CN113713317A - Six-degree-of-freedom platform for upper limb rehabilitation - Google Patents

Six-degree-of-freedom platform for upper limb rehabilitation Download PDF

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Publication number
CN113713317A
CN113713317A CN202110995098.9A CN202110995098A CN113713317A CN 113713317 A CN113713317 A CN 113713317A CN 202110995098 A CN202110995098 A CN 202110995098A CN 113713317 A CN113713317 A CN 113713317A
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CN
China
Prior art keywords
platform
patient
freedom
degree
movable platform
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Pending
Application number
CN202110995098.9A
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Chinese (zh)
Inventor
黄慧洁
郑军奇
占华程
王海芸
许惠
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Shanghai Robot Industrial Technology Research Institute Co Ltd
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Shanghai Robot Industrial Technology Research Institute Co Ltd
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Priority to CN202110995098.9A priority Critical patent/CN113713317A/en
Publication of CN113713317A publication Critical patent/CN113713317A/en
Pending legal-status Critical Current

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    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/005—Moveable platforms, e.g. vibrating or oscillating platforms for standing, sitting, laying or leaning
    • 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
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
    • 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
    • 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
    • A63B2220/80—Special sensors, transducers or devices therefor
    • 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
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/803—Motion sensors

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Rehabilitation Therapy (AREA)
  • Pain & Pain Management (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Biophysics (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention relates to a six-degree-of-freedom platform for upper limb rehabilitation, which is characterized by comprising a lower support provided with a lower limb fixing belt, an upper support provided with an upper limb fixing belt, a fixed platform, a movable platform, six push rods and a six-dimensional pose sensor. The fixed platform is provided with the push rod to drive the movable platform to realize six-degree-of-freedom movement, so that the upper limbs of the patient are driven to move relative to the pelvis to realize rehabilitation training, and the six-dimensional pose sensor is used for recording movement data to realize rehabilitation evaluation. The invention can be used for rehabilitation training of patients with upper limb dyskinesia: when the upper limbs of the patient can not move, the movable platform is driven by the push rod, so that the upper limbs of the patient are driven, and the six-freedom-degree motion training relative to the pelvis is realized; when the upper limbs of the patient can move, the patient actively moves and trains, and the six-dimensional pose sensor records the movement data of the patient for scientific evaluation.

Description

Six-degree-of-freedom platform for upper limb rehabilitation
Technical Field
The invention relates to a six-degree-of-freedom platform for upper limb rehabilitation, and belongs to the technical field of upper limb rehabilitation devices.
Background
In the middle-aged and elderly people, injuries caused by falling are closely related to morbidity and mortality of the middle-aged and elderly people, wherein the reduction of the body balance capacity is an important factor for falling, and the upper limbs play an important role in maintaining the body balance, so that the upper limb coordination exercise has important significance for the middle-aged and elderly people.
Disclosure of Invention
The purpose of the invention is: an apparatus for assisting a user in performing upper limb coordination exercises is provided.
In order to achieve the above object, the technical solution of the present invention is to provide a six-degree-of-freedom platform for upper limb rehabilitation, which is characterized by comprising a lower brace provided with a lower limb fixing strap, an upper brace provided with an upper limb fixing strap, a fixed platform, a movable platform, six push rods and a six-dimensional pose sensor, wherein:
two ends of a push rod which can be driven by an external power mechanism to stretch are respectively hinged with the fixed platform and the movable platform; the lower support and the upper support are respectively arranged on the fixed platform and the movable platform; the different combined movements of the six push rods can drive the movable platform to realize six-degree-of-freedom movement relative to the fixed platform; connecting the pelvis of the patient with the lower support through a lower limb fixing belt; the upper limb of the patient is connected with the upper support through the upper limb fixing belt;
a six-dimensional pose sensor is arranged on the movable platform;
when the upper limbs of the patient cannot move, the six-degree-of-freedom platform works in an active mode, the six push rods are driven by an external power mechanism to independently stretch, so that the movable platform is driven to move in six degrees of freedom, the upper limbs of the patient are driven by the movable platform to synchronously move, and the six-degree-of-freedom motion training of the upper limbs of the patient relative to the pelvis of the patient is realized; when the upper limbs of a patient can move, the six-degree-of-freedom platform works in a passive mode, the active force generated by the upper limbs of the patient acts on the six push rods through the movable platform, the six push rods stretch independently under the action of the active force, the movable platform moves on the six degrees of freedom under the action of the active force generated by the upper limbs of the patient, the motion training of the upper limbs of the patient on the six degrees of freedom is further achieved, in the motion training process, the motion data of the patient are synchronously recorded through the six-dimensional pose sensor, and the training effect of the patient is scientifically evaluated based on the motion data.
Preferably, two ends of the push rod are respectively hinged with the fixed platform and the movable platform through respective spherical joints.
Preferably, the lower brace and the fixed platform and the upper brace and the movable platform are fixedly connected through screws respectively.
Preferably, the push rods are electric driving components, when the six-degree-of-freedom platform works in an active mode, the magnitude of the driving current of each push rod is detected in real time, and if the driving current is larger than a preset current threshold, the six-degree-of-freedom platform is switched from the active mode to a passive mode.
Preferably, the six-dimensional pose sensor is used for detecting the amount of exercise of the movable platform relative to the fixed platform in the six-dimensional degree of freedom in space, the amount of exercise is the amount of exercise of the upper limbs relative to the pelvis, and quantitative recording and evaluation of rehabilitation exercise are achieved through the recorded amount of exercise, so that scientific rehabilitation training is achieved.
The fixed platform is provided with the push rod to drive the movable platform to realize six-degree-of-freedom movement, so that the upper limbs of the patient are driven to move relative to the pelvis to realize rehabilitation training, and the six-dimensional pose sensor is used for recording movement data to realize rehabilitation evaluation. The invention can be used for rehabilitation training of patients with upper limb dyskinesia: when the upper limbs of the patient can not move, the movable platform is driven by the push rod, so that the upper limbs of the patient are driven, and the six-freedom-degree motion training relative to the pelvis is realized; when the upper limbs of the patient can move, the patient actively moves and trains, and the six-dimensional pose sensor records the movement data of the patient for scientific evaluation.
Drawings
Fig. 1 is a schematic structural diagram of a six-degree-of-freedom platform for upper limb rehabilitation according to the present invention;
fig. 2 is an axonometric view of a six-degree-of-freedom platform for upper limb rehabilitation according to the present invention.
Description of reference numerals:
1-lower limb fixing straps; 2-a lower brace; 3-fixing the platform; 4-a spherical joint; 5-a push rod; 6-a movable platform; 7-upper brace; 8-upper limb fixing band; 9-six-dimensional pose sensor.
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 may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
In order to solve the problem of rehabilitation training of patients suffering from upper limb motor dysfunction, the invention provides a six-degree-of-freedom platform for upper limb rehabilitation. As shown in fig. 1 to 2, in the present embodiment, the six-degree-of-freedom platform for upper limb rehabilitation includes: the lower limb fixing band comprises a lower limb fixing band 1, a lower support 2, a fixing platform 3, a spherical joint 4, a push rod 5, a movable platform 6, an upper support 7, an upper limb fixing band 8 and a six-dimensional pose sensor 9.
As shown in fig. 1 and 2, in the present embodiment, the lower brace 2 is fixed to the fixing platform 3 by screws. The lower support 2 is provided with a lower limb fixing strap 1, and the lower support 2 is connected with the pelvis of the patient through the lower limb fixing strap 1, so that the fixing platform 3 and the pelvis of the patient are relatively fixed. The upper brace 7 is fixed on the movable platform 6 through screws. An upper limb fixing belt 8 is arranged on the upper support 7, and the upper support 7 is connected with the upper limb of the patient through the upper limb fixing belt 8, so that the movable platform 6 and the upper limb of the patient are relatively fixed.
Six push rods 5 are uniformly distributed along the circumferential direction between the fixed platform 3 and the movable platform 6, and each push rod 5 can be driven by an external power mechanism to stretch. In this embodiment, the upper and lower ends of each push rod 5 are respectively connected and fixed with the movable platform 6 and the fixed platform 3 through respective spherical joints 4. The six-dimensional freedom degree of the upper end and the lower end of the push rod 5 relative to the movable platform 6 and the fixed platform 3 is ensured through the spherical joint 4. The different combined movements of the six push rods 5 can drive the movable platform 6 to realize six-degree-of-freedom movement relative to the fixed platform 3.
The movement of the movable platform 6 relative to the fixed platform 3 can be converted into the movement of the upper limb relative to the pelvis through the upper support 7 and the lower support 2, thereby realizing the rehabilitation training of the upper limb of the patient.
The six-dimensional pose sensor 9 is fixed on the movable platform 6, and can detect the amount of exercise of the movable platform 6 relative to the fixed platform 3 in the six-dimensional degree of freedom in space, so that the amount of exercise of the upper limbs relative to the pelvis is obtained.
The six-degree-of-freedom platform for upper limb rehabilitation disclosed by the embodiment can realize two rehabilitation training modes:
mode one) the push rod 5 is driven by an external power mechanism to stretch, and the push rod 5 drives the upper limb of the patient to carry out six-degree-of-freedom rehabilitation training relative to the pelvis through the movable platform 6, so that the function of the upper limb is enhanced.
Mode two) the patient actively drives the movable platform 6 to move relative to the fixed platform 3 through the upper limbs, thereby realizing the movement of the upper limbs relative to the pelvis. The six-dimensional pose sensor 9 records the amount of exercise, so that the exercise of the patient is scientifically and reasonably evaluated.
In one embodiment of the present invention, the push rod 5 is an electrically driven component, and the current value for driving the push rod 5 is detected to determine whether it exceeds a normal threshold. When the spasm of the patient is judged to occur when the normal threshold value is exceeded, the active motion of the push rod 5 is suspended, and the passive motion is adjusted to protect the patient.
The invention can carry out rehabilitation training on patients with upper limb dyskinesia. When the upper limbs of the patient can not move, the movable platform 6 is driven by the push rod 5, so that the upper limbs of the patient are driven, and the exercise training with six degrees of freedom relative to the pelvis is realized. When the upper limbs of the patient can move, the patient actively moves and trains, and the six-dimensional pose sensor 9 records the movement data of the patient for scientific evaluation.
The above description is only a preferred embodiment of the present application and a description of the applied technical principle, and it should be understood by those skilled in the art that the scope of the present application is not limited to the technical solution of the specific combination of the above technical features, and also covers other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept, for example, the technical solutions formed by mutually replacing the above technical features (but not limited to) having similar functions disclosed in the present application.
Other technical features than those described in the specification are known to those skilled in the art, and are not described herein in detail in order to highlight the innovative features of the present invention.

Claims (5)

1. The utility model provides a six degree of freedom platforms for upper limbs are recovered which characterized in that, including the lower brace that is equipped with the low limbs fixed band, be equipped with the last brace of upper limbs fixed band, fixed platform, movable platform, six push rods and six dimension position appearance sensors, wherein:
two ends of a push rod which can be driven by an external power mechanism to stretch are respectively hinged with the fixed platform and the movable platform; the lower support and the upper support are respectively arranged on the fixed platform and the movable platform; the different combined movements of the six push rods can drive the movable platform to realize six-degree-of-freedom movement relative to the fixed platform; connecting the pelvis of the patient with the lower support through a lower limb fixing belt; the upper limb of the patient is connected with the upper support through the upper limb fixing belt;
a six-dimensional pose sensor is arranged on the movable platform;
when the upper limbs of the patient cannot move, the six-degree-of-freedom platform works in an active mode, the six push rods are driven by an external power mechanism to independently stretch, so that the movable platform is driven to move in six degrees of freedom, the upper limbs of the patient are driven by the movable platform to synchronously move, and the six-degree-of-freedom motion training of the upper limbs of the patient relative to the pelvis of the patient is realized; when the upper limbs of a patient can move, the six-degree-of-freedom platform works in a passive mode, the active force generated by the upper limbs of the patient acts on the six push rods through the movable platform, the six push rods stretch independently under the action of the active force, the movable platform moves on the six degrees of freedom under the action of the active force generated by the upper limbs of the patient, the motion training of the upper limbs of the patient on the six degrees of freedom is further achieved, in the motion training process, the motion data of the patient are synchronously recorded through the six-dimensional pose sensor, and the training effect of the patient is scientifically evaluated based on the motion data.
2. The six-degree-of-freedom platform for upper limb rehabilitation according to claim 1, wherein two ends of the push rod are respectively hinged with the fixed platform and the movable platform through respective spherical joints.
3. The six-degree-of-freedom platform for upper limb rehabilitation according to claim 1, wherein the lower support and the fixed platform and the upper support and the movable platform are fixedly connected through screws respectively.
4. The six-degree-of-freedom platform for upper limb rehabilitation according to claim 1, wherein the push rods are electrically driven components, the magnitude of the driving current of each push rod is detected in real time when the six-degree-of-freedom platform works in an active mode, and if the driving current is greater than a preset current threshold value, the six-degree-of-freedom platform is switched from the active mode to a passive mode.
5. The six-degree-of-freedom platform for upper limb rehabilitation according to claim 1, wherein the six-dimensional pose sensor is used for detecting the amount of motion of the movable platform relative to the fixed platform in the six-dimensional degree of freedom in space, namely the amount of motion of the upper limb relative to the pelvis, and quantitative recording and evaluation of rehabilitation motion are realized through the recorded amount of motion, so that scientific rehabilitation training is realized.
CN202110995098.9A 2021-08-27 2021-08-27 Six-degree-of-freedom platform for upper limb rehabilitation Pending CN113713317A (en)

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Application Number Priority Date Filing Date Title
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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080269030A1 (en) * 2007-04-25 2008-10-30 Swee Lin Hoffman Restraint, reposition, traction and exercise device and method
CN104983546A (en) * 2015-07-10 2015-10-21 哈尔滨天愈康复医疗机器人有限公司 Stewart type wearable wrist rehabilitation robot
CN208726200U (en) * 2017-12-15 2019-04-12 陕西东方航空仪表有限责任公司 Upper and lower limbs rehabilitation training all-in-one machine
CN110681114A (en) * 2019-09-16 2020-01-14 山东宝德龙健身器材有限公司 Rehabilitation training machine for upper and lower limb movement
CN111407590A (en) * 2020-03-19 2020-07-14 西安臻泰智能科技有限公司 Upper and lower limb training device, system and method
CN111544830A (en) * 2020-05-07 2020-08-18 山东阁步乐仕智能科技有限公司 Lower limb rehabilitation device for weight-reducing walking training and balance assessment
CN111920643A (en) * 2020-08-17 2020-11-13 侯超 Wearable waist rehabilitation exoskeleton robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080269030A1 (en) * 2007-04-25 2008-10-30 Swee Lin Hoffman Restraint, reposition, traction and exercise device and method
CN104983546A (en) * 2015-07-10 2015-10-21 哈尔滨天愈康复医疗机器人有限公司 Stewart type wearable wrist rehabilitation robot
CN208726200U (en) * 2017-12-15 2019-04-12 陕西东方航空仪表有限责任公司 Upper and lower limbs rehabilitation training all-in-one machine
CN110681114A (en) * 2019-09-16 2020-01-14 山东宝德龙健身器材有限公司 Rehabilitation training machine for upper and lower limb movement
CN111407590A (en) * 2020-03-19 2020-07-14 西安臻泰智能科技有限公司 Upper and lower limb training device, system and method
CN111544830A (en) * 2020-05-07 2020-08-18 山东阁步乐仕智能科技有限公司 Lower limb rehabilitation device for weight-reducing walking training and balance assessment
CN111920643A (en) * 2020-08-17 2020-11-13 侯超 Wearable waist rehabilitation exoskeleton robot

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Application publication date: 20211130

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