CN109124985A - Personalized upper-limbs rehabilitation training robot system based on path planning - Google Patents
Personalized upper-limbs rehabilitation training robot system based on path planning Download PDFInfo
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- CN109124985A CN109124985A CN201810947258.0A CN201810947258A CN109124985A CN 109124985 A CN109124985 A CN 109124985A CN 201810947258 A CN201810947258 A CN 201810947258A CN 109124985 A CN109124985 A CN 109124985A
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- 238000012549 training Methods 0.000 title claims abstract description 125
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 82
- 238000013439 planning Methods 0.000 title claims abstract description 26
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 48
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 30
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 23
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 21
- 230000003044 adaptive effect Effects 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims description 90
- 230000033001 locomotion Effects 0.000 claims description 76
- 210000000245 forearm Anatomy 0.000 claims description 23
- 230000035876 healing Effects 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 7
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 claims description 7
- 229960001030 mephenoxalone Drugs 0.000 claims description 7
- 230000036541 health Effects 0.000 claims description 6
- 210000001503 joint Anatomy 0.000 claims description 5
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract description 6
- 210000003205 muscle Anatomy 0.000 abstract description 4
- 201000010099 disease Diseases 0.000 abstract description 3
- 230000003447 ipsilateral effect Effects 0.000 abstract description 2
- 210000000578 peripheral nerve Anatomy 0.000 abstract description 2
- 210000000278 spinal cord Anatomy 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 238000000554 physical therapy Methods 0.000 description 7
- 210000003414 extremity Anatomy 0.000 description 6
- 208000027418 Wounds and injury Diseases 0.000 description 5
- 230000036544 posture Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000009467 reduction Effects 0.000 description 5
- 230000006378 damage Effects 0.000 description 4
- 208000014674 injury Diseases 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 238000013500 data storage Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 206010061225 Limb injury Diseases 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000007115 recruitment Effects 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010060820 Joint injury Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
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- 239000007788 liquid Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- A61H1/0281—Shoulder
-
- 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
-
- 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
- A61H2205/062—Shoulders
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses the personalized upper-limbs rehabilitation training robot systems based on path planning, including pedestal supporting module, more position seat modulars, rehabilitation training and the adaptive mobile module of assessment system module, shoulder joint and the mechanical arm for rehabilitation training of upper limbs being set on the adaptive mobile module of the shoulder joint.The patient of upper limb disorder or function limitation caused by the present invention is suitable for because of nervous centralis, peripheral nerve, spinal cord, muscle or skeletal diseases can provide an extensive upper limb three-dimensional training space for patient；Patient can be assisted to carry out ipsilateral upper limb shoulder joint, elbow joint and wrist joint, 7 degree of freedom, more fully and personalized rehabilitation training of upper limbs；The function of personalized trajectory planning can be provided under passive rehabilitation training mode, patient personalized path planning is completed, the accurate reproduction of set rehabilitation track is realized by upper-limbs rehabilitation training robot.
Description
Technical field
The present invention relates to training type rehabilitation appliances field, in particular to a kind of personalized upper limb healing based on path planning
Image training robot system.
Background technique
Due to the growth of human age, the increasing of traffic accident, the gradually increasing of sports property joint injury, apoplexy
The patient of limb injury caused by the increase of hemiplegia disease incidence and some other factor is in increased trend, this is greatly
Ground affects the health and daily life of the mankind.Theory of medicine and clinical medicine all proves, the patient of this kind of limb injury
Other than carrying out early stage drug therapy and operative treatment, it there is a need to carry out scientific, accurate, appropriate limb rehabilitation training.
Traditional limb rehabilitation training is mostly to assist patient to go to complete joint, muscle and ligament by nurse or rehabilitation physical therapy teacher
Rehabilitation training, to maintain the mobility of patient articular and muscle, and promote the early recovery of patient articular's motor function.But
There are rehabilitation efficacies to be timely feedbacked for traditional recovery training method, rehabilitation efficacy is by doctor's experience level etc.
The problems such as factor influences, rehabilitation is at high cost.
