CN115089429A - Upper limb rehabilitation training robot, upper limb rehabilitation training system and method - Google Patents
Upper limb rehabilitation training robot, upper limb rehabilitation training system and method Download PDFInfo
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 65
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- 230000001174 ascending effect Effects 0.000 claims description 41
- 239000011159 matrix material Substances 0.000 claims description 24
- 230000009466 transformation Effects 0.000 claims description 15
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 3
- 210000002310 elbow joint Anatomy 0.000 abstract description 4
- 210000000323 shoulder joint Anatomy 0.000 abstract description 4
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- 206010019468 Hemiplegia Diseases 0.000 description 1
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- 230000002457 bidirectional effect Effects 0.000 description 1
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- 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
- A61H1/0277—Elbow
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- 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
- A61H1/0281—Shoulder
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- 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
- A61H1/0285—Hand
- A61H1/0288—Fingers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- 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
- A61H2201/5007—Control means thereof computer controlled
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5064—Position sensors
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- Rehabilitation Therapy (AREA)
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Abstract
The invention discloses an upper limb rehabilitation training robot, an upper limb rehabilitation training system and an upper limb rehabilitation training method. The upper limb rehabilitation training robot comprises a fixing piece, a connecting piece, a lower layer conversion head, a rising connecting rod, an upper layer conversion head, an arm support, a first motor, a second motor and a third motor. The position information of the healthy side arm of a patient is collected, the rotating angles of the first motor, the second motor and the third motor are calculated according to the collected position information of the healthy side arm, a control instruction is generated and transmitted to the upper limb rehabilitation training robot, and therefore the first motor, the second motor and the third motor are controlled to rotate. According to the upper limb rehabilitation training robot, the upper limb rehabilitation training system and the upper limb rehabilitation training method, three-degree-of-freedom upper limb rehabilitation can be achieved, and rehabilitation training can be carried out on the shoulder joint and the elbow joint of the patient.
Description
Technical Field
The invention relates to the field of upper limb exoskeleton rehabilitation robots, in particular to an upper limb rehabilitation training robot based on a mirror image therapy, an upper limb rehabilitation training system and an upper limb rehabilitation training method.
Background
The hemiplegia of the human body caused by the stroke brings serious influence to the work and the life of the patient. Traditional rehabilitation is mainly accomplished by rehabilitation therapist, and rehabilitation therapist carries out the rehabilitation of one-to-one to the patient, helps the patient to carry out a large amount of, repeated, passive rehabilitation training. In order to help more patients get sufficient rehabilitation therapy, the research of rehabilitation robots is an important research direction.
The rehabilitation robot can help a rehabilitation therapist to perform a large amount of accurate and repeated rehabilitation training on a patient, and a plurality of rehabilitation robots are already put into a ward for use. For example, the chinese patent of the invention (chinese patent publication No. CN113491622A) proposes a rehabilitation glove based on a bidirectional driver with a honeycomb-like structure, which can provide a patient with rehabilitation training with two degrees of freedom of flexion and extension. However, this patent only recovers the fingers, and cannot use this robot to perform rehabilitation training on other joints of the upper limb at the same time.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides an upper limb rehabilitation training robot based on a mirror image therapy as a supplement of a hand rehabilitation robot, and can help a patient to realize multi-degree-of-freedom rehabilitation training of shoulder joints, elbow joints and fingers.
In order to achieve the technical purpose, the invention adopts the following technical scheme.
The invention provides an upper limb rehabilitation training robot, which comprises a fixing piece, a connecting piece, a lower layer conversion head, a lifting connecting rod, an upper layer conversion head, an arm bracket, a first motor, a second motor and a third motor, wherein the upper layer conversion head is connected with the upper layer conversion head;
the fixing piece is used for fixing the upper limb rehabilitation training robot on a plane; one end of the connecting piece is connected with the fixing piece, and the other end of the connecting piece is connected with the fixed end of the third motor; the power output end of the third motor is connected with the lower-layer conversion head and is used for controlling an included angle between the lower-layer conversion head and the connecting piece;
the lower-layer conversion head is connected with a fixed end of a second motor, and a power output end of the second motor is connected with one end of the ascending connecting rod and used for controlling an included angle between the lower-layer conversion head and the ascending connecting rod; the other end of the lifting connecting rod is connected with the upper layer conversion head and the upper layer conversion head can move relatively; the upper layer conversion head is also connected with the fixed end of the first motor; the arm support conversion head is provided with two connecting holes, and the power output end of the first motor is connected with one connecting hole on the arm support conversion head and used for controlling the included angle between the upper conversion head and the arm support conversion head; the other connecting hole on the arm support conversion head is connected with the arm support, and the two connecting holes can move relatively.
