CN110333671B - Rehabilitation simulation human belt muscle tension control system and control method thereof - Google Patents
Rehabilitation simulation human belt muscle tension control system and control method thereof Download PDFInfo
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Abstract
A rehabilitation human simulated zonal muscle tension control system comprises an angle collector, an execution device, a slave MCU control module, a master MCU control module and an upper computer display system; it is characterized in that: the angle collector collects joint angle signals of a rehabilitation simulator and transmits the joint angle signals to the slave MCU control module, the slave MCU control module converts the collected joint angle signals into human body pose single-joint data through Euler transformation and uploads the human body pose single-joint data to the main MCU controller, the human body pose single-joint data are synthesized into human body pose composite freedom data through a pose equation by the main MCU controller and are provided for an upper computer display system to be displayed and processed in a data background, meanwhile, the human body pose composite freedom data are output to the main MCU control module through the display system, a control instruction is sent to the execution equipment through the main MCU control module, the execution equipment is controlled to output different moments, and the changed force corresponds to the simulator and is expressed as muscle tension.
Description
Technical Field
The invention relates to the field of robot technology rehabilitation teaching equipment, in particular to a rehabilitation human simulated zonal muscle tension control system.
Background
Development of rehabilitation disciplines and the national attention on rehabilitation and old-age direction, the hastening of birth to the professional culture of rehabilitation professionals provides more standards, more specifications and more strict requirements, and the hastening of birth to the new requirements of the rehabilitation disciplines on standard intelligent rehabilitation teaching aids.
Traditional rehabilitation teaching, practice teaching part simulates patient by the student, the teacher simulates rehabilitation through the student to simulation patient, this in-process does not use teaching instrument to record and show the activity degree of joint, demand rehabilitation teaching aid can simulate out recovered patient's limbs spasm and stiffness degree more in the rehabilitation teaching in addition, the expression is muscular tension, student's simulation often is difficult to reach such standard, the student obtains to patient's actual operation experience few, teaching effect is slow.
Disclosure of Invention
In view of the experience in the fields of industrial intelligence, service robots and portable robots, the invention provides a control scheme of equipment capable of meeting the requirements of the rehabilitation teaching aid in the field of rehabilitation teaching in order to meet the requirements of human body size and special structure, realizes the acquisition of joint mobility through a micro angle sensor and a gyroscope with high cost performance, the collected signals are processed into human body composite pose angle data through the slave MCU controller and the master MCU controller and then are uploaded to an upper computer display system, in addition, the main control MCU sends out a control signal according to a muscle tension instruction sent out by the upper computer display system, the control signal is a certain level command of 'muscle tension is divided into 5 levels' which is preset and is transmitted to the execution device, the effect of human muscle tension is simulated through the control of execution equipment, satisfies the purpose that possesses angle display and muscle tension effect to the recovered teaching aid in the recovered teaching.
A rehabilitation human simulated zonal muscle tension control system comprises an angle collector, an execution device, a slave MCU control module, a master MCU control module and an upper computer display system; it is characterized in that: the angle collector collects joint angle signals of a rehabilitation simulator and transmits the joint angle signals to the slave MCU control module, the slave MCU control module converts the collected joint angle signals into human body pose single-joint data through Euler transformation and uploads the human body pose single-joint data to the main MCU controller, the human body pose single-joint data are synthesized into human body pose composite freedom data through a pose equation by the main MCU controller and are provided for an upper computer display system to be displayed and processed in a data background, meanwhile, the human body pose composite freedom data are output to the main MCU control module through the display system, a control instruction is sent to the execution equipment through the main MCU control module, the execution equipment is controlled to output different moments, and the changed force corresponds to the simulator and is expressed as muscle tension.
The invention also discloses a control method of the control system for rehabilitating and simulating the tension of the human bandicoot muscle.
Advantageous effects
The realization of the system provides a basis for realizing functions for the rehabilitation teaching aid in the rehabilitation teaching field, reduces the repeated workload of teachers, and increases the practical opportunity and standard evaluation of students. Muscle tension enables direct hand feeling feedback in rehabilitation teaching operation, students have more chances to increase rehabilitation limb memory training, and teaching practice achievements in the rehabilitation teaching field have quantitative evaluation data.
Drawings
Fig. 1 is a block diagram of a rehabilitation simulator control system.