In the patent of invention of Patent No. CN102961235B, a kind of upper-limbs rehabilitation training robot is disclosed, including
Pedestal, support frame, seat, cantilever beam and upper limb training institution, may be implemented the rotation of 4~6 freedom degrees.But due to human body
Upper limb has 7 freedom degrees, so the upper-limbs rehabilitation training robot is not able to satisfy the rehabilitation instruction of all freedom degrees of patient's upper limb
Practice；The center of the shoulder joint module of the upper-limbs rehabilitation training robot cannot be guaranteed to close in rehabilitation training with the human body broad-mouthed receptacle for holding liquid upper arm
Section rotation center coincides, and joint position deviation, which can be brought, involves sense, leads to the secondary injury to patient；The rehabilitation training of upper limbs
Intelligent robot carries out the rehabilitation training of upper limb, not can be carried out the assessment of rehabilitation efficacy and the data storage of rehabilitation efficacy, no
Convenient for patient itself and rehabilitation physical therapy Shi Zhidao rehabilitation efficacy.
In the utility model patent of Patent No. CN201743884U, a kind of upper-limbs rehabilitation training robot is disclosed,
Including pedestal, ergonomic chair, rehabilitation mechanical arm and human-computer interactive control cabinet.The shoulder joint of the upper-limbs rehabilitation training robot
The center of module cannot be guaranteed to coincide in rehabilitation training with human body Glenohumeral joint rotation center, joint position deviation meeting
It brings and involves sense, lead to the secondary injury to patient.
In the patent of invention of Patent No. CN104873360B, disclose it is a kind of based on lasso trick driving upper limb healing outside
Put that/interior receipts joint anteflexion/extend back joint, medial rotation/rotation extrinsic articulation, ancon are anteflexion/and extendes back pass outside bone robot, including wrist
Section, shoulder is anteflexion/extend back joint, outer pendulum/interior receipts joint, medial rotation/rotation extrinsic articulation and lasso trick driving device, may be implemented to suffer from
The rotation of 7 freedom degrees of person's upper limb, but should be based on the shoulder joint module for the upper limb healing exoskeleton robot that lasso trick drives
Center cannot be guaranteed to coincide in rehabilitation training with human body Glenohumeral joint rotation center, lead to the secondary wound to patient
Evil.Simultaneously the upper limb healing exoskeleton robot forearm and upper arm size adjusting be by sliding notch and locking nut into
Row manual adjustment, low efficiency, and the dimension data of every patient cannot be recorded, it can not achieve quick original state reduction.
In the patent of invention of Patent No. CN102151215B, a kind of exoskeletal rehabilitation mechanical arm for upper limb is disclosed,
By shoulder c-type outside track support, rail slider, on the shoulders connecting rod, upper arm connecting rod, forearm connecting rod, wrist annular outside track
Support, wrist swinging connecting rod and handle constitute the movement, it can be achieved that 7 freedom degrees.But since the invention is not provided with driving member
Part, therefore Rehabilitation Training in Treating independently can not be carried out to patient.
In the patent of invention of Patent No. CN103948485A, a kind of dermaskeleton type upper limb rehabilitation robot is disclosed,
The healing robot is made of drive part, running part, execution part, can the progress rehabilitation training of skimulated motion therapy.But
The healing robot can be only done elbow joint it is anteflexion/extend back with outside forearm medial rotation/rotation two kinds movement, be unfavorable for other joints of upper limb
Rehabilitation training.
Therefore, in view of the above technical problems, it is necessary to a kind of novel upper-limbs rehabilitation training robot system is provided, with gram
Take drawbacks described above.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of based on path
The personalized upper-limbs rehabilitation training robot system of planning.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: in a kind of personalization based on path planning
Limbs rehabilitation training robot system including pedestal supporting module, is detachably set to more positions in the pedestal supporting module
Seat modular, the rehabilitation training being set in the pedestal supporting module and assessment system module are set to the pedestal support
The adaptive mobile module of shoulder joint in module and the rehabilitation training of upper limbs being set on the adaptive mobile module of the shoulder joint
Mechanical arm.
Preferably, the mechanical arm for rehabilitation training of upper limbs has 7 degree of freedom, including wrist joints sporting module and institute
State the elbow joint motion module and pass through upper arm size tune that wrist joints sporting module is connected in series by forearm size adjustment module
Save the shoulder joint kinesitherapy module of the other end series connection of module and the elbow joint motion module；
The wrist joints sporting module includes that the dorsiflex/palmar flexion movement mechanism being connected in series and ruler bend/oar movement mechanism in the wrong,
The pivot center of two movement mechanisms is compared to point Ow；
The elbow joint motion module include be connected in series buckling/it is super stretch movement mechanism and forearm rotation before/supination
Mechanism, the pivot center of two movement mechanisms is compared to point Oe；
The shoulder joint kinesitherapy module, which includes putting outside the shoulder joint that is sequentially connected in series ,/interior receipts movement mechanism, anteflexion/extendes back
Movement mechanism and outward turning/inward turning movement mechanism, the pivot center of three movement mechanisms is compared to point Os.
