CN111067760B - Upper limb rehabilitation training robot based on omnidirectional mobile platform - Google Patents
Upper limb rehabilitation training robot based on omnidirectional mobile platform Download PDFInfo
- Publication number
- CN111067760B CN111067760B CN201911402087.4A CN201911402087A CN111067760B CN 111067760 B CN111067760 B CN 111067760B CN 201911402087 A CN201911402087 A CN 201911402087A CN 111067760 B CN111067760 B CN 111067760B
- Authority
- CN
- China
- Prior art keywords
- patient
- upper limb
- training
- force
- joint
- Prior art date
- 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.)
- Active
Links
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 71
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims description 9
- 150000001875 compounds Chemical class 0.000 claims description 8
- 210000002310 elbow joint Anatomy 0.000 claims description 8
- 210000000323 shoulder joint Anatomy 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 5
- 239000002131 composite material Substances 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 3
- 239000011499 joint compound Substances 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 2
- 239000011521 glass Substances 0.000 description 6
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an upper limb rehabilitation training robot based on an omnidirectional moving platform, which is characterized by comprising a training seat and a training table mechanism, wherein after a patient sits on the training seat, the upper limb of the patient performs wrist joint rehabilitation training, upper limb large joint rehabilitation training and upper limb joint compound rehabilitation training on the training table mechanism, wherein the training table mechanism further comprises a force sensing mechanism, a six-degree-of-freedom platform, an omnidirectional moving mechanism and a training table. Compared with the prior art, the invention has the following effects: the invention can provide the motion in all directions of the affected side space, recognize the motion intention of the patient and carry out rehabilitation training aiming at all joints of the upper limb. The invention has strong operability, can make corresponding tasks according to different rehabilitation stages of patients, and carries out rehabilitation training by the invention.
Description
Technical Field
The invention relates to the technical field of rehabilitation robots, in particular to an upper limb rehabilitation training robot based on an omnidirectional mobile platform.
Background
In the field of rehabilitation medicine, rehabilitation exercises based on "brain plasticity" are effective treatment methods that have been proven by clinical medical practice applications for a long time.
At present, the traditional upper limb medical rehabilitation training mainly takes the manual operation of a rehabilitation doctor as a main part, and the method wastes time and labor for both a patient and the doctor, and has low efficiency. Many patients with upper limb dysfunction in China cannot get timely rehabilitation therapy. Therefore, it is necessary to introduce robotics into the field of rehabilitation therapy.
Disclosure of Invention
The purpose of the invention is: the robot is used for carrying out targeted exercise training on the upper limbs of the patient, so that the exercise capacity of the upper limbs of the patient is gradually recovered, and the lost functions are recovered again.
In order to achieve the above object, the technical solution of the present invention is to provide an upper limb rehabilitation training robot based on an omnidirectional moving platform, which is characterized by comprising a training seat and a training table mechanism, wherein after a patient sits on the training seat, the upper limb of the patient performs wrist joint rehabilitation training, upper limb large joint rehabilitation training and upper limb joint compound rehabilitation training on the training table mechanism, wherein the training table mechanism further comprises a force sensing mechanism, a six-degree-of-freedom platform, an omnidirectional moving mechanism and a training table:
the upper limb of the patient is fixed on the force sensing mechanism, and when the wrist joint rehabilitation training is carried out, the force sensing mechanism detects the force value F of the upper limb of the patient applied on the force sensing mechanism in the X-axis direction x And torque T x Force values in the Y-axis direction F y And torque T y Force values in the Z-axis direction F z And torque T z Thereby sensing the movement intention of the wrist joint of the patient; when the rehabilitation training of the large joints of the upper limbs is carried out, besides the movement intention of the wrist joints of the patient is sensed through the force sensing mechanism, the force value F in the X-axis direction is used x And force value F in the Y-axis direction y The magnitude and direction of the resultant force F on the plane are calculated and combined with the torque T in the Z-axis direction z Thereby sensing the movement intention of the shoulder and elbow joints of the patient; when performing the compound rehabilitation training of each joint of the upper limb, the force sensing mechanism detects the force value F of the upper limb of the patient in the X-axis direction applied on the force sensing mechanism x And torque T x Force values in the Y-axis direction F y And torque T y And force value F in the Z-axis direction z And torque T z By force values F in the direction of the X axis x Force values in the Y-axis direction F y And force value F in the Z-axis direction z Calculating to obtain the magnitude and direction of the resultant force F in space and combining with the resultant torque T in the X-axis, Y-axis and Z-axis directions, thereby sensing the composite movement intention of each joint of the upper limb of the patient;
