CN109718052A - A kind of gas-liquid parallel drive rehabilitation training of upper limbs force aid system - Google Patents
A kind of gas-liquid parallel drive rehabilitation training of upper limbs force aid system Download PDFInfo
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Abstract
The present invention provides a kind of gas-liquid parallel drive rehabilitation training of upper limbs force aid system, it by: upper limb fixing skeleton, shoulder joint X-axis fixing piece, shoulder joint XY shaft coupling piece, hydraulic cylinder A, pneumatic cylinder, hydraulic cylinder B, cylinder body connector, airdraulic actuator push rod jointing, upper arm connecting rod, shoulder joint Z axis inner ring, shoulder joint Z axis outer ring, upper arm link, lower arm link, handle form.The present invention is allowed for gas-liquid parallel connection cylinder and is driven by cylinder with gas-liquid and Siamese bore design substitution conventional hydraulic or air pressure driving shoulder joint and elbow joint, structure design, can be reduced system weight, be improved driving speed；And hydraulic cylinder can overcome pure air pressure driving rigidity low and the disadvantage of stability difference.So a kind of rehabilitation training of upper limbs force aid system that the invention patent provides has many advantages, such as that driving rapidity is good, rigidity is high, stability is strong, runs smoothly, the key characteristic of rehabilitation training force aid system can be improved.
Description
Technical field
The invention belongs to robotic technology fields, especially belong to medical rehabilitation power-assisting robot field, are specifically
A kind of gas-liquid parallel drive rehabilitation training of upper limbs force aid system.
Background technique
Currently, countries in the world all suffer from the group of handicapped of aging and substantial amounts, and the research of rehabilitation training system is opened
Hair and application can provide portion of techniques means for solve the problems, such as to disable auxiliary and rehabilitation.It is expected to alleviate the confession of rehabilitation medical resource simultaneously
Contradiction is needed, the quality of life of disability patient and older population is improved, and related industry is driven to develop, is created more jobs, society is promoted
Harmony, thus there is important social effect.
Some countries in the U.S., Japan and Europe, rehabilitation training of upper limbs system, which has been attempted, to be applied in practice, and one
The product of a little function admirables has been applied in marketing.As Swiss Zurich Federal Institute of Technology has developed electric rehabilitation training
System LOKOMAT；Massachusetts Institute Technology has developed motor-driven MIT-MANUS system；Auckland, NZL university
Researcher proposes a kind of rehabilitation training orthoses driven by Pneumatic artificial muscle；Related scientific research institutes, China, such as China
The academy of sciences, Zhejiang University, the Central China University of Science and Technology, Harbin Institute of Technology, University of Electronic Science and Technology etc. also grind in medical rehabilitation system
Study carefully field and achieve some harvests, the assistance exoskeleton robot based on pneumatic muscles is developed such as Zhejiang University；Harbin work
Sparetime university learns and has developed electronic upper limb rehabilitation robot；University of Electronic Science and Technology has developed HUALEX hydraulic booster exoskeleton robot
Deng.
Current rehabilitation training system both domestic and external is mainly driven by motor, hydraulic and three kinds of modes of air pressure.Motor driven
System technology matures have control precision height, advantages of simple structure and simple, but its power/quality is relatively low, dynamic stationarity
Difference.Hydraulic-driven rehabilitation training of upper limbs system has inertia small, and power/quality is relatively high, and structure is simple, and the operation is stable etc. is excellent
Point.But its operating noise is big, and cost is high, and flexibility is poor.Pneumatically driven system have it is light, pollution-free, speed is fast, and flexibility is good
The advantages of.But influenced by gas compressive characteristics, system stiffness is low, and bearing capacity is poor, and control performance is unstable.As can knot
Both the above driving method is closed, so that rehabilitation training system had not only had preferable rigidity, but also had preferable submissive ability, it will be right
The systematic difference field is widened to have great importance.Therefore, the present invention with gas-liquid and Siamese bore design substitution conventional hydraulic or
Air pressure drives shoulder joint and elbow joint, and structure design allows for gas-liquid parallel connection cylinder and driven by cylinder, can reduce system weight
Amount improves driving speed；And hydraulic cylinder can overcome pure air pressure driving rigidity low and the disadvantage of stability difference.So the invention patent
A kind of rehabilitation training of upper limbs system provided has many advantages, such as that driving rapidity is good, rigidity is high, stability is strong, runs smoothly, can
Improve the key characteristic of rehabilitation training force aid system.
Summary of the invention
Therefore, in order to solve above-mentioned deficiency, the present invention provides a kind of gas-liquid parallel drive rehabilitation training of upper limbs power-assisted herein
System, structure design allow for gas-liquid parallel connection cylinder and are driven by cylinder, can reduce system weight, improve driving speed；And
Hydraulic cylinder can overcome pure pneumatic actuation rigidity low and the disadvantage of stability difference.So a kind of upper limb medical treatment that the invention patent provides
Rehabilitation training system has many advantages, such as that driving rapidity is good, rigidity is high, stability is strong, runs smoothly, and upper limb healing instruction can be improved
Practice the key characteristic of system.
The invention is realized in this way constructing a kind of gas-liquid parallel drive rehabilitation training of upper limbs force aid system, feature exists
In: it be by: upper limb fixing skeleton, shoulder joint X-axis fixing piece, shoulder joint XY shaft coupling piece, hydraulic cylinder A, pneumatic cylinder, hydraulic cylinder B,
Cylinder body connector, airdraulic actuator push rod jointing, upper arm connecting rod, shoulder joint Z axis inner ring, shoulder joint Z axis outer ring, upper arm connect
Bar, lower arm link and handle composition；
Shoulder joint can realize the rotation of three degree of freedom, and shoulder joint X-axis rotation axis passes through shoulder joint X-axis fixing piece, shoulder joint Z
Axis rotation axis and shoulder joint Z axis inner ring, shoulder joint Z axis outer ring are coaxial, and shoulder joint Y-axis rotation axis and shoulder joint X-axis rotate
Axis, shoulder joint Z axis rotation axis are mutually perpendicular to；Elbow joint rotation axis passes through the axis of rotation of upper arm link；
Upper limb fixing skeleton is bonded with human body back, and shoulder joint X-axis fixing piece is connect with upper limb fixing skeleton, shoulder joint X-axis fixing piece
It is hinged with shoulder joint XY shaft coupling piece, hydraulic cylinder A, pneumatic cylinder, hydraulic cylinder B three cylinder bodies connect with cylinder body connector, it is hydraulic
Cylinder A, pneumatic cylinder, hydraulic cylinder B three push rods connect with airdraulic actuator push rod jointing, cylinder body connector and shoulder joint XY axis connect
Fitting is hinged, and airdraulic actuator push rod jointing and upper arm connecting rod are hinged, and upper arm connecting rod is connect with shoulder joint Z axis outer ring, shoulder
It is connected, can be relatively rotated, shoulder joint Z axis inner ring and upper arm link by bearing between joint Z axis inner ring, shoulder joint Z axis outer ring
Connection, upper arm link is hinged with lower arm link, and lower arm link is connect with handle.
A kind of gas-liquid parallel drive rehabilitation training of upper limbs force aid system according to the present invention, it is characterised in that: the system
Sensor include handle pressure sensor, shouldejoint angular displacement sensor, Elbow Joint Angle Neural displacement sensor, wherein angle position
Displacement sensor can use the angular position of potentiometer, position sensor or code-disc measurement corresponding joint.
A kind of gas-liquid parallel drive rehabilitation training of upper limbs force aid system according to the present invention, it is characterised in that: have four
Kind system operational modes:
(1) passive movement mode: under passive movement mode, upper limb medical rehabilitation training system is pre-programmed into joint action shape
Formula completes planning movement by the measurement of each sensor and control system closed loop, and trainer passively moves therewith；The embodiment party
The course of work of case:
It is analyzed by dynamics and kinematic calculation, the motor pattern of system is incorporated into system program first, is held by airdraulic actuator
Row device and each sensor, closed loop complete the control of the predetermined motor pattern of system；
(2) assist exercise mode: under assist exercise mode, system reads the data of sensor transmissions, is predicted according to the data
The running trend of trainer, upper limb medical rehabilitation training system are run along this movement tendency, play the role of power-assisting training；
The course of work of the embodiment:
System passes through the data that axis joint angular displacement sensor, shoulder joint angular displacement sensor, force snesor are passed back first, passes through
Kinematics analysis calculates the pose of current time upper limb medical rehabilitation training system, and predicts subsequent time system motion position
Then appearance reads again the system motion position of sensor position prediction subsequent time by driving airdraulic actuator to reach prediction pose
Appearance carries out the closed-loop control of system repeatedly；
(3) active movement mode: under active movement mode, system real-time tracking predicts the movement tendency of trainer, upper limb health
Multiple force aid system follows upper extremity exercise, does not provide auxiliary force and resistance in motion process.Improve the phase suitable for patient, mainly promotees
Preferably restore into selectivity movement and speed movement；The course of work of the embodiment:
System reads the data that sensor is passed back first, calculates the training of current time upper limb medical rehabilitation by kinematics analysis
The pose of system predicts subsequent time system motion pose, drives each driving joint to reach prediction pose by airdraulic actuator, so
After read again sensor, predict the system motion pose of subsequent time, repeatedly carry out system closed-loop control；
(4) resistive exercise mode: under resistive exercise mode, patient needs to overcome resistance that could complete to move, and is suitable for rehabilitation
The improvement phase in stage and intensive training；The course of work of the embodiment:
By adjusting hydraulic valve, so that system damping increases to predetermined value；The pneumatic operated valve of two chamber of cylinder is opened always, is not controlled
System, system only do opened loop control as passive system.
A kind of gas-liquid parallel drive rehabilitation training of upper limbs force aid system according to the present invention, it is characterised in that: system fortune
During row, two kinds of involved control modes are as follows:
Form one: offline open loop fluid damping adjusts control mode: the hydraulic cylinder part in gas-liquid parallel connection cylinder passes through one-way throttle
Valve opened loop control, pneumatic cylinder part carry out closed-loop control by pneumatic operated valve (proportioning valve, switch valve or flow valve)；This control shape
The system platform of formula is open to adjust system damping size by offline adjusted open loop hydraulic cylinder one-way throttle valve；In rehabilitation training
Four kinds of motor patterns in, such control mode can be used；
Form two: line closed loop fluid damping adjusts control mode: hydraulic cylinder in gas-liquid parallel connection cylinder by high-speed switch valve (or
Proportioning valve, flow valve) closed-loop control, reach certain system damping；Meanwhile the pneumatic cylinder in gas-liquid parallel connection cylinder passes through pneumatic operated valve
(proportioning valve, switch valve or flow valve) carries out closed-loop control.The system platform of this control form passes through closed loop on-line tuning liquid
The damping that the opening and flow of pressure valve change hydraulic cylinder reaches different kinetic characteristics；In four kinds of motor patterns of rehabilitation training
In, such control mode can be used；And the advantage in resistive exercise scheme control is particularly evident.
The present invention has the advantage that the present invention provides a kind of gas-liquid parallel drive rehabilitation training of upper limbs force aid system, it
It is by upper limb fixing skeleton, shoulder joint X-axis fixing piece, shoulder joint XY shaft coupling piece, hydraulic cylinder A, pneumatic cylinder, hydraulic cylinder B, cylinder body
Connector, airdraulic actuator push rod jointing, upper arm connecting rod, shoulder joint Z axis inner ring, shoulder joint Z axis outer ring, upper arm link, under
Arm link, handle composition.The present invention, should with gas-liquid and Siamese bore design substitution conventional hydraulic or air pressure driving shoulder joint and elbow joint
Structure design allows for gas-liquid parallel connection cylinder and is driven by cylinder, can reduce system weight, improves driving speed；And hydraulic cylinder can
Overcome pure air pressure driving rigidity low and the disadvantage of stability difference.So a kind of rehabilitation training of upper limbs power-assisted that the invention patent provides
System has many advantages, such as that driving rapidity is good, rigidity is high, stability is strong, runs smoothly, and rehabilitation training force aid system can be improved
Key characteristic.The present invention is with gas-liquid and Siamese bore design substitution tradition is pure hydraulic or air pressure drives shoulder joint and axis joint, the structure
Design allows for gas-liquid parallel connection cylinder by pneumatic actuation, can reduce system weight, improve driving speed, and hydraulic cylinder can overcome
It is pure it is pneumatic in rigidity is low and the disadvantage of stability difference.So a kind of rehabilitation training of upper limbs force aid system tool that the invention patent provides
Have the advantages that driving rapidity is good, rigidity is high, stability is strong, runs smoothly, the pass of rehabilitation training of upper limbs force aid system can be improved
Key characteristic.
Detailed description of the invention
Fig. 1 is upper limb medical rehabilitation training system prototype machine structure chart；
Fig. 2 is rehabilitation training of upper limbs force aid system prototype machine joint rotation axis schematic diagram；
Fig. 3-Fig. 6 is rehabilitation training of upper limbs force aid system prototype machine three-view diagram.
Wherein: 1. upper limb fixing skeletons, 2. shoulder joint X-axis fixing pieces, 3. shoulder joint XY shaft coupling pieces, 4. hydraulic cylinder A, 5. gas
Cylinder pressure, 6. hydraulic cylinder B, 7. cylinder body connectors, 8. airdraulic actuator push rod jointings, 9. upper arm connecting rods, in 11. shoulder joint Z axis
Circle, 12. shoulder joint Z axis outer rings, 13. upper arm links, 14. lower arm links, 15. handles.
Specific embodiment
Below in conjunction with attached drawing 1- Fig. 6, the present invention is described in detail, technical solution in the embodiment of the present invention into
Row clearly and completely describes, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole realities
Apply example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
Every other embodiment, shall fall within the protection scope of the present invention.
The present invention provides a kind of gas-liquid parallel drive rehabilitation training of upper limbs force aid system by improving herein, according to such as lower section
Formula is implemented: as shown in Figure 1, it is by upper limb fixing skeleton 1, shoulder joint X-axis fixing piece 2, shoulder joint XY shaft coupling piece 3, hydraulic cylinder
A4, pneumatic cylinder 5, hydraulic cylinder B6, cylinder body connector 7, airdraulic actuator push rod jointing 8, upper arm connecting rod 9, shoulder joint Z axis inner ring
11, shoulder joint Z axis outer ring 12, upper arm link 13, lower arm link 14, handle 15 form.
Shoulder joint can realize the rotation of three degree of freedom, and rotation axis is as shown in Figure 1, shoulder joint X-axis rotation axis passes through
Shoulder joint X-axis fixing piece 2, shoulder joint Z axis rotation axis and shoulder joint Z axis inner ring 11, shoulder joint Z axis outer ring 12 are coaxial, shoulder joint
Section Y-axis rotation axis is mutually perpendicular to shoulder joint X-axis rotation axis, shoulder joint Z axis rotation axis.Elbow joint rotation axis passes through
The axis of rotation of upper arm link 13.
Upper limb fixing skeleton 1 is bonded with human body back, and shoulder joint X-axis fixing piece 2 is connect with upper limb fixing skeleton 1, shoulder joint X-axis
Fixing piece 2 and shoulder joint XY shaft coupling piece 3 are hinged, hydraulic cylinder 4, pneumatic cylinder 5, hydraulic cylinder 6 three cylinder bodies and cylinder body connector 7
Connection, hydraulic cylinder 4, pneumatic cylinder 5, hydraulic cylinder 6 three push rods connect with airdraulic actuator push rod jointing 8, cylinder body connector 7 and
Shoulder joint XY shaft coupling piece 3 is hinged, and airdraulic actuator push rod jointing 8 and upper arm connecting rod 9 are hinged, upper arm connecting rod 9 and shoulder joint
It saves Z axis outer ring 12 to connect, is connected, can be relatively rotated, shoulder by bearing between shoulder joint Z axis inner ring 11, shoulder joint Z axis outer ring 12
Joint Z axis inner ring 11 is connect with upper arm link 13, and upper arm link 13 and lower arm link 14 are hinged, and lower arm link 14 and handle 15 connect
It connects.
The sensor of the system includes handle pressure sensor, shouldejoint angular displacement sensor, Elbow Joint Angle Neural displacement
Sensor, wherein angular displacement sensor can use the angular position of potentiometer, position sensor or code-disc measurement corresponding joint.
Human motion law of development should be followed in rehabilitation training: conform to the principle of simplicity to it is numerous, from the easier to the more advanced, from passively to actively, intend
Following several training modes are set, corresponding four kinds of system operational modes:
(1) passive movement mode: rehabilitation is in passive exercise state, collapse from physical exhaustion phase and the spasm initial suitable for hemiplegic patient
Phase.Under passive assistant mode, it is pre-programmed into upper limb healing force aid system joint running route, passes through the measurement of each sensor
Planning movement is completed with control system closed loop, wearer passively moves therewith.
(2) assist exercise mode: switching training path according to the subjective desire of patient, patient assisted to complete rehabilitation training,
It is chiefly to facilitate the appearance of disengaging movement.Under assistant mode, system reads the data of sensor transmissions, is predicted according to the data
The running trend of rehabilitation training person, upper limb healing force aid system judge that this movement tendency is run, play the role of rehabilitation power-assisted.
(3) active movement mode: upper limb healing force aid system follows upper extremity exercise, do not provided in motion process auxiliary force and
Resistance.Improve the phase suitable for patient, is chiefly to facilitate selectivity movement and speed movement preferably restores.
(4) resistive exercise mode: during rehabilitation training carries out, patient needs to overcome resistance that could complete to move, and fits
For the improvement phase in rehabilitation stage and intensive training.
It is illustrated below with reference to four kinds of system operational modes:
Embodiment one:
Under passive movement mode, upper limb medical rehabilitation training system is pre-programmed into joint action form, passes through each sensor
Measurement and control system closed loop complete planning movement, trainer passively moves therewith.The course of work of the embodiment: pass through
Dynamics and kinematic calculation analysis, are incorporated into system program for the motor pattern of system first, by airdraulic actuator actuator and respectively
A sensor, closed loop complete the control of the predetermined motor pattern of system.In the example, upper limb medical rehabilitation training system is as actively
Side plans athletic performance, and plays the role of power-assisted, trainer's passive movement, therefore this motion mode is known as passive fortune
Dynamic model formula.
Embodiment two:
Under assist exercise mode, system reads the data of sensor transmissions, and the running trend of trainer is predicted according to the data,
Upper limb medical rehabilitation training system is run along this movement tendency, plays the role of power-assisting training.The work of the embodiment
Process: system passes through the data that axis joint angular displacement sensor, shoulder joint angular displacement sensor, force snesor are passed back first, warp
It crosses kinematics analysis and calculates the pose of current time upper limb medical rehabilitation training system, and predict subsequent time system motion position
Then appearance reads again the system motion position of sensor position prediction subsequent time by driving airdraulic actuator to reach prediction pose
Appearance carries out the closed-loop control of system repeatedly.In the example, trainer plans movement as active system, upper limb
Medical rehabilitation training system plays the role of power-assisted as servomechanism, therefore this motion mode is known as assist exercise mode.
Embodiment three:
Under active movement mode, system real-time tracking predicts that the movement tendency of trainer, upper limb healing force aid system follow
Limb moves, and does not provide auxiliary force and resistance in motion process.Improve the phase suitable for patient, is chiefly to facilitate selectivity movement and speed
Degree movement preferably restores.The course of work of the embodiment: system reads the data that sensor is passed back first, by kinematics
Analysis meter calculates the pose of current time upper limb medical rehabilitation training system, predicts subsequent time system motion pose, passes through gas
Fluid cylinder drives each driving joint to reach prediction pose, then reads again sensor, predicts the system motion position of subsequent time
Appearance carries out the closed-loop control of system repeatedly.In the example, trainer plans athletic performance as active system,
Upper limb medical rehabilitation training system is consistent system with patient motion as servomechanism, and this motion mode is known as
Active movement mode.
Example IV: under resistive exercise mode, patient needs to overcome resistance that could complete to move, and is suitable for the rehabilitation stage
The improvement phase and intensive training.The course of work of the embodiment: by adjusting hydraulic valve so that system damping increase to it is predetermined
Value.The pneumatic operated valve of two chamber of cylinder is opened always, is not controlled, and system only does opened loop control as passive system.In the example,
Trainer provides system as resistance, is subject to patient motion certain as active system, upper limb medical rehabilitation training system
This motion mode is known as resistive exercise mode by resistance.
In above system operation, two kinds of involved control modes are as follows:
Form one: offline open loop fluid damping adjusts control mode: the hydraulic cylinder part in gas-liquid parallel connection cylinder passes through one-way throttle
Valve opened loop control, pneumatic cylinder part carry out closed-loop control by pneumatic operated valve (proportioning valve, switch valve or flow valve).This control shape
The system platform of formula is open to adjust system damping size by offline adjusted open loop hydraulic cylinder one-way throttle valve.In rehabilitation training
Four kinds of motor patterns in, such control mode can be used.
Form two: line closed loop fluid damping adjusts control mode: the hydraulic cylinder in gas-liquid parallel connection cylinder passes through high-speed switch
Valve (or proportioning valve, flow valve) closed-loop control, reaches certain system damping.Meanwhile the pneumatic cylinder in gas-liquid parallel connection cylinder passes through
Pneumatic operated valve (proportioning valve, switch valve or flow valve) carries out closed-loop control.The system platform of this control form is online by closed loop
The damping that the opening and flow for adjusting hydraulic valve change hydraulic cylinder reaches different kinetic characteristics.In four kinds of movements of rehabilitation training
In mode, such control mode can be used.And the advantage in resistive exercise scheme control is particularly evident.
The present invention has the advantages that the present invention is with gas-liquid and Siamese bore design substitution tradition is pure hydraulic or air pressure drives shoulder joint
And axis joint, structure design allow for gas-liquid parallel connection cylinder by pneumatic actuation, can reduce system weight, improve driving speed
Degree, and hydraulic cylinder can overcome pure pneumatic middle rigidity low and the disadvantage of stability difference.So a kind of upper limb that the invention patent provides
Rehabilitation training force aid system has many advantages, such as that driving rapidity is good, rigidity is high, stability is strong, runs smoothly, and upper limb health can be improved
The key characteristic of force aid system is practiced in refreshment.
In conclusion the invention patent with gas-liquid and Siamese bore design substitution tradition is pure hydraulic or pure air pressure driving shoulder joint and
Elbow joint has many advantages, such as that driving rapidity is good, rigidity is high, stability is strong, runs smoothly, the training of upper limb medical rehabilitation can be improved
The key characteristic of system.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (4)
1. a kind of gas-liquid parallel drive rehabilitation training of upper limbs force aid system, it is characterised in that: it is by upper limb fixing skeleton (1), shoulder
Joint X-axis fixing piece (2), shoulder joint XY shaft coupling piece (3), hydraulic cylinder A (4), pneumatic cylinder (5), hydraulic cylinder B (6), cylinder body connection
Part (7), airdraulic actuator push rod jointing (8), upper arm connecting rod (9), shoulder joint Z axis inner ring (11), shoulder joint Z axis outer ring
(12), upper arm link (13), lower arm link (14), handle (15) composition；
Shoulder joint can realize the rotation of three degree of freedom, and shoulder joint X-axis rotation axis passes through shoulder joint X-axis fixing piece (2), shoulder joint
Save Z axis rotation axis and shoulder joint Z axis inner ring (11), shoulder joint Z axis outer ring (12) coaxially, shoulder joint Y-axis rotation axis and shoulder
Joint X-axis rotation axis, shoulder joint Z axis rotation axis are mutually perpendicular to；Elbow joint rotation axis passes through the rotation of upper arm link (13)
The shaft heart；
Upper limb fixing skeleton (1) is bonded with human body back, and shoulder joint X-axis fixing piece (2) is connect with upper limb fixing skeleton (1), shoulder joint X
Axis fixing piece (2) and shoulder joint XY shaft coupling piece (3) hingedly, hydraulic cylinder A (4), pneumatic cylinder (5), hydraulic cylinder B (6) three cylinders
Body is connect with cylinder body connector (7), and hydraulic cylinder A (4), pneumatic cylinder (5), three push rods of hydraulic cylinder B (6) and airdraulic actuator push rod connect
Connector (8) connection, cylinder body connector (7) and shoulder joint XY shaft coupling piece (3) hingedly, airdraulic actuator push rod jointing (8) with
Hingedly, upper arm connecting rod (9) is connect upper arm connecting rod (9) with shoulder joint Z axis outer ring (12), shoulder joint Z axis inner ring (11), shoulder joint
It saving and is connected between Z axis outer ring (12) by bearing, can be relatively rotated, shoulder joint Z axis inner ring (11) is connect with upper arm link (13),
Hingedly, lower arm link (14) is connect with handle (15) for upper arm link (13) and lower arm link (14).
2. a kind of gas-liquid parallel drive rehabilitation training of upper limbs force aid system according to claim 1, it is characterised in that: the system
Sensor include handle pressure sensor, shouldejoint angular displacement sensor, Elbow Joint Angle Neural displacement sensor, wherein angle position
Displacement sensor can use the angular position of potentiometer, position sensor or code-disc measurement corresponding joint.
3. a kind of gas-liquid parallel drive rehabilitation training of upper limbs force aid system according to claim 1, it is characterised in that: have four
Kind system operational modes:
(1) passive movement mode: under passive movement mode, upper limb medical rehabilitation training system is pre-programmed into joint action shape
Formula completes planning movement by the measurement of each sensor and control system closed loop, and trainer passively moves therewith；The embodiment party
The course of work of case:
It is analyzed by dynamics and kinematic calculation, the motor pattern of system is incorporated into system program first, is held by airdraulic actuator
Row device and each sensor, closed loop complete the control of the predetermined motor pattern of system；
(2) assist exercise mode: under assist exercise mode, system reads the data of sensor transmissions, is predicted according to the data
The running trend of trainer, upper limb medical rehabilitation training system are run along this movement tendency, play the role of power-assisting training；
The course of work of the embodiment:
System passes through the data that axis joint angular displacement sensor, shoulder joint angular displacement sensor, force snesor are passed back first, passes through
Kinematics analysis calculates the pose of current time upper limb medical rehabilitation training system, and predicts subsequent time system motion position
Then appearance reads again the system motion position of sensor position prediction subsequent time by driving airdraulic actuator to reach prediction pose
Appearance carries out the closed-loop control of system repeatedly；
(3) active movement mode: under active movement mode, system real-time tracking predicts the movement tendency of trainer, upper limb health
Multiple force aid system follows upper extremity exercise, does not provide auxiliary force and resistance in motion process；Improve the phase suitable for patient, mainly promotees
Preferably restore into selectivity movement and speed movement；The course of work of the embodiment:
System reads the data that sensor is passed back first, calculates the training of current time upper limb medical rehabilitation by kinematics analysis
The pose of system predicts subsequent time system motion pose, drives each driving joint to reach prediction pose by airdraulic actuator, so
After read again sensor, predict the system motion pose of subsequent time, repeatedly carry out system closed-loop control；
(4) resistive exercise mode: under resistive exercise mode, patient needs to overcome resistance that could complete to move, and is suitable for rehabilitation
The improvement phase in stage and intensive training；The course of work of the embodiment:
By adjusting hydraulic valve, so that system damping increases to predetermined value；The pneumatic operated valve of two chamber of cylinder is opened always, is not controlled
System, system only do opened loop control as passive system.
4. a kind of gas-liquid parallel drive rehabilitation training of upper limbs force aid system according to claim 1, it is characterised in that: system fortune
During row, two kinds of involved control modes are as follows:
Form one: offline open loop fluid damping adjusts control mode: the hydraulic cylinder part in gas-liquid parallel connection cylinder passes through one-way throttle
Valve opened loop control, pneumatic cylinder part carry out closed-loop control by pneumatic operated valve (proportioning valve, switch valve or flow valve)；This control shape
The system platform of formula is open to adjust system damping size by offline adjusted open loop hydraulic cylinder one-way throttle valve；In rehabilitation training
Four kinds of motor patterns in, such control mode can be used；
Form two: line closed loop fluid damping adjusts control mode: hydraulic cylinder in gas-liquid parallel connection cylinder by high-speed switch valve (or
Proportioning valve, flow valve) closed-loop control, reach certain system damping；Meanwhile the pneumatic cylinder in gas-liquid parallel connection cylinder passes through pneumatic operated valve
(proportioning valve, switch valve or flow valve) carries out closed-loop control；
The system platform of this control form changes the damping of hydraulic cylinder by the opening and flow of closed loop on-line tuning hydraulic valve
Reach different kinetic characteristics；In four kinds of motor patterns of rehabilitation training, such control mode can be used；And it is transported in resistance
Advantage in dynamic scheme control is particularly evident.
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| CN111150608A (en) * | 2020-01-17 | 2020-05-15 | 湖北英特搏智能机器有限公司 | Control method of rehabilitation robot for recognizing movement intention based on pressure sensor |
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