CN109350448A - A kind of finger software recovery robot system for symmetrical rehabilitation - Google Patents
A kind of finger software recovery robot system for symmetrical rehabilitation Download PDFInfo
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- CN109350448A CN109350448A CN201811240414.6A CN201811240414A CN109350448A CN 109350448 A CN109350448 A CN 109350448A CN 201811240414 A CN201811240414 A CN 201811240414A CN 109350448 A CN109350448 A CN 109350448A
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- recovery robot
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- 238000012544 monitoring process Methods 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 239000011888 foil Substances 0.000 claims description 18
- 230000033001 locomotion Effects 0.000 claims description 12
- 238000005452 bending Methods 0.000 claims description 7
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 238000000465 moulding Methods 0.000 claims 1
- 230000036632 reaction speed Effects 0.000 abstract description 2
- 206010019468 Hemiplegia Diseases 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010061225 Limb injury Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- 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
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of finger software recovery robot systems for symmetrical rehabilitation, including software ectoskeleton gloves, data acquisition module, control module, drive module, monitoring modular and software actuator；Wherein, the data acquisition module connects the control module；The drive module is attached to the software exoskeleton hand and puts on, and the other end is connected to the control module.The monitoring modular connects software actuator.Mode of the present invention in addition to taking pneumatic actuation and wire transmission, also use Smith Predictor, the burden of patient can not only be mitigated, and effectively improve the transmission rate and accuracy of system, accelerate the reaction speed of crippled hand, to improve the rehabilitation efficacy of hand function, have great importance.
Description
Technical field
The invention belongs to medical rehabilitation field of mechanical technique, are related to a kind of finger software rehabilitation machine for symmetrical rehabilitation
People's system, the hand rehabilitation training suitable for hemiplegia patient.
Background technique
Some diseases or the unexpected human hand movement function that will lead to are damaged or even lose, such as patients with cerebral apoplexy is most common
Symptom is that hand can not normal activity.Modern rehabilitation treatment proves that the patient of limb injury has to carry out effective limbs instruction
White silk could restore its function.The previous finger soft robot gloves for rehabilitation need to be added mostly motor and are used as control,
There are electrical safety risks, and structure is complex.And motor will increase additional weight, and as time goes by, precision
Constantly reduce.And the existing finger soft robot system for rehabilitation is mostly tracking mode, message transmission rate is slower.For
These problems, we have proposed a kind of finger software recovery robot systems for symmetrical rehabilitation, it is driving mould with air pump
Block, transmission mode are wire transmission, also added Smith Predictor, can not only mitigate the burden of patient, and effectively
The transmission rate and accuracy for improving system, accelerate the reaction speed of crippled hand, so as to pass through the symmetry of rehabilitation
The rehabilitation efficacy for preferably improving hand function, has great importance.
Summary of the invention
It is an object of the invention to the information by the acquisition normal hand of patient, hemiplegia are passed to rapidly, so that hemiplegia
It almost synchronously makes movement identical with normal hand, and promotes the patient to participate in rehabilitation training stage by stage according to rehabilitation situation
Initiative and enthusiasm, to improve the rehabilitation efficacy of hand function.
In order to achieve the above object, technical scheme is as follows:
A kind of finger software recovery robot system for symmetrical rehabilitation, including the acquisition of software ectoskeleton gloves, data
Module, control module, drive module, monitoring modular and software actuator；Wherein, the data acquisition module connects the control
Module；The drive module is attached to the software exoskeleton hand and puts on, and connects the control module.The monitoring modular is attached
On software actuator.
It further, further include data acquisition gloves, finger orientation of the Flexiable angular transducer along the glove bulk
It is arranged in the finger section of the glove bulk；The Flexiable angular transducer is used to acquire the angle information of finger and is sent to
The control module；The control module is used to control the vacuum pump work according to the angle information of the finger.
Further, there are two blow vents for vacuum pump, and a mouth is directly exposed to air, communicates with atmospheric environment, another
A mouth is connect by pvc pipe with the normally open in solenoid directional control valve.
Further, the exhaust outlet of solenoid valve is connected to by pvc pipe with software actuator；The relay is for controlling electromagnetism
The working condition of valve.
Further, head and the tail both ends of the strain gauge adhesion on the outside of each software actuator, and be connected with digital deformeter,
The resistance variations of foil gauge are acquired by digital deformeter to demarcate the size of the power of software actuator generation, and handle works as remote holder
Motion state feed back to control module.Control module uses Smith Predictor, the time delay of software actuator is reduced, to mention
The synchronism of high symmetrical rehabilitation system.
Further, the control module controls the driving by the angle information that the data acquisition module receives finger
The electromagnetism valve function of module；The digital deformeter receives the signal of foil gauge on software actuator.
Compared with prior art, the advantages and positive effects of the present invention are as follows:
When using soft robot gloves, by data acquisition glove donning health on hand, as drive end, acquisition is actively
The joint angles information for holding five fingers, is sent to control module.Control module is controlled according to the finger angle information of drive end
The motion state of air pump processed.The system uses pneumatic actuation, and the air in atmospheric environment is transported to by vacuum pump by pvc pipe
The air inlet of solenoid valve.Solenoid valve main function is the on-off for changing airflow direction and controlling air-flow, the on-off of solenoid valve by after
Electrical equipment control.Air-flow is transported in each software actuator in ectoskeleton gloves after solenoid valve, with constantly filling for gas
Enter, is worn on the continuous expansion bending of software actuator of dorsal surfaces of fingers, digital flexion can be driven, the stretching, extension of finger is held by software
The exhaust process of row device is realized.The air capacity and largest deformation amount of software actuator are limited, it is therefore desirable to control air pump input
The tolerance of actuator causes the damage of actuator, or even cause harm to the human body in order to avoid input is more than excessively its load.In order to
The bending angle for accurately measuring current software actuator is pasted foil gauge at the head and the tail both ends of each software actuator, is passed through
Digital deformeter acquires the resistance variations of foil gauge to demarcate the size of the power of software actuator generation, and the fortune for working as remote holder
Dynamic state feeds back to control module.Control module uses Smith Predictor, reduces the time delay of software actuator, thus raising pair
Claim the synchronism of rehabilitation system.Inflation/deflation and so on can realize the repetition flexion and extension of finger, and then reach rehabilitation training
Purpose.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, the attached drawing used required in embodiment will be made below simple
Introduction.
Fig. 1 is schematic structural view of the invention；
Fig. 2 is software actuator of the present invention and foil gauge schematic diagram；
Fig. 3 is present system block diagram；
Mark meaning is as follows in Fig. 1~3: 1. data acquire gloves, 2. software ectoskeleton gloves, 3. control modules, 4. numbers
According to acquisition module, 5. Flexiable angular transducers, 6. software actuators, 7. vacuum pumps, 8. solenoid valves, 9.PVC pipe, 10. relays,
11. foil gauge, 12. digital deformeters.
Specific embodiment
Specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
A kind of finger software recovery robot system for symmetrical rehabilitation, including software ectoskeleton gloves 2, control module
3, data acquisition module 4, drive module, monitoring modular and software actuator 6；Wherein, described in 3 one end of control module connection
Data acquisition module 4, the other end connect the drive module；The monitoring modular connects the drive module；It further include data
Gloves 1, Flexiable angular transducer 5 are acquired, wherein Flexiable angular transducer 5 is arranged along the finger orientation of the glove bulk in institute
It states on the finger position of glove bulk；The drive module is realized using vacuum pump 7；It further include solenoid valve 8 and pvc pipe 9, it is described
Two blow vents of vacuum pump 7, one is directly exposed to air, and communicates with atmospheric environment, another passes through pvc pipe 9 and electricity
Normally open connection in magnet valve 8；It further include software actuator 6, the exhaust outlet of the solenoid valve 8 is executed by pvc pipe 9 and software
Device 6 is connected to；It further include relay 10, the relay 10 is connected with solenoid valve 8, for controlling the working condition of solenoid valve 8；Institute
Monitoring modular is stated using foil gauge 11 and digital deformeter 12 to realize；The foil gauge 11 is tightly attached to software actuator 6
Head and the tail both ends for acquiring the bending angle of current software actuator, and are connected on digital deformeter 12, and display is current soft
The size for the power that body actuator generates, and the motion state when remote holder is fed back to control module；The present invention additionally uses Shi Mi
This prediction device embodies the synchronism and stability of symmetrical rehabilitation；In order to guarantee the synchronism of symmetrical rehabilitation, using wire transmission
Mode.
Fig. 1 is system schematic of the invention.It is an object of the invention to the information by the acquisition normal hand of patient, rapidly
Hemiplegia is passed to, so that hemiplegia almost synchronously makes movement identical with normal hand, and stage by stage according to rehabilitation situation
Come promote patient participate in rehabilitation training initiative and enthusiasm, to improve the rehabilitation efficacy of hand function.
When using soft robot gloves, by data acquisition glove donning health on hand, as drive end, acquisition is actively
The joint angles information for holding five fingers, is sent to control module.Control module is controlled according to the finger angle information of drive end
The motion state of vacuum pump processed.The system uses pneumatic actuation, and the air in atmospheric environment is by minipump, by pvc pipe
It is transported to the air inlet of solenoid valve.Solenoid valve main function is the on-off for changing airflow direction and controlling air-flow, and solenoid valve leads to
It is disconnected to be controlled by relay.Air-flow is transported in each software actuator in ectoskeleton gloves after solenoid valve, with gas
Constantly be filled with, be worn on the continuous expansion bending of software actuator of dorsal surfaces of fingers, can drive digital flexion, the stretching, extension of finger by
The exhaust process of software actuator is realized.In order to accurately measure the bending angle of current software actuator, executed in each software
Foil gauge is pasted at the head and the tail both ends of device, acquires the resistance variations of foil gauge by digital deformeter to demarcate software actuator
The size of the power of generation, and the motion state when remote holder is fed back to control module.Control module uses Smith Predictor, in advance
Dynamic characteristic of the system under Setting signal is first estimated, the time delay of software actuator is reduced, to improve symmetrical rehabilitation system
Synchronism.And then achieve the purpose that rehabilitation training.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention；Wherein, the data acquisition module connects the control module；The control module is acquired by the data
Module receives the angle information of the finger；The control module is used to control the driving according to the angle information of the finger
The electromagnetism valve function of module；The power that the digital deformeter is generated according to the signal reaction software actuator that foil gauge transmits
Size, and the motion state of current software actuator can be acquired.
Fig. 2 is software actuator of the present invention and foil gauge schematic diagram.Upon inflation, deformation occurs for software actuator, every
Foil gauge is pasted at head and the tail both ends on the outside of a software actuator, to acquire the deformation degree of software actuator at work.It is soft
When body actuator works, bottom can generate small deformation, and foil gauge is tightly attached to software actuator bottom resistance and changes.Number
Word formula deformeter receives the signal of foil gauge, to be monitored to the size for the power that software actuator generates.
Fig. 3 is present system block diagram.The angle information of the normal hand of data collecting module collected, and send data to
Control module.Control module judges the movement of normal hand, sends instructions to relay driving according to collected data
Solenoid valve.Solenoid valve is used to control the vacuum pump work according to the angle information of the finger, and the exhaust outlet of solenoid valve passes through
Pvc pipe is connected to software ectoskeleton gloves, and air-flow is transported in each software actuator in ectoskeleton gloves after solenoid valve.
Being pasted on the foil gauge at head and the tail both ends on the outside of software actuator, deformation occurs, passes through the resistance that digital deformeter acquires foil gauge
Change to demarcate the size of the power of software actuator generation, and the motion state when remote holder is fed back to control module.Control mould
Block uses Smith Predictor, the time delay of software actuator is reduced, to improve the synchronism of symmetrical rehabilitation system.With gas
Constantly be filled with, be worn on the continuous expansion bending of software actuator of dorsal surfaces of fingers, digital flexion, the stretching, extension of finger can be driven
It is realized by the exhaust process of software actuator.
Above-described embodiment is only more excellent embodiment of the invention, is implemented according to the technical essence of the invention to above
Any simple modification, modification and the alternate variation that example is made, belong in the range of technical solution of the present invention.
Claims (10)
1. a kind of finger software recovery robot system for symmetrical rehabilitation, it is characterised in that: including software ectoskeleton gloves
(2), control module (3), data acquisition module (4), drive module, monitoring modular and software actuator (6)；Wherein, the control
Molding block (3) one end connects the data acquisition module (4), and the other end connects the drive module.
2. a kind of finger software recovery robot system for symmetrical rehabilitation according to claim 1, it is characterised in that:
Drive module, that is, the vacuum pump (7), the monitoring modular include foil gauge (11) and digital deformeter (12).
3. a kind of finger software recovery robot system for symmetrical rehabilitation according to claim 2, it is characterised in that:
It further include data acquisition gloves (1), Flexiable angular transducer (5)；Wherein Flexiable angular transducer (5) is along the glove bulk
Finger orientation is arranged on the finger position of the glove bulk.
4. a kind of finger software recovery robot system for symmetrical rehabilitation according to claim 2, it is characterised in that:
It further include solenoid valve (8) and pvc pipe (9)；Two blow vents of the vacuum pump (7), one is directly exposed to air, and big
Compression ring border communicates, another is connect by pvc pipe (9) with the normally open in solenoid valve (8).
5. a kind of finger software recovery robot system for symmetrical rehabilitation according to claim 2, which is characterized in that
It further include vacuum pump (7), solenoid valve (8) and pvc pipe (9)；Two blow vents of the vacuum pump (7), one is directly exposed to
It in air, is communicated with atmospheric environment, another is connect by pvc pipe (9) with the normally open in solenoid valve (8).
6. a kind of finger software recovery robot system for symmetrical rehabilitation according to claim 2, which is characterized in that
It further include software actuator (6)；The exhaust outlet of the solenoid valve (8) is connected to by pvc pipe (9) with software actuator (6).
7. a kind of finger software recovery robot system for symmetrical rehabilitation according to claim 2, which is characterized in that
It further include relay (10)；The relay (10) is connected with solenoid valve (8), for controlling the working condition of solenoid valve (8).
8. a kind of finger software recovery robot system for symmetrical rehabilitation according to claim 2, which is characterized in that
The foil gauge (11) is tightly attached to the head and the tail both ends of software actuator (6), for acquiring the bending angle of current software actuator,
And be connected on digital deformeter (12), show the size for the power that current software actuator generates, and the movement for working as remote holder
State feeds back to control module.
9. a kind of finger software recovery robot system for symmetrical rehabilitation according to claim 2, which is characterized in that
Using Smith Predictor, the synchronism and stability of symmetrical rehabilitation are embodied.
10. a kind of finger software recovery robot system for symmetrical rehabilitation according to claim 2, feature exist
In in order to guarantee the synchronism of symmetrical rehabilitation, using wire transmission mode.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811240414.6A CN109350448A (en) | 2018-10-24 | 2018-10-24 | A kind of finger software recovery robot system for symmetrical rehabilitation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811240414.6A CN109350448A (en) | 2018-10-24 | 2018-10-24 | A kind of finger software recovery robot system for symmetrical rehabilitation |
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| CN109350448A true CN109350448A (en) | 2019-02-19 |
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| CN201811240414.6A Pending CN109350448A (en) | 2018-10-24 | 2018-10-24 | A kind of finger software recovery robot system for symmetrical rehabilitation |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109925166A (en) * | 2019-03-14 | 2019-06-25 | 清华大学 | A kind of exoskeleton rehabilitation system and method for rehabilitation |
| CN110706545A (en) * | 2019-10-24 | 2020-01-17 | 西安交通大学医学院第二附属医院 | Intracardiac branch of academic or vocational study operation simulation training system |
| CN111920647A (en) * | 2020-09-09 | 2020-11-13 | 上海司羿智能科技有限公司 | Finger-separating gas circuit system, pneumatic finger rehabilitation training device and detection method |
| CN112842818A (en) * | 2021-01-27 | 2021-05-28 | 深圳华鹊景医疗科技有限公司 | Rehabilitation robot system and control method thereof |
| CN113111761A (en) * | 2021-04-07 | 2021-07-13 | 山东建筑大学 | Hand motion capability recovery system and method based on brain-computer interface and virtual reality |
| CN114099239A (en) * | 2021-11-26 | 2022-03-01 | 上海格润科技有限公司 | Hand function rehabilitation training method and device, rehabilitation training instrument and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109925166A (en) * | 2019-03-14 | 2019-06-25 | 清华大学 | A kind of exoskeleton rehabilitation system and method for rehabilitation |
| CN110706545A (en) * | 2019-10-24 | 2020-01-17 | 西安交通大学医学院第二附属医院 | Intracardiac branch of academic or vocational study operation simulation training system |
| CN111920647A (en) * | 2020-09-09 | 2020-11-13 | 上海司羿智能科技有限公司 | Finger-separating gas circuit system, pneumatic finger rehabilitation training device and detection method |
| CN112842818A (en) * | 2021-01-27 | 2021-05-28 | 深圳华鹊景医疗科技有限公司 | Rehabilitation robot system and control method thereof |
| CN113111761A (en) * | 2021-04-07 | 2021-07-13 | 山东建筑大学 | Hand motion capability recovery system and method based on brain-computer interface and virtual reality |
| CN114099239A (en) * | 2021-11-26 | 2022-03-01 | 上海格润科技有限公司 | Hand function rehabilitation training method and device, rehabilitation training instrument and medium |
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