CN110403799B - Active and passive upper limb rehabilitation training system and method based on SCARA robot - Google Patents
Active and passive upper limb rehabilitation training system and method based on SCARA robot Download PDFInfo
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- CN110403799B CN110403799B CN201910766512.1A CN201910766512A CN110403799B CN 110403799 B CN110403799 B CN 110403799B CN 201910766512 A CN201910766512 A CN 201910766512A CN 110403799 B CN110403799 B CN 110403799B
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- 238000012549 training Methods 0.000 title claims abstract description 139
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000001133 acceleration Effects 0.000 claims abstract description 20
- 230000003183 myoelectrical effect Effects 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 230000000875 corresponding effect Effects 0.000 claims description 38
- 230000002441 reversible effect Effects 0.000 claims description 24
- 238000006073 displacement reaction Methods 0.000 claims description 22
- 208000012661 Dyskinesia Diseases 0.000 claims description 4
- 208000028389 Nerve injury Diseases 0.000 claims description 4
- 210000000245 forearm Anatomy 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 4
- 230000008764 nerve damage Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 201000010099 disease Diseases 0.000 claims description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 claims description 3
- 238000013102 re-test Methods 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims 1
- 230000002490 cerebral effect Effects 0.000 description 9
- 206010008190 Cerebrovascular accident Diseases 0.000 description 6
- 208000006011 Stroke Diseases 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 206010019468 Hemiplegia Diseases 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
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- 230000004048 modification Effects 0.000 description 2
- 206010010071 Coma Diseases 0.000 description 1
- 208000032843 Hemorrhage Diseases 0.000 description 1
- 206010056720 Muscle mass Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 241000411545 Punargentus Species 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 201000007201 aphasia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000007547 defect Effects 0.000 description 1
- 210000000852 deltoid muscle Anatomy 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 208000014674 injury Diseases 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Animal Behavior & Ethology (AREA)
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Abstract
The active and passive upper limb rehabilitation training system based on the SCARA robot comprises a SCARA robot structure, an arm support is rotatably connected to the SCARA robot, a cylindrical air bag is installed in the arm support, an inflation and deflation device is connected to the air bag, a plurality of myoelectric signal acquisition electrode plates are fixedly connected to the inner wall of the air bag, the plurality of myoelectric signal acquisition electrode plates are connected with a transmission signal to a control upper computer, and an acceleration sensor is further installed at the lower part of the arm support. A SCARA robot-based active and passive upper limb rehabilitation training method comprises the following steps: forming a training menu database, and finding out a corresponding training menu according to the condition of the patient. The device has the advantages of simple structure, low cost, easy control and low training cost.
Description
Technical Field
The invention relates to upper limb rehabilitation training, in particular to an upper limb rehabilitation training system and an upper limb rehabilitation training method in a two-dimensional plane, and belongs to the technical field of rehabilitation equipment.
Background
The upper limb rehabilitation training system is a new means for improving upper limb dysfunction caused by central nerve injury (common cerebral apoplexy, cerebral trauma and cerebral paralysis). Cerebral apoplexy is the serious damage to brain function caused by internal hemorrhage caused by rupture or acute occlusion of cerebral vascular accident, and the result may be death, coma, hemiplegia, aphasia, other dyskinesia, etc. with high mortality and disability rate. At present, the incidence rate of cerebral apoplexy in China is continuously rising, the death rate of cerebral apoplexy is obviously reduced along with the improvement of medical level, but the disability rate of the cerebral apoplexy is still more than 80%, most patients remain serious sequelae, hemiplegia is one of the most common manifestations, and for hemiplegia caused by cerebral apoplexy, the later the time of rehabilitation treatment intervention is, the smaller the hope of recovering the function of the affected limb of the patient is, so that the family and society of the patient need to spend great cost for treating and nursing the patient, and economic and mental stress is brought to families and society. Because of the influence of human living factors, the lower limb rehabilitation generally can be improved to a certain extent, but the disability rate is high due to the inertia, subconscious and other reasons of the human body, along with the rapid development of the medical rehabilitation technology, the upper limb rehabilitation system is gradually introduced into the rehabilitation training process of the patient, and integrates various subjects such as medicine, biology, mechanics, aesthetics, information, computer science and the like, thereby meeting the training strength requirements of different patients, being suitable for the independent rehabilitation training of the patient and realizing the recovery of the upper limb function.
