CN110974603A - Angle sensing system of exoskeleton device for lower limb rehabilitation training - Google Patents
Angle sensing system of exoskeleton device for lower limb rehabilitation training Download PDFInfo
- Publication number
- CN110974603A CN110974603A CN201911239734.4A CN201911239734A CN110974603A CN 110974603 A CN110974603 A CN 110974603A CN 201911239734 A CN201911239734 A CN 201911239734A CN 110974603 A CN110974603 A CN 110974603A
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- CN
- China
- Prior art keywords
- rehabilitation training
- exoskeleton device
- lower limb
- sensing system
- angle sensing
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- 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
- A61H2205/10—Leg
Abstract
The invention discloses an angle sensing system of an exoskeleton device for lower limb rehabilitation training, which comprises a data acquisition module, an A/D sampling processing module and a main control module, wherein the data acquisition module comprises magnetoresistive chips and Hall elements, the magnetoresistive chips adopt HMC1512, eight magnetoresistive chips are arranged, four magnetoresistive chips form a group of bridge circuits, the A/D sampling processing module comprises an amplifying arithmetic unit, a low-pass filter circuit, a buffer and an analog-to-digital converter, and the main control module comprises a TMS320F2812 main controller, an industrial personal computer and a liquid crystal display screen. The angle sensing system can not only display real-time data, but also realize the functions of data storage, data playback and the like, can guide limbs to do various specified repetitive rehabilitation training through a machine, assists the lower limbs of patients to recover the motor functions of the patients, can customize different rehabilitation schemes according to the self conditions of different patients, and meets the requirements of the lower limb patients on the integrity and the comfort of the rehabilitation training.
Description
Technical Field
The invention relates to the field of sensing measurement equipment, in particular to an angle sensing system of an exoskeleton device for lower limb rehabilitation training.
Background
With the improvement of living standard of substances, the requirements of people on medical conditions are higher, the average life of human beings is higher and higher, the aging of society and various safety accidents are increased, the number of patients with lower limb dyskinesia and old people is more and more, at present, the research of domestic rehabilitation robot technology is still in the laboratory research stage, a long way is needed to be carried out away from commercial popularization, and in addition, the aspects of complexity, flexibility, stability of rehabilitation training, accuracy of detection control and the like of the rehabilitation robot have certain differences compared with foreign countries.
Disclosure of Invention
The invention aims to solve the technical problem of providing an angle sensing system of an exoskeleton device for lower limb rehabilitation training.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: an angle sensing system of an exoskeleton device for lower limb rehabilitation training comprises a data acquisition module, an A/D sampling processing module and a main control module, wherein the data acquisition module comprises magnetoresistive chips and Hall elements, the magnetoresistive chips adopt HMC1512 and are eight, four magnetoresistive chips form a group of bridge circuits, the Hall elements adopt film SS495A, the A/D sampling processing module is integrated in the main control module and is fixedly connected through welding, the A/D sampling processing module comprises an amplifying arithmetic unit, a low-pass filter circuit, a buffer and an analog-to-digital converter, the magnetoresistive chips are connected with the main control module through the amplifying arithmetic unit, the low-pass filter circuit, the buffer and the analog-to-digital converter in series, the main control module comprises a TMS320F2812 main controller, an industrial personal computer and a liquid crystal display screen, TMS320F2812 main control unit one end is equipped with the electricity with adc and is connected, is equipped with the electricity between the communication serial ports of the other end and industrial computer and connects, liquid crystal display and TMS320F2812 main control unit between be equipped with the electricity and connect.
Compared with the prior art, the invention has the advantages that: the angle sensing system can not only display real-time data, but also realize the functions of data storage, data playback and the like, can guide limbs to do various specified repetitive rehabilitation training through a machine, assists the lower limbs of patients to recover the motor functions of the patients, can customize different rehabilitation schemes according to the self conditions of different patients, and meets the requirements of the lower limb patients on the integrity and the comfort of the rehabilitation training.
As an improvement, the data acquisition module is arranged at the hip joint, the knee and the ankle of the exoskeleton device.
As an improvement, the corner of the wiring of the bridge circuit of the magnetic resistance chip of the data acquisition module adopts a 45-degree angle, so that the influence of magnetic field noise on a sampling result can be effectively reduced.
As an improvement, the eight magnetoresistive chips are divided into two groups of bridge circuits, one group is a basic bridge, and the other group is a full-bridge differential compensation circuit.
As an improvement, a buffer in the A/D sampling processing module is provided with a correction circuit, one end of the buffer is provided with an absolute value encoder, an electric connection is arranged between the absolute value encoder and the buffer, the absolute value encoder and the buffer are fixed through welding, the absolute value encoder has a power-down storage function, and the problem that data are lost due to electromagnetic interference during working of the buffer can be solved.
As an improvement, an electric connection is arranged between the industrial personal computer and a servo motor driven by the exoskeleton device, and an angle sensing feedback system is formed between the data acquisition module and the servo motor driven by the industrial personal computer and the exoskeleton device.
