CN107595549A - A kind of method and control system for eliminating limb motion trajector deviation - Google Patents
A kind of method and control system for eliminating limb motion trajector deviation Download PDFInfo
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- CN107595549A CN107595549A CN201710929684.7A CN201710929684A CN107595549A CN 107595549 A CN107595549 A CN 107595549A CN 201710929684 A CN201710929684 A CN 201710929684A CN 107595549 A CN107595549 A CN 107595549A
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- rehabilitation equipment
- motion
- trajector deviation
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- final position
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Abstract
The invention discloses a kind of method and control system for eliminating limb motion trajector deviation, this method includes：Set the movement locus of rehabilitation equipment；Record the start position of movement locus, the translational speed between final position, and start position, final position in each unit interval；Rehabilitation equipment is controlled to drive limbs to carry out track reduction motion from the start position of movement locus, wherein, translational speed is identical when the translational speed in the reduction motion of track in each unit interval is set with movement locus；The stop position of recording track reduction motion；By stop position compared with final position, if position is identical, no trajector deviation, if position is different, control rehabilitation equipment is moved to final position from stop position, to eliminate trajector deviation.There is situation about shaking this invention ensures that the continuity of the speed of each subslot reduction, during the training for avoiding rehabilitation equipment, improve the fluency and accuracy of limb rehabilitating motion.
Description
Technical field
The present invention relates to a kind of track of limb rehabilitation training to reduce motion, more specifically a kind of to eliminate limb motion rail
The method and control system of mark deviation.
Background technology
Because the causes of disease such as cerebrovascular disease, brain trauma cause limbs of patient to lose mobility, muscular atrophy, generally require to borrow
External force passive movement is helped to carry out rehabilitation training, so as to help patient to recover limbs strength.Limb rehabilitating equipment is used for limb motion
Dysfunction is treated and rehabilitation training, can allow patient by recording doctor in the limb motion track of rehabilitation equipment
The limb motion track of the setting of doctor is reduced on rehabilitation equipment, patient is obtained accurate and effective rehabilitation training.
The method of current existing limb rehabilitating equipment also original movement trajectory is as follows：
Pulse reducing process：Track record is to record pulse of the limb motion within each small unit interval by encoder
Amount, track reduction are that motor rotates the pulsed quantity recorded within each small unit interval by controller.Its advantage
It is that reduction track is accurate, but because motor uses position control mode, motor is required to undergo within each small unit interval
Halted state, motor speed is discontinuous, causes robotic arm to be shaken, and then influences patient outcomes.
Angle reducing process：Track record is to record limb motion within each small unit interval by angular transducer
Angle value, track reduction are that motor rotates the angle value recorded within each small unit interval by controller.This
There is open defect in kind method, due to angular transducer precision deficiency, cause angle reduction in each unit interval to have one
Fixed trajector deviation, then trajector deviation accumulation, after more subslots reduction, trajector deviation is obvious, easily causes robotic arm to collide
Limiting component, and then patient outcomes are influenceed, or even cause danger.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of method for eliminating limb motion trajector deviation
And after control system is reduced by each subslot, trajector deviation is determined whether, if deviation be present, eliminate, keep away in time
The accumulative of deviation is exempted from, has made limb rehabilitation training more accurate, improve the effect of rehabilitation training.
To achieve the above object, the present invention uses following technical scheme：A kind of method for eliminating limb motion trajector deviation,
It the described method comprises the following steps：
S10, the movement locus for setting rehabilitation equipment；
S20, the start position for recording movement locus, each unit between final position, and start position, final position
Translational speed in time；
S30, control rehabilitation equipment drive limbs to carry out track reduction motion from the start position of movement locus, wherein, rail
Translational speed is identical when translational speed in mark reduction motion in each unit interval is set with movement locus；
S40, the stop position of recording track reduction motion；
S50, by stop position compared with final position, if position is identical, no trajector deviation, if position is different,
Then control rehabilitation equipment is moved to final position from stop position, to eliminate trajector deviation.
