CN110403799A - The passive rehabilitation training of upper limbs system of master and training method based on SCARA robot - Google Patents
The passive rehabilitation training of upper limbs system of master and training method based on SCARA robot Download PDFInfo
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- CN110403799A CN110403799A CN201910766512.1A CN201910766512A CN110403799A CN 110403799 A CN110403799 A CN 110403799A CN 201910766512 A CN201910766512 A CN 201910766512A CN 110403799 A CN110403799 A CN 110403799A
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- 238000012549 training Methods 0.000 title claims abstract description 101
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 title claims abstract description 15
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- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 230000000875 corresponding effect Effects 0.000 claims description 26
- 238000002567 electromyography Methods 0.000 claims description 22
- 238000006073 displacement reaction Methods 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 5
- 210000000245 forearm Anatomy 0.000 claims description 5
- 208000001738 Nervous System Trauma Diseases 0.000 claims description 4
- 210000003169 central nervous system Anatomy 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 4
- 208000028412 nervous system injury Diseases 0.000 claims description 4
- 239000002775 capsule Substances 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000001771 impaired effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000012552 review Methods 0.000 claims description 3
- 208000006011 Stroke Diseases 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 206010008190 Cerebrovascular accident Diseases 0.000 description 5
- 230000002490 cerebral effect Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 4
- 206010019468 Hemiplegia Diseases 0.000 description 3
- 210000004556 brain Anatomy 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000003813 thumb Anatomy 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 208000012661 Dyskinesia Diseases 0.000 description 1
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- 206010033799 Paralysis Diseases 0.000 description 1
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- 230000003247 decreasing effect Effects 0.000 description 1
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- 210000000852 deltoid muscle Anatomy 0.000 description 1
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Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
-
- 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
Abstract
The passive rehabilitation training of upper limbs system of master based on SCARA robot, including SCARA robot architecture, fupport arm is rotatably connected in SCARA robot, the air bag of tubular is installed in fupport arm, aerating and exhaust device is connected on air bag, multiple electromyographic signal collection electrode slices are fixedly connected on the air bag inner wall, multiple electromyographic signal collection electrode slice connection transmission signals are also equipped with acceleration transducer in fupport arm lower part to host computer is controlled.The passive rehabilitation training of upper limbs method of master based on SCARA robot finds corresponding trained menu according to patient profiles comprising steps of forming training menu database.Present device structure is simple, at low cost, be easy to control, and training expenses are low.
Description
Technical field
The present invention relates to rehabilitation training of upper limbs, in particular to rehabilitation training of upper limbs system and training side in two-dimensional surface
Method belongs to rehabilitation equipment technical field.
Background technique
Rehabilitation training of upper limbs system is improved since central nervous system injury (common are cerebral apoplexy, brain trauma and brain paralysis) draws
The new tool of the upper limb disorder risen.Cerebral apoplexy refers to the rupture internal haemorrhage that cerebrovascular accident occurs or acute occlusion to brain
It is seriously damaged caused by function, result may be death, stupor, hemiplegia, aphasia and other dyskinesias etc., there is high cause
Dead rate and disability rate.The trend constantly risen is just presented in the disease incidence of China's cerebral apoplexy at present, with the raising of medical level, brain
The stroke death rate is decreased obviously, but its disability rate is still up to 80% or more, and there are serious sequelae, hemiplegias to be then by most of patient
Wherein most commonly seen one of performance, for hemiplegia caused by cerebral apoplexy, the time of rehabilitation intervention is more late, patient's suffering limb function
The hope that can restore, so that family numbers of patients and society need spend great cost to treat and care of patients, gives house with regard to smaller
Front yard and society bring economic and stress.Due to the influence of human lives' factor, lower limb rehabilitation generally can all reach certain
The raising of degree, and upper limb healing is due to the inertia of people, the reasons such as subconsciousness cause disability rate high, with medical health
The fast development of recovering technology, upper limb healing system are gradually introduced in the rehabilitation training of patient, have merged medicine, life
The subjects such as object, mechanics, aesthetics, information and computer science meet the training strength requirement of different patients, are suitable for
Patient independently carries out rehabilitation training, realizes the recovery of upper extremity function.
