CN110812125A - Affected side hand rehabilitation training method and system based on six-degree-of-freedom mechanical arm - Google Patents

Affected side hand rehabilitation training method and system based on six-degree-of-freedom mechanical arm Download PDF

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CN110812125A
CN110812125A CN201911273784.4A CN201911273784A CN110812125A CN 110812125 A CN110812125 A CN 110812125A CN 201911273784 A CN201911273784 A CN 201911273784A CN 110812125 A CN110812125 A CN 110812125A
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hand
mechanical arm
pose
affected
parameters
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郭帅
刘锦
宋韬
荚启波
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Beijing Transpacific Technology Development Ltd
University of Shanghai for Science and Technology
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Beijing Transpacific Technology Development Ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands
    • 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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/62—Posture
    • A61H2230/625—Posture used as a control parameter for the apparatus

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pain & Pain Management (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention relates to a rehabilitation training method and a rehabilitation training system for an affected hand based on a six-degree-of-freedom mechanical arm. The rehabilitation training method comprises the following steps: acquiring the acceleration and the attitude angle of a healthy side hand of a patient during the ADL training; determining a healthy side hand pose parameter according to the acceleration and the attitude angle; determining the pose parameter of the affected hand according to the pose parameter of the healthy hand based on a mirror image principle; the pose parameter of the hand at the affected side is the pose parameter of the tail end of the mechanical arm with six degrees of freedom; determining pose parameters of each joint of the mechanical arm according to the pose parameters of the tail end of the mechanical arm; generating a motion trail of the healthy side hand according to the pose parameters of each joint of the mechanical arm; and controlling the affected hand of the patient to carry out rehabilitation exercise training according to the healthy hand motion track. By adopting the rehabilitation training method and the rehabilitation training system provided by the invention, the rehabilitation training effect can be improved and the initiative of a patient can be increased.

Description

Affected side hand rehabilitation training method and system based on six-degree-of-freedom mechanical arm
Technical Field
The invention relates to the field of rehabilitation training, in particular to a rehabilitation training method and a rehabilitation training system for an affected hand based on a six-degree-of-freedom mechanical arm.
Background
With the advent of aging society, stroke has gradually become a main cause of motor dysfunction and hemiplegia, and particularly, hand dysfunction causes much inconvenience to the life of patients, so that a rehabilitation training system for upper limbs has become a hot spot for rehabilitation research in recent years.
The effects of preventing disability and improving the motor function of a patient can be achieved by guiding the patient to move, but in the conventional rehabilitation training, the arm generally performs single motor training under the control of rehabilitation equipment; such training usually results in the cortex becoming less and less stimulating to repetitive motion, so that the recovery effect is less satisfactory.
Therefore, the patient facing the mirror image treatment is born on time based on the affected hand rehabilitation training method of the six-degree-of-freedom mechanical arm, the image of the activity of the healthy side limb is copied to the affected side by using the mirror image device, and the patient performs motion observation, simulation and relearning through the visual feedback; the main motor cortex of the human brain is stimulated through continuous visual feedback, the electrical activity and excitability of the cortex are influenced, the brain function remodeling is promoted, and the motor function recovery is induced. The existing mirror image therapy is generally carried out based on a plane mirror or combined with a lens, namely, the classic mirror image therapy always depends on one mirror, the traditional mirror image therapy is easily limited by a mirror image device, has no unified quantitative standard and is difficult to break through in innovation, and in the training process, as the limbs of a patient can not be trained completely according to the self thought at the beginning of rehabilitation, the initiative of the patient is poor, and the rehabilitation training can not be carried out actively.
Disclosure of Invention
The invention aims to provide a rehabilitation training method and a rehabilitation training system for an affected hand based on a six-degree-of-freedom mechanical arm, and aims to solve the problems that the existing mirror image therapy is limited by a mirror image device, and has poor rehabilitation training effect and poor initiative of a patient due to the fact that no uniform quantization standard exists.
