
The hardware platform can as a general control platform,
The feature of the hardware platform is that data acquisition module and motor control module are all articulated to S3C2410 serial peripheral and connect
Mouthful（SPI）In bus, the feature of the module mounting mode is module and structure based on spi bus, and this feature ensure that control
The scalability of platform feature processed.
Preferably, the software platform includes driver, graphic user interface（GUI）, control program and apply journey
Sequence interface（API）Deng 4 each several parts,
Handling function to peripheral hardware is supplied to control program to use by api function on the basis of the driver of exploitation；
Control program includes master control program and control subprogram, and wherein master control program completes operation and the prison of whole system
Control, control subprogram complete the sensing data processing, control strategy implementation and the realization of specific control method of manipulators in rehabilitation；
Graphic user interface sets up man-machine interactive system, by calling control subprogram to realize a variety of rehabilitation modalities of manipulators in rehabilitation
Selection, the realization of parameter setting and specific rehabilitation course.
Preferably, the design of the system uses Hardware/Software Co-design Technology.
Preferably, the software systems use parallel contention control, lower grade mode is by fine mode in the control structure
Restriction, if fine mode is not activated, system is using the low first class mode that has been activated；If fine mode is swashed
Living, then its output suppresses output of lower grade mode, fine mode adapter control system, until its corresponding information input recovery or
Suppressed by the pattern of higher level.According to the order of system priority from high to low：
Pattern 0 --- emergency mode：Transfinited for supply voltage, manipulators in rehabilitation retard motion and scram button manually stop
Deng.Now system GUI provides pictograph alarm, shields all lower grade modes.
Pattern 1 --- manual mode：For controlling manually.
Pattern 2 --- Program Mode：Rehabilitation task and parameter are set by man-machine interface, autonomous completion rehabilitation
Journey.
Preferably, main interface has 4 main functional modules：Rehabilitation training module, system setup module, entertainment modules
And help module, rehabilitation training and system be set to the main functional modules of system,
Wherein, rehabilitation training include two kinds of rehabilitation modalities of CPM and H-CPM, in CPM rehabilitation modalities finger bending training and
Training is swung to carry out respectively,
System is provided with two main tasks：One is being configured to rehabilitation parameter in rehabilitation training；The second is right
Joint power/position the information preserved in rehabilitation course dumps to USB flash disk.
Preferably, hand adds data glove, the rehabilitation exercise referred to is suffered from by the action control of healthy human hand, patient being capable of root
According to itself feel refer to the speed and scope of Continuous Passive Movement to regulate and control to suffer from so that add patient in rehabilitation exercise from
Main property and subjective initiative.
Preferably, two kinds of rehabilitation modalities：CPM patterns and H-CPM patterns,
There are two kinds of rehabilitation trainings under CPM patterns：Bending and swing.Bending and swing rehabilitation it is very alike, just for rehabilitation
Object difference, in interface and function are realized, the characteristics of embodying harmonious, the look ＆ feel for bending and swinging, use
Family interactive mode all has good uniformity,
Start to first have to carry out " quick adjustment ", the finger select button and list box that can be provided by interface before rehabilitation training
The finger-joint of rehabilitation is wanted in selection, and by operating " beginning ", " commutation " and " stopping " button, completes joint position before rehabilitation
Setting,
Then " rehabilitation training " is carried out, according to interface prompt, sets " rehabilitation duration " and " recovery period ", clicked on " beginning " and press
Button, so all adjusted motors are just run simultaneously, and the automatic reverse in half of recovery period, arrive up to rehabilitation duration or
Person's motor emergent stopping.This rehabilitation training can both realize the bending rehabilitation training of whole finger multi-joint, can also realize
The swing rehabilitation training of finger,
H-CPM from unlike CPM after selection to be carried out finger and the joint of rehabilitation training, can be according to the need of user
Ask, the rotating speed of motor is set by adjusting slider, it is possible to real time modifying motor speed.Reach a certain limit of finger movement
When position, user can be by clicking on " commutation " button manual reverse of direction, and user oneself controls rehabilitation duration and recovery period,
Without passing through program setting.