Existing some recovery exercising robots on the market, upper limb exoskeleton rehabilitation robot, by pedestal, two mechanical arms
Component and six motor drive component compositions, can be realized simultaneously the rehabilitation training of right-hand man, but localised load is big, mechanism is multiple
Miscellaneous degree is bigger than normal with weight, and operation learning cost is high.The fixed form of mechanical arm will cause wearer's discomfort, and wear time is long, no
It is able to satisfy the rehabilitation training of long period.Big forearm lengths also increase the triviality of operation using manually adjusting.The fortune of patient
Dynamic intention is difficult to be embodied in rehabilitation course, so that not interacting in entire rehabilitation training, dull, training mould
The defects of formula is single, man-machine interaction is poor, does not assess, and patient's training feedback and training parameter cannot intuitively reflect, Huan Zhetong
The sense of accomplishment of training recovery can not be directly obtained by crossing training aids；Enthusiasm, interest and the initiative that patient participates in are lacking.
Existing equipment on the market, it is to dispose infrared frame on the table that coordinates of motion displacement sense part, which is largely application, by red
The infrared induction of outline border judges coordinates of motion position, limits field of employment, increases weight of equipment.
Summary of the invention
It is an object of the invention to overcome the above problem present in current rehabilitation training of upper limbs, one kind is provided and is based on
The passive rehabilitation training of upper limbs system of the master of SCARA robot.
To achieve the purpose of the present invention, using following technical solutions: the passive upper limb health of master based on SCARA robot
Multiple training system, including upper cantilever, are fixedly installed the first driving motor, lower cantalever one end is connected to the first drive on upper cantilever
On the output shaft of dynamic motor, the second driving motor is provided on the other end of lower cantalever, one end of mounting base is connected to the second drive
On the output shaft of dynamic motor, rotary encoder, rotary encoder and control are mounted on the first driving motor, the second driving motor
Communication connection between host computer processed, the first output shaft, the second output shaft are vertical direction, the installation that fupport arm passes through vertical direction
Axis is rotatably connected on the other end of mounting base, and the air bag of tubular is equipped in fupport arm, and aerating and exhaust device, institute are connected on air bag
Multiple electromyographic signal collection electrode slices, multiple electromyographic signal collection electrode slice connection transmission are fixedly connected on the air bag inner wall stated
Signal is also equipped with acceleration transducer, acceleration transducer connection transmission signal to control to host computer is controlled, in fupport arm lower part
Host computer processed, the first driving motor, the second driving motor output on be also equipped with torque sensor, torque sensor connection is defeated
Signal is to controlling host computer out.
Further, it is fixedly installed with circular orbit in the front of fupport arm, rotation is provided with inner ring in circular orbit, along interior
Ring diameter direction is fixedly installed handle, and electromyographic signal collection electrode slice is fixedly connected on handle, is equipped with pressure on handle
Sensor, pressure sensor connection transmission signal are mounted on circular orbit to host computer, the acceleration transducer is controlled
Lower end.
Further, there is scale on the circular orbit.
Further, the acceleration transducer between wireless signal or wire signal and control host computer by carrying out
Communication.
Further, display is connected on control host computer.
