CN109199800A - Healing robot and its fall down detection and means of defence - Google Patents
Healing robot and its fall down detection and means of defence Download PDFInfo
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- CN109199800A CN109199800A CN201811243144.4A CN201811243144A CN109199800A CN 109199800 A CN109199800 A CN 109199800A CN 201811243144 A CN201811243144 A CN 201811243144A CN 109199800 A CN109199800 A CN 109199800A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5064—Position sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/82—Height, e.g. length
- A61H2230/825—Height, e.g. length used as a control parameter for the apparatus
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of healing robot and its fall down detection and means of defence.The healing robot includes: control unit, motion accompanying unit and human support organization；Control unit is used to set the initial position height of mass center of human body, sends movement instruction to motion accompanying unit；Motion accompanying unit is used to control human support organization after receiving movement instruction and follows the up and down motion of mass center of human body and move up and down；Control unit is also used to obtain the real time position height of mass center of human body in real time, calculates the difference in height of real time position height and initial position height, sends braking instruction to motion accompanying unit when difference in height meets preset condition；Motion accompanying unit, which is also used to control human support organization after receiving braking instruction, to be stopped moving up and down.Present invention can apply to scenes when Rehabilitation training, especially lower extremity movement training, and whether detection patient, which has, is fallen down tendency, while being capable of providing effective protection, and do not interfere the movement of patient's trunk and upper limb.
Description
Technical field
The invention belongs to medical instruments field more particularly to a kind of healing robot and its fall down detection and means of defence.
Background technique
2017, China increased patients with cerebral apoplexy about 13,000,000, speedup about 8% newly every year, and motor function caused by stroke is lost
Mistake or obstacle, seriously affect the quality of life of patient, and bring very big burden to patient home and society.Evidence-based medicine EBM table
Bright, rehabilitation is unique effective means for reducing disability rate.Wherein locomotive function has greatly the quality of life and health of patient
It influences, is most basic motor function, the recovery of lower extremity motor function.There are doctor's deficiencies, equipment function for traditional rehabilitation training
The single and higher cost of energy, recovery period are long, the dull initiative of process is poor and can not carry out accurate rehabilitation state evaluation etc.
Defect, therefore developing can overcome the lower limb rehabilitation training of disadvantages mentioned above and valuator device to seem particularly necessary.
Lower limb rehabilitation robot as a kind of rehabilitation medicine equipment, by auxiliary patient carry out scientifically, effectively rehabilitation
Training, to achieve the purpose that restore patient motion function.While it provides safeguard protection in rehabilitation training for patient, add
The active movement of strong patient is intended to have reinforcing and facilitation to patient motion functional rehabilitation, is conducive to keep patient mental tight
Tonicity reinforces the reparation of neuromuscular motor path.
An error has occurred, cannot learn from mistake, and the remodeling of apoplexy patient walking ability is same, traditional
Healing robot lacks trial and error condition in more protections because of its structure design inclination, therefore in walking ability and equilibrium function
Recovery still have some deficits, therefore when creating trial and error condition, the especially trial and error environment under ambulation training, balance training needs
The position of patient is monitored, to prevent patient falls injured.
Protection is fallen down, the methods for having healing robot are suspension methods for falling down protection, in trunk position
Set suspention patient, avoid tilting from the position control patient body center of gravity on center of gravity, or limitation trunk amplitude of fluctuation or on
Lower amplitude plays the role of protection and falls down.
For the detection fallen down, existing mode generally uses wearable sensor Pickup ions degree, speed and time
Equal information analyses and judgement.
It is directed to for the rehabilitation for needing ambulation training and balance training, above conventional method is for falling down guarantor
Protecting or fall down detection has following some problem and shortage:
1, patient is suspended in midair in trunk position, although can be higher than mass center of human body, no with point of suspension generally in trunk or oxter
It is swung conducive to trunk of the patient in walking movement, is also easy to interfere the swing of upper limb；
2, acceleration, speed and the method for time to be fallen based on wearable sensor detection body, was trained in patient
Cheng Zhong, body is also possible to after being declined with different acceleration, speed and time because limbs strength is insufficient or equilibrium function not
Foot cause it is unbalance fall down, this method possibly can not detect the result fallen down or be in the state fallen down and nothing at this time
Method is protected in time, for example, patient carry out sit station transfer during squatting down, body slowly declines, and loses suddenly at this time
Balance；Either body rapid decrease, unexpected disequilibrium, the information such as acceleration and speed are difficult to judge and distinguish at this time.
