CN204147234U - Elbow joint healing robot control device - Google Patents
Elbow joint healing robot control device Download PDFInfo
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- CN204147234U CN204147234U CN201420576472.7U CN201420576472U CN204147234U CN 204147234 U CN204147234 U CN 204147234U CN 201420576472 U CN201420576472 U CN 201420576472U CN 204147234 U CN204147234 U CN 204147234U
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Abstract
This utility model relates to a kind of elbow joint healing robot control device, by selecting the training of passive exercise button, offside button, active training button, in conjunction with action key, muscle acquisition module and motor-drive circuit, complete by the action of actuation of keys control hemiplegic arm, by the healthy arm action control action of hemiplegic arm and any selection by normal Training Control arm action 3 kinds of modes, user can according to own health status today, select training method, meet each Phase patient's demand, bring great convenience to user.
Description
Technical field
This utility model relates to a kind of armarium control device, particularly a kind of elbow joint healing robot control device.
Background technology
The rehabilitation of hemiplegic patient is a current big hot topic technology.The most frequently used is clinically motion physical therapy, is divided into: passive exercise and driven motions.No matter which kind of moves, and nearly all usually carries out man-to-man continuous passive exercise with freehand manner or by mechanical implement to suffering limb by doctor at present, repeatedly carries out Occupational therapy.Until the motion of patient's suffering limb is until it can reappear normal action.In the training process, treatment skill, the dynamics for the treatment of physician serve mastery reaction factors such as control, muscle power and moods, thus, traditional clinical sports rehabilitation has rehabilitation inefficiency, doctor's labor intensity is large, patient's sense of participation is low, training effect and evaluation result are easily subject to the limitations such as doctor's subjective consciousness impact, brings a lot of inconvenience to patient and doctor.
Upper limb rehabilitation robot domestic at present has passive exercise function, and so-called passive exercise is the action power-assisted user execution by presetting, but training process is dull, and patient's degree of participation is low, can not embody the initiative of user.
Summary of the invention
This utility model is for the single problem of present healing robot training mode, proposes a kind of elbow joint healing robot control device, meets each Phase patient's demand.Patient can realize difference in functionality demand according to the wish of oneself by changing control mode, brings great convenience to user.
The technical solution of the utility model is: a kind of elbow joint healing robot control device, comprises training method selection key, action key, logic circuit, signal processing circuit, anglec of rotation module, muscle acquisition module, motor-drive circuit;
Training method selection key comprises passive exercise button, offside training button, active training button, and action key comprises rising, declines, and stops key; Rotating signal is sent logic circuit by anglec of rotation module;
Passive exercise button and action key signal input logic circuit process output action command signal, by signal processing circuit process to motor-drive circuit, complete the control of hemiplegic arm;
Hemiplegia side arm and healthy side arm stick electromyographic electrode, offside training key-press input logic circuit, logic circuit receives the motor message of healthy side arm by muscle acquisition module, logic circuit exports according to the motor message process of healthy side arm, by signal processing circuit process to motor-drive circuit, complete the control of hemiplegic arm;
Hemiplegia side arm sticks electromyographic electrode, active training key-press input logic circuit, and logic circuit gathers fatigue detecting signal by muscle acquisition module, and logic circuit output to motor-drive circuit, completes the control of hemiplegic arm by signal processing circuit process.
Described myoelectricity acquisition module gathers electromyographic signal by electromyographic electrode, electromyographic signal carries out impedance matching and differential amplification by high input impedance instrument amplifier, after complete filtering through second order Butterworth LPF and bivalent high-pass filter, then suppress Hz noise through 50HZ point resistance wave filter, finally flow to logic circuit through gain-adjusted amplifier again.
The beneficial effects of the utility model are: this utility model elbow joint healing robot control device, overcomes apparatus function Single-issue, can need and wish selection training method, have certain effect of helping the disabled according to client.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of control in this utility model control method, driving, acquired signal;
Fig. 2 is the schematic diagram of electromyographic signal sampling in this utility model control method.
Detailed description of the invention
Control as shown in Figure 1, drive, the schematic diagram of acquired signal, different training modes is selected by the control mode of button, training method selection key 101 arranges passive exercise button, offside training button, active training button, and action key 102 has rising, decline, stops key.Under passive exercise pattern: send instruction by action key 102, process through logic circuit 103 and export, processed by passive exercise circuit 104 and complete hemiplegic arm carry arm to motor-drive circuit 110 or put the control of arm.Under offside training mode: all stick electromyographic electrode at hemiplegia side arm and healthy side arm, logic circuit 103 receives the motor message of healthy side arm by muscle acquisition module 107, logic circuit 103 exports according to the motor message process of healthy side arm, is completed hemiplegic arm carry arm by the process of offside training/active training circuit 105 or is put the control of arm to motor-drive circuit 110.Active training: arm sticks electromyographic electrode in hemiplegia side, logic circuit 103 outputting standard training method, completes hemiplegia side carry arm or puts arm action, carrying out fatigue detecting 108 simultaneously.
The introducing of good myoelectricity acquisition module 107 is primary prerequisites of myoelectrically controlled hand, is illustrated in figure 2 the schematic diagram of electromyographic signal sampling.First gather electromyographic signal by electromyographic electrode 201, the effect of high input impedance instrument amplifier 202 is impedance matching and differential amplification.Common mode rejection circuit 203 has high cmrr, amplification is carried out to the differential signal exported from high input impedance buffer amplifier 202 and obtains Single-end output signal, after complete filtering through second order Butterworth LPF 204 and bivalent high-pass filter 205.50HZ wave trap selected element resistance wave filter 206, some resistance wave filter has regulable center frequency and does not affect the characteristic of fading depth, convenient fine setting.Last again through gain-adjusted amplifier 207, control amplification in a suitable scope, finally flow to single-chip microcomputer 103.Logic circuit 103, after acquisition electromyographic signal, carries out respective handling to it.First judge that whether the electromyographic signal accessed is normal.Depart from detection 106 pairs of electromyographic signals by leading to detect, to the comparison of exceptional value, whether determining to lead, it is normal to connect, if connect abnormal, then indicates work abnormal.Tired judgement is realized to low-frequency range skew by the median frequency of electromyographic signal frequency spectrum.If the fatigue of detecting, then deconditioning.When training, the anglec of rotation module 109 Real-time Collection anglec of rotation, to guarantee that system cloud gray model is in the scope of a safety.Logic circuit 103 sends unlike signal to drive circuit 110 according to the eigenvalue implementing to catch, and driving chip is drive motors again, completes corresponding actions.
Described myoelectricity recognition methods is the method by time domain-frequency-domain analysis, by the common analysis of temporal signatures and frequency domain character, the standard of providing is cranked arm and is put the characteristic quantity of arm, when only having the electromyographic signal of user to meet this characteristic quantity, just drives healing robot to complete corresponding actions.
Device, by anglec of rotation module 109 real-time sampling, ensures that the anglec of rotation of elbow joint frame for movement is in safety range.Two-way ADC passage catches electromyographic signal, obtains frequency domain information, then obtain integrated value, peak-to-peak value, the information such as median frequency, carry out simulation and comparison to different actions, finally determine the intention of user, and expressed by drive motors by FFT conversion.
Claims (2)
1. an elbow joint healing robot control device, is characterized in that, comprises training method selection key, action key, logic circuit, signal processing circuit, anglec of rotation module, muscle acquisition module, motor-drive circuit;
Training method selection key comprises passive exercise button, offside training button, active training button, and action key comprises rising, declines, and stops key; Rotating signal is sent logic circuit by anglec of rotation module;
Passive exercise button and action key signal input logic circuit process output action command signal, by signal processing circuit process to motor-drive circuit, complete the control of hemiplegic arm;
Hemiplegia side arm and healthy side arm stick electromyographic electrode, offside training key-press input logic circuit, logic circuit receives the motor message of healthy side arm by muscle acquisition module, logic circuit exports according to the motor message process of healthy side arm, by signal processing circuit process to motor-drive circuit, complete the control of hemiplegic arm;
Hemiplegia side arm sticks electromyographic electrode, active training key-press input logic circuit, and logic circuit gathers fatigue detecting signal by muscle acquisition module, and logic circuit output to motor-drive circuit, completes the control of hemiplegic arm by signal processing circuit process.
2. elbow joint healing robot control device according to claim 1, it is characterized in that, described myoelectricity acquisition module gathers electromyographic signal by electromyographic electrode, electromyographic signal carries out impedance matching and differential amplification by high input impedance instrument amplifier, after complete filtering through second order Butterworth LPF and bivalent high-pass filter, then suppress Hz noise through 50HZ point resistance wave filter, finally flow to logic circuit through gain-adjusted amplifier again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420576472.7U CN204147234U (en) | 2014-10-08 | 2014-10-08 | Elbow joint healing robot control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420576472.7U CN204147234U (en) | 2014-10-08 | 2014-10-08 | Elbow joint healing robot control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204147234U true CN204147234U (en) | 2015-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420576472.7U Expired - Fee Related CN204147234U (en) | 2014-10-08 | 2014-10-08 | Elbow joint healing robot control device |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105287166A (en) * | 2015-12-02 | 2016-02-03 | 厦门大学 | Wearable elbow joint rehabilitation training robot |
| CN111991185A (en) * | 2020-08-27 | 2020-11-27 | 滕德群 | Electric arm training instrument |
-
2014
- 2014-10-08 CN CN201420576472.7U patent/CN204147234U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105287166A (en) * | 2015-12-02 | 2016-02-03 | 厦门大学 | Wearable elbow joint rehabilitation training robot |
| CN105287166B (en) * | 2015-12-02 | 2018-09-04 | 厦门大学 | Wearable healing and training elbow joint robot |
| CN111991185A (en) * | 2020-08-27 | 2020-11-27 | 滕德群 | Electric arm training instrument |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150211 Termination date: 20201008 |