CN107669447B - Control method of hydraulic system of knee joint rehabilitation robot - Google Patents

Control method of hydraulic system of knee joint rehabilitation robot Download PDF

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Publication number
CN107669447B
CN107669447B CN201710737744.5A CN201710737744A CN107669447B CN 107669447 B CN107669447 B CN 107669447B CN 201710737744 A CN201710737744 A CN 201710737744A CN 107669447 B CN107669447 B CN 107669447B
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knee joint
period
support
piston rod
driving device
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CN201710737744.5A
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CN107669447A (en
Inventor
张剑韬
胡昆
朱岩
沈林鹏
杨嘉林
熊麟霏
励建安
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Shenzhen Robo Medical Technology Co ltd
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Shenzhen Robo Medical Technology Co ltd
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Priority to CN201710737744.5A priority Critical patent/CN107669447B/en
Publication of CN107669447A publication Critical patent/CN107669447A/en
Priority to PCT/CN2018/102197 priority patent/WO2019037776A1/en
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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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0157—Constructive details portable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • 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
    • A61H2201/1238—Driving means with hydraulic or pneumatic drive
    • A61H2201/1246—Driving means with hydraulic or pneumatic drive by piston-cylinder systems
    • 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
    • A61H2205/10—Leg
    • A61H2205/102—Knee
    • 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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/62—Posture
    • A61H2230/625—Posture used as a control parameter for the apparatus

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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)
  • Prostheses (AREA)

Abstract

The invention discloses a control method of a hydraulic system of a knee joint rehabilitation robot, which comprises the following steps: the pressure applied to the heel and the front sole is detected, the controller receives the pressure signal and judges the current motion state of the knee joint, the angle of the knee joint in the straightening state in the supporting period is theta 2, the minimum bending angle of the knee joint in the swinging period is theta 1, and the controller controls the driving device to work according to the pressure signal and the angle signal to drive the piston rod of the hydraulic cylinder to contract or extend. The control method of the hydraulic system of the knee joint rehabilitation robot is simple to control, and can accurately judge the motion state of the knee joint in the walking process of a human body, so that adaptive driving force is provided, and the stability and the safety of the walking process are ensured.

Description

Control method of hydraulic system of knee joint rehabilitation robot
Technical Field
The invention relates to the field of rehabilitation medical instruments, in particular to a control method of a hydraulic system of a knee joint rehabilitation robot.
Background
The knee joint rehabilitation equipment is an emerging technology which is rapidly developed in recent years, and is a new application of the robot technology in the medical field. The existing knee joint rehabilitation equipment is usually driven by hydraulic pressure, can be fixed on thighs and shanks, and is driven by a controller to drive a hydraulic rod of a hydraulic cylinder to realize telescopic motion, so that the knee joint is driven to move, the gait of a normal person is simulated, and then a patient is driven to carry out walking training, so that the patient with dyskinesia on the lower limbs is recovered. However, there are many places to be improved in the control method of the hydraulic system of the current knee joint rehabilitation device in use, for example, chinese patent CN201611265540.8 discloses an orthopedic control method of a single lower limb exoskeleton orthosis, in which the sole pressure data, knee bending angle data and piston rod thrust data are received and processed by a controller in real time, the current walking state of the human body is obtained according to the processing result, and the operation of the hydraulic drive structure is controlled according to the current walking state. According to the method, three sensors are needed for measurement, the control structure is complex, and due to the fact that leakage happens occasionally in the hydraulic cylinder, the piston rod thrust sensor is adopted to detect the thrust of the piston rod, collected data can be inaccurate, and therefore the driving structure is wrong in working, and damage to the knee joint is caused.
Disclosure of Invention
The invention aims to solve the technical problems and provides the control method of the hydraulic system of the knee joint rehabilitation robot, which is simple to control and can accurately judge the motion state of the knee joint in the walking process of a human body, so that the adaptive driving force is provided, and the stability and the safety in the walking process are ensured.
The invention is realized by the following technical scheme: a control method of a hydraulic system of a knee joint rehabilitation robot comprises the following steps:
detecting the pressure applied to the heel and the forefoot, transmitting the detected pressure signal to a controller, receiving the pressure signal by the controller, and judging the current motion state of the knee joint, wherein the motion state is a support period and a swing period, and the support period comprises a support metaphase and a support anaphase; the angle of the knee joint in the extension state in the support period is theta 2, the minimum bending angle of the knee joint in the swing period is theta 1, the angles theta 1 and theta 2 are detected, an angle signal is formed and transmitted to the controller, and the controller controls the driving device to work according to the pressure signal and the angle signal to drive a piston rod of the hydraulic cylinder to contract or extend;
initializing after a system is electrified, judging the current motion state of the knee joint by the controller according to the pressure signal, and when the knee joint is in the early and middle support stages, driving the piston rod to extend out by the driving device to support the leg part so as to gradually increase the angle of the knee joint to theta 2; when the knee joint is in the later stage of supporting, the driving device drives the piston rod to contract so as to enable the knee joint to be gradually bent; if the knee joint is in the swing period, the driving device drives the piston rod to extend out to enable the shank to extend forwards until the heel is in contact with the ground to enable the knee joint to be in the support early-middle period, the knee joint is in the support early-middle period according to the step, when the angle of the knee joint is theta 2, the driving device flag is 0, the driving device drives the piston rod to contract at the moment to enable the knee joint to bend, when the bending angle of the knee joint is theta 1, the driving device flag is removed to be 1, the driving device drives the piston rod to extend out to enable the knee joint to be gradually straightened, and therefore a knee joint movement period is achieved.
Preferably, after the system is powered on, an initialization operation is first performed to clear data received by the controller.
Preferably, the driving device is a hydraulic pump, and the controller adjusts the motion of the piston rod by controlling the positive and negative rotation of a motor of the hydraulic pump.
Preferably, the knee joint is in the swing phase when there is no pressure signal at both the heel and forefoot and in the support phase when there is a pressure signal at the heel and/or forefoot.
Preferably, the support period is when the heel is stressed and the knee joint is in the support metaphase, and when the heel is not stressed, the knee joint is in the support anaphase.
Preferably, the movement speed of the piston rod during the support period is slower than the movement speed of the piston rod during the oscillation period.
The beneficial effects are that: compared with the prior art, the control method of the hydraulic system of the knee joint rehabilitation robot can accurately judge the motion state of the knee joint in the walking process by detecting the pressure signals of the heel and the front sole, meanwhile, the controller controls the driving device in the supporting period and the swinging period to work according to the pressure signals and the marks by detecting the bending angle of the knee joint in the walking process and enabling the driving device to generate the marks, so that the driving force applied by the driving device is more accurate, and the working stability and the safety of the knee joint rehabilitation robot are further improved.
Drawings
The following detailed description of embodiments of the invention is provided in conjunction with the appended drawings, in which:
fig. 1 is a schematic structural diagram of a knee joint rehabilitation robot to which the control method of the present invention is applied;
fig. 2 is a program control block diagram of a control method of the hydraulic system of the present invention.
Detailed Description
As shown in fig. 1, a knee joint rehabilitation robot to which the control method of the present invention is applied includes a thigh shell 1, a shank shell 2, a foot rest 3, a hydraulic system, a sensor and a controller 5; the hydraulic system comprises a hydraulic cylinder 4, an oil supply pipeline communicated with the hydraulic cylinder 4 and a driving device for driving hydraulic oil to flow; the sensors comprise an angle sensor 7, a forefoot pressure sensor 8 and a heel pressure sensor 9; the thigh shell 1 is hinged with the shank shell 2, two ends of the hydraulic cylinder 4 are respectively hinged with the thigh shell 1 and the shank shell 2, the angle sensor 7 is arranged at the hinged position of the thigh shell 1 and the shank shell 2, more specifically, the angle sensor 7 is arranged on an angle sensor 7 mounting plate, the angle sensor 7 mounting plate is fixed on the thigh shell 1, a rotary shaft body of the angle sensor 7 is arranged on the shank shell 2, thereby realizing the measurement of the knee joint bending angle, the crus shell 2 is connected with the foot support 3, the forefoot pressure sensor 8 and the heel pressure sensor 9 are arranged on the foot support 3, when in use, the controller 5 controls the driving device to drive the hydraulic oil to flow, thereby pushing the piston rod 6 of the hydraulic cylinder 4 to move, and the piston rod 6 drives the crus shell 2 and the thigh shell 1 to rotate relative to the hinged joint in the moving process, thereby driving the crus to rotate relative to the thigh.
As shown in fig. 2, the hydraulic system of the knee joint rehabilitation robot is controlled by the following steps:
the pressure sensors 8 and 9 are used for respectively detecting the pressure applied to the heel and the forefoot, and transmitting the detected pressure signals to the controller 5, the controller 5 receives the pressure signals and judges the current motion state of the knee joint, the motion state can be divided into a support period and a swing period, and the support period and the swing period are alternately carried out when the human body normally walks; the support period can be divided into a support early-middle period and a support later period, the swing period can be divided into a swing early-middle period and a swing later period, the angle of the knee joint in the support period in the straightening state is theta 2, namely theta 2 is the angle of the knee joint at the junction point of the swing early-middle period and the swing later period, and the angle is 180 degrees; the minimum bending angle of the knee joint in the swing period is theta 1, namely theta 1 is the bending angle of the knee joint at the junction point of the early-middle period and the later period of the swing, the angle of the knee joint is an included angle formed between a thigh and a shank, the angles theta 1 and theta 2 are detected by an angle sensor 7 and form angle signals to be transmitted to a controller 5, and the controller 5 controls a driving device to work according to the pressure signals and the angle signals to drive a piston rod 6 of a hydraulic cylinder 4 to contract or extend;
initializing after a system is electrified, judging the current motion state of the knee joint by the controller according to the pressure signal, and when the knee joint is in the early and middle support stages, driving the piston rod to extend out by the driving device to support the leg part so as to gradually increase the angle of the knee joint to theta 2; when the knee joint is in the later stage of supporting, the driving device drives the piston rod to contract so as to enable the knee joint to be gradually bent; if the knee joint is in the swing period, the driving device drives the piston rod to extend out to enable the shank to extend forwards until the heel is in contact with the ground to enable the knee joint to be in the support early-middle period, the knee joint is in the support early-middle period according to the step, when the angle of the knee joint is theta 2, the driving device flag is 0, the driving device drives the piston rod to contract at the moment to enable the knee joint to bend, when the bending angle of the knee joint is theta 1, the driving device flag is removed to be 1, the driving device drives the piston rod to extend out to enable the knee joint to be gradually straightened, and therefore a knee joint movement period is achieved. According to the control process, the accurate regulation and control of the motion of the piston rod can be realized even in the motion state of the knee joint after power-on, the control is very flexible, the applicability of the knee joint rehabilitation robot is improved, and the safety of the knee joint rehabilitation robot in the use process is ensured.
According to the control method of the hydraulic system of the knee joint rehabilitation robot, the pressure signals of the heel and the front sole are detected, the motion state of the knee joint in the walking process can be accurately judged, meanwhile, the bending angle of the knee joint in the walking process is detected, the driving device generates the mark, the controller 5 controls the driving device in the supporting period and the driving device in the swinging period to work according to the pressure signals and the mark, the driving force applied by the driving device is more accurate, and the working stability and the safety of the knee joint rehabilitation robot are improved.
Furthermore, after the system is powered on, initialization operation can be performed firstly, and the data received by the controller 5 is cleared, so that the influence of residual data in the controller 5 on the control process can be avoided, and the control accuracy and the control safety are further improved.
Preferably, the driving device may be a hydraulic pump, the controller 5 adjusts the movement of the piston rod 6 by controlling the forward and reverse rotation of a motor of the hydraulic pump, the piston rod 6 is driven to extend when the motor rotates forward, and the piston rod 6 is driven to retract when the motor rotates reversely. Of course, the driving device may also adopt an energy storage tank to drive the piston rod 6, and hydraulic oil with driving force is stored in the energy storage tank, and the extension and retraction of the piston rod 6 are controlled by controlling the flow direction of the hydraulic oil.
When the motion state of the knee joint is judged, accurate judgment can be carried out according to the detected pressure signals, namely, when no pressure signal exists on the heel and the forefoot, the knee joint is in a swing period, and when the pressure signal exists on the heel and/or the forefoot, the knee joint is in a support period.
The knee joint is in the support period, when the heel has pressure, the knee joint is in the support metaphase, when the heel has no pressure, the knee joint is in the support anaphase.
More preferably, the movement speed of the piston rod 6 during the support period may be slower than the movement speed of the piston rod 6 during the swing period, so that the rotation speed of the knee joint during the support period is slower than the rotation speed of the swing period, which is more consistent with the gait of the human body during the normal walking process, and since the leg part contacts with the ground during the support period, if the movement speed of the piston rod 6 is too fast, the acting force of the ground on the leg part is too large, thereby causing damage to the knee joint.
The above embodiments are only for illustrating the technical solutions of the present invention and are not limited thereto, and any modification or equivalent replacement without departing from the spirit and scope of the present invention should be covered within the technical solutions of the present invention.

Claims (6)

1. A control method of a hydraulic system of a knee joint rehabilitation robot is characterized by comprising the following steps:
detecting the pressure applied to the heel and the forefoot, transmitting the detected pressure signal to a controller, receiving the pressure signal by the controller, and judging the current motion state of the knee joint, wherein the motion state is a support period and a swing period, and the support period comprises a support metaphase and a support anaphase; the angle of the knee joint in the extension state in the support period is theta 2, the minimum bending angle of the knee joint in the swing period is theta 1, the angles theta 1 and theta 2 are detected, an angle signal is formed and transmitted to the controller, and the controller controls the driving device to work according to the pressure signal and the angle signal to drive a piston rod of the hydraulic cylinder to contract or extend;
initializing after a system is electrified, judging the current motion state of the knee joint by the controller according to the pressure signal, and when the knee joint is in the early and middle support stages, driving the piston rod to extend out by the driving device to support the leg part so as to gradually increase the angle of the knee joint to theta 2; when the knee joint is in the later stage of supporting, the driving device drives the piston rod to contract so as to enable the knee joint to be gradually bent; if the knee joint is in the swing period, the driving device drives the piston rod to extend out to enable the shank to extend forwards until the heel is in contact with the ground to enable the knee joint to be in the support early-middle period, the knee joint is in the support early-middle period according to the step, when the angle of the knee joint is theta 2, the driving device flag is 0, the driving device drives the piston rod to contract at the moment to enable the knee joint to bend, when the bending angle of the knee joint is theta 1, the driving device flag is removed to be 1, the driving device drives the piston rod to extend out to enable the knee joint to be gradually straightened, and therefore a knee joint movement period is achieved.
2. The method as claimed in claim 1, wherein after the system is powered on, an initialization operation is performed to clear data received by the controller.
3. The method as claimed in claim 1, wherein the driving device is a hydraulic pump, and the controller controls the forward and reverse rotation of a motor of the hydraulic pump to adjust the movement of the piston rod.
4. The method as claimed in claim 1, wherein the knee joint is in a swing phase when there is no pressure signal at both the heel and forefoot, and in a support phase when there is a pressure signal at the heel and/or forefoot.
5. The method as claimed in claim 4, wherein the supporting period is a supporting early-middle period when the heel is under pressure, and the supporting late period when the heel is not under pressure.
6. The method as claimed in claim 1, wherein the movement speed of the piston rod during the support period is slower than the movement speed of the piston rod during the swing period.
CN201710737744.5A 2017-08-24 2017-08-24 Control method of hydraulic system of knee joint rehabilitation robot Active CN107669447B (en)

Priority Applications (2)

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CN201710737744.5A CN107669447B (en) 2017-08-24 2017-08-24 Control method of hydraulic system of knee joint rehabilitation robot
PCT/CN2018/102197 WO2019037776A1 (en) 2017-08-24 2018-08-24 Knee joint rehabilitation robot and control method therefor

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CN201710737744.5A CN107669447B (en) 2017-08-24 2017-08-24 Control method of hydraulic system of knee joint rehabilitation robot

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CN107669447B true CN107669447B (en) 2020-07-21

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JP2016106643A (en) * 2014-12-01 2016-06-20 トヨタ自動車株式会社 Control method of wearable robot
CN106137687A (en) * 2016-08-17 2016-11-23 中国人民解放军63908部队 A kind of lower limb exoskeleton robot
CN106491319A (en) * 2016-12-01 2017-03-15 北京理工大学 A kind of wearable knee joint power-assisting robot

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CN102440854B (en) * 2011-09-05 2014-04-23 中国人民解放军总后勤部军需装备研究所 Human-machine coupling overload carrying system device and control method thereof
JP5889367B2 (en) * 2014-06-19 2016-03-22 本田技研工業株式会社 Walking assistance device and walking assistance program
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JP2016106643A (en) * 2014-12-01 2016-06-20 トヨタ自動車株式会社 Control method of wearable robot
CN106137687A (en) * 2016-08-17 2016-11-23 中国人民解放军63908部队 A kind of lower limb exoskeleton robot
CN106491319A (en) * 2016-12-01 2017-03-15 北京理工大学 A kind of wearable knee joint power-assisting robot

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