CN111870475A

CN111870475A - Taiji rehabilitation training instrument

Info

Publication number: CN111870475A
Application number: CN202010919854.5A
Authority: CN
Inventors: 曹建树; 白星宇; 张摇; 邓子奇; 王淼
Original assignee: Beijing Institute of Petrochemical Technology
Current assignee: Beijing Institute of Petrochemical Technology
Priority date: 2020-09-04
Filing date: 2020-09-04
Publication date: 2020-11-03

Abstract

The invention discloses a Tai Chi rehabilitation training instrument which comprises a shoulder, wherein two mechanical arms are symmetrically arranged at two ends of the shoulder, and each mechanical arm comprises a large arm and a small arm; the small arm comprises a small arm extending mechanism, a small arm extending slide rail and an elbow joint B; the big arm comprises a big arm extending mechanism, a shoulder connecting piece, a big arm extending slide rail, an elbow joint A, a big arm rotary joint B and a shoulder joint A; the shoulder comprises a shoulder cover plate, a shoulder extension support, a shoulder extension slide rail, a shoulder rotary joint B and a shoulder joint B. Each joint is hinged and provided with a driving motor. The multi-stage motion auxiliary function of the human shoulder joint and the big and small arms is realized, and the rehabilitation training with different degrees is completed by utilizing human engineering and adjusting multi-stage speed through the speed reducing motor. The degree of adjustability and intellectuality is higher, but the structure of split provides convenient condition for the transportation, and work efficiency is high.

Description

Taiji rehabilitation training instrument

Technical Field

The invention relates to an exoskeleton type rehabilitation training robot, in particular to a Tai Chi rehabilitation training instrument which is mainly used for upper limb rehabilitation and Tai Chi learning.

Background

With the continuous development of scientific technology and the continuous improvement of medical and health level, the living standard of people is greatly improved, and the expected life of people is also obviously improved. However, the age-keeping products matched with the health-care tea cannot keep pace with the aging of the population. The current priority is to accelerate the development of devices for supporting the elderly to meet the increasing daily needs of the elderly and to improve the quality of life. Meanwhile, people in different age groups pay more and more attention to physical health, and more young people participate in exercise through methods such as yoga, gymnasiums, taijiquan and the like. Taijiquan is the main way of daily exercise for the middle-aged and elderly people, and is also widely applied to upper limb rehabilitation training.

The Taiji boxing is soft and slow in movement, the movement amplitude and the intensity of the movement amount can be changed according to different constitutions, and the Taiji boxing training device is suitable for people of different ages and constitutions, in particular upper limb rehabilitation training. However, at present, the types of Taijiquan are many, the extension and the extension are complicated, the study and the popularization are difficult, especially for the old, the ability of accepting new things is weaker and weaker, meanwhile, the study is difficult for beginners without professional guidance, the basic study is not firm enough, the follow-up steps are difficult to perform, and the good upper limb rehabilitation function cannot be achieved.

At present, the method for learning Taijiquan by people mainly adopts video teaching and face-to-face learning, the defects of self learning cannot be mastered through the former method, and even learners cannot perceive the defects when actions are not standard. The face-to-face learning is greatly influenced by time and space, and does not have flexible learning time. Aiming at the situations, Taiji auxiliary training equipment is available in the market, but the equipment basically has a simple mechanical auxiliary function, has teaching and intelligent feedback functions when different, and does not have human-computer interaction or has low human-computer interaction.

Disclosure of Invention

The invention aims to provide a Taiji rehabilitation training instrument, which can be used for home training and is an intelligent Taiji boxing training system with action diagnosis feedback.