Figure 2 a flow chart of slave MCU software control of the rehabilitation simulator.
FIG. 3 is a flow chart of the software control of the rehabilitation human simulator main MCU.
Detailed Description
In the field of rehabilitation medicine teaching, muscle tone is classified into the following 5 grades according to the improved Ashworth classification standard:
level 0: normal muscle tone;
level 1: the muscle tension is slightly increased, and when the affected part is subjected to passive flexion and extension, the affected part presents the minimum resistance at the end of the joint movement range, or is suddenly clamped and released;
1+ level: mild increase in muscle tone: sudden seizing occurs within 50% of the range of the joint movement, and then the minimum resistance is presented within 50% of the range of the joint movement;
and 2, stage: the muscle tension is increased more obviously, and the muscle tension is increased more obviously when the joint passes through most of the range of motion of the joint, but the affected part can still be moved more easily;
and 3, level: muscle tone was severely increased: difficulty in passive activity;
4, level: stiffness: the affected part is in a stiff state and cannot move when passively bent and stretched;
the conditions presented by different muscle tension levels are very different, and the effect of several tensions is difficult to simulate by normal people. Therefore, for a training aid for rehabilitation, not only the freedom of human body movement needs to be realized, but also the muscle tension state of a patient can be realized. The invention combines the division rule of the muscle tension, compares the five grades of the muscle tension as reference values with signals fed back by the sensor, thereby further controlling the movement of each joint of the rehabilitation simulator. As shown in the block diagram of the rehabilitation human simulator control system in fig. 1, the control system mainly comprises an upper computer display system, a main control MCU part, a slave control MCU, an angle collector and an execution device. In addition, the invention mainly describes the realization of the method of the master control MCU part and the slave control MCU part, in addition, the upper computer display system is a PC position carrier, the angle acquisition equipment comprises an angle sensor and a gyroscope, and the execution equipment is an integrated stepping motor.
The specific control scheme is as follows: a rehabilitation human simulated zonal muscle tension control system comprises an angle collector, an execution device, a slave MCU control module, a master MCU control module and an upper computer display system; it is characterized in that: the angle collector collects joint angle signals of a rehabilitation simulator and transmits the joint angle signals to the slave MCU control module, the slave MCU control module converts the collected joint angle signals into human body pose single-joint data through an Euler transformation algorithm and uploads the human body pose single-joint data to the main MCU controller, the human body pose single-joint data are synthesized into human body pose composite freedom data through a pose equation by the main MCU controller and are provided for an upper computer display system to be displayed and processed in a data background, meanwhile, the human body pose composite freedom data are output to the main MCU control module through the display system, a control instruction is sent to the execution equipment through the main MCU control module, the execution equipment is controlled to output different moments, and the changed force corresponds to the simulator and is expressed as muscle tension. The angle acquisition equipment comprises an angle sensor and a gyroscope, and the execution equipment is an integrated stepping motor.
The control flow of the slave MCU control module and the master MCU control module will be described in detail with reference to fig. 2-3.
The rehabilitation simulator is characterized in that original angles of a plurality of angle acquisition devices of different types are acquired and then converted into human body posture angle use data, a gyroscope is adopted to acquire the mobility at joints with compact structures and more compound degrees of freedom such as shoulder joints and hip joints, original four-element data, Euler angle data and angular speed data of the gyroscope are acquired, the original four-element data, the Euler angle data and the angular speed data are converted into single-mobility angle values through an Euler transformation algorithm in the MCU control module, an angle sensor is adopted at places with low complexity of the degrees of freedom of wrist joints and elbow joints and large structural space, and the original angle data of the angle sensor are acquired to serve as the single-mobility angle values. The single-activity angle value data are packaged into a custom protocol packet in the slave MCU control module and are sent to the master MCU control module.
The control method of the slave MCU control module mainly comprises a hardware initialization module, an interface driving module, an interrupt type judging module, a data analyzing and processing module, a communication protocol frame packing module, a communication data receiving module and a transmitting module.
The hardware initialization module comprises initialization of an initialization real-time clock of a system kernel, initialization of a serial port RS232, initialization of a serial port RS485, initialization of a timer and initialization of a GPIO module.
The interface driving module mainly comprises a GPIO interface driver, a serial port RS232 interface driver and a serial port RS485 interface driver.
The interrupt type judging module is mainly used for judging whether the interrupt type is the interrupt of a serial port RS232, the interrupt of RS485 or the interrupt of a timer, and when the interrupt type judging module identifies that the RS232 interrupt condition is triggered, the interrupt type judging module enters an RS232 interrupt processing module; when the RS485 interrupt condition is identified to be triggered, entering an RS485 interrupt processing module; and when the timer interrupt condition trigger is recognized, entering a timer interrupt processing module.
The data analysis processing module of the slave MCU control module comprises a serial port RS232 data packet, analysis processing of serial port RS485 data packet data and analysis processing of timer pulse data; the analysis processing of the serial port RS232 data packet data is to analyze the received effective data one by one through self-defined RS232 data frame protocol content and store the corresponding data for solving the pose angle data; the analysis processing of the serial port RS485 data packet data is to analyze the received effective data one by one through self-defined RS485 data frame protocol content, and store the corresponding data for setting initial positions and state values of a gyroscope and an angle sensor; and analyzing and processing the timer pulse data, counting the number of pulses in unit time of the angle sensor through the timing of the timer, converting the number of pulses into activity angle data through data conversion, and storing corresponding data for solving pose angle data.
The communication protocol frame packing and sending module comprises a part for packing and sending data to the serial port RS232 part and the RS485 part respectively according to a custom protocol.
The specific implementation process is as follows: after the MCU control module hardware is initialized in a power-on mode, the interface driving module starts to scan circularly, when the preset IO pin level is scanned, the preset IO pin level is changed, the logic number is generated by identifying which IO pins are triggered and according to the defined IO sequence and the combined logic processing of binary numbers and is used as a new ID number for an MCU system to use, the ID number is the address of data of a shoulder joint, a wrist joint or an elbow joint collected by the MCU, when the RS485 interface has data in scanning, the RS485 interrupt processing is started, if the data is judged to be the identification content of a defined protocol frame, the received data is further analyzed and the data is reserved for processing, otherwise, the data is discarded and the scanning is continued, and the reserved data is analyzed according to the defined protocol to calibrate the angle collection equipment and calibrate the zero position; and when the RS232 interface is scanned to have data, starting to enter RS232 interrupt processing, if the data is judged to be valid data by the interrupt, reserving the valid data, converting the valid data into an original absolute angle value, packaging the original absolute angle value through a user-defined protocol, and sending the original absolute angle value to the main MCU control module through RS485, otherwise, losing the original absolute angle value. After the timer is scanned and generated, which counter pulse data in the 3-path timer is judged, the counting pulse is converted into relative angle data, and the generated angle data is packaged through a user-defined protocol and then sent to the main MCU control module through RS 485. And the aim of acquiring and processing the multi-type angle data into single-degree-of-freedom angle data required by a composite human body pose and sending the single-degree-of-freedom angle data to the main MCU control module for processing is fulfilled.
The control flow of the main MCU control module refers to the main control flow chart of the rehabilitation simulator shown in figure 3. The main MCU control module is used for circularly sending instructions to the slave MCU control module, reading required angle data, synthesizing human body pose single degree of freedom data acquired by the slave MCU control module into human body pose composite degree of freedom data through a pose equation, providing the human body pose composite degree of freedom data to an upper computer display system for display and background data processing, receiving a muscle tension input instruction on an upper computer interface for function implementation, controlling an execution mechanism to move and presenting different muscle tension effects.
The main MCU control module mainly comprises a hardware initialization module, an interface driving module, an interrupt type judging module, a data analyzing and processing module and a communication protocol frame packing and sending module.
The hardware initialization module comprises initialization of an initialization real-time clock of a system kernel, initialization of a serial port RS232, initialization of a serial port RS485 and initialization of a GPIO module. The interface driving module mainly comprises a GPIO interface driver, a serial port RS232 interface driver and a serial port RS485 interface driver. The interrupt type judging module is mainly used for judging whether the interrupt type is the interrupt of the serial port RS232 or the interrupt of the RS 485. The data analysis processing module comprises serial RS232 data packet data analysis, algorithm processing, serial RS485 data packet data analysis and algorithm processing. The communication protocol frame packing and sending module comprises a part for packing and sending data to a serial port RS232 part and an RS485 part respectively according to a custom protocol.
The specific implementation process of the main MCU control module is as follows: after the hardware circuit of the main MCU control module is electrified and initialized, the interface driving module starts to circularly scan, when the RS485 interface is scanned with data, the RS485 interrupt processing is started, the data is reserved for processing by judging whether the data frame is the self-defined protocol frame content, otherwise, the data is lost, the scanning is continued, the data is analyzed from the reserved data according to the self-defined protocol frame content and is used as an input variable of a human body pose composite angle processing algorithm part, and the human body joint pose angle value after the algorithm processing is packaged and sent to an upper computer for display and background storage processing through RS 232. Scanning data on an RS232 interface, starting to receive an instruction of an upper computer, entering RS232 interrupt processing, keeping an interrupt function after judging that the instruction is effective instruction data, otherwise losing the effective instruction data, further judging the effective instruction data, if the instruction is judged to control the MCU slave equipment, packaging the judged instruction into an RS485 data frame, sending the data to a slave MCU control module to control a gyroscope and an angle sensor to perform zero clearing reset operation, controlling the execution equipment after analyzing the effective instruction, further judging which execution equipment is controlled, controlling the execution equipment to output a corresponding torque value after setting the muscle strength grade, and enabling an operator to apply force to pull reversely by combining the external part of a machine body to force the motor to move reversely so as to realize the effect of muscle tension. The purpose of controlling the slave MCU control module and the execution equipment by function conversion through the upper computer instruction, collecting and processing the data of the slave equipment and sending the data to the upper computer for display and background processing is achieved.
Furthermore, the inventors highlighted that: the technical features such as 'gyroscope, angle sensor, euler transformation, pose equation' and the like described in the specification belong to technical features known in the art and are often adopted by engineering technicians in the control field, so that the inventor does not describe the technical features excessively, the invention only processes data by adopting the prior art elements and mathematical knowledge, and one of the invention points is that: by considering the experience in the fields of industrial intelligence, service robots and portable robots, in order to meet the requirements of human body size and special structure, the control scheme of the equipment capable of meeting the requirements of the rehabilitation teaching aid in the field of rehabilitation teaching is provided, the joint mobility is collected through a micro angle sensor and a gyroscope with high cost performance, collected signals are processed into human body composite pose angle data through a slave MCU controller and a master MCU controller and then are uploaded to an upper computer display system, in addition, the main control MCU sends out a control signal according to a muscle tension instruction sent out by the upper computer display system, the control signal is a certain level command of 'muscle tension is divided into 5 levels' which is preset and is transmitted to the execution device, the effect of human muscle tension is simulated through the control of execution equipment, satisfies the purpose that possesses angle display and muscle tension effect to the recovered teaching aid in the recovered teaching.
In the previous description, numerous specific details were set forth in order to provide a thorough understanding of the present invention. The foregoing description is only a preferred embodiment of the invention, which can be embodied in many different forms than described herein, and therefore the invention is not limited to the specific embodiments disclosed above. And that those skilled in the art may, using the methods and techniques disclosed above, make numerous possible variations and modifications to the disclosed embodiments, or modify equivalents thereof, without departing from the scope of the claimed embodiments. Any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the scope of the technical solution of the present invention.
