CN110141455A - A kind of wearable hand convalescence device of multiplex control system - Google Patents
A kind of wearable hand convalescence device of multiplex control system Download PDFInfo
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- CN110141455A CN110141455A CN201910371284.8A CN201910371284A CN110141455A CN 110141455 A CN110141455 A CN 110141455A CN 201910371284 A CN201910371284 A CN 201910371284A CN 110141455 A CN110141455 A CN 110141455A
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- 208000034657 Convalescence Diseases 0.000 title claims abstract description 32
- 210000003811 finger Anatomy 0.000 claims abstract description 138
- 210000003813 thumb Anatomy 0.000 claims abstract description 93
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 210000001145 finger joint Anatomy 0.000 claims description 52
- 230000007246 mechanism Effects 0.000 claims description 19
- 244000060701 Kaempferia pandurata Species 0.000 claims description 18
- 235000016390 Uvaria chamae Nutrition 0.000 claims description 18
- 210000004932 little finger Anatomy 0.000 claims description 10
- 238000011217 control strategy Methods 0.000 claims description 9
- 108010074506 Transfer Factor Proteins 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000012549 training Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000007996 neuronal plasticity Effects 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- 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
- A61H2201/1207—Driving means with electric or magnetic 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5064—Position sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
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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)
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- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of wearable hand convalescence devices of multiplex control system.The device includes fixed plate, four be arranged in fixed plate finger module and thumb module, force tracing control system and Position Tracking Control system；Four refer to that module includes first motor, and refer to executing agency by the four of first motor driving；The second motor of thumb module, and by the second motor-driven thumb executing agency；First motor and the second motor can independence or cooperative motions；Force tracing control system realizes contact force compensating for tracing control thumb executing agency, and Position Tracking Control system refers to the position and attitude of executing agency for tracing control four.The device is light and handy, wearable, is adjusted；Two kinds of motor patterns based on first motor and the second motor, four refer to that executing agencies and thumb executing agency can independence or cooperative motions, the force tracing control of the Position Tracking Control and thumb executing agency that refer to executing agency to four is realized, to achieve the effect that exact position posture and stablize to grasp.
Description
Technical field
The present invention relates to hand convalescence device technical fields, and in particular to a kind of wearable hand of multiplex control system
Convalescence device.
Background technique
The development of convalescence device receives more and more attention in recent years, and the principle according to physical therapy and kinesiatrics is set
Meter ectoskeleton equipment can help limbs of patient muscle to be taken exercise and nerve remodeling for clinical and family care etc..In health
In multiple science, hand rehabilitation plays crucial and unique effect in neural plasticity, this is moves after apoplexy and spinal cord injury
The recovery of function provides the foundation.Simultaneously as the complexity and operational capacity of sensorimotor control needed for hand function
Extensive recovery, hand rehabilitation is extremely challenging.
The existing most of training modes of hand convalescence device are fixed platform formula, patent CN201110121085 intermediary
Continued " fixed exoskeleton rehabilitation training manipulator " it be mainly used for rehabilitation, be fixed on basic platform rather than can wear
Wear equipment.These rehabilitation equipments have large size, and heavy, not wearable feature is not suitable for patient and carries and carry out continuous training.
Correlative study at this stage is concentrated mainly in finger gesture motion control, for the contact force of ectoskeleton and manpower
Control research is less.Described in patent CN20171068531 the method, apparatus and system of robot movement " a kind of control " it
Mainly manipulator is improved to the tracking signal of manipulator by signal loading is tracked by the way that the sliding mode controller of robust algorithm is added
The stability of control system.For some rehabilitation training tasks, such as limbs of patient is driven to do specific action, traction is played to muscle
The task of effect, ectoskeleton only need motion control with regard to much of that.For other tasks, due to environment rigidity and environment position
It is unknown can all lead to manipulator there are force tracking errors during completing grasping task, if patient is in the auxiliary of ectoskeleton
Lower practice grasps touch action, it is necessary to control ectoskeleton human-machine interface touch；Meanwhile if it is considered that hand ectoskeleton makes
With comfort in the process, contact flexibility, similarly need to pay close attention to man-machine contact force.