when wrist joint rehabilitation training is carried out, the position of the omnidirectional moving mechanism is fixed, and the movement intention of the wrist joint of the patient sensed by the force sensing mechanism controls the six-degree-of-freedom platform to move so as to realize the movement intention of the wrist joint of the patient; when the compound rehabilitation training of each joint of the upper limb is carried out, the motion intention of the wrist joint of the patient sensed by the force sensing mechanism controls the six-degree-of-freedom platform to move, so that the motion intention of the wrist joint of the patient is realized, and meanwhile, the motion intention of the shoulder joint and the elbow joint of the patient sensed by the force sensing mechanism controls the omnidirectional moving mechanism to move and rotate on the training table, so that the motion intention of the shoulder joint and the elbow joint of the patient is realized; when the rehabilitation training of the upper limb large joint is carried out, the six-degree-of-freedom platform is fixed in position, the motion intention of the upper limb large joint of the patient sensed by the force sensing mechanism controls the omnidirectional moving mechanism to move and rotate on the training table, and the motion intention of the upper limb large joint of the patient is realized.
Preferably, the rehabilitation training device further comprises a motion track detection unit, when the rehabilitation training for the upper limb large joint and the composite rehabilitation training for each joint of the upper limb are carried out, a preset motion track is displayed on a desktop of the training desk, the patient takes the control of the omnidirectional moving mechanism to move along the motion track as a target to apply force to the force sensing mechanism, the force sensing mechanism detects the movement intention of the patient and then controls the omnidirectional moving mechanism to move on the desktop, the motion track detection unit detects whether the omnidirectional moving mechanism moves along the motion track displayed on the desktop in the moving process, and if not, the omnidirectional moving mechanism is actively controlled to move along the motion track displayed on the desktop.
Preferably, the force sensing mechanism comprises a handheld rod and a six-dimensional force sensor, the bottom of the six-degree-of-freedom platform is fixed on the omnidirectional moving mechanism, the handheld rod is arranged at the top of the six-degree-of-freedom platform through the six-dimensional force sensor, the upper limb of the patient is bound on the handheld rod, and the force value F applied to the handheld rod by the upper limb of the patient in the X-axis direction is detected through the six-dimensional force sensor x And torque T x Force values in the Y-axis direction F y And torque T y Force values in the Y-axis direction F z And torque T z 。
Preferably, the omnidirectional moving mechanism comprises a supporting platform, the bottom of the six-degree-of-freedom platform is fixed on the upper surface of the supporting platform, the motion trail detection unit is fixed on the lower surface of the supporting platform, two pairs of mecanum wheels are arranged below the supporting platform, each pair of mecanum wheels comprises two mecanum wheels arranged on the left and right sides, each mecanum wheel is driven by an independent motor, each mecanum wheel is fixedly connected with the supporting platform through a supporting rod and a spring supporting rod, the height and posture of the spring supporting rod are adjusted according to the weight of the upper limb of the patient, and the arm of the patient can perform rehabilitation training in a better posture.
Compared with the prior art, the invention achieves the following effects:
(1) The invention can provide motion in all directions for the affected side space, recognize the motion intention of the patient and carry out rehabilitation training aiming at all joints of the upper limb.
(2) The invention has strong operability, can make corresponding tasks according to different rehabilitation stages of patients, and carries out rehabilitation training by the invention.
Drawings
Fig. 1 is a schematic view of the overall structure of an upper limb rehabilitation training robot based on an omnidirectional mobile platform according to the present invention;
fig. 2 is a front view of a force sensing mechanism omnidirectional moving platform of an upper limb rehabilitation training robot based on an omnidirectional moving platform provided by the invention;
fig. 3 is an axial view of an omnidirectional moving mechanism of an upper limb rehabilitation training robot based on an omnidirectional moving platform provided by the invention.
