CN109925166B - Exoskeleton rehabilitation system and exoskeleton rehabilitation method - Google Patents
Exoskeleton rehabilitation system and exoskeleton rehabilitation method Download PDFInfo
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- CN109925166B CN109925166B CN201910194356.6A CN201910194356A CN109925166B CN 109925166 B CN109925166 B CN 109925166B CN 201910194356 A CN201910194356 A CN 201910194356A CN 109925166 B CN109925166 B CN 109925166B
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Abstract
The embodiment of the invention relates to the technical field of human body rehabilitation, in particular to an exoskeleton rehabilitation system and a rehabilitation method, which comprise the following steps: a flexible drive means, a fluid supply means and one or more securing portions; wherein, one or more fixed parts are respectively arranged at the parts of the human body to be recovered; the flexible driving device is respectively connected with the fixing parts and comprises driving cavities which are distributed along the radial circumference of the flexible driving device, and the flexible driving device can extend, shorten or bend through the change of the fluid pressure in the driving cavities; the fluid supply device is connected with the driving cavity and is used for inputting fluid with certain pressure into the driving cavity. The exoskeleton rehabilitation system adopts fully flexible parts and flexible connection, can be attached to a rehabilitation part in a compliance manner, realizes multi-angle actions such as bending and twisting of the rehabilitation part, can improve wearing comfort, reduce equipment weight, expand application places and range of rehabilitation equipment, and avoid secondary injury to patients due to a rigid structure.
Description
Technical Field
The embodiment of the invention relates to the technical field of human body rehabilitation, in particular to an exoskeleton rehabilitation system and an exoskeleton rehabilitation method.
Background
The wrist is one of the most commonly used joints of the human body, the wrist movement function is damaged due to accidental injury, cerebral apoplexy, Parkinson and the like, the daily life of a patient is influenced, and the involuntary movement of the hand (or the foot) particularly causes great interference to the grasping action and the wrist action of the patient. Under the action of gravity, the wrist and the hand (or the foot) of a patient with impaired motion function of the wrist are in a natural sagging state, and if the patient cannot get timely rehabilitation training, the joints which can move, such as the hand (or the foot) and the wrist, and the like, gradually generate soft tissue adhesion, muscle atrophy, tissue calcification and finally stiffness and lose the mobility. The continuous passive motion can prevent the joint from being stiff and improve the joint mobility.
The existing continuous passive exercise rehabilitation therapy mainly comprises the steps that a rehabilitation doctor carries out one-to-one rehabilitation training on a patient, and the problems that the cost is high, a great amount of physical strength and energy are required to be input by the therapist and the patient, the rehabilitation training parameters are difficult to accurately control and the like are caused. Using robotics for rehabilitation training of patients would ameliorate these problems.
However, the current wrist function rehabilitation apparatus has the following problems: the wrist rehabilitation device adopts a mechanical structure mostly, is poor in wearability, large in weight and size, cannot be used at home, and influences the experience of patients; most wrist rehabilitation equipment is of a rigid connecting rod structure, and when a joint rotates, the joint center and the rotating center of the connecting rod mechanism have deviation, so that secondary injury of a patient can be caused; the mechanical structure is more complex, the range of motion is small, the degree of freedom is less, and the motion form is single; many devices realize the exercise rehabilitation training by the patient holding the tail end handle of the rehabilitation device, however, many serious patients cannot realize the holding function by themselves, and the palm is not free, and cannot realize the assistance to the daily life action.
Disclosure of Invention
The embodiment of the invention provides an exoskeleton rehabilitation system and a rehabilitation method, which are used for solving the problems that in the prior art, an exoskeleton rehabilitation system is commonly and rigidly connected, and if the center of a joint and the rotation center of a link mechanism have deviation when the joint rotates, secondary injury is caused to a patient; in addition, the rigid rehabilitation system has a complex mechanical structure and a limited range of motion, and a single driver of the system has a single motion form and less degrees of freedom.
The invention discloses an exoskeleton rehabilitation system, which comprises: a flexible drive means, a fluid supply means and one or more securing portions; wherein the content of the first and second substances,
one or more fixing parts are respectively arranged at the parts to be recovered of the human body;
the flexible driving device is respectively connected with the fixing parts and comprises driving cavities which are distributed along the radial circumference of the flexible driving device, and the flexible driving device can extend, shorten or bend through the change of the fluid pressure in the driving cavities;
the fluid supply device is connected with the driving cavity and used for inputting fluid with certain pressure into the driving cavity.