Claims (1)
1. A control method of a control system for rehabilitating the tension of the simulated human belted muscle comprises the control system for rehabilitating the tension of the simulated human belted muscle, wherein the control system comprises an angle collector, an execution device, a slave MCU control module, a master MCU control module and an upper computer display system; the angle collector collects joint angle signals of a rehabilitation simulator and transmits the joint angle signals to the slave MCU control module, the slave MCU control module converts the collected joint angle signals into human body pose single-joint data through an Euler transformation algorithm and uploads the human body pose single-joint data to the main MCU control module, the human body pose single-joint data are synthesized into human body pose composite freedom data through a pose equation by the main MCU control module and are provided to an upper computer display system for display and data background processing, meanwhile, an output instruction is sent to the main MCU control module through the display system, a control instruction is sent to the execution equipment through the main MCU control module, the execution equipment is controlled to output different torques, and the different torques correspond to the myoid tension expressed by the simulator; the angle acquisition equipment comprises an angle sensor and a gyroscope, and the execution equipment is an integrated stepping motor; adopting gyroscope equipment at joints with compact structures and multiple compound degrees of freedom such as shoulder joints and hip joints, acquiring original four-element data, Euler angle data and angular speed data of the gyroscope equipment, converting the data into single-activity angle values through an Euler transformation algorithm in a slave MCU control module, adopting an angle sensor at a place with low compound degrees of freedom and large structural space of wrist joints and elbow joints, acquiring original angle data of the angle sensor as the single-activity angle values, and sending the single-activity angle value data to a master MCU control module in the slave MCU control module through a self-defined protocol packet;
it is characterized in that: the control method comprises a control method for the slave MCU control module and a control method for the master MCU control module; the control method of the slave MCU control module comprises the steps of adopting a hardware initialization module, an interface driving module, an interrupt type judging module, a data analyzing and processing module, a communication protocol frame packing module, a communication data receiving module and a sending module to realize the control of the slave MCU control module; the hardware initialization in the hardware initialization module of the slave MCU control module comprises the initialization of a system kernel, the initialization of a real-time clock, the initialization of a serial port RS232, the initialization of a serial port RS485, the initialization of a timer and the initialization of a GPIO module; the interface driving function of the interface driving module of the slave MCU control module comprises GPIO interface driving, serial RS232 interface driving and serial RS485 interface driving; the judging function of the interrupt type judging module of the slave MCU control module is mainly used for judging whether the interrupt type is the interrupt of a serial port RS232, the interrupt of RS485 or the interrupt of a timer, and the realization method of the interrupt type judging module comprises the following steps: when the RS232 interrupt condition is identified to be triggered, entering an RS232 interrupt processing module, when the RS485 interrupt condition is identified to be triggered, entering an RS485 interrupt processing module, and when the timer interrupt condition is identified to be triggered, entering a timer interrupt processing module; the analysis processing in the data analysis processing module of the slave MCU control module comprises the analysis processing of a serial port RS232 data packet, the analysis processing of a serial port RS485 data packet and the analysis processing of timer pulse data; the analysis processing of the serial port RS232 data packet data is to analyze the received effective data one by one through self-defined RS232 data frame protocol content, and store the corresponding effective data for solving the pose angle data; the analysis processing of the serial port RS485 data packet data is to analyze the received effective data one by one through self-defined RS485 data frame protocol content, and store the corresponding data for setting initial positions and state values of a gyroscope and an angle sensor; the analysis processing of the timer pulse data is to count the number of pulses in unit time of the angle sensor through the timing of the timer, convert the number of pulses into activity angle data through data conversion, and store corresponding data for solving pose angle data; the communication protocol frame packing and sending module of the slave MCU control module comprises a part for packing and sending data to a serial port RS232 part and an RS485 part respectively according to a custom protocol; the control method of the main MCU control module comprises the steps of adopting a hardware initialization module, an interface driving module, an interrupt type judging module, a data analyzing and processing module and a communication protocol frame packing and sending module to realize the control of the main MCU control module; the hardware initialization in the hardware initialization module of the main MCU control module comprises the initialization of an initialization real-time clock of a system kernel, the initialization of a serial port RS232, the initialization of a serial port RS485 and the initialization of a GPIO module; the driving method of the interface driving module comprises a GPIO interface driving method, a serial port RS232 interface driving method and a serial port RS485 interface driving method; the judging method of the interrupt type judging module is mainly used for judging whether the interrupt type is the interrupt of a serial port RS232 or the interrupt of RS 485; the analysis processing method of the data analysis processing module comprises the analysis and algorithm processing of serial RS232 data packet data and the analysis and algorithm processing method of serial RS485 data packet data; the communication protocol frame packing and sending method of the sending module comprises a method for packing and sending data to a serial port RS232 part and an RS485 part respectively according to a custom protocol.
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| CN110733055B (en) * | 2019-10-25 | 2022-03-18 | 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 |
| CN110853470B (en) * | 2019-12-05 | 2024-07-23 | 哈工大机器人（合肥）国际创新研究院 | Rehabilitation simulation human posture system with source end data fusion and control method thereof |
| CN111415565B (en) * | 2020-03-31 | 2022-06-14 | 哈工大机器人（合肥）国际创新研究院 | Method for realizing rehabilitation simulation of human muscle tension grade |
| 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 |
| 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 |
| 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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