CN110333671A - A kind of rehabilitation simulation people is with Muscle tensility control system and its control method - Google Patents
A kind of rehabilitation simulation people is with Muscle tensility control system and its control method Download PDFInfo
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- CN110333671A CN110333671A CN201910384415.6A CN201910384415A CN110333671A CN 110333671 A CN110333671 A CN 110333671A CN 201910384415 A CN201910384415 A CN 201910384415A CN 110333671 A CN110333671 A CN 110333671A
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
A kind of rehabilitation simulation people is with Muscle tensility control system, including angle acquisition device, executes equipment, from MCU control module, main MCU control module, host computer display system；It is characterized in that: the joint angles signal of the angle acquisition device acquisition rehabilitation simulation people is transferred to from MCU control module, it is described that human body pose simple joint data are scaled by Euler's transformation to the joint angles signal of acquisition from MCU control module and the signal is uploaded to main MCU controller, human body pose simple joint data are supplied to host computer display system by pose equation synthesized human pose Composite Degrees of Freedom data by main MCU controller and carry out display and data background process, main MCU control module is sent to by display system output order simultaneously, control instruction, which is sent, by main MCU control module gives execution equipment, control executes equipment and exports different torque, the corresponding simulation people of the power of variation is expressed as Muscle tensility.
Description
Technical field
The present invention relates to a kind of robot technology rehabilitation teaching equipment fields, simulate people more particularly, to a kind of rehabilitation
Band Muscle tensility control system.
Background technique
Attention of the development and country of rehabilitation subject to rehabilitation endowment direction, expedites the emergence of and trains to rehabilitation class professional's specialization
Feeding proposition more standard, more standardizes, tightened up requirement, expedites the emergence of out rehabilitation subject to the new need of the intelligentized rehabilitation teaching aid of standard
It asks.
Traditional Rehabilitation teaching, simulated patient by student for practical teaching part, teacher by simulation patient student into
Row simulation rehabilitation, this does not use instruments used for education to record and show the mobility in joint in the process, in addition to this health
In multiple teaching more demand rehabilitation teaching aid can simulate rehabilitation patient limb spasm and stiff degree, be expressed as Muscle tensility,
The simulation of student is often difficult to reach such standard, and student, which obtains, is directed to patient's practical operation lack of experience, and teaching efficiency is slow.
Summary of the invention
The present invention is referred from industrial intelligent field, service robot field, the experience in portable robot field, to meet
The demand of human dimension and special construction proposes a kind of control that can satisfy rehabilitation teaching field to the equipment of rehabilitation teaching aid demand
Scheme processed, we realize the acquisition to range of motion by the high gyroscope of miniature angular transducer and cost performance, and will adopt
Collection signal is by being uploaded to host computer after handling the compound pose angle-data of adult body in MCU controller and main MCU controller
Display system, in addition, main control MCU, which instructs the Muscle tensility issued according to host computer display system, issues control signal, the control
Signal is to be transmitted to execution equipment under some grade of " Muscle tensility is divided into 5 grades " that has preset instructs, and is set by executing
Standby control meets in rehabilitation teaching to have angle to rehabilitation teaching aid and show and open with flesh to simulate the effect of human muscle's tension
The purpose of power effect.
A kind of rehabilitation simulation people with Muscle tensility control system, including angle acquisition device, execute equipment, from MCU control module,
Main MCU control module, host computer display system；It is characterized in that: the joint angles of the angle acquisition device acquisition rehabilitation simulation people
Signal is transferred to from MCU control module, described to be converted from joint angles signal of the MCU control module to acquisition by Euler's transformation
It is uploaded to main MCU controller for people's posture simple joint data and by the signal, is closed human body pose list by main MCU controller
Joint number evidence is supplied to host computer display system by pose equation synthesized human pose Composite Degrees of Freedom data and carries out display sum number
It is sent to main MCU control module according to background process, while by display system output order, is sent by main MCU control module
Control instruction executes equipment and exports different torque to equipment, control is executed, and the corresponding simulation people of the power of variation is expressed as Muscle tensility.