As an improvement, the liquid crystal display screen is divided into a dial part and a digital display part, and two ports of the liquid crystal display screen are electrically connected with the TMS320F2812 main controller.
Drawings
Fig. 1 is a flow diagram of an angle sensing system for an exoskeleton device for lower limb rehabilitation training.
Fig. 2 is a circuit diagram of an angle sensing system of an exoskeleton device for lower limb rehabilitation training.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention relates to an angle sensing system of an exoskeleton device for lower limb rehabilitation training, which comprises a data acquisition module, an A/D sampling processing module and a main control module, wherein the data acquisition module comprises magnetoresistive chips and Hall elements, the magnetoresistive chips adopt HMC1512, eight magnetoresistive chips are arranged, four magnetoresistive chips form a group of bridge circuits, the Hall elements adopt film SS495A, the A/D sampling processing module is integrated in the main control module and is fixedly connected through welding, the A/D sampling processing module comprises an amplification arithmetic unit, a low-pass filter circuit, a buffer and an analog-to-digital converter, the magnetoresistive chips are sequentially connected with the main control module through the amplification arithmetic unit, the low-pass filter circuit, the buffer and the analog-to-digital converter in series, and the main control module comprises a TMS320F2812 controller, Industrial computer, liquid crystal display, TMS320F2812 main control unit one end is equipped with the electricity with adc and is connected, is equipped with the electricity between the communication serial ports of the other end and industrial computer and is connected, liquid crystal display and TMS320F2812 main control unit between be equipped with the electricity and connect.
The data acquisition module is arranged at the hip joint, the knee and the ankle of the exoskeleton device.
The wiring corner of the magnetic resistance chip bridge circuit of the data acquisition module adopts a 45-degree angle, so that the influence of magnetic field noise on a sampling result can be effectively reduced.
Eight magnetoresistive chips are arranged and divided into two groups of bridge circuits, wherein one group is a basic bridge, and the other group is a full-bridge differential compensation circuit.
The buffer in the AD sampling processing module be equipped with correction circuit, and the one end of buffer is equipped with the absolute value encoder, be equipped with the electricity between absolute value encoder and the buffer and be connected, absolute value encoder and buffer pass through welded fastening, the absolute value encoder has the function of cutting down the storage, can solve the buffer and receive electromagnetic interference in the work, cause the problem of data loss.
The industrial personal computer is electrically connected with the servo motor driven by the exoskeleton device, and an angle sensing feedback system is formed between the data acquisition module and the servo motor driven by the industrial personal computer and the exoskeleton device.
The liquid crystal display is divided into a dial part and a digital display part, and two ports of the liquid crystal display are electrically connected with the TMS320F2812 main controller.
The working principle of the invention is as follows: the angle sensing system is based on the basic principle of Hall effect and magnetoresistance effect, the structural design of a combined sensor with an expanded angle measurement range is specifically realized by a bridge circuit, current and electromagnetic signal output of a magnetoresistance chip and a Hall element are conditioned by an amplification arithmetic unit, a low-pass filter circuit and a buffer, then the conditioned current and electromagnetic signal are input into a port of an analog-to-digital converter for sampling, then digital signal processing and angle real-time resolving are carried out, an angle measurement result is divided into analog output and digital output, the analog output is sent to a dial plate of a liquid crystal display screen, the digital output is sent to a digital display LCD of the liquid crystal display screen for directly displaying the measurement result, and the measurement result is sent to an industrial personal computer through serial port communication and is recorded.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the invention, "plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise specifically stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
In the description herein, reference to the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (7)
1. An angle sensing system of an exoskeleton device for lower limb rehabilitation training comprises a data acquisition module, an A/D sampling processing module and a main control module, wherein the data acquisition module comprises magnetoresistive chips and Hall elements, the magnetoresistive chips adopt HMC1512 and are eight, four magnetoresistive chips form a group of bridge circuits, the Hall elements adopt film SS495A, the A/D sampling processing module is integrated in the main control module and is fixedly connected through welding, the A/D sampling processing module comprises an amplifying arithmetic unit, a low-pass filter circuit, a buffer and an analog-to-digital converter, the magnetoresistive chips are connected with the main control module through the amplifying arithmetic unit, the low-pass filter circuit, the buffer and the analog-to-digital converter in series, the main control module comprises a TMS320F2812 main controller, an industrial personal computer and a liquid crystal display screen, TMS320F2812 main control unit one end is equipped with the electricity with adc and is connected, is equipped with the electricity between the communication serial ports of the other end and industrial computer and connects, liquid crystal display and TMS320F2812 main control unit between be equipped with the electricity and connect.
2. The angle sensing system of an exoskeleton device for lower limb rehabilitation training of claim 1, wherein: the data acquisition module is arranged at the hip joint, the knee and the ankle of the exoskeleton device.
3. The angle sensing system of an exoskeleton device for lower limb rehabilitation training of claim 1, wherein: the wiring corner of the magnetic resistance chip bridge circuit of the data acquisition module adopts a 45-degree angle, so that the influence of magnetic field noise on a sampling result can be effectively reduced.
4. The angle sensing system of an exoskeleton device for lower limb rehabilitation training of claim 1, wherein: eight magnetoresistive chips are arranged and divided into two groups of bridge circuits, wherein one group is a basic bridge, and the other group is a full-bridge differential compensation circuit.
5. The angle sensing system of an exoskeleton device for lower limb rehabilitation training of claim 1, wherein: the buffer in the AD sampling processing module be equipped with correction circuit, and the one end of buffer is equipped with the absolute value encoder, be equipped with the electricity between absolute value encoder and the buffer and be connected, absolute value encoder and buffer pass through welded fastening, the absolute value encoder has the function of cutting down the storage, can solve the buffer and receive electromagnetic interference in the work, cause the problem of data loss.
6. The angle sensing system of an exoskeleton device for lower limb rehabilitation training of claim 1, wherein: the industrial personal computer is electrically connected with the servo motor driven by the exoskeleton device, and an angle sensing feedback system is formed between the data acquisition module and the servo motor driven by the industrial personal computer and the exoskeleton device.
7. The angle sensing system of an exoskeleton device for lower limb rehabilitation training of claim 1, wherein: the liquid crystal display is divided into a dial part and a digital display part, and two ports of the liquid crystal display are electrically connected with the TMS320F2812 main controller.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911239734.4A CN110974603A (en) | 2019-12-06 | 2019-12-06 | Angle sensing system of exoskeleton device for lower limb rehabilitation training |
| AU2020101929A AU2020101929A4 (en) | 2019-12-06 | 2020-08-21 | Angle sensing system of exoskeleton device for lower limb rehabilitation training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911239734.4A CN110974603A (en) | 2019-12-06 | 2019-12-06 | Angle sensing system of exoskeleton device for lower limb rehabilitation training |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110974603A true CN110974603A (en) | 2020-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911239734.4A Pending CN110974603A (en) | 2019-12-06 | 2019-12-06 | Angle sensing system of exoskeleton device for lower limb rehabilitation training |
Country Status (2)
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| CN (1) | CN110974603A (en) |
| AU (1) | AU2020101929A4 (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101180519A (en) * | 2005-03-23 | 2008-05-14 | 霍尼韦尔国际公司 | Angular position detection utilizing a plurality of rotary configured magnetic sensors |
| CN203219001U (en) * | 2013-03-04 | 2013-09-25 | 珠海格力电器股份有限公司 | Stator punching sheet, stator iron core and electromotor |
| CN107457766A (en) * | 2017-06-23 | 2017-12-12 | 张翔宇 | Live again dynamic power machine skeletal system |
| CN206908538U (en) * | 2017-07-06 | 2018-01-19 | 深圳市嘉昱机电有限公司 | Servo motor driving device and system |
| EP3275602A1 (en) * | 2016-07-26 | 2018-01-31 | ETH Zurich | Joint unit, joint system, robot for manipulation and/or transportation, robotic exoskeleton system and method for manipulation and/or transportation |
| CN110132124A (en) * | 2019-05-06 | 2019-08-16 | 微传智能科技（常州）有限公司 | Magnetic degree sensor and magnetic degree sensing device |
-
2019
- 2019-12-06 CN CN201911239734.4A patent/CN110974603A/en active Pending
-
2020
- 2020-08-21 AU AU2020101929A patent/AU2020101929A4/en not_active Ceased
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101180519A (en) * | 2005-03-23 | 2008-05-14 | 霍尼韦尔国际公司 | Angular position detection utilizing a plurality of rotary configured magnetic sensors |
| CN203219001U (en) * | 2013-03-04 | 2013-09-25 | 珠海格力电器股份有限公司 | Stator punching sheet, stator iron core and electromotor |
| EP3275602A1 (en) * | 2016-07-26 | 2018-01-31 | ETH Zurich | Joint unit, joint system, robot for manipulation and/or transportation, robotic exoskeleton system and method for manipulation and/or transportation |
| CN107457766A (en) * | 2017-06-23 | 2017-12-12 | 张翔宇 | Live again dynamic power machine skeletal system |
| CN206908538U (en) * | 2017-07-06 | 2018-01-19 | 深圳市嘉昱机电有限公司 | Servo motor driving device and system |
| CN110132124A (en) * | 2019-05-06 | 2019-08-16 | 微传智能科技（常州）有限公司 | Magnetic degree sensor and magnetic degree sensing device |
Non-Patent Citations (1)
| Title |
|---|
| 王超: "基于AMR效应的磁阻角度传感器的设计", 《中国优秀硕士学位论文全文信息库信息科技辑》 * |
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| AU2020101929A4 (en) | 2020-10-01 |
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