CN109350446A - Master based on electromyography signal passively combines upper-limbs rehabilitation training robot system - Google Patents
Master based on electromyography signal passively combines upper-limbs rehabilitation training robot system Download PDFInfo
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- CN109350446A CN109350446A CN201811213796.3A CN201811213796A CN109350446A CN 109350446 A CN109350446 A CN 109350446A CN 201811213796 A CN201811213796 A CN 201811213796A CN 109350446 A CN109350446 A CN 109350446A
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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
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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
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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
- A61H1/0288—Fingers
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
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- 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
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- 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
- A63B23/14—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 for wrist joints
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- 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
- A63B23/16—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 for hands or fingers
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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
- A61H2201/01—Constructive details
- A61H2201/0107—Constructive details modular
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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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
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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
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
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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
- A61H2201/5061—Force 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
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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
- A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/08—Measuring physiological parameters of the user other bio-electrical signals
- A63B2230/085—Measuring physiological parameters of the user other bio-electrical signals used as a control parameter for the apparatus
Abstract
The disclosure provides a kind of master based on electromyography signal and passively combines upper-limbs rehabilitation training robot system, including upper limb training mechanical arm and host computer；Upper limb trains mechanical arm, including big arm component, small arm component, wrist joint component and electromyographic signal collection module；Wherein, the configuration of electromyographic signal collection module is between big arm component and small arm component, for acquiring muscle electric signal and exporting to host computer；Wrist joint component includes fixed shell, movement shell, L-type rotating member, holding power transducer fixing seat and holding power transducer, fixed shell is connect with movement shell, L-type rotating member connect with movement shell and can move in a circle around movement shell, and L-type rotating member is connected with holding power transducer fixing seat by first rotating shaft；For host computer for receiving muscle electric signal, and output Training Control system to upper limb training airplane tool arm, control upper limb trains the movement of mechanical arm.
Description
Technical field
This disclosure relates to which a kind of master based on electromyography signal passively combines upper-limbs rehabilitation training robot system.
Background technique
Cerebral apoplexy refers to that the rupture haemorrhage that cerebrovascular accident occurs or acute occlusion are seriously damaged caused by brain, ties
Fruit may be death, stupor, hemiplegia, aphasia and other dyskinesias etc., has high lethality rate and disability rate, is Chinese
The cause of death first, mouth.The number that cerebral apoplexy is newly sent out in China every year at present surpasses 2,500,000, and the number for dying of cerebral apoplexy every year is more than
1500000.It is estimated that nearly having 12,000,000 people once to suffer from cerebral apoplexy in 40 years old national or more crowd, direct medical cost is up to
37500000000 yuans.The trend constantly risen is just presented in the disease incidence of China's cerebral apoplexy, with the raising of medical level, brain soldier
The middle death rate is decreased obviously, but its disability rate is still up to 80% or more, and for most of patient there are serious sequelae, hemiplegia is then it
In most commonly seen one of performance, seriously affected that people's lives are horizontal and quality.For hemiplegia caused by cerebral apoplexy, rehabilitation
The time for treating intervention is more late, and with regard to smaller, this allows for family numbers of patients and society need flower for the hope of patient's suffering limb functional rehabilitation
Take great cost to treat and care of patients, brings huge economic and stress to family and society.Therefore, seek
Rapidly and efficiently rehabilitation means improve the prognosis situation of patient, and the quality of life for improving patient is current people's concern
Important Problems.With the fast development of medical rehabilitation technology, upper limb rehabilitation robot is gradually introduced in the rehabilitation instruction of patient
During white silk, the subjects such as medicine, biology, mechanics, information and computer science have been merged, different patients can be met
Training strength requirement, be suitable for patient and independently carry out rehabilitation training, realize the recovery of upper extremity function.
By being found to existing patent retrieval, certain recovery exercising robots, such as a kind of upper limb dermoskeleton in the prior art
Bone healing robot is made of pedestal, two robot assemblies and six motor drive components, can be realized simultaneously right-hand man
Rehabilitation training.But localised load is big, and overall mechanism complexity and weight are bigger than normal, and arm length is adjusted also relatively more tired by screw
Difficulty operates relatively complicated.
It is connected in series there are also a kind of upper-limbs rehabilitation training robot by pedestal, lifting column and mechanical arm, passes through mechanical arm
Human arm is driven to realize passive exercise.But practice finds that the fixed form of the mechanical arm will cause wearer's discomfort, and operation is not
Smoothness is not able to satisfy the rehabilitation training of long period.
Separately there is a kind of upper-limbs rehabilitation training robot, using pedestal, column, mechanical arm three parts overall structure, Ke Yishi
Now left and right switching, to adapt to different rehabilitation training demands.But the mechanical arm only has six-freedom degree, drops to a certain extent
The effect of low Rehabilitation training, big forearm lengths also increase the triviality of operation using manually adjusting.In addition, patient
Motion intention be difficult to be embodied in rehabilitation course, this allows for the enthusiasm that patient in entire rehabilitation training participates in
It is lacking with initiative.
Summary of the invention
In order to solve at least one above-mentioned technical problem, the disclosure provide a kind of master based on electromyography signal passively combine it is upper
Limbs rehabilitation training robot system.
According to one aspect of the disclosure, the master based on electromyography signal passively combines upper-limbs rehabilitation training robot system packet
Include upper limb training mechanical arm and host computer；
Upper limb trains mechanical arm, including big arm component, small arm component, wrist joint component and electromyographic signal collection module, greatly
Arm component, small arm component and wrist joint component are sequentially connected；
Wherein, electromyographic signal collection module configures between big arm component and small arm component, for acquiring muscle electric signal
And it exports to host computer；
Wrist joint component includes fixed shell, movement shell, L-type rotating member, holding power transducer fixing seat and grip sensing
Device, fixed shell are connect with movement shell, and L-type rotating member is connect with movement shell, and L-type rotating member can be done around movement shell
Circular motion, L-type rotating member and holding power transducer fixing seat are connected by first rotating shaft, and holding power transducer is fixed on grip sensing
In device fixing seat；
Host computer is for receiving muscle electric signal, and output Training Control system is to upper limb training airplane tool arm, in control
The movement of limb training mechanical arm.
According at least one embodiment of the disclosure, above-mentioned robot system further includes pedestal and cantilever beam；Pedestal packet
Electric lifting pole is included, one end of electric lifting pole is fixedly connected with cantilever beam, and cantilever beam passes through the second shaft and upper limb training airplane
The connection of tool arm, electric lifting pole drive the raising and lowering of upper limb training mechanical arm to move by cantilever beam.
According at least one embodiment of the disclosure, upper limb training mechanical arm further include L-type fixed beam, cantilever longitudinal beam and
Cantilever beams；
Cantilever beams are connect with big arm component；
Cantilever longitudinal beam is connect by lead screw and guiding axis with cantilever beams；
One end of L-type fixed beam is connect by the second shaft with cantilever beam, and the other end of L-type fixed beam passes through third shaft
It is connect with cantilever longitudinal beam.
According at least one embodiment of the disclosure, big arm component further includes photoelectric encoder, and photoelectric encoder is used for
It monitors and exports the movement angle information of elbow joint to host computer.
According at least one embodiment of the disclosure, wrist joint component further includes absolute value encoder, absolute encoder
Device is connected with L-type rotating member, and absolute value encoder is used to monitor and export the location information of L-type rotating member to host computer.
According at least one embodiment of the disclosure, big arm component include large arm be connected and fixed seat, large arm right connection board,
Large arm bandage, large arm left connection board, large arm arc guide rail, large arm pressing plate, large arm directive wheel and power device；
Large arm is connected and fixed seat and is fixed in cantilever beams, and large arm is connected and fixed seat and large arm arc guide rail is led by large arm
It is connected to wheel, large arm pressing plate is fixedly connected with large arm arc guide rail, and large arm right connection board is connected with large arm arc guide rail, and large arm is tied up
Band is connected with large arm arc guide rail, and power device is connected by the 4th shaft with large arm right connection board, and photoelectric sensor passes through the
Five shafts are connect with large arm left connection board, and large arm left connection board is connected with large arm arc guide rail.
According at least one embodiment of the disclosure, small arm component includes forearm right connection board, forearm pressing plate, forearm circle
Arc guide rail, forearm bandage, forearm are connected and fixed seat, forearm directive wheel and forearm left connection board；
Forearm right connection board is connected by the 4th shaft with large arm right connection board, forearm arc guide rail and forearm right connection board
It is fixedly connected, forearm is connected and fixed seat and is connected with forearm arc guide rail by forearm directive wheel, and forearm pressing plate is led with forearm circular arc
Rail is fixedly connected, and one end of forearm left connection board is connected with forearm arc guide rail, and the other end and large arm of forearm left connection board are left
Connecting plate is connected.
According at least one embodiment of the disclosure, upper limb training mechanical arm further include:
Spacer pin is connect with L-type fixed beam, for limiting the range of relative motion of L-type fixed beam and cantilever longitudinal beam；
First positioning pin is fixed in forearm right connection board, for limiting forearm right connection board and large arm right connection board
Range of relative motion；And
Second positioning pin is connected with L-type rotating member, for limiting the opposite of L-type rotating member and holding power transducer fixing seat
Position.
According at least one embodiment of the disclosure, electromyographic signal collection module is put after directly being worn by human arm
It is placed between big arm component and small arm component.
According at least one embodiment of the disclosure,
L-type fixed beam is rotated around the second shaft, and shoulder is driven to do outward turning and inward turning movement；
Cantilever longitudinal beam is rotated around third shaft, and shoulder is driven to do anteflexion and extend back movement；
Upper limb training mechanical arm drives shoulder to do outreach and the movement of interior receipts with electric lifting pole raising and lowering；
Small arm component is rotated around the 4th shaft, and ancon is driven to do anteflexion and extend back movement；
Holding power transducer and holding power transducer fixing seat are rotated around first rotating shaft, and forearm is driven to do outward turning and inward turning movement；
The relative position of L-type rotating member and holding power transducer fixing seat is adjusted, L-type rotating member is with movement enclosure interior
Machine shaft rotation, drive wrist does palmar flexion and dorsiflexion movement and oar is bent and ruler is bent and moved.
Detailed description of the invention
Attached drawing shows the illustrative embodiments of the disclosure, and it is bright together for explaining the principles of this disclosure,
Which includes these attached drawings to provide further understanding of the disclosure, and attached drawing is included in the description and constitutes this
Part of specification.
Fig. 1 is passively upper limb healing to be combined to instruct according to the master based on electromyography signal of at least one embodiment of the disclosure
Practice the structural schematic diagram of robot system.
Fig. 2 is the schematic diagram of base structure according at least one embodiment of the disclosure.
Fig. 3 is according to the mechanical arm configuration schematic diagram of the upper limb of at least one embodiment of disclosure training.
Fig. 4 is the large arm arc guide rail component structure diagram according at least one embodiment of the disclosure.
Fig. 5 is the forearm arc guide rail component structure diagram according at least one embodiment of the disclosure.
Fig. 6 is the wrist joint component structure diagram according at least one embodiment of the disclosure.
Fig. 7 is the work station structural schematic diagram according at least one embodiment of the disclosure.
Specific embodiment
The disclosure is described in further detail with embodiment with reference to the accompanying drawing.It is understood that this place
The specific embodiment of description is only used for explaining related content, rather than the restriction to the disclosure.It also should be noted that being
Convenient for description, part relevant to the disclosure is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the disclosure can
To be combined with each other.The disclosure is described in detail below with reference to the accompanying drawings and in conjunction with embodiment.
Disclosed technique scheme deficiency according to present in existing upper-limbs rehabilitation training robot system, such as space
The problems such as degree of coupling is low, and wearing comfort is poor, and bad adaptability, structure design be not compact and motion intention lacks, provides one
The novel master based on electromyography signal of kind passively combines upper-limbs rehabilitation training robot system.
In an optional embodiment of the disclosure, as shown in Figure 1, the master based on electromyography signal passively combines upper limb health
Robot system, including pedestal 101, upper limb training mechanical arm 102 and 103 three parts of work station are practiced in refreshment.Wherein pedestal
101 are connected with upper limb training mechanical arm 102, on work station 103 and pedestal 101 and upper limb training 102 structure of mechanical arm relatively solely
Vertical, work station 103 is connected by cable with pedestal 101.
As shown in Fig. 2, pedestal 101 includes handle 201, power control cabinet 202, electric lifting pole 203, bottom plate 204 and idler wheel
205.Handle 201 is fixed on bottom plate 204, and power control cabinet 202 is connected with electric lifting pole 203, and one end of electric lifting pole 203 is solid
It is scheduled on bottom plate 204, idler wheel 205 is mounted on 204 bottom of bottom plate.
As shown in figure 3, upper limb training mechanical arm 102 includes cantilever beam 301, L-type fixed beam 302, spacer pin 303, cantilever
Stringer 304, lead screw 305, guiding axis 306, cantilever beams 307, big arm component 308, muscle electrical signal collection module 309, forearm
Component 310 and wrist joint component 311.In an optional embodiment of the disclosure, big arm component 308 is that large arm circular arc is led
Rail assembly 308, small arm component 310 are forearm arc guide rail component 310.301 one end of cantilever beam is fastened on electronic liter by screw
The top of column 203 drops, and 301 other end of cantilever beam is connected by the second shaft with one end of L-type fixed beam 302.L-type fixed beam
302 other end is connected by third shaft with cantilever longitudinal beam 304.Spacer pin 303 is threadedly attached to L-type fixed beam 302
On, the range of relative motion of L-type fixed beam 302 and cantilever longitudinal beam 304 is limited, i.e., limitation cantilever longitudinal beam 304 turns around third shaft
Dynamic rotational angle.Cantilever longitudinal beam 304 is connect by lead screw 305 and guiding axis 306 with cantilever beams 307, and adjusting screw is passed through
305 and guiding axis 306 automatic adjustments of big arm lengths may be implemented.Large arm arc guide rail component 308 and 307 phase of cantilever beams
Even.Electromyographic signal collection module 309 is directly worn by human arm and is placed in large arm arc guide rail component 308 and forearm circular arc
Between guide assembly 310, flexible wearing mode can increase the comfort of wearer.Large arm arc guide rail component 308 and small
Arm arc guide rail component 310 realizes connection, wrist joint component 311 and forearm arc guide rail component 310 by two sides connecting flange
It is connected.
As shown in figure 4, large arm arc guide rail component 308 includes that large arm is connected and fixed seat 401, large arm right connection board 402, big
Arm bandage 405, photoelectric encoder 406, large arm left connection board 407, large arm arc guide rail 408, large arm pressing plate 409, large arm guiding
Wheel 410 and power device, power device can be by gearbox 403 (such as planetary transmission) and motor 404 (such as direct currents
Brushless motor) composition.Wherein, large arm is connected and fixed seat 401 and is fastened in cantilever beams 307 by screw, and large arm is connected and fixed
Seat 401 and large arm arc guide rail 408 are connected by large arm directive wheel 410, to realize the relative circumferential of large arm arc guide rail 408
Movement.Large arm pressing plate 409 is fastenedly connected with large arm arc guide rail 408, defines the movement of 408 circular motion of large arm arc guide rail
Angular range.Large arm right connection board 402 is connected with large arm arc guide rail 408.Gearbox 403 passes through with large arm right connection board 402
4th shaft is connected.Motor 404 is connected with gearbox 403, provides power for elbow joint motion.Large arm bandage 405 and large arm circle
Arc guide rail 408 is connected, and immobilized patients arm is used for, to carry out rehabilitation training.Photoelectric sensor 406 and large arm left connection board
407 are connected by the 5th shaft, for real-time monitoring and feed back the movement angle of elbow joint.Large arm left connection board 407 and large arm
Arc guide rail 408 is connected, to increase the security reliability of structure.
As shown in figure 5, forearm arc guide rail component 310 includes forearm right connection board 501, the first positioning pin 502, forearm pressure
Plate 503, forearm arc guide rail 504, forearm bandage 505, forearm are connected and fixed seat 506, forearm directive wheel 507 and the left company of forearm
Fishplate bar 508.Wherein, forearm right connection board 501 is connected by the 4th shaft with large arm right connection board 402.First positioning pin 502 is logical
It crosses and is threadedly secured in forearm right connection board 501, for limiting anteflexion/scope of activities for extending back of ancon.Forearm arc guide rail
504 are connected with forearm right connection board 501.Forearm is connected and fixed seat 506 and forearm arc guide rail 504 and passes through forearm directive wheel 507
Connection, to realize the relative circular movement of forearm arc guide rail 504.Forearm pressing plate 503 and the fastening of forearm arc guide rail 504 connect
It connects, to limit the movement angle range of 504 circular motion of forearm arc guide rail.508 one end of forearm left connection board and forearm circular arc
Guide rail 504 is connected, and 508 other end of forearm left connection board is connected with large arm left connection board 407, forms a closed structure shape
Formula, more securely and reliably.
As shown in fig. 6, wrist joint component 311 includes fixed shell 601, movement shell 602, L-type rotating member 603, second
Positioning pin 604, absolute value encoder 605, holding power transducer fixing seat 606 and holding power transducer 607.Wherein, fixed shell
601, which are connected and fixed seat 506 with forearm, is connected.Fixed shell 601 is connect with movement shell 602 by miniature guide rail, and gear is passed through
Rack gear transmits the power of relative motion.The small of mechanical arm may be implemented with the relative motion for moving shell 602 in fixed shell 601
The adjusting of arm lengths.L-type rotating member 603 is connected with the machine shaft inside movement shell 602.L-type rotating member 603 can be with
The rotation of machine shaft does the circular motion within the scope of certain angle around movement shell 602.L-type rotating member 603 and grip pass
Sensor fixing seat 606 is connected by first rotating shaft, and holding power transducer 607 is fixed in holding power transducer fixing seat 606.Second is fixed
Position pin 604 is connected with L-type rotating member 603, for limiting the opposite position of L-type rotating member 603 and holding power transducer fixing seat 606
It sets, that is, limits the relative rotation angle of L-type rotating member 603 and holding power transducer fixing seat 606.By changing L-type rotating member 603
With the relative position of holding power transducer fixing seat 606, turn in conjunction with machine shaft of the L-type rotating member 603 inside movement shell 602
It is dynamic, wrist palmar flexion/dorsiflexion may be implemented, oar bend/ruler bends the switchings of two freedom degrees.Absolute value encoder 605 and L-type rotating member
603 are connected, real-time monitoring and the location information for feeding back L-type rotating member 603.
As shown in fig. 7, work station 103 includes host computer, column 704, pedestal 705, idler wheel 706.Wherein, host computer can be with
It is a computer.Host computer can be made of display 701, display bracket 702 and operation panel 703.Display 701 with
Display bracket 702 is connected, and display bracket 702 is fixedly mounted on operation panel 703,704 top of column and operation panel
703 are connected, and bottom end is fixed on pedestal 705, and idler wheel 706 is configured in 705 bottom of pedestal.
Above-mentioned robot system further includes the motor driver (not shown) for driving motor.Motor driver can
To be communicated by bus and serial ports with host computer, host computer sends preset arm motion posture track to motor driven
Device drives the movement of user's particular joint by motor in real time.Photoelectric encoder 406 and absolute value encoder 605 can be with
Respectively acquire elbow joint and wrist joint rotation angle and be sent to host computer, for preset arm motion posture track into
Row comparative analysis.Motor driver can receive the physiology such as the electromyography signal from electromyographic signal collection module 309, blood pressure letter
Number perhaps emergency stop switch signal is to there is abnormal physiological condition as user or upper-limbs rehabilitation training robot system occurs
It can stop in time motor to provide protection when abnormal joint position.
When upper-limbs rehabilitation training robot system works, the forearm of user and the size of large arm are measured first, is then led to
Overregulate the lead screw 305 and guiding axis 306 between cantilever longitudinal beam 304 and cantilever beams 307, and fixed shell 601 and movement
Miniature guide rail between shell 602 carrys out the length of regulating system large arm and forearm to suitably sized.By electromyographic signal collection mould
Block 309 is worn on the elbow position of user.Pass through bandage again for the big forearm phase of the big forearm of user and robot system
Even.User holds holding power transducer 607.
User can choose initiative rehabilitation training mode and passive rehabilitation training mode.
In passive rehabilitation training mode, host computer is using preset normal arm motion posture track as Training Control system
System output controls the movement output of robot system, drives user's upper limb to pedestal 101 and upper limb training mechanical arm 102
Repeatability rehabilitation training is carried out, while acquiring human body physiological data observation rehabilitation training effect.Specifically, working as L-type fixed beam 302
When around the rotation of the second shaft, user's shoulder can be driven to do outward turning and the movement of inward turning；When cantilever longitudinal beam 304 is around third shaft
Rotation can drive user's shoulder to do anteflexion and extend back movement, while spacer pin 303 can also limit cantilever longitudinal beam 304
Rotational angle prevents motion range excessive and causes to damage to user joint；When upper limb training mechanical arm is with electric lifting pole
When 203 raising and lowering, user's shoulder can be driven to do outreach and the movement of interior receipts；When forearm arc guide rail component 310 is around
When the rotation of four shafts, i.e. forearm right connection board 501 are rotated around the 4th shaft, forearm left connection board 508 is also accordingly around the 5th turn
Axis rotation, the at this time relative angle of forearm right connection board 501 and large arm right connection board 402 and forearm left connection board 508 and big
The change of the relative angle of arm left connection board 407 can drive user's ancon to do anteflexion and extend back movement, while the right company of forearm
The first positioning pin 502 on fishplate bar 501 can limit anteflexion/scope of activities for extending back of ancon；When holding power transducer fixing seat
606 and its connection holding power transducer 607 around first rotating shaft rotate when, can drive user's forearm do outward turning and inward turning fortune
It is dynamic；The relative position of L-type rotating member 603 and holding power transducer fixing seat 606, i.e. relative angle are adjusted, and passes through the second positioning
Pin 604 controls angle adjusting range, rotates L-type rotating member 603 with the machine shaft inside movement shell 602, can
To drive, user's wrist does palmar flexion and dorsiflexion movement and oar is bent and ruler bends movement.Meanwhile user can according to need and do
The movement of finger flexion.
In initiative rehabilitation training mode, the dynamic of each module of robot system is driven by the active movement of user's upper limb
Make.In this course, and during above-mentioned passive rehabilitation training, electromyographic signal collection module 309, photoelectric encoder
406 and absolute value encoder 605 will in real time acquisition human body surface myoelectric signal, between humans and machines interaction force information and machine
Person joint's physical location and desired location information, and output this to host computer, by comparing user's upper extremity exercise gait with
Difference between standard preset posture assists user's correction motion appearance to control the movement output of upper-limbs rehabilitation training robot
State.
It, can also be in work in order to reduce the uninteresting property of rehabilitation training in an optional embodiment of the disclosure
Make 103 configuration virtual training platform of station, enhances the sense of participation of patient in a manner of amusement of racing, whole voice feedback improves disease
People actively uses the interest of the recovery exercising robot.
The master based on electromyography signal of the disclosure passively combines upper-limbs rehabilitation training robot system, compact overall structure,
Driving device and joint rotation matching degree are high, and turn error is small.Movable joint limit is combined by soft limit and mechanical position limitation
Mode constraint can be effectively performed, greatly improve product while meeting user's joint freedom degrees motion range
Reliability and safety.In addition, according to the physical trait of different users, this system forearm and large arm are all made of that length is adjustable to be set
Meter, while according to joint physiological characteristic and human body figure feature, to joint layout with arm skeletal support part using bionical
Design, enables the movement good agreement user joint of each component to rotate, user is enabled to go on smoothly simple joint or multi-joint
Active-passive rehabilitation movement, while alleviating the weight of upper-limbs rehabilitation training robot system, reduce user's burden.
It will be understood by those of skill in the art that above embodiment is used for the purpose of clearly demonstrating the disclosure, and simultaneously
Non- be defined to the scope of the present disclosure.For those skilled in the art, may be used also on the basis of disclosed above
To make other variations or modification, and these variations or modification are still in the scope of the present disclosure.
Claims (10)
1. a kind of master based on electromyography signal passively combines upper-limbs rehabilitation training robot system, which is characterized in that including upper limb
Training mechanical arm and host computer；
The upper limb training mechanical arm, including big arm component, small arm component, wrist joint component and electromyographic signal collection module, institute
Big arm component, small arm component and wrist joint component is stated to be sequentially connected；
Wherein, the electromyographic signal collection module configures between the big arm component and small arm component, for acquiring muscle electricity
Signal is simultaneously exported to the host computer；
The wrist joint component includes fixed shell, movement shell, L-type rotating member, holding power transducer fixing seat and grip sensing
Device, the fixed shell are connect with the movement shell, and the L-type rotating member is connect with the movement shell, the L-type rotation
Part can move in a circle around the movement shell, and the L-type rotating member and the holding power transducer fixing seat pass through first
Shaft is connected, and the holding power transducer is fixed in the holding power transducer fixing seat；
The host computer is used to receive the muscle electric signal, and output Training Control system to the upper limb trains machinery
Arm controls the movement of the upper limb training mechanical arm.
2. upper-limbs rehabilitation training robot system according to claim 1, which is characterized in that further include pedestal and cantilever
Beam；
The pedestal includes electric lifting pole, and one end of the electric lifting pole is fixedly connected with the cantilever beam, the cantilever
Beam is connect by the second shaft with upper limb training mechanical arm, and the electric lifting pole is driven on described by the cantilever beam
The raising and lowering movement of limb training mechanical arm.
3. upper-limbs rehabilitation training robot system according to claim 2, which is characterized in that the upper limb training mechanical arm
It further include L-type fixed beam, cantilever longitudinal beam and cantilever beams；
The cantilever beams are connect with the big arm component；
The cantilever longitudinal beam is connect by lead screw and guiding axis with the cantilever beams；
One end of the L-type fixed beam is connect by second shaft with the cantilever beam, the other end of the L-type fixed beam
It is connect by third shaft with the cantilever longitudinal beam.
4. upper-limbs rehabilitation training robot system according to claim 3, which is characterized in that the big arm component further includes
Photoelectric encoder, the photoelectric encoder are used to monitor and export the movement angle information of elbow joint to the host computer.
5. upper-limbs rehabilitation training robot system according to claim 4, which is characterized in that the wrist joint component also wraps
Absolute value encoder is included, the absolute value encoder is connected with the L-type rotating member, and the absolute value encoder is for monitoring simultaneously
The location information of the L-type rotating member is exported to the host computer.
6. upper-limbs rehabilitation training robot system according to claim 4 or 5, which is characterized in that the big arm component packet
It includes large arm and is connected and fixed seat, large arm right connection board, large arm bandage, large arm left connection board, large arm arc guide rail, large arm pressing plate, big
Arm directive wheel and power device；
The large arm is connected and fixed seat and is fixed in the cantilever beams, and the large arm is connected and fixed seat and the large arm circular arc is led
Rail is connected by the large arm directive wheel, and the large arm pressing plate is fixedly connected with the large arm arc guide rail, the right company of large arm
Fishplate bar is connected with the large arm arc guide rail, and the large arm bandage is connected with the large arm arc guide rail, and the power device is logical
It crosses the 4th shaft to be connected with the large arm right connection board, the photoelectric sensor passes through the 5th shaft and the large arm left connection board
Connection, the large arm left connection board are connected with the large arm arc guide rail.
7. upper-limbs rehabilitation training robot system according to claim 6, which is characterized in that the small arm component includes small
Arm right connection board, forearm pressing plate, forearm arc guide rail, forearm bandage, forearm are connected and fixed seat, forearm directive wheel and the left company of forearm
Fishplate bar；
The forearm right connection board is connected by the 4th shaft with the large arm right connection board, the forearm arc guide rail with
The forearm right connection board is fixedly connected, and the forearm is connected and fixed seat and the forearm arc guide rail is oriented to by the forearm
Wheel connection, the forearm pressing plate is fixedly connected with the forearm arc guide rail, one end of the forearm left connection board with it is described small
Arm arc guide rail is connected, and the other end of the forearm left connection board is connected with the large arm left connection board.
8. upper-limbs rehabilitation training robot system according to claim 7, which is characterized in that the upper limb training mechanical arm
Further include:
Spacer pin is connect with the L-type fixed beam, for limiting the relative motion of the L-type fixed beam and the cantilever longitudinal beam
Range；
First positioning pin is fixed in the forearm right connection board, right for limiting the forearm right connection board and the large arm
The range of relative motion of connecting plate；And
Second positioning pin is connected with the L-type rotating member, fixes for limiting the L-type rotating member and the holding power transducer
The relative position of seat.
9. upper-limbs rehabilitation training robot system according to any one of claim 1 to 8, which is characterized in that the flesh
Electrical signal collection module is placed between the big arm component and the small arm component after directly being worn by human arm.
10. upper-limbs rehabilitation training robot system according to claim 8, which is characterized in that
The L-type fixed beam is rotated around second shaft, and shoulder is driven to do outward turning and inward turning movement；
The cantilever longitudinal beam is rotated around the third shaft, and shoulder is driven to do anteflexion and extend back movement；
The upper limb training mechanical arm drives shoulder to do outreach and the movement of interior receipts with the electric lifting pole raising and lowering；
The small arm component is rotated around the 4th shaft, and ancon is driven to do anteflexion and extend back movement；
The holding power transducer and the holding power transducer fixing seat are rotated around the first rotating shaft, and forearm is driven to do outward turning and interior
Rotation movement；
The relative position of the L-type rotating member and the holding power transducer fixing seat is adjusted, the L-type rotating member is with the fortune
The machine shaft rotation of dynamic enclosure interior, drive wrist does palmar flexion and dorsiflexion movement and oar is bent and ruler is bent and moved.
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