CN107970106A - A kind of finger tendon healing robot - Google Patents
A kind of finger tendon healing robot Download PDFInfo
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- CN107970106A CN107970106A CN201810080368.1A CN201810080368A CN107970106A CN 107970106 A CN107970106 A CN 107970106A CN 201810080368 A CN201810080368 A CN 201810080368A CN 107970106 A CN107970106 A CN 107970106A
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- 210000002435 tendon Anatomy 0.000 title claims abstract description 100
- 230000035876 healing Effects 0.000 title claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000011156 evaluation Methods 0.000 claims abstract description 15
- 230000003183 myoelectrical effect Effects 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 210000001145 finger joint Anatomy 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims abstract description 12
- 230000036541 health Effects 0.000 claims description 5
- 210000001097 facial muscle Anatomy 0.000 claims 1
- 210000003811 finger Anatomy 0.000 description 149
- 210000004932 little finger Anatomy 0.000 description 15
- 208000005392 Spasm Diseases 0.000 description 13
- 230000033001 locomotion Effects 0.000 description 13
- 210000003205 muscle Anatomy 0.000 description 11
- 230000000694 effects Effects 0.000 description 9
- 210000005224 forefinger Anatomy 0.000 description 9
- 230000006870 function Effects 0.000 description 6
- 238000005452 bending Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000006378 damage Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 206010033799 Paralysis Diseases 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000003387 muscular Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 206010010904 Convulsion Diseases 0.000 description 1
- 208000012880 Finger injury Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003925 brain function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Classifications
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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
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6825—Hand
- A61B5/6826—Finger
-
- 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
- A61H2201/0176—By stopping operation
-
- 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
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
- A61H2230/605—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG] used as a control parameter for the apparatus
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
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- Molecular Biology (AREA)
- Heart & Thoracic Surgery (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
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- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of finger tendon healing robot, the device includes finger actuation module, power transmission module, remote control module, main control module, motor module, detection module, rehabilitation evaluation module.The finger actuation module includes six-bar linkage, annex, sliding block, finger-joint set；The power transmission module includes gear, spring, motor fixing shaft, belt；The main control module is STM32；The motor module includes motor, motor support case, motor fixing shaft；The detection module is surface myoelectric sensor；The module of the rehabilitation evaluation is pressure sensor；Detection module is communicated with main control module by SPI, and remote control module is communicated by WIFI modes with main control module, and rehabilitation evaluation module is attached by USB interface and main control module；A kind of finger training method is devised according to the finger tendon healing robot.
Description
Technical field
The present invention relates to finger gymnastic field, more particularly to a kind of finger tendon healing robot.
Background technology
With the arrival of the fourth industrial revolution, intelligent robot technology has presented its advantage in industrial circle,
And be also evolving in medical rehabilitation field, intelligent robot technology, and attract wide attention.The hand in intelligent robot
It is even more to cause extensive concern to refer to healing robot.Finger gymnastic robot can in finger injuries, after hospitalize,
The rehabilitation training of conformability is carried out, shortens recovery period.For finger tendon patients with rupture, finger is stiff caused by after operation,
Situations such as cannot bending, if without timely treating, the stiff paralysis that may result in hand function of long-term finger.
Hand occupies critical positions in daily life, and the strong property of function of hand is grasped, precisely grasped, pinched between two fingers, more
Pinched between finger, so the patient of hand function paralysis undoubtedly can bring big inconvenience, the stiff meeting of long-term finger to its life
Cause the paralysis of brain function.The construction of hand is exquisite complicated at the same time, and the free degree of hand is more than 20, therefore the damage of hand
Wound, if only leaning on the self- recoverage of patient, recovers cycle length, and the effect of rehabilitation is bad.Patient passes through the finger tendon rehabilitation
Robot carries out rehabilitation training, so as to achieve the purpose that mitigation finger is stiff to finger freely activity, in this way, can be very good to change
It is apt to their daily life.
