CN115554091A - Elbow and wrist joint rehabilitation robot for joint dislocation compensation and compensation method thereof - Google Patents
Elbow and wrist joint rehabilitation robot for joint dislocation compensation and compensation method thereof Download PDFInfo
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- CN115554091A CN115554091A CN202211067310.6A CN202211067310A CN115554091A CN 115554091 A CN115554091 A CN 115554091A CN 202211067310 A CN202211067310 A CN 202211067310A CN 115554091 A CN115554091 A CN 115554091A
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- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 67
- 210000002310 elbow joint Anatomy 0.000 title claims abstract description 58
- 206010023204 Joint dislocation Diseases 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 104
- 210000000707 wrist Anatomy 0.000 claims abstract description 103
- 210000000245 forearm Anatomy 0.000 claims description 102
- 229910000831 Steel Inorganic materials 0.000 claims description 29
- 239000010959 steel Substances 0.000 claims description 29
- 238000012549 training Methods 0.000 claims description 19
- 230000000712 assembly Effects 0.000 claims description 12
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- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 230000003993 interaction Effects 0.000 claims description 10
- 210000001364 upper extremity Anatomy 0.000 claims description 9
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- 230000033001 locomotion Effects 0.000 abstract description 41
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- 238000005516 engineering process Methods 0.000 description 2
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- 208000012661 Dyskinesia Diseases 0.000 description 1
- 206010060820 Joint injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 210000003010 carpal bone Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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Classifications
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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
-
- 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
-
- 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
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
-
- A—HUMAN NECESSITIES
- 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
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0425—Sitting on the buttocks
- A61H2203/0431—Sitting on the buttocks in 90°/90°-position, like on a chair
Abstract
The invention relates to an elbow and wrist joint rehabilitation robot for joint dislocation compensation and a compensation method thereof. The wrist parallel mechanism driven by the rope is applied to human wrist rehabilitation, the supporting spring is used as the supporting spine of the mechanism to simulate a carpal bone-ligament complex of a human wrist, the rope is used for simulating human wrist muscles to drive and control the mechanism, in addition, the redundant freedom degree of the wrist parallel mechanism can effectively eliminate dislocation between the mechanism and the human wrist joint, and dislocation compensation is carried out on the wrist joint, so that the motion of flexion/extension, adduction/abduction and internal rotation/external rotation of the human elbow joint is realized.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an elbow and wrist joint rehabilitation robot for joint dislocation compensation and a compensation method thereof.
Background
The elbow joint is connected with the front arm and the rear arm, is a load bearing joint of the upper limbs of the human body, is easy to be damaged when accidents such as falling, collision and the like occur, has high moving frequency, is the part with the largest load bearing capacity of the upper limbs of the human body in the movement processes of supporting, pushing and pulling and the like, and is very easy to be damaged in daily life and sports. When the joint is dyskinesia or injury, training by instruments or mechanical devices is needed to help recover the normal state. With the wide application of the robot technology in the field of rehabilitation medicine, the elbow and wrist joint rehabilitation robot has come to be born. The rehabilitation robot combines the robot technology and clinical rehabilitation medicine, and realizes accurate, automatic and training.
At present, the upper limb rehabilitation robot mostly adopts a series rigid connecting rod as a framework, the whole body is heavy, the acceptance of a user is low, and meanwhile, the accurate alignment between a human body joint and a mechanism joint is difficult to realize, and the discomfort is easy to generate; the pneumatic rehabilitation robot is not beneficial to the accurate control of the robot, and the pneumatic muscle needs to use an air compression device, so that the use environment is limited.
Therefore, it is necessary to provide an elbow and wrist joint rehabilitation robot and a compensation method thereof, which have small motion inertia, are adaptive to the change of joint axes, and can compensate the joint dislocation.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an elbow and wrist joint rehabilitation robot for joint dislocation compensation and a compensation method thereof.