The existing rehabilitation training robots on the market comprise a base, two mechanical arm assemblies and six motor driving assemblies, can realize the rehabilitation training of left and right hands at the same time, but have large local load, large mechanism complexity and weight and high operation and learning cost. The fixed mode of arm can cause the wearer uncomfortable, and the wearing time is long, can not satisfy the rehabilitation training of longer time. The length of the big arm and the small arm is manually adjusted, and the complexity of operation is increased. The exercise intention of the patient is hardly reflected in the rehabilitation process, so that the whole rehabilitation training process has the defects of no interaction, monotonous and tedious training mode, single human-computer interaction and the like, is not evaluated, the training feedback and the training parameters of the patient cannot be intuitively reflected, and the patient cannot directly obtain the achievement of training and recovering through a trainer; the enthusiasm, interest and initiative of patient participation are lacking. Most of the existing commercial devices are provided with infrared frames on the desktop, and the infrared sensing of the infrared frames is used for judging the positions of the motion coordinates, so that the use places are limited, and the weight of the devices is increased.
Disclosure of Invention
The invention aims to overcome the problems in the prior upper limb rehabilitation training and provides an active and passive upper limb rehabilitation training system based on a SCARA robot.
In order to achieve the purpose of the invention, the following technical scheme is adopted: the utility model provides an active and passive upper limbs rehabilitation training system based on SCARA robot, including last cantilever, the fixed first driving motor that is provided with on last cantilever, lower cantilever one end is connected on first driving motor's output shaft, be provided with the second driving motor on the other end of lower cantilever, the one end of mount pad is connected on second driving motor's output shaft, all install rotary encoder on first driving motor, the second driving motor, communication connection between rotary encoder and the control host computer, first output shaft, the second output shaft is vertical direction, the arm holds in the palm the other end at the mount pad through the installation axle rotation of vertical direction, install cylindric gasbag in the arm holds in the palm, be connected with the gassing device on the gasbag, gasbag inner wall on fixedly connected with a plurality of electromyographic signal acquisition electrode pieces, a plurality of electromyographic signal acquisition electrode pieces connect transmission signal to the control host computer, still install acceleration sensor in arm holds in the lower part, acceleration sensor connects transmission signal to the control host computer, still install torque sensor on the output of first driving motor, the second driving motor connects output signal to the control host computer.
Further, the front part of the arm support is fixedly provided with an annular track, an inner ring is arranged in the annular track in a rotating manner, a handle is fixedly arranged along the diameter direction of the inner ring, an electromyographic signal collecting electrode plate is fixedly connected to the handle, a pressure sensor is arranged on the handle, the pressure sensor is connected with a transmission signal to a control upper computer, and the acceleration sensor is arranged at the lower end of the annular track.
Furthermore, the annular track is provided with scales.
Furthermore, the acceleration sensor is communicated with the control upper computer through wireless signals or wired signals.
Further, a display is connected to the control upper computer.