In the figure: the device comprises a 1-force sensing mechanism, a 2-omnidirectional moving mechanism, a 3-training table, a 4-training seat, a 11-hand holding rod, a 12-six-dimensional force sensor, a 13-six-degree-of-freedom platform, a 14-detection sensor, a 21-Mecanum wheel, a 22-supporting rod, a 23-spring supporting rod, a 24-supporting platform, a 25-motor, a 31-transparent glass table plate, a 32-display, a 33-starting push button, a 34-table frame, a 35-universal wheel and a 36-emergency stop switch.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention can be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the claims appended to the present application.
As shown in fig. 1, the upper limb rehabilitation training robot based on the omnidirectional moving platform provided by the invention comprises a force sensing mechanism 1, an omnidirectional moving mechanism 2, a training table 3 and a training seat 4.
Referring to fig. 2 and 3, the force sensing mechanism 1 includes a handgrip 11, a six-dimensional force sensor 12, a six-degree-of-freedom platform 13, and a detection sensor 14. The holding rod 11 is fixed on the six-dimensional force sensor 12 and used for binding the affected hand of the patient. The six-dimensional force sensor 12 is fixed on the six-degree-of-freedom platform 13, and the six-dimensional force sensor 12 detects the force value F applied to the holding rod 11 by the patient in the X-axis direction in real time x And torque T x Force values in the Y-axis direction F y And torque T y Force values in the Z-axis direction F z And torque T z Thereby sensing the patient's motor intention. The six-degree-of-freedom platform 13 provides degrees of freedom in all directions of space, the servo motor arranged at the bottom controls the extension amount of each rod of the six-degree-of-freedom platform 13, the translation and the rotation of the six-degree-of-freedom platform 13 are controlled, so that the six-degree-of-freedom motion of the tail end of a patient is realized, the motion of the wrist joint of the patient in all directions can be realized, and the rehabilitation training of the wrist of the patient is completed. The detection sensor 14 is fixed below the supporting platform 24, and is used for detecting the deviation between the motion track of the omnidirectional moving mechanism 2 under the control of the patient and the preset track displayed on the training table 3, and sending the deviation value to the omnidirectional moving mechanism 2 to actively correct the motion track, so that the omnidirectional moving mechanism 2 moves along the preset track to assist the patient in rehabilitation training.
The omnidirectional moving mechanism 2 moves according to the actual intention of the patient detected by the force sensing mechanism 1, realizes the movement intention of the patient, and drives the upper limb of the patient to perform active/passive wrist joint rehabilitation training, upper limb large joint rehabilitation training and upper limb joint compound movement rehabilitation training on the training table 3 according to a training plan. The omnidirectional moving mechanism 2 includes: mecanum wheel 21, support rod 22, spring support rod 23, support platform 24, and motor 25. Spring support rods 23 and 22 are used to connect support platform 24 to mecanum wheel 21. Motor 25 is coupled to mecanum wheel 21. Four motors 25 are respectively arranged at the bottom position of the supporting platform 24 and are used for driving the omnidirectional movement mechanism 2 to move. The four mecanum wheels 21 are respectively installed on the output shafts of the four motors 25, and the four mecanum wheels 21 are respectively controlled by the single motor 25, so that the omnidirectional moving platform 2 can realize movement in any direction. The height and the posture of the spring support rod 23 on the omnidirectional movement mechanism 2 can be adjusted according to the weight of the arm of the upper limb of the patient, so that the arm of the patient can perform rehabilitation training in a better posture.
The training table mechanism 3 includes: a transparent glass table 31, a display 32, a start button 33, a table frame 34, universal wheels 35 and an emergency stop switch 36. The display 32 is embedded in a transparent glass table 31, and the transparent glass table 31 is mounted on a table frame 34. Two emergency stop switches 36 are installed on the left and right sides of the transparent glass table 31. The start button 33 is installed at a right position of the transparent glass table 31. Four universal wheels 35 are mounted below the table frame 34.
The training chair 4 is placed at the rear end of the training table 3, and the height of the training chair can be adjusted according to the height of the patient.
The upper limb rehabilitation training robot based on the omnidirectional mobile platform can be used for wrist joint rehabilitation training, upper limb joint rehabilitation training and upper limb joint composite rehabilitation training. The training includes active training and passive training.
