CN108969294B - A kind of the exoskeleton rehabilitation robot device and method of the five fingers self-movement - Google Patents
A kind of the exoskeleton rehabilitation robot device and method of the five fingers self-movement Download PDFInfo
- Publication number
- CN108969294B CN108969294B CN201810571839.9A CN201810571839A CN108969294B CN 108969294 B CN108969294 B CN 108969294B CN 201810571839 A CN201810571839 A CN 201810571839A CN 108969294 B CN108969294 B CN 108969294B
- Authority
- CN
- China
- Prior art keywords
- thumb
- fingerstall
- linear motor
- finger
- ectoskeleton
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title abstract description 15
- 210000003813 thumb Anatomy 0.000 claims abstract description 116
- 210000003811 finger Anatomy 0.000 claims abstract description 95
- 210000001145 finger joint Anatomy 0.000 claims abstract description 6
- 230000000712 assembly Effects 0.000 claims abstract description 3
- 238000000429 assembly Methods 0.000 claims abstract description 3
- 238000012549 training Methods 0.000 claims description 43
- 210000004932 little finger Anatomy 0.000 claims description 10
- 210000000988 bone and bone Anatomy 0.000 claims description 6
- 230000007423 decrease Effects 0.000 claims description 3
- 230000009977 dual effect Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 208000006011 Stroke Diseases 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 208000037805 labour Diseases 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000008238 Muscle Spasticity Diseases 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000009098 adjuvant therapy Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 208000018198 spasticity Diseases 0.000 description 1
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
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
-
- 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
- A61H2201/10—Characteristics of apparatus not provided for in the preceding codes with further special therapeutic means, e.g. electrotherapy, magneto therapy or radiation therapy, chromo therapy, infrared or ultraviolet therapy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of exoskeleton rehabilitation robot device of the five fingers self-movement and methods, including exoskeleton manipulator ontology, control system, linear motor, thumb three-dimensional position sensing device and pressure sensor, linear motor includes six, it is respectively configured and controls different machine assemblies, and it is all set on palm back platform, the movement of each machine assembly of four fingers is operated alone in each linear motor on four fingers, the movement of thumb dual linear motor Collaborative Control ectoskeleton thumb, thumb three-dimensional position sensing device is mounted on thumb distal end fingerstall end, the position of Real-time Feedback linear motor operational process middle finger end, pressure sensor is fixed on the distal end fingerstall of ectoskeleton index finger machine assembly, it is corresponding with user's index finger distal end finger joint finger pulp position, measure pressure of the index finger at this, control system receives the acquisition data, in conjunction with straight-line electric The position signal of machine and the position signal of thumb three-dimensional position sensing device, control the movement and/or stopping of each linear motor.
Description
Technical field
The present invention relates to a kind of exoskeleton rehabilitation robot device of the five fingers self-movement and methods.
Background technique
The hand of the mankind is such exquisite, complexity, it can not only show the soul of the mankind, and human and environment is made to establish spy
Different relationship is that people perceives environment and carries out the important tool of daily routines.Under health status, manpower can be completed to object
It lifts, grasp, pinching and the multiple functions of side pinch etc., and the characteristics such as the shape of object, temperature can be perceived.Finely, sensitive, complicated
Hand function play a part of can not be substituted in the daily life and work of people.
The function damage of hand function damage especially thumb not only declines the quality of life of patient, also consumes its family
Take a large amount of manpower and material resources and bears huge financial burden.How for the accurate effective health of patients with cerebral apoplexy hand function realization
Multiple treatment is the hot issue of domestic and international medicine and engineering field.
Manipulators in rehabilitation is the efficient apparatus for substituting rehabilitation therapist and carrying out training for recovery to patient's hand function, Neng Goudai
For a large amount of repeated labors are carried out, so that more patients obtain rehabilitation training, rehabilitation cost is reduced, and acquire patient's physiology
Information adjuvant treatment teacher makes rational planning for rehabilitation programme.But current manipulators in rehabilitation mostly uses refers to linkage exoskeleton-type or end more
It is towed, fail to carry out self-movement control to each finger, targetedly rehabilitation training side no for the spasticity of thumb
Case.
Summary of the invention
The present invention to solve the above-mentioned problems, propose a kind of the five fingers self-movement exoskeleton rehabilitation robot device and
Method, the present invention can assist patient to carry out the five fingers active-passive rehabilitation training mission, including four refer to independent buckling stretching, extension, thumb rotation
Turn.
To achieve the goals above, the present invention adopts the following technical scheme:
The first object of the present invention is to provide a kind of exoskeleton rehabilitation robot device of the five fingers self-movement, utilizes five groups
Independent mechanical structure can be realized five fingers independently moving of patient, refer to the stretching, extension of independent bucklings and thumb including four
Rotation function.
A kind of exoskeleton rehabilitation robot device of the five fingers self-movement, including exoskeleton manipulator ontology, control system,
Linear motor, thumb three-dimensional position sensing device and pressure sensor, in which:
The exoskeleton manipulator ontology includes palm back platform, and the corresponding position on the palm back platform is successively laid with
Ectoskeleton thumb, ectoskeleton index finger, ectoskeleton middle finger, ectoskeleton be nameless and the machine assembly of ectoskeleton little finger of toe, the straight line
Motor includes six, is respectively configured and controls different machine assemblies, and is all set on palm back platform, each straight line on four fingers
The movement of each machine assembly of four fingers, the movement of thumb dual linear motor Collaborative Control ectoskeleton thumb, institute is operated alone in motor
It states thumb three-dimensional position sensing device and is mounted on thumb distal end fingerstall end, Real-time Feedback linear motor operational process middle finger end
Position, the pressure sensor is fixed on the distal end fingerstall of ectoskeleton index finger machine assembly, distally refers to the index finger of user
Save that finger pulp position is corresponding, pressure of the measurement index finger at this, control system receives the acquisition data, in conjunction with the position of linear motor
The position signal of signal and thumb three-dimensional position sensing device controls the movement and/or stopping of each linear motor.
Further, built-in-potential device position feedback on the linear motor, synchronism output position feedback in operational process
Signal.
Further, the palm back platform is biased to finger side and is provided with the prominent axis of four finger proximal ends connection, and four refer to that proximal ends connect
It connects prominent axis to be coaxially connected with the end of the machine assembly of thumb in fingers out bone finger, and thumb connects prominent axis and ectoskeleton thumb
The universal joint of machine assembly end setting is coaxially connected.
Further, the machine assembly of the ectoskeleton index finger, ectoskeleton middle finger, the ectoskeleton third finger and ectoskeleton little finger of toe
It include proximal end fingerstall, intermediate fingerstall, distal end fingerstall, proximal link, rotary shaft, first knuckle rotating member, second knuckle rotation
Turn component and distal link, proximal end fingerstall, intermediate fingerstall are sequentially coaxially connected with distal end fingerstall, and proximal end fingerstall and palm back platform
Connect, one end of the proximal link is connected with the push rod top of linear motor, one end of the other end and rotary shaft, first knuckle
Rotating member is coaxially connected；Four be provided projectingly on the hole of the rotary shaft other end and palm back platform refer to that prominent support shaft is connected, together
Axis rotation；First knuckle rotating member lower end is connected with proximal end fingerstall upper end, while being connected with second knuckle rotating member；Second
The middle section position hole of finger joint rotating member is connected with intermediate fingerstall upper end, while being connected with distal link；Distal link and distal end
Fingerstall upper end is connected.
Further, when linear motor travels forward, proximal link is driven to travel forward, before coaxial axial rotary
Rotation, limits the decline range of first knuckle rotating member, proximal end fingerstall；When linear motor travels forward, whole ectoskeleton
Finger curves inwardly, and when linear motor moves backward, whole exoskeleton finger is flexed outward, thus the movement for passing through linear motor
Realize that four refer to that independent buckling stretches rehabilitation training task.
Further, the machine assembly of the ectoskeleton thumb includes universal joint, thumb proximal fingerstall, refers among thumb
Set, thumb distal end fingerstall, shaft, transverse link, lateral shaft, oscillating bearing connecting rod, oscillating bearing and multiple connecting rods, it is described
The thumb that one end of universal joint is fixed on palm back platform connects on prominent axis, and the other end is connected with thumb proximal fingerstall；Thumb is close
Fingerstall, thumb distal end fingerstall are sequentially connected among end fingerstall, thumb；Shaft lower end is connected with palm back platform, upper end and rod end ball
Plane tie is connected, and the middle section of prominent axis is connected with connecting rod；Rod end spherical joint is connected with first connecting rod, first connecting rod one end and the
Two connecting rods, third connecting rod one end link together, and the other end of third connecting rod is connected on thumb proximal fingerstall；Second connecting rod
One end and one end of fourth link and the 5th connecting rod link together, fingerstall among the other end connection thumb of fourth link, the
The five connecting rod other ends connect thumb distal end fingerstall.
Described transverse link one end connects linear motor, and one end connects lateral shaft；Lateral shaft bottom end is connected to palm back
On platform projecting platform；Lateral shaft top connecting joint bearing, middle section connect transverse link；Two oscillating bearings, a company
Lateral shaft is connect, another is connected on thumb proximal fingerstall, and centre is linked together by oscillating bearing connecting rod.
Further, when horizontal linear motor travels forward, lateral shaft rotation is driven, is transmitted by two oscillating bearings
Onto thumb proximal fingerstall, ectoskeleton thumb is driven to move downward in a lateral direction；When horizontal linear motor moves backward,
Ectoskeleton thumb is driven to move right in a lateral direction.When longitudinal linear motor travels forward, whole ectoskeleton thumb is driven
Finger curves inwardly；When longitudinal linear motor moves backward, whole ectoskeleton thumb is driven to flex outward.Pass through Collaborative Control cross
The movement of two linear motors in, longitudinal both direction is rotated to control ectoskeleton thumb.
The second object of the present invention is to provide a kind of application method of above-mentioned robot device.Specifically, there are two types of moulds for tool
Formula.
The working method of Passive Mode based on above-mentioned apparatus, comprising the following steps:
Determine user's essential information, frequency of training, training content is arranged in control system initialization；
Whether completed according to frequency of training training of judgement, if completed, terminates to train, if it is not complete, then basis
Training content controls each linear motor operation accordingly specified distance；
Linear motor runs the training action of holding certain time after specified distance；
Linear motor counter motion specifies distance to return to initial position, and judges whether to meet frequency of training herein, continues
Training terminates until meeting frequency of training, training.
The working method of aggressive mode based on above-mentioned apparatus, comprising the following steps:
Determine user's essential information, control system initialization, setting frequency of training, training content and force snesor threshold
Value；
Whether completed according to frequency of training training of judgement, if completed, terminate to train, and it is basic to return to input user
Information Step, if it is not complete, then judge whether force snesor reaches threshold value, if not reaching threshold value, linear motor
Stop motion, and return and continue to determine whether to reach threshold value, if reaching threshold value, enter aggressive mode step；
Aggressive mode step: according to training content judge linear motor whether full stroke, if controlled without full stroke
Linear motor moves and whether monitoring force snesor reaches threshold value at any time, if reaching threshold value, linear motor continues to move, such as
Fruit does not reach threshold value, then returns and continue to determine whether to reach threshold value；If linear motor full stroke, linear motor stops fortune
Inverted running returns to initial position to row after a certain period of time；
Continue to train, until training terminates.
When determining the position of linear motor, the stress of linear motor is analyzed, according to the mechanical performance of linear motor, is determined most
The effective push that motor makes motor travel forward can be acted on eventually, carry out position control using Hybrid fuzzy logic-PID control system
System.
Compared with prior art, the invention has the benefit that
1) structure of the invention is simple, and user can be helped to carry out hand rehabilitation training, including the five fingers bending, the five fingers are stretched
Exhibition, four refer to that bending, four refer to that stretching, extension, palmar opposition of thumb, index finger is individually bent, thumb index finger is to rehabilitation training is pinched, and has thumb rehabilitation
Special training；
2) present invention passes through setting ectoskeleton thumb, ectoskeleton index finger, ectoskeleton middle finger, the ectoskeleton third finger and ectoskeleton
The machine assembly of little finger of toe, and each machine assembly corresponds to individual linear motor, can be realized each finger can independently be trained,
Help to improve rehabilitation efficacy；
3) present invention helps to improve control precision and the rehabilitation to thumb by setting thumb three-dimensional position sensing device
Effect；
4) present invention carries out auxiliary rehabilitation exercise using manipulator, has both Passive Mode and aggressive mode, can make patient
It is actively engaged in rehabilitation training, transfers the enthusiasm of patient.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is the system block diagram of exoskeleton rehabilitation manipulator；
Fig. 2 is the overall structure of exoskeleton rehabilitation manipulator；
Fig. 3 is the structure of ectoskeleton index finger, ectoskeleton middle finger, the ectoskeleton third finger, ectoskeleton little finger of toe；
Fig. 4 is the structure of ectoskeleton thumb transverse direction；
Fig. 5 is the structure of ectoskeleton thumb longitudinal direction；
Fig. 6 is the structure of palm back platform；
Fig. 7 is training method Passive Mode flow chart；
Fig. 8 is training method aggressive mode flow chart；
Fig. 9 is linear motor motion model figure；
Figure 10 is used improved Hybrid fuzzy logic-PID controller；
Figure 11 is the fuzzy adjustment device used；
Figure 12 is the fuzzy controller used.
Figure 13 is thumb movement track；
Figure 14 is the control block diagram of linear motor Collaborative Control；
Wherein, 1 it is palm back platform, 2 be linear motor, 3 be linear motor firm banking, 4 be ectoskeleton thumb, 5 is outer
Bone index finger, 6 be ectoskeleton middle finger, 7 be ectoskeleton it is nameless, 8 be ectoskeleton little finger of toe, 9 be proximal end fingerstall, 10 be that centre refers to
Set, 11 be distal end fingerstall, 12 be proximal link, 13 be screw, 14 be rotary shaft, 15 be first knuckle rotating member, 16 be the
Two finger joint rotating members, 17 be distal link, 18 be transverse link, 19 be lateral shaft, 20 be oscillating bearing connecting rod, 21 be
Oscillating bearing, 22 be universal joint, 23 be thumb proximal fingerstall, 24 be fingerstall among thumb, 25 be thumb distal end fingerstall, 26 be company
Bar, 27 be shaft, 28 be rod end spherical joint, 29 be connecting rod, 30 be connecting rod, 31 be connecting rod, 32 be connecting rod, 33 be connecting rod, 34
For four finger proximal ends connect prominent axis, 35 be the prominent support shaft of four fingers, 36 be that thumb connects prominent axis.
Specific embodiment:
The invention will be further described with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In the present invention, term for example "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", " side ",
The orientation or positional relationship of the instructions such as "bottom" is to be based on the orientation or positional relationship shown in the drawings, only to facilitate describing this hair
Bright each component or component structure relationship and the relative of determination, not refer in particular to either component or element in the present invention, cannot understand
For limitation of the present invention.
In the present invention, term such as " affixed ", " connected ", " connection " be shall be understood in a broad sense, and indicate may be a fixed connection,
It is also possible to be integrally connected or is detachably connected；It can be directly connected, it can also be indirectly connected through an intermediary.For
The related scientific research of this field or technical staff can determine the concrete meaning of above-mentioned term in the present invention as the case may be,
It is not considered as limiting the invention.