In order to achieve the purpose, the invention provides the following scheme:
a rehabilitation training method for an affected hand based on a six-degree-of-freedom mechanical arm comprises the following steps:
acquiring the acceleration and the attitude angle of a healthy side hand of a patient during the ADL training;
determining a healthy side hand pose parameter according to the acceleration and the attitude angle;
determining the pose parameter of the affected hand according to the pose parameter of the healthy hand based on a mirror image principle; the pose parameter of the hand at the affected side is the pose parameter of the tail end of the mechanical arm with six degrees of freedom;
determining pose parameters of each joint of the mechanical arm according to the pose parameters of the tail end of the mechanical arm;
generating a motion trail of the healthy side hand according to the pose parameters of each joint of the mechanical arm;
and controlling the affected hand of the patient to carry out rehabilitation exercise training according to the healthy hand motion track.
Optionally, the determining the pose parameters of the healthy lateral hand according to the acceleration and the posture angle specifically includes:
and integrating the acceleration and the attitude angle to determine the pose parameters of the healthy side hand.
Optionally, based on the mirror image principle, determining the pose parameter of the affected hand according to the pose parameter of the affected hand specifically includes:
using the formula [ XJYJZJAJBJCJ]T＝[-XH-YH-ZH-AH-BH-CH]TDetermining the position and posture parameters of the affected hand; wherein T is the pose parameter of the affected side hand; xJ,YJ,ZJPosition parameters of healthy side hands; a. theJ,BJ,CJThe pose parameters of the side-exercising hand are obtained; j is a side-healthy hand; xH,YH,ZHPosition parameters of the affected hand; a. theH,BH,CHThe pose parameters of the affected hand are shown; h is the affected hand.
Optionally, the determining the pose parameters of each joint of the mechanical arm according to the pose parameters of the tail end of the mechanical arm specifically includes:
establishing a space rectangular coordinate system by taking any joint of the mechanical arm as an origin;
determining the rotation angle of each joint of the mechanical arm according to the tail end pose parameter of the mechanical arm by utilizing a six-degree-of-freedom mechanical arm inverse solution algorithm under the space rectangular coordinate system;
and determining the pose parameters of each joint of the mechanical arm according to the rotation angle.
A sick side hand rehabilitation training system based on six-degree-of-freedom mechanical arm comprises:
the side-strengthening hand acceleration and posture angle acquisition module is used for acquiring the acceleration and posture angle of the side-strengthening hand during the ADL (adaptive data logging) training of the daily life activities of the patient;
the healthy side hand pose parameter determining module is used for determining healthy side hand pose parameters according to the acceleration and the attitude angle;
the affected hand pose parameter determining module is used for determining affected hand pose parameters according to the healthy hand pose parameters based on a mirror image principle; the pose parameter of the hand at the affected side is the pose parameter of the tail end of the mechanical arm with six degrees of freedom;
the mechanical arm joint position and posture parameter determining module is used for determining the mechanical arm joint position and posture parameters according to the mechanical arm tail end position and posture parameters;
the healthy side hand motion track generation module is used for generating healthy side hand motion tracks according to the pose parameters of all joints of the mechanical arm;
and the control module is used for controlling the affected hand of the patient to carry out rehabilitation exercise training according to the healthy hand motion track.
Optionally, the side-exercising hand pose parameter determining module specifically includes:
and the healthy side hand pose parameter determining unit is used for performing integral processing on the acceleration and the attitude angle to determine healthy side hand pose parameters.
Optionally, the affected hand pose parameter determining module specifically includes:
an affected hand pose parameter determination unit for using the formula [ XJYJZJAJBJCJ]T＝[-XH-YH-ZH-AH-BH-CH]TDetermining the position and posture parameters of the affected hand; wherein T is the pose parameter of the affected side hand; xJ,YJ,ZJPosition parameters of healthy side hands; a. theJ,BJ,CJThe pose parameters of the side-exercising hand are obtained; j is a side-healthy hand; xH,YH,ZHPosition parameters of the affected hand; a. theH,BH,CHThe pose parameters of the affected hand are shown; h is the affected hand.