The active and passive upper limb rehabilitation training method based on the SCARA robot adopts any active and passive upper limb rehabilitation training system based on the SCARA robot, and comprises the following steps:
a: selecting a plurality of patients with upper limb dyskinesia caused by central nerve injury, stretching diseased upper limbs of each patient into an air bag, holding a handle by hands, inflating the air bag to a set pressure, and transmitting signals generated by each electromyographic signal acquisition electrode plate to a control upper computer to obtain electromyographic signal values of each patient;
b: grouping patients, wherein the patients with myoelectric signal values differing by 10% are one group, and manually checking whether the upper limb disease degree of the patients in each group is obviously inconsistent or not after grouping, if yes, re-performing the retest in the step A;
C: each group of patients respectively use an active and passive upper limb rehabilitation training system based on the SCARA robot to obtain patients capable of active training and groups capable of only passive training;
D: for patient groups which can only carry out passive training, different training parameters are adopted in each group to carry out training, wherein the training parameters comprise a first motor rotation angle, a rotation speed, an output torque, a second motor rotation angle, a rotation speed and an output torque, and corresponding displacement is obtained according to signals output by an acceleration sensor; the method comprises the steps of selecting motor rotation angles, rotation speeds and larger output torque values of two motors and larger displacement values of the two motors according to the bearing degree of patients, storing the motor rotation angles, rotation speeds and larger output torque values as training menus corresponding to the group of patients in a control upper computer, and obtaining corresponding training menus of the group of patients capable of performing active training by adopting the same method as that of the group of patients capable of performing passive training, wherein the corresponding active training menus are obtained by the following modes: enabling the upper limb of the patient to actively move, gradually increasing reverse moment by the first motor and the second motor during active movement, obtaining corresponding displacement according to signals output by the acceleration sensor, obtaining corresponding maximum reverse moment according to the reverse moment which can be overcome by the patient, and storing the maximum reverse moment in the control upper computer;
e: when a patient goes on the machine to train, the upper limb and the forearm extend into the air bag, the air bag is inflated to set pressure, each electromyographic signal is collected to generate a signal by the electrode plate and is transmitted to the control upper computer, the electromyographic signal value of each patient is obtained, whether the patient can perform active training or not is determined according to the magnitude of the electromyographic signal value, and if the patient can only perform passive training, the training is performed according to a patient group menu corresponding to the magnitude of the electromyographic signal value stored in the control upper computer; if the active training can be performed, the patient selects the active training or the passive training, and the patient group menu corresponding to the magnitude of the electromyographic signal value stored in the control upper computer is used for training when the passive training is selected; when active training is selected, the reverse moment applied by the first motor and the second motor in the training is 0.5-0.7 times of the maximum reverse moment of the corresponding group.
Further, a game program is installed in the control upper computer, when the value of the holding force sensor or the displacement signal value reaches a set value, corresponding actions in the game are triggered, and the holding force sensor value or the displacement signal value reaches different groups.
Furthermore, in the step E, if the patient is uncomfortable to train in the passive training, the patient can switch to the next training menu through the selection switch, and the next training menu refers to the training menu corresponding to the group with the smaller myoelectric signal value.
Further, in the step E, under the condition that the displacement signal of the active training is larger and larger, the reverse moment applied by the first motor and the second motor is increased, and under the condition that the maximum reverse moment is exceeded, the displacement is still generated, the patient turns to the upper-level training menu, and the upper-level training menu refers to the training menu corresponding to the group with the larger myoelectric signal value.
The invention has the positive and beneficial technical effects that: the device has the advantages of simple structure, low cost, easy control, low training cost and wide application range, the mode of restraining the forearm by the air bag is that the arm of the patient does not need to be painful by the binding belt in the training, the training can be automatically carried out according to the conditions of different patients, each parameter in the training can be displayed and recorded, the patient can intuitively feel the training effect, the enthusiasm of the patient in training participation is improved, the game can be combined in the training, the interestingness and pleasure of the training process are increased, and the comprehensive improvement of the training effect is facilitated.
Drawings
Fig. 1 is an overall schematic of the present invention.
Fig. 2 is a schematic view of the arm rest.
Fig. 3 is a partial schematic view of a mounting table.
Detailed Description
Examples of embodiments of the present invention are provided for more fully explaining the practice of the present invention, and are merely illustrative of the present invention and do not limit the scope of the present invention.
