CN202943642U - Meal assisting robot capable of inhibiting hand tremor - Google Patents
Meal assisting robot capable of inhibiting hand tremor Download PDFInfo
- Publication number
- CN202943642U CN202943642U CN 201220669843 CN201220669843U CN202943642U CN 202943642 U CN202943642 U CN 202943642U CN 201220669843 CN201220669843 CN 201220669843 CN 201220669843 U CN201220669843 U CN 201220669843U CN 202943642 U CN202943642 U CN 202943642U
- Authority
- CN
- China
- Prior art keywords
- joint
- motion arm
- spoon
- encoder
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a meal assisting robot capable of inhibiting hand tremor. At present, no meal assisting robot special for inhibiting the hand tremor for a tremor patient during a meal exists. The meal assisting robot comprises a robot base (1), wherein a control system (2) is mounted on the robot base; the control system and a motion arm A (28) are connected with a motion arm B (29) by a shoulder joint (5); the shoulder joint is connected with a servo motor A (4) provided with an encoder A (3); the motion arm B is connected with a motion arm C (30) by an elbow joint (8); the motion arm C is connected with a servo motor B (7) provided with an encoder B (6), and connected with a motion arm D (31) by a pitching joint (10); the motion arm D is connected with a rotary joint (11); a spoon (12) is mounted on the rotary joint; and a three-dimensional force sensor (13) is mounted on a spoon handle of the spoon, and connected with the control system by an RS485 (Recommended Standard 485) communication interface. The meal assisting robot is used for inhibiting the hand tremor for the tremor patient during the meal.
Description
technical field:
the utility model relates to a kind of dining assistant robot that hand trembles that suppresses.
background technology:
usually the unwillingly phenomenon of vibration occurs in a part of human body, medically is referred to as " trembling ".Trembling is a kind of limb motion of involuntary, regular, near sinusoidal reciprocally swinging, is common in people's four limbs and head, is one of modal neurology department disease symptoms, as essential tremor (ET), Parkinson's (PD) etc.Essential tremor (essential tremor, ET) is a kind of common dyskinesia, and family's clustering phenomena is often arranged, and any age all can fall ill, average onset age one's mid-40s.Incidence of disease Parkinson's in rising trend in recent years, except limb tremor, also with symptoms such as splinting and hypokinesis.Limb tremor is divided into physiologic tremor and pathologic two classes of trembling by the cause of disease.Physiologic tremor is a kind of intrinsic the trembling of human body, and proprietary limbs all have this phenomenon, just strong and weak different; It is a kind of the trembling of bringing due to the pathology of human body that pathologic is trembled, and as parkinsonism and lesions on cerebellum etc., has brought very big inconvenience to numerous patients' daily life, even makes can't take care of oneself of patient.
medical circle has been carried out the research of decades to tremble genesis mechanism and drug therapy thereof, does not also treat so far the very effective method of trembling.Limb tremor is arm particularly, affects fine movement, diet and writes, and the daily life to the patient when serious brings inconvenience.The scientific research personnel attempted by " non-medicine " approach both at home and abroad in recent years, comprehensive utilization Robotics development and the exploitation inhibition convalescence device that trembles, help the limb tremor patient to overcome dyskinesia, recover self care ability, tentatively obtained medical circle and limb tremor patient's approval.
utilize the shake convalescence device that presses down of Robotics to adopt two kinds to press down the shake method: a kind of is " passive " the inhibitory control method of trembling, mainly joint damping and the factor of inertia by continuous adjusting robot system, and then change the biomechanics characteristic of whole man-machine system, reach the purpose that weakens the limb tremor motion; Another kind is " initiatively " the inhibitory control method of trembling, and is mainly by estimating in real time the limb tremor motor message, controls to press down the shake device and produce the motion contrary with the direction of motion of trembling, and reaches and offsets the purpose that limb tremor moves.