Existing finger tendon rehabilitation therapy apparatus function is not powerful enough, expensive, treatment cycle length, finger tendon work(
The time length that can recover, effect is poor, and the movement velocity of finger has gear control, it is impossible to stepless time adjustment and self adaptive control are carried out,
It cannot achieve the purpose that preferable finger tendon rehabilitation.Therefore, it is necessary to design a kind of simple in structure, cost-effective, stability
It is good, shorten the finger tendon healing robot of finger tendon recovery period, can be to right-hand man's forefinger, middle finger is nameless, little finger
Tendon stablized, incremental rehabilitation training, preferably alleviate finger it is stiff, reach hand tendon functional rehabilitation
Purpose.
The finger that a kind of finger tendon healing robot of the present invention cannot bend patient stretching, extension carries out repeatable motion,
Practice repeatedly is the key of finger tendon rehabilitation, is made that improvement to conventional therapeutic scheme, cost is reduced, in finger flesh
There are very big potentiality in tendon rehabilitation.During finger tendon rehabilitation training, the driving of finger motion is used as using six-bar linkage
Module, drives six-bar linkage to make digital flexion and stretching, extension, coupler-point curve can meet that the design of different motion track will by motor
Ask, achieve the purpose that movable finger tendon, help finger tendon rehabilitation.During finger tendon rehabilitation training, tooth is used
As power transmission module, the engagement of gear is good, can guarantee that the stability of rehabilitation training for wheel and belt.
During finger tendon rehabilitation training, after the corrective surgery of finger tendon fracture, the finger of patient compared with
The finger of normal person is easily tired during the motion.Surface myoelectric sensor is attached to finger surface, can be good at detection and suffers from
The degree of fatigue of person's finger, while can also detect whether patient's finger fatigue or spasm occurs during training,
In such manner, it is possible to according to situations such as the fatigue and spasm extent of the finger muscles detected, the operation such as deconditioning is performed, protection is suffered from
The finger of person, makes it not be subject to secondary damage.
Therefore, the present invention is directed to the problem of existing finger gymnastic robot technology is insufficient, has invented a kind of finger tendon health
Multiple robot.
The content of the invention
The present invention for finger tendon patients with rupture operation after can only clear-cutting forestland, recover the cycle length, existing finger health
Multiple device is all to have the problem of gear training, it is proposed that a kind of simple in structure, price is relatively low, and stability is good, safe, can complete
Right-hand man's forefinger, middle finger is nameless, and little finger bends and stretches trained finger tendon healing robot and its training method.Employ
Main control chip carries out finger tendon healing robot overall control；Employ the fatigue of surface myoelectric sensor detection muscle
Degree or spasm, ensure the safety of training process；The rehabilitation training of finger tendon, detection rehabilitation instruction are instructed using pressure sensor
Experienced effect；Iteration renewal learning algorithm is employed, the training to finger tendon carries out stepless speed regulation, takes self adaptive control
Method, can make the training more science of finger tendon and perfect, solving existing finger rehabilitation device can only carry out having gear
Training, stability is bad, and fail carry out rehabilitation evaluation the problem of.
To reach above-mentioned purpose, technical solution provided by the invention is.
A kind of finger tendon healing robot, the device include finger actuation module, power transmission module, long-range control
Molding block, main control module, motor module, detection module, rehabilitation evaluation module.The finger actuation module includes six-bar linkage,
Annex, sliding block, buckle, finger-joint set；The power transmission module includes gear, motor fixing shaft, belt；The master
Control module is STM32；The motor module includes motor, motor support case, spring, motor fixing shaft；The detection mould
Block is surface myoelectric sensor；The rehabilitation evaluation module is pressure sensor.
A kind of finger tendon recovery training method, finger tendon rehabilitation instruction are devised according to the finger tendon healing robot
Practicing method is：1. the forefinger of left hand is put into finger-joint set, the length and elastic covered by adjusting buckle and finger-joint,
Appropriate fixation left index finger；2. when pressing the forefinger key on remote control module, main control chip STM32 control motors open
It is dynamic；3. motor drives No. III gear to rotate by belt, No. III gear drives No. II gear to rotate by gear engagement, No. II tooth
Wheel drives No. I gear to rotate by gear engagement, and No. I gear drives six-bar linkage movement, six-bar linkage and fingerstall to drive left hand to eat
Refer to the movement for completing bending and stretching.4. in the training process, when patient's initiative stops the rehabilitation training of finger tendon,
The rest key that therapist is pressed on remote control module can leave the motor off rotation, so as to stop the rehabilitation instruction of finger tendon
Practice, finger tendon healing robot recovers initial position.5. the middle finger of left hand, nameless and little finger are respectively put into finger again
In joint sleeve, adjust the length and elastic of finger-joint set, press the middle digital on remote control module respectively, unknown digital and
Little finger key, to be respectively completed to left hand middle finger, nameless and little finger tendon rehabilitation training.6. left index finger, middle finger, nothing
After the completion of name refers to the tendon rehabilitation training with little finger, finger tendon healing robot recovers initial position, repeats the above steps,
Complete to right hand forefinger, middle finger, nameless and little finger tendon rehabilitation training.Main control chip STM32 is by sending pwm signal
To control the acceleration of motor, slow down, rotating and braking.When surface myoelectric sensor detects that fatigue or convulsion occurs in patient's finger
During contraction, therapist presses emergency braking key, and motor stops operating at once, and finger tendon healing robot recovers initial position, keeps away
Exempt from injured patient.
Finger tendon healing robot is integrally controlled present invention employs main control chip, using remote control module
Control instruction is sent to main control chip STM32, remote control module is by WIFI by control signal transmission to main control chip
STM32, main control chip control motor rotate, and drive belt to rotate by motor, and belt band moving gear rotates, and gear driving six connects
Bar moves, and finger is carried out bending and stretching movement.
Present invention employs surface myoelectric sensor collection muscular fatigue or spasm signal, surface myoelectric sensor to be attached to hand
The muscle surface of finger, gathers and transmits the spasm of finger muscles or tired signal, spasm or tired signal are transferred to master by SPI
Module is controlled, main control module is controlled the deceleration or braking of motor by pwm signal, stopped according to the fatigue or spasm signal of transmission
Finger tendon rehabilitation training, protects the safety of patient.
Present invention employs pressure sensor as rehabilitation evaluation module, pressure sensor is attached to the relevant position of palm,
When carrying out rehabilitation training, pressure size of the finger to palm relevant position is gathered, and by USB interface the pressure collected
Data are transferred to main control chip STM32, and the pressure data collected is carried out induction-arrangement by main control chip, formulates Rehabilitation Assessment body
The standard of system, detects the degree of finger training rehabilitation.
Present invention employs the rehabilitation training that iteration renewal learning algorithm instructs finger tendon, gathered by pressure sensor
To finger in rehabilitation training is done to the pressure data of palm, using this data as improving physical training condition and evaluation rehabilitation effect
The performance indicator of fruit.The pressure data collected is analyzed by main control chip, judges whether the rotating angle of motor is full
The maximum training needs of sufficient hand.If the data that pressure sensor collects are less than preset value, main control chip control motor increases
Big rotating speed, therefore the speed V increases of finger tendon rehabilitation training.If the data that pressure sensor collects are more than preset value,
Main control chip control motor reduces rotating speed, therefore the training speed V of finger tendon rehabilitation reduces.Pressure sensor gathers pressure again
Force data, judges the difference of training speed twice.If the difference of training speed is more than preset value twice, with the training after adjustment
Speed replaces initial velocity.The data of the pressure sensor collected are transferred to main control chip, are repeated the above steps.Until two
Secondary training speed error is less than preset value, and finger tendon rehabilitation training is changed at the uniform velocity, and algorithm terminates.
The finger actuation module is six-bar linkage.
The power transmission module includes gear, motor fixing shaft, belt.
The main control module is STM32.
The motor module includes motor.
The detection module is surface myoelectric sensor：Myoware muscle electric transducers.
The rehabilitation evaluation module is pressure sensor：LPS331APTR microminiatures/piezoresistive pressure sensor.
Analyzing on Building A Planning Scheme using the present invention, compared with prior art, has the advantages that.
(1) present invention proposes a kind of simple in structure, and price is relatively low, and stability is good, safe, can complete right-hand man's
Forefinger, middle finger is nameless, and little finger tendon bends and stretches trained finger tendon healing robot design method, available for forefinger, in
Refer to, it is nameless, little finger cannot bend and stretch in the case of rehabilitation training.
(2) a kind of finger tendon healing robot of the invention, can complete right-hand man's forefinger, middle finger is nameless, little finger
The rehabilitation training bent and stretched of this 8 fingers, powerful, practicality is good, cost-effective.
(3) a kind of finger tendon healing robot of the invention, the finger actuation module is six-bar linkage, passes through motor
Drive six-bar linkage to make digital flexion and stretching, extension, achieve the purpose that movable finger tendon, help finger tendon rehabilitation, can be greatly improved
Rehabilitation efficacy.
(4) a kind of finger tendon healing robot of the invention, the power transmission module are gear and belt transport,
The engagement of gear is good, can guarantee that the stability of finger tendon rehabilitation training.
(5) a kind of finger tendon healing robot of the invention, the detection module is surface myoelectric sensor, effect
It is whether detection finger muscles the degree of fatigue of spasm and finger muscles occur.When surface myoelectric sensor detects finger muscles
Fatigue or spasm when, therapist presses emergency braking key, and motor stops operating at once, finger tendon healing robot recover just
Beginning position, avoid damage to user.
(6) a kind of finger tendon healing robot of the invention, the rehabilitation evaluation module are pressure sensor, pressure
Sensor is attached to the relevant position of palm, when carrying out rehabilitation training, gathers pressure size of the finger to palm relevant position,
The pressure data collected is transferred to main control chip, and main control chip carries out induction-arrangement to pressure data, in this way, can not only make
Determine the standard of Rehabilitation Assessment system, additionally it is possible to detect the degree of finger tendon rehabilitation training, instruct and adjust finger tendon rehabilitation
Trained intensity.
Brief description of the drawings
Fig. 1 is the design front view of the mechanical structure of the finger tendon healing robot.
Fig. 2 is the plan of the finger tendon healing robot remote control module.
Fig. 3 is the Control system architecture block diagram of the finger tendon healing robot.
Fig. 4 is the algorithm flow chart of the finger tendon healing robot.
Embodiment
The invention will be further described with the following Examples.
Referring to Fig. 1, the finger actuation module includes six-bar linkage, annex, sliding block, buckle, finger-joint set.First,
Finger is put into finger-joint set, elastic to adjust by buckle and finger-joint set, fixes finger.Then, motor is passed through
Six-bar linkage is driven, six-bar linkage drives finger to carry out bending and stretching training, carries out rehabilitation training to finger tendon, reaches movable hand
Refer to the purpose of tendon, help finger tendon rehabilitation, recover its function.
Referring to Fig. 1, the power transmission module includes gear, motor fixing shaft, belt.The engagement of gear is good, energy
Ensure the stability of finger tendon rehabilitation training.
Referring to Fig. 1, motor is installed on the motor fixing frame on support case.Motor is connected with No. III gear by belt,
Motor drives No. III gear to rotate by belt, and No. III gear drives No. II gear to rotate by gear engagement, and No. II gear leads to
Crossing gear engagement drives No. I gear to rotate, and No. I gear drives six-bar linkage movement, six-bar linkage and finger-joint set to drive finger
Complete bending and stretching movement.
Referring to Fig. 1, the present invention takes the structure of three gears engagements, be because when single gear is connected with belt, if
Belt is longer, easily skids, if belt is shorter, motor is nearer from the region of finger motion, easily produces the interference such as noise, this
Sample not only influences training effect, but also patient's finger may be caused to damage；When there is two gears, although than single gear
Stablize, but be not easy clamping, have gear clearance；So using the structure of three gears, three Gear Contacts are close, can
It is effective to reduce gear clearance.
Referring to Fig. 1, in order to be further ensured that the stability of finger tendon rehabilitation training, in the support case of mechanical structure
The latter half adds a spring for being used for damping, when patient is carrying out rehabilitation training with this finger tendon healing robot
During, it is more portable due to this mechanical device small volume, had after electric motor starting during rotation a little slight
Vibrations, when not having glissando, not only influence the rehabilitation efficacy of the training of finger tendon, but also since system is critical
In the state of stabilization, it is likely to be changed into unstable state at any time, the effect of this damping spring exactly can carry out patient
During finger tendon rehabilitation training, mitigate the vibrations that motor brings whole system in rotation process, make whole system
The more operation of smooth sequential, in this way, can both make patient carry out rehabilitation training using this finger tendon healing robot
During reach more preferable rehabilitation efficacy, and the security performance of this system can be increased, reduce patient and carrying out rehabilitation training
During unexpected probability occur or avoid patient that accident occurs during rehabilitation training is carried out.
