CN111084706A - Active-motion man-machine interaction system with joint rotation angle appointed - Google Patents
Active-motion man-machine interaction system with joint rotation angle appointed Download PDFInfo
- Publication number
- CN111084706A CN111084706A CN201911246616.6A CN201911246616A CN111084706A CN 111084706 A CN111084706 A CN 111084706A CN 201911246616 A CN201911246616 A CN 201911246616A CN 111084706 A CN111084706 A CN 111084706A
- Authority
- CN
- China
- Prior art keywords
- module
- joint
- human
- sensor
- sensor module
- 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.)
- Pending
Links
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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- 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
- A61H1/0244—Hip
-
- 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
- A61H1/0266—Foot
-
- 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
- A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force 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
- 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
- A61H2205/08—Trunk
-
- 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
- A61H2205/08—Trunk
- A61H2205/085—Crotch
-
- 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
-
- 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
- A61H2205/102—Knee
Abstract
The invention discloses a human-computer interaction system for active movement of an appointed joint corner, which comprises a system assembly, wherein the system assembly comprises a support assembly module, a sensor module, a driving module, a power source module, a main control module and a simulation learning module, and the support assembly module comprises a waist exoskeleton support module, a hip joint rotating module, a leg exoskeleton support module, a knee joint rotating module, a foot exoskeleton support module and an ankle exoskeleton support module. Compared with the prior art, the invention has the advantages that: through articulated sensor received signal, transmit to host system, through gathering signal data processing, transmit the result to corresponding the module in, formulate suitable rehabilitation training according to patient's actual physical condition, overall structure is simple complete, and it is convenient to use, and therapeutic effect is showing.
Description
Technical Field
The invention relates to the field of rehabilitation robots, in particular to a man-machine interaction system for active movement of a specified joint corner.
Background
The research work of the rehabilitation robot in China starts late relative to western countries, but with the increasing aging of the population of China, the rehabilitation problem becomes an important problem which needs to be solved urgently by society, since China enters the aging society in 2003, the number of the aged population and the proportion of the aged population to the total population are continuously increased, the population aged by 60 years and over 65 years in China is respectively more than 2.4 hundred million and 1.5 hundred million and accounts for 17.3 percent and 11.4 percent of the total population at the end of 2017 years, the population aged by deep aging society is continuously deepened and intensified, and meanwhile cerebrovascular diseases, nervous system diseases and the like also increasingly influence the healthy life of the aged people.
Stroke is also called acute cerebrovascular disease or stroke, and patients have difficulty and inconvenience in walking and lose walking ability, i.e. paralysis of lower limbs or even life threatening. The medical theory and clinical medicine prove that the scientific and reasonable rehabilitation training plays an important role in recovering and improving the limb movement function besides receiving the early surgical treatment and the necessary drug treatment.
The traditional rehabilitation therapy of limb dysfunction mainly depends on highly skilled experience skills of therapists and one-to-one bare-handed training, the high-strength, targeted and repetitive rehabilitation training requirements are difficult to realize, the rehabilitation robot combines intelligent control and human body movement by applying the robot technology, and replaces therapists to assist patients to perform rehabilitation training, the state gives high attention to research and development work of the rehabilitation robot technology, and domestic colleges and related scientific research institutions tighten research and development of the rehabilitation robot and obtain some achievements.
The research of the rehabilitation robot is carried out by various scientific research institutions in China, the developed rehabilitation robot has the characteristics and advantages of the rehabilitation robot, but has different defects and shortcomings, and the research of the domestic rehabilitation robot technology is still in the laboratory research stage on the whole and has a long way to commercial popularization. In addition, the rehabilitation robot has certain differences from foreign countries in the aspects of complexity, flexibility, stability of rehabilitation training, accuracy of detection control and the like.
Therefore, it is imperative to design an active motion human-computer interaction system for specifying joint rotation angles.