Summary of the invention
The technical problem to be solved by the present invention is in order to overcome the prior art to be difficult to detect patient falls' state, fall down protection
It is unfavorable for the defect that trunk of the patient in walking movement is swung and upper limb is swung, provides whether one kind accurately can detect patient
It falls down and provides when falling down the healing robot of protection and its fall down detection and means of defence.
The present invention is to solve above-mentioned technical problem by the following technical programs:
A kind of healing robot, comprising: control unit, motion accompanying unit and human support organization；
Described control unit is used to set the initial position height of mass center of human body, sends and moves to the motion accompanying unit
Instruction；
The motion accompanying unit follows institute for controlling the human support organization after receiving the movement instruction
It states the up and down motion of mass center of human body and moves up and down；
Described control unit is also used to obtain the real time position height of the mass center of human body in real time, calculates the real time position
The difference in height of height and the initial position height is sent out when the difference in height meets preset condition to the motion accompanying unit
Braking instruction is sent, the preset condition is the difference in height less than 0 and the height absolute value of the difference is greater than or equal to default height
Spend poor threshold value；
The motion accompanying unit, which is also used to control the human support organization after receiving the braking instruction, to be stopped
It moves up and down, the human support organization after stopping applies support force to the human body, to limit the reality of the mass center of human body
When position height decline.
Preferably, described control unit is also used to judge whether to receive active recovery request or whether meets passive recovery
Condition is sent if receiving the active recovery request or meeting the passive recovery condition to the motion accompanying unit
Restore instruction, the passive recovery condition is that the difference in height does not reduce in the preset duration after the transmission braking instruction；
The motion accompanying unit is also used to after receiving the recovery instruction, controls human support organization's support
Human body rises so that the mass center of human body is restored to the initial position height.
Preferably, the human support organization keeps contour with the mass center of human body, the motion accompanying unit is also used to
The real time position height of the human support organization is detected, and the real time position of human support organization height is sent to institute
State control unit.
Preferably, the motion accompanying unit includes: servo-driver, servo motor and transmission mechanism；
The servo-driver is used to control the operation of the servo motor, and the servo motor passes through the biography when running
Motivation structure drives the human support organization to move up and down.
Preferably, the transmission mechanism includes: motor coupler, screw rod and feed screw nut；
The screw rod is connect by the motor coupler with the servo motor, and the feed screw nut is set to the screw rod
On, the servo motor drives the screw rod rotation by the motor coupler, and the feed screw nut is with the screw rod
It rotates and moves up and down, the feed screw nut is also rigidly connected with the human support organization, and the human support organization follows
The up and down motion of the feed screw nut and move up and down.
Preferably, the healing robot further include: motion perception unit；
Power when the motion perception unit is used to detect human motion used in vertical direction, and the power is sent to
Described control unit；
Described control unit is also used to calculate the human motion displacement that the power generates, and the human motion is displaced and is converted
The motor control parameter is sent to described watch by the motor control parameter that can produce equivalent displacement at the human support organization
Take driver；
The servomechanism driver is used to control the servo motor according to the motor control parameter and run, to pass through
Stating transmission mechanism drives the human support organization to move up and down.
Preferably, the position height of the mass center of human body is equal to the position height of human pelvis.
Preferably, the human support organization is worn at human pelvis position.
A kind of healing robot falls down detection and means of defence, described to fall down detection with means of defence and include:
Set the initial position height of mass center of human body；
The up and down motion of the mass center of human body is followed using motion accompanying unit control human support organization and is moved up and down；
The real time position height of real-time body's mass center is obtained in real time；
Calculate the difference in height of the real time position height Yu the initial position height；
Judge whether the difference in height meets preset condition, the preset condition is the difference in height less than 0 and the height
It spends absolute value of the difference and is greater than or equal to preset height difference threshold value；
If meeting the preset condition, the human support organization is controlled using the motion accompanying unit and is stopped up and down
Movement, the human support organization after stopping applies support force to the human body, to limit the real-time position of the mass center of human body
Height is set to decline.