The invention adopts the technical scheme that the elbow-wrist joint rehabilitation robot for joint dislocation compensation comprises an elbow execution mechanism, a wrist parallel mechanism, a rope driving mechanism, a rack and a lifting seat arranged in front of the rack, wherein the upper end of the elbow execution mechanism is fixedly arranged on the rack, the elbow execution mechanism comprises a shoulder component, an upper arm component, an elbow joint motor, a torque sensor, a forearm component and an elbow protector, the shoulder component is fixedly arranged on the rack through a connecting piece and a supporting piece, the upper arm component is arranged below the shoulder component, an upper arm connecting rod and an upper arm plate in the upper arm component are in sliding connection through a sliding table, the elbow joint motor is arranged at the lower end of the upper arm plate in the upper arm component, the rear end of the forearm plate in the forearm component is rotatably arranged at the lower end of the upper arm plate in the upper arm component, an output shaft of the elbow joint motor is connected with the rear end of the forearm connecting rod, the forearm plate in the forearm component is in sliding connection with the forearm connecting rod through a sliding table, the torque sensor is arranged on the elbow joint motor, and the upper arm component and the forearm component respectively; the wrist parallel mechanism is arranged at the front end of the elbow execution mechanism, and the wrist parallel mechanism comprises a forearm sleeve ring, a support spring, a wrist sleeve ring, an attitude sensor and a fixing component, the forearm sleeve ring is connected with the front end of the forearm connecting rod through a forearm connecting block, the support spring is arranged between the forearm sleeve ring and the wrist sleeve ring, three groups of mounting holes are respectively arranged on the forearm sleeve ring and the wrist sleeve ring, the included angle between two adjacent groups of mounting holes is 120 degrees, the attitude sensor is arranged on the wrist sleeve ring, and the fixing component is arranged in front of the wrist sleeve ring; the rope driving mechanism is arranged on two sides of the elbow execution mechanism and comprises a steel wire rope, a rope sorting device, a rope fixing frame, a sleeve and a plurality of groups of driving assemblies, wherein a first end of the steel wire rope is provided with a rope plug, the rope sorting device is symmetrically arranged on two sides of a shoulder sleeve ring in the shoulder assembly, the rope fixing frame and the plurality of groups of driving assemblies are arranged in the rack, the steel wire rope is arranged on two sides of the shoulder sleeve ring, the first end of each steel wire rope is fixed in a mounting hole in the wrist sleeve ring through the rope plug, a second end of each steel wire rope sequentially penetrates through a mounting hole in a front arm sleeve ring, the rope sorting device and a through hole in the rope fixing frame to be fixed on a wire wheel in the driving assemblies, and the outer side of the steel wire rope is provided with the sleeve.
Preferably, the shoulder assembly includes a shoulder sleeve ring, a connecting member, a supporting member and an inclined supporting member, the shoulder sleeve ring is U-shaped, the connecting member is disposed in the middle of the upper end surface of the shoulder sleeve ring, the two ends of the shoulder sleeve ring are symmetrically disposed on the supporting member, the inclined supporting member is disposed on one side of the supporting member, the first end of the inclined supporting member is fixedly connected to the shoulder sleeve ring, and the second end of the inclined supporting member is fixedly connected to the supporting member.
Further, the upper arm subassembly includes upper arm connecting block, upper arm connecting rod, slip table and upper arm board, the upper end of upper arm connecting rod is passed through the upper arm connecting block is located the intermediate part of terminal surface under the shoulder sleeve ring, the lower extreme of upper arm connecting rod with fixed guide in the slip table is connected, the upper end of upper arm board with slider in the slip table is connected, just the slider slides and locates on the fixed guide, the upper arm board passes through the slip table can linear movement on the upper arm connecting rod.
Preferably, the forearm subassembly includes forearm connecting block, forearm connecting rod, forearm board and slip table, the rear end of forearm board with the output shaft of elbow joint motor, just the front end of forearm board with slider in the slip table is connected, the rear end of forearm connecting rod with fixed guide in the slip table is connected, just the slider slides and locates on the fixed guide, the forearm connecting rod passes through the slip table can rectilinear movement on the forearm board.
Preferably, the slip table slides and locates on the fixed guide, adjusting nut and lock nut symmetry set up the slip table both ends, be used for the slip table is in position control and locking on the fixed guide, the fixed guide both ends are equipped with the spacing groove, the restriction the slip table sliding displacement to be favorable to more the regulation and the locking of upper arm subassembly and forearm subassembly length.
Further, fixed subassembly includes guide rail, training grab handle, retaining member and stopper, the guide rail symmetry is located on the wrist sleeve ring, the slip of training grab handle both ends is inlayed and is located in the spout of guide rail and along guide rail straight reciprocating motion, the retaining member passes and locates through-hole butt on the training grab handle is in on the interior plate of guide rail, the stopper is fixed to be located the front end of guide rail.
Further, drive assembly includes six drive assemblies, just six drive assembly symmetries are located the top of frame, every drive assembly of group includes driving motor, motor cabinet, connecting axle, line wheel and supporting seat, driving motor passes through the motor cabinet is fixed in the frame, just driving motor's output shaft pass through the shaft coupling with the first end of connecting axle is connected, just the line wheel is located on the connecting axle, the second end of connecting axle support through antifriction bearing in the supporting seat, just the supporting seat is fixed to be located in the frame.
In another aspect of the present invention, there is provided a compensation method for an elbow and wrist joint rehabilitation robot for joint misalignment compensation, comprising the steps of:
s1, placing an upper limb in an elbow execution mechanism and a wrist parallel mechanism, and respectively fixing an upper arm and a forearm of a user on an upper arm connecting rod and a forearm connecting rod through an elbow protective tool;
s2, adjusting the positions of the sliding tables in the upper arm assembly and the forearm assembly to enable the upper arm assembly and the forearm assembly to be suitable for the arm length of a user, and adjusting the fixing assembly to enable the user to hold the training grab handle;
s3, measuring the rotation angle theta of the wrist joint according to the attitude sensor, and calculating the joint dislocation distance L of the wrist joint according to the geometrical relationship of the upper limbs of the human body mis And then calculate to obtain the wristThe drift angle gamma between the joint and the wrist parallel mechanism and the slip distance x generated by the constraint of the wrist parallel mechanism are expressed as follows:
in the formula, L 1 Represents the distance L from the coupling point of the wrist joint and the wrist parallel mechanism to the rotation center of the wrist joint 2 The distance from the coupling point of the wrist joint and the wrist parallel mechanism to the rotation center of the wrist parallel mechanism is represented;
and S4, transmitting the deflection angle gamma between the wrist joint and the wrist parallel mechanism obtained by calculation and the sliding distance x generated by the constraint of the wrist parallel mechanism to a human-computer interaction system in real time, wherein the human-computer interaction system calculates the stretching length of the steel wire rope through a built-in reverse solution program of the wrist parallel mechanism, and then drives the driving motor to control the wrist sleeve ring to move in a certain working space.
The invention has the characteristics and beneficial effects that:
1. the wrist parallel mechanism driven by the rope is applied to the wrist coordination movement of a human body, the supporting spring is used as the supporting spine of the wrist parallel mechanism to simulate a carpal bone-ligament complex at a wrist joint, meanwhile, the wrist muscle of a user is simulated by the rope to drive and control the wrist parallel mechanism, the coordination movement of flexion/extension, adduction/abduction and internal rotation/external rotation of the wrist of the human body is realized, and the redundant degree of freedom of the wrist parallel mechanism can effectively compensate the dislocation between the mechanism and the wrist joint of the human body.
2. According to the elbow actuator, the elbow joint motor is adopted to simulate the rotation motion of the elbow joint, the stress point of the elbow joint motor is far away from the elbow joint rotation center of a user, secondary damage to the elbow joint of the user caused by extrusion force can be avoided, meanwhile, sliding tables are arranged in the upper arm assembly and the forearm assembly, and the device can adapt to users with different body types by adjusting the positions of the sliding tables, so that the application range of the device is favorably enlarged.
3. The wrist parallel mechanism driven by the wire rope has the advantages of light weight, small impact inertia and the like, and the self-adaptability is provided for the mechanism, so that the rotation center of the mechanism is coincided with the rotation center of the wrist joint of the human body.
4. The invention adopts a modular design, is integrally of a series-parallel connection structure, is simple and convenient to assemble and disassemble among mechanisms, can carry out single-degree-of-freedom motion on elbow joints or wrist joints of users, and can also carry out multi-degree-of-freedom collaborative training, and meanwhile, moment sensors and attitude sensors are arranged on an elbow execution mechanism and a wrist parallel connection mechanism.
5. The wrist parallel mechanism ensures that the wrist parallel mechanism can be self-adaptive to the change of the rotating shaft of the human wrist joint in the motion process, so that the joint of the wrist parallel mechanism is aligned with the biological joint of the human wrist joint, and the joint dislocation generated in the motion process of the wrist joint can be self-adaptively adjusted, thereby achieving the matching of the motion joint.
Drawings
FIG. 1 is a schematic overall structure diagram of an elbow and wrist joint rehabilitation robot for joint dislocation compensation according to the invention;
FIG. 2 is a first perspective view of the elbow actuator and wrist parallel mechanism of the present invention;
FIG. 3 is a second perspective view of the elbow actuator and wrist parallel mechanism of the present invention;
FIG. 4 is a schematic view of the overall construction of the elbow actuator of the present invention;
FIG. 5 is a schematic structural diagram of the sliding table according to the present invention;
FIG. 6 is a schematic view of the overall structure of the wrist parallel mechanism according to the present invention;
FIG. 7 is a schematic view of the driving assembly of the present invention;
FIG. 8 is a schematic top view of the drive assembly arrangement of the present invention;
FIG. 9 is a schematic structural view of the rope fixing frame of the present invention;
fig. 10 is a schematic view of the wrist parallel mechanism of the present invention.