Further, the connecting piece is in a step shape.
Furthermore, the left side of the lower layer conversion head is a rectangular connecting block, the right side of the lower layer conversion head is a cylindrical connecting block, a first mounting hole is formed in the rectangular connecting block, and a second mounting hole connected with a power output end of a third motor is formed in the cylindrical connecting block; the first mounting hole is used for enabling the power output end of the second motor to penetrate through and then be connected with the ascending connecting rod.
Furthermore, a third mounting hole is further formed in the rectangular connecting block and used for being connected with one end of an auxiliary ascending connecting rod, the other end of the auxiliary ascending connecting rod is connected with an upper layer conversion head, and the auxiliary ascending connecting rod is equal to and parallel to the ascending connecting rod in length; the auxiliary ascending connecting rod and the upper layer conversion head and the auxiliary ascending connecting rod and the lower layer conversion head can respectively move relatively.
Still further, the long limit of rectangular connecting block is parallel with the axle center of cylindrical connecting block.
In a second aspect, the present invention provides an upper limb rehabilitation training system, including a displacement sensor, a control module, and an upper limb rehabilitation training robot as provided in any one of the possible embodiments of the first aspect;
the displacement sensor is used for collecting the position information of the arm at the healthy side of the patient and transmitting the position information to the control module;
the control module is used for calculating and obtaining rotation angles of the first motor, the second motor and the third motor according to the collected side-exercising arm position information, generating a control instruction and transmitting the control instruction to the upper limb rehabilitation training robot so as to control the first motor, the second motor and the third motor to rotate.
Further, the rotation angles of the first motor, the second motor and the third motor are calculated and obtained according to the collected healthy side arm position information, and the specific method comprises the following steps: the patient side-healthy arm position information P1(X1, Y1 and Z1), establishing a coordinate system with the origin as the middle point of the side of the plane connected with the fixing piece close to the patient, obtaining the coordinate position P2(X2, Y2 and Z2) of the fixing piece through measurement, calculating the mirror image position of the affected arm of the patient as P3(-X1, Y1 and Z1) according to the mirror symmetry principle, and obtaining the target position P4(X4, Y4 and Z4) of the affected arm in the coordinate system with the fixing piece as the origin, namely P3-P2;
establishing a first rotation coordinate axis by taking the intersection point of the axis of the first motor and the central line of the ascending connecting rod as an origin, wherein the left direction is the positive direction of an X1 axis, the upward direction is the positive direction of a Z1 axis, and the Y1 direction is vertical to the plane and faces inwards;
establishing a second rotation coordinate axis by taking the intersection point of the central line of the ascending connecting rod and the axis of the second motor as an origin, wherein the upward direction along the central line of the ascending connecting rod is the positive direction of an X2 shaft, the upward direction vertical to the X shaft is the positive direction of Y2, and the direction of Z2 is vertical to the plane and is outward;
establishing a third rotation coordinate axis by taking the intersection point of the axis of the third motor and the straight line where the lowest bottom of the arm support conversion head is positioned as the origin, wherein the left direction is the positive direction of the X3 axis, the upward direction is the positive direction of the Z3 axis, and the Y3 direction is vertical to the plane and faces inwards;
establishing a fourth rotation coordinate axis by taking the intersection point of the rotation center of the arm support and the straight line where the lowest bottom of the arm support conversion head is positioned as the origin, wherein the left direction is the positive direction of an X4 axis, the upward direction is the positive direction of a Z4 axis, and the Y4 direction is vertical to the plane and faces inwards;
meanwhile, the distance from the axis of the upper second mounting hole of the lower-layer conversion head to the vertical foot of the ascending connecting rod and the axis of the first mounting hole of the lower-layer conversion head is defined as L1, the distance between the first mounting hole and the third mounting hole is defined as L2, the horizontal distance between the axis of the third mounting hole and the axis of the third motor is defined as L3, the distance between the third mounting hole and the first mounting hole is defined as L5, and the distance between the two connecting holes of the arm support conversion head is defined as L4;
obtaining a transformation matrix of the fixed part and the first rotating coordinate as follows:
obtaining a transformation matrix of the first rotation matrix and the second rotation coordinate as follows:
obtaining a transformation matrix of the second rotation matrix and the third rotation coordinate as follows:
obtaining a transformation matrix of the third rotation matrix and the fourth rotation coordinate as follows:
wherein theta is 1 Is the rotation angle of the first motor, theta 2 Is the rotation angle theta of the second motor 3 Is the rotation angle of the third motor, theta 4 The included angle between the arm support conversion head and the arm support, c theta is cos theta, s theta is sin theta, and the transformation matrix of the arm support rotation center and the fixed piece is as follows:
simultaneous system of equations:
X4＝Px
Y4＝Py
Z4＝Pz
determining theta 1 、θ 2 、θ 3 The value of (d) corresponds to the output angle values of the first motor, the second motor, and the third motor.
Furthermore, the system also comprises a flexible rehabilitation glove, the displacement sensor is also used for collecting the posture information of the fingers on the healthy side of the patient and transmitting the posture information to the control module; the control module is used for generating a control instruction according to the posture information and sending the control instruction to the flexible rehabilitation glove so that the flexible rehabilitation glove executes the responsive control instruction.
Furthermore, the system also comprises a computer all-in-one machine which is used for displaying and recording the rehabilitation training process.
In a third aspect, the present invention provides a method for upper limb rehabilitation training, which employs the upper limb rehabilitation training robot as described in any one of the possible embodiments of the first aspect;
the upper limb rehabilitation training robot comprises a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor, a seventh motor, a sixth motor, a seventh motor, a sixth motor, a seventh motor, a sixth motor, a fourth motor, a sixth motor, a fourth motor, a sixth motor, a fifth motor, a sixth motor, a fourth motor, a sixth motor, a fourth motor, a fifth motor, a sixth motor, a sixth motor.
The upper limb rehabilitation training robot and the upper limb rehabilitation training system have the beneficial technical effects that the upper limb rehabilitation training robot and the upper limb rehabilitation training system can realize three-degree-of-freedom upper limb rehabilitation and can carry out rehabilitation training on shoulder joints and elbow joints of patients.
The invention also provides a kinematic model based on the upper limb rehabilitation training robot, establishes a control strategy of the upper limb rehabilitation training robot based on the mirror image therapy based on the model, solves the defect that only the fingers can be recovered in the prior art, and can effectively perform rehabilitation training on the shoulder joint and the elbow joint of the patient.
Drawings
Fig. 1 is a right side view of an upper limb rehabilitation training robot provided in an embodiment of the present invention;
FIG. 2 is a bottom view of an upper limb rehabilitation training robot provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of an upper limb rehabilitation training system according to an embodiment of the present invention;
FIG. 4 is a top view of an upper limb rehabilitation training system provided by an embodiment of the present invention;
fig. 5 is a schematic diagram of modeling an upper limb rehabilitation training robot according to an embodiment of the present invention.
In the figure: 1-computer integrated machine, 2-somatosensory controller, 3-three-freedom-degree rehabilitation robot, 4-flexible rehabilitation gloves, 5-chair, 6-patient side-exercising hand, 7-table, 8-patient side-affected hand, 9-fixing part, 10-connecting part, 11-lower layer conversion head, 12-auxiliary lifting connecting rod, 13-lifting connecting rod, 14-upper layer conversion head, 15-arm support conversion head, 16-arm support, 17-first motor, 18-second motor and 19-third motor.
Detailed Description
The invention is further described below with reference to the figures and the specific examples.
