CN107961139A - A kind of pneumatic software rehabilitation elbow support system - Google Patents
A kind of pneumatic software rehabilitation elbow support system Download PDFInfo
- Publication number
- CN107961139A CN107961139A CN201810009737.8A CN201810009737A CN107961139A CN 107961139 A CN107961139 A CN 107961139A CN 201810009737 A CN201810009737 A CN 201810009737A CN 107961139 A CN107961139 A CN 107961139A
- Authority
- CN
- China
- Prior art keywords
- pneumatic
- elbow support
- software
- solenoid valve
- baroceptor
- 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.)
- Pending
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Classifications
-
- 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
-
- 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
- A61H1/0277—Elbow
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2201/5071—Pressure sensors
-
- 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
Abstract
A kind of pneumatic software rehabilitation elbow support system of the present invention, including：The pneumatic elbow support of software, pressure sensor, bend sensor, baroceptor, controller, driving plate, solenoid valve, pneumatic triple piece and gas bomb；The pneumatic elbow support of software includes air storage chamber and non-extensible end face；Pressure sensor is used to gather non-extensible end face and the pressure value at wearer's forearms contact；Bend sensor is used for the angle of bend angle value for gathering the pneumatic elbow support of software；Baroceptor is used to gather the indoor atmospheric pressure value of gas storage；Controller is connected with pressure sensor, bend sensor and baroceptor respectively, is instructed according to the pressure value of reception, bending value and atmospheric pressure value output control；Driving plate is connected with controller and solenoid valve respectively, controls the switch of solenoid valve according to control instruction and then realizes the inflation/deflation of the pneumatic elbow support of software.The system of the present invention has the compliance of driving by the way of software is pneumatic, has the characteristics that the security of human-computer interaction, comfort and easy to wear.
Description
Technical field
The present invention relates to a kind of software elbow support, more particularly to a kind of pneumatic software rehabilitation elbow support system.
Background technology
At present in rehabilitation power-assisting robot technical field, it is predominantly mechanical in the technical solution of power-assisted to be provided for human upper limb
Formula rehabilitation power assistive device.It is to use mechanical framework mostly, its pliability and light degree are all not well suited for human body and carry with.And
And their kinds of drive are taken electronic mostly, directly apply to human body, are also easy to give people to damage；Minority is using rigid machine
The form of structure frame and pneumatic muscles carries out rehabilitation power-assisted, it is complicated there is also mechanism, dresses cumbersome, wearing comfort and control
System excessive the problem of being not easy to carry with.Therefore, develop and be adapted to be worn on human body, and the safety that is easy to use
Soft wearable power-assisting robot it is very necessary.
The content of the invention
The embodiment of the present invention provides a kind of pneumatic software rehabilitation elbow support system, has the compliance of driving, and human-computer interaction
Security, comfort and it is easy to wear the characteristics of.
The present invention provides a kind of pneumatic software rehabilitation elbow support system, including：The pneumatic elbow support of software, pressure sensor, bending
Sensor, baroceptor, controller, driving plate, solenoid valve, pneumatic triple piece and gas bomb；
The pneumatic elbow support of software includes air storage chamber and is arranged at the non-extensible end face of air storage chamber lower part；
The pressure sensor is used to gather non-extensible end face and the pressure value at wearer's forearms contact；
The bend sensor is used for the angle of bend angle value for gathering the pneumatic elbow support of software；
The baroceptor is used to gather the indoor atmospheric pressure value of gas storage；
The controller is connected with pressure sensor, bend sensor and baroceptor respectively, according to the pressure of reception
Force value, bending value and the instruction of atmospheric pressure value output control；
The driving plate is connected with controller and solenoid valve respectively, according to control instruction control solenoid valve switch and then
Realize the inflation/deflation of the pneumatic elbow support of software；
The gas bomb is connected with solenoid valve, for storing compressed air.
In the pneumatic software rehabilitation elbow support system of the present invention, the pneumatic elbow support of software is formed using silica gel cast, with
Elbow joint bearing is connected using elastic bands.
In the pneumatic software rehabilitation elbow support system of the present invention, the bend sensor is cast in the pneumatic elbow support of software not
In extending end face, the pressure sensor bonds the surface of non-extensible end face.
It is described the system also includes lithium battery and voltage reduction module in the pneumatic software rehabilitation elbow support system of the present invention
Lithium battery is directly powered for driving plate, and the lithium battery and the voltage reduction module device in order to control that is connected after decompression are powered.
The present invention pneumatic software rehabilitation elbow support system in, the baroceptor, controller, driving plate, solenoid valve,
Gas bomb, voltage reduction module and lithium battery are arranged in portable knapsack.
In the pneumatic software rehabilitation elbow support system of the present invention, the system is additionally provided with pneumatic triple piece, and described pneumatic three
Connection part is connected with solenoid valve and gas bomb respectively, and the pneumatic triple piece is used for the maximum output air pressure for adjusting gas bomb.