Referring to Fig. 2, in the training process, when patient's initiative stops the rehabilitation training of finger tendon, therapist presses
Rest key on lower remote control module can leave the motor off rotation, so as to stop the rehabilitation training of finger tendon, finger
Tendon healing robot recovers initial position.Again by the middle finger of left hand, nameless and little finger is respectively put into finger-joint set,
The length and elastic of the buckle and finger-joint set on six-bar linkage is adjusted, presses the middle digital on remote control module, nothing respectively
Name digital and little finger key, to be respectively completed to left hand middle finger, nameless and little finger tendon rehabilitation training.
Referring to Fig. 2, left index finger, middle finger, after the completion of nameless and little finger tendon rehabilitation training, finger tendon rehabilitation
Robot recovers initial position, repeats the above steps, and completes to right hand forefinger, middle finger, nameless and little finger tendon rehabilitation
Training.
Referring to Fig. 2, main control chip STM32 controls the acceleration of motor by sending pwm signal, slows down, rotating and system
It is dynamic.
Referring to Fig. 3, the order of input is transmitted to master control mould by remote control module by WIFI connection main control chip STM32
Block, main control module produce PWM square-wave signals control motor movement, and STM32 can be with regulation motor module by different instructions
State, makes motor complete the action such as acceleration, deceleration, rotating and braking of motor.
Referring to Fig. 3, motor module produces speed governing order by encoder, feeds back to STM32 microcontrollers.Surface myoelectric senses
Device is communicated by SPI with main control chip STM32, by the finger muscles detected and spasm signal transmission to main control chip
STM32.When surface myoelectric sensor detects the fatigue or spasm signal of finger muscles, surface myoelectric sensor passes through SPI
Main control chip STM32 is transmitted the signal to, master control module controls motor stops operating at once, that is, stops the rehabilitation of finger tendon
Training, protects the safety of patient.
Referring to Fig. 3, the system devises three kinds of Security mechanisms, can effectively help to protect the safety of patient：First：When
When patient can carry out normal language performance with exchanging, if patient during finger rehabilitation exercise is carried out, Huan Zhezhu
Dynamic to require to stop rehabilitation training, therapist presses the rest button above remote control module, leaves the motor off rotation, so as to stop
The only rehabilitation training of finger tendon, finger tendon healing robot recover initial position.
Referring to Fig. 3, Security mechanism second：When patient can carry out normal language performance with exchanging, if suffered from
For person during finger rehabilitation exercise is carried out, patient actively sends the information of early warning or danger, and therapist presses remote control
Emergency braking button above module, motor stop operating immediately, so that stop the rehabilitation training of finger tendon, finger tendon health
Multiple robot recovers initial position.
Referring to Fig. 3, Security mechanism the 3rd：No matter can patient carry out normal language performance and friendship with therapist
Stream, if when surface myoelectric sensor detects the fatigue or spasm signal of finger muscles, just immediately by the muscular fatigue or
Spasm signal is transferred to main control chip STM32 by SPI, and master control module controls motor stops operating at once, that is, stops finger flesh
The rehabilitation training of tendon, protects the safety of patient.
Referring to Fig. 4, the system uses iteration renewal learning algorithm, can be good at realizing the control system smoothly adjustable-speed,
Self adaptive control, the function of intelligent control.The iteration renewal learning algorithm steps are as follows.
1. the primary data of input training initial velocity Vo and pressure sensor, patient start to be instructed with initial velocity Vo
Practice, in training process, finger can produce pressure to the pressure sensor of palm relevant position.
2. pressure sensor passes pressure the pressure data collected to main control chip, main control chip by USB transmission
The data of sensor are analyzed, and judge whether the rotating angle of motor meets the training needs of finger maximum.
3. if the data that pressure sensor collects are less than preset value, main control chip by pwm signal to motor into
Row speed governing, increases the rotating speed of motor, then motor rotation angle increases, therefore the speed V increases of finger tendon rehabilitation training.
4. if the data that pressure sensor collects are more than preset value, main control chip by pwm signal to motor into
Row speed governing, reduces the rotating speed of motor, then motor rotation angle reduces, therefore the speed V of finger tendon rehabilitation training reduces.
5. pressure sensor gathers pressure data again.
6. judge the difference of training speed twice.
7. if the difference of training speed is more than preset value twice, initial velocity is replaced with the training speed after adjustment.
8. the data of the pressure sensor collected are transferred to main control chip, step is performed 2..
9. until the difference of training speed twice is less than preset value, finger tendon rehabilitation training is changed at the uniform velocity, and algorithm terminates.
By above-mentioned iteration renewal learning algorithm, the speed for making finger tendon healing robot uniform motion is obtained, then
This speed is the optimum speed of the tendon rehabilitation training of this patient finger, and the finger of patient is trained with this speed,
Just preferable rehabilitation training effect can be reached.
Claims (6)
1. the invention discloses a kind of finger tendon healing robot, the device includes finger actuation module, power transmission
Module, remote control module, main control module, motor module, detection module, rehabilitation evaluation module；The finger actuation module
Including six-bar linkage, buckle, annex, sliding block, finger-joint set；The power transmission module includes gear, motor fixing shaft, skin
Band；The main control module is STM32, and iteration renewal learning algorithm is built-in with main control chip；The motor module includes
Motor, motor support case, spring, motor fixing shaft；The detection module is surface myoelectric sensor；The rehabilitation evaluation
Module be pressure sensor；Detection module is communicated with main control module by SPI, and remote control module passes through WIFI modes
Communicate with main control module, rehabilitation evaluation module is attached by USB interface and main control module；According to the finger tendon health
Multiple robot devises a kind of finger training method.
A kind of 2. finger tendon healing robot according to claim 1, it is characterised in that：The finger actuation module
For six-bar linkage.
A kind of 3. finger tendon healing robot according to claim 1, it is characterised in that：The power transmission module
For gear and belt transport.
A kind of 4. finger tendon healing robot according to claim 1, it is characterised in that：The detection module is table
Facial muscle electric transducer.
A kind of 5. finger tendon healing robot according to claim 1, it is characterised in that：The rehabilitation evaluation module
For pressure sensor.
A kind of 6. finger tendon healing robot according to claim 1, it is characterised in that：The control algolithm is repeatedly
For renewal learning algorithm, the step of algorithm, is as follows：1. finger is collected during rehabilitation exercise is done by pressure sensor
To the pressure data of palm, using this data as the performance indicator for improving physical training condition and evaluation rehabilitation efficacy；2. it will collect
Pressure data analyzed by main control chip, judge whether the rotating angle of motor meets the training needs of hand maximum；
3. if the data that pressure sensor collects are less than preset value, main control chip control motor increases speed, therefore training speed V
Increase；4. if the data that pressure sensor collects are more than preset value, main control chip control motor reduces rotating speed, therefore training
Speed V reduces；5. pressure sensor gathers pressure data again；6. judge the difference of training speed twice；If 7. train twice
The difference of speed is more than preset value, then replaces initial velocity with the training speed after adjustment；8. the pressure sensor that will be collected
Data be transferred to main control chip, perform step 2.；9. until the difference of training speed twice is less than preset value, finger tendon health
Refreshment, which is practiced, to be changed at the uniform velocity, and algorithm terminates.
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| CN201810080368.1A CN107970106A (en) | 2018-01-27 | 2018-01-27 | A kind of finger tendon healing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108888479A (en) * | 2018-08-08 | 2018-11-27 | 郑州大学 | A kind of upper limb rehabilitation robot based on Kalman filtering |
| CN110037918A (en) * | 2019-05-24 | 2019-07-23 | 熊江华 | A kind of moxa-moxibustion system of Full automatic moxabustion machinery arm |
-
2018
- 2018-01-27 CN CN201810080368.1A patent/CN107970106A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108888479A (en) * | 2018-08-08 | 2018-11-27 | 郑州大学 | A kind of upper limb rehabilitation robot based on Kalman filtering |
| CN110037918A (en) * | 2019-05-24 | 2019-07-23 | 熊江华 | A kind of moxa-moxibustion system of Full automatic moxabustion machinery arm |
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Application publication date: 20180501 |