Summary of the invention
It is an object of the invention to for the defects or inadequacies for existing technologies, provide a kind of wearing for multiplex control system
Wear formula hand convalescence device.The device has the characteristics that the different hand sizes of light and handy, wearable and adjustable adaptation；Meanwhile
The movement of four finger executing agencies and thumb executing agency is driven respectively using two independent linear motors, it can be achieved that four refer to execution
Mechanism and thumb executing agency cooperative motion and the two different motor patterns of self-movement.Moreover, referring to execution machine for four
Structure is provided with Position Tracking Control system, it can be achieved that four refer to the Accurate Position Control of executing agency；For thumb, executing agency is set
It is equipped with force tracing control system, force compensating can be carried out to finger tip contacts power to realize stable grasping.
The purpose of the present invention is achieved through the following technical solutions.
A kind of wearable hand convalescence device of multiplex control system, including fixed plate, four refer to modules, thumb module,
Force tracing control system and Position Tracking Control system；
Described four refer to that module and thumb module are arranged in the fixed plate；
Described four refer to that module includes four finger executing agencies and first motor；It is described four finger executing agency include index finger, in
Refer to, nameless and four fingers of little finger of toe finger executing agency；The direction of bending and stretching that the four finger executing agency refers to along four connects
One end of the fixed plate is set, and is bent and stretched by first motor driving；
The thumb module includes thumb executing agency and the second motor；The thumb executing agency bends and stretches along four fingers
The side of the fixed plate is arranged in direction, and can rotate along the fixed plate；The thumb executing agency is by second electricity
Machine driving is bent and stretched；
The force tracing control system realizes contact force compensating for thumb executing agency described in tracing control, to reach steady
Surely the state grasped.
The Position Tracking Control system for described in tracing control four refer to executing agencies index finger, middle finger, it is nameless with
And the position and attitude of four finger executing agencies of little finger of toe.
Preferably, the output end of the first motor refers to that executing agency's transmission connects by planar linkage mechanism and described four
It connects；The planar linkage mechanism is arranged in the fixed plate；
The output end of the first motor is rotatably connected with one end of the planar linkage mechanism by the first link block
It connects, the other end of the planar linkage mechanism refers to that the finger root of executing agency is sequentially connected by joining beam rotation axis and described four.
Preferably, index finger, middle finger, four fingers of the third finger and little finger of toe the finger executing agency include two can
Length formula is adjusted to refer to bar and finger joint fixing piece；
Two length-adjustables refer to be bolted between bar；
The length-adjustable refers to that bar includes referring to bar preceding thread part, referring to bar screw shell and refer to bar rear thread part three
Point, wherein it is described to refer to bar preceding thread part and refer to that bar rear thread part is threadedly attached in the two of the finger bar screw shell respectively
End；
The finger joint fixing piece includes nearly finger joint fixing piece and remote finger joint fixing piece；The nearly finger joint fixing piece is rotatable
The finger root of the finger executing agency is arranged in connection, and the remote finger joint fixing piece, which rotatably connects, to be arranged in the finger
The fingertip end of executing agency；
It is furthermore preferred that the appearance of the nearly finger joint fixing piece and remote finger joint fixing piece is in open arc-shaped, and inside
It is similar with finger outer shape, and edge grooved hole, coupled with fixing belt across slot and fixes finger finger joint.
Refer to that root is solid it is furthermore preferred that having on the end of one end of connection setting four finger executing agency of the fixed plate
Determine part；The nearly finger joint fixing piece is spindle rotationally arranged on the finger root fixing piece.
Preferably, the side of the fixed plate is arranged in by angle adjustable fixing piece for the thumb executing agency, thus
It can be rotated along the fixed plate；The angle adjustable fixing piece rotatably connects the side that the fixed plate is arranged in by hinge
Side has on the angle adjustable fixing piece and refers to root fixing piece, and the finger root of the thumb executing agency is spindle rotationally arranged in
On the finger root fixing piece.
Preferably, the thumb executing agency includes thumb finger joint fixing piece；The appearance of the thumb finger joint fixing piece is equal
In open arc-shaped, and inside is similar with finger outer shape, and edge grooved hole, is coupled and is consolidated across slot with fixing belt
Determine people's thumb finger joint；
The output end of second motor is fixed by the second link block and planar linkage output with the thumb finger joint
Part is rotatably connected.
Preferably, the force tracing control system includes the first controller, index finger pressure sensor and thumb pressure sensing
Device；
First controller is connect with the index finger pressure sensor and thumb pressure sensor, and first control
Device is connect with second motor servo；
The index finger pressure sensor is fixed at the finger tip for the index finger finger executing agency that described four refer to executing agency
On, and fit when work with people's index finger finger pulp surface；
The thumb pressure sensor is fixed on the finger tip of the thumb executing agency, and work when with people's thumb
Finger pulp surface fits.