at present the wider dining assistant robot of application is the Handy1 of Britain, " the My spoon " of Japanese Secom company etc.Handy1 is current the most successful a kind of dining assistant robot in the world, and it has 5 frees degree and, with the robotic arm of paw, arm can be got meal neatly from 7 grid of dining pallet." My Spoon " only needs a small amount of operating lever operation and push-botton operation just food can be delivered to mouth, then according to diner's feed speed, assists and has dinner.United States Patent (USP) " SELF-FEEDING APPLIANCE " (US4398857) discloses a kind of meal utensil that independently helps, and the use object is person with double disabled arms.Above these several dining assistant robots are all for patient's development and application of congenital physical disabilities, spinal cord injury, muscular atrophy disease.Also do not have at present a kind of special in suppressing essential tremor, the op parkinson's patient's dining assistant robot that hand trembles while having a dinner that trembles.
the utility model content:
the purpose of this utility model is to provide a kind of dining assistant robot that hand trembles that suppresses, simple in structure, easy to operate, has solved the inconvenience on the patient's diet that trembles, and has improved patient's daily life quality.
above-mentioned purpose realizes by following technical scheme:
a kind ofly suppress the dining assistant robot that hand trembles, its composition comprises: support, control system is arranged on described support, described control system is connected with motion arm B by shoulder joint with motion arm A, described shoulder joint is connected with the servomotor A that encoder A is installed, described motion arm B is connected with motion arm C by elbow joint, described motion arm C is connected with the servo motor B that encoder B is installed, described motion arm C is connected with motion arm D by facing upward the joint of bowing, described motion arm D is connected with revolute joint, on described revolute joint, spoon is installed, on the spoon of described spoon, three-dimensional force sensor is installed, described three-dimensional force sensor is connected with described control system by the RS485 communication interface.
the dining assistant robot that described inhibition hand trembles, described pitching joint, described revolute joint are all installed the revolution positive stop, limit the luffing angle θ of described spoon
3
for 45 ° ~ 45 ° of ﹣, limit the angle of revolution θ of described spoon
4
for 30 ° ~ 30 ° of ﹣, on described pitching joint, the bidirectional rotation damper is installed.
the dining assistant robot that described inhibition hand trembles, described control system comprises host computer, described host computer is connected with single-chip microcomputer, described single-chip microcomputer drives loop, elbow joint to drive loop to be connected with shoulder joint, described shoulder joint drives loop to be connected with described shoulder joint, and described elbow joint drives loop to be connected with described elbow joint.
the dining assistant robot that described inhibition hand trembles, described single-chip microcomputer drives the servo-driver A in loop, described elbow joint to drive the servo-driver B in loop to be connected with described shoulder joint, described servo-driver A is connected with described servomotor A by positioner A, speed control A, described servomotor A is connected with described encoder A, and described encoder A is connected with described single-chip microcomputer; Described servo-driver B is connected with servo motor B by positioner B, speed control B, and described servo motor B is connected with described encoder B, and described encoder B is connected with described single-chip microcomputer.
beneficial effect:
1. the utility model is equipped with three-dimensional force sensor on the end kettleholder of dining assistant robot, hand intention movement by this power sensor senses eater, control system is according to the purpose force signal extracted, control shoulder, the elbow joint motion of dining assistant robot, thereby retrain movement velocity and the movement locus of this robot end's spoon, reach the purpose that when suppressing the patient and having meal, hand trembles.
2. the thought of the utility model based on collaborative robot, computer is controlled, and the hand track by dining assistant robot when having a dinner retrains control, and the patient's that suppresses to tremble hand trembles.On robot end's kettleholder, three-dimensional force sensor is installed, be used for detecting eater's hand exercise, control system is according to the size of the hand purpose signal extracted, the shoulder, elbow joint of controlling dining assistant robot with fast, in, slow three kinds of different joint rotating speeds, realize that the constraint of velocity of dining assistant robot is controlled and track constraint control.The motion of trembling of hand when the patient that so both suppressed to tremble has a dinner, reduce again to press down the impact of shake on the human body intention movement as much as possible.