The passive rehabilitation training of upper limbs method of master based on SCARA robot any is based on SCARA robot using above-mentioned
The passive rehabilitation training of upper limbs system of master, comprising the following steps:
A: multiple upper extremity exercise impaired patients as caused by central nervous system injury are chosen, the illness upper limb of each patient is protruded into gas
In capsule, hand holds handle, is inflated to setting pressure to air bag, each electromyographic signal collection electrode slice generates signal and is delivered to control
Host computer obtains the electromyography signal value of each patient；
B: patient is grouped, and the patient of electromyography signal value difference 10% is one group, patient's upper limb after grouping in manual review each group
Whether extent has different cause situation, if any re-starting step A repetition measurement；
C: each group patient uses the passive rehabilitation training of upper limbs system of the master based on SCARA robot respectively, and obtaining can be led
It moves the patient of training and the group of passive exercise can only be carried out；
D: patient's group for that can only carry out passive exercise is all made of different training parameters in every group and is trained, described
Training parameter include first motor rotational angle, it is velocity of rotation, output torque, the second motor rotational angle, velocity of rotation, defeated
Torque out, and be displaced accordingly according to the signal that acceleration transducer exports；Two are selected according to the Bearing degree of patient
The motor rotational angle of motor, velocity of rotation, output torque the larger value and it is displaced the larger value instruction corresponding as this group of patient
Practice menu, be stored in control host computer, for patient's group of active training can be carried out, in addition to using and quilt can only be carried out
The identical method of patient's group for moving training obtains also obtaining its corresponding master in the following manner outside its corresponding training menu
Dynamic training menu: allowing patient's upper limb active movement, and in active movement, first motor, the second motor gradually increase opposing torque,
It is displaced further according to the signal of acceleration transducer output, is obtained accordingly according to the opposing torque that patient can overcome accordingly
Maximum reverse torque be stored in control host computer in；
E: when the upper machine of patient is trained, upper limb forearm is protruded into air bag, is inflated to setting pressure, each electromyographic signal collection electricity to air bag
Pole piece generates signal and is delivered to control host computer, obtains the electromyography signal value of each patient, is determined according to the size of electromyography signal value
Whether patient can carry out active training, if passive exercise can only be carried out, according to the myoelectricity being stored in control host computer
The corresponding patient's group menu of the size of signal value is trained；If active training can be carried out, patient is allowed to select actively
Trained or passive exercise selects size when passive exercise according to the electromyography signal value being stored in control host computer corresponding
Patient's group menu is trained；When selecting active training, the opposing torque that first motor, the second motor apply in training is
0.5-0.7 times of the other maximum reverse torque of respective sets.
Further, games are installed in control host computer, when the value or displacement signal value of holding power transducer
When reaching setting value, the corresponding actions in game are triggered, the value or displacement signal value of holding power transducer reach setting value each group
It is not different.
Further, patient is as uncomfortable in trained in passive exercise in step E, can be switched by selection to next stage training
Menu conversion, next stage training menu refer to the corresponding trained menu of group that electromyography signal value becomes smaller.
Further, patient increases by the first electricity in the case that displacement signal is increasing in active training in step E
Machine, the second motor apply opposing torque, more than maximum reverse torque in the case where still have displacement, then turn to upper level training
Menu, upper level training menu refer to the corresponding trained menu of group that electromyography signal value becomes larger.
Positive advantageous effects of the invention are: present device structure is simple, at low cost, be easy to control, training
Expense is low, wide adaptation range, and the mode of air bag constraint forearm is the pain that patient's arm in training exempts from bandage Le, according to not
It can be trained automatically with the case where patient, each parameter can show, can record in training, and patient can be made intuitively to feel instruction
Experienced effect improves the enthusiasm that patient's training participates in, and in combination with game in training, increases the interest of training process and pleased
Happy property is conducive to comprehensive raising training effect.
Detailed description of the invention
Fig. 1 is overall schematic of the invention.
Fig. 2 is the schematic diagram at fupport arm.
Fig. 3 is the partial schematic diagram in mounting table.
Specific embodiment
In order to more fully explain implementation of the invention, embodiment of the invention is provided, these embodiments are only
To elaboration of the invention, do not limit the scope of the invention.
In conjunction with attached drawing to further details of explanation is invented, respectively marked in attached drawing are as follows:
1: mounting table；2: control host computer casing；3: display；4: upper cantilever；5: lower cantalever；6: mounting base；7: fupport arm；8:
Air bag；9: circular orbit；10: inner ring；11: handle；12: scram button one；13: scram button two；14: pressure sensor；15:
Scale；16: air pump；17: the first driving motors；18: the second driving motors；19: electromyographic signal collection electrode slice.