Its further technical scheme is：Also include rehabilitation equipment between the step S20 and step S30 to return from final position
It is grouped into start position.
Its further technical scheme is：Step S10 includes step in detail below：
Rehabilitation equipment is set as adaptive learning；
Each joint of limbs and each articulation mechanism of rehabilitation equipment correspond；
Limbs drive rehabilitation equipment motion；
Rehabilitation equipment carries out track study.
Its further technical scheme is：In the step S20, sample frequency is 100Hz in the unit interval.
Its further technical scheme is：In the step S50, rehabilitation equipment from stop position be moved to final position when
Between be 0.8s-1.1s.
A kind of control system for eliminating limb motion trajector deviation, including：
Setting module, for setting the movement locus of rehabilitation equipment；
Logging modle, for recording the data message in movement locus；
Control module, for controlling rehabilitation equipment to drive limbs to carry out track reduction motion；
Drive module, for driving rehabilitation equipment to drive each joint motions of limbs；
Comparison module, for stop position compared with final position；
Deviation cancellation module, for rehabilitation equipment to be moved into final position from stop position, to eliminate trajector deviation.
Its further technical scheme is：Start position and final position of the logging modle including detection rehabilitation equipment
Position sensor, for detecting the velocity sensor of the translational speed between start position, final position in each unit interval.
Its further technical scheme is：The control module includes controller, and the data electrically coupled in controller are deposited
Reservoir.
Its further technical scheme is：The drive module includes motor, the motor and the controller
Output end electrically couple.
Its further technical scheme is：The rehabilitation equipment be various dimensions upper limb healing machinery arm, the upper limb healing
Mechanical arm includes overarm arm, and the horizontal rotating arm below overarm arm, the horizontal rotating arm other end are extended downwardly provided with perpendicular
To link arm, the lower end of the vertical link arm is provided with the vertical lever arm of shoulder, the outer end connection of the vertical lever arm of shoulder
There is postbrachium, the postbrachium, which is fixedly connected, bending track, and the outside of the bending track is provided with forearm, and the forearm rotation connection has grip
Bar；The bending track includes forearm bending track and postbrachium bending track, and the forearm bending track couples with the forearm, the postbrachium bending track and institute
Postbrachium connection is stated, rotation connection part is provided between the forearm and the postbrachium, to form the forearm, postbrachium rotatably joins
Connect.
Compared with the prior art, the invention has the advantages that：A kind of method for eliminating limb motion trajector deviation of the present invention
Translational speed is identical when translational speed in the reduction motion of track in each unit interval is set with movement locus, ensure that every
, there is situation about shaking during the training for avoiding rehabilitation equipment, makes training more smooth in the continuity of the speed of one subslot reduction；
By stop position compared with final position, if position is different, control rehabilitation equipment is moved to terminal from stop position
Position, trajector deviation is eliminated in time, avoid the repeatedly accumulative of trajector deviation, improve the fluency and precisely of limb rehabilitating motion
Property.
Described above is only the general introduction of technical solution of the present invention, can in order to better understand technical measure
Content according to specification is practiced, and in order to make above and other objects of the present invention, feature and advantage brighter
It is aobvious understandable, below especially exemplified by preferred embodiment, describe in detail as follows.
Brief description of the drawings
Fig. 1 is that the present invention is used for a kind of flow chart for the method specific embodiment for eliminating limb motion trajector deviation；
Fig. 2 is the sub-step of step S10 in a kind of method specific embodiment for eliminating limb motion trajector deviation of the present invention
Flow chart；
Fig. 3 is the control system flow chart for the control system specific embodiment that the present invention eliminates limb motion trajector deviation；
Fig. 4 is control module and record mould in the control system specific embodiment of the invention for eliminating limb motion trajector deviation
The flow chart of block；
Fig. 5 is the structural representation for the control system specific embodiment that the present invention eliminates limb motion trajector deviation.