3. pitching joint, the revolute joint of spoon of the present utility model are controlled by the eater, and the human and computer people cooperates jointly to have completed the dining process.At the pitching joint, the bidirectional rotation damper is installed, purpose is to suppress arm tremor may, on the impact of spoon elevating movement, make the pitching of spoon soft slowly; The revolution positive stop is all installed at pitching joint and revolute joint place at spoon, limits luffing angle and the angle of revolution of spoon, to meet the needs of dining.
4. the utility model is when the patient that trembles has a dinner, and dining assistant robot is placed in the opposite of eater on dining table, its end spoon be placed on service plate directly over, service plate is placed on eater's dead ahead.The speed difference of having meal according to the normal person, the size of the purpose force signal that control system records by the power sensor, control dining assistant robot realize fast, in, slow three kinds of different dining speed, solved the inconvenience on the patient's diet that trembles, improved patient's daily life quality.
the accompanying drawing explanation:
accompanying drawing 1 is structural representation of the present utility model.
accompanying drawing 2 is theory diagrams of control system in accompanying drawing 1.
accompanying drawing 3 is theory diagrams that in accompanying drawing 2, shoulder joint drives loop.
accompanying drawing 4 is theory diagrams that in accompanying drawing 2, elbow joint drives loop.
accompanying drawing 5 is schematic diagrames of four subregions of service plate in accompanying drawing 1.
the specific embodiment:
embodiment 1:
a kind ofly suppress the dining assistant robot that hand trembles, its composition comprises: support 1, control system 2 is arranged on described support, described control system is connected with motion arm B29 by shoulder joint 5 with motion arm A28, described shoulder joint is connected with the servomotor A4 that encoder A3 is installed, described motion arm B is connected with motion arm C30 by elbow joint 8, described motion arm C is connected with the servo motor B 7 that encoder B6 is installed, described motion arm C is connected with motion arm D31 by facing upward the joint 10 of bowing, described motion arm D is connected with revolute joint 11, spoon 12 is installed on described revolute joint, three-dimensional force sensor 13 is installed on the spoon of described spoon, described three-dimensional force sensor is connected with described control system by the RS485 communication interface.
described single-chip microcomputer can be selected the AVR8535 single-chip microcomputer.
shoulder joint is driven by servomotor A, its rotation speed n
1
, rotational angle theta
1
by encoder A, detected, elbow joint is driven by servo motor B, its rotation speed n
2
, rotational angle theta
2
by encoder B, detected, three-dimensional force sensor is used for detecting eater's hand exercise, and control system, according to the hand purpose signal extracted, is controlled shoulder joint, elbow joint motion, movement velocity and the movement locus of constrained robot's end spoon, reach the purpose that when suppressing the patient and having meal, hand trembles.
embodiment 2:
the dining assistant robot that above-mentioned inhibition hand trembles, described pitching joint, described revolute joint are all installed the revolution positive stop, limit the luffing angle θ of described spoon
3
for 45 ° ~ 45 ° of ﹣, limit the angle of revolution θ of described spoon
4
for 30 ° ~ 30 ° of ﹣, on described pitching joint, bidirectional rotation damper 9 is installed.
embodiment 3:
the dining assistant robot that above-mentioned inhibition hand trembles, described control system as shown in Figure 2, comprise host computer, described host computer is connected with single-chip microcomputer, described single-chip microcomputer drives loop 23, elbow joint to drive loop 25 to be connected with shoulder joint, described shoulder joint drives loop to be connected with described shoulder joint, and described elbow joint drives loop to be connected with described elbow joint.
embodiment 4:
the dining assistant robot that above-mentioned inhibition hand trembles, described single-chip microcomputer drives the servo-driver A in loop, described elbow joint to drive the servo-driver B in loop to be connected with described shoulder joint, described servo-driver A controls servomotor A motion by positioner A26, speed control A27, described servomotor A is connected with described encoder A, and described encoder A is connected with described single-chip microcomputer; Described servo-driver B controls the servo motor B motion by positioner B32, speed control B33, and described servo motor B is connected with described encoder B, and described encoder B is connected with described single-chip microcomputer.