In the description of the present patent application, it is noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.
In the description of the present patent, it is to be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience of describing the present patent and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present patent. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Example 1
As shown in fig. 1 and 2, the upper limb rehabilitation training robot includes: the device comprises a fixed piece 9, a connecting piece 10, a lower layer conversion head 11, a lifting connecting rod 13, an upper layer conversion head 14, an arm support conversion head 15, an arm support 16, a first motor 17, a second motor 18 and a third motor 19.
The fixing piece 9 is used for fixing the upper limb rehabilitation training robot on a plane; one end of the connecting piece 10 is connected with the fixing piece 9, and the other end is connected with the fixed end of the third motor 19; the power output end of the third motor 19 is connected with the lower layer conversion head 11 and is used for controlling the included angle between the lower layer conversion head 11 and the connecting piece 10;
the lower layer conversion head 11 is connected with a fixed end of a second motor 18, and a power output end of the second motor 18 is connected with one end of the ascending connecting rod 13 and is used for controlling an included angle between the lower layer conversion head 11 and the ascending connecting rod 13; the other end of the lifting connecting rod 13 is connected with an upper layer conversion head 14 and the two can move relatively; the upper layer conversion head 14 is also connected with the fixed end of a first motor 17; the arm support conversion head 15 is provided with two connecting holes, and the power output end of the first motor 17 is connected with one connecting hole on the arm support conversion head 15 and is used for controlling the included angle between the upper conversion head 14 and the arm support conversion head 15; the other connecting hole on the arm support conversion head 15 is connected with the arm support 16, and the two can move relatively.
In the embodiment, when the upper limb rehabilitation training robot is used, the fixing part 9 is arranged at the edge of the desk, the lower part of the fixing part 9 is provided with threads, and the fixing part 9 is fixed on the desk by passing a screw through the threads, so that the upper limb rehabilitation training robot is fixed.
Optionally, the connector is stepped in shape.
Fig. 2 shows that the lower layer conversion head 11 has a rectangular connection block on the left side and a cylindrical connection block on the right side, the rectangular connection block is provided with a first mounting hole, and the cylindrical connection block is provided with a second mounting hole connected with a power output end of a third motor; the first mounting hole is used for enabling the power output end of the second motor 18 to penetrate through and then be connected with the ascending connecting rod 13.
A third mounting hole is further formed in the rectangular connecting block and is used for being connected with one end of an auxiliary ascending connecting rod 12, the other end of the auxiliary ascending connecting rod 12 is connected with an upper layer conversion head 14, and the auxiliary ascending connecting rod 12 is equal to and parallel to the ascending connecting rod 13 in length; the auxiliary rising link 12 and the upper layer conversion head 14, and the auxiliary rising link 12 and the lower layer conversion head 11 are movable relative to each other. The long edge of the rectangular connecting block is parallel to the axis of the cylindrical connecting block.
Alternatively, the motor fixing end of the first motor 17 is fixed on the upper layer conversion head 14 by a screw. The arm support conversion head 15 is connected with the arm support 16 through a screw, and in an active state, the arm at the affected side of the patient is installed on the arm support 16 through a magic bandage and can freely rotate around the installation hole in the arm support 16.
Example 2
As shown in fig. 3 and 4, the upper limb rehabilitation training system comprises a displacement sensor, a control module and the upper limb rehabilitation training robot according to the above scheme;
the displacement sensor is used for acquiring the position information of the arm at the healthy side of the patient and transmitting the position information to the control module;
and the control module is used for calculating and obtaining the rotation angles of the first motor, the second motor and the third motor according to the collected side-exercising arm position information, generating a control instruction and transmitting the control instruction to the upper limb rehabilitation training robot so as to control the first motor, the second motor and the third motor to rotate.
In this embodiment, the displacement sensor is a Leap motion sensor. The Leap motion sensor is placed below a healthy side finger of a patient and used for collecting the healthy side finger gesture and the arm position of the patient.
The rotation angles of the first motor, the second motor and the third motor are calculated and obtained according to the collected healthy side arm position information, as shown in fig. 5, the specific method is as follows:
the Leap motion acquires a healthy side arm position P1(X1, Y1 and Z1) of a patient, establishes a coordinate system with an origin as a middle point of an edge of a table top close to the patient, obtains a coordinate position P2(X2, Y2 and Z2) of a fixing piece through measurement, calculates a mirror image position P3(-X1, Y1 and Z1) of an affected side arm of the patient according to a mirror symmetry principle, and obtains a target position P4(X4, Y4 and Z4) of the affected side arm under the coordinate system with the fixing piece as the origin, namely P3-P2;
taking the intersection point of the axis of the first motor 17 and the central line of the ascending connecting rod 13 as an origin, establishing a first rotation coordinate axis, wherein the left direction is the positive direction of the X1 axis, the upward direction is the positive direction of the Z1 axis, and the Y1 direction is vertical to the plane and inward;
establishing a second rotation coordinate axis by taking the intersection point of the central line of the ascending connecting rod 13 and the axis of the second motor 17 as an origin, wherein the upward direction along the central line of the ascending connecting rod 13 is the positive direction of an X2 shaft, the upward direction vertical to the X shaft is the positive direction of Y2, and the direction of Z2 is vertical to the plane and is outward;
taking the intersection point of the axis of the third motor and the straight line where the lowest bottom of the arm support conversion head 15 is located as the origin, establishing a third rotation coordinate axis, wherein the left direction is the positive direction of the X3 axis, the upward direction is the positive direction of the Z3 axis, and the Y3 direction is vertical to the plane and faces inwards;
taking the intersection point of the rotation center of the arm support 16 and the straight line where the lowest bottom of the arm support conversion head 15 is located as the origin, establishing a fourth rotation coordinate axis, wherein the left direction is the positive direction of the X4 axis, the upward direction is the positive direction of the Z4 axis, and the Y4 direction is vertical to the plane and faces inwards;
meanwhile, the distance from the axis of the motor connecting hole (i.e., the first mounting hole connected with the power output end of the second motor 18) of the lower conversion head 14 to the axis of the ascending link 13 and the lower conversion head connecting hole (i.e., the second mounting hole connected with the power output end of the third motor) is defined as L1, the distance between the two connecting holes (i.e., the first mounting hole and the third mounting hole) of the auxiliary ascending link 12 is defined as L2, the horizontal distance between the axis of the connecting hole between the auxiliary ascending link 12 and the upper conversion head 14 and the axis of the third motor 19 is defined as L3, the distance between the upper conversion head 14 and the mounting holes of the auxiliary ascending link 12 and the ascending link 13 is defined as L5, and the distance between the two connecting holes of the arm support conversion head 15 is defined as L4;
the transformation matrix of the fixing element 9 and the first rotation coordinate can be obtained as follows:
the transformation matrix of the first rotation matrix and the second rotation coordinate may be obtained as:
a transformation matrix of the second rotation matrix and the third rotation coordinate may be obtained as:
a transformation matrix of the third rotation matrix and the fourth rotation coordinate may be obtained as:
wherein the rotation angle theta of the first electric motor 17 1 The rotation angle theta of the second motor 18 2 The rotation angle theta of the third motor 19 3 The included angle theta between the arm support conversion head 15 and the arm support 16 4 C θ is cos θ and s θ is sin θ, so that the transformation matrix of the rotation center of the arm support 16 and the fixed member 9 is:
simultaneous system of equations:
X4＝Px
Y4＝Py
Z4＝Pz
can find out theta 1 、θ 2 、θ 3 Corresponds to the output angle values of the first motor 17, the second motor 18, and the third motor 19.
On the basis of the embodiment 2, optionally, the system further comprises a flexible rehabilitation glove, wherein the displacement sensor is further used for collecting posture information of the fingers on the healthy side of the patient and transmitting the posture information to the control module;
and the control module is used for generating a control instruction according to the posture information and sending the control instruction to the flexible rehabilitation glove so that the flexible rehabilitation glove executes the responsive control instruction.
Further optionally, the system further comprises a computer all-in-one machine for displaying and recording the rehabilitation training process.
Example 3
Corresponding to the upper limb rehabilitation training system provided by the above embodiment, the present embodiment provides an upper limb rehabilitation training method, which employs the upper limb rehabilitation training robot provided by the above embodiment;
the upper limb rehabilitation training robot comprises a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor, a seventh motor, a sixth motor, a seventh motor, a sixth motor, a seventh motor, a sixth motor, a fourth motor, a sixth motor, a fourth motor, a sixth motor, a fifth motor, a sixth motor, a fourth motor, a sixth motor, a fourth motor, a fifth motor, a sixth motor, a sixth motor.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the method described above may refer to the corresponding process in the foregoing embodiments, and will not be described herein again.
As described above, only the specific embodiments of the present invention are provided, and it is clear to those skilled in the art that, for convenience and simplicity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present invention, and these modifications or substitutions should be covered within the scope of the present invention.
Claims (10)
1. The upper limb rehabilitation training robot is characterized by comprising a fixing piece, a connecting piece, a lower layer conversion head, a lifting connecting rod, an upper layer conversion head, an arm bracket, a first motor, a second motor and a third motor;
the fixing piece is used for fixing the upper limb rehabilitation training robot on a plane; one end of the connecting piece is connected with the fixing piece, and the other end of the connecting piece is connected with the fixed end of the third motor; the power output end of the third motor is connected with the lower-layer conversion head and used for controlling an included angle between the lower-layer conversion head and the connecting piece;
the lower layer conversion head is connected with a fixed end of a second motor, and a power output end of the second motor is connected with one end of the ascending connecting rod and used for controlling an included angle between the lower layer conversion head and the ascending connecting rod; the other end of the ascending connecting rod is connected with the upper layer conversion head and the ascending connecting rod and the upper layer conversion head can move relatively; the upper layer conversion head is also connected with the fixed end of the first motor; the arm support conversion head is provided with two connecting holes, and the power output end of the first motor is connected with one connecting hole on the arm support conversion head and used for controlling the included angle between the upper conversion head and the arm support conversion head; the other connecting hole on the arm support conversion head is connected with the arm support, and the two connecting holes can move relatively.
2. The upper limb rehabilitation training robot of claim 1, wherein the lower layer of conversion head is provided with a rectangular connecting block on the left side and a cylindrical connecting block on the right side, the rectangular connecting block is provided with a first mounting hole, and the cylindrical connecting block is provided with a second mounting hole connected with a power output end of a third motor; the first mounting hole is used for enabling the power output end of the second motor to penetrate through and then be connected with the ascending connecting rod.
3. The upper limb rehabilitation training robot of claim 2, wherein a third mounting hole is further formed in the rectangular connecting block, the third mounting hole is used for connecting one end of an auxiliary ascending connecting rod, the other end of the auxiliary ascending connecting rod is connected with the upper layer conversion head, and the auxiliary ascending connecting rod is equal to and parallel to the ascending connecting rod in length; the auxiliary lifting connecting rod and the upper layer conversion head and the auxiliary lifting connecting rod and the lower layer conversion head can respectively move relatively.
4. The upper limb rehabilitation training robot of claim 2, wherein the long side of the rectangular connecting block is parallel to the axis of the cylindrical connecting block.
5. The upper limb rehabilitation training robot of claim 1, wherein the upper layer conversion head is connected with the fixed end of the first motor through a screw.
6. The upper limb rehabilitation training system is characterized by comprising a displacement sensor, a control module and the upper limb rehabilitation training robot as claimed in any one of claims 3-5;
the displacement sensor is used for collecting the position information of the arm at the healthy side of the patient and transmitting the position information to the control module;
the control module is used for calculating and obtaining rotation angles of the first motor, the second motor and the third motor according to the collected position information of the side-exercising arm, generating a control command and transmitting the control command to the upper limb rehabilitation training robot so as to control the first motor, the second motor and the third motor to rotate.
7. The upper limb rehabilitation training system according to claim 6, wherein the rotation angles of the first motor, the second motor and the third motor are obtained by calculation according to the collected healthy side arm position information, and the specific method is as follows: the patient side arm position information P1(X1, Y1, Z1), establishing a coordinate system with the origin as the middle point of the side of the plane connecting the fixture close to the patient, obtaining the coordinate position P2(X2, Y2, Z2) of the fixture through measurement, calculating the mirror image position P3(-X1, Y1, Z1) of the affected arm of the patient according to the mirror symmetry principle, and obtaining the target position P4(X4, Y4, Z4) of the affected arm under the coordinate system with the fixture as the origin, wherein the target position P3-P2 is the position of the affected arm;
taking the intersection point of the axis of the first motor and the central line of the ascending connecting rod as an origin, establishing a first rotation coordinate axis, wherein the left direction is the positive direction of an X1 axis, the upward direction is the positive direction of a Z1 axis, and the Y1 direction is vertical to the plane and inwards;
establishing a second rotation coordinate axis by taking the intersection point of the central line of the ascending connecting rod and the axis of the second motor as an origin, wherein the upward direction along the central line of the ascending connecting rod is the positive direction of an X2 shaft, the upward direction vertical to the X shaft is the positive direction of Y2, and the direction of Z2 is vertical to the plane and is outward;
taking the intersection point of the axis of the third motor and the straight line where the bottommost bottom of the arm support conversion head is located as the origin, establishing a third rotation coordinate axis, wherein the left direction is the positive direction of the X3 axis, the upward direction is the positive direction of the Z3 axis, and the Y3 direction is vertical to and inward from the plane;
establishing a fourth rotation coordinate axis by taking the intersection point of the rotation center of the arm support and the straight line where the lowest bottom of the arm support conversion head is positioned as the origin, wherein the left direction is the positive direction of an X4 axis, the upward direction is the positive direction of a Z4 axis, and the Y4 direction is vertical to the plane and faces inwards;
meanwhile, the distance from the axis of the upper second mounting hole of the lower conversion head to the vertical foot of the ascending connecting rod and the axis of the first mounting hole of the lower conversion head is defined as L1, the distance between the first mounting hole and the third mounting hole is defined as L2, the horizontal distance between the axis of the third mounting hole and the axis of the third motor is defined as L3, the distance between the third mounting hole and the first mounting hole is defined as L5, and the distance between the two connecting holes of the arm support conversion head is defined as L4;
obtaining a transformation matrix of the fixed part and the first rotating coordinate as follows:
obtaining a transformation matrix of the first rotation matrix and the second rotation coordinate as follows:
obtaining a transformation matrix of the second rotation matrix and the third rotation coordinate as follows:
and obtaining a transformation matrix of the third rotation matrix and the fourth rotation coordinate as follows:
wherein theta is 1 Is the rotation angle of the first motor, theta 2 Is the rotation angle theta of the second motor 3 Is the rotation angle of the third motor, theta 4 For arm support conversion headAnd the included angle between the arm support and the arm support, wherein c theta is cos theta, s theta is sin theta, and the transformation matrix of the rotation center of the arm support and the fixed part is as follows:
simultaneous system of equations:
X4＝Px
Y4＝Py
Z4＝Pz
determining theta 1 、θ 2 、θ 3 The value of (d) corresponds to the output angle values of the first motor, the second motor, and the third motor.
8. The upper limb rehabilitation training system of claim 6, wherein the system further comprises a flexible rehabilitation glove, the displacement sensor is further configured to collect posture information of the patient's healthy side fingers and transmit the posture information to the control module;
the control module is used for generating a control instruction according to the posture information and sending the control instruction to the flexible rehabilitation glove so that the flexible rehabilitation glove executes the responsive control instruction.
9. The upper limb rehabilitation training system of claim 6, further comprising a computer all-in-one machine for displaying and recording the rehabilitation training process.
10. An upper limb rehabilitation training method characterized by using the upper limb rehabilitation training robot according to any one of claims 3 to 5;
the upper limb rehabilitation training robot comprises a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor, a seventh motor, a sixth motor, a seventh motor, a sixth motor, a seventh motor, a sixth motor, a fourth motor, a sixth motor, a fourth motor, a sixth motor, a fifth motor, a sixth motor, a fourth motor, a sixth motor, a fourth motor, a fifth motor, a sixth motor, a sixth motor.
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