Disclosure of Invention
The invention aims to solve the technical problems that the rehabilitation robot technology has a plurality of defects, the structural function design of the rehabilitation robot has obvious defects, and the design on the joint corner is not complete.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: a human-computer interaction system for active movement of a designated joint corner comprises a system assembly, wherein the system assembly comprises a support assembly module, a sensor module, a driving module, a power source module, a main control module and a simulation learning module, the support assembly module comprises a waist exoskeleton support module, a hip joint rotation module, a leg exoskeleton support module, a knee joint rotation module, a foot exoskeleton support module and an ankle exoskeleton support module, the sensor module comprises a waist sensor module, hip joint sensor module, shank sensor module, knee joint sensor module, foot sensor module, ankle sensor module, acceleration sensor module and one-dimensional force sensor module, drive module includes motor module, gear module, pivot module and connecting rod module, and host system includes the data acquisition module, synthesizes and handles the module and store the module.
Compared with the prior art, the invention has the advantages that: through articulated sensor received signal, transmit to host system, through gathering signal data processing, transmit the result to corresponding the module in, formulate suitable rehabilitation training according to patient's actual physical condition, overall structure is simple complete, and it is convenient to use, and therapeutic effect is showing.
As an improvement, a rotating shaft and an arc chute are arranged in the hip joint rotating module, and the rotating shaft is coincided with the popliteal fossa of the legs of the human body by the hip joint rotating module through the arc chute.
As an improvement, the knee joint rotation module is arranged on the leg exoskeleton support module, and a groove body with local rotation freedom degree is reserved in the knee joint rotation module, so that the leg exoskeleton support module is matched with the leg skeletal muscle structure of the human body.
As an improvement, the ankle exoskeleton support module is arranged on the foot exoskeleton support module, and a groove body with local rotation freedom degree is arranged at the joint of the ankle exoskeleton support module and the foot exoskeleton support module, so that the ankle exoskeleton support module is suitable for the micro rotation of the foot when a human body walks, and is convenient for the foot of the human body to do rotation rehabilitation training.
As an improvement, the waist sensor module is arranged in the waist exoskeleton support module; the hip joint sensor module is arranged in the hip joint rotating module; the leg sensor module is arranged in the leg exoskeleton bracket module; the knee joint sensor module is arranged in the knee joint rotating module; the foot sensor module is arranged in the foot exoskeleton bracket module; the ankle sensor module is arranged in the ankle exoskeleton support module.
As an improvement, the acceleration sensor module main body is an acceleration sensor and is arranged at the tail end of each connecting rod joint to measure the acceleration value of each connecting rod.
As an improvement, potentiometer sensors are coaxially arranged in the hip joint rotating module, the knee joint rotating module and the ankle exoskeleton support module, and the current spatial position of the joint of the actuating mechanism is judged by utilizing the relative rotating angle value of the potentiometer joint.
As an improvement, a connecting rod mechanism is arranged in the exoskeleton support module, the leg exoskeleton support module and the foot exoskeleton support module, a one-dimensional force sensor module is arranged on the connecting rod mechanism, and a main body of the one-dimensional force sensor module is a one-dimensional pull pressure sensor and is used for measuring the assistance effect and feeding back the assistance magnitude, so that evaluation basis is provided for the effects of medical treatment and rehabilitation training.
As an improvement, the power source module main body is a storage battery.
As an improvement, the main body of the acquisition module is a data acquisition card.
Drawings
Fig. 1 is a schematic structural diagram of a human-computer interaction system for active motion of a specified joint angle.
FIG. 2 is a schematic diagram of a bracket assembly of an active motion human-computer interaction system with a specified joint angle.
Fig. 3 is a schematic structural diagram of a sensor module of an active motion human-computer interaction system for specifying joint angles.
Fig. 4 is a schematic structural diagram of a driving module of an active movement human-computer interaction system for specifying a joint rotation angle.
Fig. 5 is a schematic structural diagram of a main control module of an active movement human-computer interaction system for specifying a joint rotation angle.
FIG. 6 is a schematic workflow diagram of an active kinematic human-machine interaction system for specifying joint angles.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In specific implementation, the invention provides a human-computer interaction system for active movement of a specified joint corner, which comprises a system assembly, wherein the system assembly comprises a support assembly module, a sensor module, a driving module, a power source module, a main control module and a simulation learning module, the support assembly module comprises a waist exoskeleton support module, a hip joint rotation module, a leg exoskeleton support module, a knee joint rotation module, a foot exoskeleton support module and an ankle exoskeleton support module, the sensor module comprises a waist sensor module, a hip joint sensor module, a leg sensor module, a knee joint sensor module, a foot sensor module, an ankle sensor module, an acceleration sensor module and a one-dimensional force sensor module, the driving module comprises a motor module, a gear module, a rotating shaft module and a connecting rod module, the main control module comprises a data acquisition module, a comprehensive processing module and a storage module.