embodiment 5:
control method is shaken in pressing down of the dining assistant robot that above-mentioned inhibition hand trembles, three-dimensional force sensor detects diner 16 hand exercise, the host computer of control system gathers the measuring-signal of described three-dimensional force sensor, after Real-Time Filtering, obtains described eater's intention movement signal; According to this intention movement signal, described host computer passes to single-chip microcomputer through calculating by speed command signal, position command signal; Described single-chip microcomputer sends command signal to servo-driver A, servo-driver B, controls respectively shoulder joint and drives loop, elbow joint to drive loop, makes shoulder joint, elbow joint motion; In motion process, controlled the motion of pitching joint, revolute joint by described eater.
described single-chip microcomputer can be selected the AVR8535 single-chip microcomputer.
while having a dinner, dining assistant robot is placed on dining table 14, eater's opposite, and the end spoon be positioned at service plate 15 directly over, service plate is placed on the dead ahead of eater on dining table.
shoulder joint is driven by servomotor A, its rotation speed n
1
, rotational angle theta
1
by encoder A, detected, elbow joint is driven by servo motor B, its rotation speed n
2
, rotational angle theta
2
by encoder B, detected, three-dimensional force sensor is used for detecting eater's hand exercise, and control system, according to the hand purpose signal extracted, is controlled shoulder joint, elbow joint motion, movement velocity and the movement locus of constrained robot's end spoon, reach the purpose that when suppressing the patient and having meal, hand trembles.
embodiment 6:
control method is shaken in pressing down of the dining assistant robot that above-mentioned inhibition hand trembles, described single-chip microcomputer is to described servo-driver A, the described servo-driver B signal that sends instructions, described servo-driver A passes to positioner A by position command, described positioner A passes to speed control A by speed command, described speed control A passes to servomotor A by signal, described servomotor A controls described shoulder joint kinesitherapy, now, the encoder A be connected with described servomotor is to tach signal, angular signal is detected, then pass to respectively described speed control A, described single-chip microcomputer.
embodiment 7:
control method is shaken in pressing down of the dining assistant robot that above-mentioned inhibition hand trembles, described servo-driver B by position command pass to positioner B, described positioner B passes to speed control B by speed command, described speed control B passes to servo motor B by signal, described servo motor B is controlled described elbow joint motion, now, the encoder B be connected with described servomotor is detected tach signal, angular signal, then passes to respectively described speed control B, described single-chip microcomputer.
embodiment 8:
control method is shaken in pressing down of the dining assistant robot that above-mentioned inhibition hand trembles, and described pitching joint, described revolute joint are all installed the revolution positive stop, limit the luffing angle θ of described spoon
3
for 45 ° ~ 45 ° of ﹣, limit the angle of revolution θ of described spoon
4
for 30 ° ~ 30 ° of ﹣, on described pitching joint, the bidirectional rotation damper is installed.
embodiment 9:
control method is shaken in pressing down of the dining assistant robot that above-mentioned inhibition hand trembles, as shown in Figure 1, and before the beginning of having a dinner, robot end's spoon is positioned at original position A point, service plate is positioned at the B point, and eater's mouth is at the C point, the plane that defining virtual plane 17 was 3 of A, B, C.Have a dinner after beginning, robot end's spoon is selected by A B or is selected as getting the meal process by C B, by B C point, is the food delivery process.Control system control end spoon is the straight path in virtual plane by A B point or by C A point, by B C point or be the arc track in virtual plane by C B point.
embodiment 10:
control method is shaken in pressing down of the dining assistant robot that above-mentioned inhibition hand trembles, after control system is extracted the intention movement signal, control end spoon starts to be ordered by A B gets the meal motion, in motion process with the pitching joint of being controlled by the eater, the motion of revolute joint; After getting and having eaten, control system starts the food delivery campaign of being ordered by B C according to purpose signal controlling machine robot end spoon, and food delivery is after C point, and the eater starts dining; The meal of getting that then control system control end spoon is ordered by C B moves, and gets after the meal, controls the food delivery campaign that the end spoon is ordered by B C; Have a dinner while finishing, control the end spoon by C A point, after reaching the A point, the dining assistant robot stop motion.
embodiment 11:
control method is shaken in pressing down of the dining assistant robot that above-mentioned inhibition hand trembles, and as shown in Figure 5, service plate can be selected the service plate of four subregion B1, B2, B3 and B4, now manually transposition of service plate.Before have meal starting, the B1 of service plate can be placed on dining assistant robot the end spoon under, eater's dead ahead.After have meal starting, the eater can lazy Susan, respectively B2, B3 or B4 is inserted to the dead ahead of oneself, and the eater just can have several different foods like this.
Claims (4)
1. one kind is suppressed the dining assistant robot that hand trembles, its composition comprises: support, it is characterized in that: control system is arranged on described support, described control system is connected with motion arm B by shoulder joint with motion arm A, described shoulder joint is connected with the servomotor A that encoder A is installed, described motion arm B is connected with motion arm C by elbow joint, described motion arm C is connected with the servo motor B that encoder B is installed, described motion arm C is connected with motion arm D by facing upward the joint of bowing, described motion arm D is connected with revolute joint, on described revolute joint, spoon is installed, on the spoon of described spoon, three-dimensional force sensor is installed, described three-dimensional force sensor is connected with described control system by the RS485 communication interface.
2. the dining assistant robot that inhibition hand according to claim 1 trembles is characterized in that: described pitching joint, described revolute joint are all installed the revolution positive stop, limit the luffing angle θ of described spoon
3for 45 ° ~ 45 ° of ﹣, limit the angle of revolution θ of described spoon
4for 30 ° ~ 30 ° of ﹣, on described pitching joint, the bidirectional rotation damper is installed.
3. the dining assistant robot that inhibition hand according to claim 1 and 2 trembles, it is characterized in that: described control system comprises host computer, described host computer is connected with single-chip microcomputer, described single-chip microcomputer drives loop, elbow joint to drive loop to be connected with shoulder joint, described shoulder joint drives loop to be connected with described shoulder joint, and described elbow joint drives loop to be connected with described elbow joint.
4. the dining assistant robot that inhibition hand according to claim 1 and 2 trembles, it is characterized in that: described single-chip microcomputer drives the servo-driver A in loop, described elbow joint to drive the servo-driver B in loop to be connected with described shoulder joint, described servo-driver A is connected with described servomotor A by positioner A, speed control A, described servomotor A is connected with described encoder A, and described encoder A is connected with described single-chip microcomputer; Described servo-driver B is connected with servo motor B by positioner B, speed control B, and described servo motor B is connected with described encoder B, and described encoder B is connected with described single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220669843 CN202943642U (en) | 2012-12-07 | 2012-12-07 | Meal assisting robot capable of inhibiting hand tremor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220669843 CN202943642U (en) | 2012-12-07 | 2012-12-07 | Meal assisting robot capable of inhibiting hand tremor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202943642U true CN202943642U (en) | 2013-05-22 |