Reference
1st, upper limb healing machinery arm；11st, overarm arm；12nd, horizontal rotating arm；13rd, vertical link arm；14th, shoulder is vertically lived
Swing arm；15th, postbrachium；16th, postbrachium bending track；17th, forearm bending track；18th, forearm；19th, grip bar；2nd, control system；21st, mould is set
Block；22nd, logging modle；221st, velocity sensor；222nd, position sensor；23rd, control module；231st, controller；232nd, data
Memory；24th, drive module；25th, comparison module；26th, deviation cancellation module.
Embodiment
In order to more fully understand the technology contents of the present invention, technical scheme is entered with reference to specific embodiment
One step introduction and explanation, but it is not limited to this.
Refer to the specific embodiment shown in Fig. 1, the invention provides it is a kind of eliminate limb motion trajector deviation method,
Method comprises the following steps：
S10, the movement locus for setting rehabilitation equipment；
S20, the start position for recording movement locus, each unit between final position, and start position, final position
Translational speed in time；
S30, control rehabilitation equipment drive limbs to carry out track reduction motion from the start position of movement locus, wherein, rail
Translational speed is identical when translational speed in mark reduction motion in each unit interval is set with movement locus；
S40, the stop position of recording track reduction motion；
S50, by stop position compared with final position, if position is identical, no trajector deviation, if position is different,
Then control rehabilitation equipment is moved to final position from stop position, to eliminate trajector deviation.
Wherein, in the setting of movement locus, doctor can targetedly set fortune according to the muscular strength situation of the limbs of patient
One kind in several regular motion tracks of dynamic rail mark or rehabilitation equipment factory preset.If using doctor according to trouble
The actual conditions setting movement locus of person, then need before movement locus is set, rehabilitation equipment resetted.
In step S20, by start position to final position, this is divided into multiple unit interval for a period of time, and the unit interval is
10ms, it is that sample frequency is 100Hz, under this frequency, the translational speed in the unit interval is constant, therefore unit interval
Intrinsic displacement amount is equal to the translational speed being multiplied by the unit interval unit interval.In order to when carrying out track reduction motion, control
Translational speed of the rotating speed of motor within the unit interval is protected with the translational speed in each unit interval during setting movement locus
Hold consistent.Movement velocity is accurate and coherent in ensure that track reduction motion from start position to final position this period
, avoid that the motor speed of rehabilitation equipment is discontinuous, situation about shaking occur.
In step S50, per subslot at the end of reduction motion, position sensor sends out the information of the stop position detected
Deliver to controller, compared with controller is by final position of stop position when setting track and moving, if identical, then do not have
Trajector deviation is occurred, if stop position is different, shows trajector deviation occurred, at this moment, controller understands controlled motor by health
Multiple equipment is moved to final position from stop position, and to eliminate trajector deviation, this mode effectively avoids trajector deviation
It is accumulative, motion will not be reduced to next subslot and impacted, so as to improve the accuracy that rehabilitation equipment drives limb motion.
Further, since reduction motion stop position is possible different to the distance between final position per subslot, but it is
The training effectiveness of rehabilitation equipment is improved, time control that rehabilitation equipment can be moved to final position from stop position exists
Within the scope of 0.8s-1.1s, the mode of control is by the running speed of controller regulation motor, when the distance is long, by electricity
The running speed of machine improves, in order to move quickly into final position.
Further, if setting this mode of movement locus according to the actual conditions of patient using doctor, then need
After movement locus is set, rehabilitation equipment is revert to start position by controller controlled motor from final position.
Referring to Fig. 2, step S10 includes step in detail below：
S101, rehabilitation equipment is set as adaptive learning；Under adaptive learning, motor processing current control mode, at this moment
Limbs can drive rehabilitation equipment to move.
S102, each joint of limbs and rehabilitation equipment each articulation mechanism correspond；
S103, limbs drive rehabilitation equipment motion；
S104, rehabilitation equipment carry out track study.
