CN109276408A - Upper limb hand exoskeleton rehabilitation robot - Google Patents
Upper limb hand exoskeleton rehabilitation robot Download PDFInfo
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- CN109276408A CN109276408A CN201811189278.2A CN201811189278A CN109276408A CN 109276408 A CN109276408 A CN 109276408A CN 201811189278 A CN201811189278 A CN 201811189278A CN 109276408 A CN109276408 A CN 109276408A
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
-
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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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
- A61H2230/08—Other bio-electrical signals
- A61H2230/10—Electroencephalographic signals
- A61H2230/105—Electroencephalographic signals used as a control parameter for the apparatus
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
- A61M2021/0005—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus
- A61M2021/0044—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus by the sight sense
- A61M2021/005—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus by the sight sense images, e.g. video
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
- G06F2218/02—Preprocessing
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- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
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- Heart & Thoracic Surgery (AREA)
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- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of upper limb hand exoskeleton rehabilitation robots, belong to technical field of data processing, the present invention allows it to complete virtual reality task by allowing patient to watch virtual reality imagery, patient is helped to focus on, discrimination reaches 96.7% in terms of the acquisition identification of EEG signals.Product for central nervous system disease recovery extent (by taking cerebral apoplexy as an example) to tens of patient's control experiments after a week, using this system carry out rehabilitation training than do not use this system carry out rehabilitation training patient's recovery extent obviously accelerate.
Description
Technical field
The present invention relates to technical field of data processing, in particular to a kind of upper limb hand exoskeleton rehabilitation robot.
Background technique
Central nervous system injury is a kind of common disease, such as headstroke common disease seriously affects people's health and peace
Entirely, as China progresses into aging society, disease incidence has the tendency that rising year by year, and is had more than during 2,000,000 people die of every year
Wind.This disease has caused forfeiture and the related complication of limbs of patient motor function.The especially forfeiture of upper extremity exercise function,
It greatly affected the ability of patient's daily life.Hand is one of most important component part of organization of human body, its function to the mankind
Can and appearance all seem and its important.The locomitivity of especially hand is the daily life of the mankind and works smooth
Basic guarantee.
Science shows that most of paralytic upper limb is first restored from shoulder, is secondly upper arm and forearm, is finally the extensive of finger
It is multiple.Simultaneously as manpower segment set has suffered a large amount of joint, nerve, blood vessel, muscle relatively more, painstaking effort such as joint disease, apoplexy
Hemiplegia caused by pipe disease also results in the spasm atrophy of finger-joint tendon fibrosis and muscle, ligament.Therefore, most of health
The mark that multiple training process is mainly restored using the active level of hand as upper extremity function.
Major part rehabilitation at present is all some traditional rehabilitation maneuvers, mainly the passively health such as acupuncture, electro photoluminescence, massage
Multiple means carry out long-term rehabilitation to patient.The process that traditional passive type rehabilitation cannot allow patient really to participate in treatment is worked as
In, the recovery of its central nervous system cannot be influenced, so cannot fundamentally treat to the state of an illness of patient.
Summary of the invention
To solve above-mentioned all or part of technical problem, the present invention provides a kind of upper limb hand exoskeleton rehabilitation machines
People, the upper limb hand exoskeleton rehabilitation robot include: brain-computer interface unit, ectoskeleton unit, service computing unit and movement
Imagine normal form unit；
The Mental imagery normal form unit passes through virtual reality for acquiring each finger gesture of Ipsilateral hand of target patient
Hand corresponding with the finger gesture is shown in virtual environment, and Mental imagery prompt is carried out in the virtual environment；
The brain-computer interface unit works as forebrain electricity number for obtaining the current eeg data of target patient, and by extraction
According to being sent to the service computing unit；
The service computing unit, for being identified by default identification model to the current eeg data, and root
Corresponding Training Control order is generated according to recognition result；
The ectoskeleton unit, for driving the Ipsilateral hand of the target patient according to the Training Control order, so that
The Ipsilateral hand completes corresponding movement.
Preferably, the brain-computer interface unit includes: sequentially connected crosslinking electrode, integrated front-end amplifier, the first control
Device processed and telecommunication circuit；
The crosslinking electrode, for obtaining the EEG signals of target patient；
The integrated front-end amplifier is obtained for the EEG signals successively to be carried out with signal amplification and signal filtering
Proper preceding eeg data, and the current eeg data of acquisition is sent to first controller；
First controller, for received current eeg data to be sent to the service by the telecommunication circuit
Computing unit.