Invention additionally discloses a kind of control methods of rehabilitation simulation control system of the people with Muscle tensility.
Beneficial effect
The realization of this system possesses rehabilitation teaching aid to rehabilitation teaching field and provides the basis that function is realized, reduces teacher and repeats
Workload, increase student's practice opportunity and standard rating.Muscle tensility allows by there is direct feel to feed back in rehabilitation teaching operation
Student has more chances to increase the memory training of rehabilitation limbs, and the teaching practice achievement of rehabilitation teaching field is allowed to have commenting for quantization
Fixed number evidence.
Detailed description of the invention
People's control system block diagram is simulated in Fig. 1 rehabilitation.
Fig. 2 rehabilitation simulates people from MCU software control flow chart.
The main MCU software control flow chart of people is simulated in Fig. 3 rehabilitation.
Specific embodiment
In the teaching of medical science of recovery therapy field, according to the Ashworth grade scale of improvement, Muscle tensility is divided into following 5 etc.
Grade:
0 grade: normal Muscle tensility；
1 grade: Muscle tensility is slightly increased, and when affected portion passive flexion and extension, is presented at the end of range of motion the smallest
Resistance, or occur blocking and discharging suddenly suddenly；
1+ grades: Muscle tensility slightly increases: occurring blocking suddenly in 50% range after joint motion, then in joint motion
50% is presented minimum drag after range；
2 grades: Muscle tensility relatively significantly increases, and when by the major part of range of motion, Muscle tensility relatively significantly increases
Add, but affected portion remains to relatively easily be moved；
3 grades: Muscle tensility seriously increases: passive activity is difficult；
4 grades: stiff: spasticity is presented when affected portion passive flexion and extension, it is stiff；
Widely different for the situation of different Muscle tensility grades performance, normal person is difficult to simulate the effect of several tension.Cause
This, for the teaching aid of rehabilitation, necessary not only for the freedom degree that can be realized physical activity, being more more importantly can be real
The Muscle tensility state of existing patient.The present invention combine above-mentioned Muscle tensility division rule, using five grades of above-mentioned Muscle tensility as
Reference value is compared to which further the movement in each joint of people is simulated in control rehabilitation with the signal of sensor feedback.Such as Fig. 1
Rehabilitation is simulated shown in people's control system block diagram, which mainly includes host computer display system, main control MCU part, from control
MCU and angle acquisition device processed and execution equipment.In addition, the present invention mainly describe main control MCU part and from control the part MCU
Method realize, in addition host computer display system is with PC machine position carrier, and angle acquisition equipment includes angular transducer and top
Spiral shell instrument, executing equipment is integration type stepper motor.
Specific control program is as follows: a kind of rehabilitation simulation people is with Muscle tensility control system, including angle acquisition device, executes
Equipment, from MCU control module, main MCU control module, host computer display system；It is characterized in that: the angle acquisition device acquires health
The joint angles signal for simulating people again is transferred to from MCU control module, described to believe from joint angles of the MCU control module to acquisition
Number human body pose simple joint data are converted to by Euler's transformation algorithm and the signal is uploaded to main MCU controller, passes through master
Human body pose simple joint data are supplied to upper by MCU controller by pose equation synthesized human pose Composite Degrees of Freedom data
Machine display system carries out display and data background process, while being sent to main MCU control module by display system output order,
Control instruction is sent by main MCU control module to execute equipment to equipment, control is executed and export different torque, the power pair of variation
People should be simulated and be expressed as Muscle tensility.Angle acquisition equipment includes angular transducer and gyroscope, and executing equipment is integrated form stepping
Motor.
The control flow from MCU control module and main MCU control module is described in detail below in conjunction with attached drawing 2-3.