A kind of typical embodiment, referring to Fig.1, the manipulators in rehabilitation of the exoskeleton-type of design, including it is control system, straight
Line motor, exoskeleton manipulator, thumb three-dimensional position sensing device, pressure sensor.Under Passive Mode, control system is directly controlled
The movement of linear motor, to control the movement of exoskeleton manipulator；Under aggressive mode, control system receives thumb three-dimensional position
Data, the position data of the data of pressure sensor and 6 linear motors of sensor, control the movement of linear motor.
Referring to Fig. 2, exoskeleton manipulator includes palm back platform 1, linear motor 2, linear motor firm banking 3, ectoskeleton
Thumb 4, ectoskeleton index finger 5, ectoskeleton middle finger 6, the ectoskeleton third finger 7, ectoskeleton little finger of toe 8.
6 linear motors 2 are fixed on palm back 1 upper side of platform by linear motor firm banking 3, and downside passes through bandage
It is fixed on hand；Being biased to finger side has the prominent axis 34 of four finger proximal ends connection, the prominent axis 36 of thumb connection to have hole to refer to respectively with four
Exoskeleton finger proximal end fingerstall 9, universal joint 22 hole be coaxially connected.
Referring to Fig. 3, ectoskeleton index finger 5, ectoskeleton middle finger 6, the ectoskeleton third finger 7,8 structure of ectoskeleton little finger of toe are all consistent
, all comprising proximal end fingerstall 9, intermediate fingerstall 10, distal end fingerstall 11, proximal link 12, screw 13, rotary shaft 14, first knuckle
Rotating member 15, second knuckle rotating member 16, distal link 17.
Ectoskeleton index finger 5, ectoskeleton middle finger 6, the ectoskeleton third finger 7, ectoskeleton little finger of toe 8 proximal link 12 and straight-line electric
The push rod top of machine 2 is connected by screw；Proximal end fingerstall 9, intermediate fingerstall 10, distal end fingerstall 11 pass sequentially through corresponding hole spiral shell
Silk is coaxial to be connected；12 other end of proximal link and 14, two first knuckle rotating members of rotary shaft, 15 right end through hole screw
13 is coaxial connected；Outstanding four refer to that circular hole passes through spiral shell in prominent support shaft 35 on the hole of 14 other end of rotary shaft and palm back platform 1
Silk is connected, coaxial rotating；15 lower end through hole screw of first knuckle rotating member is connected with 9 upper end of proximal end fingerstall, and left end is logical
Via hole screw is connected with second knuckle rotating member 16；The middle section position hole of second knuckle rotating member 16 and intermediate fingerstall 10
Upper end is connected with screw, and right end hole screw is connected with 17 hole of distal link；The hole of 17 other end of distal link and distal end fingerstall
11 upper ends are connected by screw；When linear motor 2 travels forward, proximal link 12 is driven to travel forward, it is coaxial with screw 13
Rotary shaft 14 rotate forward, limit the decline range of first knuckle rotating member 15, proximal end fingerstall 9；Linear motor 2 is forward
When movement, whole exoskeleton finger curves inwardly, and when linear motor moves backward, whole exoskeleton finger is flexed outward, thus
Realize that four refer to that independent buckling stretches rehabilitation training task by the movement of linear motor.
Pressure sensor uses pressure resistance type diaphragm pressure sensor, only one, it is mounted on patient's index finger distal end finger joint and refers to
Abdomen is fixed on ectoskeleton index finger distal end fingerstall with bandage, pressure of the measurement index finger at this.
Referring to Fig. 4, the transverse structure of ectoskeleton thumb 4 includes transverse link 18, lateral shaft 19, oscillating bearing connection
Bar 20, oscillating bearing 21.
18 one end of transverse link connects linear motor, and one end connects lateral shaft 19；Lateral 19 bottom end of shaft is connected to the palm
It carries on the back on 1 projecting platform of platform, it can only the plane motion where projecting platform；Lateral 19 top connecting joint bearing 21 of shaft, in
Section connection transverse link 18；Two oscillating bearings 21, the lateral shaft 19 of a connection, another is connected to thumb proximal fingerstall 23
On, centre is linked together by oscillating bearing connecting rod 20.
When linear motor 2 travels forward, drives lateral shaft 19 to rotate, be transmitted to thumb proximal by two oscillating bearings 21
On fingerstall 23, ectoskeleton thumb is driven to move downward in a lateral direction；When linear motor 2 moves backward, ectoskeleton thumb is driven
Finger moves right in a lateral direction.
Referring to Fig. 5, the vertical structure of ectoskeleton thumb 4, comprising referring among universal joint 22, thumb proximal fingerstall 23, thumb
Set 24, thumb distal end fingerstall 25, connecting rod 30, shaft 27, rod end spherical joint 28, connecting rod 33, connecting rod 30, connecting rod 31, connecting rod 32,
Connecting rod 33.
