CN118078583B - Upper limb rehabilitation assisting method, system and robot - Google Patents

Upper limb rehabilitation assisting method, system and robot Download PDF

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Publication number
CN118078583B
CN118078583B CN202410517050.0A CN202410517050A CN118078583B CN 118078583 B CN118078583 B CN 118078583B CN 202410517050 A CN202410517050 A CN 202410517050A CN 118078583 B CN118078583 B CN 118078583B
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joint motor
upper limb
joint
moment
tail end
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CN118078583A (en
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王玉
李蒙恩
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Jiangxi Qiushi Higher Research Institute
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Jiangxi Qiushi Higher Research Institute
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • 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
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pain & Pain Management (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention provides an upper limb rehabilitation assisting method, a system and a robot, wherein the method comprises the steps of inputting a preset motion track of a mechanical arm; guiding the upper limb of the patient to move based on a preset movement track; calculating output torque required by all joint motors based on target positions of all joint motors and movement speeds of all joint motors; sampling the current speed and the current position of all joint motors according to preset frequency, correcting the output moment according to the target position of the tail end of the upper limb and the movement speed of the tail end of the upper limb so as to adjust the movement of the mechanical arm, and guiding the upper limb of the patient to move based on the mechanical arm after the adjustment movement. According to the invention, the mechanical arm can move according to the corrected output moment, so that the mechanical arm can carry out power-assisted supplement and track correction on the movement of the upper limb of the patient, and the rehabilitation effect of the upper limb of the patient is improved.

Description

Upper limb rehabilitation assisting method, system and robot
Technical Field
The invention relates to the technical field of upper limb rehabilitation, in particular to an upper limb rehabilitation assisting method, an upper limb rehabilitation assisting system and a robot.
Background
Limb movement disorder seriously affects the life quality of patients, and brings great burden to families and society. The upper limb participates in most of actions in daily activities, and the movement function injury seriously affects the movement capacity and life quality of patients, so the movement function training of the upper limb is an extremely important link in the rehabilitation process of patients suffering from cerebral apoplexy. For patients with upper limb dyskinesia, when the upper limb muscle strength is between 2 and 3 levels, the upper limb movement ability is weak, and certain assistance is needed for realizing normal upper limb movement.
In the prior art, the situations of deviation, shake and the like of the upper limb movement track of the patient with the upper limb movement disorder exist in the movement process, but the existing auxiliary rehabilitation cannot compensate and correct the movement track of the upper limb of the patient with the upper limb movement disorder, so that the upper limb rehabilitation effect of the patient is affected.
Disclosure of Invention
Based on the above, the present invention is directed to a method, a system and a robot for assisting rehabilitation of an upper limb, so as to at least solve the above-mentioned drawbacks of the prior art.
In a first aspect, the present invention provides a method of assisting rehabilitation of an upper limb, the method comprising:
inputting a preset motion trail of the mechanical arm, wherein the preset motion trail comprises an upper limb tail end target position, an upper limb tail end motion speed, target positions of all joint motors and motion speeds of all the joint motors;
Guiding the upper limb of the patient to move based on the preset movement track so as to keep the movement track of the upper limb of the patient consistent with the preset movement track;
calculating required output torque of all the joint motors based on target positions of all the joint motors and movement speeds of all the joint motors;
Sampling the current speed and the current position of all the joint motors according to preset frequency, correcting the output moment according to the target position of the tail end of the upper limb and the movement speed of the tail end of the upper limb so as to adjust the movement of the mechanical arm, and guiding the upper limb of the patient to move based on the mechanical arm after the adjustment movement.
Compared with the prior art, the invention has the beneficial effects that: the output torque required by all joint motors for driving all the mechanical arms is calculated, and then the output torque is corrected through the target position of the tail end of the upper limb and the movement speed of the tail end of the upper limb, so that the output torque of the mechanical arms is corrected by all the joint motors, the mechanical arms can move according to the corrected output torque, the mechanical arms can supplement the movement of the upper limb of a patient in a boosting way and correct the track, and the rehabilitation effect of the upper limb of the patient is improved.
Further, the calculation formula of the output torque required by the joint motor is as follows:
；
；
；
；
；
Wherein, 、、、、Respectively represents the output torque of the first joint motor, the output torque of the second joint motor, the output torque of the third joint motor, the output torque of the fourth joint motor and the output torque of the fifth joint motor,、、、、Respectively representing the self-weight compensation moment of the current gesture mechanical arm corresponding to the first joint motor, the self-weight compensation moment of the current gesture mechanical arm corresponding to the second joint motor, the self-weight compensation moment of the current gesture mechanical arm corresponding to the third joint motor, the self-weight compensation moment of the current gesture mechanical arm corresponding to the fourth joint motor and the self-weight compensation moment of the current gesture mechanical arm corresponding to the fifth joint motor,、、、、The auxiliary compensation moment of the first joint motor, the auxiliary compensation moment of the second joint motor, the auxiliary compensation moment of the third joint motor, the auxiliary compensation moment of the fourth joint motor and the auxiliary compensation moment of the fifth joint motor are respectively represented.
Further, the auxiliary compensation moment of the first joint motorThe calculated expression of (2) is:
；
The auxiliary compensation moment of the second joint motor The calculated expression of (2) is:
；
The auxiliary compensation moment of the third joint motor The calculated expression of (2) is:
；
The motion-assisting compensation moment of the fourth joint motor The calculated expression of (2) is:
；
the auxiliary compensation moment of the fifth joint motor The calculated expression of (2) is:
；
In the method, in the process of the invention, 、、、、The moment applied by the gravity of the current upper limb posture on the first joint motor, the moment applied by the gravity of the current upper limb posture on the second joint motor, the moment applied by the gravity of the current upper limb posture on the third joint motor, the moment applied by the gravity of the current upper limb posture on the fourth joint motor and the moment applied by the gravity of the current upper limb posture on the fifth joint motor are respectively expressed.
Further, the expression for correcting the output torque is:
；
；
；
；
；
In the method, in the process of the invention, 、、、、Respectively representing the correction value of the output torque of the first joint motor, the correction value of the output torque of the second joint motor, the correction value of the output torque of the third joint motor, the correction value of the output torque of the fourth joint motor and the correction value of the output torque of the fifth joint motor,、、、、Respectively representing the position coefficient of the first joint motor, the position coefficient of the second joint motor, the position coefficient of the third joint motor, the position coefficient of the fourth joint motor and the position coefficient of the fifth joint motor,、、、、Respectively representing the correlation coefficient of the first joint motor, the correlation coefficient of the second joint motor, the correlation coefficient of the third joint motor, the correlation coefficient of the fourth joint motor and the correlation coefficient of the fifth joint motor,、、、、Respectively representing the travelling distance proportion value of the first joint motor, the travelling distance proportion value of the second joint motor, the travelling distance proportion value of the third joint motor, the travelling distance proportion value of the fourth joint motor and the travelling distance proportion value of the fifth joint motor,A middle value representing a traveling path proportion value of the first joint motor to the fifth joint motor,、、、、Respectively representing the moment of the gravity applied to the first joint motor by the current upper limb posture, the moment of the gravity applied to the second joint motor by the current upper limb posture, the moment of the gravity applied to the third joint motor by the upper limb posture, the moment of the gravity applied to the fourth joint motor by the current upper limb posture and the moment of the gravity applied to the fifth joint motor by the current upper limb posture,、、、、The speed coefficients of the first joint motor, the second joint motor, the third joint motor, the fourth joint motor and the fifth joint motor are respectively represented.
Further, after the step of guiding the upper limb of the patient to move based on the mechanical arm after the adjustment movement, the method further includes:
detecting whether the upper extremity of the patient reaches a final extremity target position;
If not, sampling the current speed and the current position of all the joint motors according to the preset frequency, correcting the output moment according to the target position of the tail end of the upper limb and the movement speed of the tail end of the upper limb, adjusting the movement of the mechanical arm, and guiding the upper limb of the patient to move based on the mechanical arm after the adjustment movement until the tail end of the upper limb of the patient reaches the final target position of the tail end.
In a second aspect, the present invention also provides an upper limb rehabilitation assistance system applied to an upper limb rehabilitation assistance robot, the system comprising:
The input module is used for inputting a preset motion trail of the mechanical arm, wherein the preset motion trail comprises an upper limb tail end target position, an upper limb tail end motion speed, target positions of all joint motors and motion speeds of all the joint motors;
the guiding module is used for guiding the upper limb of the patient to move based on the preset movement track so as to keep the movement track of the upper limb of the patient consistent with the preset movement track;
a calculation module for calculating output torque required by all the joint motors based on target positions of all the joint motors and movement speeds of all the joint motors;
The sampling correction module is used for sampling the current speed and the current position of all the joint motors according to preset frequency, correcting the output moment according to the target position of the tail end of the upper limb and the movement speed of the tail end of the upper limb so as to adjust the movement of the mechanical arm, and guiding the upper limb of the patient to move based on the mechanical arm after the adjustment movement.
Further, the system further comprises:
The detection module is used for detecting whether the tail end of the upper limb of the patient reaches a final tail end target position;
And the execution module is used for executing sampling of the current speed and the current position of all the joint motors according to preset frequency if the upper limb tail end of the patient does not reach the final tail end target position, correcting the output moment according to the upper limb tail end target position and the upper limb tail end movement speed so as to adjust the movement of the mechanical arm, and guiding the upper limb of the patient to move based on the mechanical arm after the adjustment movement until the upper limb tail end of the patient reaches the final tail end target position.
In a third aspect, the invention also provides an upper limb rehabilitation assisting robot, which comprises the upper limb rehabilitation assisting system.
Drawings
FIG. 1 is a flow chart of a method of assisting upper limb rehabilitation in a first embodiment of the present invention;
Fig. 2 is a block diagram of an upper limb rehabilitation assistance system according to a second embodiment of the present invention.
Description of main reference numerals:
10. an input module;
20. A guide module;
30. A computing module;
40. And a sampling correction module.
The invention will be further described in the following detailed description in conjunction with the above-described figures.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Several embodiments of the invention are presented in the figures. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "mounted" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Example 1
Referring to fig. 1, an upper limb rehabilitation assistance method according to a first embodiment of the invention is shown, and the method includes steps S1 to S4:
S1, inputting a preset motion trail of a mechanical arm, wherein the preset motion trail comprises an upper limb tail end target position, an upper limb tail end motion speed, target positions of all joint motors and motion speeds of all the joint motors;
It should be explained that the preset motion trail is input to all the mechanical arms, and finally the motions of all the mechanical arms are cooperatively output by all the joint motors, and the preset motion trail can be displayed in the interactive display interface to inform the used patient of the target motion position and motion trail, and it should be noted that in the embodiment, the joint motors are five groups.
It should be noted that, the target position may represent P target1、Ptarget2、Ptarget3、Ptarget4、Ptarget5, in this embodiment, P target1、Ptarget2、Ptarget3、Ptarget4、Ptarget5 represents the target position of the first joint motor, the target position of the second joint motor, the target position of the third joint motor, the target position of the fourth joint motor, and the target position of the fifth joint motor, and in this embodiment, the maximum movement speed of the first joint motor, the maximum movement speed of the second joint motor, the maximum movement speed of the third joint motor, the maximum movement speed of the fourth joint motor, and the maximum movement speed of the fifth joint motor are respectively represented as、、、、The initial position of the first joint motor, the initial position of the second joint motor, the initial position of the third joint motor, the initial position of the fourth joint motor and the initial position of the fifth joint motor are respectively expressed as、、、、。
S2, guiding the upper limb of the patient to move based on the preset movement track so as to enable the movement track of the upper limb of the patient to be consistent with the preset movement track;
It should be explained that, the upper limb of the patient is guided to move according to the predetermined movement track through the predetermined movement track displayed on the interactive interface, so that the consistency of the movement track of the upper limb of the patient and the predetermined movement track is ensured.
S3, calculating output torque required by all the joint motors based on target positions of all the joint motors and movement speeds of all the joint motors;
It should be explained that, output moment of all joint motors is calculated, and at the same time, the upper limb of the patient starts to exert force to move, and at the moment, the calculation expression of the output moment of all joint motors is as follows:
；
；
；
；
；
Wherein, 、、、、Respectively represents the output torque of the first joint motor, the output torque of the second joint motor, the output torque of the third joint motor, the output torque of the fourth joint motor and the output torque of the fifth joint motor,、、、、Respectively representing the self-weight compensation moment of the current gesture mechanical arm corresponding to the first joint motor, the self-weight compensation moment of the current gesture mechanical arm corresponding to the second joint motor, the self-weight compensation moment of the current gesture mechanical arm corresponding to the third joint motor, the self-weight compensation moment of the current gesture mechanical arm corresponding to the fourth joint motor and the self-weight compensation moment of the current gesture mechanical arm corresponding to the fifth joint motor,、、、、The auxiliary compensation moment of the first joint motor, the auxiliary compensation moment of the second joint motor, the auxiliary compensation moment of the third joint motor, the auxiliary compensation moment of the fourth joint motor and the auxiliary compensation moment of the fifth joint motor are respectively represented, and in the embodiment, the self weight compensation moment of the mechanical arm in the current posture can be calculated according to the positions of the joint motor and the structural member corresponding to the current mechanical arm;
In addition, the auxiliary compensation moment of the first joint motor The calculated expression of (2) is:
；
The auxiliary compensation moment of the second joint motor The calculated expression of (2) is:
；
The auxiliary compensation moment of the third joint motor The calculated expression of (2) is:
；
The motion-assisting compensation moment of the fourth joint motor The calculated expression of (2) is:
；
the auxiliary compensation moment of the fifth joint motor The calculated expression of (2) is:
；
In the method, in the process of the invention, 、、、、The moment applied by the gravity of the current upper limb posture to the first joint motor, the moment applied by the gravity of the current upper limb posture to the second joint motor, the moment applied by the gravity of the current upper limb posture to the third joint motor, the moment applied by the gravity of the current upper limb posture to the fourth joint motor and the moment applied by the gravity of the current upper limb posture to the fifth joint motor are respectively expressed, and the moment applied by the gravity of the current upper limb posture to the current corresponding joint motor can be calculated according to the positions and the weights of the big arm and the small arm.
S4, sampling the current speed and the current position of all the joint motors according to preset frequency, correcting the output moment according to the target position of the tail end of the upper limb and the movement speed of the tail end of the upper limb so as to adjust the movement of the mechanical arm, and guiding the upper limb of the patient to move based on the mechanical arm after the adjustment movement;
It should be explained that, after the displacement, the current speed and the current position of all the joint motors need to be sampled, in this embodiment, the sampling frequency is 10 ms/time, and the current speed of all the sampled joint motors is the joint motor No. one Joint motor No. twoJoint motor No. threeJoint motor number fourNo. five joint motorThe sampling positions of all the sampled joint motors are that the sampling position of the joint motor I isThe sampling position of the second joint motor isThe sampling position of the joint motor No. three isThe sampling position of the fourth joint motor isThe sampling position of the fifth joint motor isAnd then correcting the output torque of each joint motor, wherein the calculation expression of the corrected output torque is as follows:
；
；
；
；
；
In the method, in the process of the invention, 、、、、Respectively representing the correction value of the output torque of the first joint motor, the correction value of the output torque of the second joint motor, the correction value of the output torque of the third joint motor, the correction value of the output torque of the fourth joint motor and the correction value of the output torque of the fifth joint motor,、、、、Respectively representing the position coefficient of the first joint motor, the position coefficient of the second joint motor, the position coefficient of the third joint motor, the position coefficient of the fourth joint motor and the position coefficient of the fifth joint motor,、、、、Respectively representing the correlation coefficient of the first joint motor, the correlation coefficient of the second joint motor, the correlation coefficient of the third joint motor, the correlation coefficient of the fourth joint motor and the correlation coefficient of the fifth joint motor,、、、、Respectively representing the travelling distance proportion value of the first joint motor, the travelling distance proportion value of the second joint motor, the travelling distance proportion value of the third joint motor, the travelling distance proportion value of the fourth joint motor and the travelling distance proportion value of the fifth joint motor,A middle value representing a traveling path proportion value of the first joint motor to the fifth joint motor,、、、、Respectively representing the moment of the gravity applied to the first joint motor by the current upper limb posture, the moment of the gravity applied to the second joint motor by the current upper limb posture, the moment of the gravity applied to the third joint motor by the upper limb posture, the moment of the gravity applied to the fourth joint motor by the current upper limb posture and the moment of the gravity applied to the fifth joint motor by the current upper limb posture,、、、、Respectively representing the speed coefficient of the first joint motor, the speed coefficient of the second joint motor, the speed coefficient of the third joint motor, the speed coefficient of the fourth joint motor and the speed coefficient of the fifth joint motor;
The moment applied to the joint motor by the gravity applied to the current upper limb posture can be calculated according to the current upper limb posture and the weight.
When the output torque of each joint motor is corrected, the traveling path ratio values of the first joint motor to the fifth joint motor need to be calculated, and the calculation expression of the traveling path ratio values of each joint motor is as follows:
；
；
；
；
；
In the method, in the process of the invention, 、、、、Respectively representing the sampling position of the first joint motor, the sampling position of the second joint motor, the sampling position of the third joint motor, the sampling position of the fourth joint motor and the sampling position of the fifth joint motor,、、、、Respectively representing the initial position of the first joint motor, the initial position of the second joint motor, the initial position of the third joint motor, the initial position of the fourth joint motor and the initial position of the fifth joint motor,、、、、Respectively representing the target position of the first joint motor, the target position of the second joint motor, the target position of the third joint motor, the target position of the fourth joint motor and the target position of the fifth joint motor;
It will be appreciated that 、、、、Performing descending order of the intermediate values in the arrangementAnd can then be according toCalculating the correlation coefficients of all joint motorsThe calculation expression of the correlation coefficient of each joint motor is as follows:
；
；
；
；
；
The position coefficient of each joint motor can ensure that the joint motor starts to decelerate near the target position, and it is worth noting that the position coefficient of each joint motor starts to decelerate after 90% of the travel path is completed, and the calculation expression of the position coefficient of each joint motor is:
；
；
；
；
；
、、、、 The position coefficients of the first joint motor, the second joint motor, the third joint motor, the fourth joint motor and the fifth joint motor are respectively represented;
Wherein, ；
；
；
；
；
、、、、The acceleration of the first joint motor to the fifth joint motor can be ensured to be reduced when the acceleration reaches the maximum speed, namely the speed is more than 0.8And when the speed is prevented from exceeding the maximum speed, the speed coefficient calculation expression of each joint motor is as follows:
；
；
；
；
；
The auxiliary compensation torque of each power-off motor can then be updated, namely ~And calculating the final output torque of each joint motor, wherein the calculation formula of the final output torque of each joint motor is as follows:
；
；
；
；
；
In the method, in the process of the invention, 、、、、Respectively represents the final output torque of the first joint motor, the final output torque of the second joint motor, the final output torque of the third joint motor, the final output torque of the fourth joint motor and the final output torque of the fifth joint motor,、、、、The self weight compensation moment of the current posture mechanical arm corresponding to the first joint motor, the self weight compensation moment of the current posture mechanical arm corresponding to the second joint motor, the self weight compensation moment of the current posture mechanical arm corresponding to the third joint motor, the self weight compensation moment of the current posture mechanical arm corresponding to the fourth joint motor and the self weight compensation moment of the current posture mechanical arm corresponding to the fifth joint motor are respectively represented, and it is worth to say that the self weight compensation moment of the current posture mechanical arm is refreshed along with the posture change of the mechanical arm, and can be obtained according to the central position of each part of structural member.
After the upper limb of the patient is guided to move by the mechanical arm after the adjustment movement:
s11, detecting whether the tail end of the upper limb of the patient reaches a final tail end target position;
It should be explained that the sign of reaching the end target position is that the distance between the end position of the mechanical arm and the final end target position is less than 4cm, and if the end position is reached, the mechanical arm finishes the assisting of the upper limb of the patient.
S12, if not, sampling the current speed and the current position of all the joint motors according to preset frequency, correcting the output moment according to the target position of the upper limb tail end and the movement speed of the upper limb tail end so as to adjust the movement of the mechanical arm, and guiding the upper limb of the patient to move based on the mechanical arm after the adjustment movement until the upper limb tail end of the patient reaches the final tail end target position;
It should be explained that, by assisting the upper limb of the patient, the movement assistance of the patient with weak muscle strength can be realized, the final end position deviation is less than 4cm, the movement path shake is less, and the maximum deviation of the movement track is less than 6cm.
In summary, according to the upper limb rehabilitation assisting method in the embodiment of the invention, the output torque required by all the joint motors for driving all the mechanical arms is calculated, and then the output torque is corrected through the target position of the tail end of the upper limb and the movement speed of the tail end of the upper limb, so that the output torque of the mechanical arms is corrected by all the joint motors, the mechanical arms can move according to the corrected output torque, the mechanical arms can assist and correct the movement of the upper limb of a patient, and the rehabilitation effect of the upper limb of the patient is improved.
Example two
Referring to fig. 2, an upper limb rehabilitation assistance system according to a second embodiment of the present invention is applied to an upper limb rehabilitation robot, the system includes:
An input module 10, configured to input a predetermined movement track of the mechanical arm, where the predetermined movement track includes an upper extremity target position, an upper extremity movement speed, target positions of all joint motors, and movement speeds of all the joint motors;
a guiding module 20, configured to guide an upper limb of a patient to perform a movement based on the predetermined movement track, so that the movement track of the upper limb of the patient is consistent with the predetermined movement track;
A calculation module 30 for calculating an output torque required for all the joint motors based on target positions of all the joint motors and movement speeds of all the joint motors;
The calculation formula of the output torque required by the joint motor is as follows:
；
；
；
；
；
Wherein, 、、、、Respectively represents the output torque of the first joint motor, the output torque of the second joint motor, the output torque of the third joint motor, the output torque of the fourth joint motor and the output torque of the fifth joint motor,、、、、Respectively representing the self-weight compensation moment of the current gesture mechanical arm corresponding to the first joint motor, the self-weight compensation moment of the current gesture mechanical arm corresponding to the second joint motor, the self-weight compensation moment of the current gesture mechanical arm corresponding to the third joint motor, the self-weight compensation moment of the current gesture mechanical arm corresponding to the fourth joint motor and the self-weight compensation moment of the current gesture mechanical arm corresponding to the fifth joint motor,、、、、The auxiliary compensation moment of the first joint motor, the auxiliary compensation moment of the second joint motor, the auxiliary compensation moment of the third joint motor, the auxiliary compensation moment of the fourth joint motor and the auxiliary compensation moment of the fifth joint motor are respectively represented;
the auxiliary compensation moment of the first joint motor The calculated expression of (2) is:
；
The auxiliary compensation moment of the second joint motor The calculated expression of (2) is:
；
The auxiliary compensation moment of the third joint motor The calculated expression of (2) is:
；
The motion-assisting compensation moment of the fourth joint motor The calculated expression of (2) is:
；
the auxiliary compensation moment of the fifth joint motor The calculated expression of (2) is:
；
In the method, in the process of the invention, 、、、、The moment of the gravity applied to the first joint motor, the moment of the gravity applied to the second joint motor, the moment of the gravity applied to the third joint motor, the moment of the gravity applied to the fourth joint motor, and the moment of the gravity applied to the fifth joint motor are respectively expressed;
the sampling correction module 40 is configured to sample the current speeds and the current positions of all the joint motors according to a preset frequency, correct the output torque according to the target position of the upper extremity and the movement speed of the upper extremity, adjust the movement of the mechanical arm, and guide the upper extremity of the patient to move based on the mechanical arm after the adjustment movement;
the expression for correcting the output torque is as follows:
；
；
；
；
；
In the method, in the process of the invention, 、、、、Respectively representing the correction value of the output torque of the first joint motor, the correction value of the output torque of the second joint motor, the correction value of the output torque of the third joint motor, the correction value of the output torque of the fourth joint motor and the correction value of the output torque of the fifth joint motor,、、、、Respectively representing the position coefficient of the first joint motor, the position coefficient of the second joint motor, the position coefficient of the third joint motor, the position coefficient of the fourth joint motor and the position coefficient of the fifth joint motor,、、、、Respectively representing the correlation coefficient of the first joint motor, the correlation coefficient of the second joint motor, the correlation coefficient of the third joint motor, the correlation coefficient of the fourth joint motor and the correlation coefficient of the fifth joint motor,、、、、Respectively representing the travelling distance proportion value of the first joint motor, the travelling distance proportion value of the second joint motor, the travelling distance proportion value of the third joint motor, the travelling distance proportion value of the fourth joint motor and the travelling distance proportion value of the fifth joint motor,A middle value representing a traveling path proportion value of the first joint motor to the fifth joint motor,、、、、Respectively representing the moment of the gravity applied to the first joint motor by the current upper limb posture, the moment of the gravity applied to the second joint motor by the current upper limb posture, the moment of the gravity applied to the third joint motor by the upper limb posture, the moment of the gravity applied to the fourth joint motor by the current upper limb posture and the moment of the gravity applied to the fifth joint motor by the current upper limb posture,、、、、Respectively representing the speed coefficient of the first joint motor, the speed coefficient of the second joint motor, the speed coefficient of the third joint motor, the speed coefficient of the fourth joint motor and the speed coefficient of the fifth joint motor;
The detection module is used for detecting whether the tail end of the upper limb of the patient reaches a final tail end target position;
And the execution module is used for executing sampling of the current speed and the current position of all the joint motors according to preset frequency if the upper limb tail end of the patient does not reach the final tail end target position, correcting the output moment according to the upper limb tail end target position and the upper limb tail end movement speed so as to adjust the movement of the mechanical arm, and guiding the upper limb of the patient to move based on the mechanical arm after the adjustment movement until the upper limb tail end of the patient reaches the final tail end target position.
The functions or operation steps implemented when the above modules and units are executed are substantially the same as those in the above method embodiments, and are not described herein again.
The upper limb rehabilitation assisting system provided by the embodiment of the invention has the same implementation principle and technical effects as those of the embodiment of the method, and for the sake of brief description, the corresponding contents in the embodiment of the method can be referred to for the parts of the system embodiment which are not mentioned.
Example III
The third embodiment of the invention provides an upper limb rehabilitation assisting robot, which comprises the upper limb rehabilitation assisting system in the second embodiment.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims (5)

1. An upper limb rehabilitation assistance system applied to an upper limb rehabilitation assistance robot, the system comprising:
The input module is used for inputting a preset motion trail of the mechanical arm, wherein the preset motion trail comprises an upper limb tail end target position, an upper limb tail end motion speed, target positions of all joint motors and motion speeds of all the joint motors;
the guiding module is used for guiding the upper limb of the patient to move based on the preset movement track so as to keep the movement track of the upper limb of the patient consistent with the preset movement track;
a calculation module for calculating output torque required by all the joint motors based on target positions of all the joint motors and movement speeds of all the joint motors;
The calculation formula of the output torque required by the joint motor is as follows:
；
；
；
；
；
Wherein, 、、、、Respectively represents the output torque of the first joint motor, the output torque of the second joint motor, the output torque of the third joint motor, the output torque of the fourth joint motor and the output torque of the fifth joint motor,、、、、Respectively representing the self-weight compensation moment of the current gesture mechanical arm corresponding to the first joint motor, the self-weight compensation moment of the current gesture mechanical arm corresponding to the second joint motor, the self-weight compensation moment of the current gesture mechanical arm corresponding to the third joint motor, the self-weight compensation moment of the current gesture mechanical arm corresponding to the fourth joint motor and the self-weight compensation moment of the current gesture mechanical arm corresponding to the fifth joint motor,、、、、The auxiliary compensation moment of the first joint motor, the auxiliary compensation moment of the second joint motor, the auxiliary compensation moment of the third joint motor, the auxiliary compensation moment of the fourth joint motor and the auxiliary compensation moment of the fifth joint motor are respectively represented;
the auxiliary compensation moment of the first joint motor The calculated expression of (2) is:
；
The auxiliary compensation moment of the second joint motor The calculated expression of (2) is:
；
The auxiliary compensation moment of the third joint motor The calculated expression of (2) is:
；
The motion-assisting compensation moment of the fourth joint motor The calculated expression of (2) is:
；
the auxiliary compensation moment of the fifth joint motor The calculated expression of (2) is:
；
In the method, in the process of the invention, 、、、、The moment of the gravity applied to the first joint motor, the moment of the gravity applied to the second joint motor, the moment of the gravity applied to the third joint motor, the moment of the gravity applied to the fourth joint motor, and the moment of the gravity applied to the fifth joint motor are respectively expressed;