The invention will be explained in further detail with reference to the accompanying drawings, in which:
1: installing a table top; 2: controlling an upper computer shell; 3: a display; 4: an upper cantilever; 5: a lower cantilever; 6: a mounting base; 7: an arm support; 8: an air bag; 9: an endless track; 10: an inner ring; 11: a handle; 12: an emergency stop button I; 13: a second emergency stop button; 14: a pressure sensor; 15: a scale; 16: an air pump; 17: a first driving motor; 18: a second driving motor; 19: the electromyographic signals are collected into the electrode plate.
As shown in the drawing, an active and passive upper limb rehabilitation training system based on a SCARA robot comprises an upper cantilever 4, the upper cantilever is installed on an installation table top 1 through a control upper computer shell 2, a first driving motor 17 is fixedly arranged on the upper cantilever, one end of a lower cantilever is connected to an output shaft of the first driving motor, a second driving motor 18 is arranged at the other end of the lower cantilever 5, a SCARA robot structure is formed above, one end of a mounting seat is connected to an output shaft of the second driving motor, rotary encoders are installed on the first driving motor and the second driving motor, the rotary encoders are in communication connection with the control upper computer, a display 3 is connected to the control upper computer, the first output shaft and the second output shaft are in vertical directions, an arm support 7 is rotatably connected to the other end of the mounting seat through a mounting shaft in the vertical direction, a cylindrical 8 is installed in the arm support, an air inflation and deflation device is connected to an air pump 16, a plurality of myoelectric signal collector plates 19 are fixedly connected to the inner wall of the air bag, the myoelectric signal collector plates are shown as a myoelectric signal collector plate, and the myoelectric collector plates in the air bag collector plates can be picked up by the myoelectric collector plates corresponding to the myoelectric collector plates below the air bag collector plates: : testing the flexor carpi radialis, brachiocarpi radialis, extensor carpi radialis longus, superficial flexor digitorum, extensor hallucis brevis, extensor hallucis longus, flexor ulnar carpi radialis longus, extensor longus palmaris longus, extensor carpi radialis brevis, flexor carpi radialis, extensor carpi radialis longus, in this embodiment, in addition to having an electromyographic signal acquisition electrode pad in the air bag, a plurality of external electromyographic signal acquisition electrode pads may be provided for acquiring data, the external electrode pads may correspond to the following muscle masses: brachial, biceps, triceps and deltoid muscles.
The electromyographic signals are collected and the electrode plates are connected with a transmission signal to the control upper computer, an acceleration sensor is further installed at the lower part of the arm support, the acceleration sensor is not shown in the figure and is used for measuring displacement, the acceleration sensor is connected with the transmission signal to the control upper computer, the acceleration sensor is communicated with the control upper computer through a wireless signal or a wired signal, a torque sensor is further installed on the output of the first driving motor and the second driving motor, and the torque sensor is connected with the output signal to the control upper computer. The front part of the arm support is fixedly provided with an annular track 9, the annular track is provided with scales 15, an inner ring 10 is arranged in the annular track in a rotating manner, a grip 11 is fixedly arranged along the diameter direction of the inner ring, an electromyographic signal collecting electrode plate is fixedly connected to the grip, a pressure sensor is arranged on the grip, a pressure sensor is shown as 14, the pressure sensor is connected with a transmission signal to a control upper computer, and the acceleration sensor is arranged at the lower end of the annular track. The grip surface mounting electrode plate is used for collecting and receiving a grip electromyographic signal, has the function of training the hand grip of a patient through two pressure sensors arranged in the grip surface mounting electrode plate, is arranged on an inner ring sliding block of a circular ring-shaped track, and the inner ring sliding block has the function of training arm rotation (forward rotation and backward rotation) rehabilitation training, is displayed on a terminal screen through a sensor, and is marked with rotation scales on an annular track outside an inner ring sliding rail and is used for displaying the functions of relative angle with the inner ring sliding block and the like.
