CN109288651A - Personalized upper-limbs rehabilitation training robot system and its recovery training method - Google Patents
Personalized upper-limbs rehabilitation training robot system and its recovery training method Download PDFInfo
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- CN109288651A CN109288651A CN201810947564.4A CN201810947564A CN109288651A CN 109288651 A CN109288651 A CN 109288651A CN 201810947564 A CN201810947564 A CN 201810947564A CN 109288651 A CN109288651 A CN 109288651A
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- 238000012549 training Methods 0.000 title claims abstract description 278
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 116
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000011084 recovery Methods 0.000 title claims abstract description 18
- 230000000694 effects Effects 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims abstract description 7
- 238000012360 testing method Methods 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims description 42
- 210000003414 extremity Anatomy 0.000 claims description 30
- 238000000554 physical therapy Methods 0.000 claims description 19
- 238000013439 planning Methods 0.000 claims description 17
- 210000000245 forearm Anatomy 0.000 claims description 14
- 210000002310 elbow joint Anatomy 0.000 claims description 13
- 230000009467 reduction Effects 0.000 claims description 11
- 210000003857 wrist joint Anatomy 0.000 claims description 10
- 210000000323 shoulder joint Anatomy 0.000 claims description 7
- 238000011156 evaluation Methods 0.000 claims description 5
- 230000007659 motor function Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 3
- 230000035876 healing Effects 0.000 claims description 2
- 238000007393 healing practice Methods 0.000 claims 1
- 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
- 210000000578 peripheral nerve Anatomy 0.000 abstract description 2
- 208000024891 symptom Diseases 0.000 abstract description 2
- 210000000278 spinal cord Anatomy 0.000 abstract 1
- 230000036541 health Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 206010061225 Limb injury Diseases 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 238000007726 management method Methods 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
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013523 data management Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 238000002651 drug therapy Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
- 108700002783 roundabout Proteins 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
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- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
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- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of personalized upper-limbs rehabilitation training robot system, including upper-limbs rehabilitation training robot, personal rehabilitation training system and cloud data center with the control system communication connection.The invention also discloses a kind of recovery training methods of personalized upper-limbs rehabilitation training robot system, comprising the following steps: S1, system boot self-test；S2, personal rehabilitation training system is logged in；S3, rehabilitation training is carried out to patient；The data that S4, storage Rehabilitation are trained；S5, the rehabilitation training effect of patient is assessed；S6, it logs off.The present invention can allow the different rehabilitation stage, different symptoms, different building shape patients to carry out rehabilitation training of upper limbs and assessment, suitable for being able to satisfy the demand that patient different location carries out identical rehabilitation training because of the patient of upper limb disorder or function limitation caused by nervous centralis, peripheral nerve, spinal cord, muscle or skeletal diseases.
Description
Technical field
The present invention relates to training type rehabilitation technique field, in particular to a kind of personalized upper-limbs rehabilitation training robot system
And its recovery training method.
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.
Although existing technology can by limb rehabilitation training equipment carry out rehabilitation training, rehabilitation training mode according to
It is first made according to being served as master by rehabilitation physical therapy, lacks personalization, be not able to satisfy the diversified rehabilitation training of patient.Existing limbs health
Although equipment is practiced in refreshment, some can provide rehabilitation training report, cannot get the feedback of rehabilitation physical therapy teacher, and existing
Limb rehabilitation training equipment cannot store the rehabilitation training data and assessment report of patient, be unfavorable for the rehabilitation effect in later period
Fruit analysis comparison.Meanwhile existing limb rehabilitation training equipment does not have rehabilitation cloud data center, patient can only be in defined doctor
Institute carries out rehabilitation training, if other hospitals carry out rehabilitation training again, original rehabilitation training data cannot be used for reference.
In the patent of invention of Publication No. CN106422203A, it is multi-modal to disclose a kind of photoelectricity based on mirror image therapy
The rehabilitation training of upper limbs method of feedback, comprising: acquire the healthy side hand portion image of patient and according to the hand image to upper limb into
The assessment of row space imagination；In real time acquisition patient's rehabilitation training of upper limbs during finger movement parameter and according to the finger fortune
Dynamic parameter of learning is to upper limb progress hands movement assessment；According to the result of space imagination assessment and the result of hands movement assessment
Adjusting training method.The invention carries out the assessment of rehabilitation training of upper limbs effect using round-about way, not enough directly.