It is furthermore preferred that the control strategy of the force tracing control system includes the following steps:
S1, ideal force tracking track is preset as input signal；
S2, input signal transmitting is given to by second motor by first controller, carries out finger tip contacts
Power error transfer factor realizes the contact force compensating of the thumb executing agency；
S3, the actual finger tip contacts power variation track of output.
Preferably, the Position Tracking Control system includes second controller, the second controller and first electricity
The connection of machine servo.
It is furthermore preferred that the control strategy of the Position Tracking Control system includes the following steps:
S1, ideal position tracking track is preset as input signal；
S2, input signal transmitting is given to by the first motor by the second controller, carries out location error
Adjustment controls described four position and attitudes for referring to executing agency；
S3, the actual motion profile of output.
For four finger executing agencies 21 and the mode that moves independently of each other of thumb executing agency 31 to hand convalescence device
Posture and contact force are controlled, the control strategy combined using force tracing control system 4 and Position Tracking Control system 5.Its
Middle Position Tracking Control system 5 is the control inner ring of force tracing control system 4, in force tracing control system 4, force tracing control
The contact force deviation signal of system 4, which can be changed into position compensation amount and feed back to position control inner ring, carries out position control compensation,
It is compensated by position control, so that finger executing agency phase desired locations be driven to move, and reaches desired contact force.
Compared with prior art, the invention has the advantages that and the utility model has the advantages that
(1) hand convalescence device of the invention is light and handy, wearable, and thumb executing agency passes through angle adjustable fixing piece
It is spindle rotationally arranged in the side of fixed plate, realizes the angular adjustment of thumb module, to realize the different hands of adjustable adaptation
The characteristics of size；
(2) hand convalescence device of the invention respectively drives four finger executing agencies using two independent motors and thumb is held
The movement of row mechanism is, it can be achieved that four refer to executing agency and thumb executing agency cooperative motion and the two different fortune of self-movement
Dynamic model formula；
(3) self-movement and cooperative motion mode of the hand convalescence device of the invention based on two individual motors, for
Four finger executing agencies are provided with Position Tracking Control system, realize four index finger, middle finger, the third finger and the little fingers of toe for referring to executing agency
The accurate tracing control of the finger executing agency position and attitude of four fingers；Meanwhile for thumb executing agency setting effectively with
Track control system realizes the force compensating of the finger contact force of thumb executing agency, to achieve the purpose that stablize grasping.
Detailed description of the invention
Fig. 1 is the structural representation of the wearable hand convalescence device of multiplex control system of the present invention in specific embodiment
Figure；
Fig. 2 is the fixed plate of the wearable hand convalescence device of multiplex control system of the present invention and can in specific embodiment
The attachment structure schematic diagram of hue angle fixing piece；
Fig. 3 is four finger modules of the wearable hand convalescence device of multiplex control system of the present invention in specific embodiment
Structural schematic diagram；
Fig. 4 is the thumb module of the wearable hand convalescence device of multiplex control system of the present invention in specific embodiment
Structural schematic diagram；
Fig. 5 is the control strategy flow diagram of multiplex control system of the present invention in specific embodiment；
Attached drawing mark: 1- fixed plate, 10- motor fixture, 2- tetra- refer to module, and 21- tetra- refers to executing agency, length that 211- is adjustable
Degree formula refers to that bar, 2111- refer to that bar preceding thread part, 2112- refer to that bar screw shell, 2113- refer to bar rear thread part, and 212- finger joint is fixed
Part, the nearly finger joint fixing piece of 2121-, the remote finger joint fixing piece of 2122-, 22- first motor, 23- planar linkage mechanism, 24- first connect
Connect block, 25- joining beam rotation axis, 3- thumb module, 31- thumb executing agency, 311- thumb finger joint fixing piece, 312- finger joint fixes
Part connecting rod, the second motor of 32-, the second link block of 33-, 4- force tracing control system, the first controller of 41-, 42- index finger pressure
Sensor, 43- thumb pressure sensor, 5- Position Tracking Control system, 51- second controller, 6- refer to root fixing piece, 7- plane
Connecting rod output, 8- angle adjustable fixing piece.
Specific embodiment
Technical solution of the present invention is described in further detail below in conjunction with specific embodiments and drawings, but the present invention
Protection scope and embodiment it is without being limited thereto.