Preferably, the brain-computer interface unit further include: signal pre-processing module, the signal pre-processing module are set to institute
It states between crosslinking electrode and integrated front-end amplifier；
The signal pre-processing module, for carrying out low-pass filtering treatment to the EEG signals.
Preferably, the Mental imagery normal form unit is based on Unity3D engine and socket protocol realization virtual reality.
Preferably, the service computing unit is also used to obtain sample eeg data and corresponding specimen discerning result
Initial identification model is trained, to obtain the default identification model.
Preferably, the service computing unit is also used to carry out rehabilitation efficacy assessment according to the current eeg data.
Preferably, the ectoskeleton unit includes: functional compartment, circuit board, second controller, line driving device, driving line
The first end of conduit and hand ectoskeleton, the driving wire conduit is set to the functional compartment side wall, and the hand ectoskeleton is set to
The second end of the driving wire conduit, the circuit board and line driving device are set in the functional compartment；
There is the hand ectoskeleton N root to simulate finger, and the line driving device includes N number of driving unit, the driving
Unit and the simulation finger correspond, and the driving line of each driving unit passes through the driving wire conduit and corresponding simulation hand
Refer to and be connected, the hand ectoskeleton is made of flexible material, and the N is the integer more than or equal to 2；
Each driving unit is connected with the circuit board respectively, and the circuit board is connected with the second controller.
Preferably, each driving unit includes: steering engine, steering engine pedestal, top rotary table, lower rotary table, steering engine bracket and upper cover；
The steering engine is connect with the steering engine bracket, and the steering engine is connect with the steering engine pedestal, the lower rotary table and institute
The steering engine turntable connection of steering engine is stated, the steering engine turntable is engaged and fixed with the steering engine, the top rotary table and lower rotary table clamping
Installation, the driving line are connected using fastener and the top rotary table and lower rotary table, and the steering engine is connected with the circuit board.
Preferably, the side wall of the functional compartment is equipped with driving wire conduit bracket, and the first end of the driving wire conduit is logical
The driving wire conduit branch is crossed to be set up on the functional compartment side wall.
Preferably, the upper cover is connect by tension spring with the driving wire conduit bracket.
The present invention allows it to complete virtual reality task, patient is helped to concentrate note by allowing patient to watch virtual reality imagery
Meaning power, discrimination reaches 96.7% in terms of the acquisition identification of EEG signals.In product for the extensive of central nervous system disease
Multiple degree (by taking cerebral apoplexy as an example) after a week to tens of patient's control experiments, the rehabilitation training carried out using this system is not than adopting
Obviously accelerated with patient's recovery extent that this system carries out rehabilitation training.
Detailed description of the invention
Fig. 1 is the structural block diagram of the upper limb hand exoskeleton rehabilitation robot of one embodiment of the present invention；
Fig. 2 is the Facad structure of the upper limb hand exoskeleton rehabilitation robot China and foreign countries bone elements of one embodiment of the present invention
Schematic diagram；
Fig. 3 is the structure schematic diagram of upper limb hand exoskeleton rehabilitation robot China and foreign countries shown in Fig. 2 bone elements；
Fig. 4 is the explosive view of driving unit in upper limb hand exoskeleton rehabilitation robot China and foreign countries shown in Fig. 2 bone elements.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
Fig. 1 is the structural block diagram of the upper limb hand exoskeleton rehabilitation robot of one embodiment of the present invention；Referring to Fig.1, institute
Stating upper limb hand exoskeleton rehabilitation robot includes: brain-computer interface unit 100, ectoskeleton unit 200, service 300 and of computing unit
Mental imagery normal form unit 400；
The Mental imagery normal form unit 400, for acquiring each finger gesture of Ipsilateral hand of target patient, by virtually existing
Real (Virtual Reality, VR) shows hand corresponding with the finger gesture in virtual environment, and in the virtual ring
Mental imagery prompt is carried out in border；
For the realization process convenient for simplifying virtual reality, in the concrete realization, the Mental imagery normal form unit 400 is based on
Unity3D engine and socket protocol realization virtual reality.
The brain-computer interface unit 100, for obtaining the current eeg data of target patient, and by extraction when forebrain electricity
Data are sent to the service computing unit 300；
For the current eeg data convenient for obtaining target patient, in the concrete realization, the brain-computer interface unit 100 can be wrapped
It includes: sequentially connected crosslinking electrode 101, integrated front-end amplifier 102, the first controller 103 and telecommunication circuit 104；
The crosslinking electrode 101, for obtaining the EEG signals of target patient；
The integrated front-end amplifier 102, for the EEG signals successively to be carried out with signal amplification and signal filtering,
Current eeg data is obtained, and the current eeg data of acquisition is sent to first controller 103；
Certainly, the realization of ADS1299 chip, 8 channel of ADS1299 built-in chip type can be used in the integrated front-end amplifier 102
The up to 24 times of low-noise simulation signal amplifiers (PGA), 24 high-resolution of adjustable gain are carried in Acquisition Circuit, each channel
Rate ADC converts chip up to 0.1 μ V/bit；Built-in reference reference voltage, piece internal oscillator, deviation amplifier and test signal,
It can multi signal switching input；It carries Serial Peripheral Interface (SPI) (Serial Peripheral Interface, SPI), realizes full duplex
Transmitted in both directions；Built-in drive amplification circuit and common mode rejection circuit, common-mode rejection ratio (Common Mode Rejection
Ratio, CMRR) it is greater than 110dB；Support bipolarity or unipolarity input, power consumption is down to 5mW；Built-in daisy chain circuit, can be with
It is cascaded using multi-chip and realizes multichannel synchronousing collection, be suitble to the acquisition amplification of the faint electro-physiological signals such as brain electricity, myoelectricity, electrocardio
It is exported with number conversion.
First controller 103, for received current eeg data to be sent to institute by the telecommunication circuit 104
State service computing unit 300.
For convenient for being pre-processed to eeg data, in the present embodiment, the brain-computer interface unit 100 further include: signal
Preprocessing module 105, the signal pre-processing module 105 be set to the crosslinking electrode 101 and integrated front-end amplifier 102 it
Between；
The signal pre-processing module 105, for carrying out low-pass filtering treatment to the EEG signals.
The service computing unit 300, for being identified by default identification model to the current eeg data, and
Corresponding Training Control order is generated according to recognition result；
For convenient for obtaining the default identification model, in the present embodiment, the service computing unit 300 is also used to obtain
Sample eeg data and corresponding specimen discerning result are trained initial identification model, to obtain the default identification mould
Type.
For convenient for assessing target patient, in the present embodiment, the service computing unit 300 is also used to according to institute
It states current eeg data and carries out rehabilitation efficacy assessment.
The ectoskeleton unit 200, for driving the Ipsilateral hand of the target patient according to the Training Control order, with
The Ipsilateral hand is set to complete corresponding movement.
The working principle of the present embodiment are as follows: hemiplegic patient's Mental imagery in the display interface of Mental imagery normal form unit is real
It tests under the guidance of task, carries out Mental imagery rehabilitation training；The brain in patients hand functional areas brain electricity of brain-computer interface unit acquisition simultaneously
Signal is simultaneously transmitted to service computing unit, and then identifies brain electricity by the recognizer of autonomous Design, differentiates that patient imagines content,
Assess patient motion visionary and associated activation area size, and by recognition result be used to carry out patient electro photoluminescence feedback,
Touch feedback and respective muscle group training.The patient Imagination Training and hand functional stimulus training reciprocal by the period, are improved autonomous
Mobility improves hand muscle group and rebuilds the connection of central motion functional areas cranial nerve, restores brain skin to a certain extent
Layer hand movement function region, drives other brain area rehabilitations, reduces the generation of Stroke Complicated disease such as incontinence etc..
The present embodiment autonomous Design brain is electrolysed code depth network, reaches for 104 people right-hand man's Mental imagery discriminations
96.7%, discrimination, which is compared, with researcher of the same trade improves about 10 percentage points.Compared to conventional machines learning method, discrimination is mentioned
It is high by 13%, meet electroencephalogramrecognition recognition demand.The activation of brain three-dimensional brain is carried out using brain electricity spatial distribution characteristic and amplitude-frequency characteristic etc.
State reconstruction calculates patient's brain area three-dimensional map beyond the clouds, realizes real-time brain area function while carrying out brain electrolysis code to patient
Energy and structure monitoring.It is theoretical to use for reference brain mirror neuron, inquires into imitate by the imagination and realizes patients with cerebral apoplexy hand exercise meaning
The efficient induction of figure.By virtual reality method, immersion rehabilitation environment is provided to patient, is conducive to patient compliance's rehabilitation and controls
It treats, improves rehabilitation efficacy.
The present embodiment allows it to complete virtual reality task, patient is helped to concentrate by allowing patient to watch virtual reality imagery
Attention, discrimination reaches 96.7% in terms of the acquisition identification of EEG signals.In product for central nervous system disease
Recovery extent (by taking cerebral apoplexy as an example) to tens of patient's control experiments after a week, using this system carry out rehabilitation training than
Obviously do not accelerated using patient's recovery extent that this system carries out rehabilitation training.
For the Ipsilateral hand convenient for driving patient, referring to attached drawing 2~3, in the concrete realization, the ectoskeleton unit 200 is wrapped
It includes: functional compartment 15, circuit board 12, second controller 13, line driving device, driving wire conduit 7 and hand ectoskeleton 8, the drive
The first end of moving-wire conduit 7 is set to 15 side wall of functional compartment, and the hand ectoskeleton 8 is set to the of the driving wire conduit 7
Two ends, the circuit board 12 and line driving device are set in the functional compartment 15；
The hand ectoskeleton 8 has 5 simulation fingers, and the line driving device includes 5 driving units 2, the drive
Moving cell 2 and the simulation finger correspond, the driving line of each driving unit 2 across the driving wire conduit 7 with it is corresponding
It simulates finger to be connected, the hand ectoskeleton 8 is made of flexible material；
It will be appreciated that the quantity of the driving unit 2 can be 2 or more integers, but due to the finger of usual people
It is 5, so, in the present embodiment, the line driving device includes 5 driving units 2, and correspondingly, the driving unit 2 has
There are 5, and the driving unit 2 and the simulation finger correspond.
In the concrete realization, the flexible material can be the materials such as silica gel, rubber, can be also other flexible materials certainly
Material, present embodiment are without restriction to this.
Each driving unit 2 is connected with the circuit board 12 respectively, and the circuit board 12 is connected with the second controller 13.
For convenient for driving to each simulation finger, referring to Fig. 4, in the present embodiment, each driving unit 2 includes: steering engine
26, top rotary table 23, lower rotary table 24, steering engine bracket 25 and upper cover 22；
The steering engine 26 is connect with the steering engine bracket 25, and the steering engine turntable of the lower rotary table 24 and the steering engine 26 connects
It connects, the steering engine turntable is engaged with the steering engine 26 and fixed, the top rotary table 23 and 24 clamping of lower rotary table installation, the driving
Line is connected using fastener and the top rotary table 23 and lower rotary table 24, and the steering engine 26 is connected with the circuit board 12.
In the concrete realization, the steering engine 26 is connect by screw with the steering engine bracket 25, and the lower rotary table 24 passes through
Screw is connect with the steering engine turntable of the steering engine 26, and the steering engine turntable is nibbled merga pass screw with the steering engine 26 and fixed.
To be easily installed the driving wire conduit 7, with continued reference to Fig. 2~3, in the present embodiment, the side of the functional compartment 15
Wall is equipped with driving wire conduit bracket 6, and the first end of the driving wire conduit 7 is set to institute by the driving wire conduit bracket 6
It states on 15 side wall of functional compartment.
To carry out convenient for patient using in the present embodiment, the first end of the driving wire conduit 7 is led by the driving line
Pipe holder 6 is set on the front panel 5 of the functional compartment 15.
In the present embodiment, the upper cover 22 is connect by tension spring 3 with the driving wire conduit bracket 6.
To be easily installed each driving unit, in the present embodiment, positioning plate 20, each driving unit are equipped in the functional compartment 15
Each steering engine 26 in 2 is removable to be installed on the positioning plate 20, the positioning plate 20 and the mounting seat in the functional compartment 15
21 are connected.
It is described based on the mostly free of line driving in the present embodiment since there is certain voltage to require for the power supply of circuit board
Spend hand rehabilitation ectoskeleton further include: power adapter 4；
The power adapter 4 is connected with the circuit board 12.
To power convenient for opening power supply and stopping, in the present embodiment, the multiple degrees of freedom hand rehabilitation based on line driving
Ectoskeleton further include: outlet 14 and power switch 11；
The outlet 14 is set in the functional compartment 15, the outlet 14 and the power switch 11 and institute
Power adapter 4 is stated to be separately connected.
To prevent outlet from impacting to the normal use of patient, in the present embodiment, the power switch 11 can be set
In on the front panel 5 of the functional compartment 15, the outlet 14 can be set on the rear panel 16 of the functional compartment 15.
To be indicated convenient for the on-off to the outlet 14, in the present embodiment, it is described based on line driving mostly from
By degree hand rehabilitation ectoskeleton further include: power supply indicator 10；
The power supply indicator 10 is connected with the circuit board 12.