The flexible driving device further comprises a flexible main body and a constraint layer, the driving cavity is arranged inside the flexible main body and is parallel to the axial direction of the flexible main body, and the constraint layer wraps on the outer side wall of the driving cavity or covers the outer side wall of the flexible main body.
Wherein the constraining layer is a fabric, a flexible spring, or a braid.
Each fixing part comprises a fixing band and a fixing joint, the fixing band is bound on the part of the human body to be recovered, and the fixing joint is fixed on the fixing band and detachably connected with the flexible driving device.
Wherein, fixed joint includes fixed baseplate and adjustment button, be equipped with on the fixed baseplate and be used for the installation flexible drive arrangement's screens, adjustment button install in all sides of screens for adjust the state that opens and shuts of screens.
The fixing parts and the flexible driving devices are two, each fixing part comprises two fixing joints, and the flexible driving devices are connected with the fixing joints between the two fixing parts in a cross mode.
The device comprises a sensing device and a control device, wherein the sensing device comprises an electromyographic signal detection device, a bending angle sensor and a torsion angle sensor, the electromyographic signal detection device is used for monitoring an electromyographic signal of a part to be recovered, the bending angle sensor is used for monitoring a bending angle of the part to be recovered, and the torsion angle sensor is used for monitoring a rotation angle of the part to be recovered.
The myoelectric rehabilitation device comprises a myoelectric signal detection device, a bending angle sensor, a torsion angle sensor and a fluid supply device, and is characterized by further comprising an electric control device, wherein the electric control device is connected with the fluid supply device, is respectively connected with the myoelectric signal detection device, the bending angle sensor, the torsion angle sensor and the fluid supply device, and controls the fluid pressure input into the driving cavity by the fluid supply device according to the received myoelectric signal, the bending angle and the rotation angle of the part to be rehabilitated.
The number of the driving cavities is more than or equal to three.
The invention also discloses a rehabilitation method using the exoskeleton rehabilitation system, which comprises the following steps:
connecting the system, and initializing equipment;
a doctor sets a rehabilitation training mode through an upper computer;
the upper computer sends a stretching and/or bending instruction of the flexible driving device to the electric control device, the electric control device controls the fluid supply device to supply or discharge fluid and controls the fluid pressure intensity, so that the corresponding flexible driving device stretches and/or bends, the movement angle of the rehabilitation part is continuously monitored, and the movement angle is sent to the electric control device as feedback, so that the rehabilitation part reaches a preset activity state; or the doctor controls the flexible driving device to stop or continue the action through the upper computer, and observes the myoelectric signal to adjust the rehabilitation training mode.
According to the exoskeleton rehabilitation system and the exoskeleton rehabilitation method provided by the embodiment of the invention, rigid connection in the prior art is replaced by the flexible driving device, and full-flexible parts are adopted for flexible connection, so that the exoskeleton rehabilitation system can be attached to a rehabilitation part in a compliance manner, multi-angle actions such as bending and twisting of the rehabilitation part are realized, the wearing comfort can be improved, the weight of equipment is reduced, the application place and range of the rehabilitation equipment are expanded, and secondary damage to a patient caused by a rigid structure is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an exoskeleton rehabilitation system according to an embodiment of the present invention;
FIGS. 2(a) and 2(b) are schematic views of the wrist front and back curves according to an embodiment of the present invention;
FIGS. 3(a) and 3(b) are schematic views of the left and right wrist bending structures according to an embodiment of the present invention;
FIGS. 4(a) and 4(b) are schematic diagrams of a wrist supination and pronation configuration according to an embodiment of the present invention;
FIG. 5 is a schematic view of a first structure of the flexible driving device of the present invention;
FIG. 6 is a schematic cross-sectional view of a first embodiment of the flexible drive of the present invention;
FIG. 7 is a schematic view of a first longitudinal section of the flexible drive of the present invention;
FIG. 8 is a schematic view of a second construction of the flexible driving apparatus of the present invention;
FIG. 9 is a second cross-sectional view of the flexible drive of the present invention;
FIG. 10 is a schematic view of a third construction of the flexible driving apparatus of the present invention;
FIG. 11 is a third schematic cross-sectional view of the flexible drive of the present invention;
FIG. 12 is a schematic view of a fixing portion of the present invention;
FIG. 13 is a schematic view of the structure of the fixing joint of the present invention.
FIG. 14 is a flow chart of a rehabilitation method according to an embodiment of the present invention.
In the figure, 1, a flexible driving device; 11. a drive chamber; 12. a flexible body; 13. a constraining layer; 2. a fixed part; 21. fixing belts; 22. fixing the joint; 221. a fixed base; 222. an adjustment button; 3. a fluid supply device; 4. an electric control device; 5. a sensing device; 6. a fluid conduit.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the drawings, the solid line flexible driving device in fig. 3(a), fig. 3(b), fig. 4(a) and fig. 4(b) represents the solid structure of the present plane, and the dotted line flexible driving device represents the projection of the back flexible driving device on the present plane.
As shown in fig. 1, the present invention discloses an exoskeleton rehabilitation system, comprising: a flexible drive means 1, a fluid supply means 3 and one or more fixed parts 2; wherein the content of the first and second substances,
one or more fixing parts 2 are respectively arranged at the parts of the human body to be recovered;
the flexible driving device 1 is respectively connected with the fixing parts 2, the flexible driving device 1 comprises driving cavities 11, the driving cavities 11 are distributed along the radial circumference of the flexible driving device, and the flexible driving device 1 can extend, shorten or bend through the change of the fluid pressure in the driving cavities 11;
the fluid supply device 3 is connected to the driving chamber 11, and is used for inputting fluid with certain pressure into the driving chamber 11.
Specifically, a doctor or a patient controls the fluid supply device 3 to input fluid with a certain pressure into the driving cavities 11, and the extension and the shortening of the plurality of driving cavities 11 realize flexible actions such as extension, shortening or bending of the whole flexible driving device 1, and the actions are transmitted to the corresponding fixing parts 2 to assist in driving the rehabilitation parts to move.
In order to realize the multi-angle bending stability of the flexible driving device 1, a plurality of flexible driving devices 1 are required to be arranged, the flexible driving devices 1 are arranged on the front side and the back side of the part to be recovered, and the two flexible driving devices 1 are controlled to have different fluid pressures, so that the front flexible driving device 1 and the back flexible driving device 1 are different in length, and the front flexible driving device and the back flexible driving device are bent; if left-right bending is needed, a plurality of flexible driving devices 1 are arranged from left to right of the hand surface, and each flexible driving device 1 is arranged along the axial direction of the arm and is also provided with different fluid pressure, so that the left flexible driving device 1 and the right flexible driving device 1 are different in length, and left-right bending of the part to be recovered is realized.
The fluid in the fluid supply device 3 of the present invention may be gas or liquid, and the corresponding fluid supply device 3 may be a liquid pump or a gas pressure pump. The flexible driving device 1 and the fixing part 2 can be made of flexible materials, and can realize bending and torsion at a certain angle. The driving chambers 11 in the flexible driving device 1 are connected with the fluid supply device 3 through the fluid pipelines 6, and one driving chamber 11 is correspondingly connected with one fluid pipeline 6, so that the fluid pressure between the driving chambers 11 can be independently controlled and cannot influence each other. By arranging the positions of the different drive chambers 11 within the same flexible drive 1, for example: the drive chambers 11 are distributed along the circumference of the cross-section. The flexible driving device 1 is driven to move, which is determined by the fluid pressure in the fluid supply device 3, the fluid pressure of each driving chamber 11 is controlled, and the flexible driving device 1 can realize the actions of stretching, shortening, multi-angle bending and the like because the flexible driving device 1 is made of flexible materials.