Rehabilitation is simulated people and is referred to from MCU control module flow chart as shown in Fig. 2, the purpose of the part is by multiple and different classes
Human body attitude angle is converted into using data after the original angle acquisition of type angle acquisition equipment, is tied in this way in shoulder joint and hip joint
Joint of the structure closely and more than Composite Degrees of Freedom uses gyroscope collection activity degree, acquires the original quaternary prime number of gyroscope equipment
According to, Euler's angular data and angular velocity data, single mobility angle is being converted by Euler's transformation algorithm from MCU control module
Value, in wrist joint and elbow joint freedom degree multiplicity is low and structure space is big place uses angular transducer, and acquisition angles pass
Sensor original angle data, as single mobility angle value.Single mobility angle Value Data is passing through group from MCU control module
It wraps into custom protocol packet and is sent to main MCU control module.
It mainly include hardware initialization module, interface driver module, interrupt type judgement from MCU control module control method
Module, data dissection process module, communication protocol frame are packaged, communication data receives, sending module.
The hardware initialization module include the initialization initialization of real-time clock of system kernel, serial ports RS232 just
Beginningization, the initialization of serial ports RS485, timer initialization, the initialization of GPIO module.
The interface driver module mainly includes that GPIO interface driving, the driving of serial ports RS232 interface and serial ports RS485 connect
The driving of mouth.
It is the interruption of serial ports RS232, in RS485 that the interrupt type judgment module, which is mainly used for the type that judgement is interrupted,
Disconnected or timer interruption, it is that RS232 interrupt condition is triggered which, which is when it is recognized, then enters
RS232 interruption processing module；When its identification is that RS485 interrupt condition is triggered, into RS485 interruption processing module；When its knowledge
It is clipped to the triggering of timer interruption condition, into timer interruption processing module.
It is described to include serial ports RS232 data packet, serial ports RS485 data from the data dissection process module of MCU control module
Dissection process, the dissection process of timer pulse data of bag data；The dissection process of the serial ports RS232 packet data is
By customized RS232 data framing protocol content, parsing receives valid data one by one, is used for corresponding data storage to solve position
Appearance angle-data；The dissection process of the serial ports RS485 packet data is by customized RS485 data framing protocol
Hold, parse the valid data received one by one, by corresponding data storage be used to be arranged gyroscope, angular transducer initial position and
State value；The dissection process of the timer pulse data is counted in the angular transducer unit time by the timing of timer
Pulse number, activity point of view data are converted thereof by data conversion, corresponding data storage is used to solve pose angle
Data.
The communication protocol frame is packaged, sending module includes that data are transmitted serial ports according to custom protocol respectively
The part of RS232 part and RS485.
Concrete implementation process is as follows: from MCU control module hardware after power-up initializing is completed, interface driver module
Scanning is started the cycle over, in scanning to being that the I/O pin level set changes, by identifying which I/O pin is triggered, root
It according to the IO sequence defined, is handled according to the combinational logic of binary number, logic number is generated, as new ID number for MCU system
System carry out be using, this ID number MCU acquisition be shoulder joint, wrist joint or elbow joint data address, when scanning is arrived
RS485 interface has data, initially enters RS485 interrupt processing, if it is determined that data be definition protocol frame identification content, then into
The one step data that receive of parsing simultaneously retain data and are handled, and otherwise, lose data, continue to scan on, to the data of reservation according to
The protocol analysis of definition goes out data command and carries out calibration and zero position calibration to angle acquisition equipment；When RS232 interface is arrived in scanning
When there are data, RS232 interrupt processing is initially entered, if interrupting judgement is to retain after valid data, and convert to valid data
At original absolute angle angle value, after being packaged by custom protocol, main MCU control module is sent to by RS485, is otherwise lost
It loses.After scanning to timer interruption generates, first judgement is which counter pulse data in No. 3 timers, will be counted
Pulses switch at relative angle data, put up with generation angle-data be packaged by custom protocol after, be sent to by RS485
Main MCU control module.Polymorphic type angle-data acquisition process is completed into single-degree-of-freedom angle-data needed for composite human body pose
To the purpose for being sent to main MCU control module processing.