The sampling correction module is used for sampling the current speed and the current position of all the joint motors according to preset frequency, correcting the output moment according to the target position of the tail end of the upper limb and the movement speed of the tail end of the upper limb so as to adjust the movement of the mechanical arm, and guiding the upper limb of the patient to move based on the mechanical arm after the adjustment movement;
the expression for correcting the output torque is as follows:
；
；
；
；
；
In the method, in the process of the invention, 、、、、Respectively representing the correction value of the output torque of the first joint motor, the correction value of the output torque of the second joint motor, the correction value of the output torque of the third joint motor, the correction value of the output torque of the fourth joint motor and the correction value of the output torque of the fifth joint motor,、、、、Respectively representing the position coefficient of the first joint motor, the position coefficient of the second joint motor, the position coefficient of the third joint motor, the position coefficient of the fourth joint motor and the position coefficient of the fifth joint motor,、、、、Respectively representing the correlation coefficient of the first joint motor, the correlation coefficient of the second joint motor, the correlation coefficient of the third joint motor, the correlation coefficient of the fourth joint motor and the correlation coefficient of the fifth joint motor,、、、、Respectively representing the travelling distance proportion value of the first joint motor, the travelling distance proportion value of the second joint motor, the travelling distance proportion value of the third joint motor, the travelling distance proportion value of the fourth joint motor and the travelling distance proportion value of the fifth joint motor,A middle value representing a traveling path proportion value of the first joint motor to the fifth joint motor,、、、、Respectively representing the moment of the gravity applied to the first joint motor by the current upper limb posture, the moment of the gravity applied to the second joint motor by the current upper limb posture, the moment of the gravity applied to the third joint motor by the upper limb posture, the moment of the gravity applied to the fourth joint motor by the current upper limb posture and the moment of the gravity applied to the fifth joint motor by the current upper limb posture,、、、、The speed coefficients of the first joint motor, the second joint motor, the third joint motor, the fourth joint motor and the fifth joint motor are respectively represented.
2. The upper limb rehabilitation aid system according to claim 1, wherein the system further comprises:
The detection module is used for detecting whether the tail end of the upper limb of the patient reaches a final tail end target position;
And the execution module is used for executing sampling of the current speed and the current position of all the joint motors according to preset frequency if the upper limb tail end of the patient does not reach the final tail end target position, correcting the output moment according to the upper limb tail end target position and the upper limb tail end movement speed so as to adjust the movement of the mechanical arm, and guiding the upper limb of the patient to move based on the mechanical arm after the adjustment movement until the upper limb tail end of the patient reaches the final tail end target position.
3. Upper limb rehabilitation aid system according to any of claims 1-2, which system employs an upper limb rehabilitation aid method for upper limb rehabilitation, characterized in that the method comprises:
inputting a preset motion trail of the mechanical arm, wherein the preset motion trail comprises an upper limb tail end target position, an upper limb tail end motion speed, target positions of all joint motors and motion speeds of all the joint motors;
Guiding the upper limb of the patient to move based on the preset movement track so as to keep the movement track of the upper limb of the patient consistent with the preset movement track;
calculating required output torque of all the joint motors based on target positions of all the joint motors and movement speeds of all the joint motors;
Sampling the current speed and the current position of all the joint motors according to preset frequency, correcting the output moment according to the target position of the tail end of the upper limb and the movement speed of the tail end of the upper limb so as to adjust the movement of the mechanical arm, and guiding the upper limb of the patient to move based on the mechanical arm after the adjustment movement.
4. The upper limb rehabilitation aid system according to claim 3, wherein after the step of guiding the patient's upper limb to move based on the mechanical arm after the adjustment movement, the method further comprises:
detecting whether the upper extremity of the patient reaches a final extremity target position;
If not, sampling the current speed and the current position of all the joint motors according to the preset frequency, correcting the output moment according to the target position of the tail end of the upper limb and the movement speed of the tail end of the upper limb, adjusting the movement of the mechanical arm, and guiding the upper limb of the patient to move based on the mechanical arm after the adjustment movement until the tail end of the upper limb of the patient reaches the final target position of the tail end.
5. An upper limb rehabilitation aid robot comprising an upper limb rehabilitation aid system according to any one of claims 1 to 4.
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