Preferably, the forearm size adjustment module is for automatically adjusting point the distance between Ow and Oe, to adapt to
The length dimension of different patient forearms, and the data are recorded in rehabilitation training and assessment system module；The upper arm
Size adjustment module is for automatically adjusting point the distance between Os and Oe, to adapt to the length dimension of different patient's upper arm, and
It records data in rehabilitation training and assessment system module.
Preferably, the active lifting that can be stretched up and down that the adaptive mobile module of the shoulder joint is arranged by bottom
Upright supports are arranged in pedestal supporting module, and top is connected with one first rotating plate by the first passive rotary joint, described
The both ends of first rotating plate pass through the second passive rotary joint and are connected with one second rotating plate, on the mechanical arm for rehabilitation training of upper limbs
The first fast assembly and disassembly mechanism pass through the passive rotary joint of third again and connect with second rotating plate, pass through the first passive rotation and close
The passive rotary joint of section, the second passive rotary joint, third realizes the horizontal shifting of mechanical arm for rehabilitation training of upper limbs in the horizontal plane
It is dynamic.
Preferably, the mechanical arm for rehabilitation training of upper limbs includes a set of or two sets, is required according to the rehabilitation training of patient
Carry out the quantity of mechanical arm for rehabilitation training of upper limbs and the configuration of left and right distribution；
Preferably, more position seat modulars include seat body and the neck being set on seat adjustment
Mechanism, waist adjustment mechanism, leg joint adjustment mechanism, the second fast assembly and disassembly mechanism and the first steering wheel group.
Preferably, the pedestal supporting module includes U-shaped bottom support plate and the second steering wheel group, and described is U-shaped
Designed for cooperating with second fast assembly and disassembly mechanism to realize that is quickly removed and installed quickly tears open on the inside of bottom support plate
Fill matching mechanism.
Preferably, second fast assembly and disassembly mechanism is the installation that the bottom plate two sides of the seat body bottom are arranged in
Raised line, the fast assembling-disassembling matching mechanism are to be provided with cooperating for the installation raised line for two inside of U-shaped bottom support plate
Two mounting grooves of insertion.
Preferably, the rehabilitation training and assessment system module include computer display screen, are set to the computer and show
Shield system login control panel, the passive arm for being installed on the computer display screen in the pedestal supporting module of side
And system controls and storage unit.
Preferably, the first six-dimension force sensor is installed at the handle of the wrist joints sporting module；Dorsiflex/the palm
That bends movement mechanism has been internally integrated first angle sensor, the ruler bends/oar bend movement mechanism be internally integrated second jiao
Spend sensor；What the buckling/super stretched movement mechanism has been internally integrated the first torque sensor and third angle sensor, described
Before forearm rotation/outside of supination mechanism is equipped with first pressure sensor；Outside the shoulder joint in pendulum/interior receipts movement mechanism
Portion is integrated with the second torque sensor and fourth angle sensor, it is described it is anteflexion/extend back movement mechanism be internally integrated third
Torque sensor and the 5th angular transducer, the outward turning/inward turning movement mechanism outside are equipped with the second six-dimension force sensor；
The handle of the wrist joints sporting module is equipped with pain spot record button.
The beneficial effects of the present invention are:
(1) personalized rehabilitation training parameter design.The present invention can carry out the forearm of mechanical arm for rehabilitation training of upper limbs automatically
It is adjusted with the size of upper arm and the adjustment of patient in sitting, and can realize accurately and rapidly initial position for different patients
Reduction, convenient for fast and accurately carrying out subsequent rehabilitation training.
(2) intelligent data management.The present invention can provide not for different degree of paralysis and Bu Tong convalescent patient
Data storage management is carried out to personal rehabilitation data with rehabilitation training mode, and using rehabilitation training and assessment system module, is built
Vertical patient individual's rehabilitation database, realizes the intelligent management of patient personal data；It is logged in front of Rehabilitation training, and by upper limb health
The state when state reduction of multiple image training robot is at oneself last time rehabilitation training, continues rehabilitation training of upper limbs；Meanwhile suffering from
Person can use personal rehabilitation database, carry out same rehabilitation training of upper limbs in Different hospital.