Optionally, the robot arm joint pose parameter determining module specifically includes:
the space rectangular coordinate system establishing unit is used for establishing a space rectangular coordinate system by taking any joint of the mechanical arm as an original point;
the rotation angle determining unit is used for determining the rotation angle of each joint of the mechanical arm according to the tail end pose parameter of the mechanical arm by utilizing a six-degree-of-freedom mechanical arm inverse solution algorithm under the space rectangular coordinate system;
and the mechanical arm joint position and attitude parameter determining unit is used for determining the mechanical arm joint position and attitude parameters according to the rotation angle.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention provides a rehabilitation training method and a rehabilitation training system for an affected hand part based on a six-degree-of-freedom mechanical arm. Because the exercise-side hand motion track based on the exercise-side hand of the patient is adopted, the initiative and the participation of the patient are increased, the patient is helped to carry out the upper limb rehabilitation training of the whole period, the daily life capacity of the patient is effectively improved, meanwhile, the working intensity of rehabilitation treatment is greatly reduced, and the workload of a rehabilitation doctor and a doctor is reduced.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a flow chart of a rehabilitation training method for an affected hand based on a six-degree-of-freedom mechanical arm according to the present invention;
fig. 2 is a structural diagram of an upper limb rehabilitation robot provided by the invention;
FIG. 3 is a block diagram of a mechanical handle provided by the present invention;
FIG. 4 is a schematic diagram of a mirroring algorithm provided by the present invention;
fig. 5 is a structural diagram of a rehabilitation training system for an affected hand based on a six-degree-of-freedom mechanical arm provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a rehabilitation training method and a rehabilitation training system for an affected hand based on a six-degree-of-freedom mechanical arm, which improve the rehabilitation training effect and increase the activity of a patient.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a flowchart of a rehabilitation training method for an affected side hand based on a six-degree-of-freedom mechanical arm, and as shown in fig. 1, the rehabilitation training method for the affected side hand based on the six-degree-of-freedom mechanical arm includes:
step 101: the acceleration and the attitude angle of the healthy side hand of the patient during the ADL training are collected.
Fig. 2 is a structural diagram of an upper limb rehabilitation robot provided by the present invention, fig. 3 is a structural diagram of a mechanical handle provided by the present invention, as shown in fig. 2 and fig. 3, in the rehabilitation process, a patient holds the mechanical handle 1, presses the vibration switch 2 to give a handle vibration signal, prompts the handle to start measuring, the inertial sensor 4 collects acceleration and posture angle during exercise of a side-healthy hand (ADL), and transmits the obtained acceleration and posture angle to a server through the bluetooth module 3.
Step 102: and determining the pose parameters of the healthy side hand according to the acceleration and the attitude angle.
Step 103: determining the pose parameter of the affected hand according to the pose parameter of the healthy hand based on a mirror image principle; the pose parameter of the hand at the affected side is the pose parameter of the tail end of the mechanical arm with six degrees of freedom.
Fig. 4 is a schematic diagram of a mirror image algorithm provided by the present invention, and as shown in fig. 4, the server performs an acceleration integration process to obtain a healthy lateral hand position parameter, and converts the healthy lateral hand position parameter into an affected lateral hand position parameter, i.e., a mechanical arm end position parameter, according to a mirror image principle.
The step 103 specifically includes:
using the formula [ XJYJZJAJBJCJ]T＝[-XH-YH-ZH-AH-BH-CH]TDetermining the position and posture parameters of the affected hand; wherein T is the pose parameter of the affected side hand; xJ,YJ,ZJPosition parameters of healthy side hands; a. theJ,BJ,CJThe pose parameters of the side-exercising hand are obtained; j is a side-healthy hand; xH,YH,ZHPosition parameters of the affected hand; a. theH,BH,CHThe pose parameters of the affected hand are shown; h is the affected hand.
Step 104: and determining the pose parameters of each joint of the mechanical arm according to the pose parameters of the tail end of the mechanical arm.
The step 104 specifically includes:
establishing a space rectangular coordinate system by taking any joint of the mechanical arm as an origin;
determining the rotation angle of each joint of the mechanical arm according to the tail end pose parameter of the mechanical arm by utilizing a six-degree-of-freedom mechanical arm inverse solution algorithm under the space rectangular coordinate system;
and determining the pose parameters of each joint of the mechanical arm according to the rotation angle.