The hip joint rotating module is internally provided with a rotating shaft and an arc chute, and the rotating shaft is coincided with the popliteal fossa of the leg of the human body through the arc chute.
The knee joint rotation module is installed on the leg exoskeleton support module, and a groove body with local rotation freedom degree is reserved in the knee joint rotation module, so that the leg exoskeleton support module is matched with the leg skeletal muscle structure of a human body.
The ankle exoskeleton support module is arranged on the foot exoskeleton support module, and a groove body with local rotational degree of freedom is arranged at the joint of the ankle exoskeleton support module and the foot exoskeleton support module, so that the ankle exoskeleton support module is suitable for micro rotation of feet when a human body walks, and is convenient for the feet of the human body to do rotational rehabilitation training.
The waist sensor module is arranged in the waist exoskeleton support module; the hip joint sensor module is arranged in the hip joint rotating module; the leg sensor module is arranged in the leg exoskeleton support module; the knee joint sensor module is arranged in the knee joint rotating module; the foot sensor module is arranged in the foot exoskeleton bracket module; the ankle sensor module is arranged in the ankle exoskeleton support module.
The acceleration sensor module main body is an acceleration sensor, is arranged at the tail end of each connecting rod joint and is used for measuring the acceleration value of each connecting rod.
And potentiometers are coaxially arranged in the hip joint rotating module, the knee joint rotating module and the ankle exoskeleton support module, and the current spatial position of the joint of the actuating mechanism is judged by utilizing the relative rotating angle value of the joints of the potentiometers.
The exoskeleton support module, the leg exoskeleton support module and the foot exoskeleton support module are internally provided with a link mechanism, the link mechanism is provided with a one-dimensional force sensor module, and the one-dimensional force sensor module is a one-dimensional pull pressure sensor and is used for measuring the assistance effect and feeding back the assistance, so that evaluation basis is provided for the effects of medical treatment and rehabilitation training.
The power source module main body is a storage battery.
The main body of the acquisition module is a data acquisition card.
The working principle of the invention is as follows: the sensor signals from all positions are received by the sensor modules (the waist sensor module, the hip joint sensor module, the leg sensor module, the knee joint sensor module, the foot sensor module, the ankle sensor module, the acceleration sensor module and the one-dimensional force sensor module) arranged in the corresponding support modules (the waist exoskeleton support module, the hip joint rotation module, the leg exoskeleton support module, the knee joint rotation module, the foot exoskeleton support module and the ankle exoskeleton support module), the sensor signals are transmitted to the data acquisition module in the main control module in the form of signal data, the transmitted signal data are processed and summarized by the comprehensive processing module, the processing result is transmitted to the corresponding modules in the form of data, the user is helped to carry out rehabilitation treatment, and the client motion information data are stored in the storage module, the information data are extracted from the storage module by the simulation learning module, the main body of the simulation learning module is ADAMS software, virtual prototypes of the modules at the waist, hip joints, legs, knees, feet and ankles are built in the software, and the virtual prototypes are subjected to kinematics simulation analysis.
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 (10)
1. A human-computer interaction system of active motion of appointed joint corner, includes the system assembly, its characterized in that: the system assembly include support assembly module, sensor module, drive module, power supply module, host system module and emulation study module, support assembly module include waist ectoskeleton support module, the rotatory module of hip joint, leg ectoskeleton support module, the rotatory module of knee joint, foot ectoskeleton support module and ankle ectoskeleton support module, sensor module include waist sensor module, hip joint sensor module, leg sensor module, knee joint sensor module, foot sensor module, ankle sensor module, acceleration sensor module and one-dimensional force transducer module, drive module include motor module, gear module, pivot module and connecting rod module, host system module include data acquisition module, integrated processing module and storage module.
2. The human-computer interaction system for active motion of a specified joint angle of claim 1, wherein: the hip joint rotating module is internally provided with a rotating shaft and an arc chute, and the rotating shaft is coincided with the popliteal fossa of the leg of the human body through the arc chute.
3. The human-computer interaction system for active motion of a specified joint angle of claim 1, wherein: the knee joint rotation module is installed on the leg exoskeleton support module, and a groove body with local rotation freedom degree is reserved in the knee joint rotation module, so that the leg exoskeleton support module is matched with the leg skeletal muscle structure of a human body.
4. The human-computer interaction system for active motion of a specified joint angle of claim 1, wherein: the ankle exoskeleton support module is arranged on the foot exoskeleton support module, and a groove body with local rotational degree of freedom is arranged at the joint of the ankle exoskeleton support module and the foot exoskeleton support module, so that the ankle exoskeleton support module is suitable for micro rotation of feet when a human body walks, and is convenient for the feet of the human body to do rotational rehabilitation training.
5. The human-computer interaction system for active motion of a specified joint angle of claim 1, wherein: the waist sensor module is arranged in the waist exoskeleton support module; the hip joint sensor module is arranged in the hip joint rotating module; the leg sensor module is arranged in the leg exoskeleton support module; the knee joint sensor module is arranged in the knee joint rotating module; the foot sensor module is arranged in the foot exoskeleton bracket module; the ankle sensor module is arranged in the ankle exoskeleton support module.
6. The human-computer interaction system for active motion of a specified joint angle of claim 1, wherein: the acceleration sensor module main body is an acceleration sensor, is arranged at the tail end of each connecting rod joint and is used for measuring the acceleration value of each connecting rod.
7. The human-computer interaction system for active motion of a specified joint angle of claim 1, wherein: and potentiometers are coaxially arranged in the hip joint rotating module, the knee joint rotating module and the ankle exoskeleton support module, and the current spatial position of the joint of the actuating mechanism is judged by utilizing the relative rotating angle value of the joints of the potentiometers.
8. The human-computer interaction system for active motion of a specified joint angle of claim 1, wherein: the exoskeleton support module, the leg exoskeleton support module and the foot exoskeleton support module are internally provided with a link mechanism, the link mechanism is provided with a one-dimensional force sensor module, and the one-dimensional force sensor module is a one-dimensional pull pressure sensor and is used for measuring the assistance effect and feeding back the assistance, so that evaluation basis is provided for the effects of medical treatment and rehabilitation training.
9. The human-computer interaction system for active motion of a specified joint angle of claim 1, wherein: the power source module main body is a storage battery.
10. The human-computer interaction system for active motion of a specified joint angle of claim 1, wherein: the main body of the acquisition module is a data acquisition card.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911246616.6A CN111084706A (en) | 2019-12-07 | 2019-12-07 | Active-motion man-machine interaction system with joint rotation angle appointed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911246616.6A CN111084706A (en) | 2019-12-07 | 2019-12-07 | Active-motion man-machine interaction system with joint rotation angle appointed |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111084706A true CN111084706A (en) | 2020-05-01 |
Family
ID=70395487
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911246616.6A Pending CN111084706A (en) | 2019-12-07 | 2019-12-07 | Active-motion man-machine interaction system with joint rotation angle appointed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111084706A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102327173A (en) * | 2011-09-29 | 2012-01-25 | 上海交通大学 | Wearable exoskeleton lower limb rehabilitation robot |
| CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
| CN203417440U (en) * | 2013-05-27 | 2014-02-05 | 电子科技大学 | Composite sensing system for wearable pneumatic lower limb rehabilitation robot |
| CN104490568A (en) * | 2014-12-25 | 2015-04-08 | 北京航空航天大学 | Human lower extremity exoskeleton walking aid rehabilitation robot |
| CN104983543A (en) * | 2015-07-29 | 2015-10-21 | 张士勇 | An intelligent lower limb rehabilitation training device |
| CN105105973A (en) * | 2015-08-14 | 2015-12-02 | 浙江大学 | Wearable power-assisted exoskeleton lower limb mechanism |
| CN107126344A (en) * | 2017-07-05 | 2017-09-05 | 天津科技大学 | Lower limb walking function rehabilitation exoskeleton rehabilitation robot and control system and method |
| CN107811819A (en) * | 2017-11-23 | 2018-03-20 | 航天科工智能机器人有限责任公司 | A kind of wearable lower limb rehabilitation robot |
-
2019
- 2019-12-07 CN CN201911246616.6A patent/CN111084706A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102327173A (en) * | 2011-09-29 | 2012-01-25 | 上海交通大学 | Wearable exoskeleton lower limb rehabilitation robot |
| CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
| CN203417440U (en) * | 2013-05-27 | 2014-02-05 | 电子科技大学 | Composite sensing system for wearable pneumatic lower limb rehabilitation robot |
| CN104490568A (en) * | 2014-12-25 | 2015-04-08 | 北京航空航天大学 | Human lower extremity exoskeleton walking aid rehabilitation robot |
| CN104983543A (en) * | 2015-07-29 | 2015-10-21 | 张士勇 | An intelligent lower limb rehabilitation training device |
| CN105105973A (en) * | 2015-08-14 | 2015-12-02 | 浙江大学 | Wearable power-assisted exoskeleton lower limb mechanism |
| CN107126344A (en) * | 2017-07-05 | 2017-09-05 | 天津科技大学 | Lower limb walking function rehabilitation exoskeleton rehabilitation robot and control system and method |
| CN107811819A (en) * | 2017-11-23 | 2018-03-20 | 航天科工智能机器人有限责任公司 | A kind of wearable lower limb rehabilitation robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zhang et al. | Robotics in lower-limb rehabilitation after stroke | |
| Yoo et al. | Development of 3D-printed myoelectric hand orthosis for patients with spinal cord injury | |
| US10420695B2 (en) | Exoskeleton apparatus driven by pneumatic artificial muscle with functions of upper limb assist and rehabilitation training | |
| CN102327173B (en) | Wearable exoskeleton lower limb rehabilitation robot | |
| CN101061984B (en) | Recovery robot system for providing mechanical assistant by using myoelectric signal | |
| CN110742775B (en) | Upper limb active and passive rehabilitation training robot system based on force feedback technology | |
| CN103750975B (en) | Based on exoskeleton finger recovery robot system and the method for work of brain electric control | |
| CN105796286B (en) | Use the lower limb exoskeleton robot control method of air bag sensor | |
| Vouga et al. | TWIICE—A lightweight lower-limb exoskeleton for complete paraplegics | |
| CN109820695A (en) | A kind of horizontal bilateral brain paralysis lower limb rehabilitation robot in the ward ICU with communication and independent navigation locomotive function | |
| Li et al. | Review on lower extremity exoskeleton robot | |
| Kapsalyamov et al. | State-of-the-art assistive powered upper limb exoskeletons for elderly | |
| CN101301250A (en) | Five-freedom degree dermaskeleton type upper limb rehabilitation robot interactive rehabilitation training control policy | |
| CN103610569A (en) | Wearable lower limb power-assisting device and control method thereof | |
| TWM526379U (en) | Air pressure and muscle driven outer skeleton apparatus with upper limb power and rehabilitation training functions | |
| Bhardwaj et al. | Lower limb rehabilitation robotics: The current understanding and technology | |
| Li et al. | Development and evaluation of a wearable lower limb rehabilitation robot | |
| Koo et al. | Development of a meal assistive exoskeleton made of soft materials for polymyositis patients | |
| CN206597136U (en) | A kind of gait rehabilitation robot for realizing walking foot pose | |
| CN109646246A (en) | A kind of wearable lower limb exoskeleton robot stretching and beading device | |
| Radman et al. | Robotic devices for upper limb stroke rehabilitation: Potential research trends | |
| CN105030480B (en) | Novel six-freedom-degree wrist rehabilitation robot therapeutic apparatus | |
| CN111084706A (en) | Active-motion man-machine interaction system with joint rotation angle appointed | |
| CN201267596Y (en) | Lower limb gait appliance controller | |
| Li et al. | Design of 6-DOF parallel ankle rehabilitation robot |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200501 |
|
| RJ01 | Rejection of invention patent application after publication |