In the patent of invention of Publication No. CN102989124A, a kind of Portable limbs exercise rehabilitation training dress is disclosed
It sets, including hardware components and software section, hardware components include: stay wire sensor, data collecting card and computer；Its feature exists
In software section includes: rehabilitation game algorithm module, rehabilitation game action display module, rehabilitation game background display module, health
Multiple game content display module and score evaluation module.The rehabilitation training system terminal with compact integral structure, it is easy to operate.Although the invention
Game display portion with rehabilitation training, but it is the absence of rehabilitation evaluation system part.
In the patent of invention of Publication No. CN102567638A, disclose in a kind of interactive mode based on microsensor
Limb rehabilitation system comprising microsensor module, data acquisition and the transmission module of acquisition patient's upper extremity exercise data are divided
Analysis, assessment and training module and online rehabilitation guide module.The system uses multisensor Data Fusion technology, Neng Goushi
When, accurate capture patient's upper limb movement, digitlization measurement and assessment are carried out to its upper extremity function and rehabilitation training,
So that rehabilitation doctor is accurately tracked and control rehabilitation course, in time, targetedly implements and adjust rehabilitation scheme, improve
Rehabilitation training efficiency.The system does not have the function of Rehabilitation training data cloud storage, required location can only carry out rehabilitation again
Training.
Therefore, in view of the above technical problems, it is necessary to which a kind of more preferably personalized upper-limbs rehabilitation training robot system is provided
System and recovery training method, to overcome 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 formulating a set of can allow not
Rehabilitation training of upper limbs is carried out with assessment based on personalized upper limb with the rehabilitation stage, different symptoms, different building shape patient
The rehabilitation training strategy and rehabilitation assessment method of rehabilitation training robot system are suitable for because of nervous centralis, peripheral nerve, ridge
It is identical to meet the progress of patient different location by the patient of upper limb disorder caused by marrow, muscle or skeletal diseases or function limitation
The demand of rehabilitation training.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of personalization rehabilitation training of upper limbs machine
People's system, including upper-limbs rehabilitation training robot, personal rehabilitation training system and cloud number with the control system communication connection
According to center；
The upper-limbs rehabilitation training robot includes more position seat modulars and mechanical arm for rehabilitation training of upper limbs；
Individual's rehabilitation training system includes selftest module, login module, rehabilitation training module, training effect assessment mould
Block and data memory module.
Preferably, the rehabilitation training module includes rehabilitation training mode unit and path planning unit；
The rehabilitation training of upper limbs machinery includes wrist joint module, by forearm size adjustment module and the wrist joint mould
The elbow joint module of block connection and the shoulder joint module being connect by upper arm size adjustment module with the elbow joint module；It is described
The pain record button at handle on more position seat modulars.
A kind of recovery training method of personalization upper-limbs rehabilitation training robot system, comprising the following steps:
S1, system boot self-test, including structure motion of the selftest module to upper-limbs rehabilitation training robot carry out detection and
Control system is detected；
S2, login module judge whether patient carries out rehabilitation training for the first time, log in personal rehabilitation training system；
S3, conditions of patients is diagnosed, rehabilitation training is carried out to patient by rehabilitation training module；
The data that S4, storage Rehabilitation are trained；
S5, the rehabilitation training effect of patient is assessed；
S6, it logs off.
Preferably, in the step S2, if patient is to carry out rehabilitation training for the first time, patient is helped by login module
Personal user information is created in personal rehabilitation system, subsequently into personal rehabilitation training system；It is carried out for the first time if patient is non-
Rehabilitation training then directly logs in personal rehabilitation training system；
Further include in the step S2, after the personal rehabilitation training system of login, if patient is to carry out rehabilitation training for the first time,
Then individual's parameter is set, and is stored by data memory module；If patient is non-to carry out rehabilitation training for the first time,
The individuation parameter of patient is then read from data memory module.
Preferably, include three kinds of training modes in the rehabilitation training module:
Passive exercise mode, mechanical arm for rehabilitation training of upper limbs are served as master the motion path first set according to rehabilitation physical therapy, band
The upper limb of dynamic patient carries out repeatedly, persistently and stable path restores training, provides protection by mechanical arm for rehabilitation training of upper limbs
And data feedback；
Active training mode, patient and upper-limbs rehabilitation training robot drive upper limb close to zero contact force
Mechanical arm for rehabilitation training carries out path reduction, and provides protection and data feedback by mechanical arm for rehabilitation training of upper limbs；
Main passive exercise mode is anticipated using the movement of human-machine interface touch force signal or surface electromyogram signal identification human upper limb
Figure, is arranged the auxiliary force in each joint, patient drives mechanical arm for rehabilitation training of upper limbs to carry out on the basis of passive exercise mode
Path reduction, while mechanical arm for rehabilitation training of upper limbs provides auxiliary force for patient, helps patient to complete path reduction, and by upper limb
Mechanical arm for rehabilitation training provides protection and data feedback.
Preferably, the step S3 is specifically included:
Rehabilitation training module adjusts mechanical arm for rehabilitation training of upper limbs and more position seat moulds according to the individuation parameter of patient
The pose of block, to adapt to the limb size parameter and sitting posture of patient；
Rehabilitation physical therapy teacher diagnoses conditions of patients, and grades to the extremity motor function of patient, according to diagnosis
As a result judge whether to need to carry out personalized rehabilitation training path planning, if it is desired, rehabilitation physical therapy teacher helps patient dressing
Rehabilitation training path planning is carried out in the case where mechanical arm for rehabilitation training of upper limbs, and limb rehabilitating is carried out to patient according to planning path
Training；If it is not needed, rehabilitation training module directly reads the training parameter in personal rehabilitation system, limbs health is carried out to patient
Refreshment is practiced.
Preferably, the pose of mechanical arm for rehabilitation training of upper limbs and more position seat modulars is adjusted in the step S3
Method are as follows: after patient dresses mechanical arm for rehabilitation training of upper limbs, rehabilitation training module controls to adjust forearm size adjustment module and upper
Arm size adjustment module, to adjust wrist joint module respectively at a distance from elbow joint intermodule, shoulder joint module and elbow joint
The distance of intermodule, to adapt to the size of patient forearm and upper arm.
Preferably, in the step S3, personalized rehabilitation training paths planning method are as follows: by rehabilitation training mode 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 by the pain record button at lower handle, rehabilitation training module records the angular values of current joint, according to record
Parameter formulates the personalized rehabilitation training path of patient, then under passive exercise mode, upper-limbs rehabilitation training robot foundation
The personalized rehabilitation training path of patient drives patient to carry out rehabilitation training of upper limbs.
Preferably, in the step S4, the data of Rehabilitation training are stored by data memory module to personal health
In multiple training system, while cloud data center storage is also sent data to by communication module.
It preferably, further include rehabilitation physical therapy teacher after rehabilitation training effect to patient is assessed in the step S5
Judge whether to need to grade to the state of an illness of patient again according to assessment result, return step 3 if necessary), if not
It needs, enters step 6)；
Wherein, the method assessed in the step S5 the rehabilitation training effect of patient includes:
The assessment of the range of motion in each rehabilitation training joint of patient's upper limb: angle sensor in each joint motions module is utilized
Device detects the movement angle in each joint, assesses the range of motion of patient；
The assessment of the joint driven torque in each rehabilitation training joint of patient's upper limb: the sensing in each joint motions module is utilized
Device acquires each joint moment of patient, carries out the assessment of joint driven torque；
The assessment of patient's upper extremity exercise harmony: moving according to given test motion profile, is transported using each joint
Angular transducer detects the movement angle in each joint in dynamic model block, assesses the limb motion harmony of patient.
The present invention is include at least the following beneficial effects:
(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 individual's rehabilitation data；It is logged in front of Rehabilitation training, and will be upper
The state when state reduction of limbs rehabilitation training robot system is at oneself last time rehabilitation training continues upper limb healing instruction
Practice；Meanwhile patient can use personal rehabilitation database, carry out same rehabilitation training of upper limbs in Different hospital.
(3) personalized rehabilitation training 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 health
The function of personalized trajectory planning is provided under multiple training mode, patient personalized path planning is completed, by rehabilitation training of upper limbs
Robot realizes the accurate reproduction of set rehabilitation track.
(4) rehabilitation training assessment system.The present invention using the range of motion in motion process, joint driven torque and
Sports coordination etc. carries out quantitatively evaluating to the rehabilitation training 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 recovery training method of the personalized upper-limbs rehabilitation training robot system in a kind of embodiment of the invention
Work flow diagram；
Fig. 2 is the schematic diagram of three kinds of rehabilitation training modes of the invention；
Fig. 3 is the structural schematic diagram of upper-limbs rehabilitation training robot of the invention；
Fig. 4 is the schematic diagram of rehabilitation training recruitment evaluation of the invention；
Fig. 5 is the schematic diagram of pain record button of the invention.
Description of symbols:
1-mechanical arm for rehabilitation training of upper limbs；More than 2-position seat modulars；3-pain record buttons.
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.
A kind of personalized upper-limbs rehabilitation training robot system of the present embodiment, including it is upper-limbs rehabilitation training robot, a
People's rehabilitation training system and cloud data center with the control system communication connection；The upper-limbs rehabilitation training robot includes
More position seat modulars and mechanical arm for rehabilitation training of upper limbs；It is described individual rehabilitation training system include selftest module, login module,
Rehabilitation training module, training effect evaluation module and data memory module.
The rehabilitation training of upper limbs machinery includes wrist joint module, by forearm size adjustment module and the wrist joint mould
The elbow joint module of block connection and the shoulder joint module being connect by upper arm size adjustment module with the elbow joint module；It is described
The pain record button at handle on more position seat modulars.
Referring to Fig.1, the recovery training method of above-mentioned personalized upper-limbs rehabilitation training robot system, comprising the following steps:
S1, system boot self-test, including structure motion of the selftest module to upper-limbs rehabilitation training robot carry out detection and
Control system is detected；
S2, login module judge whether patient carries out rehabilitation training for the first time, log in personal rehabilitation training system；
Wherein, if patient is to carry out rehabilitation training for the first time, help patient in personal rehabilitation system by login module
Newly-built personal user information, subsequently into personal rehabilitation training system；If patient is non-to carry out rehabilitation training for the first time, directly step on
Record personal rehabilitation training system；
It wherein, further include after logging in personal rehabilitation training system, if patient is to carry out rehabilitation instruction for the first time in step S2
Practice, then individual's parameter is set, and is stored by data memory module；If patient is non-to carry out rehabilitation instruction for the first time
Practice, then reads the individuation parameter of patient from data memory module.
S3, conditions of patients is diagnosed, rehabilitation training is carried out to patient by rehabilitation training module；
Rehabilitation training module adjusts mechanical arm for rehabilitation training of upper limbs and more position seat moulds according to the individuation parameter of patient
The pose of block, to adapt to the limb size parameter and sitting posture of patient；
Rehabilitation physical therapy teacher diagnoses conditions of patients, and grades to the extremity motor function of patient, according to diagnosis
As a result judge whether to need to carry out personalized rehabilitation training path planning, if it is desired, rehabilitation physical therapy teacher helps patient dressing
Rehabilitation training path planning is carried out in the case where mechanical arm for rehabilitation training of upper limbs, and limb rehabilitating is carried out to patient according to planning path
Training；If it is not needed, rehabilitation training module directly reads the training parameter in personal rehabilitation system, limbs health is carried out to patient
Refreshment is practiced.
The data that S4, storage Rehabilitation are trained；
The data of Rehabilitation training are stored by data memory module to be passed through into personal rehabilitation training system, while also
Communication module sends data to cloud data center storage.Same personalized upper limb health can be used in Different hospital convenient for patient
Refreshment practices robot system and carries out same rehabilitation training.
S5, the rehabilitation training effect of patient is assessed；
Wherein, the method assessed the rehabilitation training effect of patient includes:
The assessment of the range of motion in each rehabilitation training joint of patient's upper limb: angle sensor in each joint motions module is utilized
Device detects the movement angle in each joint, assesses the range of motion of patient；
The assessment of the joint driven torque in each rehabilitation training joint of patient's upper limb: the sensing in each joint motions module is utilized
Device acquires each joint moment of patient, carries out the assessment of joint driven torque；
The assessment of patient's upper extremity exercise harmony: moving according to given test motion profile, is transported using each joint
Angular transducer detects the movement angle in each joint in dynamic model block, assesses the limb motion harmony of patient.
It wherein, further include after rehabilitation training effect to patient is assessed in step S5, rehabilitation physical therapy teacher is according to assessment
As a result judge whether to need to grade to the state of an illness (extremity motor function of patient) of patient again, return to step if necessary
It is rapid that limb rehabilitation training 3) is re-started to patient, if you do not need to then entering step 6)；It is logged off with completing training, from
And closed loop is formed, be conducive to patient and carry out accurate and effective rehabilitation training.
S6, personal rehabilitation training system is exited.
Wherein, include three kinds of training modes in the rehabilitation training module:
Passive exercise mode, mechanical arm for rehabilitation training of upper limbs are served as master the motion path first set according to rehabilitation physical therapy, band
The upper limb of dynamic patient carries out repeatedly, persistently and stable path restores training, provides protection by mechanical arm for rehabilitation training of upper limbs
And data feedback；
Active training mode, patient and upper-limbs rehabilitation training robot drive upper limb close to zero contact force
Mechanical arm for rehabilitation training carries out path reduction, and provides protection and data feedback by mechanical arm for rehabilitation training of upper limbs；
Main passive exercise mode is anticipated using the movement of human-machine interface touch force signal or surface electromyogram signal identification human upper limb
Figure, is arranged the auxiliary force in each joint, patient drives mechanical arm for rehabilitation training of upper limbs to carry out on the basis of passive exercise mode
Path reduction, while mechanical arm for rehabilitation training of upper limbs provides auxiliary force for patient, helps patient to complete path reduction, and by upper limb
Mechanical arm for rehabilitation training provides protection and data feedback.
The method of the pose of mechanical arm for rehabilitation training of upper limbs and more position seat modulars is adjusted in the step S3 are as follows: suffer from
After person dresses mechanical arm for rehabilitation training of upper limbs, rehabilitation training module controls to adjust forearm size adjustment module and upper arm size is adjusted
Module, thus adjust respectively wrist joint module with elbow joint intermodule at a distance from, shoulder joint module and elbow joint intermodule away from
From to adapt to the size of patient forearm and upper arm.Specifically, patient dresses mechanical arm for rehabilitation training of upper limbs 1, respectively referring to Fig. 3
By the size of forearm size adjustment module and the forearm L1 and upper arm L2 of upper arm size adjustment module adjusting mechanical arm, to adapt to
The size of patient forearm and upper arm, and dimension data is recorded in rehabilitation training and assessment system, realize rehabilitation patient's next time
Forearm and the reduction of the fast and accurately initial position of upper arm size before training.
In the step S3, personalized rehabilitation training paths planning method are as follows: by rehabilitation training mode adjustment for actively
Training mode is carried out the movement of single joint with the suffering limb of patient by rehabilitation physical therapy teacher, pressed when the patient feels are to pain
Pain record button at lower handle, rehabilitation training module record the angular values of current joint, are formulated according to the parameter of record
The personalized rehabilitation training path of patient, then under passive exercise mode, of the upper-limbs rehabilitation training robot according to patient
Property rehabilitation training path drive patient carry out rehabilitation training of upper limbs.
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 personalization upper-limbs rehabilitation training robot system, which is characterized in that including upper-limbs rehabilitation training robot, individual
Rehabilitation training system and cloud data center with the control system communication connection；
The upper-limbs rehabilitation training robot includes more position seat modulars and mechanical arm for rehabilitation training of upper limbs；
It is described individual rehabilitation training system include selftest module, login module, rehabilitation training module, training effect evaluation module and
Data memory module.
2. personalization upper-limbs rehabilitation training robot system according to claim 1, which is characterized in that the rehabilitation training
Module includes rehabilitation training mode unit and path planning unit；
The rehabilitation training of upper limbs machinery includes wrist joint module, by forearm size adjustment module and wrist joint module company
The elbow joint module connect and the shoulder joint module being connect by upper arm size adjustment module with the elbow joint module；More bodies
The pain record button at handle on the seat modular of position.
3. a kind of recovery training method of personalized upper-limbs rehabilitation training robot system as claimed in claim 2, feature
It is, comprising the following steps:
S1, system boot self-test carry out detection including structure motion of the selftest module to upper-limbs rehabilitation training robot and to control
System processed is detected；
S2, login module judge whether patient carries out rehabilitation training for the first time, log in personal rehabilitation training system；
S3, conditions of patients is diagnosed, rehabilitation training is carried out to patient by rehabilitation training module；
The data that S4, storage Rehabilitation are trained；
S5, the rehabilitation training effect of patient is assessed；
S6, it logs off.
4. the recovery training method of personalization upper-limbs rehabilitation training robot system as claimed in claim 3, which is characterized in that
In the step S2, if patient is to carry out rehabilitation training for the first time, help patient in personal rehabilitation system by login module
Newly-built personal user information, subsequently into personal rehabilitation training system；If patient is non-to carry out rehabilitation training for the first time, directly step on
Record personal rehabilitation training system；
Further include in the step S2, it is right if patient is to carry out rehabilitation training for the first time after the personal rehabilitation training system of login
Individual's parameter is set, and is stored by data memory module；If patient is non-to carry out rehabilitation training for the first time, from
The individuation parameter of patient is read in data memory module.
5. the recovery training method of personalization upper-limbs rehabilitation training robot system as claimed in claim 4, which is characterized in that
Include three kinds of training modes in the rehabilitation training module:
Passive exercise mode, mechanical arm for rehabilitation training of upper limbs are served as master the motion path first set according to rehabilitation physical therapy, are driven and are suffered from
The upper limb of person carries out repeatedly, persistently and stable path restores training, provides protection sum number by mechanical arm for rehabilitation training of upper limbs
According to feedback；
Active training mode, patient and upper-limbs rehabilitation training robot drive upper limb healing close to zero contact force
Training mechanical arm carries out path reduction, and provides protection and data feedback by mechanical arm for rehabilitation training of upper limbs；
Main passive exercise mode recognizes the motion intention of human upper limb using human-machine interface touch force signal or surface electromyogram signal,
The auxiliary force in each joint is set on the basis of passive exercise mode, and patient drives mechanical arm for rehabilitation training of upper limbs to carry out path also
Original, while mechanical arm for rehabilitation training of upper limbs provides auxiliary force for patient, helps patient to complete path reduction, and instructed by upper limb healing
Practice mechanical arm and protection and data feedback are provided.
6. the recovery training method of personalization upper-limbs rehabilitation training robot system as claimed in claim 5, which is characterized in that
The step S3 is specifically included:
Rehabilitation training module adjusts mechanical arm for rehabilitation training of upper limbs and more position seat modulars according to the individuation parameter of patient
Pose, to adapt to the limb size parameter and sitting posture of patient；
Rehabilitation physical therapy teacher diagnoses conditions of patients, and grades to the extremity motor function of patient, according to diagnostic result
Judge whether to need to carry out personalized rehabilitation training path planning, if it is desired, rehabilitation physical therapy teacher helps patient in wearing upper limb
Rehabilitation training path planning is carried out in the case where mechanical arm for rehabilitation training, and limb rehabilitating instruction is carried out to patient according to planning path
Practice；If it is not needed, rehabilitation training module directly reads the training parameter in personal rehabilitation system, limb rehabilitating is carried out to patient
Training.
7. the recovery training method of personalization upper-limbs rehabilitation training robot system as claimed in claim 6, which is characterized in that
The method of the pose of mechanical arm for rehabilitation training of upper limbs and more position seat modulars is adjusted in the step S3 are as follows: patient is worn by
After limbs rehabilitation training mechanical arm, rehabilitation training module controls to adjust forearm size adjustment module and upper arm size adjustment module, from
And adjust respectively wrist joint module at a distance from elbow joint intermodule, shoulder joint module at a distance from elbow joint intermodule, with suitable
Answer the size of patient forearm and upper arm.
8. the recovery training method of personalization upper-limbs rehabilitation training robot system as claimed in claim 7, which is characterized in that
In the step S3, personalized rehabilitation training paths planning method are as follows: by rehabilitation training mode adjustment be active training mode,
The movement for carrying out single joint with the suffering limb of patient by rehabilitation physical therapy teacher, when the patient feels are to pain by lower handle at
Pain record button, rehabilitation training module record the angular values of current joint, and the individual character of patient is formulated according to the parameter of record
Change rehabilitation training path, then under passive exercise mode, upper-limbs rehabilitation training robot is instructed according to the personalized rehabilitation of patient
Practicing path drives patient to carry out rehabilitation training of upper limbs.
9. the recovery training method of personalization upper-limbs rehabilitation training robot system as claimed in claim 8, which is characterized in that
In the step S4, the data of Rehabilitation training are stored by data memory module into personal rehabilitation training system, simultaneously
Cloud data center storage is also sent data to by communication module.
10. the recovery training method of personalization upper-limbs rehabilitation training robot system as claimed in claim 9, feature exist
In further including after rehabilitation training effect to patient is assessed in the step S5, rehabilitation physical therapy teacher sentences according to assessment result
It is disconnected whether to need to grade to the state of an illness of patient again, return step 3 if necessary), if you do not need to then entering step
6)；
Wherein, the method assessed in the step S5 the rehabilitation training effect of patient includes:
The assessment of the range of motion in each rehabilitation training joint of patient's upper limb: it is examined using angular transducer in each joint motions module
The movement angle for surveying each joint assesses the range of motion of patient；
The assessment of the joint driven torque in each rehabilitation training joint of patient's upper limb: utilizing the sensor in each joint motions module,
Each joint moment of patient is acquired, the assessment of joint driven torque is carried out；
The assessment of patient's upper extremity exercise harmony: moving according to given test motion profile, utilizes each joint motions mould
Angular transducer detects the movement angle in each joint in block, assesses the limb motion harmony of patient.
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