The active and passive upper limb rehabilitation training method based on the SCARA robot adopts any active and passive upper limb rehabilitation training system based on the SCARA robot, and comprises the following steps:
a: selecting a plurality of patients with upper limb dyskinesia caused by central nerve injury, stretching diseased upper limbs of each patient into an air bag, holding a handle by hands, inflating the air bag to a set pressure, and transmitting signals generated by each electromyographic signal acquisition electrode plate to a control upper computer to obtain electromyographic signal values of each patient;
b: grouping patients, wherein the patients with myoelectric signal values differing by 10% are one group, and manually checking whether the upper limb disease degree of the patients in each group is obviously inconsistent or not after grouping, if yes, re-performing the retest in the step A;
C: each group of patients respectively use an active and passive upper limb rehabilitation training system based on the SCARA robot to obtain patients capable of active training and groups capable of only passive training;
D: for patient groups which can only carry out passive training, different training parameters are adopted in each group to carry out training, wherein the training parameters comprise a first motor rotation angle, a rotation speed, an output torque, a second motor rotation angle, a rotation speed and an output torque, and corresponding displacement is obtained according to signals output by an acceleration sensor; the method comprises the steps of selecting motor rotation angles, rotation speeds and larger output torque values of two motors and larger displacement values of the two motors according to the bearing degree of patients, storing the motor rotation angles, rotation speeds and larger output torque values as training menus corresponding to the group of patients in a control upper computer, and obtaining corresponding training menus of the group of patients capable of performing active training by adopting the same method as that of the group of patients capable of performing passive training, wherein the corresponding active training menus are obtained by the following modes: enabling the upper limb of the patient to actively move, gradually increasing reverse moment by the first motor and the second motor during active movement, obtaining corresponding displacement according to signals output by the acceleration sensor, obtaining corresponding maximum reverse moment according to the reverse moment which can be overcome by the patient, and storing the maximum reverse moment in the control upper computer;
e: when a patient goes on the machine to train, the upper limb and the forearm extend into the air bag, the air bag is inflated to set pressure, each electromyographic signal is collected to generate a signal by the electrode plate and is transmitted to the control upper computer, the electromyographic signal value of each patient is obtained, whether the patient can perform active training or not is determined according to the magnitude of the electromyographic signal value, and if the patient can only perform passive training, the training is performed according to a patient group menu corresponding to the magnitude of the electromyographic signal value stored in the control upper computer; if the active training can be performed, the patient selects the active training or the passive training, and the patient group menu corresponding to the magnitude of the electromyographic signal value stored in the control upper computer is used for training when the passive training is selected; when active training is selected, the reverse moment applied by the first motor and the second motor in the training is 0.5-0.7 times of the maximum reverse moment of the corresponding group.
Further, a game program is installed in the control upper computer, when the value or the displacement signal value of the holding force sensor reaches a set value, corresponding actions in the game are triggered, the value or the displacement signal value of the holding force sensor reaches different groups, for example, the holding force sensor is matched with a corresponding shooting game, the balance game of a patient is tested, such as a game of grabbing and placing a balance plate and the like, but the game is not limited to the game in the form, and the signals related to the holding force sensor drive the actions of the game, so that the game has ready application on many rehabilitation and entertainment devices at present.
Furthermore, in the step E, if the patient is uncomfortable to train in the passive training, the patient can switch to the next training menu through the selection switch, and the next training menu refers to the training menu corresponding to the group with the smaller myoelectric signal value.
Further, in the step E, under the condition that the displacement signal of the active training is larger and larger, the reverse moment applied by the first motor and the second motor is increased, and under the condition that the maximum reverse moment is exceeded, the displacement is still generated, the patient turns to the upper-level training menu, and the upper-level training menu refers to the training menu corresponding to the group with the larger myoelectric signal value.