As shown in the picture, the passive rehabilitation training of upper limbs system of master based on SCARA robot, including upper cantilever 4, upper cantilever
It is mounted in mounting table 1 by controlling host computer casing 2, the first driving motor 17 is fixedly installed on upper cantilever, it is lower outstanding
Arm one end is connected on the output shaft of the first driving motor, and the second driving motor 18 is provided on the other end of lower cantalever 5, above
SCARA robot architecture is formed, one end of mounting base is connected on the output shaft of the second driving motor, the first driving motor, the
Rotary encoder is mounted on two driving motors, communication connection between rotary encoder and control host computer is upper controlling
Display 3 is connected on machine, the first output shaft, the second output shaft are vertical direction, the installation axle that fupport arm 7 passes through vertical direction
It is rotatably connected on the other end of mounting base, the air bag 8 of tubular is installed in fupport arm, is connected with aerating and exhaust device on air bag, this
In application, aerating and exhaust device uses air pump 16, is fixedly connected with multiple electromyographic signal collection electrode slices on the air bag inner wall
19 show an electromyographic signal collection electrode slice, and it is corresponding that following flesh block can be used in the electromyographic signal collection electrode slice in air bag
Electrode slice:: test musculus flexor carpi radialis, brachioradialis, musculus extensor carpi radialis longus, musculus flexor digitorum sublimis, pronator teres, musculus extensor brevis pollicis, thumb length are stretched
Flesh, musculus flexor carpi ulnaris, long abductor muscle of thumb, musculus palmaris longus, musculus extensor carpi radilis brevis, musculus flexor carpi radialis, pronator teres in the present embodiment, remove
Have outside electromyographic signal collection electrode slice in air bag, multiple external electromyographic signal collection electrode slices can also be set for adopting
Collect data, external electrode piece can correspond to following flesh block: brachialis, the upper arm two, the upper arm three and deltoid muscle.
Multiple electromyographic signal collection electrode slice connection transmission signals are also equipped with acceleration in fupport arm lower part to host computer is controlled
Sensor is spent, acceleration transducer is not shown in figure, and acceleration transducer is for measuring displacement, acceleration transducer connection
Transmission signal passes through between wireless signal or wire signal and control host computer to host computer, the acceleration transducer is controlled
Communicated, the first driving motor, the second driving motor output on be also equipped with torque sensor, torque sensor connection is defeated
Signal is to controlling host computer out.It is fixedly installed with circular orbit 9 in the front of fupport arm, there is scale on the circular orbit
15, the interior rotation of circular orbit is provided with inner ring 10, is fixedly installed handle 11 along annular diameters direction, is fixedly connected on handle
Electromyographic signal collection electrode slice is equipped with pressure sensor on handle, and 14 show pressure sensor, and pressure sensor connection passes
Defeated signal is mounted on the lower end of circular orbit to host computer, the acceleration transducer is controlled.Grip surface installs electrode slice
Grip electromyography signal is received for acquiring, has and reaches trained patient's by installing two pressure sensors inside it
The function of hand grip, handle are mounted in the inner ring slipper of round circular orbit, and inner ring slipper has training arm rotation (preceding
Rotation, back spin) rehabilitation training function, and be shown in outside terminal screen rotation offset angle and inner ring sliding rail by sensor
Circular orbit on indicate rotating scale, for showing and the functions such as inner ring slipper relative angle.
The passive rehabilitation training of upper limbs method of master based on SCARA robot any is based on SCARA robot using above-mentioned
The passive rehabilitation training of upper limbs system of master, comprising the following steps:
A: multiple upper extremity exercise impaired patients as caused by central nervous system injury are chosen, the illness upper limb of each patient is protruded into gas
In capsule, hand holds handle, is inflated to setting pressure to air bag, each electromyographic signal collection electrode slice generates signal and is delivered to control
Host computer obtains the electromyography signal value of each patient；
B: patient is grouped, and the patient of electromyography signal value difference 10% is one group, patient's upper limb after grouping in manual review each group
Whether extent has different cause situation, if any re-starting step A repetition measurement；
C: each group patient uses the passive rehabilitation training of upper limbs system of the master based on SCARA robot respectively, and obtaining can be led
It moves the patient of training and the group of passive exercise can only be carried out；
D: patient's group for that can only carry out passive exercise is all made of different training parameters in every group and is trained, described
Training parameter include first motor rotational angle, it is velocity of rotation, output torque, the second motor rotational angle, velocity of rotation, defeated
Torque out, and be displaced accordingly according to the signal that acceleration transducer exports；Two are selected according to the Bearing degree of patient
The motor rotational angle of motor, velocity of rotation, output torque the larger value and it is displaced the larger value instruction corresponding as this group of patient
Practice menu, be stored in control host computer, for patient's group of active training can be carried out, in addition to using and quilt can only be carried out
The identical method of patient's group for moving training obtains also obtaining its corresponding master in the following manner outside its corresponding training menu
Dynamic training menu: allowing patient's upper limb active movement, and in active movement, first motor, the second motor gradually increase opposing torque,
It is displaced further according to the signal of acceleration transducer output, is obtained accordingly according to the opposing torque that patient can overcome accordingly
Maximum reverse torque be stored in control host computer in；
E: when the upper machine of patient is trained, upper limb forearm is protruded into air bag, is inflated to setting pressure, each electromyographic signal collection electricity to air bag
Pole piece generates signal and is delivered to control host computer, obtains the electromyography signal value of each patient, is determined according to the size of electromyography signal value
Whether patient can carry out active training, if passive exercise can only be carried out, according to the myoelectricity being stored in control host computer
The corresponding patient's group menu of the size of signal value is trained；If active training can be carried out, patient is allowed to select actively
Trained or passive exercise selects size when passive exercise according to the electromyography signal value being stored in control host computer corresponding
Patient's group menu is trained；When selecting active training, the opposing torque that first motor, the second motor apply in training is
0.5-0.7 times of the other maximum reverse torque of respective sets.