Family
ID=48419355
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220669843 Expired - Fee Related CN202943642U (en) | 2012-12-07 | 2012-12-07 | Meal assisting robot capable of inhibiting hand tremor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202943642U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990669A (en) * | 2012-12-07 | 2013-03-27 | 哈尔滨理工大学 | Meal-assistance robot capable of suppressing tremor of hands and tremor-suppressing control method |
| CN105759657A (en) * | 2016-05-13 | 2016-07-13 | 京东方科技集团股份有限公司 | Operating device and method |
| WO2018028223A1 (en) * | 2016-08-06 | 2018-02-15 | 深圳市前海安测信息技术有限公司 | Smart bracelet for use in reducing hand tremor for parkinson's disease patient |
| WO2018028220A1 (en) * | 2016-08-06 | 2018-02-15 | 深圳市前海安测信息技术有限公司 | System and method for eliminating hand tremors of patient with parkinson's disease |
| CN108839039A (en) * | 2018-07-24 | 2018-11-20 | 昆山市工业技术研究院有限责任公司 | A kind of semi-automatic dining assistant robot |
-
2012
- 2012-12-07 CN CN 201220669843 patent/CN202943642U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990669A (en) * | 2012-12-07 | 2013-03-27 | 哈尔滨理工大学 | Meal-assistance robot capable of suppressing tremor of hands and tremor-suppressing control method |
| CN105759657A (en) * | 2016-05-13 | 2016-07-13 | 京东方科技集团股份有限公司 | Operating device and method |
| WO2017193866A1 (en) * | 2016-05-13 | 2017-11-16 | 京东方科技集团股份有限公司 | Operating device and operating method |
| CN105759657B (en) * | 2016-05-13 | 2018-09-04 | 京东方科技集团股份有限公司 | Manipulation device and method of operating |
| US10289148B2 (en) | 2016-05-13 | 2019-05-14 | Boe Technology Group Co., Ltd. | Operating device and operating method |
| WO2018028223A1 (en) * | 2016-08-06 | 2018-02-15 | 深圳市前海安测信息技术有限公司 | Smart bracelet for use in reducing hand tremor for parkinson's disease patient |
| WO2018028220A1 (en) * | 2016-08-06 | 2018-02-15 | 深圳市前海安测信息技术有限公司 | System and method for eliminating hand tremors of patient with parkinson's disease |
| CN108839039A (en) * | 2018-07-24 | 2018-11-20 | 昆山市工业技术研究院有限责任公司 | A kind of semi-automatic dining assistant robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202943642U (en) | Meal assisting robot capable of inhibiting hand tremor | |
| CN102990669A (en) | Meal-assistance robot capable of suppressing tremor of hands and tremor-suppressing control method | |
| CN101357097B (en) | Five freedom degree ectoskeleton type upper limb rehabilitation robot | |
| CN108433940A (en) | Upper limb exoskeleton robot based on wheel-chair | |
| CN203724419U (en) | Rehabilitation mechanical arm | |
| CN103767856A (en) | Wearing type five-finger recovery manipulator | |
| CN110548251B (en) | Muscle resistance training instrument for hemiplegic children | |
| CN202821893U (en) | Recovery stand training hospital bed | |
| CN206304098U (en) | A kind of bar adjustable finger function convalescence device long | |
| CN210750116U (en) | Upper limb training device and wrist joint training mechanism thereof | |
| CN204319095U (en) | Wheel chair for function recovery | |
| CN106344364A (en) | Combined multifunctional massage armchair | |
| CN203341966U (en) | Automatic table concentrator for rehabilitation nursing | |
| CN106236278B (en) | A kind of medical-grade plastics gloves free of discontinuities take the taking device of equipment | |
| CN106388940B (en) | A kind of medical-grade plastics gloves intelligently take the taking device of equipment | |
| CN202714433U (en) | Intelligent rotary dinning table | |
| CN206141931U (en) | Suction box device based on cartoning machine | |
| CN106344343B (en) | A kind of adjustable finger function convalescence device of bar length | |
| CN106420061B (en) | A kind of medical-grade plastics gloves intelligently take equipment | |
| CN105965535B (en) | Bionic hand carpomaetacarpal joint of thumb | |
| CN205126759U (en) | Massage machine people | |
| CN213131792U (en) | Upper limb rehabilitation robot with force feedback function | |
| CN203409786U (en) | Detachable mechanical arm capable of being installed on different types of wheel chairs | |
| CN209172878U (en) | A kind of comprehensive autonomous operation control vibration sputum elimination machine | |
| CN208693673U (en) | The hospital bed rehabilitation of anklebone system of multi-locomotion mode can be achieved |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130522 Termination date: 20131207 |