The beneficial effects of the invention are as follows：The sensing capabilities having for current hand rehabilitation exoskeleton-type robot compared with
Difference, system bulk is excessive to be unfavorable for carrying, and rehabilitation mode it is single the problem of, invented based on software and hardware system and power/position
The hand rehabilitation ectoskeleton of sensor-based system.The data source of system is, installed in the position of hand joint and torque sensor, to incite somebody to action
Described information obtains data message after the processing of ARM chips, and realizes hand ectoskeleton joint using the data message
Rotate and user is participated in the training of hand rehabilitation by the rehabilitation mode set by the man-machine interactive platform based on system.
By succinct friendly man-machine interface, user can carry out effective man-machine interaction with robot, greatly strengthen user in itself
For the degree of participation of rehabilitation training, in interesting game, the rehabilitation training of user is implemented, and related data will be by being
System is analyzed, and draws the current rehabilitation state of patient.
Brief description of the drawings
Figure one is the structural representation of the embodiment of the present invention；
Figure two is the system software platform high-level schematic functional block diagram of the embodiment of the present invention；
Figure three constitutes structural representation for the GUI system of the embodiment of the present invention.
Embodiment
Embodiments of the invention are described in detail below in conjunction with the accompanying drawings.
As shown in figure 1, the hand rehabilitation ectoskeleton man-machine interactive system based on ARM and (SuSE) Linux OS of the present invention
Including hardware platform, joint moment sensor, joint angles sensor, motor drive module and exoskeleton manipulator, wherein firmly
Part platform is as a general control platform, the realization for handling rehabilitation exoskeleton manipulator, including system platform, power supply
Power management module, motor control module and data acquisition module, the method that hardware platform uses function modoularization, pass through motor
The motor control signal output end of control module and the motor control signal input of motor drive module are connected, and its core is base
In Serial Peripheral Interface (SPI)（SPI）The data acquisition module and motor control module of bus.
The design of system uses Hardware/Software Co-design Technology, including part platform and LED touch screen, data acquisition module and electricity
Machine control module is all articulated to the Serial Peripheral Interface (SPI) of several processors（SPI）In bus, with reference to hardware platform, software platform is used
Hierarchical parallel contention control structure, including driver, interface display module（GUI system）, control program and application program connect
Mouthful（API）, the handling function to peripheral hardware is supplied to control program to make by api function on the basis of the driver of exploitation
Include master control program and control subprogram with, the control program, wherein master control program complete whole system operation and
Monitoring, control subprogram completes the sensing data processing, control strategy implementation and the realization of specific control method of manipulators in rehabilitation,
Graphic user interface sets up man-machine interactive system, by calling control subprogram to realize the choosing of a variety of rehabilitation modalities of manipulators in rehabilitation
Select, the realization of parameter setting and specific rehabilitation course.
Motor drive module is used to drive exoskeleton manipulator to work, and joint moment sensor is used to gather ectoskeleton machinery
The rotating torque of swivel of hand, is transmitted to data by information by signal conditioning circuit by the moment information for collecting ectoskeleton joint and adopts
Collect module, the signal conditioning circuit of joint moment sensor is two foil gauge composition half-bridge circuits, is obtained by amplifying circuit
Desired signal, and it is transferred to data acquisition module.Joint moment sensor passes for the strain-type based on strain measurement principle design
Sensor, it is characterised in that the elastomer of sensor and the mechanism body of manipulators in rehabilitation are merged, and elastomer is cantilever beam
Structure, is made up of duralumin ZA12.
Joint angles sensor is used for the rotational angle for gathering exoskeleton manipulator joint, by the ectoskeleton joint collected
Information is transmitted to data acquisition module by the angle information of rotation by signal conditioning circuit.Joint angles sensor uses twin shaft suddenly
Your sensor 2D-VH-11, the magnetic field that permanent magnet is produced parallel to 2D-VH-11 surface, by modulate circuit by ectoskeleton
The rotational angle data in joint are transferred to data acquisition module.
Human-computer interaction interface（GUI system）Main interface has 4 major functions：Rehabilitation training, system set, entertain and helped
Help.Rehabilitation training and system are set to the main functional modules of system.Rehabilitation training function system provides two kinds of rehabilitation modalities,
CPM patterns and H-CPM patterns, user can be with unrestricted choice.Wherein, there are two kinds of rehabilitation trainings under CPM patterns：Bending and swing.
Bending and swing that rehabilitation is very alike, just for rehabilitation object it is different.In interface and function are realized, association is embodied
The characteristics of adjusting consistent, bending and the look ＆ feel swung, user mutual mode all have good uniformity.Start rehabilitation training
Before first have to carry out " quick adjustment ", the finger of rehabilitation is wanted in finger select button and the list box selection that can be provided by interface
Joint, and by operating " beginning ", " commutation " and " stopping " button, complete the setting of joint position before rehabilitation.Then " health is carried out
Refreshment is practiced ", " rehabilitation duration " and " recovery period " according to interface prompt, are set, START button, so all adjustment is clicked on
The motor crossed just is run simultaneously, and the automatic reverse in half of recovery period, until rehabilitation duration is arrived or motor emergent stopping.
This rehabilitation training can both realize the bending rehabilitation training of whole finger multi-joint, can also realize the swing rehabilitation instruction of finger
Practice.Half-CPM rehabilitation modes are characterised by increasing in the system of manipulators in rehabilitation a healthy human hand addend according to gloves, pass through
The action control of healthy human hand suffers from the rehabilitation exercise referred to, patient can according to itself feel refer to Continuous Passive Movement to regulate and control trouble
Speed and scope, so as to add independence and subjective initiative of the patient in rehabilitation exercise.H-CPM is different from CPM
It is that after selection to be carried out finger and the joint of rehabilitation training, adjusting slider setting can be passed through electric according to the demand of user
The rotating speed of machine, it is possible to real time modifying motor speed.When a certain extreme position of finger movement is reached, user can lead to
Cross click " commutation " button manual reverse of direction.User oneself controls rehabilitation duration and recovery period, without passing through program setting.System
It is provided with two main tasks：One is being configured to rehabilitation parameter in rehabilitation training；The second is to rehabilitation course
Joint power/position information of middle preservation dumps to U disks.
Human-computer interaction interface（GUI system）Main interface includes the parallel contention control of base, in the control structure lower grade mode by
The restriction of fine mode.If fine mode is not activated, system is using the low first class mode being activated；If senior mould
Formula has been activated, then its output suppresses the output of lower grade mode, fine mode adapter control system, until its corresponding information is defeated
Enter to restore or by the pattern of higher level suppressed.According to the order of system priority from high to low：
Pattern 0 --- emergency mode：Transfinited for supply voltage, manipulators in rehabilitation retard motion and scram button manually stop
Deng.Now system GUI provides pictograph alarm, shields all lower grade modes.
Pattern 1 --- manual mode：For controlling manually.
Pattern 2 --- Program Mode：Rehabilitation task and parameter are set by man-machine interface, autonomous completion rehabilitation
Journey.
System sets and mainly implemented function such as：Loading and unloading, the setting of safe torque, the collection of data acquisition module
The storage and unloading of data.Corresponding parameter is set by interface, will so be loaded automatically at first in rehabilitation training
Or unloading data acquisition module.If selecting data acquisition, the maximum moment gathered in rehabilitation course is more than safe torque, health
Multiple motion will terminate automatically, and the finger-joint of patient is played a protective role.
File copy function can realize automatic carry USB flash disk；After file copy is finished, system unloads USB flash disk automatically.User
As long as file copy can be completed according to prompting operation.
Shown in implementation explanation above and accompanying drawing, it is one of present pre-ferred embodiments, the present invention is not limited to this, be
With, person approximate with construction, device, the feature etc. of the present invention, identical such as, it all should belong to of the invention and found purpose and apply for a patent
Within the scope of.