(3) multiple degrees of freedom path planning.The present invention can assist patient to carry out ipsilateral upper limb shoulder joint, elbow joint and wrist
Joint, 7 degree of freedom, more fully and personalized rehabilitation training of upper limbs；The present invention can be in passive rehabilitation training
The function of personalized trajectory planning is provided under mode, patient personalized path planning is completed, by upper-limbs rehabilitation training robot
Realize the accurate reproduction of set rehabilitation track.
(4) shoulder joint coupled motions.The present invention can guarantee that the Glenohumeral joint rotation center of patient is carrying out upper limb healing
The rotation center Os of shoulder joint kinesitherapy module in training process with mechanical arm for rehabilitation training of upper limbs coincides, and eliminates joint position
Sense is involved brought by deviation, prevents the secondary injury to patient.
(5) friendly human-computer interaction.The present invention is equipped with pain spot record button at handle, is mainly used for Physical Therapist early period and is
Patient carries out the pain spot for recording joint in path planning at any time；On the one hand later period can be used for the scram button in training process,
On the other hand it can be equally used for pain spot record, modify in time to rehabilitation path convenient for Physical Therapist perfect；Human-computer interaction is big
Screen shows rehabilitation training state and training result, grasps training process convenient for doctor and instructs rehabilitation programme.
(6) rehabilitation training assessment system.The present invention using the range of motion in motion process, joint driven torque and
Joint motions trend etc. carries out quantitatively evaluating to the movement of patient, and rehabilitation physical therapy teacher is helped more accurately to assess the disease of patient
Feelings provide objective basis to be further improved and optimizing rehabilitation training scheme.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the personalized upper-limbs rehabilitation training robot system of the invention based on path planning；
Fig. 2 is the structural schematic diagram of mechanical arm for rehabilitation training of upper limbs of the invention；
Fig. 3 is the structural schematic diagram of wrist joints sporting module in mechanical arm for rehabilitation training of upper limbs of the invention；
Fig. 4 is the structural schematic diagram of elbow joint motion module in mechanical arm for rehabilitation training of upper limbs of the invention；
Fig. 5 is the structural schematic diagram of shoulder joint kinesitherapy module in mechanical arm for rehabilitation training of upper limbs of the invention；
Fig. 6 is the adaptive mobile module of shoulder joint of the invention, rehabilitation training and assessment system module and pedestal branch hold mode
The structural schematic diagram of block；
Fig. 7 is the structural schematic diagram of more position seat modulars of the invention.
Description of symbols:
Mechanical arm for rehabilitation training of upper limbs (1), the adaptive mobile module of shoulder joint (2), more position seat modulars (3), rehabilitation
It is trained with assessment system module (4), pedestal supporting module (5), wrist joints sporting module (11), elbow joint motion module (12),
Shoulder joint kinesitherapy module (13), forearm size adjustment module (14), upper arm size adjustment module (15), dorsiflex/palmar flexion fitness machine
Structure (11A), ruler bend/oar movement mechanism (11B), handle (1101), the first six-dimension force sensor (1102), pain spot record button in the wrong
(1103), first angle sensor (1104), second angle sensor (1105), buckling/super stretch movement mechanism (12A), forearm
Before rotation/supination mechanism (12B), the first torque sensor (1201), third angle sensor (1202), first pressure sensing
/ interior receipts movement mechanism (13A), anteflexion/is put outside device (1203), shoulder joint extendes back movement mechanism (13B), outward turning/inward turning fitness machine
Structure (13C), the second torque sensor (1301), fourth angle sensor (1302), third torque sensor (1303), the 5th jiao
Spend sensor (1304), the second six-dimension force sensor (1305), the first fast assembly and disassembly mechanism (1306), the first passive rotary joint
(201), the second passive rotary joint (202), the passive rotary joint of third (203), active lifting column (204), the first rotating plate
(205), the second rotating plate (206), seat body (300), neck adjustment mechanism (301), waist adjustment mechanism (302), leg are closed
Save adjustment mechanism (303), the second fast assembly and disassembly mechanism (304), the first steering wheel group (305), computer display screen (401), system
Log in control panel (402), passive arm (403), system control and storage unit (404), U-shaped bottom support plate (501), second
Steering wheel group (502), fast assembling-disassembling matching mechanism (503).