Refer to the specific embodiment shown in Fig. 3-4, a kind of control system for eliminating limb motion trajector deviation of the present invention
It is the control system employed in a kind of above-mentioned method for eliminating limb motion trajector deviation, control system 2 specifically includes：Setting
Module 21, for setting the movement locus of rehabilitation equipment；Logging modle 22, for recording the data message in movement locus；Control
Molding block 23, for controlling rehabilitation equipment to drive limbs to carry out track reduction motion；
Drive module 24, for driving rehabilitation equipment to drive each joint motions of limbs；Comparison module 25, for stop position
Compared with final position；Deviation cancellation module 26, for rehabilitation equipment to be moved into final position from stop position, to disappear
Except trajector deviation.Wherein, logging modle 22 includes the start position of detection rehabilitation equipment and the position sensor in final position
222, for detecting the velocity sensor 221 of the translational speed between start position, final position in each unit interval.Specifically
, control module 23 includes controller 231, and the data storage 232 electrically coupled in controller 231.Specifically, driving mould
Block 24 includes motor, and motor electrically couples with the output end of controller 231.
Specific setting module 21 includes both of which, self-studying mode and factory preset pattern, and doctor can be according to patient
Situation selection one of which pattern, if selection self-studying mode, limbs can drive rehabilitation equipment to move.Logging modle 22 is by position
Put each unit that the data and velocity sensor 221 in start position that sensor 222 detects and final position detect
The data of translational speed in time are sent to control module 23, and are preserved to data storage 232.
As shown in figure 5, the rehabilitation equipment in the present embodiment is the upper limb healing machinery arm 1 of various dimensions, upper limb healing machinery
Arm 1 includes overarm arm 11, and the horizontal rotating arm 12 located at the lower section of overarm arm 11, and the other end of horizontal rotating arm 12, which extends downwardly, to be set
There is vertical link arm 13, the lower end of vertical link arm 13 is provided with the vertical lever arm 14 of shoulder, the outer end of the vertical lever arm 14 of shoulder
Connection has postbrachium 15, and postbrachium 15, which is fixedly connected, bending track, and the outside of bending track is provided with forearm 18, and forearm 18, which rotates connection, grip bar
19；Bending track includes forearm bending track 17 and postbrachium bending track 16, and forearm bending track 17 couples with forearm 18, postbrachium bending track 16 and postbrachium 15
Connect, rotation connection part is provided between forearm 18 and postbrachium 15, to form forearm 18, postbrachium 15 rotatably couples.
Specifically, the joint motions part and the connection place in another joint in upper limb healing machinery arm 1 are equipped with drive
Dynamic motor, motor are controlled by same controller 231.To meet the harmony of each joint motions.
Comparison module 25 includes comparator, and comparator collects position sensor 222 stopping in the reduction motion of track
Position is sent to controller 231 compared with the final position that data storage 232 stores, and by result of the comparison, if depositing
In trajector deviation, controller 231 can control motor that upper limb healing machinery arm 1 is moved into final position from stop position,
To carry out the elimination of trajector deviation.Because the distance between every subslot reduction motion stop position to final position may differ
Sample, but in order to improve the training effectiveness of rehabilitation equipment, controller 231 calculates by analyzing and will control the operating speed of motor
Degree, when the distance is long, the running speed of motor is improved, it is different in offset distance in order to move quickly into final position
In the case of, it still can guarantee that the time for eliminating trajector deviation is much the same.
Summary：A kind of method for eliminating limb motion trajector deviation of the present invention each unit in the reduction motion of track
Translational speed is identical when translational speed in time is set with movement locus, ensure that the coherent of the speed that each subslot reduces
Property, there is situation about shaking during the training for avoiding rehabilitation equipment, make training more smooth；Entered by stop position and final position
Row compares, if position is different, control rehabilitation equipment is moved to final position from stop position, eliminates trajector deviation in time, keeps away
Exempt from the repeatedly accumulative of trajector deviation, improve the fluency and accuracy of limb rehabilitating motion.
The above-mentioned technology contents that the present invention is only further illustrated with embodiment, in order to which reader is easier to understand, but not
Represent embodiments of the present invention and be only limitted to this, any technology done according to the present invention extends or recreation, by the present invention's
Protection.Protection scope of the present invention is defined by claims.