Preferably, described fall down detection and means of defence further include:
Judge whether to receive active recovery request or whether meet passive recovery condition, the passive recovery condition be
The difference in height does not reduce in preset duration after sending the braking instruction；
If receiving the active recovery request or meeting the passive recovery condition, the motion accompanying unit is utilized
Controlling the human support organization supports human body to rise so that the mass center of human body is restored to the initial position height.
Preferably, the human support organization keeps contour with the mass center of human body, examined using the motion accompanying unit
Survey the real time position height of the human support organization.
Preferably, the motion accompanying unit includes: servo-driver, servo motor and transmission mechanism；
The servo-driver is used to control the operation of the servo motor, and the servo motor passes through the biography when running
Motivation structure drives the human support organization to move up and down.
Preferably, the transmission mechanism includes: motor coupler, screw rod and feed screw nut；
The screw rod is connect by the motor coupler with the servo motor, and the feed screw nut is set to the screw rod
On, the servo motor drives the screw rod rotation by the motor coupler, and the feed screw nut is with the screw rod
It rotates and moves up and down, the feed screw nut is also rigidly connected with the human support organization, and the human support organization follows
The up and down motion of the feed screw nut and move up and down.
Preferably, using motion accompanying unit control human support organization follow the mass center of human body up and down motion and on
The step of lower movement includes:
Power when detecting human motion used in vertical direction；
The human motion displacement that the power generates is calculated, human motion displacement is converted into the human support organization
The motor control parameter that can produce equivalent displacement, is sent to the servo-driver for the motor control parameter；
The servomechanism driver controls the servo motor according to the motor control parameter and runs, to pass through the biography
Motivation structure drives the human support organization to move up and down.
Preferably, the position height of the mass center of human body is equal to the position height of human pelvis.
Preferably, the human support organization is worn at human pelvis position.
On the basis of common knowledge of the art, above-mentioned each optimum condition, can any combination to get each preferable reality of the present invention
Example.
The positive effect of the present invention is that: present invention can apply to Rehabilitation training, especially lower extremity movements to instruct
Scene when practicing, whether detection patient has and falls down tendency, while being capable of providing effective protection, and do not interfere patient's trunk with
The movement of upper limb.
Detailed description of the invention
Fig. 1 is a kind of schematic block diagram of healing robot of the embodiment of the present invention 1；
Fig. 2 is the schematic diagram that human body is walked on healing robot and will be fallen down in the embodiment of the present invention 1；
Fig. 3 is a kind of flow chart for falling down detection and means of defence of healing robot of the embodiment of the present invention 2；
Fig. 4 be the embodiment of the present invention 2 a kind of healing robot fall down detection in means of defence step 320 it is specific
Flow chart.
Specific embodiment
The present invention is further illustrated below by the mode of embodiment, but does not therefore limit the present invention to the reality
It applies among a range.
Embodiment 1
A kind of healing robot of the present embodiment can be applied to patient, and there may be risk of falls in rehabilitation training
In scene, especially in lower extremity movement rehabilitation training, the healing robot can pass through the position height of detection mass center of human body
Variation takes the safeguard procedures for avoiding personal injury to judge whether human body will be fallen down in time.
As shown in Figs. 1-2, the healing robot 1000 includes: control unit 1100, motion accompanying unit 1200 and people
Body supporting mechanism 1300.
Described control unit 1100 is used to set the initial position height of mass center of human body 2100, to the motion accompanying unit
1200 send movement instruction.Wherein, mass center 2100 is relative to ground or station when the initial position height can stand for human body
The height of vertical platform 1500.
The motion accompanying unit 1200 after receiving the movement instruction for controlling the human support organization
1300 follow the up and down motion of the mass center of human body 2100 and move up and down.During following, the human support organization
1300 move synchronously with the mass center of human body 2100, do not apply support force to the human body.