Specific embodiment
The present invention will be further described in detail below with reference to the embodiments, to enable those skilled in the art referring to specification
Text can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein are not precluded one or more
The presence or addition of a other elements or combinations thereof.
As shown in Figure 1, a kind of personalized upper-limbs rehabilitation training robot system based on path planning of the present embodiment, packet
Include a set of or adaptive mobile module 2 of two sets of mechanical arm for rehabilitation training of upper limbs 1, shoulder joint, more position seat modulars 3, rehabilitation instruction
Experienced and assessment system module 4 and pedestal supporting module 5；Mechanical arm for rehabilitation training of upper limbs 1 passes through the first fast assembling-disassembling machine of proximal end
Structure 1306 is fixedly supported on the adaptive mobile module 2 of shoulder joint, and rehabilitation physical therapy teacher can require according to the rehabilitation training of patient
Carry out the quantity of mechanical arm for rehabilitation training of upper limbs 1 and the configuration of left and right distribution；The adaptive mobile module 2 of shoulder joint is fixed on pedestal
In supporting module 5, it can be moved with pedestal supporting module 5；Rehabilitation training and assessment system module 4 are used as the robot
The control of system and electrical module are similarly installed in pedestal supporting module 5；More position seat modulars 3 are quickly torn open by second
Mounting mechanism 304 and fast assembling-disassembling matching mechanism may be implemented the quick positioning with pedestal supporting module 5 and fix.
As shown in Fig. 2,3,4,5, mechanical arm for rehabilitation training of upper limbs 1 has 7 degree of freedom, using typical serial machine
The structure type of people is attached, including wrist joints sporting module 11, elbow joint motion module 12, shoulder joint kinesitherapy module 13,
The modules such as forearm size adjustment module 14 and upper arm size adjustment module 15, wrist joints sporting module 11 and elbow joint motion module
It is connected in series between 12 by forearm size adjustment module 14, is led between elbow joint motion module 12 and shoulder joint kinesitherapy module 13
Cross the series connection of upper arm size adjustment module 15；Wrist joints sporting module 11 include dorsiflex/palmar flexion movement mechanism 11A and ruler bend/
Oar bends movement mechanism 11B, and two movement mechanisms are connected by the way of being connected in series, and pivot center intersects at point Ow, can band
Dynamic patient realizes the rotation of two freedom degrees of wrist joint；Elbow joint motion module 12 includes buckling/super movement mechanism 12A that stretches with before
Arm rotation before/supination mechanism 12B, two movement mechanisms using series connection by the way of connect, pivot center intersects at point Oe,
Patient can be driven to realize the rotation of two freedom degrees of elbow joint；Shoulder joint kinesitherapy module 13 includes pendulum outside shoulder joint/interior receipts fortune
Motivation structure 13A, anteflexion/to extend back movement mechanism 13B and outward turning/inward turning movement mechanism 13C, three movement mechanisms are using being connected in series
Mode connect, pivot center intersects at point Os, can drive patient realize Glenohumeral joint three degree of freedom rotation.
As shown in Fig. 2,4,5, forearm size adjustment module 14 can automatically adjust point the distance between Ow and Oe, i.e. wrist closes
The distance between motion module 11 and elbow joint motion module 12 are saved, to adapt to the length dimension of different patient forearms, and will
The dimension data is recorded in the personal rehabilitation database of rehabilitation training and assessment system module 4；Upper arm size adjustment module 15
Point the distance between Os and Oe can be automatically adjusted, i.e., between elbow joint motion module 12 and shoulder joint kinesitherapy module 13 away from
From to adapt to the length dimension of different patient's upper arm, and the length data being recorded in rehabilitation training and assessment system module 4
Personal rehabilitation database in；The human geometry's data being recorded in rehabilitation training and assessment system module 4 can allow upper limb health
Refreshment practices mechanical arm 1 and realizes that accurately and rapidly initial position restores for different patients, subsequent convenient for fast and accurately carrying out
Rehabilitation training.