Claims (11)
1. the hand rehabilitation ectoskeleton man-machine interactive system based on ARM and (SuSE) Linux OS, it is characterised in that including joint
Torque sensor, joint angles sensor, hardware platform and software platform, motor drive module, human-computer interaction interface and dermoskeleton
Bone manipulator,
Joint moment sensor is used for the rotating torque for gathering exoskeleton manipulator joint,
Joint angles sensor is used for the rotational angle for gathering exoskeleton manipulator joint,
System hardware platform is built using the method for function modoularization, including based on Serial Peripheral Interface (SPI)（SPI）Bus
Data acquisition module and motor control module, power supply and power management module, system platform,
Joint moment sensor will collect the moment information in ectoskeleton joint and information be transmitted into data by signal conditioning circuit
Acquisition module,
Joint angles sensor passes information the angle information of the ectoskeleton articulation collected by signal conditioning circuit
To data acquisition module,
Realization of the hardware platform with software platform for handling rehabilitation exoskeleton manipulator,
With reference to hardware platform, software platform uses hierarchical parallel contention control structure,
Human-computer interaction interface allows users to use passive rehabilitation mode or semi-passive rehabilitation mode according to rehabilitation modality, passes through
The mode of game carries out hand rehabilitation training.
2. the hand rehabilitation ectoskeleton man-machine interactive system according to claim 1 based on ARM and (SuSE) Linux OS,
Characterized in that, the joint moment sensor is the strain gauge transducer based on strain measurement principle design.
3. the hand rehabilitation ectoskeleton man-machine interactive system according to claim 2 based on ARM and (SuSE) Linux OS,
Characterized in that, the elastomer of the sensor and the mechanism body of manipulators in rehabilitation are merged, the elastomer is outstanding
Arm girder construction, is made up of duralumin ZA12, and the conciliation circuit of the joint moment sensor is two foil gauge composition half-bridge circuits,
Desired signal is obtained by amplifying circuit, and is transferred to data acquisition module.
4. the hand rehabilitation ectoskeleton man-machine interactive system according to claim 1 based on ARM and (SuSE) Linux OS,
Characterized in that, the joint angles sensor uses twin shaft Hall sensor 2D-VH-11, the magnetic field that permanent magnet is produced is put down
The rotational angle data in ectoskeleton joint are transferred to data acquisition module by row in 2D-VH-11 surface by modulate circuit.
5. the hand rehabilitation ectoskeleton man-machine interactive system according to claim 1 based on ARM and (SuSE) Linux OS,
Characterized in that, hardware platform uses modular designs method, it is divided into 4 functional modules：Power supply and power management module, system
Platform, data acquisition module and motor control module,
The data acquisition module and motor control module are all articulated to S3C2410 Serial Peripheral Interface (SPI)（SPI）In bus,
The hardware platform can as a general control platform,
The feature of the hardware platform is that data acquisition module and motor control module are all articulated to S3C2410 serial peripheral and connect
Mouthful（SPI）In bus, the feature of the module mounting mode is module and structure based on spi bus, and this feature ensure that control
The scalability of platform feature processed.
6. the hand rehabilitation ectoskeleton man-machine interactive system according to claim 1 based on ARM and (SuSE) Linux OS,
Characterized in that, software platform includes driver, graphic user interface（GUI）, control program and application programming interfaces（API）
Deng 4 parts,
Handling function to peripheral hardware is supplied to control program to use by api function on the basis of the driver of exploitation；
Control program includes master control program and control subprogram, and wherein master control program completes operation and the prison of whole system
Control, control subprogram complete the sensing data processing, control strategy implementation and the realization of specific control method of manipulators in rehabilitation；
Graphic user interface sets up man-machine interactive system, by calling control subprogram to realize a variety of rehabilitation modalities of manipulators in rehabilitation
Selection, the realization of parameter setting and specific rehabilitation course.