The thumb that 22 one end of universal joint is fixed on palm back platform 1 connects on prominent axis 36, the other end and thumb proximal fingerstall
23 are connected；Fingerstall 24, thumb distal end fingerstall 25 pass sequentially through hole screw and are connected among thumb proximal fingerstall 23, thumb；Shaft
27 lower ends are connected with palm back platform 1, and upper end is connected with rod end spherical joint 28, and the protrusion axis in middle section is connected with connecting rod 30；Rod end
28 left end of spherical joint is connected with connecting rod 33；33 one end of connecting rod links together with connecting rod 31,30 one end of connecting rod, and connecting rod 30 is another
End is connected on thumb proximal fingerstall 23；31 one end of connecting rod links together with connecting rod 33,32 one end of connecting rod, 32 other end of connecting rod
Fingerstall 24 among thumb is connected, 33 other end of connecting rod connects thumb distal end fingerstall 25.
When linear motor 2 travels forward, whole ectoskeleton thumb is driven to curve inwardly；When linear motor 2 moves backward, band
Dynamic entirety ectoskeleton thumb flexes outward.
The movement of two linear motors by Collaborative Control laterally, in longitudinal both direction come control ectoskeleton thumb into
Row rotation.
Referring to Fig. 6, four finger proximal ends connect the proximal end fingerstall 9 that prominent axis 34 refers to four respectively and connect, and four refer to prominent support shaft
35 rotary shafts 14 referred to respectively with four are connect, and thumb connects prominent axis 36 and connect with universal joint 22.
Working method based on above-mentioned apparatus, including Passive Mode and aggressive mode:
Referring to Fig. 7, Passive Mode the following steps are included:
(1-1) inputs patient basis, and frequency of training, training content is arranged in control system initialization；
Whether (1-2) completes according to frequency of training training of judgement, if completed, terminates to train, and enter step (1-
6), if it is not complete, then entering step (1-3)；
Next (1-3) controls 6 linear motor operations according to training content and accordingly specifies if training is not completed
Distance；
(1-4) linear motor stops 3 seconds, i.e., linear motor runs the training action that specified distance is kept 3 seconds later；
(1-5) linear motor counter motion specifies distance to return to initial position, and return step (1-2)；
Whether (1-6) prompt carries out new training, if it is, Passive Mode step (1-1) is returned, if it is not, then
Terminate；
Referring to Fig. 8, aggressive mode the following steps are included:
(2-1) inputs patient basis, and frequency of training, training content, force snesor threshold is arranged in control system initialization
Value；
Whether (2-2) completes according to frequency of training training of judgement, if completed, terminates to train, and returns to input patient
Essential information step, if it is not complete, then entering (2-3)；
(2-3) judges whether force snesor reaches threshold value, if not reaching threshold value, linear motor stop motion, and
Return step (2-3) enters aggressive mode step (2-4) if reaching threshold value；
(2-4) according to training content judge linear motor whether full stroke, if controlling linear motor without full stroke
It moves and whether monitoring force snesor reaches threshold value at any time, if reaching threshold value, linear motor continues to move, if do not reached
To threshold value, then step (2-3) is returned to；If linear motor full stroke, inverted running is returned after linear motor 3 seconds out of service
Return to initial position；
Whether (2-5) prompt carries out new training, if it is, return step (2-1), if it is not, then terminating.
For linear motor using position control, control system receives the position signal that linear motor is fed back, control
The movement and stopping of linear motor.
Certainly, above-mentioned 3 seconds are only example, can be replaced in other embodiments.
Referring to Fig. 9, linear motor motion model figure analyzes the stress of linear motor.
The mechanical property of linear motor is as follows:
Maximal friction F2maxAre as follows:
F2max=μ (F3+mg)+F4 (2)
Also, frictional force F2Are as follows:
Wherein μ is coefficient of friction, and g is acceleration of gravity, F4For stiction, F5For force of sliding friction.
The effective push F that motor makes motor travel forward can finally be acted on6Are as follows:
F6=F1-F2 (4)
When linear motor movement, there is following relationship:
Referring to Fig.1 0, it is used improved Hybrid fuzzy logic-PID controller, for what is fed back to linear motor
Position signal is further processed.Include PID controller, fuzzy logic controller and Fuzzy Selection device.
Err is feedback error, and Δ err is the derivative of error e rr, and the feedback error of t moment is defined as setting position value Pdes
(t) with actual position signal Prel(t) difference:
Err (t)=Pdes(t)-Prel(t) (6)
The mixing output of PID controller and fuzzy logic controller is as follows:
O (t)=RPIDOPID(t)+RFUZOFUZ(t) (7)
Wherein, RPID、RFUZThe respectively output factor of PID controller and fuzzy logic controller, OPID(t)、OFUZ(t) divide
Not Wei PID controller and fuzzy logic controller output.
The movement of the mixing output control linear motor of controller.Fuzzy Selection device is with Δ ERR based on ERR by corresponding
The output factor R of degree of membership equation adjustment fuzzy controllerFUZ, below table is the linear programming of Fuzzy Selection device:
And the output factor calculating of PID controller is as follows:
RPID=1-RFUZ (8)
PID controller, fuzzy logic controller and Fuzzy Selection device all receive the feedback of linear motor position feed back signal
The derivative of error and feedback error, by the control parameter of fuzzy adjustment phase output PID controller, Fuzzy Selection device exports PID control
The output factor of device and fuzzy logic controller processed, then PID controller and fuzzy logic controller export control signal respectively,
It sums multiplied by after corresponding output factor, controls signal, control as the output of Hybrid fuzzy logic-PID controller
The movement of signal control linear motor.
Referring to Fig.1 1, for the fuzzy adjustment device of use.
Fuzzy adjustment device is used to adjust corresponding pid control parameter K according to linear motor parameterP,KI,KD.Wherein, ERR is
Normalized feedback error, Δ ERR are the derivative of normalized error E RR.K1,K2Normalized parameter, be normalized so that
ERR and Δ ERR are in [- 1,1] range.The fuzzy rule of fuzzy adjustment device is as follows:
K is adjusted by corresponding degree of membership equation with the value of Δ ERR according to ERRP,KI,KDValue to [0,1] range.
Referring to Fig.1 2, for the fuzzy controller of use.
The fuzzy rule of fuzzy controller is as follows:
IF:ERR is A, and Δ ERR is B；
THEN: fuzzy control output is Δ O
Linear programming is as follows:
Wherein, NB, N, Z, P, PB are Fuzzy Linguistic Variable, successively represent cathode value, are born, 0, just, positive extreme value, i.e., five points
Dividing value -1, -0.5,0,0.5,1.According to fuzzy rule and linear programming table determine fuzzy logic controller output Δ O ∈ [0,
1]。
The output result of PID controller is as follows:
Referring to Fig.1 3, thumb movement track is oval half, and elliptical center is (H, K), and A, B are elliptic parameter, at the beginning of thumb
Beginning position i.For acting on two linear motors of thumb, the motor close to index finger linear motor is No.1 motor, and motor is stretched
Length is L1；Another thumb linear motor is No. two motors, and motor extended length is L2.Thumb movement track and L1、L2It closes
It is as follows:
By initial position i (0,0), have:
By (H, the K) set, selection suitably meets the A of formula (11), and B parameter constructs motion profile Collaborative Control
Mode.No.1 motor L is set by position control first1Motor pattern, then cook up match two by formula (10)
Number motor L2Motor pattern, realize two motors to the Collaborative Control of thumb movement.
Referring to Fig.1 4, the control block diagram of linear induction motor system control.Wherein, PNdesIt is set for four four linear motor ideals of finger
Positioning is set；PNrelRefer to four actual position feedbacks of linear motor, i.e. P for fourNF；It is corresponding, L1desWith L2desFor thumb two
A linear motor setting position；L1relWith L2relFor two linear motor physical location feedbacks of thumb, i.e. P1FWith P2F。
Location error E (E1,E2,E3) calculation formula is as follows:
E=Ldes-PF (12)
Wherein, Ldes(L1des,L2des,PNdes) it is linear motor setting position, PF(P1F,P2F,PNF) it is that linear motor is real
Border position feedback.
Linear motor changes controller and exports O (O by Hybrid fuzzy logic-PID controller control1,O2,ON) with control
Linear motor movement.
Thumb bi-motor Collaborative Control is, in t moment, L1des(t) and L2des(t) meet formula (1), it may be assumed that
Meanwhile three-dimensional position sensing device being installed in 25 end of thumb distal end fingerstall, Real-time Feedback linear motor was run
The position of journey middle finger end, setting value of the auxiliary adjustment control system to thumb dual linear motor position.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (7)
1. a kind of exoskeleton rehabilitation robot device of the five fingers self-movement, it is characterized in that: including exoskeleton manipulator ontology, control
System, linear motor, thumb three-dimensional position sensing device and pressure sensor processed, in which:
The exoskeleton manipulator ontology includes palm back platform, and the corresponding position on the palm back platform is successively laid with dermoskeleton
Bone thumb, ectoskeleton index finger, ectoskeleton middle finger, ectoskeleton be nameless and the machine assembly of ectoskeleton little finger of toe, the linear motor
It including six, is respectively configured and controls different machine assemblies, and be all set on palm back platform, each linear motor is operated alone
The movement of each machine assembly, the thumb three-dimensional position sensing device are mounted on thumb distal end fingerstall end, Real-time Feedback straight line
The position of motor operation course middle finger end, the distal end that the pressure sensor is fixed on ectoskeleton index finger machine assembly refer to
Set, it is corresponding with user's index finger distal end finger joint finger pulp position, measure the pressure of index finger distal end finger joint finger pulp position, control system
Measured pressure is received, in conjunction with the position signal of linear motor and the position signal of thumb three-dimensional position sensing device, control is each
The movement and/or stopping of a linear motor；
Position potentiometer feedback device, Real-time Feedback linear motor position are built-in on the linear motor.
2. a kind of exoskeleton rehabilitation robot device of the five fingers self-movement as described in claim 1, it is characterized in that: the palm
Back platform is biased to finger side and is provided with the prominent axis of four finger proximal ends connection, and four refer to that proximal ends connect prominent axis and thumb in fingers out bone finger
The end of machine assembly be coaxially connected, and thumb connects the universal joint of prominent axis and the setting of ectoskeleton thumb machine assembly end
It is coaxial to be connected.
3. a kind of exoskeleton rehabilitation robot device of the five fingers self-movement as described in claim 1, it is characterized in that: described outer
Bone index finger, ectoskeleton middle finger, ectoskeleton be nameless and the machine assembly of ectoskeleton little finger of toe includes that proximal end fingerstall, centre refer to
Set, distal end fingerstall, proximal link, rotary shaft, first knuckle rotating member, second knuckle rotating member and distal link, proximal end
Fingerstall, intermediate fingerstall are sequentially coaxially connected with distal end fingerstall, and proximal end fingerstall connects with palm back platform, and the one of the proximal link
End is connected with the push rod top of linear motor, and the other end is coaxially connected with one end of rotary shaft, first knuckle rotating member；Rotation
The hole of the axis other end refers to that prominent support shaft is connected on palm back platform four, coaxial rotating；First knuckle rotating member lower end and close
It holds fingerstall upper end to be connected, while being connected with second knuckle rotating member；The middle section position hole and centre of second knuckle rotating member
Fingerstall upper end is connected, while being connected with distal link；Distal link is connected with distal end fingerstall upper end.
4. a kind of exoskeleton rehabilitation robot device of the five fingers self-movement as described in claim 1, it is characterized in that: described straight
It when line motor travels forward, drives proximal link to travel forward, and is rotated before coaxial axial rotary, limit first knuckle rotation
Turn the decline range of component, proximal end fingerstall.
5. a kind of exoskeleton rehabilitation robot device of the five fingers self-movement as described in claim 1, it is characterized in that: described straight
When line motor travels forward, whole exoskeleton finger curves inwardly, and when linear motor moves backward, whole exoskeleton finger is outside
Stretching, extension, to realize that four refer to that independent buckling stretches rehabilitation training task by the movement of linear motor.
6. a kind of exoskeleton rehabilitation robot device of the five fingers self-movement as described in claim 1, it is characterized in that: described outer
The machine assembly of bone thumb includes universal joint, thumb proximal fingerstall, thumb centre fingerstall, thumb distal end fingerstall, shaft, transverse direction
Connecting rod, lateral shaft, oscillating bearing connecting rod, oscillating bearing and multiple connecting rods, it is flat that one end of the universal joint is fixed on palm back
The thumb of platform connects on prominent axis, and the other end is connected with thumb proximal fingerstall；Fingerstall, thumb among thumb proximal fingerstall, thumb
Distal end fingerstall is sequentially connected；Shaft lower end with the palm back platform be connected, upper end is connected with rod end spherical joint, protrusion axis middle section and
Connecting rod is connected；Rod end spherical joint is connected with first connecting rod, and first connecting rod one end is connected to second connecting rod, third connecting rod one end
Together, the other end of third connecting rod is connected on thumb proximal fingerstall；One end of second connecting rod and fourth link and the 5th connecting rod
One end link together, fingerstall among the other end of fourth link connection thumb, the 5th connecting rod other end connects thumb distal end
Fingerstall；Described transverse link one end connects linear motor, and one end connects lateral shaft；Lateral shaft bottom end is connected to palm back platform
On projecting platform；Lateral shaft top connecting joint bearing, middle section connect transverse link；Two oscillating bearings, a connection are horizontal
To shaft, another is connected on thumb proximal fingerstall, and centre is linked together by oscillating bearing connecting rod.
7. a kind of exoskeleton rehabilitation robot device of the five fingers self-movement as described in claim 1, it is characterized in that: working as straight line
When motor travels forward, lateral shaft rotation is driven, is transmitted on thumb proximal fingerstall by two oscillating bearings, drives ectoskeleton
Thumb moves downward in a lateral direction；When horizontal linear motor moves backward, ectoskeleton thumb is driven in a lateral direction
It moves right；When longitudinal linear motor travels forward, whole ectoskeleton thumb is driven to curve inwardly；When longitudinal linear motor to
After when moving, drive whole ectoskeleton thumb to flex outward；Two straight lines by Collaborative Control laterally, in longitudinal both direction
The movement of motor is rotated to control ectoskeleton thumb.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810571839.9A CN108969294B (en) | 2018-06-05 | 2018-06-05 | A kind of the exoskeleton rehabilitation robot device and method of the five fingers self-movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810571839.9A CN108969294B (en) | 2018-06-05 | 2018-06-05 | A kind of the exoskeleton rehabilitation robot device and method of the five fingers self-movement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108969294A CN108969294A (en) | 2018-12-11 |
| CN108969294B true CN108969294B (en) | 2019-10-11 |
Family
ID=64540657
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810571839.9A Active CN108969294B (en) | 2018-06-05 | 2018-06-05 | A kind of the exoskeleton rehabilitation robot device and method of the five fingers self-movement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108969294B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110037889B (en) * | 2019-04-17 | 2024-02-20 | 宁波大学 | Progressive finger intelligent rehabilitation instrument |
