CN114652566A

CN114652566A - Upper and lower limb rehabilitation robot, control method, medium and computer equipment

Info

Publication number: CN114652566A
Application number: CN202210168669.6A
Authority: CN
Inventors: 幸研; 陶然
Original assignee: Nanjing Jijia Medical Device Technology Co ltd; Southeast University
Current assignee: Nanjing Jijia Medical Device Technology Co ltd; Southeast University
Priority date: 2022-02-23
Filing date: 2022-02-23
Publication date: 2022-06-24
Anticipated expiration: 2042-02-23
Also published as: CN114652566B

Abstract

The invention relates to an upper and lower limb rehabilitation robot, a control method, a medium and computer equipment, wherein the upper and lower limb rehabilitation robot comprises a mechanical arm and a control system thereof, and the execution tail end of the mechanical arm is provided with a quick-release clamp, a six-dimensional force sensor and a myoelectric signal sensor; the quick-release clamp is used for being connected with the affected limb; the control method comprises the following steps: obtaining data related to the affected limb through active testing, and setting an alarm threshold according to the data; and controlling the mechanical arm to drive the affected limb to move along a set path according to a set treatment scheme to perform passive rehabilitation training, or driving the mechanical arm to move along the set path to perform active rehabilitation training by overcoming the damping force through the affected limb. When the motion path of the affected limb deviates from the set path, the affected limb is moved back to the set path through the adaptive impedance control. The invention can replace or assist doctors to carry out upper and lower limb rehabilitation training, provides a more personalized and more accurate upper and lower limb rehabilitation scheme, and meets the requirements of patients on rehabilitation training.

Description

Upper and lower limb rehabilitation robot, control method, medium and computer equipment

Technical Field

The invention relates to the technical field of rehabilitation robots, in particular to an upper limb and lower limb rehabilitation robot, a control method, a medium and computer equipment.

Background

Injuries caused by stroke, head injury, or spinal surgery often result in impaired motor function of multiple muscle groups of the patient. Neural remodeling theory has demonstrated that repeated motor and rehabilitation exercises can restore some or most of the motor function to the patient. One of the effective ways to help the patient to recover the limb movement function is rehabilitation training, which is mainly divided into passive rehabilitation, active rehabilitation training and rehabilitation exercise training. The traditional rehabilitation adopts a rehabilitation trainer to carry out rehabilitation guidance and training on a patient in person, and although a better treatment effect can be obtained, the traditional rehabilitation method is time-consuming, labor-consuming, high in cost and difficult for common patients to bear. Repetitive training is tedious and labor intensive and inefficient for the therapist, who can only treat the patient to assist the patient in all-round rehabilitation training.

The rehabilitation robot device and software can be competent for long-time repetitive exercise auxiliary work, can flexibly control the force applied to a patient, is used for assisting rehabilitation training, simulates the accurate implementation of active, passive and operational rehabilitation of a doctor, saves the cost of the system, improves the rehabilitation efficiency, reduces the secondary damage and has high intelligent degree.

However, the existing rehabilitation robot has the following disadvantages: the single motion, the compliance is poor, easily causes the secondary injury to limbs and medical personnel easily produce fatigue, the cost of labor input height under long-time physiotherapy operation.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an upper limb and lower limb rehabilitation robot, a control method, a medium and computer equipment, and solves the technical problems of single motion and poor flexibility of the conventional rehabilitation robot.

The technical scheme adopted by the invention is as follows:

in a first aspect, the invention provides a control method of an upper and lower limb rehabilitation robot, the upper and lower limb rehabilitation robot comprises a mechanical arm and a control system thereof, and a quick-release clamp, a six-dimensional force sensor and a myoelectric signal sensor are arranged at the execution tail end of the mechanical arm; the quick-release clamp is used for being connected with the affected limb;

the control method comprises the following steps:

obtaining data related to the affected limb through active testing, and setting an alarm threshold according to the data;

and controlling the mechanical arm to drive the affected limb to move along a set path according to a set treatment scheme to perform passive rehabilitation training, or driving the mechanical arm to move along the set path to perform active rehabilitation training by overcoming the damping force through the affected limb.

The further technical scheme is as follows:

the data related to the affected limb is obtained through the active test, and the data comprises:

starting an active test mode, setting an initial damping force, transmitting relevant data to a control system in real time by a six-dimensional force sensor and an electromyographic signal sensor through active movement of an affected limb, and setting an alarm threshold according to the maximum value of signals transmitted by the six-dimensional force sensor and the electromyographic signal sensor in the whole movement process.

According to the treatment scheme control arm of setting for drive the affected limb along setting for the path motion and carry out passive rehabilitation training, include:

starting a first passive rehabilitation training mode, dragging the mechanical arm to move according to a first path, and recording the speed, the pose and point location information on the first path in the moving process;

and controlling the mechanical arm to drive the affected limb to do repeated motion along the first path according to the speed and the pose during dragging.

starting a first passive rehabilitation training mode, dragging the mechanical arm to move according to a first path, and recording the speed and the pose in the moving process and point location information on the first path;

generating a second path by an interpolation method according to the point location information;

and controlling the mechanical arm to drive the affected limb to do repeated motion along the second path according to the speed and the pose during dragging.

and starting a second passive rehabilitation training mode, and controlling the mechanical arm to drive the affected limb to do repeated motion according to the preset operation path, speed and pose.