Having described embodiments of the present invention in detail, it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the scope and spirit of the invention as defined in the appended claims, and any simple, equivalent changes and modifications to the above examples are intended to be within the scope of the present invention and the invention is not limited to the embodiments as set forth in the specification.
Claims (6)
1. Active and passive upper limb rehabilitation training system based on SCARA robot, including last cantilever, its characterized in that: a first driving motor is fixedly arranged on the upper cantilever, one end of the lower cantilever is connected to an output shaft of the first driving motor, the other end of the lower cantilever is provided with a second driving motor, one end of the mounting seat is connected to an output shaft of the second driving motor, rotary encoders are arranged on the first driving motor and the second driving motor, the rotary encoders are in communication connection with the control upper computer, the first output shaft and the second output shaft are both in a vertical direction, the arm support is rotationally connected to the other end of the mounting seat through a mounting shaft in the vertical direction, a cylindrical air bag is arranged in the arm support, an air charging and discharging device is connected on the air bag, a plurality of electromyographic signal acquisition electrode plates are fixedly connected on the inner wall of the air bag, the electromyographic signal acquisition electrode plates are connected with a transmission signal to a control upper computer, an acceleration sensor is further arranged at the lower part of the arm support, the acceleration sensor is connected with a transmission signal to the control upper computer, a torque sensor is further arranged on the output of the first driving motor and the output of the second driving motor, and the torque sensor is connected with an output signal to the control upper computer; the front part fixed mounting at the arm holds in the palm has the annular orbit, and the annular orbit internal rotation is provided with the inner ring, is fixedly provided with the handle along inner ring diameter direction, fixedly connected with electromyographic signal acquisition electrode piece on the handle, installs pressure sensor on the handle, and pressure sensor connects transmission signal to control host computer, acceleration sensor install at the orbital lower extreme of annular, include following step during the training:
a: selecting a plurality of patients with upper limb dyskinesia caused by central nerve injury, stretching diseased upper limbs of each patient into an air bag, holding a handle by hands, inflating the air bag to a set pressure, and transmitting signals generated by each electromyographic signal acquisition electrode plate to a control upper computer to obtain electromyographic signal values of each patient;
b: grouping patients, wherein the patients with myoelectric signal values differing by 10% are one group, and manually checking whether the upper limb disease degree of the patients in each group is obviously inconsistent or not after grouping, if yes, re-performing the retest in the step A;
C: each group of patients respectively use an active and passive upper limb rehabilitation training system based on the SCARA robot to obtain patients capable of active training and groups capable of only passive training;
D: for patient groups which can only carry out passive training, different training parameters are adopted in each group to carry out training, wherein the training parameters comprise a first motor rotation angle, a rotation speed, an output torque, a second motor rotation angle, a rotation speed and an output torque, and corresponding displacement is obtained according to signals output by an acceleration sensor; the method comprises the steps of selecting motor rotation angles, rotation speeds and larger output torque values of two motors and larger displacement values of the two motors according to the bearing degree of patients, storing the motor rotation angles, rotation speeds and larger output torque values as training menus corresponding to the group of patients in a control upper computer, and obtaining corresponding training menus of the group of patients capable of performing active training by adopting the same method as that of the group of patients capable of performing passive training, wherein the corresponding active training menus are obtained by the following modes: enabling the upper limb of the patient to actively move, gradually increasing reverse moment by the first motor and the second motor during active movement, obtaining corresponding displacement according to signals output by the acceleration sensor, obtaining corresponding maximum reverse moment according to the reverse moment which can be overcome by the patient, and storing the maximum reverse moment in the control upper computer;
E: when a patient goes on the machine to train, the upper limb and the forearm extend into the air bag, the air bag is inflated to set pressure, each electromyographic signal is collected to generate a signal by the electrode plate and is transmitted to the control upper computer, the electromyographic signal value of each patient is obtained, whether the patient can perform active training or not is determined according to the magnitude of the electromyographic signal value, and if the patient can only perform passive training, the training is performed according to a patient group menu corresponding to the magnitude of the electromyographic signal value stored in the control upper computer; if the active training can be performed, the patient selects the active training or the passive training, and the patient group menu corresponding to the magnitude of the electromyographic signal value stored in the control upper computer is used for training when the passive training is selected; when active training is selected, the reverse moment applied by the first motor and the second motor in the training is 0.5-0.7 times of the maximum reverse moment of the corresponding group;
and a game program is installed in the control upper computer, when the value of the holding force sensor or the displacement signal value reaches a set value, corresponding actions in the game are triggered, and the value of the holding force sensor or the displacement signal value reaches different groups.
2. The SCARA robot-based active and passive upper limb rehabilitation training system according to claim 1, wherein: the annular track is provided with scales.
3. The SCARA robot-based active and passive upper limb rehabilitation training system according to claim 1, wherein: the acceleration sensor is communicated with the control upper computer through wireless signals or wired signals.
4. The SCARA robot-based active and passive upper limb rehabilitation training system according to claim 1, wherein: a display is connected to the control upper computer.
5. The SCARA robot-based active and passive upper limb rehabilitation training system according to claim 1, wherein: in the step E, if the patient is uncomfortable in passive training, the patient can be switched to a next training menu through a selection switch, and the next training menu refers to a training menu corresponding to a group with a smaller myoelectric signal value.
6. The SCARA robot-based active and passive upper limb rehabilitation training system according to claim 1, wherein: and E, under the condition that the displacement signal of the active training is larger and larger, the reverse moment applied by the first motor and the second motor is increased, and under the condition that the maximum reverse moment is exceeded, the displacement quantity is still remained, and the patient turns to a training menu of the upper stage, wherein the training menu of the upper stage refers to a training menu corresponding to a group with a larger myoelectric signal value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910766512.1A CN110403799B (en) | 2019-08-20 | 2019-08-20 | Active and passive upper limb rehabilitation training system and method based on SCARA robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910766512.1A CN110403799B (en) | 2019-08-20 | 2019-08-20 | Active and passive upper limb rehabilitation training system and method based on SCARA robot |
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|---|---|
| CN110403799A CN110403799A (en) | 2019-11-05 |
| CN110403799B true CN110403799B (en) | 2024-09-03 |
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| CN109350446A (en) * | 2018-10-18 | 2019-02-19 | 航天科工智能机器人有限责任公司 | Master based on electromyography signal passively combines upper-limbs rehabilitation training robot system |
| CN209092068U (en) * | 2018-08-31 | 2019-07-12 | 上海傅利叶智能科技有限公司 | A kind of upper limb comprehensive assessment and recovery exercising robot |
| CN211023857U (en) * | 2019-08-20 | 2020-07-17 | 河南瑞禾医疗器械有限责任公司 | Active and passive upper limb rehabilitation training system based on SCARA robot |
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| CN106580631A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Assist device for rehabilitation training of lower limbs |
| KR101757564B1 (en) * | 2015-12-24 | 2017-07-26 | (주)대성마리프 | Apparatus for rehabilitating joint |
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| KR101870740B1 (en) * | 2016-07-29 | 2018-06-26 | 건국대학교 글로컬산학협력단 | Rehabilitation apparatus of ischemic stroke patient's arm |
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| CN209092068U (en) * | 2018-08-31 | 2019-07-12 | 上海傅利叶智能科技有限公司 | A kind of upper limb comprehensive assessment and recovery exercising robot |
| CN109350446A (en) * | 2018-10-18 | 2019-02-19 | 航天科工智能机器人有限责任公司 | Master based on electromyography signal passively combines upper-limbs rehabilitation training robot system |
| CN211023857U (en) * | 2019-08-20 | 2020-07-17 | 河南瑞禾医疗器械有限责任公司 | Active and passive upper limb rehabilitation training system based on SCARA robot |
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