Described control unit 1100 is also used to obtain the real time position height of the mass center of human body 2100 in real time, described in calculating
The difference in height of real time position height and the initial position height, when the difference in height meets preset condition to it is described movement with
Braking instruction is sent with unit 1200.The preset condition is that the difference in height is less than 0 and the height absolute value of the difference is greater than
Or it is equal to preset height difference threshold value.Wherein, the preset height difference threshold value can be according to human body situation (such as height, health
State), the conditions setting such as guard sensitivity, for example, the height in human body is higher or health states preferably, do not need it is too high
Guard sensitivity when, preset height difference threshold value can be set to larger, such as 10~30cm, the height of human body is shorter or body
Body health status is poor, when needing higher guard sensitivity, preset height difference threshold value can be set it is smaller, such as 8~
10cm.Certainly, the preset height difference threshold value can also be depending on the experience of physiatrician.
The motion accompanying unit 1200 is also used to control the human support organization after receiving the braking instruction
1300 stop moving up and down, and the human support organization 1300 after stopping applies support force to the human body, described in limitation
The real time position height of mass center of human body 2100 declines.
Whether meet the preset condition by the difference in height, whether can judge human body before human body is fallen down completely
Fall down trend.If the difference in height is unsatisfactory for the preset condition, it can determine whether out that human normal moves, there is no will fall
Situation；If the difference in height meets the preset condition, show that human body has one relative to original state mass center 2100
The decline for determining degree can determine whether out that human body has lost balance, will fall down, at this point, taking support human body to limit human body
The further lowering of safeguard procedures of mass center 2100, avoid human body from falling down completely and cause to damage.
In view of human body is likely difficult to stand again by itself strength after disequilibrium, so, in order to help people
Body is stood, and described control unit 1100 can be also used for judging whether to receive active recovery request or whether meet passive recovery
Condition, if receiving the active recovery request or meeting the passive recovery condition, to the motion accompanying unit 1200
It sends and restores instruction.The motion accompanying unit 1200 can be also used for controlling the people after receiving the recovery instruction
Human body is supported to rise for body supporting mechanism 1300 so that the mass center of human body 2100 is restored to the initial position height.
Wherein, the active recovery request can be by unbalanced human body or other users (such as physiatrician or relevant people
Member) it issues in human body disequilibrium and to described control unit 1100 in the case where think to be difficult to voluntarily stand, it can also be by losing
The human body or other users (such as physiatrician or related personnel) of balance are in the case where any desired recovery is stood to the control
Unit 1100 processed issues, and in order to receive the active recovery request, described control unit 1100 may include for human-computer interaction
Operation panel, or the communication module etc. with user terminal interconnection.The passive recovery condition is to limit the human body matter
The difference in height does not reduce in preset duration after the real time position height decline of the heart 2100.The preset duration can voluntarily be set
It is fixed, such as 30s.
In the present embodiment, the position height of the mass center of human body 2100 is equal to the position height of human pelvis, the control
Unit 1100 processed can determine the position height of the mass center of human body 2100 by detecting the position height of human pelvis.
The first measurement method are as follows: directly measure the position height of the mass center of human body 2100 (human pelvis).Such as institute
Stating control unit 1100 can be worn at human pelvis position by individual wearable device, by all kinds of position sensors,
Height sensor or other equipment directly detect pelvis relative to ground or the position height of standing platform.
Second of measurement method are as follows: since the human support organization 1300 follows 2100 (the human body bone of mass center of human body
Basin) up and down motion and move up and down, the height change of the human support organization 1300 is equal to the 2100 (people of mass center of human body
Body pelvis) height change, even if not following, the human support organization 1300 also limits (the human body bone of mass center of human body 2100
Basin) position, so, the position height by measuring the human support organization 1300 obtains the mass center of human body indirectly
The position height of 2100 (human pelvis).The human support organization 1300 and the mass center of human body 2100 (human pelvis) can be with
It is set as keeping contour, the real time position that the motion accompanying unit 1200 is also used to detect the human support organization 1300 is high
Degree, and the real time position of the human support organization 1300 height is sent to described control unit 1100.Described control unit
The 1100 real time position height for receiving the human support organization 1300 are equivalent to get the 2100 (people of mass center of human body
Body pelvis) real time position height.
In order to enable the human support organization 1300 can move up and down, the motion accompanying unit 1200 be can wrap
It includes: servo-driver 1210, servo motor 1220 and transmission mechanism 1230.The servo-driver 1210 is for controlling described watch
The operation of motor 1220 is taken, the servo motor 1220 drives the transmission mechanism 1230 to move up and down when running.
Fig. 2-3 shows the structure of healing robot 1000, wherein the transmission mechanism 1230 can specifically include: electricity
Machine shaft coupling 1231, screw rod 1232 and feed screw nut 1233.The screw rod 1232 by the motor coupler 1231 with it is described
Servo motor 1220 connects, and the feed screw nut 1233 is set on the screw rod 1232, and the servo motor 1220 passes through described
Motor coupler 1231 drives the screw rod 1232 to rotate, the feed screw nut 1233 with the rotation of the screw rod 1232 on
Lower movement, the feed screw nut 1233 are also rigidly connected with the human support organization 1300, the human support organization 1300
It follows the up and down motion of the feed screw nut 1233 and moves up and down.
Effect is followed in order to reach good, the healing robot 1000 further includes motion perception unit 400.The fortune
Power (size and Orientation including power) when dynamic sension unit is used to detect human motion used in vertical direction, and by the power
It is sent to described control unit 1100.Described control unit 1100 is also used to calculate the human motion displacement that the power generates, will
Human motion displacement is converted into the human support organization 1300 and can produce the motor control parameter of equivalent displacement (can wrap
Include the revolving speed of motor, operation duration of motor etc.), the motor control parameter is sent to the servo-driver 1210.Institute
It states servomechanism driver to run for controlling the servo motor 1220 according to the motor control parameter, to pass through the transmission
Mechanism 1230 drives the human support organization 1300 to move up and down.Wherein, the side in the direction of human motion displacement and the power
To identical, the size of human motion displacement and the size of the power are positively correlated, the motor control parameter can in conjunction with motor, pass
It moves the Structure Calculation of structure and obtains.The motion perception unit can use and be set to 1300 end of human support organization
Force snesor is realized.
When receiving the movement instruction, the servo-driver 1210 starts the servo motor 1220, according to upper
State motor control parameter control the servo motor 1220 so that the feed screw nut 1233 up and down motion, the human body branch
Support mechanism 1300 is synchronous with the mass center of human body 2100 to move up and down.When receiving the braking instruction, the servo-drive
Device 1210 stops the servo motor 1220, so that 1233 stop motion of the feed screw nut, the human support organization
1300 are still in current location, no longer decline with the decline of mass center of human body 2100, give body support's effect.Receiving
When stating recovery instruction, the servo-driver 1210 is again started up the servo motor 1220, so that the feed screw nut
1233 rise, and the human support organization 1300 drives the mass center of human body 2100 to move upwards until being restored to the initial bit
Set height.
It is stood by patient, for rehabilitation training of walking, as shown in the left hand view of Fig. 2, patient 2000 is by body support
Mechanism 1300 is worn at pelvis 2100, and the position height of pelvis 2100 is initial position height when setting 2000 normal stand of patient
H is spent, the initial rotation angle of servo motor 1220 is θ, starts to train.Patient's pelvis is detected in 2000 training process of patient
2100 real time position height h ', the rotation angle, θ of servo motor 1220 '.If the real-time Pelvic height h ' of patient is higher than, is equal to
Or slightly less than pelvis initial position height h, then show patient's normal stand or carry out up and down motion by a small margin, the movement with
It the movement of patient 2000 can not be interfered with unit 1200, be moved with the movement of patient 2000.Such as Fig. 2
Shown in right part of flg, if the real time position height h ' of patient's pelvis 2100 is significantly lower than initial position height h, | Δ h | >=H (H table
Show preset height difference threshold value), then show patient disequilibrium, will fall down, the motion accompanying unit 1200 can be to trouble
The movement of person 2000 is interfered, and the human support organization 1300 checks 2100 position of pelvis and further declines.In containment bone
After the decline of 2100 position of basin, if the physical condition of patient 2000 is good, patient 2000 can voluntarily stand, and restart to instruct
Practice.If the physical condition of patient 2000 is bad, patient 2000 can help oneself weight with activly request motion accompanying unit 1200
It is new to stand, or the motion accompanying unit 1200 after preset duration is waited to help patient stand automatically.