For different patients, the elastic of line is driven to have different needs, the individual character of different patients can be met after adjusting
Change demand, to improve usage comfort, in the present embodiment, the multiple degrees of freedom hand rehabilitation ectoskeleton based on line driving is also
It include: vernier knob 9；
The vernier knob 9 is connected with the circuit board 12, so as to adjust the pine of driving line by vernier knob 9
Tightness.
For convenient for making the functional compartment 15 radiate, in the present embodiment, the multiple degrees of freedom hand based on line driving
Rehabilitation ectoskeleton further include: radiator fan 1；
The functional compartment 15 is equipped with thermovent 19, and the radiator fan 1 is set in the functional compartment 15 and is located at described
At thermovent 19, the radiator fan 1 is connected with the circuit board 12.
Noise to prevent the radiator fan from issuing impacts patient, and in the present embodiment, the thermovent 19 is set
In on the rear panel 16 of the functional compartment 15, correspondingly, the radiator fan 1 also is located at the rear panel 16 of the functional compartment 15
On.
Conveniently, in the concrete realization, the power switch 11, power supply indicator 10, vernier knob 9 and drive
Moving-wire catheter holder 6 is connected by screw and the front panel 5 of the functional compartment 15 respectively, and power adapter 4 passes through conducting wire and electricity
Road plate 12 connects, and circuit board 12 is separately connected by conducting wire with steering engine 26, second controller 13 and radiator fan 1.
To be convenient for code update, in the present embodiment, code programming is additionally provided on the rear panel 16 of the functional compartment 15
Mouth 17, the code programming mouth 17 is connected with the second controller 13.
In the present embodiment, in conjunction with the high feature of steering engine control accuracy, driving trip can be accurately controlled, is adapted to different
Patient demand, and steering gear power is low, output torque is big, control is simple.
High, the good feature of plastic deformation in conjunction with flexible material adaptability, single finger front and back driving line of simulating realize finger
It is flexible, compared with conventional rigid material, overcome the difficult point that coupling is acted between simulation finger.
Consider front and back curvature different problems when simulation digital flexion, driving line is to pass through difference before and after each simulation finger
The driven by rotary disc of radius, it can preferably meet actual use situation.
The individual difference for considering different patients is fitted to the full extent by the elasticity of the adjustable driving line of vernier knob
Answer patient.
Consider driving line interference problem, every driving line is all individual passage, and flexible coupling will not be generated between line and line
Conjunction problem.
By the description of the drawings and specific embodiments, shown from system composition, structure, coefficient Computing Principle, host computer
Several aspects such as interface, process for using describe the embodiments of the present invention in detail.Aforesaid way is currently preferred reality
Mode is applied, for those skilled in the art, on the basis of disclosed by the invention, it is readily conceivable that being carried out
Modification or equivalent replacement are applied to various medical instrument systems, are not limited solely to described in the specific embodiment of the invention
System structure, therefore previously described mode is only preferred, and not restrictive meaning.
The foregoing is merely several specific embodiments of the invention, above embodiments are only used for technical solution of the present invention
The scope of the claims being not intended to limit the present invention is explained with design.Design of all technician in the art in this patent
On the basis of combine the prior art, also should be by by logic analysis, reasoning or the available other technologies scheme of limited experimentation
Think to fall within the scope of the claims of the present invention.
The above embodiments are only used to illustrate the present invention, and not limitation of the present invention, in relation to the common of technical field
Technical staff can also make a variety of changes and modification without departing from the spirit and scope of the present invention, therefore all
Equivalent technical solution also belongs to scope of the invention, and scope of patent protection of the invention should be defined by the claims.
Claims (10)
1. a kind of upper limb hand exoskeleton rehabilitation robot, which is characterized in that the upper limb hand exoskeleton rehabilitation robot includes: brain
Machine interface unit, ectoskeleton unit, service computing unit and Mental imagery normal form unit；
The Mental imagery normal form unit, for acquiring each finger gesture of Ipsilateral hand of target patient, by virtual reality in void
Hand corresponding with the finger gesture is shown in near-ring border, and Mental imagery prompt is carried out in the virtual environment；
The brain-computer interface unit is sent out for obtaining the current eeg data of target patient, and by the current eeg data of extraction
It send to the service computing unit；
The service computing unit, for being identified by default identification model to the current eeg data, and according to knowledge
Other result generates corresponding Training Control order；
The ectoskeleton unit, for driving the Ipsilateral hand of the target patient according to the Training Control order, so that described
Ipsilateral hand completes corresponding movement.
2. upper limb hand exoskeleton rehabilitation robot as described in claim 1, which is characterized in that the brain-computer interface unit packet
It includes: sequentially connected crosslinking electrode, integrated front-end amplifier, the first controller and telecommunication circuit；
The crosslinking electrode, for obtaining the EEG signals of target patient；
The integrated front-end amplifier is worked as the EEG signals successively to be carried out with signal amplification and signal filtering
Preceding eeg data, and the current eeg data of acquisition is sent to first controller；
First controller is calculated for received current eeg data to be sent to the service by the telecommunication circuit
Unit.
3. upper limb hand exoskeleton rehabilitation robot as claimed in claim 2, which is characterized in that the brain-computer interface unit also wraps
Include: signal pre-processing module, the signal pre-processing module are set between the crosslinking electrode and integrated front-end amplifier；
The signal pre-processing module, for carrying out low-pass filtering treatment to the EEG signals.
4. upper limb hand exoskeleton rehabilitation robot according to any one of claims 1 to 3, which is characterized in that the movement
Imagine that normal form unit is based on Unity3D engine and socket protocol realization virtual reality.
5. upper limb hand exoskeleton rehabilitation robot according to any one of claims 1 to 3, which is characterized in that the service
Computing unit, is also used to obtain sample eeg data and corresponding specimen discerning result is trained initial identification model,
To obtain the default identification model.
6. upper limb hand exoskeleton rehabilitation robot as claimed in claim 5, which is characterized in that the service computing unit, also
For carrying out rehabilitation efficacy assessment according to the current eeg data.
7. upper limb hand exoskeleton rehabilitation robot according to any one of claims 1 to 3, which is characterized in that the dermoskeleton
Bone unit includes: functional compartment, circuit board, second controller, line driving device, driving wire conduit and hand ectoskeleton, the drive
The first end of moving-wire conduit is set to the functional compartment side wall, and the hand ectoskeleton is set to the second end of the driving wire conduit,
The circuit board and line driving device are set in the functional compartment；
There is the hand ectoskeleton N root to simulate finger, and the line driving device includes N number of driving unit, the driving unit
It is corresponded with the simulation finger, the driving line of each driving unit passes through the driving wire conduit and corresponding simulation finger phase
Even, the hand ectoskeleton is made of flexible material, and the N is the integer more than or equal to 2；
Each driving unit is connected with the circuit board respectively, and the circuit board is connected with the second controller.
8. upper limb hand exoskeleton rehabilitation robot as claimed in claim 7, which is characterized in that each driving unit includes: rudder
Machine, steering engine pedestal, top rotary table, lower rotary table, steering engine bracket and upper cover；
The steering engine is connect with the steering engine bracket, and the steering engine is connect with the steering engine pedestal, the lower rotary table and the rudder
The steering engine turntable of machine connects, and the steering engine turntable is engaged and fixed with the steering engine, and the top rotary table and lower rotary table clamping are installed,
The driving line is connected using fastener and the top rotary table and lower rotary table, and the steering engine is connected with the circuit board.
9. upper limb hand exoskeleton rehabilitation robot as claimed in claim 8, which is characterized in that set on the side wall of the functional compartment
There is driving wire conduit bracket, the first end of the driving wire conduit is set up in the functional compartment side by the driving wire conduit branch
On wall.
10. upper limb hand exoskeleton rehabilitation robot as claimed in claim 9, which is characterized in that the upper cover by tension spring with
The driving wire conduit bracket connection.
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| CN201811189278.2A CN109276408A (en) | 2018-10-12 | 2018-10-12 | Upper limb hand exoskeleton rehabilitation robot |
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| CN110393652A (en) * | 2019-08-14 | 2019-11-01 | 上海念通智能科技有限公司 | A kind of the healing hand function training system and training method of brain wave control |
| CN112451314A (en) * | 2020-12-02 | 2021-03-09 | 复旦大学附属华山医院 | Brain plasticity-based action assisting device and control method thereof |
| CN112494273A (en) * | 2020-11-27 | 2021-03-16 | 山东海天智能工程有限公司 | Control device, method and system for brain-controlled wrist training |
| CN112545536A (en) * | 2020-12-02 | 2021-03-26 | 复旦大学附属华山医院 | Brain plasticity-based action assisting device and control method and circuit thereof |
| CN115554093A (en) * | 2019-04-02 | 2023-01-03 | 西安交通大学 | Wrist rehabilitation control device based on concentration level |
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