As shown in fig. 1-13, the present invention provides an embodiment of a wrist exoskeleton rehabilitation system, which is applied to wrist rehabilitation training. First, two fixing portions 2, one fixed to the palm portion and one fixed to the forearm portion, are disposed at both the back side and the front side of the hand, and the two fixing portions 2 are connected by the flexible driving means 1. Specifically, in order to realize the front-back bending and the left-right bending of the wrist, only the front side and the back side of the hand are required to be provided with one flexible driving device 1, and the fluid pressure of a driving cavity 11 in the flexible driving device is controlled to bend the flexible driving device; if in order to realize wrist back-turning and adversion, then need the hand front and the back of the hand all to set up a flexible drive arrangement 1 at least, the left end in the hand front is fixed to one of them flexible drive arrangement 1 one end, the right-hand member in the arm is fixed to the other end, the right-hand member in the back of the hand is fixed to another flexible drive arrangement 1 one end, the other end is fixed at the left end, two flexible drive arrangement 1 that lie in the hand front and back of the hand face like this are cross arrangement, two flexible drive arrangement 1 cooperation are flexible and crooked, realize wrist back-turning and adversion. Preferably, as shown in fig. 2 to 4, one flexible driving means 1 is disposed on each of the front and back sides of the hand, and the flexible driving means 1 on the front and back sides of the hand are disposed to intersect, so that not only fore-and-aft bending of the wrist, as shown in fig. 2(a) and 2(b), but also left-and-right bending, as shown in fig. 3(a) and 3(b), and supination and pronation, as shown in fig. 4(a) and 4(b), can be achieved. Specifically, when the front and back bending is needed, the fluid pressure of the driving cavity 11 in the flexible driving device 1 of the palm surface and the back surface of the hand can be controlled: as shown in fig. 2(a), when forward bending is required, the fluid pressure in the flexible driving device 1 on the front side of the hand is controlled to be less than the fluid pressure in the flexible driving device 1 on the back side of the hand, so that the elongation of the flexible driving device 1 on the back side of the hand is greater than the elongation of the flexible driving device 1 on the front side of the hand, and the fluid pressure in each driving cavity 11 in the flexible driving devices 1 on the front side and the back side of the hand is controlled to be bent forward, thereby completing the forward driving of the wrist; when the backward bending is required, as shown in fig. 2(b), similarly, the fluid pressure in the flexible driving device 1 on the front side of the hand is made greater than the fluid pressure in the flexible driving device 1 on the back side of the hand, and the fluid pressures in the driving chambers 11 in the flexible driving devices 1 on the front side and the back side of the hand are controlled to bend backward. When the flexible driving device 1 needs to be bent leftward, the flexible driving device 1 on the front side and the back side of the hand are both bent leftward, and the specific operation can be that the fluid pressure in the left driving cavity 11 in the same flexible driving device 1 is controlled to be smaller than the fluid pressure in the right driving cavity 11, so that the flexible driving device 1 is bent; or the front side and the back side of the hand are both provided with a left flexible driving device and a right flexible driving device, and the two flexible driving devices are controlled to bend leftwards; when the device is vertically arranged, the two flexible driving devices 1 are bent towards a single direction of front, back, left and right at the same time, so that the front, back, left and right bending of the wrist can be realized; when the flexible driving device 1 is arranged crosswise, as shown in fig. 3(a), the extension and contraction of the flexible driving device 1 are controlled, and the front, back, left and right bending of the wrist is realized. For example: to bend the wrist to the left, the flexible driving means 1 connected to the left end of the palm and the right end of the arm is shortened, and the flexible driving means 1 connected to the right end of the palm and the left end of the arm is extended. In the same way, when the right bending is needed, the flexible driving device 1 connected to the right end of the palm and the left end of the arm is shortened, and the flexible driving device 1 connected to the left end of the palm and the right end of the arm is extended. Further, the flexible driving device 1 can realize sequential actions of stretching and bending, and can also realize simultaneous actions of stretching and bending. When the wrist needs to be rotated, at least one flexible driving device 1 needs to be installed on the front side and the back side of the hand, the flexible driving devices 1 on the front side and the back side of the hand are arranged in a crossed mode, and twisting is achieved through the plurality of flexible driving devices 1. In this example, the front side and the back side of the hand are respectively provided with one flexible driving device 1, and the flexible driving devices on the front side and the back side of the hand are arranged in a crossing manner, and the specific operation can be as follows: as shown in fig. 4(a) and 4(b), the two crossing left and right flexible driving devices 1 are provided, the fluid pressure in the driving chamber 11 of one flexible driving device 1 is controlled to bend to the left and back, and the fluid pressure in the driving chamber 11 of the other flexible driving device 1 is controlled to bend to the right and front, so that the wrist can be twisted. In a similar way, the bending directions of the two flexible driving devices 1 are changed, so that the two flexible driving devices can provide torsion, and the wrist torsion in the opposite direction to the torsion can be realized. Similar to the above examples, the present invention can also be applied to rehabilitation parts of the body such as the ankle, arm or neck to assist activities.
According to the exoskeleton rehabilitation system and the exoskeleton rehabilitation method provided by the embodiment of the invention, rigid connection in the prior art is replaced by the flexible driving device, and flexible connection is adopted, so that multi-angle actions such as bending and twisting of a rehabilitation part can be realized, the wearing comfort can be improved, the weight of equipment is reduced, the application place and range of rehabilitation equipment are expanded, and secondary damage to a patient due to a rigid structure is avoided.
The flexible driving device 1 further comprises a flexible main body 12 and a constraint layer 13, the driving cavity 11 is arranged inside the flexible main body 12 and is parallel to the axial direction of the flexible main body 12, and the constraint layer 13 wraps the outer side wall of the driving cavity 11 or covers the outer side wall of the flexible main body 12. The flexible main body 12 may be made of flexible materials such as silicone rubber, or latex. The constraint layer 13 has good flexibility and ductility and may be a fabric, a flexible spring or a weave, etc. The ductility of the constraining layer 13 in the axial direction should be much greater than the ductility of the flexible body 12 in the radial direction. Specifically, the constraining layer 13 of the present embodiment may be disposed by wrapping on the outer sidewall of the driving cavity 11 (as shown in fig. 5, 6 and 7), or directly wrapping on the outer sidewall of the flexible body 12 (as shown in fig. 10 and 11), or disposing a groove on the outer sidewall of the flexible body 12, and embedding the constraining layer 13 into the groove (as shown in fig. 8 and 9). The flexible body 12 can be used as a bearing part of the driving cavity 11, and the constraint layer 13 can constrain the deformation of the whole flexible driving device 1, so as to adjust the flexibility of the flexible driving device.
As shown in fig. 12 and 13, each of the fixing portions 2 includes a fixing band 21 and a fixing joint 22, the fixing band 21 is bound to a portion to be rehabilitated of the human body, and the fixing joint 22 is fixed to the fixing band 21 and detachably connected to the flexible driving device 1. Specifically, the fixing band 21 may be a binding band, a thread rope, a leather sheath, or the like. The fixing band 21 is made of high-strength, soft and breathable cloth, and an anti-skid lining is arranged on the inner surface. In the embodiment of the present invention, when the present invention is applied to wrist rehabilitation training, one fixing portion 2 is mounted on the forearm and the other is mounted on the palm portion, and correspondingly, one fixing band 21 is tied up on the forearm and the other is tied up on the palm portion, and the fixing bands 21 are respectively provided with a fixing joint 22, and the fixing joint 22 can be used for mounting or dismounting the flexible driving device 1 connected between the two fixing portions 2. Specifically, the structure of the fixed joint 22 may be a snap portion or a threaded portion, etc., that is, the fixed joint 22 and the flexible driving device 1 are detachably connected by a snap or a thread. In this embodiment, the fixing joint 22 includes a fixing base 221 and an adjusting button 222, a clamping position for installing the flexible driving device 1 is provided on the fixing base 221, the adjusting button 222 is installed on the periphery of the clamping position for adjusting the opening and closing state of the clamping position, and the opening and closing degree of the clamping position is adjusted by the adjusting button 222 in this embodiment, so as to realize two states of locking and releasing of the flexible driving device 1 in the clamping position.
The fixing portions 2 and the flexible driving devices 1 are two, each fixing portion 2 includes two fixing joints 22, and the two flexible driving devices 1 are connected to the fixing joints 22 in a cross mode. Referring to fig. 2(a), 2(b), 3(a), 3(b), 4(a) and 4(b), the two flexible driving devices 1 are connected to the fixed joint 22 at the diagonal position, and the two flexible driving devices 1 can assist the wrist in bending and twisting. It is noted that the two flexible driving means 1 in this example and the drawings mean that one flexible driving means 1 is provided on the front side and the back side of the hand, respectively.
As shown in fig. 1, the rehabilitation nursing bed further comprises a sensing device 5, wherein the sensing device 5 comprises an electromyographic signal detection device, a bending angle sensor and a torsion angle sensor, the electromyographic signal detection device is used for monitoring an electromyographic signal of a part to be rehabilitated, the bending angle sensor is used for monitoring a bending angle of the part to be rehabilitated, and the torsion angle sensor is used for monitoring a rotation angle of the part to be rehabilitated.
The rehabilitation device further comprises an electric control device 4, the electric control device 4 is connected with the fluid supply device 3, the electric control device 4 is respectively connected with the electromyographic signal detection device, the bending angle sensor, the torsion angle sensor and the fluid supply device 3, and the fluid pressure input into the driving cavity 11 by the fluid supply device 3 is controlled according to the received electromyographic signals, the bending angle and the rotation angle of the part to be rehabilitated. The controller in this example is capable of collecting information monitored by the bend angle sensor and the twist angle sensor and may be controlled automatically or manually by the user to control the fluid supply means 3 to drive the flexible drive means 1 to assist the rehabilitation section. Specifically, the electric control device 4 includes a power supply for providing electric drive to the entire system and a controller for collecting and analyzing the monitored information to control the pressure of the output fluid in the fluid supply device 3. Specifically, the invention can monitor the information of the corresponding position of the human body by using the sensing device 5, can judge the muscle state of the corresponding part mainly according to the electromyographic signals, and can assist to drive the fixing part 2 to drive the rehabilitation part by controlling the fluid pressure input to the driving cavity 11 by the fluid supply device 3 according to the muscle state electric control device 4. For example, when the human body needs to move, the muscles are tensed to generate corresponding myoelectric signals, the electric control device 4 controls the increase and decrease of the fluid pressure output by the fluid supply device 3 to drive the fixed part 2 to move, and then the corresponding part of the human body generates movement. The bending angle information monitored by the bending angle sensor comprises angle monitoring of 360 degrees such as front, back, left and right, namely the bending angle sensor can monitor a plurality of oblique angles such as left front, left back, right front and right back. In the embodiment, the substrates of the myoelectric signal detection device, the bending angle sensor and the torsion angle sensor are made of soft fabrics, silica gel and the like, have strong stretchability and skin fitting performance, and can be tightly attached to the surface of the skin; sensing materials of the electromyographic signal detection device, the bending angle sensor and the torsion angle sensor comprise liquid metal, graphene, carbon nanotubes, optical fibers and the like, have strong stretchability and skin fitting performance, and can be tightly attached to the surface of the skin. In this embodiment, the electric control device 4 may be manually controlled by a doctor or a patient to adjust the fluid pressure output by the fluid supply device 3, or the electric control device 4 may be used to automatically adjust the fluid pressure output by the fluid supply device 3 according to information monitored by the sensing device 5, or the sensing device 5 may be used as a basis for adjusting the fluid pressure as a motion feedback of a rehabilitation part.
The number of the driving cavities 11 is more than or equal to three. As shown in fig. 6, 9 and 11, the number of the drive chambers 11 in this example is three, and they are arranged at equal angles along the circumference of the cross-section.
The invention also discloses a rehabilitation method of the exoskeleton rehabilitation system, which comprises the following steps:
the fluid supply device 3 inputs fluid with certain pressure to the driving cavity 11 in the flexible driving device 1, so that the flexible driving device 1 extends, shortens or bends, and drives the fixing part 2 to assist the movement of the part to be recovered of the human body.
Wherein, an electric control device 4 is also included, which can control the fluid supply device 3 to input fluid with certain pressure to the driving cavity 11 in the flexible driving device 1.
The invention also comprises a sensing device 5, wherein the sensing device 5 comprises an electromyographic signal detection device, a bending angle sensor and a torsion angle sensor, the electromyographic signal detection device is used for monitoring the electromyographic signal of the part to be recovered, the bending angle sensor is used for monitoring the bending angle of the part to be recovered, and the torsion angle sensor is used for monitoring the rotation angle of the part to be recovered. The electric control device 4 can control the fluid pressure of the fluid supply device 3 based on the electromyographic signals, the bending angle and the rotation angle monitored by the sensing device 5, so as to control the extension, the contraction or the bending of the flexible driving device 1. In this embodiment, the electric control device 4 may be manually controlled by a doctor or a patient to adjust the fluid pressure output by the fluid supply device 3, or the electric control device 4 may be used to automatically adjust the fluid pressure output by the fluid supply device 3 according to information monitored by the sensing device 5, or the sensing device 5 may be used as a basis for adjusting the fluid pressure as a motion feedback of a rehabilitation part.
As shown in fig. 14, the exoskeleton rehabilitation system rehabilitation method disclosed in the embodiment of the present invention includes:
connecting the system, and initializing equipment;
a doctor sets a rehabilitation training mode through an upper computer;
the upper computer sends a stretching and/or bending instruction of the flexible driving device 1 to the electric control device 4, the electric control device 4 controls the fluid supply device 3 to supply or discharge fluid, and controls the fluid pressure intensity to enable the corresponding flexible driving device 1 to stretch and/or bend, continuously monitors the movement angle of the rehabilitation part, and sends the movement angle to the electric control device 4 as feedback to enable the rehabilitation part to reach a preset activity state; or the doctor controls the flexible driving device 1 to stop or continue the action through the upper computer, and observes the electromyographic signal to adjust the rehabilitation training mode.
According to the exoskeleton rehabilitation system and the exoskeleton rehabilitation method provided by the embodiment of the invention, rigid connection in the prior art is replaced by the flexible driving device, and flexible connection is adopted, so that multi-angle actions such as bending and twisting of a rehabilitation part can be realized, the wearing comfort can be improved, the weight of equipment is reduced, the application place and range of rehabilitation equipment are expanded, and secondary damage to a patient due to a rigid structure is avoided; the flexible driving device is driven by adopting a plurality of flexible driving devices, and a plurality of driving cavities are arranged in each flexible driving device, so that the flexible driving of multi-angle bending and twisting is ensured, the control flexibility is higher, and the rehabilitation therapy can be comprehensively and effectively assisted for patients; the control device is separated from the patient wearing device, so that the weight of the equipment is reduced, the use burden of a wearer is reduced, and the patient wearing and the control of a doctor are facilitated; the flexible driving device, the sensing device and the like are made of flexible materials, so that the skin can be well attached, and the softness and the comfort are ensured; the flexible driving device adopts detachable connection, so that the whole device is convenient to assemble and disassemble, and the device is portable; the optimization algorithm is used for monitoring myoelectric signals, bending angles and torsion angles of the rehabilitation part, monitoring and identifying the active movement desire of the patient, monitoring the rehabilitation state of the patient, monitoring and optimizing the multi-angle flexible deformation state of the corresponding rehabilitation part, feeding back to doctors and the patient in time, and adjusting the movement of the rehabilitation part.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (4)
1. An exoskeleton rehabilitation system, comprising: the flexible driving device, the fluid supply device, the sensing device and the two fixing parts; wherein the content of the first and second substances,
the flexible driving device comprises three driving cavities, the number of the driving cavities is more than or equal to three, the driving cavities are distributed along the radial circumference at equal angles, and the flexible driving device can extend, shorten or bend through the change of the fluid pressure in the driving cavities;
the fluid supply device is connected with the driving cavity and is used for inputting fluid with certain pressure into the driving cavity;
the sensing device comprises an electromyographic signal detection device, a bending angle sensor and a torsion angle sensor, the electromyographic signal detection device is used for monitoring an electromyographic signal of a part to be recovered, the bending angle sensor is used for monitoring a bending angle of the part to be recovered, and the torsion angle sensor is used for monitoring a rotation angle of the part to be recovered;
each fixing part comprises a fixing belt and two fixing joints, the fixing belts of the two fixing parts are respectively bound on two sides of the part to be recovered, the fixing joints are fixed on the fixing belts and detachably connected with the flexible driving devices, one flexible driving device is located on the front side of the part to be recovered, the other flexible driving device is located on the back side of the part to be recovered, and the flexible driving device located on the front side of the part to be recovered and the flexible driving device located on the back side of the part to be recovered are arranged in a crossed mode;
the fixed joint comprises a fixed base and an adjusting button, the fixed base is provided with a clamping position used for installation of the flexible driving device, and the adjusting button is installed on the periphery of the clamping position and used for adjusting the opening and closing state of the clamping position.
2. The exoskeleton rehabilitation system of claim 1, wherein the flexible driving device further comprises a flexible main body and a constraining layer, the driving cavity is arranged inside the flexible main body and is parallel to the axial direction of the flexible main body, and the constraining layer wraps the outer side wall of the driving cavity or covers the outer side wall of the flexible main body.
3. The exoskeleton rehabilitation system of claim 2 wherein the constraining layer is a fabric, a flexible spring or a braid.
4. The exoskeleton rehabilitation system according to claim 1, further comprising an electric control device, wherein the electric control device is connected with the fluid supply device, the electric control device is respectively connected with the electromyographic signal detection device, the bending angle sensor, the torsion angle sensor and the fluid supply device, and the electric control device controls the fluid pressure input into the driving cavity by the fluid supply device according to the received electromyographic signal, the bending angle and the rotation angle of the part to be rehabilitated.
Priority Applications (1)
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| CN112353630B (en) * | 2020-09-28 | 2022-07-22 | 东华大学 | Pneumatic wrist exoskeleton auxiliary component |
| CN112809656B (en) * | 2021-02-08 | 2022-02-18 | 清华大学 | Flexible driving structure, flexible driver and driving system |
| CN113499215B (en) * | 2021-06-18 | 2022-07-12 | 西安交通大学 | Three-degree-of-freedom wrist rehabilitation robot based on continuous multi-section structure |
| WO2024027594A1 (en) * | 2022-08-04 | 2024-02-08 | The Hong Kong Polytechnic University | Flexible robotic actuator, apparatus, system and method thereof |
| CN117608391A (en) * | 2022-08-22 | 2024-02-27 | 深圳市韶音科技有限公司 | Sensing device and glove for capturing hand motions |
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| US7725175B2 (en) * | 2002-12-04 | 2010-05-25 | Kinetic Muscles, Inc. | System and method for neuromuscular reeducation |
| CA2679505A1 (en) * | 2009-09-21 | 2011-03-21 | Carlo Menon | Exoskeleton robot |
| US10184500B2 (en) * | 2013-10-29 | 2019-01-22 | President And Fellows Of Harvard College | Multi-segment reinforced actuators and applications |
| US20170119614A1 (en) * | 2014-06-12 | 2017-05-04 | National University Of Singapore | Actuator device, method and system for limb rehabilitation |
| US10912701B2 (en) * | 2015-01-07 | 2021-02-09 | The Board Of Regents Of The University Of Texas System | Fluid-driven actuators and related methods |
| CN105919772B (en) * | 2016-04-12 | 2019-03-08 | 哈尔滨易奥秘科技发展有限公司 | A kind of wearable hand device for healing and training |
| CN106309083B (en) * | 2016-09-05 | 2018-09-04 | 西安交通大学 | A kind of pneumatic software manipulators in rehabilitation of EMG controls |
| US11129766B2 (en) * | 2017-04-14 | 2021-09-28 | The Chinese University Of Hong Kong | Flexibly driven robotic hands |
| CN107242958B (en) * | 2017-05-23 | 2019-09-24 | 华中科技大学 | A kind of flexible exoskeleton glove system for hand rehabilitation training |
| CN108371610B (en) * | 2018-03-27 | 2019-11-12 | 华中科技大学 | A kind of modularization software restoring gloves and system for assisted finger stretching routine |
| CN108524193A (en) * | 2018-05-02 | 2018-09-14 | 京东方科技集团股份有限公司 | A kind of hand convalescence device, device for healing and training and its control method |
| CN109223430A (en) * | 2018-07-23 | 2019-01-18 | 上海交通大学 | Wearable software restoring gloves and its control method, system |
| CN109350448A (en) * | 2018-10-24 | 2019-02-19 | 南昌大学 | A kind of finger software recovery robot system for symmetrical rehabilitation |
| CN109276411A (en) * | 2018-11-02 | 2019-01-29 | 郑州大学 | A kind of hand exercise rehabilitation training and evaluating system based on soft robot |
| CN109363886B (en) * | 2018-11-05 | 2023-08-01 | 山东大学 | Elbow joint rehabilitation training device and implementation method |
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