Step 105: and generating a motion trail of the healthy side hand according to the pose parameters of each joint of the mechanical arm.
Step 106: and controlling the affected hand of the patient to carry out rehabilitation exercise training according to the healthy hand motion track.
And obtaining pose parameters of each joint of the mechanical arm according to a six-degree-of-freedom mechanical arm inverse solution method, and controlling the mechanical arm to drive the affected hand of the patient to perform rehabilitation exercise training according to the motion trail of the healthy hand according to the pose parameters of each joint.
In practical application, the rotation angle (theta) of each joint of the mechanical arm is solved according to the quick solving method of the inverse kinematics problem of the six-joint mechanical arm and the tail end pose parameter T of the mechanical arm1θ2θ3θ4θ5θ6) And controlling the mechanical arm according to the joint rotation angle at each moment to drive the affected hand of the patient to carry out rehabilitation exercise training according to the exercise track of the healthy hand.
For solving the terminal pose parameter T of the mechanical arm, the prior correlation technique can be adopted to firstly solve the origin of the coordinate system of the 5 th joint of the mechanical arm and the rotation angles (theta) of the 4 th joint angle, the 5 th joint angle and the 6 th joint angle of the mechanical arm4θ5θ6) Then, the rotation angles (theta) of the 1 st, 2 nd and 3 rd joint angles are obtained from the coordinates of the origin of the 5 th joint coordinate system and the rotation angles of the 4 th, 5 th and 6 th joint angles1θ2θ3)。
Wherein, CijDenoted as cos θicosθj；SijIs denoted as sinθi；θiRepresenting joint angles of all joints of the mechanical arm; liThe length of each joint of the mechanical arm is represented; 1.2.3.. 6j ═ 1.2.3.. 6; a1, a2, A3, a4, a5, a6 are conversion matrix symbols, and the conversion matrix representing each joint can refer to robotics.
Fig. 5 is a structural diagram of a rehabilitation training system for an affected hand based on a six-degree-of-freedom mechanical arm, and as shown in fig. 5, the rehabilitation training system for an affected hand based on a six-degree-of-freedom mechanical arm comprises:
and the side-health hand acceleration and posture angle acquisition module 501 is used for acquiring the acceleration and posture angle of the side-health hand during the ADL training of the daily life activities of the patient.
A robust hand pose parameter determination module 502 configured to determine a robust hand pose parameter according to the acceleration and the pose angle.
The side-exercising hand pose parameter determining module 502 specifically includes: and the healthy side hand pose parameter determining unit is used for performing integral processing on the acceleration and the attitude angle to determine healthy side hand pose parameters.
An affected hand pose parameter determining module 503, configured to determine an affected hand pose parameter according to the healthy hand pose parameter based on a mirror image principle; the pose parameter of the hand at the affected side is the pose parameter of the tail end of the mechanical arm with six degrees of freedom.
The affected hand pose parameter determination module 503 specifically includes: an affected hand pose parameter determination unit for using the formula [ XJYJZJAJBJCJ]T＝[-XH-YH-ZH-AH-BH-CH]TDetermining the position and posture parameters of the affected hand; wherein T is the pose parameter of the affected side hand; xJ,YJ,ZJPosition parameters of healthy side hands; a. theJ,BJ,CJThe pose parameters of the side-exercising hand are obtained; j is a side-healthy hand; xH,YH,ZHPosition parameters of the affected hand; a. theH,BH,CHPose parameters for the affected hand(ii) a H is the affected hand.
And the robot arm joint pose parameter determining module 504 is configured to determine robot arm joint pose parameters according to the robot arm end pose parameters.
The robot arm joint pose parameter determination module 504 specifically includes: the space rectangular coordinate system establishing unit is used for establishing a space rectangular coordinate system by taking any joint of the mechanical arm as an original point; the rotation angle determining unit is used for determining the rotation angle of each joint of the mechanical arm according to the tail end pose parameter of the mechanical arm by utilizing a six-degree-of-freedom mechanical arm inverse solution algorithm under the space rectangular coordinate system; and the mechanical arm joint position and attitude parameter determining unit is used for determining the mechanical arm joint position and attitude parameters according to the rotation angle.
And a healthy side hand motion trajectory generation module 505, configured to generate a healthy side hand motion trajectory according to the pose parameters of each joint of the mechanical arm.
And the control module 506 is used for controlling the affected hand of the patient to perform rehabilitation exercise training according to the healthy hand motion track.
The specific operations in actual use are:
the healthy side hand holds 1 mechanical handle and does the ADL training motion, and acceleration and attitude angle parameter when gathering healthy side hand ADL training through 4 inertial sensor to transmit the data that obtain to the server through 2 bluetooth module.
And a server in the upper limb rehabilitation robot receives data transmitted by Bluetooth, performs integral processing on the acceleration to obtain a healthy side hand position parameter, and converts the healthy side hand position parameter to obtain an affected side hand position parameter, namely the tail end position parameter of the mechanical arm, by a mirror image principle.
And obtaining pose parameters of each joint of the mechanical arm according to a six-degree-of-freedom mechanical arm inverse solution method, and controlling the mechanical arm to drive the affected hand of the patient to perform rehabilitation exercise training according to the motion trail of the healthy hand according to the pose parameters of each joint.
The mechanical handle 1 is internally provided with a vibration switch 3 and an inertial sensor 4 and is provided with a Bluetooth module 2. The vibration switch 3 is used for responding to vibration control inertial sensor switch 4, and inertial sensor 4 is used for gathering acceleration information, and bluetooth module 2 is used for transmitting data.
During the use, the mechanical handle 1 is held to healthy side hand and is made the ADL training motion, and arm 5 obtains data, drives ill side hand and carries out the rehabilitation training motion according to the motion trail of healthy side hand, and wherein ill side hand and the terminal binding of arm are in the same place to patient's initiative and participation have been increased, make the patient more actively participate in the rehabilitation training.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (8)

1. A rehabilitation training method for an affected hand based on a six-degree-of-freedom mechanical arm is characterized by comprising the following steps:
acquiring the acceleration and the attitude angle of a healthy side hand of a patient during the ADL training;
determining a healthy side hand pose parameter according to the acceleration and the attitude angle;
determining the pose parameter of the affected hand according to the pose parameter of the healthy hand based on a mirror image principle; the pose parameter of the hand at the affected side is the pose parameter of the tail end of the mechanical arm with six degrees of freedom;
determining pose parameters of each joint of the mechanical arm according to the pose parameters of the tail end of the mechanical arm;
generating a motion trail of the healthy side hand according to the pose parameters of each joint of the mechanical arm;
and controlling the affected hand of the patient to carry out rehabilitation exercise training according to the healthy hand motion track.
2. The rehabilitation training method for the affected hand based on the six-degree-of-freedom mechanical arm as recited in claim 1, wherein the determining of the pose parameters of the affected hand according to the acceleration and the posture angle specifically comprises:
and integrating the acceleration and the attitude angle to determine the pose parameters of the healthy side hand.
3. The rehabilitation training method for the affected hand based on the six-degree-of-freedom mechanical arm as recited in claim 1, wherein the determining of the pose parameters of the affected hand based on the mirror image principle according to the pose parameters of the affected hand specifically comprises:
using the formula [ XJYJZJAJBJCJ]T＝[-XH-YH-ZH-AH-BH-CH]TDetermining the position and posture parameters of the affected hand; wherein T is the pose parameter of the affected side hand; xJ,YJ,ZJPosition parameters of healthy side hands; a. theJ,BJ,CJThe pose parameters of the side-exercising hand are obtained; j is a side-healthy hand; xH,YH,ZHPosition parameters of the affected hand; a. theH,BH,CHThe pose parameters of the affected hand are shown; h is the affected hand.
4. The rehabilitation training method for the affected hand based on the six-degree-of-freedom mechanical arm as recited in claim 1, wherein the determining of the pose parameters of each joint of the mechanical arm according to the pose parameters of the tail end of the mechanical arm specifically comprises:
establishing a space rectangular coordinate system by taking any joint of the mechanical arm as an origin;
determining the rotation angle of each joint of the mechanical arm according to the tail end pose parameter of the mechanical arm by utilizing a six-degree-of-freedom mechanical arm inverse solution algorithm under the space rectangular coordinate system;
and determining the pose parameters of each joint of the mechanical arm according to the rotation angle.
5. The utility model provides a sick side hand rehabilitation training system based on six degree of freedom arms which characterized in that includes:
the side-strengthening hand acceleration and posture angle acquisition module is used for acquiring the acceleration and posture angle of the side-strengthening hand during the ADL (adaptive data logging) training of the daily life activities of the patient;
the healthy side hand pose parameter determining module is used for determining healthy side hand pose parameters according to the acceleration and the attitude angle;
the affected hand pose parameter determining module is used for determining affected hand pose parameters according to the healthy hand pose parameters based on a mirror image principle; the pose parameter of the hand at the affected side is the pose parameter of the tail end of the mechanical arm with six degrees of freedom;
the mechanical arm joint position and posture parameter determining module is used for determining the mechanical arm joint position and posture parameters according to the mechanical arm tail end position and posture parameters;
the healthy side hand motion track generation module is used for generating healthy side hand motion tracks according to the pose parameters of all joints of the mechanical arm;
and the control module is used for controlling the affected hand of the patient to carry out rehabilitation exercise training according to the healthy hand motion track.
6. The system for rehabilitation training of the affected hand based on the six-degree-of-freedom mechanical arm as claimed in claim 5, wherein the healthy-side hand pose parameter determination module specifically comprises:
and the healthy side hand pose parameter determining unit is used for performing integral processing on the acceleration and the attitude angle to determine healthy side hand pose parameters.
7. The system for rehabilitation training of the affected hand based on the six-degree-of-freedom mechanical arm according to claim 5, wherein the affected hand pose parameter determination module specifically comprises:
an affected hand pose parameter determination unit for using the formula [ XJYJZJAJBJCJ]T＝[-XH-YH-ZH-AH-BH-CH]TDetermining the position and posture parameters of the affected hand; wherein T is the pose parameter of the affected side hand; xJ,YJ,ZJPosition parameters of healthy side hands; a. theJ,BJ,CJThe pose parameters of the side-exercising hand are obtained; j is a side-healthy hand; xH,YH,ZHPosition parameters of the affected hand; a. theH,BH,CHThe pose parameters of the affected hand are shown; h is the affected hand.
8. The system for rehabilitation training of the affected hand based on the six-degree-of-freedom mechanical arm according to claim 5, wherein the determination module for the pose parameter of each joint of the mechanical arm specifically comprises:
the space rectangular coordinate system establishing unit is used for establishing a space rectangular coordinate system by taking any joint of the mechanical arm as an original point;
the rotation angle determining unit is used for determining the rotation angle of each joint of the mechanical arm according to the tail end pose parameter of the mechanical arm by utilizing a six-degree-of-freedom mechanical arm inverse solution algorithm under the space rectangular coordinate system;
and the mechanical arm joint position and attitude parameter determining unit is used for determining the mechanical arm joint position and attitude parameters according to the rotation angle.
CN201911273784.4A 2019-12-12 2019-12-12 Affected side hand rehabilitation training method and system based on six-degree-of-freedom mechanical arm Pending CN110812125A (en)

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CN113679568A (en) * 2021-09-01 2021-11-23 南京医科大学 Robot-assisted multi-mode mirror image rehabilitation training scoring system for upper limbs of stroke patients
CN114224577A (en) * 2022-02-24 2022-03-25 深圳市心流科技有限公司 Training method and device for intelligent artificial limb, electronic equipment, intelligent artificial limb and medium
CN118383994A (en) * 2024-06-28 2024-07-26 北京理工大学长三角研究院(嘉兴) Bionic exoskeleton rehabilitation manipulator and method for nerve rehabilitation

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