Embodiment 1
A kind of wearable hand convalescence device of the multiplex control system of the present embodiment, it is shown in Figure 1, including fixation
Plate 1, four refers to module 2, thumb module 3, force tracing control system 4 and Position Tracking Control system 5.
Described four refer to that module 2 and thumb module 3 are arranged in the fixed plate 1.Four refer to that module 2 and thumb module 3 are compact
Be installed in fixed plate 1, have the characteristics that single unit system light and handy.Moreover, referring to the direction two bent and stretched along four in fixed plate 1
Grooved hole is opened up on side, when being worked, can be cooperated by fixing belt with slot and be consolidated the wrist of manpower and fixed plate 1
It is fixed, realize wearing.
Described four refer to that module 2 includes four finger executing agencies 21 and first motor 22；Described four refer to that executing agency 21 includes
The finger executing agency of index finger, four middle finger, the third finger and little finger of toe fingers；Four finger executing agencies 21 the bending and stretching along four fingers
Direction connects one end that the fixed plate 1 is arranged in, and is bent and stretched by the first motor 22 driving.
And the thumb module 3 includes thumb executing agency 31 and the second motor 32；31 edge of thumb executing agency
Four sides bent and stretched direction and the fixed plate 1 is set referred to, and can be rotated along the fixed plate 1；The thumb executing agency
31 are bent and stretched by second motor 32 driving.
Wherein, first motor 22 and the second motor 32 are linear motor, and the linear motor used is examined with position
Survey and feedback function.Four finger executing agencies 21 and thumb executing agency 31 pass through independent first motor 22 and the second motor respectively
32 drivings, first motor 22 and the second motor 32 can receive same control signal and realize that four refer to the cooperative motion with thumb, or
First motor 22 and the second motor 32 receive the self-movement that different control signals carries out four fingers and thumb.
In the present embodiment, referring specifically to shown in Fig. 2, refer to that one end of executing agency 21 has far from described four in fixed plate 1
There is motor fixture 10, first motor 22 is installed in motor fixture 10.
The output end of the first motor 22 refers to that executing agency 21 is sequentially connected by planar linkage mechanism 23 and described four；
The planar linkage mechanism 23 is arranged in the fixed plate 1.In the present embodiment, it is that plane four connects that planar linkage mechanism 23, which is selected,
Linkage.
The output end of the first motor 22 by the first link block 24 rotatably with the planar linkage mechanism 23
One end of prismatic pair connects, and the other end of the prismatic pair of the planar linkage mechanism 23 is referred to by joining beam rotation axis 25 and described four
The finger root of executing agency 21 is sequentially connected.Four refer to the finger root transmission connection simultaneously of executing agency 21 in joining beam rotation axis 25
On, when first motor 22 is moved by the transmission driving joining beam rotation axis 25 of planar linkage mechanism 23, joining beam rotation axis 25 can be same
Shi Liandong drives each finger executing agency of four finger executing agencies 21 to move synchronously.
Referring specifically to shown in Fig. 3, index finger, middle finger, the finger executing agency of four fingers of the third finger and little finger of toe are equal
Refer to bar 211 and finger joint fixing piece 212 including two length-adjustables.
Two length-adjustables refer to be bolted between bar 211, realizes simulation finger-joint adjustable angle
Rotation.
And the length-adjustable refers to that bar 211 includes referring to bar preceding thread part 2111, referring to bar screw shell 2112 and refer to bar
2113 three parts of rear thread part.Wherein, the finger bar preceding thread part 2111 and finger bar rear thread part 2113 are connected by screw thread respectively
It connects at the both ends for referring to bar screw shell 2112, and specifically, referring to that bar preceding thread part 2111 is located at refers to bar screw shell
2112 nearly finger tip, and refer to bar rear thread part 2113 and be located at the remote finger tip for referring to bar screw shell 2112.Two length-adjustables refer to
Between bar 211, previous length-adjustable refers to that the finger bar preceding thread part 2111 of bar 211 and latter length-adjustable refer to the finger of bar 211
Bar rear thread part 2113 is bolted.By referring to bar preceding thread part 2111 and referring to bar rear thread part 2113 and finger bar thread bush
Screw thread rotation connection between cylinder 2112 can carry out the length dimension adjustment that length-adjustable refers to bar 211, to adapt to different hands
Refer to length dimension.
The finger joint fixing piece 212 includes nearly finger joint fixing piece 2121 and remote finger joint fixing piece 2122；The nearly finger joint is solid
Determine part 2121 and rotatably connect the finger root that the finger executing agency is set, the remote finger joint fixing piece 2122 can be rotated
Connection the fingertip end of the finger executing agency is set.Moreover, the nearly finger joint fixing piece 2121 and remote finger joint fixing piece
2122 appearance is in open arc-shaped, and inside is similar with finger outer shape, and edge grooved hole, is passed through with fixing belt
Slot couples and fixes finger finger joint, to realize the wearable function of the convalescence device of the present embodiment, and is suitable for difference
Finger size.
In a preferred embodiment, the connection setting described four of the fixed plate 1 refers to the end of one end of executing agency 21
It is upper that there is finger root fixing piece 6；The nearly finger joint fixing piece 2121 is spindle rotationally arranged in the finger by finger joint fixing piece connecting rod
On root fixing piece 6.In the present embodiment, a revolute pair of planar linkage mechanism 23 is spindle rotationally arranged in fixed plate 1 and is located at
Refer between root fixing piece 6 and motor fixture 10, another revolute pair connects with the finger joint fixing piece for connecting nearly finger joint fixing piece 2121
Bar is bolted and is spindle rotationally arranged on the finger root fixing piece 6 of fixed plate 1.
Shown in Figure 4, in the present embodiment, the thumb executing agency 31 is arranged by angle adjustable fixing piece 8 in institute
The side of fixed plate 1 is stated, so as to rotate along the fixed plate 1.Wherein, the angle adjustable fixing piece 8 can be turned by hinge
The side of the fixed plate 1 is arranged in dynamic connection；Refer to root fixing piece 6, institute moreover, having on the angle adjustable fixing piece 8
The finger root for stating thumb executing agency 31 is spindle rotationally arranged on the finger root fixing piece 6.
Specifically, the thumb executing agency 31 includes thumb finger joint fixing piece 311 in the present embodiment.The thumb refers to
The appearance for saving fixing piece 311 is in open arc-shaped, and inside is similar with finger outer shape, and edge grooved hole, with admittedly
Fixed band passes through slot and couples and fix people's thumb finger joint, to realize the wearable function of the convalescence device of the present embodiment.
The output end of second motor 32 passes through the second link block 33 and planar linkage output 7 and the thumb finger joint
Fixing piece 311 is rotatably connected.Specifically, thumb finger joint fixing piece 311 is rotatably connected by finger joint fixing piece connecting rod 312
It is arranged on the finger root fixing piece 6 of angle adjustable fixing piece 8, the output end of the second motor 32 rotatably connects with the second link block 33
It connects, and the second link block 33 is rotatably connected with planar linkage output 7 by bolt, and planar linkage output 7 and finger joint are solid
Determine part connecting rod 312 to be rotatably connected also through bolt.
Moreover, by another angle adjustable fixing piece 8, rotatably connection is set the second motor 32 referring specifically to shown in Fig. 4
It sets in the side of fixed plate 1.Also motor fixture 10 is provided on another angle adjustable fixing piece 8, the setting of the second motor 32 exists
In the motor fixture 10 of angle adjustable fixing piece 8.In this way, realizing thumb executing agency 31 and the second motor of thumb module 3
32 can rotate along fixed plate 1, the adjustable angle between thumb module 3 and fixed plate 1, so that it is adjustable to have single unit system
The characteristics of adapting to different hand sizes.
In the present embodiment, grasping shape of the force tracing control system 4 for thumb executing agency 31 described in tracing control
State, to obtain stable grip.The force tracing control system 4 includes the first controller 41,42 and of index finger pressure sensor
Thumb pressure sensor 43.First controller 41 connects with the index finger pressure sensor 42 and thumb pressure sensor 43
It connects, and first controller 41 is connect with 32 servo of the second motor.
The index finger pressure sensor 42 is fixed at the index finger finger executing agency that described four refer to executing agency 21
On finger tip, and fit when work with people's index finger finger pulp surface；The thumb pressure sensor 43 is fixed at the thumb
On the finger tip of executing agency 31, and fit when work with people's thumb finger pulp surface.Index finger pressure sensor 42 and thumb pressure
Sensor 43 is arranged on the finger tip of the finger executing agency of index finger and thumb, and for detecting sensing device, finger tip is connect at work
The variation of touch.