The purpose of the invention is realized by the following technical scheme:

the Tai Chi rehabilitation training instrument comprises a shoulder, wherein two mechanical arms are symmetrically arranged at two ends of the shoulder, and each mechanical arm comprises a large arm and a small arm;

the forearm comprises a forearm extending mechanism 1, the forearm extending mechanism 1 is arranged on a forearm extending slide rail 2, and the rear end of the forearm extending slide rail 2 is provided with an elbow joint B3;

the big arm comprises a big arm extending mechanism 8 and a shoulder connecting piece 11, the big arm extending mechanism 8 is arranged on a big arm extending slide rail 6, the front end of the big arm extending slide rail 6 is provided with an elbow joint A5, the elbow joint A is hinged with an elbow joint B, and a small arm driving motor 4 is arranged on a hinged shaft;

the rear end of the large arm extending mechanism 8 is hinged with the shoulder connecting piece 11 through a large arm rotating joint A9 and a large arm rotating joint B10, a large arm rotating motor 12 is arranged on a hinge shaft, and a shoulder joint A13 is arranged at the rear end of the shoulder connecting piece 11;

the shoulder comprises a shoulder cover plate 17, one end of the shoulder cover plate 17 is fixed with a shoulder extension support 16, the other end is provided with a shoulder extension slide rail 18, the outer end of the shoulder extension support 16 and the outer end of the shoulder extension slide rail 18 are respectively hinged with a shoulder joint B14 through a shoulder rotary joint A21 and a shoulder rotary joint B22, and a shoulder rotary motor 19 is arranged on a hinge shaft;

the shoulder joints B14 at both ends are respectively hinged with the shoulder joints A13 at the rear ends of the two big arms, and the big arm driving motor 15 is arranged on the hinged shaft.

According to the technical scheme provided by the invention, the Taiji rehabilitation training instrument provided by the embodiment of the invention can be used for the hand-held Taiji training of the old, so that the old who needs rehabilitation training can use the Taiji training without obstacles to achieve the effects of building the body and recovering the body function regardless of daily exercise. Is mainly used for upper limb rehabilitation and Taijiquan learning.

Drawings

Fig. 1 is a schematic view of a general assembly structure of a tai chi rehabilitation training instrument according to an embodiment of the present invention.

FIG. 2 is an assembly view of a single-sided robotic arm in accordance with an embodiment of the present invention.

Fig. 3 is an assembly view of the shoulder of the embodiment of the present invention.

Fig. 4 is an exploded view of the forearm according to an embodiment of the invention.

Fig. 5 is an exploded view of a large arm according to an embodiment of the present invention.

FIG. 6 is a broken away view of the shoulder of an embodiment of the present invention.

In the figure:

1. a forearm extending mechanism; 2. a forearm extension slide rail; 3. an elbow joint B; 4. a small arm driving motor; 5. an elbow joint A; 6. a large arm extension slide rail; 7. a large arm fixing mechanism 8 and a large arm extending mechanism; 9. a large arm rotary joint A; 10. a large arm rotary joint B; 11. a shoulder connector; 12. a large arm rotating motor; 13. a shoulder joint A; 14. a shoulder joint B; 15. a large arm drive motor; 16. shoulder extension support; 17. a shoulder cover plate; 18. extending the slide rail at the shoulder; 19, a shoulder rotating electrical machine; 20. XBD single stage harmonic drive retarder assembly type A [ XBD-A-32-100 ]; 21. a shoulder revolute joint A; 22. and a shoulder rotary joint B.

Detailed Description

The embodiments of the present invention will be described in further detail below. Details which are not described in detail in the embodiments of the invention belong to the prior art which is known to the person skilled in the art.

The invention discloses a Taiji rehabilitation training instrument, which has the preferred specific implementation modes that:

the mechanical arm comprises a shoulder, wherein two mechanical arms are symmetrically arranged at two ends of the shoulder, and each mechanical arm comprises a large arm and a small arm;

The motor is a speed reducing motor and consists of a Bomeide JSF 57-15-30-BF-1000 type direct current servo motor and an AM-22PD-362-01 harmonic reducer.

The robot arm is characterized by further comprising an embedded control system, wherein the embedded control system is in wired or wireless connection with control units of the small arm driving motor, the large arm rotating motor, the large arm driving motor and the shoulder rotating motor.

The embedded control system integrates an ADT652 acquisition board and a main control board, an AFC-3038T-97-18F embedded computer is adopted as a main control chip, and a data acquisition module of the embedded control system comprises a pressure detection module and a joint movement detection module.

The embedded control system adopts three control methods for the executive component: position control, speed control, and torque control.

The invention discloses a Tai Chi rehabilitation training instrument, which is a novel exoskeleton type rehabilitation training robot based on Tai Chi and is mainly used for upper limb rehabilitation and Tai Chi learning. Can aim at the hand-held Taiji training of the old, so that the old who needs to do rehabilitation training can use the Taiji training without obstacles to achieve the effects of building the body and recovering the body function no matter in daily exercise.

The technical problems to be solved by the invention are as follows:

1. establishing a human upper limb structure model by combining the Taijiquan and analyzing the rehabilitation requirement;

2. the problem of the decomposition of the Tai Chi method and the adaptation of the Tai Chi method to the Tai Chi trainer;

3. designing a mechanical arm which meets the Taiji rehabilitation training and has enough freedom degree, and determining a driving structure and a driving form;

4. aiming at design requirements, the control flow of the mechanical arm and the main hardware composition are completed;

5. and (4) interacting and feeding back data of the lower computer and a monitoring mechanism of the upper computer.

The technical scheme adopted is as follows:

aiming at the technical problem 1, according to the Tai Chi exercise, human kinematics and rehabilitation medicine research theories, a human upper limb structure model is established and converted into a corresponding mechanical structure model, and the structural design requirements of the mechanical arm of the Tai Chi training device are determined.

Aiming at the technical problem 2, the Taiji boxing exercise is disassembled, joint information of different exercise styles is presented in a coordinate mode, and then a servo driver is used for controlling a servo motor of the Taiji training device, so that the motion of the Taiji training device in the training process is more natural.

Aiming at the technical problem 3, the exoskeleton simulation upper limb with the freedom degree of 4 is designed according to the motion analysis of the upper limb of the human body, wherein the shoulder joint with the freedom degree of 3, the elbow joint with the freedom degree of 1 and the lengths of the large arm and the small arm can be adjusted. Comprehensively, the exoskeleton type structure with complete functions is adopted, and the driving mode adopts the mature servo motor to drive.

Aiming at the technical problem 4, the Taiji rehabilitation training instrument system structure designed by the invention adopts hierarchical control and is respectively an embedded main control computer system and an upper computer safety monitoring system at the training device end. The embedded computer system can collect data collection and summarization of the sensor and the wireless module driving module.

Aiming at the technical problem 5, the Taiji rehabilitation training instrument designed by the invention can collect training parameters and indexes of a user by a data acquisition module arranged in a main control computer while training. Data are uploaded to the upper computer safety monitoring end through the wireless module, and the safety monitoring system can directly analyze the received data and user parameter indexes. Can be used for medical monitoring personnel to make a more appropriate training scheme

The invention has the beneficial effects that:

the invention relates to a Tai Chi rehabilitation training instrument, which is exoskeleton type intelligent auxiliary training equipment for Tai Chi boxing. It can monitor user's gesture constantly through functions such as action diagnosis, intelligent feedback, can provide "taijiquan guide training" and "taijiquan confrontation training" help the beginner master taijiquan fast. For a user who is used for upper limb rehabilitation, passive auxiliary rehabilitation training and active rehabilitation training are provided aiming at the rehabilitation degree of the user, and the rehabilitation degree of the patient can be monitored in real time and synchronously given to family members and a rehabilitation center of the patient.

The invention discloses a Tai Chi rehabilitation training instrument, which belongs to an exoskeleton-type upper limb rehabilitation robot. As a Taijiquan trainer used at home, the used material should have the characteristic of portability, and the strength requirement must be considered at the same time. In consideration of material cost, the 2014 series aluminum alloy is expected to be adopted, contains a large amount of copper, has high strength, and is widely applied to construction materials, wherein the tensile and compression strength reaches 350-. The exoskeleton mechanical arm is driven by a direct current motor in 4 degrees of freedom and is decelerated by a harmonic reducer. The device is composed of a motor, a speed reducer, a torque sensor, an actuating mechanism and an encoder which are connected in series. The length of the upper arm and the small arm of the robot is adjustable, so that the mechanical arm can be used for people with different heights. The upper arm telescopic mechanism can enable the arm length to reach 378mm, basically covers the use of different crowds, and meets the requirements of different crowds. Meanwhile, in order to reduce the weight of the arrangement design, the telescopic mechanism is designed to be manually adjusted and fixed by two adjusting nuts. The structure is arranged on the main platform through a fastener and is connected with other structures through a frame beam. The shoulder part adopts three independent motors to realize three degrees of freedom of abduction/adduction, extension/flexion and internal/external rotation of the shoulder part. The mechanical arm can realize flexible movement similar to a human mobile phone through 3 simple revolute pairs. The elbow joint adopts a revolute pair formed by a motor, and the motion index of the elbow joint of a human body can be achieved.

The training motion modes of the trainer for the user mainly comprise active motion, passive motion and auxiliary motion. In the active movement process, a user realizes the movement of each joint of the upper limb by means of self muscles, and the robot realizes the measurement of the movement parameters of the upper limb of the human body in the movement limiting process. The passive motion mode combines single joint motion and some multi-joint compound motion of each joint. In the auxiliary movement, the recovery patient is helped, and various inconveniences in the movement of the affected limb are solved.

The taiji rehabilitation training instrument aims to not only help a user to perform taiji training at home, but also perform upper limb rehabilitation training according to requirements. The upper limb rehabilitation is a slow recovery process, and in the muscle recovery process, certain external force is applied to assist upper limb exercise, so that a better recovery effect can be achieved. The data acquisition module built in the main control computer can collect the training parameters and indexes of the user. And data are uploaded to the upper computer safety monitoring end through a wireless module.

1. The system may detect the muscle contraction status of the user during use.

2. The system guides the user through standard taijiquan training and guides and corrects the user's mistakes and irregular movements.

3. This system can provide multiple training mode for the user, including carrying out passive taiji boxing training to the taiji boxing beginner, carries out initiative rehabilitation training etc. to upper limbs rehabilitation patient.

4. According to the physical indexes of the user, a training scheme suitable for the user can be selected, targeted training is performed, and a better effect is achieved.

5. The system can display the motion parameters and the body indexes of the user on a human-computer interface in real time in the using process, and the rehabilitation personnel can supervise and evaluate the training process. The above convenience can be used for medical monitoring personnel to make a more appropriate training scheme.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

As shown in fig. 1-6, the taijiquan rehabilitation training instrument is a taijiquan rehabilitation training instrument, and the hardware part comprises two symmetrical mechanical arms (fig. 2) and shoulders (fig. 3) connecting the two mechanical arms.

Fig. 2 is a part composed of fig. 4 and fig. 5, wherein the forearm extension mechanism 1 in fig. 4 is connected with the forearm extension slide rail 2, the forearm extension slide rail 2 can be inserted into the supporting cover plate and horizontally slides, and the elbow joint A5 and the elbow joint B3 are fixedly connected and can rotate at an angle of 180 degrees to simulate the motion of the elbow joint of a human body. In fig. 5, an elbow joint a5 connects the upper arm with the lower arm and can rotate 180 degrees at the same time, an elbow joint a5 is connected with an upper arm extension slide rail 6 which is the same as the lower arm, the extension slide rail is inserted in an upper arm extension mechanism 8 and can reciprocate, an upper arm rotary joint B10 can rotate on a connection point, the motion is more comfortable when a user uses the device, the device is connected with an upper arm rotary joint a9, an xsingle-stage bd harmonic transmission reducer assembly a-type 20 and a reducer connection flange are installed on a shoulder extension support 16, a large arm driving motor 15 is also arranged, a support plate is connected with a shoulder joint B14 and is assembled with a shoulder joint a13, and a large-range rotation motion can be performed between the shoulder joint a13 and the shoulder joint B14 in a vertical plane.

As shown in fig. 3, the same as that shown in fig. 6, the main body part is composed of a shoulder supporting plate, a shoulder connecting plate and a shoulder sliding rail, wherein a shoulder cover plate 17, a shoulder extension support 16 and a shoulder extension sliding rail 18 are main body parts, the shoulder extension sliding rail 18 slides in the shoulder extension support 16 in the mode shown in the figure so as to change the length, and a reducer connecting flange and a shoulder rotating motor 19 constitute a driving part. The shoulder extension slide rail 18 is directly connected with a speed reducer connecting flange, drives the shoulder rotating joint A21 and the shoulder rotating joint B22 to move through the shoulder rotating motor 19, and forms an integral structure of a shoulder joint part together with the shoulder joint A13 and the shoulder joint B14.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The Tai Chi rehabilitation training instrument is characterized by comprising a shoulder, wherein two mechanical arms are symmetrically arranged at two ends of the shoulder, and each mechanical arm comprises a large arm and a small arm;

the forearm comprises a forearm extending mechanism (1), the forearm extending mechanism (1) is mounted on a forearm extending slide rail (2), and the rear end of the forearm extending slide rail (2) is provided with an elbow joint B (3);

the large arm comprises a large arm extending mechanism (8) and a shoulder connecting piece (11), the large arm extending mechanism (8) is arranged on a large arm extending slide rail (6), the front end of the large arm extending slide rail (6) is provided with an elbow joint A (5), the elbow joint A (5) is hinged with an elbow joint B (3), and a small arm driving motor (4) is arranged on a hinged shaft;

the rear end of the large arm extension mechanism (8) is hinged with the shoulder connecting piece (11) through a large arm rotary joint A (9) and a large arm rotary joint B (10), a large arm rotary motor (12) is arranged on a hinge shaft, and a shoulder joint A (13) is arranged at the rear end of the shoulder connecting piece (11);

the shoulder comprises a shoulder cover plate (17), one end of the shoulder cover plate (17) is fixed with a shoulder extension support (16), the other end of the shoulder cover plate is provided with a shoulder extension slide rail (18), the outer end of the shoulder extension support (16) and the outer end of the shoulder extension slide rail (18) are respectively hinged with a shoulder joint B (14) through a shoulder rotary joint A (21) and a shoulder rotary joint B (22), and a shoulder rotary motor (19) is arranged on a hinge shaft;

shoulder joints B (14) at two ends are respectively hinged with shoulder joints A (13) at the rear ends of the two big arms, and a big arm driving motor (15) is arranged on a hinge shaft.

2. The Tai Ji rehabilitation training instrument of claim 1, wherein the motor is a speed reduction motor, and is composed of a Bomeide JSF 57-15-30-BF-1000 type direct current servo motor and an AM-22PD-362-01 harmonic reducer.

3. The tai chi rehabilitation training instrument of claim 1 or 2, further comprising an embedded control system, wherein the embedded control system is connected with the control units of the small arm driving motor, the large arm rotating motor, the large arm driving motor and the shoulder rotating motor in a wired or wireless manner.

4. The Tai Chi rehabilitation training instrument according to claim 3, wherein the embedded control system integrates an ADT652 acquisition board and a main control board, an AFC-3038T-97-18F embedded computer is adopted as a main control chip, and a data acquisition module comprises a pressure detection module and a joint movement detection module.

5. The tai chi rehabilitation training instrument of claim 4, wherein the embedded control system adopts three control methods for the actuator: position control, speed control, and torque control.