In training, the medical staff first fixes the upper limb of the patient on the holding bar 11 of the force sensing mechanism 1, and selects the wrist joint training, the upper limb major joint training and the upper limb joint compound training according to the affected side condition of the patient. When the wrist joint training is selected, the omnidirectional moving mechanism 2 is fixed, and the force value F of the patient applied to the hand-holding rod 11 in the X-axis direction is detected by the six-dimensional force sensor 12 x And torque T x Force value F in the Y-axis direction y And torque T y Z-axial force value F z And torque T z Thereby sensing the movement intention of the wrist joint of the patient. According to the movement intention of the wrist joint of the patient, six freedom are drivenThe degree platform 13 performs movements in all directions. When the upper limb great joint rehabilitation training is selected, the six-degree-of-freedom platform 13 is in a fixed state, and the omnidirectional moving mechanism 2 is in a free state. The force value F in the X-axis direction applied to the grip lever 11 by the patient is detected by the six-dimensional force sensor 12 x Force values in the Y-axis direction F y And torque T in the Z-axis direction z By a force value F in the direction of the X axis x And force value F in the Y-axis direction y The magnitude and direction of the resultant force F on the plane are calculated and combined with the torque T in the Z-axis direction z Thereby sensing the movement intention of the upper limb large joint of the patient. The movement and rotation of the omnidirectional movement mechanism 2 are controlled according to the movement intention of the patient's upper limb large joint, wherein the torque T in the Z-axis direction z For controlling the rotation of the omni-directional movement mechanism 2. When the compound training of each joint of the upper limb is selected, the six-degree-of-freedom platform 13 and the omnidirectional moving platform 2 are in a free state. The movement intention of the wrist joint of the patient is sensed by the six-dimensional force sensor 12, and simultaneously, the force value F in the X-axis direction is passed x Force value F in the Y-axis direction y And force value F in the Z-axis direction z The magnitude and direction of the resultant force F in space are obtained through calculation and combined with the resultant torque T in the directions of the X axis, the Y axis and the Z axis, so that the compound movement intention of each joint of the patient is sensed. The movement intention of the wrist joint of the patient sensed by the six-dimensional force sensor 12 controls the six-degree-of-freedom platform 13 to move, so that the movement intention of the wrist joint of the patient is realized, and meanwhile, the movement intention of the shoulder joint and the elbow joint of the patient sensed by the six-dimensional force sensor 12 controls the omnidirectional moving platform 2 to move and rotate on the training table 3, so that the movement intention of the shoulder joint and the elbow joint of the patient is realized.
The rehabilitation doctor can adjust the training content in real time according to the training condition of the patient, and the rehabilitation efficiency is improved.
The invention has been explained by applying specific examples to the principle and implementation mode of the invention, and the above description of the examples is only used to help understanding the method and core idea of the invention; meanwhile, for a person skilled in the art, the idea of the present invention may be changed in the specific implementation and application scope. In summary, this summary should not be construed to limit the present invention.
Claims (3)
1. The utility model provides an upper limbs rehabilitation training robot based on omnidirectional movement platform, a serial communication port, including training seat and training table mechanism, the patient sits back on training seat, and patient's upper limbs carry out wrist joint rehabilitation training, upper limbs big joint rehabilitation training and the compound rehabilitation training of each joint of upper limbs on training table mechanism, and wherein, training table mechanism further includes that power feels mechanism, six degree of freedom platforms, omnidirectional movement mechanism and training table:
the upper limb of the patient is fixed on the force sensing mechanism, and when the wrist joint rehabilitation training is carried out, the force sensing mechanism detects the force value F of the upper limb of the patient applied on the force sensing mechanism in the X-axis direction x And torque T x Force values in the Y-axis direction F y And torque T y Force values in the Z-axis direction F z And torque T z Thereby sensing the movement intention of the wrist joint of the patient; when the rehabilitation training of the large joints of the upper limbs is carried out, besides the movement intention of the wrist joints of the patient is sensed through the force sensing mechanism, the force value F in the X-axis direction is used x And force value F in the Y-axis direction y The magnitude and direction of resultant force F on the plane are calculated and combined with torque T in the Z-axis direction z Thereby sensing the movement intention of the shoulder and elbow joints of the patient; when performing the compound rehabilitation training of each joint of the upper limb, the force sensing mechanism detects the force value F of the upper limb of the patient in the X-axis direction applied on the force sensing mechanism x And torque T x Force value F in the Y-axis direction y And torque T y And force value F in the Z-axis direction z And torque T z By a force value F in the direction of the X axis x Force values in the Y-axis direction F y And force value F in the Z-axis direction z Calculating to obtain the magnitude and direction of resultant force F in space and combining with resultant torque T in X-axis, Y-axis and Z-axis directions, thereby sensing the compound movement intention of each joint of the upper limb of the patient;
when wrist joint rehabilitation training is carried out, the position of the omnidirectional moving mechanism is fixed, and the movement intention of the wrist joint of the patient sensed by the force sensing mechanism controls the six-degree-of-freedom platform to move so as to realize the movement intention of the wrist joint of the patient; when the compound rehabilitation training of each joint of the upper limb is carried out, the movement intention of the wrist joint of the patient sensed by the force sensing mechanism controls the six-degree-of-freedom platform to move, so that the movement intention of the wrist joint of the patient is realized, and meanwhile, the movement intention of the shoulder joint and the elbow joint of the patient sensed by the force sensing mechanism controls the omnidirectional moving mechanism to move and rotate on the training table, so that the movement intention of the shoulder joint and the elbow joint of the patient is realized; when the rehabilitation training of the upper limb large joint is carried out, the six-degree-of-freedom platform is fixed in position, the motion intention of the upper limb large joint of the patient sensed by the force sensing mechanism controls the omnidirectional moving mechanism to move and rotate on the training table, and the motion intention of the upper limb large joint of the patient is realized;
the force sensing mechanism comprises a holding rod and a six-dimensional force sensor, the bottom of the six-degree-of-freedom platform is fixed on the omnidirectional moving mechanism, the holding rod is arranged at the top of the six-degree-of-freedom platform through the six-dimensional force sensor, the upper limb of the patient is bound on the holding rod, and the force value F, applied to the holding rod by the upper limb of the patient, in the X-axis direction is detected through the six-dimensional force sensor x And torque T x Force values in the Y-axis direction F y And torque T y Force values in the Z-axis direction F z And torque T z 。
2. The upper limb rehabilitation training robot based on the omnidirectional moving platform as recited in claim 1, further comprising a motion trajectory detection unit, when performing the upper limb large joint rehabilitation training and the upper limb joint composite rehabilitation training, displaying a preset motion trajectory on a desktop of the training desk, wherein the patient controls the omnidirectional moving mechanism to move along the motion trajectory as a target to apply force to the force sensing mechanism, the force sensing mechanism controls the omnidirectional moving mechanism to move on the desktop after detecting the movement intention of the patient, the motion trajectory detection unit detects whether the omnidirectional moving mechanism moves along the motion trajectory displayed on the desktop during the moving process, and if not, the omnidirectional moving mechanism is actively controlled to move along the motion trajectory displayed on the desktop.
3. The upper limb rehabilitation training robot based on the omnidirectional moving platform as claimed in claim 2, wherein the omnidirectional moving mechanism comprises a supporting platform, the bottom of the six-degree-of-freedom platform is fixed on the upper surface of the supporting platform, the motion trail detection unit is fixed on the lower surface of the supporting platform, two pairs of mecanum wheels are arranged below the supporting platform, each pair of mecanum wheels comprises two mecanum wheels arranged left and right, each mecanum wheel is driven by an independent motor, each mecanum wheel is fixedly connected with the supporting platform through a supporting rod and a spring supporting rod, and the height and the posture of the spring supporting rod are adjusted according to the weight of the upper limb of the patient, so that the arm of the patient can perform rehabilitation training in a better posture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911402087.4A CN111067760B (en) | 2019-12-31 | 2019-12-31 | Upper limb rehabilitation training robot based on omnidirectional mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911402087.4A CN111067760B (en) | 2019-12-31 | 2019-12-31 | Upper limb rehabilitation training robot based on omnidirectional mobile platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111067760A CN111067760A (en) | 2020-04-28 |
| CN111067760B true CN111067760B (en) | 2022-11-08 |
Family
ID=70320056
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911402087.4A Active CN111067760B (en) | 2019-12-31 | 2019-12-31 | Upper limb rehabilitation training robot based on omnidirectional mobile platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111067760B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113101130A (en) * | 2021-03-18 | 2021-07-13 | 山东建筑大学 | Multi-degree-of-freedom robot based on upper limb rehabilitation |
| CN113274240A (en) * | 2021-03-26 | 2021-08-20 | 阁步(上海)医疗科技有限公司 | Upper limb arm rehabilitation robot |
| CN113069324A (en) * | 2021-04-07 | 2021-07-06 | 哈尔滨理工大学 | Upper limb rehabilitation robot for home use |
| CN113208872A (en) * | 2021-05-07 | 2021-08-06 | 上海羿生医疗科技有限公司 | Upper limb rehabilitation training device and control method thereof |
| CN113633520A (en) * | 2021-08-27 | 2021-11-12 | 上海机器人产业技术研究院有限公司 | Six-degree-of-freedom platform for wrist rehabilitation |
| CN114099225B (en) * | 2021-09-06 | 2023-09-01 | 杭州程天科技发展有限公司 | Multifunctional omni-directional rehabilitation robot and handle thereof |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6443874B1 (en) * | 1999-09-09 | 2002-09-03 | Mark Bennett | Occupational - therapy apparatus for strengthening fingers, hand, wrist, forearm and foot |
| JP2007185325A (en) * | 2006-01-13 | 2007-07-26 | Nagoya Institute Of Technology | Upper limb rehabilitation exercise system |
| CN101401765A (en) * | 2008-09-05 | 2009-04-08 | 清华大学 | Upper limb hemiplegia rehabilitation robot device with adjustable training plan |
| JP2012035022A (en) * | 2010-08-04 | 2012-02-23 | Er Tec:Kk | Upper limb motor function training device |
| WO2018093448A2 (en) * | 2016-09-09 | 2018-05-24 | Qatar Foundation For Education, Science And Community Development | Robotic upper limb rehabilitation device |
| CN108465209A (en) * | 2018-05-31 | 2018-08-31 | 力迈德医疗（广州）有限公司 | Wrist joint global function image training robot |
| CN108478392A (en) * | 2018-05-08 | 2018-09-04 | 合肥工业大学 | A kind of exercising apparatus for recovery of upper limb |
| CN109662867A (en) * | 2019-02-22 | 2019-04-23 | 苏州大学 | Based on the improved ankle rehabilitation institution of Stewart platform |
| CN110179629A (en) * | 2019-06-13 | 2019-08-30 | 河南省祥和康复产业技术研究院有限责任公司 | A kind of passive type upper limb function rehabilitation training device based on Mecanum wheel |
Family Cites Families (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7048674B2 (en) * | 2001-06-28 | 2006-05-23 | Hartman Ronald P | Handheld hand, wrist and arm exercise and rehabilitation device |
| CN101125112B (en) * | 2007-09-20 | 2010-06-30 | 华中科技大学 | Wearing type upper limb recovery training robot device |
| CN101301250A (en) * | 2008-07-08 | 2008-11-12 | 哈尔滨工业大学 | Five-freedom degree dermaskeleton type upper limb rehabilitation robot interactive rehabilitation training control policy |
| WO2010059066A1 (en) * | 2008-11-19 | 2010-05-27 | Industrial Research Limited | Exercise device and system |
| PT3199135T (en) * | 2010-03-30 | 2018-11-14 | Enraf Nonius B V | Physiotherapy apparatus |
| CN202342398U (en) * | 2011-11-08 | 2012-07-25 | 武汉理工大学 | Multi-degree-of-freedom robot for lower limb surgery and rehabilitation training |
| US9847045B2 (en) * | 2012-12-10 | 2017-12-19 | Nanyang Technological University | Apparatus for upper body movement |
| CN105250112B (en) * | 2015-07-10 | 2017-11-28 | 哈尔滨天愈康复医疗机器人有限公司 | A kind of non-wearable Three Degree Of Freedom wrist robots for rehabilitation therapy |
| CN104983541B (en) * | 2015-07-10 | 2017-10-10 | 哈尔滨天愈康复医疗机器人有限公司 | A kind of Spatial Parallel drives wrist robots for rehabilitation therapy |
| CN104983549A (en) * | 2015-07-29 | 2015-10-21 | 张士勇 | An intelligent upper limb rehabilitation training device |
| TWI626068B (en) * | 2015-11-27 | 2018-06-11 | 國立臺北科技大學 | Arm strength training rehabilitation equipment |
| CN107019621A (en) * | 2017-05-19 | 2017-08-08 | 山东建筑大学 | Upper limb rehabilitation robot |
| CN108045187B (en) * | 2017-12-15 | 2020-02-04 | 西京学院 | Independent suspension mechanism of omnidirectional mobile platform |
| CN110051501B (en) * | 2019-03-01 | 2021-07-09 | 南京航空航天大学 | Desktop type upper limb rehabilitation robot and using method thereof |
| CN109999427A (en) * | 2019-05-06 | 2019-07-12 | 上海机器人产业技术研究院有限公司 | A kind of upper-limbs rehabilitation training robot based on mobile platform |
| CN110339021B (en) * | 2019-07-31 | 2021-11-23 | 燕山大学 | Wrist rehabilitation robot with three degrees of freedom |
-
2019
- 2019-12-31 CN CN201911402087.4A patent/CN111067760B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6443874B1 (en) * | 1999-09-09 | 2002-09-03 | Mark Bennett | Occupational - therapy apparatus for strengthening fingers, hand, wrist, forearm and foot |
| JP2007185325A (en) * | 2006-01-13 | 2007-07-26 | Nagoya Institute Of Technology | Upper limb rehabilitation exercise system |
| CN101401765A (en) * | 2008-09-05 | 2009-04-08 | 清华大学 | Upper limb hemiplegia rehabilitation robot device with adjustable training plan |
| JP2012035022A (en) * | 2010-08-04 | 2012-02-23 | Er Tec:Kk | Upper limb motor function training device |
| WO2018093448A2 (en) * | 2016-09-09 | 2018-05-24 | Qatar Foundation For Education, Science And Community Development | Robotic upper limb rehabilitation device |
| CN108478392A (en) * | 2018-05-08 | 2018-09-04 | 合肥工业大学 | A kind of exercising apparatus for recovery of upper limb |
| CN108465209A (en) * | 2018-05-31 | 2018-08-31 | 力迈德医疗（广州）有限公司 | Wrist joint global function image training robot |
| CN109662867A (en) * | 2019-02-22 | 2019-04-23 | 苏州大学 | Based on the improved ankle rehabilitation institution of Stewart platform |
| CN110179629A (en) * | 2019-06-13 | 2019-08-30 | 河南省祥和康复产业技术研究院有限责任公司 | A kind of passive type upper limb function rehabilitation training device based on Mecanum wheel |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111067760A (en) | 2020-04-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111067760B (en) | Upper limb rehabilitation training robot based on omnidirectional mobile platform | |
| CN108187310B (en) | Feel that the limb motion of information and posture information is intended to understand and upper-limbs rehabilitation training robot and its control method based on power | |
| JP6413139B2 (en) | A series elastic holonomic transfer platform for upper limb rehabilitation | |
| CN201168163Y (en) | Rehabilitation robot for anklebone | |
| CN202143653U (en) | Minimally invasive vascular intervention operation robot | |
| WO2016020457A1 (en) | Upper limb rehabilitation system | |
| CN104257490A (en) | Method for folding wearable lower limb assisting robots | |
| CN108818543B (en) | Intelligent transfer service robot | |
| WO2006047753A2 (en) | Wrist and upper extremity motion | |
| CN110742775A (en) | Upper limb active and passive rehabilitation training robot system based on force feedback technology | |
| CN105581891B (en) | A kind of limb rehabilitating device and the method that rehabilitation training is carried out using the device | |
| CN110997084B (en) | Upper limb exerciser and control method thereof | |
| CN107015564B (en) | Walking-aid robot and combined intelligent control method | |
| CN103735389A (en) | Finger coordination training and rehabilitation device | |
| CN109529274B (en) | Upper limb joint active rehabilitation system based on redundant mechanical arm and training method thereof | |
| CN106621207A (en) | Training method for recovery robot and recovery robot | |
| KR101936850B1 (en) | Rehabilitation apparatus for arm linked to hand exercise | |
| CN213465894U (en) | Exoskeleton mechanical arm and upper limb rehabilitation training device | |
| CN111660284A (en) | Wearable cooperation robot with auxiliary stay function | |
| Morbi et al. | GaitEnable: An omnidirectional robotic system for gait rehabilitation | |
| CN103417361A (en) | Two-degree-of-freedom upper limb rehabilitation training robot system | |
| CN214550977U (en) | Upper limb rehabilitation training auxiliary device | |
| Peng et al. | Design of casia-arm: A novel rehabilitation robot for upper limbs | |
| CN104546379B (en) | Limb rehabilitation training machine | |
| CN215149134U (en) | Remote interactive slave robot and remote interactive medical system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |