CN110974610A - Data acquisition system for wearable limb function rehabilitation and treatment equipment - Google Patents
Data acquisition system for wearable limb function rehabilitation and treatment equipment Download PDFInfo
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- 230000000694 effects Effects 0.000 claims description 6
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- 230000033001 locomotion Effects 0.000 claims description 4
- 230000002457 bidirectional effect Effects 0.000 claims description 3
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- 238000002560 therapeutic procedure Methods 0.000 claims 7
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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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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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
- A61H2201/16—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
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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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
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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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
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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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
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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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5084—Acceleration 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
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
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Abstract
The invention provides a data acquisition system for wearable limb function rehabilitation and treatment equipment, which comprises a data acquisition card, a sensor, a control system and the wearable limb function rehabilitation and treatment equipment matched with the data acquisition card, wherein the output end of the sensor is connected with the input end of the data acquisition card, the output end of the data acquisition card is connected with the input end of the control system, the sensor comprises a plantar pressure sensor, an angle sensor, an acceleration sensor and a one-dimensional force sensor, the data acquisition card acquires sensing signals from the plantar pressure sensor, the angle sensor, the acceleration sensor and the one-dimensional force sensor respectively and then converts the sensing signals into digital signals, the converted digital signals are transmitted to a control system, and the control system detects the working state of the wearable limb function rehabilitation and treatment equipment according to the digital quantity provided by a digital acquisition card; the data acquisition system is more perfect by the cooperation of the data acquisition card, the sensor and the control system.
Description
Technical Field
The invention relates to a data acquisition system, in particular to a data acquisition system for wearable limb function rehabilitation and treatment equipment.
Background
With the aging of social population and the increase of various safety accidents, patients with lower limb movement disorder or old people with inconvenient movement are more and more. Medical theory and clinical experience prove that limb rehabilitation exercise training is necessary to prevent muscular atrophy, and practice proves that exercise treatment is beneficial to functional recovery of muscles. In real life, due to functional disorder, patients cannot independently perform limb rehabilitation training, and nurses or other personnel are needed to help the patients to perform the rehabilitation training, which is heavy work. In recent years, the appearance of foreign rehabilitation training robots enables scientific rehabilitation training to be implemented more easily. The wearable power-assisted robot is one kind of such medical instrument, and it can help patient or old person to accomplish the rehabilitation training of various science.
At present, domestic research on wearable limb function rehabilitation and treatment equipment is still in a primary stage, a plurality of research institutions are not available, the technology is not mature, and the domestic research on wearable limb function rehabilitation and treatment equipment is basically positioned in the aspects of helping the old and the disabled. The research work of the rehabilitation robot in China is late compared with that of the western countries, a data acquisition system of the wearable limb function rehabilitation and treatment equipment is not perfect, the acquired data is easily interfered by the outside, and the current working state of the equipment cannot be accurately judged. Therefore, a data acquisition system for wearable limb function rehabilitation and treatment equipment, which is more complete in data acquisition system and more accurate in acquired data, becomes a problem to be solved urgently in the whole society.
Disclosure of Invention
The invention aims to solve the technical problems of imperfect data acquisition system, inaccurate acquired data and the like in the prior art.
In order to solve the above problems, the present invention provides a data acquisition system for a wearable limb function rehabilitation and treatment device, comprising a data acquisition card, a sensor, a control system and a wearable limb function rehabilitation and treatment device adapted to the control system, the output end of the sensor is connected with the input end of the data acquisition card, the output end of the data acquisition card is connected with the input end of the control system, the sensors comprise a plantar pressure sensor, an angle sensor, an acceleration sensor and a one-dimensional force sensor, the data acquisition card respectively acquires sensing signals from the plantar pressure sensor, the angle sensor, the acceleration sensor and the one-dimensional force sensor and then converts the sensing signals into digital signals, the converted digital signals are transmitted to a control system, and the control system detects the working state of the wearable limb function rehabilitation and treatment equipment according to the digital quantity provided by a digital acquisition card;
control system includes industrial computer, control software, RS232 processing unit and a plurality of parallelly connected control circuit, control software, RS232 processing unit all set up on the industrial computer, RS232 processing unit draws forth two parallel RS232 buses, control circuit includes servo controller, motor and encoder, data bidirectional transfer between servo controller, motor, the encoder, servo controller and RS232 bus connection, control system detects the operating condition of wearable limbs function rehabilitation and treatment equipment according to the digital quantity that digital acquisition card provided, then transmits servo controller for through the RS232 bus with the form that digital signal turns into servo controller and can read, and servo controller controls the work of wearable limbs function rehabilitation and treatment equipment.