The control strategy of force tracing control system 4 is that the dynamic between finger tip contacts power and its position according to device is closed
System achievees the purpose that control finger tip contacts power by controlling the second motor 32.In the present embodiment, referring specifically to shown in Fig. 5, institute
The control strategy for stating force tracing control system 4 includes the following steps:
S1, ideal force tracking track is preset as input signal；
S2, input signal transmitting is given to by second motor 32, the second motor 32 fortune by the first controller 41
Turn, carry out finger tip contacts power error transfer factor, realizes the contact force compensating of thumb executing agency 31；
S3, the actual finger tip contacts power variation track of output；With specific reference to the working order and finger tip of the second motor 32
Contact force situation exports practical finger tip contacts power variation track.
In S2, the contact formula of the force compensating based on PD control are as follows:Wherein, u
It (t) is output, e (t) is input (e (t)=Fd-Fc), FdFor expected force, FcFor actual forces, KpFor ratio term coefficient, KdFor differential
Term coefficient.
In the present embodiment, the Position Tracking Control system 5 for described in tracing control four refer to executing agencies 21 index finger,
Middle finger, four finger executing agencies of the third finger and little finger of toe position and attitude.The Position Tracking Control system 5 includes the second control
Device 51 processed, the second controller 51 are connect with 22 servo of first motor.
Position Tracking Control system 5 is according to the mapping relations between the displacement and motoring torque vector of first motor 22, control
The work of first motor 22 processed obtains to realize that the movement position for each finger executing agency for referring to executing agency 21 to four adjusts
To more accurate motion state.In the present embodiment, referring specifically to shown in Fig. 5, the control plan of the Position Tracking Control system 5
Slightly include the following steps:
S1, ideal position tracking track is preset as input signal, with specific reference to the displacement and movement of first motor 22
Mapping relations between torque vector and obtain expected motion trajectory and as input signal；
S2, the first motor 22 that input signal transmitting is given to device by second controller 51, the first electricity
Machine 22 operates, and carries out location error adjustment, controls described four position and attitudes for referring to executing agency 21；
S3, the actual motion profile of output；With specific reference to the working order of first motor 22, actual motion track is exported；
In S2, the location error adjusts the formula controlled based on PI are as follows:Its
Middle u (t) is output, and e (t) is input (e (t)=Xd-Xc), XdFor desired locations, XcFor physical location, KpFor ratio term coefficient,
KiFor integral item coefficient；
Position Tracking Control system 5 according to the actual motion track of output can analytical equipment movement position posture it is accurate
Property.
For four finger executing agencies 21 and the mode that moves independently of each other of thumb executing agency 31 to hand convalescence device
Posture and contact force are controlled, the control strategy combined using force tracing control system 4 and Position Tracking Control system 5.Such as
Shown in Fig. 5, working strategies include the following steps:
S1, position of the ideal position tracking track as Position Tracking Control system 5 is preset according to the volume size of object
Input signal is set, power input signal of the power appropriate as force tracing control system 4 is preset according to the material of object and weight；
S2, the position input signal is transmitted to by the first motor 22 by the second controller 51, carries out position
Set error transfer factor；The power input signal is transmitted to second motor 32 by first controller 41, according to contact
The stable case of force signal carries out real-time force compensating；
S3, Position Tracking Control system 5 export actual motion profile, while four finger executing agencies 21 are maintained at movement rail
The terminal angle of mark, force tracing control system 4 export the contact force signal for stablizing grasping process.
In the present embodiment, the self-movement based on first motor 22 and the second motor 32 passes through two kinds of controls of operation simultaneously
System realizes the control of the position and attitude and contact force to the hand convalescence device of multiplex control system, reaches stable grasping
The purpose of object.Wherein, Position Tracking Control system 5 is the control inner ring of force tracing control system 4.In force tracing control system
In 4, the contact force deviation signal of force tracing control system 4 can be changed into position compensation amount and feed back to the progress of position control inner ring
Position control compensation, is compensated by position control, so that finger executing agency phase desired locations be driven to move, and is reached expectation and is connect
Touch.Tracing control is carried out by finger tip contacts power of the force tracing control system 4 to device, according to the practical finger tip contacts of output
Power variation track can analytical equipment grasp stability, and overcome environment rigidity and environment position uncertainty.
Above embodiments are only preferred embodiment of the invention, are only that further detailed to technical solution of the present invention work
Description, but protection scope of the present invention and embodiment are without being limited thereto, any without departing under spirit of the invention and principle
Change, combination, deletion, replacement or modification for being made etc. are included in protection scope of the present invention.