7. the hand rehabilitation ectoskeleton man-machine interactive system according to claim 1 based on ARM and (SuSE) Linux OS,
It is further characterized in that the design of its system uses Hardware/Software Co-design Technology.
8. the hand rehabilitation ectoskeleton man-machine interactive system according to claim 1 based on ARM and (SuSE) Linux OS,
It is characterized in that the software systems use lower grade mode in parallel contention control, the control structure to be restricted by fine mode,
If fine mode is not activated, system is using the low first class mode being activated；If fine mode has been activated, its
Output suppresses the output of lower grade mode, fine mode adapter control system, until its corresponding information input is restored or by higher
The pattern of level is suppressed；
According to the order of system priority from high to low：
Pattern 0 --- emergency mode：Transfinited for supply voltage, manipulators in rehabilitation retard motion and scram button manually stop
Deng；
Now system GUI provides pictograph alarm, shields all lower grade modes；
Pattern 1 --- manual mode：For controlling manually；
Pattern 2 --- Program Mode：Rehabilitation task and parameter are set by man-machine interface, autonomous completion rehabilitation course.
9. the hand rehabilitation ectoskeleton man-machine interactive system according to claim 6 based on ARM and (SuSE) Linux OS,
It is characterized in that main interface has 4 main functional modules：Rehabilitation training module, system setup module, entertainment modules and help
Module, rehabilitation training and system are set to the main functional modules of system,
Wherein, rehabilitation training includes two kinds of rehabilitation modalities of CPM and H-CPM, the bending training of finger in CPM rehabilitation modalities
Carried out respectively with training is swung,
System is provided with two main tasks：One is being configured to rehabilitation parameter in rehabilitation training；The second is right
Joint power/position the information preserved in rehabilitation course dumps to U disks.
10. the hand rehabilitation ectoskeleton man-machine interactive system according to claim 9 based on ARM and (SuSE) Linux OS,
It is characterized in that increasing a healthy human hand addend under the Half-CPM rehabilitations mode, in the system of manipulators in rehabilitation according to hand
Set, suffers from the rehabilitation exercise referred to by the action control of healthy human hand, patient can according to itself feel refer to continuously to regulate and control trouble
The speed and scope of passive activity, so as to add independence and subjective initiative of the patient in rehabilitation exercise.
11. the hand rehabilitation ectoskeleton man-machine interaction system according to claim 10 based on ARM and (SuSE) Linux OS
System, it is characterised in that the rehabilitation training pattern of the exoskeleton manipulator is two kinds of rehabilitation modalities：CPM patterns and H-CPM patterns,
There are two kinds of rehabilitation trainings under CPM patterns：Bending and swing；
Bending and swing that rehabilitation is very alike, just for rehabilitation object it is different, in interface and function are realized, embody
The characteristics of harmonious, bending and the look ＆ feel swung, user mutual mode all have good uniformity,
Start to first have to carry out " quick adjustment ", the finger select button and list box that can be provided by interface before rehabilitation training
The finger-joint of rehabilitation is wanted in selection, and by operating " beginning ", " commutation " and " stopping " button, completes joint position before rehabilitation
Setting,
Then " rehabilitation training " is carried out, according to interface prompt, sets " rehabilitation duration " and " recovery period ", clicked on " beginning " and press
Button, so all adjusted motors are just run simultaneously, and the automatic reverse in half of recovery period, arrive up to rehabilitation duration or
Person's motor emergent stopping, this rehabilitation training can both realize the bending rehabilitation training of whole finger multi-joint, can also realize
The swing rehabilitation training of finger,
H-CPM from unlike CPM after selection to be carried out finger and the joint of rehabilitation training, can be according to the need of user
Ask, the rotating speed of motor is set by adjusting slider, it is possible to real time modifying motor speed；
When a certain extreme position of finger movement is reached, user can be used by clicking on " commutation " button manual reverse of direction
Family oneself controls rehabilitation duration and recovery period, without passing through program setting.
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| CN108309687A (en) * | 2018-01-22 | 2018-07-24 | 重庆大学 | A kind of closed-loop control system of healing robot |
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