The main reference numbers:
the elbow actuator 1, the shoulder component 11, the shoulder sleeve ring 111, the connecting member 112, the supporting member 113, the side supporting rod 114, the upper arm component 12, the upper arm connecting block 121, the upper arm connecting rod 122, the sliding table 123, the upper arm plate 124, the adjusting nut 125, the locking nut 126, the fixed guide rail 127, the limiting groove 128, the elbow joint motor 13, the torque sensor 14, the forearm component 15, the forearm connecting block 151, the forearm connecting rod 152, the forearm plate 153, the elbow supporter 16, the wrist parallel mechanism 2, the forearm sleeve ring 21, the supporting spring 22, the wrist sleeve ring 23, the posture sensor 24, the fixed component 25, the guide rail 251, the training grip 252, the locking member 253, the limiting block 254, the rope driving mechanism 3, the steel wire rope 31, the rope plug 32, the rope organizer 33, the rope fixing frame 34, the rope threading device 341, the supporting seat 342, the fixing seat 343, the sleeve 35, the driving component 36, the driving motor, the motor seat 362, the coupling 363, the connecting shaft 364, the reel 365, the rolling bearing 366, the supporting seat 367, the frame 4, and the lifting seat 5.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
The invention provides an elbow and wrist joint rehabilitation robot for joint dislocation compensation, which comprises an elbow execution mechanism 1, a wrist parallel mechanism 2, a rope driving mechanism 3, a rack 4, a lifting seat 5 arranged in front of the rack 4 and a human-computer interaction system, wherein an elbow joint motor 13, a moment sensor 14, an attitude sensor 24 in the wrist parallel mechanism 2 and a driving motor 361 in the rope driving mechanism 3 in the elbow execution mechanism 1 are connected with the input end of a motion controller, the output end of the motion controller is connected with the human-computer interaction system, and the motion controller can be used for monitoring the use condition in real time.
As shown in fig. 2 and 3, the upper end of the elbow actuator 1 is fixedly disposed on the frame 4, and the elbow actuator 1 includes a shoulder assembly 11, an upper arm assembly 12, an elbow joint motor 13, a torque sensor 14, a forearm assembly 15 and an elbow guard 16, wherein the shoulder assembly 11 is fixedly disposed on the frame 4 through a connecting member 112 and a supporting member 113, the upper arm assembly 12 is disposed below the shoulder assembly 11, an upper arm link 122 and an upper arm plate 124 in the upper arm assembly 12 are slidably connected through a sliding platform 123, an elbow joint motor 13 is disposed at a lower end of the upper arm plate 124 in the upper arm assembly 12, a rear end of a forearm plate 153 in the forearm assembly 15 is rotatably disposed at a lower end of the upper arm plate 124 in the upper arm assembly 12, an output shaft of the elbow joint motor 13 is connected with a rear end of the forearm plate 153, a sliding platform 153 and a forearm link 152 in the forearm assembly 15 are slidably connected through the sliding platform 123, the torque sensor 14 is disposed on the elbow joint motor 13, and the elbow guard 16 is disposed on the upper arm link 122 of the upper arm assembly 12 and on a forearm link 152 of the forearm assembly 15, respectively, for fixing the user's upper arm and upper arm.
As shown in fig. 2 and 3, the rope driving mechanism 3 is disposed at two sides of the elbow actuator 1, and the rope driving mechanism 3 includes a steel wire rope 31, a rope stopper 32, a rope arranger 33, a rope fixing frame 34, a sleeve 35 and a plurality of sets of driving components 36, the rope stopper 32 is disposed at a first end of the steel wire rope 31, the rope arranger 33 is symmetrically disposed at two sides of a shoulder sleeve 111 in the shoulder component 11, the rope fixing frame 34 and the plurality of sets of driving components 36 are both disposed on the frame 4, the steel wire rope 31 is disposed at two sides of the shoulder sleeve 111, a first end of each steel wire rope 31 is fixed in a mounting hole on the wrist sleeve 23 through the rope stopper 32, a second end of each steel wire rope 31 sequentially passes through the mounting hole on the forearm sleeve 21, the rope arranger 33 and a through hole on the rope fixing frame 34 and is fixed on a wire wheel 365 in the driving component 36, the sleeve 35 is disposed at an outer side of the steel wire rope 31, a lower end of the sleeve 35 is connected with the forearm sleeve 21, and an upper end of the sleeve 35 passes through the rope arranger 33 and is connected with the rope fixing frame 34.
As shown in fig. 4, the shoulder assembly 11 includes a shoulder sleeve ring 111, a connecting member 112, a supporting member 113 and an inclined supporting member 114, the shoulder sleeve ring 111 is U-shaped, the connecting member 112 is disposed in the middle of the upper end surface of the shoulder sleeve ring 111, two ends of the shoulder sleeve ring 111 are symmetrically disposed on the supporting member 113, the inclined supporting member 114 is disposed on one side of the supporting member 113, a first end of the inclined supporting member 114 is fixedly connected to the shoulder sleeve ring 111, and a second end of the inclined supporting member 114 is fixedly connected to the supporting member 113.
As shown in fig. 4, the upper arm assembly 12 includes an upper arm connecting block 121, an upper arm connecting rod 122, a sliding table 123 and an upper arm plate 124, the upper end of the upper arm connecting rod 122 is disposed at the middle part of the lower end surface of the shoulder sleeve ring 111 through the upper arm connecting block 121, the lower end of the upper arm connecting rod 122 is connected with a fixed guide rail in the sliding table 123, the upper end of the upper arm plate 124 is connected with the sliding table 123, and the upper arm plate 124 can move linearly on the upper arm connecting rod 122 through the sliding table 123.
As shown in fig. 4, the forearm assembly 15 includes a forearm connecting block 151, a forearm connecting rod 152, a forearm plate 153 and a sliding table 123, the rear end of the forearm plate 153 is connected to the output shaft of the elbow joint motor 13, the front end of the forearm plate 153 is connected to a sliding block in the sliding table 123, the rear end of the forearm connecting rod 152 is connected to a fixed guide rail in the sliding table 123, the sliding block is slidably disposed on the fixed guide rail, and the forearm connecting rod 152 can move linearly on the forearm plate 153 through the sliding table 123.
As shown in fig. 5, the sliding table 123 is slidably disposed on the fixed rail 127, the adjusting nut 125 and the locking nut 126 are symmetrically disposed at two ends of the sliding table 123, and are used for adjusting and locking the position of the sliding table 123 on the fixed rail 127, and two ends of the fixed rail 127 are provided with the limiting grooves 128, so as to limit the sliding displacement of the sliding table 123, which can facilitate the adjustment and locking of the lengths of the upper arm assembly 12 and the forearm assembly 15.
As shown in fig. 2, fig. 3 and fig. 6, the wrist parallel mechanism 2 is disposed at the front end of the elbow executing mechanism 1, and the wrist parallel mechanism 2 includes a forearm sleeve ring 21, a support spring 22, a wrist sleeve ring 23, an attitude sensor 24 and a fixing component 25, the forearm sleeve ring 21 is connected with the front end of the forearm connecting rod 152 through a forearm connecting block 151, and the support spring 22 is disposed between the forearm sleeve ring 21 and the wrist sleeve ring 23, and the rear end of the support spring 22 is connected with the forearm sleeve ring 21, the front end of the support spring 22 is connected with the wrist sleeve ring 23, three sets of mounting holes are disposed on the forearm sleeve ring 21 and the wrist sleeve ring 23, and an included angle between two adjacent sets of mounting holes is 120 °, the attitude sensor 24 is disposed on the wrist sleeve ring 23, and the fixing component 25 is disposed in front of the wrist sleeve ring 23.
In a preferred embodiment, the fixing assembly 25 includes a guide rail 251, a training handle 252, a locking member 253 and a limiting block 254, the guide rail 251 is symmetrically disposed on the wrist sleeve 23, two ends of the training handle 252 are slidably embedded in the sliding grooves of the guide rail 251 and linearly reciprocate along the guide rail 251, the locking member 253 passes through a through hole disposed on the training handle 252 and abuts against the inner side plate of the guide rail 251, and the limiting block 254 is fixedly disposed at the front end of the guide rail 251.
As shown in fig. 7 and 8, the driving assembly 36 includes six sets of driving assemblies 36, and the six sets of driving assemblies 36 are symmetrically disposed at the top of the frame 4, each set of driving assembly 36 includes a driving motor 361, a motor base 362, a connecting shaft 364, a reel 365 and a supporting seat 367, the driving motor 361 is fixed on the frame 4 through the motor base 362, an output shaft of the driving motor 361 is connected with a first end of the connecting shaft 364 through a coupling 363, the reel 365 is disposed on the connecting shaft 364, a second end of the connecting shaft 364 is supported in the supporting seat 367 through a rolling bearing 366, and the supporting seat 367 is fixedly disposed on the frame 4.
As shown in fig. 9, the rope fixing frame 34 includes a rope threading device 341, a supporting seat 342 and a fixing seat 343, the rope threading device 341 is vertically disposed right above the supporting seat 342, a sleeve 35 is conveniently inserted into a through hole of the rope threading device 341, two ends of the supporting seat 342 are respectively fixedly connected with the bottom end of the rope threading device 341 and the upper end face of the fixing seat 343, and the fixing seat 343 is fixedly mounted on the frame 4. The reel 365 in each group of driving components 36 corresponds to a through hole formed in the rope fixing frame 34 respectively to prevent the steel wire ropes 31 from being wound and staggered, and the reel 365 is designed in a spiral shape to ensure that the steel wire ropes 31 are not overlapped when the reel 365 rotates.
Because the structure of the carpal bone is complex, the rotation center of the wrist joint is a circular surface rather than a point, the joint dislocation compensation actually divides the movement of the coupling point of the wrist joint and the mechanism into plane movement and rotation movement, the rotation movement of the wrist joint is realized through three rotations of the wrist parallel mechanism 2, and meanwhile, the wrist parallel mechanism 2 automatically adapts to the joint dislocation generated in the movement process of the wrist joint according to three translational degrees of freedom, thereby achieving the matching of the movement center.
In another aspect of the present invention, there is provided a compensation method of an elbow and wrist joint rehabilitation robot for joint misalignment compensation, as shown in fig. 10, including the steps of:
s1, when the robot is to be used, the user sits on the lifting chair 5, places the upper limbs in the elbow actuator 1 and the wrist parallel mechanism 2, and fixes the upper arms and the forearms of the user on the upper arm links 122 and the forearm links 152 through the elbow supporter 16;
s2, adjusting the positions of the sliding table 123 in the upper arm assembly 12 and the forearm assembly 15 to enable the upper arm assembly 12 and the forearm assembly 15 to adapt to the arm length of the user, and adjusting the fixing assembly 25 to enable the user to hold the training grip 252 by hand;
s3, measuring the rotation angle theta of the wrist joint according to the attitude sensor, and calculating the joint dislocation distance L of the wrist joint according to the geometrical relationship of the upper limbs of the human body mis And then calculating a deflection angle gamma between the wrist joint and the wrist parallel mechanism 2 and a slip distance x generated by the constraint of the wrist parallel mechanism 2, wherein the expression is as follows:
in the formula, L 1 Showing the distance from the coupling point of the wrist joint and the wrist parallel mechanism to the rotation center of the wrist joint, the coupling point is the center of the wrist sleeve ring in the mechanism, the initial position of the rotation center of the wrist joint is superposed with the coupling point, the position of the rotation center of the wrist joint changes constantly in motion, L 2 The wrist joint and wrist parallel mechanism coupling point is connected with the wrist parallel mechanism through a connecting rod;
s4, transmitting the deflection angle gamma between the wrist joint and the wrist parallel mechanism 2 and the sliding distance x generated by the constraint of the wrist parallel mechanism 2 into the human-computer interaction system 6 in real time, calculating the stretching length of the steel wire rope 31 by the human-computer interaction system 6 through a built-in reverse solution program of the wrist parallel mechanism 2, further driving the driving motor 361 to control the wrist sleeve ring 23 to move in a certain working space and drive the wrist joint to complete coordinated movement, wherein the length of each steel wire rope 31 in the wrist parallel mechanism 2 is l i Corner with wrist jointThe relationship between α, β, γ is:
L i ＝P+ O R o b i -a i (i＝1,2,3,4,5,6)；
wherein s represents sin, c represents cos, and A i And B i Respectively, the cord nodes of the respective steel cords on the circles of the forearm sleeve ring R = a and the wrist sleeve ring R = b, and similarly,
the system can also be represented by vectors containing alpha, beta and gamma, wherein the rotation angles alpha, beta and gamma of the wrist joint are the projection of the space rotation angle theta of the wrist joint in each plane.
l i ＝||L i ||＝||A i B i ||＝(i＝1,2,3,4,5,6)；
The method comprises the following specific operation steps:
as shown in fig. 1 to 10, the elbow and wrist joint rehabilitation robot for joint dislocation compensation and the compensation method thereof according to the present invention include an elbow executing mechanism 1, a wrist parallel mechanism 2, a rope driving mechanism 3, a frame 4, a lifting seat 5 disposed in front of the frame 4, and a human-computer interaction system, wherein when the elbow and wrist joint rehabilitation robot of the present invention is used for performing coordinated movement, the elbow executing mechanism 1, the wrist parallel mechanism 2, the rope driving mechanism 3, the frame 4, the lifting seat 5, and the human-computer interaction system 6 are ensured to be installed perfectly, and to be arranged reasonably and smoothly. The elbow and wrist joint rehabilitation robot can realize coordinated motion of four degrees of freedom, namely elbow joint flexion/extension, wrist joint flexion/extension, adduction/abduction and internal rotation/external rotation, can move single degree of freedom of an elbow joint and a wrist joint, and can also carry out coordinated training of multiple joints.
The specific operation steps in the using process are as follows:
firstly, when the elbow and wrist joint injury user carries out coordinated movement, the user sits on the height-adjustable movable lifting seat 5, the user puts the upper arm and the forearm through the shoulder sleeve ring 111 and the forearm sleeve ring 21, rotates the adjusting knob in the sliding table 123 to adjust the length of the upper arm assembly 12 and the forearm assembly 15, moves to a proper position, locks the upper arm assembly 12 and the forearm assembly 15 through the locking nut of the sliding table 123, fixes the upper arm and the forearm of the user through the elastic bandage on the elbow protector 16, adjusts the training grab handle 252 in the wrist parallel mechanism 2 to a proper position, and the user holds the training grab handle 252 with hands.
When the user carries out the coordinated motion of flexion/extension of elbow joint, motion controller sends control command to elbow joint motor 13, and the output shaft of elbow joint motor 13 drives forearm connecting rod 152 and rotates to drive forearm subassembly 15 and wrist parallel mechanism 2 and rotate, forearm connecting rod 152 drives user's forearm and carries out coordinated motion, realizes the flexion/extension of elbow joint, adjusts relevant parameter and then adapts to the demand of different recovered stages through control motion control card. A torque sensor 14 is arranged in the elbow joint motor 13, the resistance force applied in the coordinated motion of flexion and extension of the elbow joint is detected and sent to the motion controller, and the torque of the elbow joint motor 13 is adjusted in real time through the motion controller.
When a user carries out the coordinated movement of the flexion/extension, adduction/abduction and internal rotation/external rotation of the wrist joint, the steel wire rope 31 in the wrist parallel mechanism 2 is always in a tensioning state under the action of the supporting spring 22, the coordinated movement of the wrist joint can be realized through the wrist parallel mechanism 2, the movement controller controls each driving motor 361, the output end of each driving motor 361 drives the connecting shaft 364 to rotate through the coupler 363, so as to drive the wire wheel 365 sleeved on the connecting shaft 364 to rotate, the steel wire rope 31 is changed along with the rotating length of the wire wheel 365, so as to drive the wrist sleeve ring 23 to rotate in three-degree-of-freedom space, so as to realize the flexion/extension, adduction/abduction and internal rotation/external rotation of the wrist joint, the wrist sleeve ring 23 is provided with the attitude sensor 24, the pose of the wrist ring 23 is monitored in real time, data is transmitted to the movement controller, and the pulse number of each driving motor 361 is adjusted under the processing of the movement controller, so as to adjust the lengths of six steel wire ropes 31 in the wrist parallel mechanism 2, so as to enable the wrist sleeve ring 23 to reach a specific pose.
A user can select one of the elbow executing mechanism 1 and the wrist parallel mechanism 2 to work so as to realize single-degree-of-freedom coordinated motion of an elbow joint or a wrist joint, and the two mechanisms can also work simultaneously so as to realize multi-degree-of-freedom coordinated motion of the elbow joint or the wrist joint.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (8)
1. An elbow and wrist joint rehabilitation robot for joint dislocation compensation is characterized by comprising an elbow execution mechanism, a wrist parallel mechanism, a rope driving mechanism, a frame and a lifting seat arranged in front of the frame,
the upper end of the elbow executing mechanism is fixedly arranged on the rack, the elbow executing mechanism comprises a shoulder component, an upper arm component, an elbow joint motor, a torque sensor, a forearm component and an elbow protective device, the shoulder component is fixedly arranged on the rack through a connecting piece and a supporting piece, the upper arm component is arranged below the shoulder component, an upper arm connecting rod and an upper arm plate in the upper arm component are connected through a sliding table in a sliding manner, the lower end of the upper arm plate in the upper arm component is provided with the elbow joint motor, the rear end of the forearm plate in the forearm component is rotatably arranged at the lower end of the upper arm plate in the upper arm component, the output shaft of the elbow joint motor is connected with the rear end of the forearm plate, the forearm plate in the forearm component is connected with the forearm connecting rod in a sliding manner through the sliding table, the torque sensor is arranged on the elbow joint motor, and the elbow protective device is respectively arranged on the upper arm component and the forearm component;
the wrist parallel mechanism is arranged at the front end of the elbow execution mechanism and comprises a forearm sleeve ring, a support spring, a wrist sleeve ring, an attitude sensor and a fixing component, the forearm sleeve ring is connected with the front end of the forearm connecting rod through a forearm connecting block, the support spring is arranged between the forearm sleeve ring and the wrist sleeve ring, three groups of mounting holes are respectively arranged on the forearm sleeve ring and the wrist sleeve ring, the included angle between two adjacent groups of mounting holes is 120 degrees, the attitude sensor is arranged on the wrist sleeve ring, and the fixing component is arranged in front of the wrist sleeve ring;
the rope driving mechanism is arranged on two sides of the elbow execution mechanism and comprises a steel wire rope, a rope sorting device, a rope fixing frame, a sleeve and a plurality of groups of driving assemblies, wherein a first end of the steel wire rope is provided with a rope plug, the rope sorting device is symmetrically arranged on two sides of a shoulder sleeve ring in the shoulder assembly, the rope fixing frame and the plurality of groups of driving assemblies are arranged in the rack, the steel wire rope is arranged on two sides of the shoulder sleeve ring, the first end of each steel wire rope is fixed in a mounting hole in the wrist sleeve ring through the rope plug, a second end of each steel wire rope sequentially penetrates through a mounting hole in a front arm sleeve ring, the rope sorting device and a through hole in the rope fixing frame to be fixed on a wire wheel in the driving assemblies, and the outer side of the steel wire rope is provided with the sleeve.
2. The elbow and wrist rehabilitation robot for joint misalignment compensation according to claim 1, wherein the shoulder assembly comprises a shoulder sleeve ring, a connecting member, a supporting member and an inclined supporting member, the shoulder sleeve ring is in a U-shaped structure, the connecting member is disposed at the middle part of the upper end surface of the shoulder sleeve ring, the two ends of the shoulder sleeve ring are symmetrically disposed on the supporting member, the inclined supporting member is disposed at one side of the supporting member, the first end of the inclined supporting member is fixedly connected to the shoulder sleeve ring, and the second end of the inclined supporting member is fixedly connected to the supporting member.
3. The elbow and wrist joint rehabilitation robot for joint dislocation compensation according to claim 2, characterized in that the upper arm assembly comprises an upper arm connecting block, an upper arm connecting rod, a sliding table and an upper arm plate, the upper end of the upper arm connecting rod is arranged in the middle of the lower end surface of the shoulder sleeve ring, the lower end of the upper arm connecting rod is connected with a fixed guide rail in the sliding table, the upper end of the upper arm plate is connected with a sliding block in the sliding table, the sliding block is arranged on the fixed guide rail in a sliding manner, and the upper arm plate can move linearly on the upper arm connecting rod through the sliding table.
4. The elbow and wrist joint rehabilitation robot for joint dislocation compensation according to claim 3, characterized in that the forearm assembly comprises a forearm connecting block, a forearm connecting rod, a forearm plate and a sliding table, the rear end of the forearm plate is connected with the output shaft of the elbow joint motor, the front end of the forearm plate is connected with a sliding block in the sliding table, the rear end of the forearm connecting rod is connected with a fixed guide rail in the sliding table, the sliding block is slidably arranged on the fixed guide rail, and the forearm connecting rod passes through the sliding table and can linearly move on the forearm plate.
5. The elbow and wrist joint rehabilitation robot for joint dislocation compensation according to claim 4, characterized in that the sliding table is slidably arranged on the fixed guide rail, the adjusting nut and the locking nut are symmetrically arranged at two ends of the sliding table for adjusting and locking the position of the sliding table on the fixed guide rail, and two ends of the fixed guide rail are provided with limit grooves for limiting the sliding displacement of the sliding table.
6. The elbow and wrist joint rehabilitation robot for joint dislocation compensation according to claim 1, wherein the fixing component comprises a guide rail, a training grab handle, a locking member and a limiting block, the guide rail is symmetrically arranged on the wrist sleeve ring, two ends of the training grab handle are slidably embedded in the sliding grooves of the guide rail and linearly reciprocate along the guide rail, the locking member passes through a through hole arranged on the training grab handle and abuts against the inner side plate of the guide rail, and the limiting block is fixedly arranged at the front end of the guide rail.
7. The elbow and wrist joint rehabilitation robot for joint dislocation compensation according to claim 1, characterized in that the driving assemblies are arranged into six groups, and the six groups of driving assemblies are symmetrically arranged at the top of the frame, each group of driving assemblies comprises a driving motor, a motor base, a connecting shaft, a wire wheel and a supporting seat, the driving motor is fixed on the frame through the motor base, an output shaft of the driving motor is connected with a first end of the connecting shaft through a coupler, the wire wheel is arranged on the connecting shaft, a second end of the connecting shaft is supported in the supporting seat through a rolling bearing, and the supporting seat is fixedly arranged on the frame.
8. A compensation method for realizing the elbow and wrist joint rehabilitation robot for joint misalignment compensation according to any one of claims 1 to 7, characterized by comprising the steps of:
s1, placing an upper limb in an elbow execution mechanism and a wrist parallel mechanism, and respectively fixing an upper arm and a forearm on an upper arm connecting rod and a forearm connecting rod through an elbow protective tool;
s2, adjusting the positions of the sliding tables in the upper arm assembly and the forearm assembly to enable the upper arm assembly and the forearm assembly to adapt to the arm length, and adjusting the fixing assembly to enable the training grab handle to be held by a hand;
s3, measuring the rotation angle theta of the wrist joint according to the attitude sensor, and calculating the joint dislocation distance L of the wrist joint according to the geometrical relationship of the upper limbs of the human body mis And further calculating a deflection angle gamma between the wrist joint and the wrist parallel mechanism and a slippage distance x generated by the constraint of the wrist parallel mechanism, wherein the expression is as follows:
in the formula, L 1 Represents the distance L from the coupling point of the wrist joint and the wrist parallel mechanism to the rotation center of the wrist joint 2 The distance from the coupling point of the wrist joint and the wrist parallel mechanism to the rotation center of the wrist parallel mechanism is represented;
and S4, transmitting the deflection angle gamma between the wrist joint and the wrist parallel mechanism obtained by calculation and the sliding distance x generated by the constraint of the wrist parallel mechanism to a human-computer interaction system in real time, wherein the human-computer interaction system calculates the stretching length of the steel wire rope through a built-in reverse solution program of the wrist parallel mechanism, and then drives the driving motor to control the wrist sleeve ring to move in a working space.
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