People's main control flow chart is simulated in the rehabilitation shown in Figure 3 of the main MCU control module control flow of the present invention.Main MCU
The purpose of control module is that circulation is instructed to from MCU control module transmission, and angle-data required for reading will be controlled from MCU
The collected human body pose single-degree-of-freedom data of module are supplied to by pose equation synthesized human pose Composite Degrees of Freedom data
Host computer display system carries out display and back-end data processing, in addition receives and carries out to the Muscle tensility input instruction of host computer interface
Function is implemented, and different Muscle tensility effects is presented in the movement of control executing agency.
Main MCU control module mainly includes hardware initialization module, interface driver module, interrupt type judgment module, number
It is packaged according to dissection process module, communication protocol frame, sending module.
The hardware initialization module include the initialization initialization of real-time clock of system kernel, serial ports RS232 just
Beginningization, the initialization of serial ports RS485, the initialization of GPIO module.The interface driver module mainly include GPIO interface driving,
The driving of serial ports RS232 interface and the driving of serial ports RS485 interface.Shown interrupt type judgment module, which is mainly used for judgement, to interrupt
Type be the interruption of serial ports RS232, RS485 interruption.The data dissection process module includes serial ports RS232 number-of-packet
According to parsing, the parsing of algorithm process, serial ports RS485 packet data, algorithm process.Shown communication protocol frame is packaged, sends
Module includes that data are transmitted to the part of the part and RS485 serial ports RS232 respectively according to custom protocol.
Main MCU control module concrete implementation process is: main MCU control module hardware circuit is in power-up initializing completion
Afterwards, interface driver module starts the cycle over scanning, has data when scanning to RS485 interface, initially enters RS485 interrupt processing, leads to
Crossing judgement data frame is custom protocol content frame, then retains data and handled, and otherwise, loses data, scanning continues, to guarantor
The data stayed parse data according to custom protocol content frame, the input as human body pose compound angle Processing Algorithm part
Variable, the human synovial attitude angle angle value after algorithm process, which is packaged, to be sent to host computer by RS232 and carries out display and deposit from the background
Storage processing.Scanning RS232 interface has data, starts to receive host computer instruction, and enter RS232 interrupt processing, interrupt function
Judgement is retained after effective instruction data, is otherwise lost, is further judged effective instruction data, if it is judged that instruction is control
The instruction judged is packed into RS485 data frame by MCU processed from equipment, is sent to from MCU control module and is controlled gyroscope
It is zeroed out reset operation with angular transducer, to being that control executes equipment after effective instruction parsing, further judgement is control
Make which platform executes equipment, control executes equipment and exports corresponding moment values after the setting of muscular strength grade is how many, and operator combines
Force is reversed outside basic machine pulls, and forces motor opposite direction to move, realizes the effect of Muscle tensility.Realization is referred to by host computer
It enables and carries out power and energy control from MCU control module and execute equipment, and from the data collection process of equipment and will be sent to
Host computer is shown and the purpose of background process.
In addition, inventor emphasizes: such as " gyroscope, angular transducer, Euler's transformation, the position recorded in specification
Appearance equation " etc. belongs to technical characteristic well known in the art, and the engineering usually used in control field by engineers and technicians
Element and mathematical algorithm, therefore, inventor are not done excessively to tire out and be stated, and the present invention is merely by using above-mentioned existing skill
Art element and mathematical knowledge make data processing to data, inventive point of the invention first is that: be referred from industrial intelligent field,
Service robot field, the experience in portable robot field the needs of to meet human dimension and special construction, propose one kind
Rehabilitation teaching field be can satisfy to the control program of the equipment of rehabilitation teaching aid demand, pass through miniature angular transducer and cost performance
High gyroscope realizes the acquisition to range of motion, and acquisition signal is passed through from MCU controller and main MCU controller
It is uploaded to host computer display system after managing adult bluk recombination pose angle-data, in addition, main control MCU will show system according to host computer
The Muscle tensility instruction that system issues issues control signal, which is " Muscle tensility is divided into 5 grades " preset
It is transmitted to execution equipment under the instruction of some grade, the effect of human muscle's tension is simulated by executing the control of equipment, meets
Have angle to rehabilitation teaching aid in rehabilitation teaching to show and the purpose of Muscle tensility effect.
Many details are elaborated in the above description to fully understand the present invention.But above description is only
Presently preferred embodiments of the present invention, the invention can be embodied in many other ways as described herein, therefore this
Invention is not limited by specific implementation disclosed above.Any those skilled in the art are not departing from the technology of the present invention simultaneously
In the case of aspects, all technical solution of the present invention is made using the methods and technical content of the disclosure above many possible
Changes and modifications or equivalent example modified to equivalent change.Anything that does not depart from the technical scheme of the invention, according to this
The technical spirit of invention any simple modifications, equivalents, and modifications made to the above embodiment, still fall within skill of the present invention
In the range of the protection of art scheme.
Claims (8)
1. a kind of rehabilitation simulation people is with Muscle tensility control system, including angle acquisition device, execute equipment, from MCU control module, master
MCU control module, host computer display system；It is characterized in that: the joint angles letter of the angle acquisition device acquisition rehabilitation simulation people
It number is transferred to from MCU control module, it is described to pass through Euler's transformation algorithm from joint angles signal of the MCU control module to acquisition and turn
It is changed to human body pose simple joint data and the signal is uploaded to main MCU control module, by main MCU control module by human body position
Appearance simple joint data are supplied to host computer display system by pose equation synthesized human pose Composite Degrees of Freedom data and are shown
Show with data background process, while main MCU control module is sent to by display system output order, passes through main MCU and control mould
Block sends control instruction and executes equipment to equipment, control is executed and export different torque, and the corresponding simulation people of the power of variation is expressed as
Muscle tensility.
2. a kind of rehabilitation according to claim 1 simulates people with Muscle tensility control system, it is characterized in that: angle acquisition equipment
Including angular transducer and gyroscope, executing equipment is integration type stepper motor.
3. a kind of rehabilitation according to claim 2 simulates people with Muscle tensility control system, it is characterized in that: in shoulder joint and hip
Joint more than the such close structure in joint and Composite Degrees of Freedom uses gyroscope apparatus, acquires the original quaternary of gyroscope equipment
Prime number evidence, Euler's angular data and angular velocity data, are being converted into single mobility by Euler's transformation algorithm from MCU control module
Angle value, in wrist joint and elbow joint freedom degree multiplicity is low and structure space is big place uses angular transducer, acquisition angle
Sensor original angle data are spent, as single mobility angle value, single mobility angle Value Data is leading to from MCU control module
It crosses group and wraps into custom protocol packet and be sent to main MCU control module.
4. a kind of control method of rehabilitation simulation control system of the people with Muscle tensility, including such as any one institute of claim 1-3
Rehabilitation simulation people is stated with Muscle tensility control system, it is characterized in that: including being controlled to the control from MCU control module and to main MCU
The control of molding block.
5. control method according to claim 4, it is characterized in that: it mainly include hardware from MCU control module control method
Initialization module, interface driver module, interrupt type judgment module, data dissection process module, communication protocol frame are packaged, communicate
Data receiver, sending module.
6. control method according to claim 5, it is characterized in that: the hardware initialization module from MCU control module
The initialization initialization of real-time clock, the initialization of serial ports RS232, initialization, the timing of serial ports RS485 including system kernel
Device initialization, the initialization of GPIO module；
It is described from the interface driver module of MCU control module mainly include GPIO interface driving, serial ports RS232 interface driving and
The driving of serial ports RS485 interface.
The type for being mainly used for judgement interruption from the interrupt type judgment module of MCU control module is in serial ports RS232
The disconnected, interruption of RS485 or the interruption of timer, it is RS232 interrupt condition which, which is when it is recognized,
It is triggered, then enters RS232 interruption processing module；When its identification is that RS485 interrupt condition is triggered, at RS485 interruption
Manage module；When it recognizes the triggering of timer interruption condition, into timer interruption processing module；
It is described to include serial ports RS232 data packet, serial ports RS485 number-of-packet from the data dissection process module of MCU control module
According to dissection process, the dissection process of timer pulse data；The dissection process of the serial ports RS232 packet data is to pass through
Customized RS232 data framing protocol content, parsing receives valid data one by one, is used to solve pose angle for corresponding data storage
Degree evidence；The dissection process of the serial ports RS485 packet data be by customized RS485 data framing protocol content, by
It is a to parse the valid data received, corresponding data storage is used to be arranged gyroscope, the initial position of angular transducer and state
Value；The dissection process of the timer pulse data counts the arteries and veins in the angular transducer unit time by the timing of timer
Number is rushed, activity point of view data are converted thereof by data conversion, corresponding data storage is used to solve pose angle-data；
It is described be packaged from the communication protocol frame of MCU control module, sending module includes to beat data respectively according to custom protocol
Packet is sent to the part of the part and RS485 serial ports RS232.
7. control method according to claim 5, it is characterized in that: the main MCU control module includes hardware initialization mould
Block, interface driver module, interrupt type judgment module, data dissection process module, the packing of communication protocol frame, sending module.
8. control method according to claim 7, it is characterized in that: the hardware initialization module includes the first of system kernel
The initialization of beginningization real-time clock, the initialization of serial ports RS232, the initialization of serial ports RS485, the initialization of GPIO module；Institute
State interface driver module mainly and include the driving of GPIO interface driving, the driving of serial ports RS232 interface and serial ports RS485 interface；
Shown interrupt type judgment module is mainly used for the interruption that the type that judgement is interrupted is the interruption of serial ports RS232, RS485；It is described
Parsing of the data dissection process module comprising serial ports RS232 packet data, algorithm process, serial ports RS485 packet data
Parsing, algorithm process；The communication protocol frame is packaged, sending module includes to transmit data respectively according to custom protocol
To the part of the part and RS485 serial ports RS232.
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| CN110733055A (en) * | 2019-10-25 | 2020-01-31 | 哈工大机器人（合肥）国际创新研究院 | bionic joint mechanism comprising multi-ball range-extending joint module |
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| CN113885361A (en) * | 2021-10-18 | 2022-01-04 | 上海交通大学医学院附属瑞金医院 | Remote force control system of rehabilitation equipment insensitive to time delay |
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| CN111558934A (en) * | 2020-05-21 | 2020-08-21 | 江苏凌步智能科技有限公司 | Method for simulating main dynamic state of muscles of four limbs of human body by robot |
| CN111558934B (en) * | 2020-05-21 | 2021-02-19 | 江苏凌步智能科技有限公司 | Method for simulating main dynamic state of muscles of four limbs of human body by robot |
| CN111558933B (en) * | 2020-05-21 | 2021-04-06 | 江苏凌步智能科技有限公司 | Method for simulating passive mechanical state of muscles of four limbs of human body by robot |
| WO2021232512A1 (en) * | 2020-05-21 | 2021-11-25 | 江苏凌步智能科技有限公司 | Method for robot to simulate passive mechanical state of human limb muscles |
| CN113885361A (en) * | 2021-10-18 | 2022-01-04 | 上海交通大学医学院附属瑞金医院 | Remote force control system of rehabilitation equipment insensitive to time delay |
| CN113885361B (en) * | 2021-10-18 | 2023-06-27 | 上海交通大学医学院附属瑞金医院 | Remote force control system of rehabilitation equipment insensitive to time delay |
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