CN201164564Y - Wearing type robot for rehabilitation of hand function and control system thereof - Google Patents
Wearing type robot for rehabilitation of hand function and control system thereof Download PDFInfo
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- CN201164564Y CN201164564Y CNU2007200889020U CN200720088902U CN201164564Y CN 201164564 Y CN201164564 Y CN 201164564Y CN U2007200889020 U CNU2007200889020 U CN U2007200889020U CN 200720088902 U CN200720088902 U CN 200720088902U CN 201164564 Y CN201164564 Y CN 201164564Y
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Abstract
The utility model provides a wearing type hand function rehabilitation robot, which is mainly used for assisting the hand dyskinesia sufferer caused by the cerebral stroke, the cerebral trauma, the spine injury and the peripheral nerve injury to perform repeated sport function rehabilitation training in the community or in the home. The robot system gets the active movement desire of the sufferer by detecting the multichannel surface myoelectric signals of the sufferer hands, and obtains the sufferer limb state by combining the data measured by the angle and a power sensor, thus the robot adopts the aptitude control arithmetic to assist the sufferer hand to perform the rehabilitation training by the pneumatic muscle shrinkage. The rehabilitation robot has a plurality of degrees of freedom to assist the sufferer hand to perform the multi-joint compound movement, introjects the multiple sensor data information for the rehabilitation effect evaluation in the rehabilitation process, and uses the rehabilitation therapy dummy environment on the computer to improve the initiative nature and training interest of the sufferer. The rehabilitation robot has simple structure, agile movement, safety and reliability, can realize rehabilitation training of the sufferer hand movement function, accords with hand physiological structural features, and is more convenient for wearing.
Description
Technical field
This utility model belongs to the healing robot technology, concrete a kind of apparel type robot for healing hand function and control system thereof.This robot adopts pneumatic muscles to drive, can assist the patient to suffer from hands multi-joint compound motion functional training.This utility model adopts the Based Intelligent Control based on biological myoelectricity biofeedback, can carry out qualitative assessment to rehabilitation efficacy, adopts the augmented reality technology to give full play to patient's subjective initiative.
Background technology
In recent years central nervous system injury patients such as spinal cord injury, cerebral trauma and apoplexy significantly increase, and upper limb and hands dysfunction are one of modal subject matter, suffer from prognosis and quality of life that the hands functional rehabilitation is related to the patient.Studies show that, 90% neurological recovering in the present post-stroke three months, rehabilitation gets involved more early, and the probability of functional rehabilitation is just big more, and prognosis is also good more.The central nervous system has the plasticity of height, and experiment shows that specific functional training is essential in this process.Numerous rehabilitation trainings generally is according to neurodevelopmental rule, earlier from shoulder joint, carry out the transition to elbow joint, carpal joint and the refining of finger function instruction gradually, carry out the hands functional training by the time behind the joint function recovery of shoulder, elbow, wrist again and often missed optimal rehabilitation treatment time.Therefore, the repeat function of hand rehabilitation training should be carried out simultaneously with upper limb, so that effectively utilize early stage this section in morbidity back golden hour.The difficult more recovery of complicated more function, and staff carries out fine movement more, the innervation complexity, dyskinesia patient's the easiest " useless using " is the motor function of hands, it is very important for the final recovery of patient moving function therefore to bring out the finger function training in early days.
The hands dysfunction of clinical upper limb disabled patient often shows as flexion contracture, the musculus flexor tension force of hands is preponderated, interphalangeal joint and metacarpophalangeal joints stretch difficulty, forfeiture gripping, side are pinched, the palm are reached fine movement functions such as fingers, therefore spasm is the subject matter of early stage hands functional training, and the method for passive inhibition spasm is mainly taked in rehabilitation.When the therapist carries out rehabilitation training for patient clinically at present, by doing and illustrating the patient is carried out man-to-man training, movable each joint of suffering from hands, not only training effectiveness and training strength are difficult to guarantee, the training effect is subjected to the influence of therapist's level, and lack the objective data of estimating training parameter and rehabilitation efficacy relation, be difficult to training parameter is optimized to obtain therapeutic regimen.
Chinese patent 200420019014.X discloses a kind of intelligent hand recovery training appliance for recovery, be used for the patient that finger motion function remains to be recovered and carry out rehabilitation training, it comprises control system, motor driver, five gentle ropes, the five pairs of driving snakes and five cover finger motion mechanisms.This apparatus structure is simple, and is easy to operate, with low cost, can independently carry out rehabilitation training for the patient.
The shortcoming of this device is the special complexity that does not take into full account the human limb, thereby makes the rehabilitation exercise form single, and degree of freedom is few, and mechanism lacks compliance, and can not realize that the training effect assesses, and does not also introduce the augmented reality technology.
Chinese patent 200520020314.4 discloses the invalid vapour-pressure type rehabilitation of a kind of cerebrovascular glove, mainly form by air bag, valve, aerating device etc., air bag is carried out regular inflation and venting, reach the purpose that auxiliary hand multi-joint carries out passive flexion movement.
Although the submissive suitable wearing of this vapour-pressure type rehabilitation glove is not introduced robotics, intelligent rehabilitation system at last not, can not obtain the parameter in the rehabilitation course, not only can not realize the assessment of rehabilitation efficacy, and patient is the passive rehabilitation training of accepting, training process is uninteresting.
Chinese patent 200410009465.X discloses a kind of wrist and finger-joint exercise rehabilitation training robot, the training handle that comprises host computer, robot holding clamp, hand rest, speed governing driving device, angle detection mechanism and various uses, can be at different purposes, design control scheme, the auxiliary for hemiparalysis patient carries out the rehabilitation training of wrist joints of hand.
The shortcoming of this device is to drive actuator not have a compliance, is not suitable for dressing, and does not also introduce biofeedback and augmented reality technology and improves the enthusiasm that the patient initiatively participates in rehabilitation training.
Summary of the invention
The purpose of this utility model is to provide apparel type robot for healing hand function, this robot can assist suffer from hands finish grasping, to the palm with to actions such as fingers, effectively alleviate edema, avoid limb spasm and non-paralytic amyotrophy, motion is reached as far as possible coordinate to improve freedom of movement, the recovery that limb function is obtained with random, shorten rehabilitation course of treatment, reduce medical expense; This utility model also provides this ROBOT CONTROL system.
The apparel type robot for healing hand function that this utility model provides is characterized in that: the inlet end of first, second pneumatic muscles all links to each other with the mechanical arm rear end;
The mechanical arm front portion is equipped with the support pulley yoke, supports the pulley and first pinch roller and is installed on the support pulley yoke, supports pulley yoke the place ahead the metacarpophalangeal joints revolute pair is installed; The angle pulley and second pinch roller are installed in metacarpophalangeal joints revolute pair front upper place, and rotatable finger holder support is installed in the below, are referring on the holder support pull bar to be installed and branch refers to holder; Be fixed with the rigidity cord on the pull bar, cord passes the gap of the angle pulley and second pinch roller and passes the gap of supporting the pulley and first pinch roller again, is connected with the blind end of first pneumatic muscles; Metacarpophalangeal joints revolute pair front lower place is equipped with is close to the finger tabletting of pointing the back; Between metacarpophalangeal joints revolute pair and the finger tabletting slide rail is installed;
The place ahead one side of mechanical arm is equipped with first thumbstall and second thumbstall, and an end of thumb support links to each other with mechanical arm, and the middle part links to each other with the blind end of second pneumatic muscles, and the other end links to each other with second thumbstall.
The control system of the robot for healing hand function that this utility model provides comprises controller, A/D capture card, signal pre-processing circuit, force transducer, angular transducer and electromagnetic proportional valve;
Force transducer comprises first force transducer and second force transducer, one end of first force transducer be fixed on the mechanical arm rear end, the other end connects the inlet end of first pneumatic muscles, one end of second force transducer also is fixed on the mechanical arm rear end, and the other end links to each other with the inlet end of second pneumatic muscles;
Angular transducer comprises first angular transducer, second angular transducer and third angle degree pick off; Third angle degree pick off is installed in thumb support rotating shaft place, and first angular transducer is installed in the rotating shaft place of metacarpophalangeal joints revolute pair, and second angular transducer is installed in and refers to rotation place of holder support;
Electromagnetic proportional valve links to each other with the inlet end of first, second pneumatic muscles;
Signal pre-processing circuit links to each other with force transducer with angular transducer, sensor signal is carried out amplification filtering after, link to each other with controller by the A/D capture card.
This utility model is applied to robotics patient's hands movement functional rehabilitation, a kind of apparel type robot for healing hand function is provided, the employing pneumatic muscles drives, bio-imitability that it is unique and compliance are more mated the frame for movement of robot and people's limbs compliance, are suitable for dressing and safety and comfort.Have multiple degrees of freedom, the stretching, extension of main auxiliary finger makes the patient finally finish the repetition training of hands movement function.Its light economy, easily wear and unload, be particularly suited for family and community and use, both simplified therapist and patient's " one to one " heavy therapeutic process, can be the patient again effective rehabilitation training is provided, have the potentiality of improving rehabilitation efficacy and raising rehabilitation efficient.
This utility model also comprises control system, employing is based on the biofeedback technology of electromyographic signal, multi-sensor data is merged Based Intelligent Control and the rehabilitation efficacy assessment that is used for robot, auxiliary patient finishes the repeat function training of suffering from hands multi-joint compound motion, and adopt augmented reality technique construction rehabilitation virtual environment, improve initiative and interest that the patient participates in rehabilitation training.Robot can write down full and accurate treatment data, and objective, treatment and evaluating accurately can be provided, and has the potentiality of improving rehabilitation efficacy and improving rehabilitation efficient.
Description of drawings
Fig. 1 is the apparel type robot for healing hand function front view;
Fig. 2 is the apparel type robot for healing hand function vertical view;
Fig. 3 is the apparel type robot for healing hand function upward view.
Fig. 4 is the structural representation of apparel type robot for healing hand function control system;
Fig. 5 is the intelligent control algorithm flow chart of apparel type robot for healing hand function;
Fig. 6 is the apparel type robot for healing hand function control system structural representation with myoelectricity biofeedback;
Fig. 7 is for being provided the healing robot control system structural representation of rehabilitation virtual environment by computer;
The specific embodiment
Below in conjunction with accompanying drawing and example this utility model is described in further detail.
As shown in Figure 1, the structure of apparel type robot for healing hand function is:
First thumbstall 2 is installed in the right front of mechanical arm 1, second thumbstall 3 is used for fixing trouble hands thumb.Thumb support 5 one ends are fixed on the right front of mechanical arm 1, the middle part links to each other with the blind end of second pneumatic muscles 4, the other end links to each other with second thumbstall 3, second pneumatic muscles 4 shrinks and affects 5 rotations of thumb support, the auxiliary hands of suffering from is realized the thumb abduction, third angle degree pick off 6 is installed at thumb support 5 rotating shaft places, is used to measure thumb abduction angle.
This utility model is for obtaining the optimal rehabilitation effect, carry out in the process of exercise rehabilitation training auxiliary patient, robot only provides the trouble limb and finishes the essential minimum driving force of training, make full use of the remaining muscular force of suffering from limb, the control system structural design as shown in Figure 4, it comprises controller 100, A/D capture card 200, signal pre-processing circuit 300, force transducer 400, angular transducer 500 and electromagnetic proportional valve 600.
Force transducer 400 comprises first force transducer 9 and second force transducer 10, monitor the pulling force of first pneumatic muscles 4 and second pneumatic muscles 11 respectively, not only be used for the quantitative assessment rehabilitation training and suffer from the active degree of participation of hands, and can avoid suffering from the damage of hand muscle meat excessive the causing of spasticity lower pulling force.
Angular transducer 500 comprises first angular transducer 6, second angular transducer 20 and third angle degree pick off 23, measures thumb abduction angle, the metacarpophalangeal joints anglec of rotation and the interphalangeal joint anglec of rotation.
After the signal of 300 pairs of angular transducers 500 of signal pre-processing circuit and force transducer 400 carries out amplification filtering, controller 100 is by the signal of A/D capture card 200 acquisition angles pick offs 500 and force transducer 400, obtain the motion feature parameter of man-robot system and suffer from the hands state, take corresponding Intelligent Control Strategy on this basis, shrink by electromagnetic proportional valve 600 control pneumatic muscles 4,11, the auxiliary hands of suffering from is finished multi-joint compound motion functional training.
Because the compressibility of gas, pneumatic muscles has typical nonlinear and hysteresis, be difficult to carry out accurate mathematical modeling, thereby the kinesiology of mechanical hand and Dynamic Modeling also have non-linear and uncertain, adopt traditional control method such as PID to be difficult to find suitable control parameter, simultaneously in robot control, because the polytropy of its pose, load needs constantly to adjust the control parameter.So this utility model is applied to the controller design of robot for healing hand function with Based Intelligent Control, eliminates and weaken the intrinsic departure of bringing because of Dynamic Modeling is inaccurate.The control flow of robot for healing hand function control system may further comprise the steps as shown in Figure 5:
(1) encourage the patient to suffer from hands and carry out autonomic movement, angular transducer detects the movement angle in each joint in real time, and reaches the expected angle of target, i.e. the target setting angle in each joint at last according to predetermined each joint of training mode computation;
(2) judge whether each joint of trouble hands reaches the angle on target of setting, if reached then flow process end of angle on target;
(3) judge that the patient suffers from hands and whether stops autonomic movement, then increase the pneumatic muscles auxiliary force by electromagnetic proportional valve if stop;
(4) utilize the movement angle in each joint of the real-time detection of cancerous hands of angular transducer, if the angle on target that each joint reaches setting then flow process finish;
(5) force transducer detects the pneumatic muscles auxiliary force in real time, obtains in conjunction with angular transducer and suffers from hands state and motion feature, is in the then flow process end of high-drag (spasm) state if suffer from hands;
(6) judge whether whether suffer from the hands autonomic movement stops, reaching maximum (saturation force) if stop then to judge the pneumatic muscles auxiliary force, otherwise return step (4);
(7) if pneumatic muscles auxiliary force unsaturation then increases the pneumatic muscles auxiliary force by electromagnetic proportional valve, return step (4); If auxiliary force is saturated then fully by suffering from the target setting angle that the hands autonomic movement reaches each joint, suffers from the hands autonomic movement and stop then flow process end.
Preferably, this utility model also can comprise surface myoelectric (Surface Electromyogram, sEMG) electrode 700 and EMG amplifier 800, aim to provide a kind of based on myoelectricity biofeedback technology (Electromyogram-based Biofeedback, EMGBF) robot for healing hand function control system, as shown in Figure 6.During use, sEMG electrode 700 sticks on patient's hand or forearm, the agonist that plays a major role in the detection of cancerous hands movement function rehabilitation training process and the sEMG signal of Antagonistic muscle, after amplifying, EMG amplifier 800 all wave rectifications import controllers 100 by A/D capture card 200, extract patient's active exercise wish and suffer from the hands state, be used for the Based Intelligent Control and the rehabilitation efficacy evaluation of robot.
Experiment shows, the existence of active exercise wish has important positive impact to rehabilitation efficacy, this utility model will be that new feedback loop is set up at the center with patient, based on the further research and pay attention to the initiatively application of wish of human brain of sEMG signal, strengthen in the neural rehabilitation stimulation and integration process to kinetic system.But, show as the wave amplitude increase of myoelectrical activity and the improvement of frequency spectrum when muscle makes progress after the rehabilitation, so the application of EMGBF in the healing robot control system is more extensive based on the recovery that the bio information of EMG feeds back the accelerated motion function.But sEMG itself is a kind of fainter signal of telecommunication, be subject to interference effect, its amplitude has randomness, this utility model is to suffering from the agonist and Antagonistic muscle such as the extensor digitorum that play a major role in the hands movement functional training process, referring to that the multichannel sEMG of musculus flexor, palmaris longus, abductor digiti minimi etc. carries out time frequency analysis, extract the principal character parameter, patient's hands movement function is carried out quantitative assessment such as muscle active force, exercise duration, motor coordination function etc., provide to greatest extent and prevent muscle spasm and the required trouble limb state parameter of Based Intelligent Control decision analysis.
Preferably, this utility model also can adopt computer 900 that healing hand function treatment virtual environment interface is provided, and is connected in controller 100, as shown in Figure 7.Controller 100 is with the pneumatic muscles power of force transducer 400 inputs, the joint angles of angular transducer 500 inputs, parameters such as the angle on target in each joint are passed to computer 900, computer 900 realizes suffering from the quantitative assessment of hands movement function rehabilitation training process and rehabilitation efficacy according to input parameter, comprise thumb and terminal current location and the movement locus of all the other four fingers, the speed of each joint motions and stationarity, the deviation of finger tips movement locus and target trajectory, the size of robot auxiliary force, the evaluation of indexs such as whether the functional training task completes successfully, and utilize the augmented reality technology to feed back to the patient, virtual scene that computer is generated and information are added to and realize enhancing to reality in the real scene, a kind of rehabilitation virtual environment is provided, comprises the computer virtual recreation, training beginning and the prompting that finishes, training effect's vision and auditory feedback.This mode can be when robot offers patient's mechanical assistant, the quantitative assessment of rehabilitation training process and rehabilitation efficacy is fed back to the patient in real time, and utilize computer game to excite patient's training interest, to overcome the problem that the patient initiatively participates in training in the current rehabilitation training enthusiasm is difficult to improve.Rehabilitation training based on virtual environment also combines with network in addition, has the advantage of remote rehabilitation robot system.
Claims (4)
1, a kind of apparel type robot for healing hand function is characterized in that:
The inlet end of first, second pneumatic muscles (11,4) all links to each other with mechanical arm (1) rear end;
Mechanical arm (1) front portion is equipped with supports pulley yoke (26), supports pulley (13) and first pinch roller (14) and is installed on the support pulley yoke (26), supports pulley yoke (26) the place ahead metacarpophalangeal joints revolute pair (18,19) is installed; Angle pulley (15) and second pinch roller (16) are installed in metacarpophalangeal joints revolute pair (18,19) front upper place, and rotatable finger holder support (21) is installed in the below, pull bar (17) and branch are installed on finger holder support (21) refer to holder (22); Be fixed with rigidity cord (12) on the pull bar (17), cord passes the gap of angle pulley (15) and second pinch roller (16) and passes the gap of supporting pulley (13) and first pinch roller (14) again, is connected with the blind end of first pneumatic muscles (11); Metacarpophalangeal joints revolute pair (18,19) front lower place is equipped with is close to the finger tabletting (24) of pointing the back; Between metacarpophalangeal joints revolute pair (18,19) and the finger tabletting (24) slide rail (25) is installed;
The place ahead one side of mechanical arm (1) is equipped with first thumbstall (2) and second thumbstall (3), and an end of thumb support (5) links to each other with mechanical arm, and the middle part links to each other with the blind end of second pneumatic muscles (4), and the other end links to each other with second thumbstall (3).
2, the control system of the described robot for healing hand function of a kind of claim 1 is characterized in that: it comprises controller (100), A/D capture card (200), signal pre-processing circuit (300), force transducer (400), angular transducer (500) and electromagnetic proportional valve (600);
Force transducer (400) comprises first force transducer (9) and second force transducer (10), one end of first force transducer (9) is fixed on mechanical arm (1) rear end, the other end connects the inlet end of first pneumatic muscles (11), one end of second force transducer (10) also is fixed on mechanical arm (1) rear end, and the other end links to each other with the inlet end of second pneumatic muscles (4);
Angular transducer (500) comprises first angular transducer (6), second angular transducer (20) and third angle degree pick off (23); Third angle degree pick off (6) is installed in thumb support (5) rotating shaft place, and first angular transducer (20) is installed in the rotating shaft place of metacarpophalangeal joints revolute pair (18), (19), and second angular transducer (23) is installed in and refers to rotation place of holder support (21);
Electromagnetic proportional valve (600) links to each other with the inlet end of first, second pneumatic muscles (11), (4);
Signal pre-processing circuit (300) links to each other with force transducer (400) with angular transducer (500), sensor signal is carried out amplification filtering after, link to each other with controller (100) by A/D capture card (200).
3, control system according to claim 2, it is characterized in that: this system also comprises the surface myoelectric electrode (700) and the myoelectricity amplifier (800) of serial connection, the other end of myoelectricity amplifier (800) passes through signal pre-processing circuit (300) and links to each other with controller (100) with A/D capture card (200) successively, during use, surface myoelectric electrode (700) contacts with first, second pneumatic muscles (11,4).
4, according to claim 2 or 3 described control system, it is characterized in that: this system also comprises the computer (900) that links to each other with controller (100).
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