Embodiment 2
What Fig. 3 showed a kind of healing robot falls down detection and means of defence.Detection and the means of defence fallen down can
To be realized using healing robot in embodiment 1.It is described to fall down detection with means of defence and include:
Step 310, the initial position height for setting mass center of human body.Wherein, the initial position height can be human body station
Mass center is relative to ground or the height of standing platform immediately.
Step 320, using motion accompanying unit control human support organization follow the mass center of human body up and down motion and
It moves up and down.During following, the human support organization moves synchronously with the mass center of human body, does not apply to the human body
Support force.
Step 330, the real time position height for obtaining real-time body's mass center in real time.
Step 340, the difference in height for calculating the real time position height and the initial position height.
Step 350 judges whether the difference in height meets preset condition, if meeting preset condition, thens follow the steps 360,
If being unsatisfactory for return step 330.The preset condition is that the difference in height is less than 0 and the height absolute value of the difference is greater than or waits
In preset height difference threshold value.Wherein, the preset height difference threshold value can be according to human body situation (such as height, health shape
State), the conditions setting such as guard sensitivity, can also be depending on the experience of physiatrician.
Step 360 controls human support organization's stopping up and down motion using the motion accompanying unit.After stopping
The human support organization applies support force to the human body, to limit the real time position height decline of the mass center of human body.
Whether meet the preset condition by the difference in height, whether can judge human body before human body is fallen down completely
Fall down trend.If the difference in height is unsatisfactory for the preset condition, it can determine whether out that human normal moves, there is no will fall
Situation；If the difference in height meets the preset condition, show that human body has certain journey relative to original state mass center
The decline of degree can determine whether out that human body has lost balance, will fall down, at this point, taking support human body to limit mass center of human body
Further lowering of safeguard procedures, avoid human body from falling down completely and cause to damage.
In view of human body is likely difficult to stand again by itself strength after disequilibrium, so, in order to help people
Body is stood, described to fall down detection and means of defence further includes the execution step 507 after step 360:
Step 370 judges whether to receive active recovery request or whether meets passive recovery condition, if receiving described
Active recovery request meets the passive recovery condition, thens follow the steps 380, if do not receive the active recovery request and
It is unsatisfactory for the passive recovery condition, then executes step 370 again, until meeting any condition therein or receiving other
Instruction.The passive recovery condition is that the difference in height does not reduce in the preset duration after the transmission braking instruction.
Step 380 controls human support organization's support human body rising so that institute using the motion accompanying unit
Mass center of human body is stated to restore to the initial position height.Wherein, the active recovery request can by unbalanced human body or its
His user (such as physiatrician or related personnel) is in human body disequilibrium and think to be difficult to voluntarily stand in the case where issues, can also
It is issued the case where any desired recovery is stood by unbalanced human body or other users (such as physiatrician or related personnel)
Out, in order to receive the active recovery request, the operation panel for human-computer interaction can be set on the healing robot,
Or the communication module etc. with user terminal interconnection.The passive recovery condition is in the real time position for limiting the mass center of human body
The difference in height does not reduce in preset duration after height decline.The preset duration can be with sets itself.
In the present embodiment, the position height of the mass center of human body is equal to the position height of human pelvis, can pass through inspection
The position height for surveying human pelvis determines the position height of the mass center of human body.
The first measurement method are as follows: directly measure the position height of the mass center of human body (human pelvis).Such as pass through list
Only wearable device is worn at human pelvis position, direct by all kinds of position sensors, height sensor or other equipment
Pelvis is detected relative to ground or the position height of standing platform.
Second of measurement method are as follows: since the human support organization follows the upper and lower of the mass center of human body (human pelvis)
It moves and moves up and down, the height that the height change of the human support organization is equal to the mass center of human body (human pelvis) becomes
Change, even if not following, the human support organization also limits the position of mass center of human body (human pelvis), so, pass through measurement
The position height of the human support organization and the position height for obtaining the mass center of human body (human pelvis) indirectly.The human body
Supporting mechanism can be set to keep contour with the mass center of human body (human pelvis), detect institute using the motion accompanying unit
The real time position height of human support organization is stated, the real time position height of the human support organization is equivalent to get institute
State the real time position height of mass center of human body (human pelvis).
In order to enable the human support organization can move up and down, the motion accompanying unit may include: that servo is driven
Dynamic device, servo motor and transmission mechanism.The servo-driver is used to control the operation of the servo motor, the servo motor
The transmission mechanism is driven to move up and down when operation.
The transmission mechanism can specifically include: motor coupler, screw rod and feed screw nut.The screw rod passes through the electricity
Machine shaft coupling is connect with the servo motor, and the feed screw nut is set on the screw rod, and the servo motor passes through the electricity
Machine shaft coupling drives the screw rod rotation, and the feed screw nut moves up and down with the rotation of the screw rod, the screw rod spiral shell
It is female to be also rigidly connected with the human support organization, the human support organization follow the up and down motion of the feed screw nut and on
Lower movement.
Effect is followed in order to reach good, as shown in figure 4, step 320 can specifically include:
Power (size and Orientation including power) when step 321, detection human motion used in vertical direction.
Step 322 calculates the human motion displacement that the power generates, and human motion displacement is converted into the human body
Supporting mechanism can produce the motor control parameter (may include revolving speed, operation duration of motor of motor etc.) of equivalent displacement, will
The motor control parameter is sent to the servo-driver.Wherein, the direction of human motion displacement and the direction phase of the power
Together, the size of human motion displacement and the size of the power are positively correlated, and the motor control parameter can be in conjunction with motor, transmission knot
The Structure Calculation of structure and obtain.
Step 323, the servomechanism driver control the servo motor according to the motor control parameter and run, with logical
Crossing the transmission mechanism drives the human support organization to move up and down.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that these
It is merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is not carrying on the back
Under the premise of from the principle and substance of the present invention, many changes and modifications may be made, but these are changed
Protection scope of the present invention is each fallen with modification.
Claims (16)
1. a kind of healing robot characterized by comprising control unit, motion accompanying unit and human support organization；
Described control unit is used to set the initial position height of mass center of human body, sends movement to the motion accompanying unit and refers to
It enables；
The motion accompanying unit follows the people for controlling the human support organization after receiving the movement instruction
The up and down motion of the constitution heart and move up and down；
Described control unit is also used to obtain the real time position height of the mass center of human body in real time, calculates the real time position height
With the difference in height of the initial position height, sends and make to the motion accompanying unit when the difference in height meets preset condition
Dynamic instruction, the preset condition is the difference in height less than 0 and the height absolute value of the difference is poor more than or equal to preset height
Threshold value；
The motion accompanying unit, which is also used to control the human support organization after receiving the braking instruction, to be stopped up and down
Movement, the human support organization after stopping applies support force to the human body, to limit the real-time position of the mass center of human body
Height is set to decline.
2. healing robot as described in claim 1, which is characterized in that described control unit is also used to judge whether to receive
Whether active recovery request meets passive recovery condition, if receiving the active recovery request or meeting the passive recovery
Condition then sends to the motion accompanying unit and restores instruction, and the passive recovery condition is after sending the braking instruction
Preset duration in the difference in height do not reduce；
The motion accompanying unit is also used to after receiving the recovery instruction, is controlled the human support organization and is supported human body
Rise so that the mass center of human body is restored to the initial position height.
3. healing robot as described in claim 1, which is characterized in that the human support organization and the mass center of human body are protected
Hold contour, the motion accompanying unit is also used to detect the real time position height of the human support organization, and by the human body
The real time position height of supporting mechanism is sent to described control unit.
4. healing robot as described in claim 1, which is characterized in that the motion accompanying unit includes: servo-drive
Device, servo motor and transmission mechanism；
The servo-driver is used to control the operation of the servo motor, and the servo motor passes through the driver when running
Structure drives the human support organization to move up and down.
5. healing robot as claimed in claim 4, which is characterized in that the transmission mechanism includes: motor coupler, screw rod
And feed screw nut；
The screw rod is connect by the motor coupler with the servo motor, and the feed screw nut is set on the screw rod,
The servo motor drives screw rod rotation by the motor coupler, the feed screw nut with the screw rod rotation
And move up and down, the feed screw nut is also rigidly connected with the human support organization, and the human support organization follows described
The up and down motion of feed screw nut and move up and down.
6. healing robot as claimed in claim 4, which is characterized in that the healing robot further include: motion perception list
Member；
The motion perception unit is used for power when detecting human motion used in vertical direction, and the power is sent to described
Control unit；
Described control unit is also used to calculate the human motion displacement that the power generates, and human motion displacement is converted into institute
Stating human support organization can produce the motor control parameter of equivalent displacement, and the motor control parameter is sent to the servo and is driven
Dynamic device；
The servomechanism driver is used to control the servo motor according to the motor control parameter and run, to pass through the biography
Motivation structure drives the human support organization to move up and down.
7. healing robot as described in claim 1, which is characterized in that the position height of the mass center of human body is equal to human body
The position height of pelvis.
8. healing robot as claimed in claim 7, which is characterized in that the human support organization is worn on human pelvis position
Set place.
9. a kind of healing robot falls down detection and means of defence, which is characterized in that described to fall down detection and means of defence packet
It includes:
Set the initial position height of mass center of human body；
The up and down motion of the mass center of human body is followed using motion accompanying unit control human support organization and is moved up and down；
The real time position height of real-time body's mass center is obtained in real time；
Calculate the difference in height of the real time position height Yu the initial position height；
Judge whether the difference in height meets preset condition, the preset condition is the difference in height less than 0 and the difference in height
Absolute value be greater than or equal to preset height difference threshold value；
If meeting the preset condition, the human support organization is controlled using the motion accompanying unit and stops fortune up and down
Dynamic, the human support organization after stopping applies support force to the human body, to limit the real time position of the mass center of human body
Height declines.
10. falling down detection and means of defence as claimed in claim 9, which is characterized in that described to fall down detection and means of defence
Further include:
Judge whether to receive active recovery request or whether meet passive recovery condition, the passive recovery condition is to send
The difference in height does not reduce in preset duration after the braking instruction；
If receiving the active recovery request or meeting the passive recovery condition, controlled using the motion accompanying unit
The human support organization supports human body to rise so that the mass center of human body is restored to the initial position height.
11. falling down detection and means of defence as claimed in claim 9, which is characterized in that the human support organization with it is described
Mass center of human body keeps contour, and the real time position height of the human support organization is detected using the motion accompanying unit.
12. falling down detection and means of defence as claimed in claim 9, which is characterized in that the motion accompanying unit includes: to watch
Take driver, servo motor and transmission mechanism；
The servo-driver is used to control the operation of the servo motor, and the servo motor passes through the driver when running
Structure drives the human support organization to move up and down.
13. falling down detection and means of defence as claimed in claim 12, which is characterized in that the transmission mechanism includes: motor
Shaft coupling, screw rod and feed screw nut；
The screw rod is connect by the motor coupler with the servo motor, and the feed screw nut is set on the screw rod,
The servo motor drives screw rod rotation by the motor coupler, the feed screw nut with the screw rod rotation
And move up and down, the feed screw nut is also rigidly connected with the human support organization, and the human support organization follows described
The up and down motion of feed screw nut and move up and down.
14. falling down detection and means of defence as claimed in claim 12, which is characterized in that control people using motion accompanying unit
The step of body supporting mechanism follows the up and down motion of the mass center of human body and moves up and down include:
Power when detecting human motion used in vertical direction；
The human motion displacement that the power generates is calculated, human motion displacement, which is converted into the human support organization, to be produced
The motor control parameter of raw equivalent displacement, is sent to the servo-driver for the motor control parameter；
The servomechanism driver controls the servo motor according to the motor control parameter and runs, to pass through the driver
Structure drives the human support organization to move up and down.
15. falling down detection and means of defence as claimed in claim 9, which is characterized in that the position height of the mass center of human body
It is equal to the position height of human pelvis.
16. falling down detection and means of defence as claimed in claim 15, which is characterized in that the human support organization is worn on
At human pelvis position.
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| CN112472481A (en) * | 2020-12-15 | 2021-03-12 | 沈阳工业大学 | Dynamic human body pose recognition embedded platform under trunk shielding state |
| CN112587364A (en) * | 2020-12-08 | 2021-04-02 | 上海大学 | Sit-stand training robot, sit-stand training method and sit-stand training system of sit-stand training robot |
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