As shown in fig. 6, the adaptive mobile module 2 of shoulder joint is fixedly supported in pedestal supporting module 5, set in the horizontal direction
There are three the passive rotary joints 201 of passive rotary joint first, the second passive rotary joint 202, the second passive rotary joint
203, the adaptive mobile module 2 of shoulder joint is existed by the support setting of active lifting column 204 that can be stretched up and down that bottom is arranged
In pedestal supporting module 5, top is connected with one first rotating plate 205, first rotating plate by the first passive rotary joint 201
205 both ends pass through the second passive rotary joint 202 and are connected with one second rotating plate 206, the mechanical arm for rehabilitation training of upper limbs 1
On the first fast assembly and disassembly mechanism 201 connect with second rotating plate 206 by the passive rotary joint 203 of third again, i.e., second
Rotating plate 206, the second passive rotary joint 202, the passive rotary joint 203 of third include 2 secondary, pass through the first passive rotary joint
201, the passive rotary joint 203 of the second passive rotary joint 202, third realizes mechanical arm for rehabilitation training of upper limbs 1 in the horizontal plane
Move horizontally.
Vertical direction be equipped with active lifting column 204, realize mechanical arm for rehabilitation training of upper limbs 1 in perpendicular up and down
It is mobile, guarantee rotation of the Glenohumeral joint rotation center of patient during carrying out rehabilitation training of upper limbs with shoulder joint kinesitherapy module
Center coincides, and eliminates and involves sense brought by joint position deviation, prevents the secondary injury to patient.
As shown in Figure 6,7, more position seat modulars 3 are fixedly connected in rehabilitation training with pedestal supporting module 5, including neck
Portion's adjustment mechanism 301, waist adjustment mechanism 302, leg joint adjustment mechanism 303, fast assembly and disassembly mechanism 304 and the first universal wheel
The funtion parts such as group 305 can carry out the adjustment of the postures of other parts such as neck, waist, leg for different patients, be convenient for
Patient is in comfortable sitting posture, and is stored the attitude data of patient by the sensor inside each adjustment mechanism, realizes
Patient realizes accurately and rapidly sitting posture reduction before next rehabilitation training, convenient for fast and accurately carrying out subsequent rehabilitation training；
The fast assembling-disassembling matching mechanism 503 in fast assembly and disassembly mechanism 304 and pedestal supporting module 5 in more position seat modulars 3 can be with
It realizes the quick positioning of more position seat modulars 3 and fixes.
As shown in fig. 6, rehabilitation training and assessment system module 4 include computer display screen 401, system login control panel
402, passive arm 403 and system control and storage unit 404, system control may be provided at pedestal branch hold mode with storage unit 404
In block 5, it may be implemented that patient individual's rehabilitation system logs in, the storage of personal rehabilitation data, rehabilitation training operation with display, assessment are
System operation and the functions such as display and data storage.
As shown in fig. 6, pedestal supporting module 5 includes U-shaped bottom support plate 501 and the second steering wheel group 502, U-shaped bottom
Support plate 501 is fixedly connected with steering wheel group 502；Design can be realized and more position seats on the inside of U-shaped bottom support plate 501
Module 3 quickly positions and fixed fast assembly and disassembly mechanism 503.In one embodiment, second fast assembly and disassembly mechanism 304 is
The installation raised line of the bottom plate two sides of 300 bottom of seat body is set, and the fast assembling-disassembling matching mechanism 503 is to be provided with
Two mounting grooves for the installation raised line cooperation insertion of 501 liang of insides of the U-shaped bottom support plate.
As shown in Fig. 2,3,4,5, first six-dimension force sensor is installed at the handle 1101 of wrist joints sporting module 11
1102, on the one hand for detecting the carpal moment values of patient, the on the other hand motion intention of patient for identification；Dorsiflex/
Palmar flexion movement mechanism 11A and ruler bend/and oar bends movement mechanism 11B and is integrated with first angle sensor 1104 and second in inside respectively
Angular transducer 1105, to detect the movement angle of wrist joint two-freedom；Buckling/super is stretched movement mechanism 12A and is internally integrated
First torque sensor 1201 and third angle sensor 1202 are respectively intended to detection patient's elbow joint buckling/super and stretch movement
Angle and moment values；Forearm rotation before/supination mechanism 12B outside first pressure sensor 1203 is installed, be on the one hand used for
Before detecting forearm rotation/and supination moment values, the on the other hand motion intention of patient's elbow joint for identification；Put outside shoulder joint/
Interior receipts movement mechanism 13A has been internally integrated the second torque sensor 1301 and fourth angle sensor 1302, anteflexion/to extend back movement
Mechanism 13B is equally integrated with third torque sensor 1303 and the 5th angular transducer 1304 in inside, is all used to detect movement
Angle and moment values；The second six-dimension force sensor 1305 is installed outside outward turning/inward turning movement mechanism 13C, on the one hand for examining
Shoulder external rotator/inward turning motoring torque value is surveyed, shoulder joint kinesitherapy intention assessment is on the other hand used for.