According to the treatment scheme of setting for, overcome damping force through the affected limb and drive the arm and move along setting for the route and carry out initiative rehabilitation training, include:

starting an active rehabilitation training mode, setting a damping force according to data related to the affected limb, and setting a training path;

the affected limb drives the mechanical arm to move according to the training path.

The control method further comprises the following steps:

when the motion path of the affected limb deviates from the set path, the affected limb is moved back to the set path through the adaptive impedance control.

The method for realizing the adaptive impedance control comprises the following steps:

and judging the magnitude of an external force for deviating the affected limb from the motion path according to the data acquired by the six-dimensional force sensor, and applying a resistance force opposite to the direction of the external force or applying a compliant force towards the direction of the set path to the execution tail end of the mechanical arm according to the magnitude of the external force and the offset between the execution tail end of the mechanical arm and the set path.

The control method further comprises the following steps:

judging whether the affected limb is abnormal or not according to signals of the six-dimensional force sensor and the electromyographic signal sensor;

if the signals of the six-dimensional force sensor or the electromyographic signal sensor exceed a preset alarm threshold value or are suddenly changed, alarm information is sent out, and the mechanical arm stops moving.

The control method further comprises the following steps:

traction control arm, will anchor clamps are fixed with the affected limb, include:

starting a traction mode, firstly fixing an auxiliary belt on the affected limb, then drawing the tail end of the mechanical arm to the affected limb of the patient, and connecting the main body of the clamp with the auxiliary belt;

the auxiliary belt is provided with the electromyographic signal sensor.

In a second aspect, the invention provides an upper and lower limb rehabilitation robot, which comprises a mechanical arm and a control system thereof, a quick-release clamp arranged at the execution tail end of the mechanical arm, a six-dimensional force sensor and an electromyographic signal sensor, wherein the quick-release clamp is arranged at the execution tail end of the mechanical arm;

the quick-release clamp is used for quickly connecting or separating the affected limb with or from the mechanical arm;

the six-dimensional force sensor and the electromyographic signal sensor are used for feeding back signals to the control system;

the control system is configured to:

controlling the mechanical arm to form a set path under the dragging of an external force;

controlling the mechanical arm to move according to a set path or a new path optimized according to the set path;

controlling the mechanical arm to receive the drive of the affected limb to move according to the set path or the new path;

and judging whether the motion path of the affected limb deviates from the set path, and driving the affected limb to return to the set path by the mechanical arm through adaptive impedance control.

The further technical scheme is as follows:

the quick detach formula anchor clamps include:

the auxiliary belt is used for connecting the affected limb of the patient;

the main part is integrated with the execution tail end of the mechanical arm and is used for being connected with the auxiliary belt, and the function of fixing the execution tail end of the affected limb and the mechanical arm is achieved.

In a third aspect, the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the control method of the upper and lower limb rehabilitation robot.

In a fourth aspect, the present invention provides a computer device comprising a memory, a processor and a computer program stored on the memory, the processor implementing the control method of the upper and lower limb rehabilitation robot when executing the computer program.

The invention has the following beneficial effects:

the control method of the upper and lower limb rehabilitation robot is applied to the upper and lower limb rehabilitation robot, can replace (or assist) doctors (or technicians) to carry out upper and lower limb rehabilitation training, can provide a more personalized and accurate upper and lower limb rehabilitation scheme according to the experience of the doctors and the characteristics of patients, and meets the requirements of the patients on the rehabilitation training.

The control method of the upper and lower limb rehabilitation robot has a self-adaptive impedance control function, realizes the contact flexibility of the tail end of the robot and the external environment, and completes the mutual fusion of the track reproduction function and the impedance movement function of the robot. Is beneficial to realizing safer, more reliable and more accurate rehabilitation training process.

The control method of the upper and lower limb rehabilitation robot can not only realize passive rehabilitation training and rehabilitation operation, but also realize the load movement of limbs under active consciousness through real-time path planning and damping setting, thereby achieving the purpose of active rehabilitation training.

The control method of the upper and lower limb rehabilitation robot can store rehabilitation training information of the same patient, including rehabilitation paths, damping force, running speed and the like, can reduce high-strength training and practical operation of doctors, and also avoids difference of treatment effects of different personnel on the same patient. Realize safer, reliable, accurate recovered process, reduce the cost of labor, improve recovery efficiency daily by a wide margin.

Additional features and advantages of the invention, including a rehabilitation robot, will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

FIG. 1 is a flow chart of the control method of the present invention.

Fig. 2 is an operation flowchart of the rehabilitation training of the control method according to the embodiment of the invention.

Fig. 3 is a schematic structural diagram of a robot according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of a connection relationship between computer-related devices according to an embodiment of the present invention.

FIG. 5 is a schematic structural diagram of a quick release type clamp according to an embodiment of the invention.

Fig. 6 is an exploded view of the quick release clamp according to the embodiment of the invention.

FIG. 7 is a schematic view of an upper cover structure of the quick release clamp according to an embodiment of the invention.

Fig. 8 is a schematic view of an inner frame structure of the quick release clamp according to an embodiment of the invention.

Fig. 9 is a front view of an inner frame structure of the quick release clamp according to an embodiment of the invention.

Fig. 10 is a sectional view taken along a-a in fig. 9 (locked state).

FIG. 11 is a schematic cross-sectional view of a quick-release clamp according to an embodiment of the present invention.

Fig. 12 is a schematic view of a use state of lower limb rehabilitation training according to an embodiment of the invention.

Fig. 13 is a schematic view of the use state of upper limb rehabilitation training according to the embodiment of the invention.

Fig. 14 is a schematic diagram of the principle of the adaptive impedance control algorithm of the control method according to the embodiment of the present invention.

In the figure: 1. a display; 2. a keyboard; 3. a main control computer; 4. a motion controller; 5. braking the cabinet body; 6. starting the cabinet body; 7. a demonstrator; 8. a power source; 9. a cabinet body; 10. a quick-release clamp; 11. an electromyographic signal sensor; 12. a six-dimensional force sensor; 13. a mechanical arm; 101. an upper cover; 102. a slider; 103. a boss; 104. a connecting rod; 105. a return spring; 106. an inner frame; 107. an auxiliary belt; 111. an electromyographic signal emitting port; 112. an electromyographic signal receiving port; 1011. an arc-shaped slot; 1012. connecting columns; 1041. a sleeve structure; 1071. connecting sleeves; 1072. a clamping groove.

Detailed Description

The following describes embodiments of the present invention with reference to the drawings.

The application provides a control method of an active and passive upper and lower limb rehabilitation robot aiming at the upper and lower limbs by combining the concept of active and passive rehabilitation training by utilizing a six-dimensional force sensor, an electromyographic signal sensor and a corresponding control algorithm, and the control method is used for controlling the upper and lower limb rehabilitation robot.

As shown in fig. 1, the control method of the upper and lower limb rehabilitation robot of the present application is applied to an upper and lower limb rehabilitation robot, and includes a mechanical arm and a control system thereof, a quick release type clamp and a six-dimensional force sensor which are arranged at an execution tail end of the mechanical arm, and an electromyographic signal sensor;

referring to fig. 1, the control method includes:

s1, obtaining data of first joint with the affected limb of the patient through active test, and setting an alarm threshold value according to the data

And S2, performing passive rehabilitation training or active rehabilitation training according to a set treatment scheme (controlling the mechanical arm to drive the affected limb of the patient to move along a set path) by the affected limb to overcome the damping force to drive the mechanical arm to actively move along the set path).

Before step S1, the method further includes: traction control arm is fixed anchor clamps and affected limb, includes:

medical personnel confirm through the special instrument that the patient suffers from the limb condition, confirm recovered suffering from the limb, medical personnel pull the arm and fix anchor clamps and suffering from the limb.

The specific operation is as follows:

a doctor examines the affected limb condition of a patient through other professional instruments and determines a primary rehabilitation scheme;

the medical staff starts the rehabilitation robot, starts a traction mode, and pulls the tail end of the mechanical arm to the affected limb part of the patient;

the auxiliary belt is fixed with the affected limb, and the clamp body at the tail end of the mechanical arm is connected with the auxiliary belt to complete the fixation.

Specifically, the electromyographic signal sensor is disposed on the auxiliary belt.

Under the traction mode, the tail end of the mechanical arm can be dragged to a specific position, and the fixation with the affected limb is convenient. And in the non-traction mode, the robotic arm is in a fixed position.

In step S1, obtaining data related to the affected limb of the patient through active testing, and setting an alarm threshold according to the data, including:

an active test mode is selected, an initial damping force is set, the patient drives the mechanical arm to move through active movement, and the six-dimensional force sensor and the myoelectric signal sensor transmit data to the control system in real time.

And (4) finishing the active test, and setting an alarm threshold value by medical staff according to various signal peak values transmitted by the six-dimensional force sensor and the electromyographic signal sensor in the test process of the control system to serve as an alarm trigger signal.

In step S2, the treatment regimen includes an active rehabilitation regimen and a passive rehabilitation regimen.

Passive rehabilitation training, including two kinds:

firstly, drag the generation route, point location information through medical personnel to the arm, but alternative route and corresponding speed drive the patient and suffer from the limb and carry out reciprocating motion.

The second is rehabilitation. The system presets operation path, speed and pose information, and can select the operation path to carry out rehabilitation operation.

Active rehabilitation training is that medical personnel set up corresponding damping force size according to the data of active test, select suitable recovered route, and through the initiative motion, overcome the damping force by the patient, drive the arm and carry out reciprocating motion. With the improvement of the state of the affected limb, the damping force is gradually adjusted.

In step S2, controlling the robotic arm to drive the affected limb of the patient to move along the set path for passive rehabilitation training according to the set treatment protocol (passive rehabilitation training protocol), including:

starting a first passive rehabilitation training mode, dragging the mechanical arm to form a first path, and recording speed, pose and point location information on the path generated in the process; the point location information comprises key points on a path recorded in the dragging process;

controlling the mechanical arm to drive the affected limb to repeatedly perform rehabilitation training along the first path according to the speed and the pose generated in the dragging process;

and controlling the mechanical arm to drive the affected limb to move repeatedly along the first path according to the speed and the pose generated in the dragging process.

And interpolation can be carried out on the point location information through linear interpolation or other interpolation methods to form an additional required second path, and the mechanical arm is controlled to drive the affected limb to carry out repeated motion along the second path according to the speed and the pose generated in the dragging process.

The first passive rehabilitation training mode is mainly aimed at being applicable to patients needing to recover muscle strength.

Further comprising:

and starting a second passive rehabilitation training mode, and controlling the mechanical arm to drive the affected limb to do repeated motion according to a preset operation path, speed and pose.

The first passive rehabilitation training mode, i.e. the rehabilitation task path, is mainly aimed at the needs of the patient who has muscle strength but needs to complete the function of the specific task path. For example, the patient is helped to complete rehabilitation tasks such as digital "1", "2" writing.

In step S2, the method includes the following steps:

starting an active rehabilitation training mode, and setting a damping force and a training path according to data related to the affected limb;

the affected limb drives the mechanical arm to move according to the set training path.

The training path may be a new training path set by the medical staff according to the actual situation, or may be a previous training path of the patient stored by using a database.

The control method of the present application further includes:

when the motion path of the affected limb deviates from the set path, the tail end of the mechanical arm is enabled to perform active flexible motion through self-adaptive impedance control, so that the affected limb moves back to the set path.

Adaptive impedance control, comprising:

The self-adaptive impedance control method is a force sensing impedance control method, and achieves the flexibility of the contact between the execution tail end of a mechanical arm of the robot and the external environment through a self-adaptive impedance control algorithm, so that the mutual fusion of a track reproduction function and an impedance motion function of the robot is completed, and the flexibility and the safety of the robot are improved.

The control method of the present application further includes:

judging whether the affected limb has abnormal conditions such as spasm and the like through signals of the six-dimensional force sensor and the myoelectric signal sensor;

if the signals of the six-dimensional force sensor or the electromyographic signal sensor exceed a preset alarm threshold value or are suddenly changed, alarm information is sent out, and the mechanical arm stops moving. The medical staff can disconnect the connection state of the tail end of the mechanical arm and the affected limb in time.

In one embodiment, in step S1, the method for controlling the rehabilitation robot to perform the active test may include the following steps:

1. moving the rehabilitation robot to a specified position, starting the rehabilitation robot, and logging in an operating system by medical staff;

2. according to different patients and different affected limbs, medical staff manually drag the tail end of the mechanical arm to the affected limb part of the patient, fix an auxiliary belt on the affected limb, connect the tail end of the mechanical arm with the auxiliary belt, and connect an electromyographic signal sending port arranged on the auxiliary belt with an electromyographic signal receiving port arranged at the tail end of the mechanical arm;

3. medical personnel select initiative test mode at human-computer interaction interface, set up initial damping force size, need not to set up the route at this stage:

4. the patient actively applies force to the end of the mechanical arm, and there are two situations: 1) the thrust of the patient is smaller than the damping force, the tail end does not move, a passive rehabilitation training mode is selected at the moment, and an alarm threshold value is set according to the peak value transmitted by the sensor; 2) the thrust of the patient is larger than the damping force, the tail end moves under the action of the thrust, the active rehabilitation training mode is selected at the moment, and the corresponding damping force and the alarm threshold value are set according to the peak value transmitted by the sensor.

The active test can obtain the actual condition of the affected limb of the patient before the rehabilitation training, so that a corresponding rehabilitation scheme is selected, and a corresponding damping force and an alarm threshold value are set, thereby realizing a safer, more reliable and more accurate treatment process, reducing the labor cost and greatly improving the daily treatment efficiency; the rehabilitation training information of the same patient can be stored, the rehabilitation training information comprises paths, damping force, running speed and the like, high-strength training and practical exercises of doctors can be reduced, and the difference of treatment effects of different personnel on the same patient is avoided.

In one embodiment, for a new patient, the medical staff first needs to select an active test from the function modules in the human-computer interaction interface to obtain the current state of the affected limb of the patient. If the patient has the rehabilitation record, the active test can be performed again or related data can be directly called from the database according to the rehabilitation condition.

In one embodiment, the method for controlling the upper and lower limb rehabilitation robots to perform the passive rehabilitation training task in step S2 may include the steps of:

1. under the conditions that relevant data are obtained through active tests or a database, alarm threshold values are set, and the connection state of the tail end of the mechanical arm and the affected limb is kept, medical staff select a passive rehabilitation training mode on a human-computer interaction interface, drag the tail end of the mechanical arm, and teach the path, speed and point position information to be operated by the rehabilitation training of the affected limb of a patient through a hand handle, and store the path, speed and point position information;

2. medical staff select to carry out linear interpolation and circular interpolation to generate a new path or use an original path in the demonstrator according to the stored point location information, select the speed of the tail end running speed during rehabilitation compared with the speed during dragging the mechanical arm, select the cycle times or the duration time of the path, and start rehabilitation treatment;

3. the rehabilitation robot replaces medical staff to drive the limbs of the patient to carry out rehabilitation operation repeatedly according to the generated track, pose and speed until the current rehabilitation stage is finished, the medical staff records the rehabilitation information of the patient, the patient can continue to select to replace the affected limbs or continue training in a rehabilitation training mode, and the system can also be withdrawn.

In one embodiment, in step S2, the method for controlling the upper and lower limb rehabilitation robot to perform the active rehabilitation training task may include the steps of:

1. and selecting an active rehabilitation training mode by a functional module of the medical staff in a human-computer interaction interface under the condition that relevant data are obtained through active tests or a database, an alarm threshold value is set, and the connection state of the tail end of the mechanical arm and the affected limb is kept.

2. Setting corresponding damping force according to active test data in a demonstrator by medical staff; setting point location information of the path, selecting an interpolation mode to generate a rehabilitation training path, and also selecting path information which is stored by the patient before from a database;

3. the affected limb of the patient drives the tail end of the mechanical arm to actively move according to a set path until the current rehabilitation stage is finished, medical staff records the rehabilitation information of the patient, the affected limb can be continuously replaced or a rehabilitation training mode can be continuously selected for continuous training, and the system can also be withdrawn.

In the above embodiments, the set trajectory needs to conform to the angle and position range of normal motion, and has a positive effect on rehabilitation and prevents secondary injury to the patient.

Specifically, the rehabilitation process is generally a combination of active testing (obtaining data, setting alarm threshold) and passive training or active training, or a combination of the three, and each function may be executed more than once. If it is concerned with replacing a diseased limb, in particular the upper and lower limbs, other operations are also involved.

Specifically, in the above embodiment, after the rehabilitation training of the currently affected limb is finished, the training can be selected to stop or replace the affected limb to continue the training. After the affected limb is replaced, the active test is required again, and a rehabilitation mode is selected for rehabilitation training. If the patient needs to change the upper limb or the lower limb, only the movement range of the affected limb is different, so that the planning of the path and the speed is needed.

In one embodiment, referring to fig. 14, when the motion path of the affected limb deviates from the predetermined path, the adaptive impedance control is used to move the affected limb back to the predetermined trajectory, and the algorithm used by the adaptive impedance control specifically includes:

1. the parameters are initialized and set in the impedance control of the robot, and when the tail end of the mechanical arm does not deviate from the set track, the parameters are not changed. When the tail end does active compliant motion under the action of external force or thrust, the offset delta x between the actual position of the tail end and the set track can be obtained through an upper computer of the control system, and the stiffness parameter K is increased along with the increase of the delta x, so that different types of stiffness fields are formed in space.

2. When the tail end does active compliant motion, an upper computer of the control system continuously obtains the real-time magnitude of the offset delta x and calculates the value of the corresponding stiffness parameter K, so that corresponding auxiliary force is generated to overcome the thrust or external force, and finally the tail end returns to the set track.

In fig. 14, Kn represents the stiffness parameter after being changed in accordance with the change in the offset amount Δ x, and α represents the proportionality coefficient.

A specific implementation of adaptive impedance control for a rehabilitation robot, comprising:

passive rehabilitation training:

when the external force is eliminated, the adaptive impedance control algorithm changes parameters in real time according to the offset between the actual position of the tail end and the set track, namely, applies a compliant force to the direction of the preset track to dynamically adjust the position and the posture of the affected limb of the patient, and when the offset between the actual track and the preset track is zero or within an error range, the parameters become initial parameters to enable the tail end to return to the original track more quickly.

Active rehabilitation training:

in the active movement process of a patient, the robot can adjust the damping force according to the real-time data of the force sensor and a certain relation, namely:

the damping force is increased along with the increase of the thrust applied to the tail end of the mechanical arm by the patient, namely the thrust applied to the tail end by the patient is increased, namely when the thrust applied to the tail end of the mechanical arm by the patient is increased actively, the mechanical arm moves along with the direction of the thrust of the patient, meanwhile, the control system sets a new damping force after the increase according to a corresponding proportion through an algorithm, the patient needs to overcome the newly set damping force to move, when the thrust applied by the patient is smaller than the new damping force, the self-adaptive impedance control changes parameters according to the deviation amount between the real-time position of the affected limb of the patient and a preset track, namely, a compliant force is applied to the direction of the preset track to adjust the position and the posture of the affected limb of the patient, so that the tail end returns to the original track more quickly;

or the damping force is reduced along with the reduction of the thrust borne by the tail end of the mechanical arm, namely when the thrust exerted by the patient is not enough to overcome the preset damping force, the control system can speculate the inclination direction of the thrust of the patient according to the real-time data of the force sensor and exert the auxiliary force along the direction, and simultaneously the damping force is reduced, so that the mechanical arm can move under smaller thrust, the flexibility between the rehabilitation robot and the patient is ensured, the residual muscle force of the patient is favorably excited, and the enthusiasm of the patient for participating in training is improved.

Through the implementation process of the self-adaptive impedance control, the flexibility of the system is increased, the rehabilitation exercise intensity is improved transiently, the comfort level of a patient in the rehabilitation training process can be improved, and the improvement of the rehabilitation training effect is facilitated.

In one embodiment, the method determines whether the patient has abnormal phenomena such as spasm during rehabilitation: if the force signal of the six-dimensional force sensor received by the control system exceeds a threshold value or the myoelectric signal is suddenly changed, alarm information is sent out, the mechanical arm stops moving, and the rehabilitation process is interrupted.

In an embodiment, referring to fig. 2, in the process of performing rehabilitation training instead of a medical worker, during the process of manually dragging the tail end of the mechanical arm, and during the process of dragging the affected limb to go through a predetermined rehabilitation path and playing back a repetitive motion, during the whole process of active rehabilitation training, the six-dimensional force sensor and the myoelectric signal sensor transmit a corresponding signal of the affected limb to the control system in real time and compare the data with a set threshold, when the signal exceeds the threshold or a sudden change force and a myoelectric signal occur, the control system sends an alarm signal, interrupts the rehabilitation training process, stops the movement of the mechanical arm, waits for the medical worker to intervene and disconnect the connection state between the tail end and the affected limb, and ensures the safety of the rehabilitation training process.

Further, the abnormal information can be recorded in the alarm module, an operator can check the reason causing the alarm, the information such as the path, the pose, the speed, the rehabilitation mode and the like, the reason is summarized and simply analyzed, and the abnormal information is recorded in the patient information module, so that the abnormal information can be trained in a targeted manner in the later training or a related critical value can be set to prevent the same problem.

One embodiment of the application provides an upper and lower limb rehabilitation robot, which comprises a mechanical arm, a control system of the mechanical arm, a quick-release clamp arranged at the execution tail end of the mechanical arm, a six-dimensional force sensor and an electromyographic signal sensor, wherein the quick-release clamp is arranged at the execution tail end of the mechanical arm;

the control system is used for:

controlling the mechanical arm to receive the drive of the affected limb to move according to a set path or a new path;

The upper and lower limb rehabilitation robot of the above embodiment is used for executing a specific flow of the control method of the upper and lower limb rehabilitation robot.

The quick release type clamp of the embodiment comprises:

the auxiliary belt is used for connecting the affected limb of the patient;

Specifically, an electromyographic signal sending port of an electromyographic signal sensor is arranged on the auxiliary belt, and an electromyographic signal receiving port is arranged at the executing tail end of the mechanical arm.

In one embodiment, referring to fig. 3, the robot comprises a cabinet 9, a power supply 8, peripherals (a display 1, a keyboard 2, a mouse, etc.), a main control computer 3, a motion controller 4, a cabinet brake 5, a cabinet start 6, a teach pendant 7, a quick release clamp 10, an electromyographic signal sensor 11, a six-dimensional force sensor 12, and a mechanical arm 13. The connection mode of each part is as follows:

the mechanical arm 13 is fixed on the cabinet body 9 in a mechanical connection mode, the quick-release type clamp 10 is mechanically connected with the six-dimensional force sensor 12, the six-dimensional force sensor 12 is mechanically connected with the execution tail end of the mechanical arm and is connected with the main control computer 3 through a USB port, and the myoelectric signal sensor 11 is embedded in an auxiliary belt of the quick-release type clamp 10 and is also connected with the main control computer through the USB port. The mechanical arm 13 is connected with the motion controller 4 through an Ethernet bus, the demonstrator 7 is connected with the motion controller 4 through a cable or through a wireless network, a mobile phone or a flat panel is used for controlling, the motion controller 4 is connected with the main control computer 3 through the Ethernet, and the display 1 and the keyboard 2 are connected with the main control computer 3 through a USB.

The display 1 can collect and display system status information such as rehabilitation training modes (passive training, active training), paths, speeds, alarm thresholds, mechanical arm joint angles, sensor values, and the like in real time. The keyboard 2 (and the mouse) is convenient for operators to manually input information or issue operation instructions. And the functions of operator account login, patient information recording and treatment scheme selection are realized through a human-computer interaction interface.

The connection of the robot arm and its control system is shown in figure 4.

Through the designed human-computer interaction interface, the mode, the path and the speed of rehabilitation training can be set; the database can be connected to store, call and modify the previous rehabilitation information of the patient; the start and stop of the mechanical arm 13 can be controlled; meanwhile, an alarm threshold value can be set, alarm information can be checked, and the like.

Referring to fig. 5, in one embodiment, the structure of the quick release type clamp 10 includes an auxiliary belt 107 and a main body, the main body is integrated with the end of the mechanical arm, and is connected with the auxiliary belt 107 during rehabilitation training to fix the affected limb to the end of the mechanical arm.

Referring to fig. 6, the main body includes an upper cover 101 and an inner frame 106, the inner frame 106 is fixedly connected or integrated with the end of the robot arm, and the inner frame 106 is fixed in a connecting sleeve 1071 on an auxiliary band 107, the upper cover 101 and the inner frame 106 are rotatably connected, a slider 102 provided in the inner frame 106 is reciprocated in a radial direction by rotating the upper cover 101, the auxiliary band 107 is locked to the main body after the slider 102 is caught in a catching groove 1072 on the inner wall of the connecting sleeve 1071, and the auxiliary band 107 is separated from the main body after the slider 102 is separated from the catching groove 1072 on the inner wall of the connecting sleeve 1071, thereby completing the detachment.

The specific structure of the upper cover 101 is shown in fig. 7, the upper cover 101 includes a large-diameter cover body, a plurality of arc-shaped grooves 1011 are arranged on the surface of the cover body along the circumference, and the middle of the bottom of the cover body is connected with a reduced-diameter cylindrical structure through a connecting column 1012.

The inner frame 106 is specifically configured as shown in fig. 8, and the inner frame 106 is an annular body, and a boss 103 is circumferentially arranged on the top surface of the annular body, and the boss 103 is used for matching with the arc-shaped groove 1011.

As shown in fig. 8-10, a sliding block 102 is circumferentially disposed in the annular body, one end of the sliding block 102 is a free end, the other end is connected to the connecting rod 104, and a sleeve structure 1041 is formed at the other end of the connecting rod 104 and is sleeved with the connecting column 1012 of the upper cover 101.

The connecting rods 104 and the sliding blocks 102 are symmetrically distributed along the circumference.

A return spring 105 is also provided in the annular body on the side of the connecting rod 104.

As shown in fig. 10, the clamp is in a locked state. This state is accomplished according to the following procedure:

the upper cover 101 rotates around its central axis, and the boss 103 slides to one end of the arc-shaped groove 1011. In the sliding process, the connecting column 1012 drives the connecting rod 104 to move along an arc-shaped path through the sleeve structure 1041, drives the slider 102 at the other end of the connecting rod 104 to move outwards in the radial direction, and locks after the slider is clamped into the clamping groove 1072 on the inner wall of the connecting sleeve 1071, so that locking is realized. The auxiliary band 107 is now locked to the main body.

As shown in fig. 11, the clamp is in a released state. This state is accomplished according to the following procedure:

the upper cover 101 rotates around its central axis, and the boss 103 slides to one end of the arc-shaped groove 1011. In the sliding process, the connecting column 1012 drives the connecting rod 104 to move along an arc-shaped path through the sleeve structure 1041, and drives the slider 102 at the other end of the connecting rod 104 to move inwards along the radial direction, so that the slider is separated from the clamping groove 1072 in the inner wall of the connecting sleeve 1071, and the loosening and the unloading are realized. The auxiliary strap 107 can now be detached from the main body.

In a specific embodiment, the upper and lower limb rehabilitation robot comprises the following specific steps in the process of fixing the clamp and the affected limb of the patient:

fixing the auxiliary belt 107 with the affected limb of the patient, moving the mechanical arm 13 to the periphery of the auxiliary belt, screwing the upper cover 101 to enable the sliding block 102 to be completely retracted into the inner frame 106, aligning a preset positioning pin on the outer wall of the inner frame 106 with a preset positioning groove in the connecting sleeve 107, completely clamping the clamp main body into the auxiliary belt 107, and screwing the upper cover 101 reversely again to enable the sliding block 102 to extend out to complete connection.

After the clamp is fixed, an electromyographic signal sending port 111 arranged on the auxiliary belt 107 is connected with an electromyographic signal receiving port 112 arranged at the tail end of the mechanical arm, so that the connection work of the electromyographic signal sensor is completed.

In a specific embodiment, the upper and lower limb rehabilitation robot and the medical personnel realize man-machine integration, and the medical personnel are assisted to realize upper and lower limb rehabilitation training operation. In the process of manually and manually dragging the mechanical arm 13 to move according to a preset path, after the patient is dragged to move, and when the patient is dragged to perform repeated motion, in the whole process of active rehabilitation training, the six-dimensional force sensor 12 and the electromyographic signal sensor 11 transmit corresponding signals of the affected limb to the main control computer 3 in real time, compare the data with a set threshold value, when the signals exceed the threshold value or mutation electromyographic signals occur, the main control computer 3 sends an alarm signal, interrupts the rehabilitation training process, stops the movement of the mechanical arm 13, waits for the intervention of medical personnel to break the connection state between the tail end and the affected limb, and ensures the safety of the rehabilitation training process.

The quick detach formula anchor clamps of this embodiment is applicable to various types of general arm, realizes suffering from the high-speed joint of limb and arm and breaks away from, improves the convenience of commonality and operation.

In one embodiment, the robotic arm 13 is at least a six-axis configuration. The device can simulate the functions of human arms, can freely realize various gestures in three-dimensional space, and can generate tracks with various complex shapes.

In specific implementation, medical personnel drive a patient affected limb to move according to a preset track by dragging the mechanical arm 13, the six-dimensional force sensor 12, the myoelectric signal sensor 11 and the quick-release clamp 10 are arranged at the tail end of the mechanical arm, the mechanical arm 13 can be dragged flexibly, any required posture is kept for rehabilitation training, and meanwhile, key point position information and a motion track can be stored in the mechanical arm motion controller 4 in a program form.

The following detailed description will be directed to an embodiment of passive rehabilitation training of the lower extremities, see fig. 2:

1. the medical staff moves the rehabilitation robot to the designated position of a patient bed, opens an operating system, pulls the tail end of the mechanical arm 13 to the lower limb of the patient, fixes the auxiliary belt 107 with the lower limb of the patient, fixes the clamp main body with the auxiliary belt 107 by screwing the upper cover 101, and fixes the myoelectric signal sending port 111 with the myoelectric signal receiving port 112;

2. if the patient does not have the rehabilitation record, selecting an active test mode in the man-machine interaction unit; if the patient has a rehabilitation record, selecting an active test mode or calling previous information from a database for use according to the rehabilitation condition;

3. setting a force signal threshold according to a signal peak value of a six-dimensional force sensor 12 in the whole active test process, and setting an electromyographic signal frequency range according to a peak value of an electromyographic signal sensor 11;

4. medical staff select a passive rehabilitation training mode on a human-computer interaction interface, drag the tail end of the mechanical arm 13 and teach the path, speed and point position information of the patient to be operated for rehabilitation training of the affected limb, and store the path, speed and point position information;

5. medical staff select to perform linear interpolation and circular interpolation to generate a new path or use an original path in the demonstrator 7 according to the stored point location information, select the speed of the tail end running speed during rehabilitation compared with the speed during dragging the mechanical arm, select the cycle times or duration of the rehabilitation path, and start rehabilitation treatment;

6. the rehabilitation robot replaces medical staff to drive the limbs of the patient to repeatedly carry out rehabilitation operation according to the generated track, pose and speed until the current rehabilitation stage is finished, the medical staff records the rehabilitation information of the patient and quits the system;

7. in the process, the six-dimensional force sensor 12 and the myoelectric signal sensor 11 transmit corresponding signals of the affected limb to the main control computer 3 in real time, compare the data with a set threshold value, and when the signals exceed the threshold value or sudden change myoelectric signals occur, the main control computer 3 sends an alarm signal, interrupts the rehabilitation training process, stops the movement of the mechanical arm 13, waits for the intervention of medical staff to disconnect the connection state of the tail end clamp 10, and ensures the safety of the rehabilitation training process;

8. in the process that the mechanical arm 13 drives the affected limb to move according to the preset track, when the tail end 13 is acted by external force, the affected limb will make active compliant motion, the affected limb deviates from the set track along the direction of the external force, and after the external force is eliminated, the pose (position and posture) of the lower limb is dynamically adjusted according to the compliant force generated by the adaptive impedance control algorithm, so that the tail end 13 returns to the original track more quickly.

The upper and lower limb rehabilitation robot and the control method thereof have the advantages that the upper and lower limbs and the active and passive rehabilitation training modes are considered, the rehabilitation training can be performed by replacing doctors to a great extent, and the operation is more humanized and intelligent as shown in fig. 12 and 13.

An embodiment of the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the control method described herein.

An embodiment of the present application provides a computer device, which includes a memory, a processor, and a computer program stored on the memory, and the processor implements the control method when executing the computer program.

While the invention has been described with reference to specific embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The control method of the upper and lower limb rehabilitation robot is characterized in that the upper and lower limb rehabilitation robot comprises a mechanical arm and a control system thereof, and the execution tail end of the mechanical arm is provided with a quick-release clamp, a six-dimensional force sensor and a myoelectric signal sensor; the quick-release clamp is used for being connected with the affected limb;

the control method comprises the following steps:

2. The method for controlling an upper and lower limb rehabilitation robot according to claim 1, wherein the obtaining data related to the affected limb through the active test comprises:

3. The method for controlling the upper and lower limb rehabilitation robot according to claim 1, wherein the controlling of the mechanical arm to drive the affected limb to move along the set path according to the set treatment scheme for passive rehabilitation training comprises:

4. The method for controlling the upper and lower limb rehabilitation robot according to claim 1, wherein the controlling of the mechanical arm to drive the affected limb to move along the set path according to the set treatment scheme for passive rehabilitation training comprises:

5. The method for controlling the upper and lower limb rehabilitation robot according to claim 1, wherein the controlling of the mechanical arm to drive the affected limb to move along the set path according to the set treatment scheme for passive rehabilitation training comprises:

6. The method for controlling the upper and lower limb rehabilitation robot according to claim 1, wherein the active rehabilitation training is performed by driving the mechanical arm to move along a set path by the affected limb against the damping force according to a set treatment scheme, comprising:

7. The control method of an upper and lower limb rehabilitation robot according to claim 1, further comprising:

8. The method for controlling an upper and lower limb rehabilitation robot according to claim 7, wherein the adaptive impedance control is implemented by:

9. The control method of an upper and lower limb rehabilitation robot according to claim 1, further comprising:

10. The control method of an upper and lower limb rehabilitation robot according to claim 1, further comprising:

the auxiliary belt is provided with the electromyographic signal sensor.

11. The upper and lower limb rehabilitation robot is characterized by comprising a mechanical arm and a control system thereof, a quick-release clamp arranged at the execution tail end of the mechanical arm, a six-dimensional force sensor and a myoelectric signal sensor;

the control system is configured to:

12. The upper and lower limb rehabilitation robot of claim 11, wherein the quick-release clamp comprises:

the auxiliary belt is used for connecting the affected limb of the patient;

the main body is integrated with the execution tail end of the mechanical arm and is used for being connected with the auxiliary belt, and the function of fixing the affected limb and the execution tail end of the mechanical arm is achieved.

13. A computer-readable storage medium on which a computer program is stored, the computer program implementing the control method of the upper and lower limb rehabilitation robot according to any one of claims 1 to 10 when executed by a processor.

14. A computer device characterized in that the computer device comprises a memory, a processor and a computer program stored on the memory, the processor implementing the control method of the upper and lower limb rehabilitation robot according to any of claims 1-10 when executing the computer program.