Further, games are installed in control host computer, when the value or displacement signal value of holding power transducer
When reaching setting value, the corresponding actions in game are triggered, the value or displacement signal value of holding power transducer reach setting value each group
It is not different, such as the corresponding shooting game of holding power transducer cooperation, the balanced class game of patient is tested, such as grabs and places and is flat
The operations game such as weighing apparatus plate, but not limited to this game of class form, the signal about holding power transducer drives game action, current
Many rehabilitations and amusement equipment on have ready-made application.
Further, patient is as uncomfortable in trained in passive exercise in step E, can be switched by selection to next stage training
Menu conversion, next stage training menu refer to the corresponding trained menu of group that electromyography signal value becomes smaller.
Further, patient increases by the first electricity in the case that displacement signal is increasing in active training in step E
Machine, the second motor apply opposing torque, more than maximum reverse torque in the case where still have displacement, then turn to upper level training
Menu, upper level training menu refer to the corresponding trained menu of group that electromyography signal value becomes larger.
After the embodiment that the present invention will be described in detail, one of ordinary skilled in the art is clearly understood that, is not being taken off
It is lower from above-mentioned claim and spirit to carry out various change and modify, it is all according to the technical essence of the invention to the above reality
Any simple modification, equivalent change and modification made by example are applied, belong to the range of technical solution of the present invention, and the present invention is also not
It is limited to the embodiment of example in specification.
Claims (9)
1. the passive rehabilitation training of upper limbs system of master based on SCARA robot, including upper cantilever, it is characterised in that: in upper cantilever
On be fixedly installed the first driving motor, lower cantalever one end is connected on the output shaft of the first driving motor, lower cantalever it is another
The second driving motor is provided on end, one end of mounting base is connected on the output shaft of the second driving motor, the first driving motor,
Rotary encoder, communication connection between rotary encoder and control host computer, the first output are mounted on second driving motor
Axis, the second output shaft are vertical direction, and fupport arm is rotatably connected on the other end of mounting base, In by the installation axle of vertical direction
The air bag of tubular is installed in fupport arm, aerating and exhaust device is connected on air bag, is fixedly connected on the air bag inner wall multiple
Electromyographic signal collection electrode slice, multiple electromyographic signal collection electrode slice connection transmission signals are to host computer is controlled, in fupport arm lower part
It is also equipped with acceleration transducer, acceleration transducer connection transmission signal drives to host computer, the first driving motor, second is controlled
Torque sensor is also equipped in the output of dynamic motor, torque sensor connection outputs signal to control host computer.
2. the passive rehabilitation training of upper limbs system of the master according to claim 1 based on SCARA robot, it is characterised in that:
It is fixedly installed with circular orbit in the front of fupport arm, rotation is provided with inner ring in circular orbit, and fixation is set along annular diameters direction
It is equipped with handle, electromyographic signal collection electrode slice is fixedly connected on handle, pressure sensor, pressure sensor are installed on handle
Connection transmission signal is mounted on the lower end of circular orbit to host computer, the acceleration transducer is controlled.