As shown in figure 3, the handle 1101 of wrist joints sporting module 11 is equipped with pain spot record button 1103, early period is mainly used
It is that patient carries out the pain spot for recording joint in path planning at any time in Physical Therapist；On the one hand later period can be used in training process
On the other hand scram button can be equally used for pain spot record, modify in time to rehabilitation path convenient for Physical Therapist perfect.
The course of work of the invention is:
(1) rehabilitation training is carried out for the first time: firstly, rehabilitation physical therapy Shi Liyong system login control panel 402 is established to patient
Personal rehabilitation database；Then, patient is sitting on more position seat modulars 3, carries out the adjustment of sitting posture, and by the posture number of patient
According to storage into system control and storage unit 404；Then patient dresses mechanical arm for rehabilitation training of upper limbs 1, and rehabilitation physical therapy teacher is logical
Crossing adjusting forearm size adjustment module 14 and upper arm size adjustment module 15 respectively makes the wrist joint, elbow joint and shoulder joint of patient
The rotation axis of the wrist joint of rotation axis and upper-limbs rehabilitation training robot 1, elbow joint and shoulder joint kinesitherapy module coincides,
It is stored with storage unit 404 into the personal rehabilitation database of patient also with system control；And then, by motor pattern tune
Whole is active training mode, carries out the movement of single joint, the patient feels to pain with the suffering limb of patient by rehabilitation physical therapy teacher
When press pain record button 1103, system control records the angular values of current joint with storage unit 404, and by health
Multiple Physical Therapist carries out the passive rehabilitation training path planning of patient；Finally, motor pattern is adjusted to passive exercise mode, by upper
The path that limbs rehabilitation training robot is set according to Physical Therapist, drive patient suffering limb carry out rehabilitation training, at the end of by being
System control carries out the recruitment evaluation of this rehabilitation training with storage unit 404, and stores the data such as rehabilitation result.
(2) non-first time carries out rehabilitation training: patient carries out system login, health with storage unit 402 using system control
For multiple image training robot automatic reduction to state when patient's last time rehabilitation, main includes the state of mechanical arm for rehabilitation training of upper limbs 1
With the state of more position seat modulars 3；Patient dress mechanical arm for rehabilitation training of upper limbs 1, continue rehabilitation training, at the end of by
System control carries out the recruitment evaluation of this rehabilitation training with storage unit 404, same to store the data such as rehabilitation result.
Upper limb disorder caused by the present invention is suitable for because of nervous centralis, peripheral nerve, spinal cord, muscle or skeletal diseases
Or the patient of function limitation, the different rehabilitation stage, different symptoms, different building shape patients can be allowed to carry out upper limb healing instruction
Practice.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details.
Claims (10)
1. a kind of personalized upper-limbs rehabilitation training robot system based on path planning, which is characterized in that supported including pedestal
Module, is set in the pedestal supporting module the more position seat modulars being detachably set in the pedestal supporting module
Rehabilitation training and assessment system module, the adaptive mobile module of shoulder joint that is set in the pedestal supporting module and setting
Mechanical arm for rehabilitation training of upper limbs on the adaptive mobile module of the shoulder joint.
2. the personalized upper-limbs rehabilitation training robot system according to claim 1 based on path planning, feature exist
In the mechanical arm for rehabilitation training of upper limbs has 7 degree of freedom, including wrist joints sporting module and the wrist joints sporting mould
The elbow joint motion module and pass through upper arm size adjustment module and the elbow that block is connected in series by forearm size adjustment module
The shoulder joint kinesitherapy module that the other end of joint motions module is connected in series；
The wrist joints sporting module includes that the dorsiflex/palmar flexion movement mechanism being connected in series and ruler bend/oar movement mechanism in the wrong, two fortune
The pivot center of motivation structure is compared to point Ow；
The elbow joint motion module include be connected in series buckling/it is super stretch movement mechanism and forearm rotation before/supination mechanism,
The pivot center of two movement mechanisms is compared to point Oe；
The shoulder joint kinesitherapy module, which includes putting outside the shoulder joint that is sequentially connected in series ,/interior receipts movement mechanism, anteflexion/extendes back movement
Mechanism and outward turning/inward turning movement mechanism, the pivot center of three movement mechanisms is compared to point Os.