Claims (10)
1. a kind of wearable hand convalescence device of multiplex control system, which is characterized in that refer to mould including fixed plate (1), four
Block (2), thumb module (3), force tracing control system (4) and Position Tracking Control system (5)；
Described four refer to that module (2) and thumb module (3) are arranged on the fixed plate (1)；
Described four refer to that module (2) include four fingers executing agency (21) and first motor (22)；Described four refer to executing agency (21)
Finger executing agency including index finger, four middle finger, the third finger and little finger of toe fingers；Described four refer to that executing agency (21) refer to along four
Bend and stretch direction connection be arranged in one end of the fixed plate (1), and by the first motor (22) driving bend and stretch；
The thumb module (3) includes thumb executing agency (31) and the second motor (32)；The thumb executing agency (31)
Direction of bending and stretching along thumb is arranged in the side of the fixed plate (1), and can rotate along the fixed plate (1)；The thumb is held
Row mechanism (31) is bent and stretched by second motor (32) driving；
The force tracing control system (4) realizes contact force compensating for thumb executing agency (31) described in tracing control, to reach
To the state for stablizing grasping；
Index finger, middle finger, the third finger that the Position Tracking Control system (5) refers to executing agency (21) for described in tracing control four
And the position and attitude of four finger executing agencies of little finger of toe.
2. a kind of wearable hand convalescence device of multiplex control system according to claim 1, which is characterized in that institute
The output end for stating first motor (22) refers to executing agency (21) transmission connection by planar linkage mechanism (23) and described four；It is described
Planar linkage mechanism (23) is arranged on the fixed plate (1)；
The output end of the first motor (22) by the first link block (24) rotatably with the planar linkage mechanism (23)
One end connection, the other end of the planar linkage mechanism (23) refers to executing agency by joining beam rotation axis (25) and described four
(21) finger root transmission connection.
3. a kind of wearable hand convalescence device of multiplex control system according to claim 1 or 2, feature exist
In the finger executing agency of four, index finger, middle finger, the third finger and little finger of toe fingers include that two length-adjustables refer to bar
(211) and finger joint fixing piece (212)；
Two length-adjustables refer to be bolted between bar (211)；
The length-adjustable refers to that bar (211) include referring to bar preceding thread part (2111), referring to bar screw shell (2112) and refer to bar
Rear thread part (2113) three parts, wherein the finger bar preceding thread part (2111) and finger bar rear thread part (2113) pass through respectively
It is threaded in the both ends for referring to bar screw shell (2112)；
The finger joint fixing piece (212) includes nearly finger joint fixing piece (2121) and remote finger joint fixing piece (2122)；The nearly finger joint
Fixing piece (2121) rotatably connects the finger root that the finger executing agency is arranged in, the remote finger joint fixing piece (2122)
The fingertip end of the finger executing agency is arranged in rotatable connection；
The appearance of the nearly finger joint fixing piece (2121) and remote finger joint fixing piece (2122) is in open arc-shaped, and inside with
Finger outer shape is similar, and edge grooved hole, is coupled with fixing belt across slot and fixes finger finger joint.
4. a kind of wearable hand convalescence device of multiplex control system according to claim 3, which is characterized in that institute
It states to have on the end of one end of connection setting four finger executing agency (21) of fixed plate (1) and refers to root fixing piece (6)；It is described
Nearly finger joint fixing piece (2121) is spindle rotationally arranged on the finger root fixing piece (6).
5. a kind of wearable hand convalescence device of multiplex control system according to claim 1, which is characterized in that institute
Thumb executing agency (31) are stated to be arranged by angle adjustable fixing piece (8) in the side of the fixed plate (1), so as to along described
Fixed plate (1) rotation；The angle adjustable fixing piece (8) is rotatably connected by hinge to be arranged in the fixed plate (1)
Side has on the angle adjustable fixing piece (8) and refers to root fixing piece (6), and the finger root of the thumb executing agency (31) can
The setting of rotation is on the finger root fixing piece (6).
6. a kind of wearable hand convalescence device of multiplex control system, feature exist according to claim 1 or 5
In the thumb executing agency (31) includes thumb finger joint fixing piece (311)；The appearance of the thumb finger joint fixing piece (311)
It is in open arc-shaped, and inside is similar with finger outer shape, and edge grooved hole, slot, which is passed through, with fixing belt couples simultaneously
Fixed people's thumb finger joint；
The output end of second motor (32) is referred to by the second link block (33) and planar linkage output (7) with the thumb
Section fixing piece (311) is rotatably connected.
7. a kind of wearable hand convalescence device of multiplex control system according to claim 1, which is characterized in that institute
Stating force tracing control system (4) includes the first controller (41), index finger pressure sensor (42) and thumb pressure sensor (43)；
First controller (41) connect with the index finger pressure sensor (42) and thumb pressure sensor (43), and described
First controller (41) is connect with the second motor (32) servo；
The index finger pressure sensor (42) is fixed at the index finger finger executing agency that described four refer to executing agency (21)
On finger tip, and fit when work with people's index finger finger pulp surface；
The thumb pressure sensor (43) is fixed on the finger tip of the thumb executing agency (31), and work when and people
Thumb finger pulp surface fits.
8. a kind of wearable hand convalescence device of multiplex control system according to claim 7, which is characterized in that institute
The control strategy for stating force tracing control system (4) includes the following steps:
S1, ideal force tracking track is preset as input signal；
S2, input signal transmitting is given to by second motor (32) by first controller (41), carries out finger tip
Contact force error transfer factor realizes the contact force compensating of the thumb executing agency (31)；
S3, the actual finger tip contacts power variation track of output.
9. a kind of wearable hand convalescence device of multiplex control system according to claim 1, which is characterized in that institute
It includes second controller (51) that rheme, which sets tracking control system (5), the second controller (51) and the first motor (22)
Servo connection.
10. a kind of wearable hand convalescence device of multiplex control system according to claim 9, which is characterized in that
The control strategy of the Position Tracking Control system (5) includes the following steps:
S1, ideal position tracking track is preset as input signal；
S2, input signal transmitting is given to the first motor (22) by the second controller (51), carries out position
Error transfer factor controls described four position and attitudes for referring to executing agency (21)；
S3, the actual motion profile of output.
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| CN201910371284.8A CN110141455A (en) | 2019-05-06 | 2019-05-06 | A kind of wearable hand convalescence device of multiplex control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110711110A (en) * | 2019-09-26 | 2020-01-21 | 河海大学常州校区 | Push-down under-actuated finger rehabilitation training device |
| CN110812113A (en) * | 2019-11-20 | 2020-02-21 | 梅照丰 | Multifunctional finger rehabilitation therapeutic apparatus |
| CN112641598A (en) * | 2020-12-15 | 2021-04-13 | 中国科学院自动化研究所 | Finger rehabilitation exoskeleton robot with adduction and abduction and flexion and extension functions |
| CN114129392A (en) * | 2021-12-07 | 2022-03-04 | 山东大学 | Self-adaptive redundant driving exoskeleton rehabilitation robot capable of regulating and controlling terminal fingertip force |
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| CN105446485A (en) * | 2015-11-20 | 2016-03-30 | 哈尔滨工业大学 | System and method for capturing hand movement function based on data glove and position tracker |
| CN109498373A (en) * | 2019-01-17 | 2019-03-22 | 中山大学 | Wearable hand healing robot |
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| CN101897643A (en) * | 2009-05-26 | 2010-12-01 | 香港理工大学 | Wearable power assistive device for helping a user to move their hand |
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| CN110711110A (en) * | 2019-09-26 | 2020-01-21 | 河海大学常州校区 | Push-down under-actuated finger rehabilitation training device |
| CN110711110B (en) * | 2019-09-26 | 2022-02-22 | 河海大学常州校区 | Push-down under-actuated finger rehabilitation training device |
| CN110812113A (en) * | 2019-11-20 | 2020-02-21 | 梅照丰 | Multifunctional finger rehabilitation therapeutic apparatus |
| CN112641598A (en) * | 2020-12-15 | 2021-04-13 | 中国科学院自动化研究所 | Finger rehabilitation exoskeleton robot with adduction and abduction and flexion and extension functions |
| CN112641598B (en) * | 2020-12-15 | 2021-10-15 | 中国科学院自动化研究所 | Finger rehabilitation exoskeleton robot with adduction and abduction and flexion and extension functions |
| CN114129392A (en) * | 2021-12-07 | 2022-03-04 | 山东大学 | Self-adaptive redundant driving exoskeleton rehabilitation robot capable of regulating and controlling terminal fingertip force |
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