Claims (10)
- A kind of 1. method for eliminating limb motion trajector deviation, it is characterised in that the described method comprises the following steps：S10, the movement locus for setting rehabilitation equipment；S20, the start position for recording movement locus, each unit interval between final position, and start position, final position Interior translational speed；S30, control rehabilitation equipment drive limbs to carry out track reduction motion from the start position of movement locus, wherein, track is also Translational speed is identical when translational speed in original motion in each unit interval is set with movement locus；S40, the stop position of recording track reduction motion；S50, by stop position compared with final position, if position is identical, no trajector deviation, if position is different, control Rehabilitation equipment processed is moved to final position from stop position, to eliminate trajector deviation.
- A kind of 2. method for eliminating limb motion trajector deviation according to claim 1, it is characterised in that the step Also start position is revert between S20 and step S30 from final position including rehabilitation equipment.
- A kind of 3. method for eliminating limb motion trajector deviation according to claim 1, it is characterised in that step S10 bags Include step in detail below：Rehabilitation equipment is set as adaptive learning；Each joint of limbs and each articulation mechanism of rehabilitation equipment correspond；Limbs drive rehabilitation equipment motion；Rehabilitation equipment carries out track study.
- A kind of 4. method for eliminating limb motion trajector deviation according to claim 1, it is characterised in that the step In S20, sample frequency is 100Hz in the unit interval.
- A kind of 5. method for eliminating limb motion trajector deviation according to claim 1, it is characterised in that the step In S50, the time that rehabilitation equipment is moved to final position from stop position is 0.8s-1.1s.
- A kind of 6. control system for eliminating limb motion trajector deviation, it is characterised in that including：Setting module, for setting the movement locus of rehabilitation equipment；Logging modle, for recording the data message in movement locus；Control module, for controlling rehabilitation equipment to drive limbs to carry out track reduction motion；Drive module, for driving rehabilitation equipment to drive each joint motions of limbs；Comparison module, for stop position compared with final position；Deviation cancellation module, for rehabilitation equipment to be moved into final position from stop position, to eliminate trajector deviation.
- A kind of 7. control system for eliminating limb motion trajector deviation according to claim 6, it is characterised in that the note Recording module includes the start position of detection rehabilitation equipment and the position sensor in final position, for detecting start position, terminal The velocity sensor of translational speed between position in each unit interval.
- A kind of 8. control system for eliminating limb motion trajector deviation according to claim 6, it is characterised in that the control Molding block includes controller, and the data storage electrically coupled in controller.
- A kind of 9. control system for eliminating limb motion trajector deviation according to claim 8, it is characterised in that the drive Dynamic model block includes motor, and the motor electrically couples with the output end of the controller.
- 10. a kind of control system for eliminating limb motion trajector deviation according to claim 6, it is characterised in that described Rehabilitation equipment is the upper limb healing machinery arm of various dimensions, and the upper limb healing machinery arm includes overarm arm, and under overarm arm The horizontal rotating arm of side, the horizontal rotating arm other end extends downwardly to be set provided with vertical link arm, the lower end of the vertical link arm There is the vertical lever arm of shoulder, the outer end connection of the vertical lever arm of shoulder has postbrachium, and the postbrachium, which is fixedly connected, bending track, institute The outside for stating bending track is provided with forearm, and the forearm rotation connection has grip bar；The bending track includes forearm bending track and postbrachium bending track, The forearm bending track couples with the forearm, and the postbrachium bending track couples with the postbrachium, between the forearm and the postbrachium Provided with rotation connection part, to form the forearm, postbrachium rotatably couples.
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| CN201710929684.7A CN107595549A (en) | 2017-10-09 | 2017-10-09 | A kind of method and control system for eliminating limb motion trajector deviation |
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Cited By (2)
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| CN111067538A (en) * | 2019-12-06 | 2020-04-28 | 清华大学 | Method and system for evaluating upper limb movement function based on force and position information |
| CN115040840A (en) * | 2022-06-20 | 2022-09-13 | 山西医科大学第二医院 | Upper limb rehabilitation training method and device |
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