Furthermore, the data acquisition card comprises an A/D conversion module, an AD reading module and a control module, the data acquisition card automatically acquires non-electric quantity or electric quantity signals from the plantar pressure sensor, the angle sensor, the acceleration sensor and the one-dimensional force sensor, converts analog signals into digital signals through the A/D conversion module, reads the digital signals through the AD reading module, and sends the digital signals to an upper computer for analysis and processing; the data acquisition card can not only display the real-time curve of the data, but also realize the functions of storing and replaying the data.
Furthermore, an amplifying and filtering circuit is arranged outside the plantar pressure sensor, a tunable optical filter is arranged outside the angle sensor, a self-adaptive filter is arranged outside the acceleration sensor, and an amplifying and filtering circuit is arranged outside the one-dimensional force sensor; different digital filtering modes are designed aiming at different sensor signals in the aspect of signal anti-interference, so that the signals of multiple paths of sensors are not interfered with each other, and the accuracy of data acquisition by a digital acquisition card is improved.
Furthermore, the sole pressure sensor is arranged on the sole of the wearable limb function rehabilitation and treatment device, and is used for identifying the phase of the gait cycle in which the sole pressure sensor is arranged and planning and controlling the action of the wearable limb function rehabilitation and treatment device.
Furthermore, the angle sensor is arranged at the joint of the wearable limb function rehabilitation and treatment equipment and moves coaxially with the joint, and the current spatial position of the joint of the actuating mechanism is judged according to the relative rotation angle value of the angle sensor and the joint.
Further, the acceleration sensor is arranged at the tail end of each link joint of the exoskeleton of the wearable limb function rehabilitation and treatment device and used for measuring the acceleration value of each link.
Furthermore, the one-dimensional force sensor is arranged on each connecting rod mechanism of the wearable limb function rehabilitation and treatment equipment, is used for measuring the assistance effect and feeding back the assistance magnitude, and can also be used as the basis for effect evaluation of medical rehabilitation training.
Furthermore, the RS232 bus adopts a parallel transmission mode, the industrial personal computer includes a set of RS232 processing units, each processing unit corresponds to one data element, and when the machine executes a sequence program, the processing units can simultaneously operate corresponding to all or part of the data stored in the internal processing units.
Compared with the prior art, the invention has the advantages that: the data acquisition system is more perfect through the cooperation of the data acquisition card, the sensor and the control system; the gait cycle is divided by utilizing the sole pressure information, the change information of the sole pressure during natural walking is used as the control basis of the wearable limb function rehabilitation and treatment equipment, and the angle sensor, the acceleration sensor and the one-dimensional force sensor are combined to be used as feedback signals of position, speed and rehabilitation, so that the basis of sensing information is provided for the motion control of the wearable limb function rehabilitation and treatment equipment; the data acquisition card is used for acquiring analog signals on each sensor, the A/D conversion module is used for converting the analog signals into digital signals, the AD reading module is used for reading the digital signals and transmitting the digital signals to the control system, and the control system is used for detecting the working state of the wearable limb function rehabilitation and treatment equipment according to the digital signals provided by the data acquisition card; different digital filtering modes are designed aiming at different sensor signals, so that the data acquired by the data acquisition card is more accurate; the invention has reasonable design and is worth popularizing.
Drawings
FIG. 1 is a block diagram of a design system for a variety of sensor information acquisition platforms;
fig. 2 is a design block diagram of a wearable limb function rehabilitation robot control system;
fig. 3 is a design block diagram of a wearable limb function rehabilitation robot.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present invention will be described in detail with reference to the accompanying fig. 1 to 3.
The invention provides a data acquisition system for wearable limb function rehabilitation and treatment equipment in specific implementation, which comprises a data acquisition card, a sensor and a control system, and is characterized in that: the output end of the sensor is connected with the input end of a data acquisition card, the output end of the data acquisition card is connected with the input end of a control system, the sensor comprises a plantar pressure sensor, an angle sensor, an acceleration sensor and a one-dimensional force sensor, the data acquisition card acquires sensing signals from the plantar pressure sensor, the angle sensor, the acceleration sensor and the one-dimensional force sensor respectively, then the sensing signals are converted into digital signals, the converted digital signals are transmitted to the control system, and the control system detects the working state of the lower limb rehabilitation robot according to the digital signals provided by the data acquisition card;
control system includes industrial computer, control software, RS232 processing unit and a plurality of parallelly connected control circuit, control software, RS232 processing unit all set up on the industrial computer, RS232 processing unit draws forth two parallel RS232 buses, control circuit includes servo controller, motor and encoder, data bidirectional transfer between servo controller, motor, the encoder, servo controller and RS232 bus connection, control system detects the operating condition of low limbs rehabilitation robot according to the digital quantity that digital acquisition card provided, then transmits the form that digital signal turns into servo controller ability and reads for servo controller through the RS232 bus, and servo controller controls low limbs rehabilitation robot work.
The data acquisition card comprises an A/D conversion module, an AD reading module and a control module, the data acquisition card automatically acquires non-electric quantity or electric quantity signals from the plantar pressure sensor, the angle sensor, the acceleration sensor and the one-dimensional force sensor, analog signals are converted into digital signals through the A/D conversion module, then the digital signals are read through the AD reading module, and the digital signals are sent to the industrial personal computer for analysis and processing.
An amplifying and filtering circuit is arranged outside the sole pressure sensor, a tunable optical filter is arranged outside the angle sensor, a self-adaptive filter is arranged outside the acceleration sensor, and an amplifying and filtering circuit is arranged outside the one-dimensional force sensor.
The sole pressure sensor is arranged on the sole of the lower limb rehabilitation robot and used for identifying the phase of the gait cycle of the lower limb rehabilitation robot and planning and controlling the action of the lower limb rehabilitation robot.
The angle sensor is arranged at the joint of the lower limb rehabilitation robot and moves coaxially with the joint, and the current spatial position of the joint of the actuating mechanism is judged according to the relative rotation angle value of the angle sensor and the joint.
The acceleration sensor is arranged at the tail end of each connecting rod joint of the exoskeleton of the lower limb rehabilitation robot and used for measuring the acceleration value of each connecting rod.
The one-dimensional force sensor is arranged on each connecting rod mechanism of the lower limb rehabilitation robot, is used for measuring the assistance effect and feeding back the assistance magnitude, and can also be used as the basis for evaluating the effect of medical rehabilitation training.
The RS232 bus adopts a parallel transmission mode, a group of RS232 processing units are contained in the industrial personal computer, each processing unit corresponds to one data element, and when the machine executes a sequence program, the data elements can be simultaneously operated corresponding to all or part of the data stored in the internal processing units.
The specific implementation process of the data acquisition system for the wearable limb function rehabilitation and treatment equipment is as follows: firstly, a sole pressure sensor is arranged on the sole of the wearable limb function rehabilitation and treatment equipment, an angle sensor is arranged at the joint of the wearable limb function rehabilitation and treatment equipment and moves coaxially with the joint, an acceleration sensor is arranged at the tail end of each connecting rod joint of the exoskeleton of the wearable limb function rehabilitation and treatment equipment, and a one-dimensional force sensor is arranged on each connecting rod mechanism of the wearable limb function rehabilitation and treatment equipment, so that the sole pressure sensor, the angle sensor, the acceleration sensor and the one-dimensional force sensor are respectively connected with a data acquisition card, and the data acquisition card is connected with a control system; the data acquisition card is used for acquiring analog signals on each sensor, the A/D conversion module is used for converting the analog signals into digital signals, the AD reading module is used for reading the digital signals and transmitting the digital signals to the control system, and the control system is used for detecting the working state of the wearable limb function rehabilitation and treatment equipment according to the digital signals provided by the data acquisition card; then the digital signals are converted into a form which can be read by the servo controller and transmitted to the servo controller through an RS232 bus, and the servo controller controls the wearable limb function rehabilitation and treatment equipment to operate.
The data acquisition system is more perfect through the cooperation of the data acquisition card, the sensor and the control system; the gait cycle is divided by utilizing the sole pressure information, the change information of the sole pressure during natural walking is used as the control basis of the wearable limb function rehabilitation and treatment equipment, and the angle sensor, the acceleration sensor and the one-dimensional force sensor are combined to be used as feedback signals of position, speed and rehabilitation, so that the basis of sensing information is provided for the motion control of the wearable limb function rehabilitation and treatment equipment; the data acquisition card is used for acquiring analog signals on each sensor, the A/D conversion module is used for converting the analog signals into digital signals, the AD reading module is used for reading the digital signals and transmitting the digital signals to the control system, and the control system is used for detecting the working state of the wearable limb function rehabilitation and treatment equipment according to the digital signals provided by the data acquisition card; different digital filtering modes are designed aiming at different sensor signals, so that the data acquired by the data acquisition card is more accurate; the invention has reasonable design and is worth popularizing.
Having thus described the basic principles and principal features of the invention, it will be appreciated by those skilled in the art that the invention is not limited by the embodiments described above, which are given by way of illustration only, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (8)
1. The utility model provides a data acquisition system that is used for wearable limbs function to be recovered with treatment facility, includes data acquisition card, sensor, control system and the wearable limbs function that adapts to it and treatment facility which characterized in that: the output end of the sensor is connected with the input end of a data acquisition card, the output end of the data acquisition card is connected with the input end of a control system, the sensor comprises a plantar pressure sensor, an angle sensor, an acceleration sensor and a one-dimensional force sensor, the data acquisition card acquires sensing signals from the plantar pressure sensor, the angle sensor, the acceleration sensor and the one-dimensional force sensor respectively, then the sensing signals are converted into digital signals, the converted digital signals are transmitted to the control system, and the control system detects the working state of the wearable limb function rehabilitation and treatment equipment according to the digital signals provided by the data acquisition card;
control system includes industrial computer, control software, RS232 processing unit and a plurality of parallelly connected control circuit, control software, RS232 processing unit all set up on the industrial computer, RS232 processing unit draws forth two parallel RS232 buses, control circuit includes servo controller, motor and encoder, data bidirectional transfer between servo controller, motor, the encoder, servo controller and RS232 bus connection, control system detects the operating condition of wearable limbs function rehabilitation and treatment equipment according to the digital quantity that digital acquisition card provided, then transmits servo controller for through the RS232 bus with the form that digital signal turns into servo controller and can read, and servo controller controls the work of wearable limbs function rehabilitation and treatment equipment.
2. The data acquisition system for the wearable limb function rehabilitation and treatment device according to claim 1, wherein the data acquisition card comprises an A/D conversion module, an AD reading module and a control module, the data acquisition card automatically acquires non-electric quantity or electric quantity signals from the plantar pressure sensor, the angle sensor, the acceleration sensor and the one-dimensional force sensor, converts analog signals into digital signals through the A/D conversion module, reads the digital signals through the AD reading module, and sends the digital signals to the industrial personal computer for analysis and processing.
3. The data acquisition system for the wearable limb function rehabilitation and treatment device as claimed in claim 1, wherein the sole pressure sensor is externally provided with an amplifying and filtering circuit, the angle sensor is externally provided with a tunable optical filter, the acceleration sensor is externally provided with an adaptive filter, and the one-dimensional force sensor is externally provided with an amplifying and filtering circuit.
4. The data acquisition system for the wearable limb rehabilitation and therapy device according to claim 1, wherein the plantar pressure sensors are disposed on the soles of the wearable limb rehabilitation and therapy device for identifying the phases of gait cycles of the wearable limb rehabilitation and therapy device and for planning and controlling the movements of the wearable limb rehabilitation and therapy device.
5. The data acquisition system for the wearable limb function rehabilitation and treatment device according to claim 1, wherein the angle sensor is disposed at the joint of the wearable limb function rehabilitation and treatment device and moves coaxially with the joint, and the current spatial position at the joint of the actuator is determined according to the relative rotation angle between the angle sensor and the joint.
6. The data acquisition system for the wearable limb function rehabilitation and treatment device as claimed in claim 1, wherein the acceleration sensor is disposed at the end of each link joint of the exoskeleton of the wearable limb function rehabilitation and treatment device for measuring the acceleration value of each link.
7. The data acquisition system for the wearable limb functional rehabilitation and therapy device according to claim 1, wherein the one-dimensional force sensor is disposed on each connecting rod mechanism of the wearable limb functional rehabilitation and therapy device for measuring the assistance effect and feeding back the assistance force, and can also be used as a basis for evaluating the effect of the medical rehabilitation training.
8. The data acquisition system for the wearable limb functional rehabilitation and therapy device according to claim 1, wherein the RS232 bus adopts a parallel transmission mode, and the industrial personal computer comprises a group of RS232 processing units, each processing unit corresponds to one data element, and when the machine executes a sequence program, all or part of the data stored in the internal processing units can be operated simultaneously.
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| CN201911247630.8A CN110974610A (en) | 2019-12-09 | 2019-12-09 | Data acquisition system for wearable limb function rehabilitation and treatment equipment |
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| CN201911247630.8A CN110974610A (en) | 2019-12-09 | 2019-12-09 | Data acquisition system for wearable limb function rehabilitation and treatment equipment |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203417440U (en) * | 2013-05-27 | 2014-02-05 | 电子科技大学 | Composite sensing system for wearable pneumatic lower limb rehabilitation robot |
| CN104027218A (en) * | 2014-06-05 | 2014-09-10 | 电子科技大学 | Rehabilitation robot control system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203417440U (en) * | 2013-05-27 | 2014-02-05 | 电子科技大学 | Composite sensing system for wearable pneumatic lower limb rehabilitation robot |
| CN104027218A (en) * | 2014-06-05 | 2014-09-10 | 电子科技大学 | Rehabilitation robot control system and method |
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