CN114712149A - Single-point upper limb static test method based on upper limb rehabilitation training robot - Google Patents
Single-point upper limb static test method based on upper limb rehabilitation training robot Download PDFInfo
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- 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
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
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- A61H2201/1657—Movement of interface, i.e. force application means
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
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Abstract
The invention provides a single-point upper limb static test method based on an upper limb rehabilitation training robot, which comprises the following steps: s10, establishing a coordinate system with the center of the upper limb rehabilitation training robot as the origin O, the advancing direction thereof being defined as the X-axis, and the axis parallel to the horizontal plane and perpendicular to the X-axis being the Y-axis, and further establishing a plurality of standard directions (X) on the coordinate systemi,Yi) And its corresponding standard acting force Fi(ii) a S11, respectively obtaining the upper limb acting on the upper limb rehabilitation training robot fixed on the single point position along the plurality of standard directions (X)i,Yi) Actual force F'iThe actual acting force F'iWith said standard force FiPresented to the user.
Description
Technical Field
The invention relates to a single-point upper limb static test method based on an upper limb rehabilitation training robot.
Background
At present, the upper limb rehabilitation training apparatus is various in types, comprises a pure mechanical structure or an electronic control device and a mechanical structure, and basically drives the upper limb to move by external force so as to recover the strength of the upper limb. However, in any of the above-mentioned configurations, there is no report on the normalization of the recovery of the recovering person by testing the force applied to the upper limb and comparing the force applied to the upper limb with the standard force applied to the normal person.
Disclosure of Invention
The invention provides a single-point upper limb static test method based on an upper limb rehabilitation training robot, which can effectively solve the problems.
The invention is realized by the following steps:
a single-point upper limb static test method based on an upper limb rehabilitation training robot comprises the following steps:
s10, establishing a coordinate system with the center of the upper limb rehabilitation training robot as the origin O, the advancing direction thereof being defined as the X-axis, and the axis parallel to the horizontal plane and perpendicular to the X-axis being the Y-axis, and further establishing a plurality of standard directions (X) on the coordinate systemi,Yi) And its corresponding standard acting force Fi；
S11, respectively obtaining the upper limb acting on the upper limb rehabilitation training robot fixed on the single point position along the plurality of standard directions (X)i,Yi) Actual force F'iThe actual acting force F'iWith said standard force FiPresented to the user.
The invention has the beneficial effects that: the invention establishes a plurality of standard directions (X) on a planei,Yi) And its corresponding standard acting force Fi(ii) a Further acting on the upper limb rehabilitation training robot fixed on the single-point position along the plurality of standard directions (X) by acquiring the upper limbi,Yi) Actual force F'iThe actual acting force F'iWith said standard force FiThe comparison is made and presented to the user so that a quantifiable criterion can be provided for upper limb recovery.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic view of the overall structure of an upper limb rehabilitation training machine provided by the embodiment of the invention.
Fig. 2 is a schematic position diagram of a robot and a distance sensor according to an embodiment of the present invention.
Fig. 3 is an overall structural view of the upper limb rehabilitation training robot according to the embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a rehabilitation coordination mechanism according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a load cell according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a mobile platform according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a moving mechanism according to an embodiment of the present invention.
Fig. 8 is a distance location calculation diagram provided by an embodiment of the present invention.
Fig. 9 is a flowchart of a single-point upper limb static test method based on the upper limb rehabilitation training robot according to the embodiment of the present invention.
FIG. 10 shows actual acting force F 'in the single-point upper limb static test method based on the upper limb rehabilitation training robot according to the embodiment of the present invention'iWith said standard force FiAnd (5) testing result graphs.
Fig. 11 is a three-dimensional dynamic rendering effect diagram in the single-point upper limb static testing method based on the upper limb rehabilitation training robot according to the embodiment of the present invention.
Fig. 12 is a flowchart of a multipoint upper limb static test method based on the upper limb rehabilitation training robot according to the embodiment of the present invention.
Fig. 13 shows a plurality of fixed test points L in the multi-point upper limb static test method based on the upper limb rehabilitation training robot according to the embodiment of the present inventionnSchematic representation of (a).
Fig. 14 is a flowchart of an upper limb dynamic testing method based on the upper limb rehabilitation training robot according to an embodiment of the present invention.
Fig. 15 is a schematic diagram of a standard movement range M in the upper limb dynamic testing method based on the upper limb rehabilitation training robot according to the embodiment of the present invention.
Fig. 16 is an effect diagram of a test result in the upper limb dynamic test method based on the upper limb rehabilitation training robot according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 8, an upper limb rehabilitation training robot 2 includes: a rehabilitation coordination mechanism 21 including an upper limb placing member 211 and a grip 214; a gyroscope sensor disposed within the grip 214; the force sensor 22 is used for measuring the direction and the magnitude of the horizontal resultant force applied to the rehabilitation coordination mechanism 21; the moving mechanism 23 is arranged below the force sensor 22 and is used for driving the rehabilitation coordination mechanism 21 to move; distance sensors are arranged on the moving mechanism 23 at intervals, the rays of the adjacent distance sensors form 90 degrees with each other, and the distance sensors are used for acquiring the position and deflection angle of the moving mechanism 23; the control module 24 is electrically connected to the gyroscope sensor, the load cell 22, the moving mechanism 23, and the distance sensor, respectively, and the control module 24 is configured to control the moving mechanism 23 to move according to signals of the sensors, wherein the movement speed of the moving mechanism 23 is positively correlated to the magnitude of the horizontal resultant force applied to the rehabilitation coordinating mechanism 21.
Referring to fig. 3 to 4, the rehabilitation coordination mechanism 21 includes: an upper limb placing piece 211, the shape of which is matched with the cambered surface of the small arm; a first connecting member 212 horizontally and fixedly disposed below the upper limb placing member 211; a second connecting member 213 having one end hinged to the first connecting member 212; a grip 214; and a flexible connection tube 215 having both ends connected to the second connection member 213 and the grip 214, respectively. The upper limb placing piece 211 is provided with air holes 2111 at intervals, so that the use comfort of the upper limb placing piece 211 is improved. The second connecting piece 213 is hinged on the first connecting piece 212 and adopts the flexible connecting pipe 215, so that the user can hold the grip 214 to realize the omnibearing movement of the wrist joint; since the grip 214 is provided with a gyro sensor therein, the motion information of the grip 214 is converted into yaw, pitch and roll data of the gyro sensor.
Referring to fig. 5 to 6, the load cell 22 includes: a substrate 221; a movable stage 222 disposed on the substrate 221, comprising: first slide rails 2221 disposed on the substrate 221 in parallel at intervals; a first moving plate 2222 disposed on a side of the first slide rail 2221 away from the base plate 221 and parallel to the base plate 221; a second slide rail 2223, which is disposed in parallel at an interval on a side of the first moving plate 2222 away from the base plate 221 and is perpendicular to the first slide rail 2221; the second moving plate 2224 is arranged on one side of the second slide rail 2223, which is far away from the first moving plate 2222, and is parallel to the first moving plate 2222; a first strain sensor 223 fixed on the base plate 221 and perpendicular to the first slide rail 2221, for detecting a displacement of the first moving plate 2222; and a second strain sensor 224 fixed on the substrate 221 and perpendicular to the second slide rail 2223, for detecting a displacement of the second moving plate 2224. The first strain sensor 223 is connected to the first moving plate 2222 through a third link 225, and the second strain sensor 224 is connected to the second moving plate 2224 through a fourth link 226. The first/second strain sensor 223/224 is provided with a through hole, so that the strain sensor can also deform when being subjected to a small force, and the sensitivity of the strain sensor to the small force is improved. The horizontal movement of the rehabilitation coordinating mechanism 21 drives the mobile platform 222 to displace in the horizontal position, so that the first strain sensor 223 and the second strain sensor 224 deform, and stress data is generated. According to the stress of the first strain sensor 223 and the stress of the first strain sensor 223, the magnitude and the direction of the resultant force are synthesized and then sent to the control module 24 to control the moving direction and the moving speed of the moving mechanism 23.
Referring to fig. 7, the moving mechanism 23 includes 4 mecanum wheels 231, and each mecanum wheel 231 has a separate motor, so that the moving platform 23 can move in all directions in the horizontal plane.
Referring to fig. 1 to 2, an upper limb rehabilitation training machine with positioning and tracking functions includes: a training platform 1; an upper limb rehabilitation training robot 2; a first distance sensor 3 and a second distance sensor 4 provided on the upper limb rehabilitation training robot 2; a display module 5; and a positioning module arranged on the upper limb rehabilitation training robot 2. The training platform 1 comprises: a horizontal plane 11, a first baffle 12 perpendicular to said horizontal plane 11, and a second baffle 13 perpendicular to said horizontal plane 11 and perpendicular to said first baffle 12. The upper limb rehabilitation training robot 2 moves on the horizontal plane 11. The ray of the first distance sensor 3 and the ray of the second distance sensor 4 form a right angle with each other, the first distance sensor 3 is used for measuring the distance between the upper limb rehabilitation training robot 2 and the first baffle 12, and the second distance sensor 4 is used for measuring the distance between the upper limb rehabilitation training robot 2 and the second baffle 13. The display module 5 is used for displaying parameters such as the motion trail and the speed of the upper limb rehabilitation training robot 2. The positioning module is respectively connected with the upper limb rehabilitation training robot 2, the first distance sensor 3, the second distance sensor 4 and the display module 5 in an electric mode, the positioning module is used for converting signals of the first distance sensor 3 and the second distance sensor 4 into position signals to be displayed on the display module 5, and the positioning module is used for converting the movement direction and the speed of the upper limb rehabilitation training robot 2 into movement parameters to be displayed on the display module 5.
Referring to fig. 8, the number of the first distance sensors 3 is 2, and the number of the second distance sensors 4 is 1. The distances between the first distance sensor 3 and the first flap 12 are d1 and d2, respectively, and the difference Δ d between the distances d1 and d2 is obtained, and since the distance e between the first distance sensor 3 and the second distance sensor 4 is known, the deflection angle c is arctan ((Δ d)/e) according to the trigonometric function formula tan (c) ═ Δ d)/e. According to the obtained deflection angle c, the vertical distance x from the left end of the upper limb rehabilitation training robot 2 to the second baffle 13 can be obtained by combining the distance a between the second distance sensor 4 and the second baffle 13; by combining the average value (d1+ d2)/2 of d1 and d2, the vertical distance y between the front end of the upper limb rehabilitation training robot 2 and the first baffle 12, that is, the positioning position (x, y) of the upper limb rehabilitation training robot 2 can be obtained.
Referring to fig. 9 to 11, an embodiment of the present invention further provides a single-point upper limb static testing method based on the upper limb rehabilitation training robot 2, including the following steps:
s10, establishing a coordinate system with the center of the upper limb rehabilitation training robot 2 as the origin O, the advancing direction thereof being defined as the X-axis, and the axis parallel to the horizontal plane 11 and perpendicular to the X-axis being the Y-axis, and further establishing a plurality of standard directions (X) on the coordinate systemi,Yi) And its corresponding standard acting force Fi；
S11, acquiring the upper limb acting on the upper limb rehabilitation training robot 2 fixed at the single point position along the plurality of standard directions (X) respectivelyi,Yi) Actual force F'iThe actual acting force F'iWith said standard force FiPresented to the user.
In step S10, the standard direction (X)i,Yi) The number of (2) is preferably 4 to 8. Referring also to FIG. 10, in one embodiment, the standard directions F include 81～F8The 8 standard directions cover substantially all muscles of upper limb recovery. In another embodiment, only 4 standard directions F can be included1、F3、F5、F7I.e. including the basic movements of the upper limbs forward, backward, left and right. Said standard force FiCan be made according to the standard of accessibility of normal people of different ages and different sexes. In addition, the standard acting force F of the same sex at the same ageiIn the middle, different grades can be further divided, for example, from large to small, the standard acting force F of one gradei-ASecond order Standard force Fi-BThree-stage standard force Fi-CEtc. to provide a basis for the degree of recovery.
In step S11, the tester may place the upper limb on the upper limb rehabilitation training robot 2 in the direction of the force applied thereto, and sequentially apply the forces in different directions in the direction of the presentation, in order of the direction of the presentation, to perform the test. In addition, during the test, the positions of the seat, the training platform 1 and the upper limb rehabilitation training robot 2 need to be adjusted to be relatively fixed, so that a relatively stable data base is provided for the analysis of historical data.
Further, the actual acting force F'iWith said standard force FiThe step of presenting to the user may further comprise:
s110, in the static test process, the plurality of standard directions (X) are usedi,Yi) And its corresponding standard acting force FiBy means of said display moduleBlock 5 shows the tester. The display mode is not limited, and may be a planar coordinate display as shown in fig. 10, or a stereoscopic or animated display, which is not limited herein. For example, if the user is an old person or a child, the user can increase the interest by setting some animation displays (a snowman, etc., shown in fig. 11).
After step S11, the method may further include:
s12, obtaining the plurality of standard directions (X)i,Yi) Actual force F'iFor each standard direction (X)i,Yi) Is analyzed to obtain each standard direction (X)i,Yi) The recovery effect of (1).
For each standard direction (X)i,Yi) The specific analysis of the historical data is as follows: every standard direction (X)i,Yi) The historical data is sorted and compared to obtain whether the historical data is increased or decreased, so as to obtain each standard direction (X)i,Yi) The recovery effect of (1).
After step S12, the method may further include:
s13, according to each standard direction (X)i,Yi) In each standard direction (X)i,Yi) In the training process, the user is reminded of the corresponding standard direction (X)i,Yi) The recovery situation of (1).
Of course, the doctor can also follow each standard direction (X)i,Yi) The recovery effect of (2) and different recovery schemes are formulated, so that the recovery efficiency is improved.
Referring to fig. 12 to 13, an embodiment of the present invention further provides a multi-point upper limb static testing method based on the upper limb rehabilitation training robot 2, including the following steps:
s20, establishing a coordinate system with the center of the upper limb rehabilitation training robot 2 as the origin O, the advancing direction thereof being defined as the X-axis, and the axis parallel to the horizontal plane 11 and perpendicular to the X-axis being the Y-axis, and further establishing a plurality of fixed test points L on the training platform 1nAnd at each fixed sidePilot point LnEstablishing a plurality of standard directions (X) based on the coordinate systemi-n,Yi-n) And its corresponding standard acting force Fn-i；
S21, respectively acquiring the action of the upper limb on each fixed test point LnUpper limb rehabilitation training robot 2 along the plurality of standard directions (X)i-n,Yi-n) Actual force F'i-nProviding the actual acting force F'i-nWith said standard force Fi-nPresented to the user.
In step S20, a plurality of fixed test points L are established on the training platform 1n. Each fixed test point LnThe standard direction (X)i-n,Yi-n) The number of (2) is preferably 4 to 8. In one embodiment, each fixed test point LnComprising only 4 standard directions F1-n、F3-n、F5-n、F7-nI.e. including the basic movements of the upper limbs forward, backward, left and right. Said standard force Fi-nCan be made according to the standard of accessibility of normal people of different ages and different sexes. In addition, the standard force F of the same sex at the same agei-nIn the middle, different grades can be further divided, for example, from large to small, the standard acting force F of one gradei-n-ASecond order Standard force Fi-n-BThree-stage standard force Fi-n-CEtc. to provide a basis for the degree of recovery.
In step S21, the tester may place the upper limb on the upper limb rehabilitation training robot 2 according to the direction of the force applied under the prompt of the upper limb rehabilitation training robot 2, apply the forces in different directions according to the sequence of the prompted directions to perform the test, and change the fixed test point LnAnd (6) carrying out testing.
Further, the actual acting force F'i-nWith said standard force Fi-nThe step of presenting to the user may further comprise:
s210, in the static test process, the plurality of standard directions (X) are usedi-n,Yi-n) And its corresponding standard acting force Fi-nAnd displaying the test result to the tester through the display module 5. The display mode is not limited, and may be a planar coordinate display as shown in fig. 10, or a stereoscopic or animated display, which is not limited herein. For example, if the user is an old person or a child, the user can increase the interest by setting some animation displays (a snowman, etc., shown in fig. 11).
After step S21, the method may further include:
s22, obtaining the plurality of standard directions (X)i-n,Yi-n) Actual force F'i-nFor each standard direction (X)i-n,Yi-n) Is analyzed to obtain each standard direction (X)i-n,Yi-n) The recovery effect of (1).
For each standard direction (X)i-n,Yi-n) The specific analysis of the historical data is as follows: every standard direction (X)i-n,Yi-n) The historical data is sorted and compared to obtain whether the historical data is increased or decreased, so as to obtain each standard direction (X)i-n,Yi-n) The recovery effect of (1).
After step S22, the method may further include:
s23, according to each standard direction (X)i-n,Yi-n) In each standard direction (X)i-n,Yi-n) In the training process, the user is reminded of the corresponding standard direction (X)i-n,Yi-n) The recovery situation of (1).
Of course, the doctor can also follow each standard direction (X)i-n,Yi-n) The recovery effect of (2) and different recovery schemes are formulated, so that the recovery efficiency is improved.
Referring to fig. 14 to 16, an embodiment of the present invention further provides an upper limb dynamic testing method based on the upper limb rehabilitation training robot 2, including the following steps:
s30, establishing a standard motion range M on the surface of the training platform 1 by taking the fixed position D as a coordinate origin;
and S31, arranging the upper limb rehabilitation training robot 2 at the fixed position D, acquiring an actual motion track M 'of the upper limb acting on the upper limb rehabilitation training robot 2 to move around the fixed position D, and presenting the standard motion range M and the actual motion track M' to a user.
In step S30, the standard range of motion M may be set according to the standard of accessibility of normal persons of different ages and different sexes. In addition, in the standard movement range M of the same sex in the same age period, different grades can be further divided, for example, the standard movement range M of the first grade is divided from big to smallASecond order Standard Range of motion MBThree-stage standard range of motion MCEtc. to provide a basis for the degree of recovery. In other embodiments, the self-care recoverable range M may be further defined1. When the range is reached, the patient can be judged to have certain self-care ability.
In step S31, the tester may place the upper limb on the upper limb rehabilitation training robot 2 in the direction of the force with the prompt of the upper limb rehabilitation training robot 2, and start the movement with the fixed position D as the starting point in the direction of the prompt.
In addition, the step of presenting the standard motion range M and the actual motion trajectory M' to the user may further include:
and S310, in the dynamic test process, displaying the standard motion range M and the actual motion track M' to a tester through the display module 5. The display mode is not limited, and may be a planar coordinate display, or a three-dimensional or animated display, which is not limited herein. For example, if the user is an old person or a child, the user can be provided with some animation displays to increase the interest.
After step S31, the method may further include:
and S32, acquiring the historical data of the actual motion track M ', and analyzing the historical data of the actual motion track M', thereby acquiring the recovery effect in each direction.
The analyzing the historical data of the actual motion trajectory M' specifically includes: and sorting and comparing the historical data of the actual motion trajectory M' to obtain whether the historical data in each direction is increased or decreased, so that the recovery effect in each direction is obtained.
After step S32, the method may further include:
and S33, according to the recovery effect of each direction, reminding the user of the recovery condition of the corresponding direction during the training of the recovery effect of each direction.
Of course, doctors can also make different recovery schemes according to the recovery effect in each direction, so that the recovery efficiency is improved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A single-point upper limb static test method based on an upper limb rehabilitation training robot is characterized by comprising the following steps:
s10, establishing a coordinate system with the center of the upper limb rehabilitation training robot as the origin O, the advancing direction thereof being defined as the X-axis, and the axis parallel to the horizontal plane and perpendicular to the X-axis being the Y-axis, and further establishing a plurality of standard directions (X) on the coordinate systemi,Yi) And its corresponding standard acting force Fi；
S11, respectively obtaining the upper limb acting on the upper limb rehabilitation training robot fixed on the single point position along the plurality of standard directions (X)i,Yi) Actual force F'iThe actual acting force F'iWith said standard force FiPresented to the user.
2. The single-point upper limb static test method of claim 1, wherein in step S10, the standard direction (X) isi,Yi) The number of the (B) is 4-8.
3. The method of claim 1The single-point upper limb static test method is characterized in that in step S10, the standard acting force FiIs made according to the standard of accessibility of normal people of different ages and different sexes.
4. The single-point upper limb static test method according to claim 1, wherein in step S11, the tester further places the upper limb on the upper limb rehabilitation training robot in the direction of the force application at the prompt of the upper limb rehabilitation training robot, and sequentially applies forces in different directions in the direction of the prompt to perform the test.
5. The single-point upper limb static test method of claim 1, wherein in step S11, the actual acting force F'iWith said standard force FiThe step of presenting to the user further comprises:
s110, in the static test process, the plurality of standard directions (X) are usedi,Yi) And its corresponding standard acting force FiThe display module 5 is used for displaying the test object to a tester, and the displaying mode comprises plane coordinate displaying, three-dimensional displaying or animation displaying.
6. The single-point upper limb static test method of claim 5, further comprising, after step S11:
s12, obtaining the plurality of standard directions (X)i,Yi) Actual force F'iFor each standard direction (X)i,Yi) Is analyzed to obtain each standard direction (X)i,Yi) The recovery effect of (1).
7. The single point upper limb static test method of claim 6, wherein the standard direction (X) is determined for each standard directioni,Yi) The step of analyzing the historical data comprises: every standard direction (X)i,Yi) The historical data is sorted and compared to obtain whether the historical data isIncrease or decrease, thereby obtaining each standard direction (X)i,Yi) The recovery effect of (1).
8. The single-point upper limb static test method of claim 6, further comprising, after step S12:
s13, according to each standard direction (X)i,Yi) In each of the standard directions (X)i,Yi) In the training process, the user is reminded of the corresponding standard direction (X)i,Yi) The recovery situation of (1).
Priority Applications (2)
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