A kind of this new pneumatic software rehabilitation elbow support system, the pneumatic elbow support of software are formed using silica gel material cast, and
Bend sensor is cast wherein, and pressure sensor is bonded to software elbow support body surface, realizes integral requirement, makes biography
Sensor reading has very high stability；Pneumatic component employs compact apparatus, realizes portable carrying.The present invention adopts
With the pneumatic mode of software, there is the compliance of driving, there is the security of human-computer interaction, comfort and easy to wear.
Inventive drive means, i.e. software are pneumatic, have the advantages that small.
Brief description of the drawings
Fig. 1 is the structure diagram of the pneumatic elbow support of software of the present invention；
Fig. 2 is a kind of structure diagram of pneumatic software rehabilitation elbow support system of the present invention；
Fig. 3 is a kind of work flow diagram of pneumatic software rehabilitation elbow support system of the present invention.
Embodiment
A kind of pneumatic software rehabilitation elbow support system of the present invention is illustrated referring to the drawings.
As depicted in figs. 1 and 2, a kind of pneumatic software rehabilitation elbow support system of the invention, including：The pneumatic elbow support 1 of software, pressure
Force snesor 2, bend sensor 3, baroceptor 4, controller 5, driving plate 6, solenoid valve 7 and gas bomb 8.
The pneumatic elbow support 1 of software includes air storage chamber 11 and is arranged at the non-extensible end face 12 of air storage chamber lower part, air storage chamber 11
Equipped with air inlet 13.The pneumatic elbow support 1 of software is formed using silica gel cast, is connected with elbow joint bearing using elastic bands.
Pressure sensor 2 is bonded in the surface of non-extensible end face 12, for gathering non-extensible end face 12 and wearer
Pressure value at forearms contact.Bend sensor 3 is cast in the non-extensible end face 12 of the pneumatic elbow support 1 of software, for gathering
The angle of bend angle value of the pneumatic elbow support 1 of software.Baroceptor 4 is used to gather the atmospheric pressure value in air storage chamber 11.
Controller 5 is connected with pressure sensor 2, bend sensor 3 and baroceptor 4 respectively, according to the pressure of reception
Force value, bending value and the instruction of atmospheric pressure value output control.Driving plate 6 is connected with controller 5 and solenoid valve 7 respectively, driving plate 6
The switch of solenoid valve 7 is controlled according to control instruction and then realizes the inflation/deflation of the pneumatic elbow support 1 of software, driving plate 6 is driven using L298N
Movable plate；Gas bomb 8 is connected with solenoid valve 7, for storing compressed air.
Further, present system further includes lithium battery 10 and voltage reduction module 9, and the lithium battery 10 is directly driving plate
6 power supplies, the lithium battery 10 and the voltage reduction module 9 device 5 in order to control that is connected after decompression are powered.
Further, baroceptor 4, controller 5, driving plate 6, solenoid valve 7, gas bomb 8, voltage reduction module 9 and lithium electricity
Pond 10 is arranged in portable knapsack.
Further, present system is additionally provided with pneumatic triple piece, the pneumatic triple piece respectively with solenoid valve 7 and gas storage
Bottle 8 is connected, and the pneumatic triple piece is used for the maximum output air pressure for adjusting gas bomb 8.
It is illustrated in figure 3 the course of work flow chart of present system, the lithium battery 10 in system of the invention is directly defeated
The 24V voltages gone out are powered for the driving plate 6 of solenoid valve 7, and by the 5V voltages of 9 reduced output voltage of voltage reduction module, device 5 is powered in order to control,
Controller 5 sends pwm pulse signal to L298N driving plates 6, controls air inlet and the inflating port unlatching/closing of solenoid valve 7.Pressure
Force snesor 2 is used for the pressure value for the non-extensible end face 12 and contact position below wearer's forearm for gathering the pneumatic elbow support 1 of software,
When pressure value closes air inlet higher than setting maximum contact pressure value, opening exhaust outlet is deflated.Otherwise open air inlet,
Exhaust outlet is closed, makes compressed air in gas bomb 8 by the air storage chamber 11 inside the entrance pneumatic elbow support of software of air inlet 13, occur
Dilatancy, so that elbow support is bent to the elbow joint lateral of wearer.Bend sensor 3 gathers the angle of bend angle value of elbow support and feeds back
To controller 5, by the break-make of the air pressure-bending relation control solenoid valve 7 obtained according to experiment, so as to control the reality of elbow support
Angle of bend follows target flexural value to be changed.Baroceptor 4 gathers the atmospheric pressure value in air storage chamber 11 and feeds back at the same time
Controller 5, control inflation/deflation air pressure is in secure threshold, with the security of safety action process.
The foregoing is merely presently preferred embodiments of the present invention, the thought being not intended to limit the invention is all the present invention's
Within spirit and principle, any modification, equivalent replacement, improvement and so on, should all be included in the protection scope of the present invention.
Claims (6)
- A kind of 1. pneumatic software rehabilitation elbow support system, it is characterised in that including：The pneumatic elbow support of software, pressure sensor, bending pass Sensor, baroceptor, controller, driving plate, solenoid valve and gas bomb；The pneumatic elbow support of software includes air storage chamber and is arranged at the non-extensible end face of air storage chamber lower part；The pressure sensor is used to gather non-extensible end face and the pressure value at wearer's forearms contact；The bend sensor is used for the angle of bend angle value for gathering the pneumatic elbow support of software；The baroceptor is used to gather the indoor atmospheric pressure value of gas storage；The controller is connected with pressure sensor, bend sensor and baroceptor respectively, according to the pressure value of reception, Bending value and the instruction of atmospheric pressure value output control；The driving plate is connected with controller and solenoid valve respectively, and switch and then the realization of solenoid valve are controlled according to control instruction The inflation/deflation of the pneumatic elbow support of software；The gas bomb is connected with solenoid valve, for storing compressed air.
- 2. pneumatic software rehabilitation elbow support system as claimed in claim 1, it is characterised in that the pneumatic elbow support of software uses silicon Glue cast forms, and is connected with elbow joint bearing using elastic bands.
- 3. pneumatic software rehabilitation elbow support system as claimed in claim 1, it is characterised in that the bend sensor is cast in soft In the non-extensible end face of the pneumatic elbow support of body, the pressure sensor bonds the surface of non-extensible end face.
- 4. software rehabilitation elbow support system as claimed in claim 1 pneumatic, it is characterised in that the system also includes lithium battery and Voltage reduction module, the lithium battery are directly powered for driving plate, and the lithium battery is connected after decompression with the voltage reduction module for control Device power supply processed.
- 5. software rehabilitation elbow support system as claimed in claim 4 pneumatic, it is characterised in that the baroceptor, controller, Driving plate, solenoid valve, gas bomb, voltage reduction module and lithium battery are arranged in portable knapsack.
- 6. pneumatic software rehabilitation elbow support system as claimed in claim 1, it is characterised in that the system is additionally provided with pneumatic three Part, the pneumatic triple piece are connected with solenoid valve and gas bomb respectively, and the pneumatic triple piece is used to adjust gas bomb most Big output pressure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810009737.8A CN107961139A (en) | 2018-01-05 | 2018-01-05 | A kind of pneumatic software rehabilitation elbow support system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810009737.8A CN107961139A (en) | 2018-01-05 | 2018-01-05 | A kind of pneumatic software rehabilitation elbow support system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107961139A true CN107961139A (en) | 2018-04-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810009737.8A Pending CN107961139A (en) | 2018-01-05 | 2018-01-05 | A kind of pneumatic software rehabilitation elbow support system |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394794A (en) * | 2019-06-27 | 2019-11-01 | 西安工业大学 | A kind of software driving device |
| CN113633512A (en) * | 2021-08-09 | 2021-11-12 | 东南大学 | Soft wearable robot for elbow motion function rehabilitation |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107000200A (en) * | 2014-08-22 | 2017-08-01 | 哈佛学院院长及董事 | For soft robot and the sensor of software actuator |
| CN107174501A (en) * | 2017-06-26 | 2017-09-19 | 哈尔滨易奥秘科技发展有限公司 | Intelligent edema limb rehabilitating device based on soft composite material |
| CN107280915A (en) * | 2017-07-14 | 2017-10-24 | 中国科学院自动化研究所 | The hand convalescence device of software gas drive |
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2018
- 2018-01-05 CN CN201810009737.8A patent/CN107961139A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107000200A (en) * | 2014-08-22 | 2017-08-01 | 哈佛学院院长及董事 | For soft robot and the sensor of software actuator |
| CN107174501A (en) * | 2017-06-26 | 2017-09-19 | 哈尔滨易奥秘科技发展有限公司 | Intelligent edema limb rehabilitating device based on soft composite material |
| CN107280915A (en) * | 2017-07-14 | 2017-10-24 | 中国科学院自动化研究所 | The hand convalescence device of software gas drive |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394794A (en) * | 2019-06-27 | 2019-11-01 | 西安工业大学 | A kind of software driving device |
| CN113633512A (en) * | 2021-08-09 | 2021-11-12 | 东南大学 | Soft wearable robot for elbow motion function rehabilitation |
| WO2023015717A1 (en) * | 2021-08-09 | 2023-02-16 | 东南大学 | Soft wearable robot for elbow movement function rehabilitation |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180427 |
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| RJ01 | Rejection of invention patent application after publication |