3. the personalized upper-limbs rehabilitation training robot system according to claim 2 based on path planning, feature exist
In the forearm size adjustment module is for automatically adjusting point the distance between Ow and Oe, to adapt to different patient forearms'
Length dimension, and the data are recorded in rehabilitation training and assessment system module；The upper arm size adjustment module is used
In automatic adjustment point the distance between Os and Oe, to adapt to the length dimension of different patient's upper arm, and health is recorded data in
In refreshment white silk and assessment system module.
4. the personalized upper-limbs rehabilitation training robot system according to claim 1 based on path planning, feature exist
In the adaptive mobile module of the shoulder joint is existed by the active lifting upright supports setting that can be stretched up and down that bottom is arranged
In pedestal supporting module, top is connected with one first rotating plate, the both ends of first rotating plate by the first passive rotary joint
One second rotating plate is connected with by the second passive rotary joint, the first fast assembling-disassembling on the mechanical arm for rehabilitation training of upper limbs
Mechanism passes through the passive rotary joint of third again and connect with second rotating plate, passes through the first passive rotary joint, the second passive rotation
Turn the passive rotary joint of joint, third and realizes mechanical arm for rehabilitation training of upper limbs moving horizontally in the horizontal plane.
5. the personalized upper-limbs rehabilitation training robot system according to claim 4 based on path planning, feature exist
Include a set of or two sets in, the mechanical arm for rehabilitation training of upper limbs, is required to carry out upper limb healing instruction according to the rehabilitation training of patient
Practice the quantity of mechanical arm and the configuration of left and right distribution.
6. the personalized upper-limbs rehabilitation training robot system according to claim 1 based on path planning, feature exist
In more position seat modulars include seat body and the neck adjustment mechanism being set on the seat, waist adjustment
Mechanism, leg joint adjustment mechanism, the second fast assembly and disassembly mechanism and the first steering wheel group.
7. the personalized upper-limbs rehabilitation training robot system according to claim 6 based on path planning, feature exist
In the pedestal supporting module includes U-shaped bottom support plate and the second steering wheel group, is set on the inside of the U-shaped bottom support plate
Meter is for cooperating with second fast assembly and disassembly mechanism to realize the fast assembling-disassembling matching mechanism quickly removed and installed.
8. the personalized upper-limbs rehabilitation training robot system according to claim 7 based on path planning, feature exist
In second fast assembly and disassembly mechanism is the installation raised line that the bottom plate two sides of the seat body bottom are arranged in, described quick
Dismounting matching mechanism is two installations for the installation raised line cooperation insertion for being provided with two inside of U-shaped bottom support plate
Slot.
9. the personalized upper-limbs rehabilitation training robot system according to claim 1 based on path planning, feature exist
It include that computer display screen, the system for being set to the computer display screen side are stepped in, the rehabilitation training and assessment system module
Record control panel, the passive arm for being installed on the computer display screen in the pedestal supporting module and system control with
Storage unit.
10. the personalized upper-limbs rehabilitation training robot system according to claim 2 based on path planning, feature exist
In being equipped with the first six-dimension force sensor at the handle of the wrist joints sporting module；The dorsiflex/palmar flexion movement mechanism is interior
Portion is integrated with first angle sensor, the ruler bends/oar bend movement mechanism be internally integrated second angle sensor；It is described to bend
It is bent/super stretch movement mechanism be internally integrated the first torque sensor and third angle sensor, before the forearm rotation/supination fortune
The outside of motivation structure is equipped with first pressure sensor；Pendulum/interior receipts movement mechanism has been internally integrated the second torsion outside the shoulder joint
Square sensor and fourth angle sensor, it is described it is anteflexion/extend back movement mechanism be internally integrated third torque sensor and
Five angular transducers, the outward turning/inward turning movement mechanism outside are equipped with the second six-dimension force sensor；The wrist joint fortune
The handle of dynamic model block is equipped with pain spot record button.
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