3. the passive rehabilitation training of upper limbs system of the master according to claim 2 based on SCARA robot, it is characterised in that:
There is scale on the circular orbit.
4. the passive rehabilitation training of upper limbs system of the master according to claim 1 based on SCARA robot, it is characterised in that:
The acceleration transducer between wireless signal or wire signal and control host computer by being communicated.
5. the passive rehabilitation training of upper limbs system of the master according to claim 1 based on SCARA robot, it is characterised in that:
Display is connected on control host computer.
6. the passive rehabilitation training of upper limbs method of master based on SCARA robot, is based on using any described in claim 1-5
The passive rehabilitation training of upper limbs system of the master of SCARA robot, it is characterised in that: the following steps are included:
A: multiple upper extremity exercise impaired patients as caused by central nervous system injury are chosen, the illness upper limb of each patient is protruded into gas
In capsule, hand holds handle, is inflated to setting pressure to air bag, each electromyographic signal collection electrode slice generates signal and is delivered to control
Host computer obtains the electromyography signal value of each patient；
B: patient is grouped, and the patient of electromyography signal value difference 10% is one group, patient's upper limb after grouping in manual review each group
Whether extent has different cause situation, if any re-starting step A repetition measurement；
C: each group patient uses the passive rehabilitation training of upper limbs system of the master based on SCARA robot respectively, and obtaining can be led
It moves the patient of training and the group of passive exercise can only be carried out；
D: patient's group for that can only carry out passive exercise is all made of different training parameters in every group and is trained, described
Training parameter include first motor rotational angle, it is velocity of rotation, output torque, the second motor rotational angle, velocity of rotation, defeated
Torque out, and be displaced accordingly according to the signal that acceleration transducer exports；Two are selected according to the Bearing degree of patient
The motor rotational angle of motor, velocity of rotation, output torque the larger value and it is displaced the larger value instruction corresponding as this group of patient
Practice menu, be stored in control host computer, for patient's group of active training can be carried out, in addition to using and quilt can only be carried out
The identical method of patient's group for moving training obtains also obtaining its corresponding master in the following manner outside its corresponding training menu
Dynamic training menu: allowing patient's upper limb active movement, and in active movement, first motor, the second motor gradually increase opposing torque,
It is displaced further according to the signal of acceleration transducer output, is obtained accordingly according to the opposing torque that patient can overcome accordingly
Maximum reverse torque be stored in control host computer in；
E: when the upper machine of patient is trained, upper limb forearm is protruded into air bag, is inflated to setting pressure, each electromyographic signal collection electricity to air bag
Pole piece generates signal and is delivered to control host computer, obtains the electromyography signal value of each patient, is determined according to the size of electromyography signal value
Whether patient can carry out active training, if passive exercise can only be carried out, according to the myoelectricity being stored in control host computer
The corresponding patient's group menu of the size of signal value is trained；If active training can be carried out, patient is allowed to select actively
Trained or passive exercise selects size when passive exercise according to the electromyography signal value being stored in control host computer corresponding
Patient's group menu is trained；When selecting active training, the opposing torque that first motor, the second motor apply in training is
0.5-0.7 times of the other maximum reverse torque of respective sets.
7. the passive rehabilitation training of upper limbs method of the master according to claim 6 based on SCARA robot, it is characterised in that:
Games are installed in control host computer, when the value of holding power transducer or displacement signal value reach setting value, triggering
Corresponding actions in game, it is different that the value or displacement signal value of holding power transducer reach each group of setting value.
8. the passive rehabilitation training of upper limbs method of the master according to claim 6 based on SCARA robot, it is characterised in that:
Patient can be switched to next stage training menu conversion, next stage is instructed such as training discomfort in passive exercise by selection in step E
Practice the corresponding trained menu of group that menu refers to that electromyography signal value becomes smaller.
9. the passive rehabilitation training of upper limbs method of the master according to claim 6 based on SCARA robot, it is characterised in that:
Patient is in the case that displacement signal is increasing in active training in step E, increase first motor, the second motor apply it is anti-
To torque, more than maximum reverse torque in the case where still have displacement, then turn to upper level training menu, upper level training menu
Refer to the corresponding trained menu of group that electromyography signal value becomes larger.
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