| CN113101139A (en) * | 2021-04-16 | 2021-07-13 | 福州大学 | Self-adaptive control hand exoskeleton rehabilitation device and method combining pressure sensor |
| CN114147687B (en) * | 2021-12-02 | 2024-02-23 | 中国科学技术大学 | Method and system for real-time man-machine leading switching cooperative control of lower limb exoskeleton |
| CN114147741B (en) * | 2021-12-07 | 2024-03-29 | 山东大学 | Multi-degree-of-freedom wearable exoskeleton hand function rehabilitation robot based on redundant control |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014021603A1 (en) * | 2012-08-02 | 2014-02-06 | 한국기술교육대학교 산학협력단 | Motion control device based on winding string |
| CN103767856A (en) * | 2014-01-24 | 2014-05-07 | 西安交通大学 | Wearing type five-finger recovery manipulator |
| CN105796283A (en) * | 2016-03-01 | 2016-07-27 | 哈尔滨工程大学 | Exoskeleton hand rehabilitation training device |
| CN105943308A (en) * | 2016-05-27 | 2016-09-21 | 中国科学技术大学 | Hand exoskeleton device for rehabilitation training |
| WO2017145136A1 (en) * | 2016-02-26 | 2017-08-31 | Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna | Exoskeleton device for the hand |
| CN107260490A (en) * | 2017-07-12 | 2017-10-20 | 合肥工业大学 | A kind of exoskeleton-type manipulators in rehabilitation |
| CN107550685A (en) * | 2017-09-30 | 2018-01-09 | 华中科技大学 | A kind of hand exoskeleton device of compatible human hand pivot |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205548962U (en) * | 2016-01-29 | 2016-09-07 | 巢湖学院 | Chinese traditional massage device with adjustable |
| CN106618963A (en) * | 2017-01-13 | 2017-05-10 | 南京航空航天大学 | Wearable rehabilitation robot glove device and rehabilitation training method after syndactylia operation |
| CN106994086B (en) * | 2017-04-09 | 2019-08-23 | 南京邮电大学 | A kind of exoskeleton-type the five fingers arc displacement finger rehabilitation exercise system |
-
2018
- 2018-06-05 CN CN201810571839.9A patent/CN108969294B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014021603A1 (en) * | 2012-08-02 | 2014-02-06 | 한국기술교육대학교 산학협력단 | Motion control device based on winding string |
| CN103767856A (en) * | 2014-01-24 | 2014-05-07 | 西安交通大学 | Wearing type five-finger recovery manipulator |
| WO2017145136A1 (en) * | 2016-02-26 | 2017-08-31 | Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna | Exoskeleton device for the hand |
| CN105796283A (en) * | 2016-03-01 | 2016-07-27 | 哈尔滨工程大学 | Exoskeleton hand rehabilitation training device |
| CN105943308A (en) * | 2016-05-27 | 2016-09-21 | 中国科学技术大学 | Hand exoskeleton device for rehabilitation training |
| CN107260490A (en) * | 2017-07-12 | 2017-10-20 | 合肥工业大学 | A kind of exoskeleton-type manipulators in rehabilitation |
| CN107550685A (en) * | 2017-09-30 | 2018-01-09 | 华中科技大学 | A kind of hand exoskeleton device of compatible human hand pivot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108969294A (en) | 2018-12-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108969294B (en) | A kind of the exoskeleton rehabilitation robot device and method of the five fingers self-movement | |
| CN106943279B (en) | Hand exoskeleton and two-hand follow-up rehabilitation device | |
| CN110742775B (en) | Upper limb active and passive rehabilitation training robot system based on force feedback technology | |
| CN109157374A (en) | A kind of intensive care unit brain paralysis patient double lower limb coordinated movement of various economic factors rehabilitation system | |
| CN104586608B (en) | The wearable power-assisted finger controlled based on myoelectricity and its control method | |
| CN103735389B (en) | Finger coordination training and rehabilitation device | |
| CN107050763B (en) | Novel ankle joint rehabilitation robot and control method thereof | |
| CN106074089B (en) | A kind of both hands tracking mode finger gymnastic robot system | |
| CN106621207B (en) | The training method and healing robot of healing robot | |
| CN105960226B (en) | The therapeutic equipment of training fine movement technical ability | |
| CN105919774A (en) | Parallel flexible cable driven robot for upper limb rehabilitation and implementation method thereof | |
| CN109091818A (en) | The training method and system of rope-traction upper limb rehabilitation robot based on admittance control | |
| CN109330819A (en) | Master-slave mode upper limb exoskeleton rehabilitation robot control system and its control method | |
| CN209464288U (en) | Personalized upper-limbs rehabilitation training robot system based on path planning | |
| CN110251898A (en) | A kind of closed-loop control system of the wrist rehabilitation ectoskeleton based on force feedback | |
| CN205674198U (en) | A kind of based on Wire driven robot hand movement function healing robot | |
| CN108670412B (en) | A kind of exoskeleton rehabilitation manipulator and method with force feedback mechanism | |
| CN104922879A (en) | Dyspnea difficulty feedback based robot pulmonary rehabilitation system | |
| CN110141455A (en) | A kind of wearable hand convalescence device of multiplex control system | |
| US20150290071A1 (en) | Multiple Degree of Freedom Portable Rehabilitation System Having DC Motor-Based, Multi-Mode Actuator | |
| Tang et al. | A finger exoskeleton for rehabilitation and brain image study | |
| CN206566167U (en) | Healing robot | |
| WO2022269641A1 (en) | Intelligent lower-limb orthosis system for exercise therapy and method therefor | |
| CN214318519U (en) | Rigid-flexible exoskeleton glove device based on line driving | |
| CN113101140A (en) | Digital twinning-based flexible lower limb exoskeleton rehabilitation unit construction method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |