CN207186797U - The medical rehabilitation robot system of multi-modal perceptible feedback - Google Patents
The medical rehabilitation robot system of multi-modal perceptible feedback Download PDFInfo
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- CN207186797U CN207186797U CN201620542929.1U CN201620542929U CN207186797U CN 207186797 U CN207186797 U CN 207186797U CN 201620542929 U CN201620542929 U CN 201620542929U CN 207186797 U CN207186797 U CN 207186797U
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Abstract
The utility model discloses a kind of medical rehabilitation robot system of multi-modal perceptible feedback, including support frame（100）, it is characterised in that in the support frame（100）On be provided with：Multi-modal perception pedal plate structure（200）；Hip structure（300）；Weight support balanced structure（400）；Control system（500）；Safety device；Emotion induction module（600）；Remote communication module（700）；Deng.It solves rehabilitation medical activity in the prior art and relies primarily on medical personnel's completion, and labor intensity is big, the technical problem that training strength standard differs.The utility model replaces medical worker in medical rehabilitation training, substantially reduces human cost, improves the accuracy of rehabilitation training, individual adaptability is stronger, rehabilitation efficacy is good.
Description
Technical field
The present invention relates to a kind of medical rehabilitation robot, more particularly to a kind of medical rehabilitation machine of multi-modal perceptible feedback
People's system.
Background technology
Medical science of recovery therapy is the subject of the Ge Xin branches of medical science one, be mainly concerned with using physical agent and method (including electricity,
Light, heat, sound, plant equipment and active movement) to diagnose, treat and prevent disabled and disease (including pain), eliminate or mitigate
Dysfunction, help them to play residual function, recover its viability, ability to work to return society again.It is mainly directed towards
Chronic patient and the disabled, rehabilitation functionally is emphasized, and be to emphasize body function rehabilitation, make patient not only on body, and
And psychologically and mentally obtain rehabilitation.These features determine rehabilitation, and relative to " treatment " of hospital, often one overflows
Long and lasting process.
Simultaneously as the high expense needed for the in short supply and rehabilitation step of rehabilitation medical personnel, traditional (passes through manpower
) between rehabilitation teacher and patient man-to-man rehabilitation training face the challenge.This high intensity and special rehabilitation intervention means make
Traditional rehabilitation technique can not be only depended on by obtaining us, it would be desirable to by the means of science and technology.Many sides have been developed in medical profession
The method for helping patient to carry out gait rehabilitation.
The introduction of robot science and technology can make healthcare givers avoid the manual labor repeated, focus more on the quality of rehabilitation.Machine
Device people instead of the hand of healthcare givers herein so that healthcare givers by adjust the setting of robot center of gravity be placed on guiding and
On supervision machine people.At present about how design one challenge for catering to run into rehabilitation course completely robot research also
It is very limited.
The content of the invention
For the present invention in the prior art, medical rehabilitation relies primarily on manpower, and convalescence robot technology is immature, using few
Technical problem, there is provided a kind of medical rehabilitation robot system of multi-modal perceptible feedback, imitate to the life rehabilitation action, with up to
To best rehabilitation efficacy.
Therefore, the present invention adopts the following technical scheme that：
A kind of medical rehabilitation robot system of multi-modal perceptible feedback, including support frame (100), it is characterised in that
It is provided with the support frame (100)：
Multi-modal perception pedal plate structure (200), the rehabilitation for providing multiple analog to user act, and receive to make
User's feedack；
Hip structure (300), the rehabilitation for providing hip to user act；
Weight support balanced structure (400), for providing it support when user acts；
Control system (500), instruction is made according to movement locus, coordinate the step in rehabilitation action and crotch is moved simultaneously
Make；
Safety device, in case of emergency safely stopping rehabilitation action；
Emotion induction module (600), for perceiving and feeding back the emotional change of user；
Remote communication module (700), is connected with internet, for the medical personnel for enabling to be in distal end and user in health
Refreshment is exchanged and instructed during practicing；
The multi-modal perception pedal plate structure (200), hip structure (300) and emotion induction module (600) all with
Control system (500) connects.
Further, the multi-modal perception pedal plate structure (200) includes a pair of pedals (201), each pedal
(201) there is the free degree of X-axis, Y-axis, Z axis and θ axle four directions, pedal can be under the driving of the first power set (202)
Rotated around θ axles, meanwhile, pedal can be subjected to displacement along X-axis, Y-axis, Z axis respectively under the second power set (203) effect,
The load cell (204) for sensing the pressure in X-axis, Y-axis and Z-direction, load-transducing are provided with below pedal
Device connection control system (500).
Further, the hip structure (300) includes that the first support of user's hip can be flexibly fixed to
(301), the first support can rotate under the effect of the 3rd power set (302), tilt, bending and stretching.
Further, the weight support balanced structure (400) includes：Be securable to user body harness (401),
Pulley system (402), power set (403), connected between body harness and power set by rope (404) and pulley system
Connect, the weight support balanced structure also includes being used for the tension detecting apparatus for detecting rope tension.
Further, the body harness (401) has the suspender belt for being used for fixing buttocks and pelvis.
Further, the multi-modal perception pedal plate structure (200) is dismountable, and be can be used alone.
Further, the hip structure (300) is dismountable, and be can be used alone.
Further, the support frame (100) include vertical support structure (101), vertically move balladeur train (102) and by
It is dynamic to move horizontally spring structure (103).
Further, the support frame (100) has a set of arm support (104) for being supplied to user's both hands to support.
The medical rehabilitation robot system of the multi-modal perceptible feedback of the present invention, in use, collect user
The information of multiple modalities in rehabilitation action process, such as reaction force, mood, and by those feedback of the information to control system,
So that medical rehabilitation training turns into Custom Prosthesis training activity for Different Individual, meeting individual difference, individual adaptability
Stronger, rehabilitation efficacy is good；Meanwhile by remote communication interface, medical personnel in distal end and user can be enable in rehabilitation
Exchanged and instructed in training process, it is easy to use.To sum up, the present invention can replace curative activity in medical rehabilitation training
Person, human cost is substantially reduced, improve the accuracy of rehabilitation training, rehabilitation efficacy is good.
Brief description of the drawings
Fig. 1 is the structural representation of support frame of the present invention；
Fig. 2, Fig. 3, Fig. 4 a-4e, Fig. 5 a-5b and Fig. 6 are the multi-modal structural representation for perceiving pedal plate structure of the present invention
Figure；
Fig. 7 is the structural representation of hip structure of the present invention；
Fig. 8 a, 8b are the structural representation of weight support balanced structure of the present invention；
Fig. 9 is the detail view of the first support of hip structure of the present invention；
Figure 10 is the detail view of the power set of hip structure of the present invention；
Figure 11 is the first support of hip structure of the present invention and the installation diagram of power set；
Figure 12 is the schematic diagram of the vertical support structure of support frame of the present invention；
Figure 13,14 be weight support balanced structure of the present invention use state diagram；
Figure 15 uses view for the present invention's；
Figure 16 is the fundamental diagram of control system of the present invention；
Figure 17 a, 17b are the fundamental diagram of emotion induction module of the present invention；
Figure 18 is the fundamental diagram of remote communication module of the present invention；
Figure 19 is the fundamental diagram of control system of the present invention.
Embodiment
As shown in figures 1-15, the medical rehabilitation robot system of a kind of multi-modal perceptible feedback of the invention, including support
Framework 100, support frame 100 include vertical support structure 101, vertically move balladeur train 102 and passively move horizontally spring structure
103, the support frame 100 also has a set of arm support 104 for being supplied to user's both hands to support.
It is provided with support frame 100：
Multi-modal perception pedal plate structure 200, the rehabilitation for providing multiple analog to user acts, and receives use
Person's feedack；Multi-modal perception pedal plate structure 200 includes a pair of pedals 201, and each pedal 201 has X-axis, Y
The free degree of axle, Z axis and θ axle four directions, pedal can rotate under the driving of the first power set 202 around θ axles, meanwhile,
Pedal can be subjected to displacement along X-axis, Y-axis, Z axis respectively under the effect of the second power set 203, be provided with below pedal
For sensing the load cell 204 of the pressure in X-axis, Y-axis and Z-direction, load cell connection control system 500.It is more
It is dismountable that mode, which perceives pedal plate structure 200, and be can be used alone, and can also be placed in the present invention with the present invention's
Other devices are used cooperatively.As shown in Fig. 2, Fig. 3, Fig. 4 a-4e, Fig. 5 a-5b and Fig. 6.
Fig. 5 a-5b show that a 6 integrated axle load sensors 204 are located at the lower section of pedal 201, to measure patient
Dynamics.6 axle load sensors 204 measure the load and moment of torsion on pedal 201 using the touch feedback of the pedal, and
And human-computer interaction interface is may be displayed on, medical personnel is adjusted and is controlled, obtain being suitable for the rehabilitation action of individual.Health
Double action is made can be arranged to walk about on flat ground, the different situations such as broken terrain, up or down stair.Connect as patient
The each stage trained, the present invention be arranged as required to different tasks, walked about from flat ground be transitioned into stair walking or
Slope walking etc..Different gait training courses can be provided simultaneously.
Hip structure 300, the rehabilitation for providing hip to user act；Hip structure 300 includes flexibly consolidating
The first support 301 of user's hip is scheduled on, the first support can rotate under the effect of the 3rd power set 302, tilt, curved
Bent and stretching, extension.Hip structure 300 is dismountable, and be can be used alone, and can also be placed in the present invention with the present invention's
Other devices are used cooperatively.As shown in Fig. 7,9-11.
Weight support balanced structure 400, for providing it support when user acts；Weight support balanced structure
400 include：Body harness 401, pulley system 402, the power set 403 of user are securable to, body harness fills with power
Connected between putting by rope 404 with pulley system, the weight support balanced structure also includes being used to detect rope tension
Tension detecting apparatus.As shown in Fig. 8 a, 8b, 13 and 14.Body harness 401 has the suspender belt for being used for fixing buttocks and pelvis,
By using the suspender belt for being attached to buttocks/pelvis, there is provided pelvic stabilization, and adjust the body weight support system to hip structure 300
System.
Control system 500, instruction is made according to movement locus, coordinate the step in rehabilitation action and crotch acts simultaneously；
Figure 19 shows a kind of embodiment of control system of the present invention.
Safety device, in case of emergency safely stopping rehabilitation action；
Emotion induction module 600, for perceiving and feeding back the emotional change of user；17a, 17b show feelings of the present invention
Feel the fundamental diagram of induction module；The physiological signal for being engaged in the patient of some setting rehabilitation tasks is recorded, and is then located
To determine the affective state of patient, affective state information is transfused to control system so as to determine to connect down by controller for reason and identification
The operating process come.Controller send specify instruction the present invention medical rehabilitation robot system, identify who be with machine
The main body that people interacts, then determine specific rehabilitation action.
As shown in 17b, emotion induction module 600 gathers the emotional state information of user first, stores the feelings of user
Not-ready status information, the model of the emotional state of user is established, interacting between customized user and system, update customer impact mould
Type, to reflect the response of user；And can change over time, update and establish the behavior of user, to form a more complete mould
Type.
Remote communication module 700, is connected with internet, for the medical personnel for enabling to be in distal end and user in rehabilitation
Exchanged and instructed in training process.Figure 19 shows the fundamental diagram of remote communication module of the present invention.
In the present invention, in the sense that rehabilitation training is carried out using medical rehabilitation robot system provided by the invention, " make
User " and " patient ", " patient " have same meaning.
The present invention multi-modal perceptible feedback medical rehabilitation robot system, can significantly increase patient nervous system and
Muscle damage or the quality and benefits of dysfunction rehabilitation training.Meanwhile the physical labor intensity of rehabilitation medical personnel is alleviated,
Allow that rehabilitation medical personnel focus on the formulation of rehabilitation scheme, rehabilitation guide, user react observation etc., so as to for
User provides more accurate hurt of rehabilitation scheme.
Different from traditional treadmill formula conveyer belt, the multi-modal perception of medical rehabilitation robot of the invention is ridden hardened
Structure 200 has tactile response, possesses 8 frees degree to help patient lower limb rehabilitation training, each pedal has 4 freedom
Degree, i.e.,：With the free degree on X-axis and Y-axis, Z axis, θ direction of principal axis, by belt transmission, there is Linear actuator, θ axles in X-axis
The servomotor driven with high torque harmonic drive and belt transmission, the also strong inductor of pedal plate structure 200 and adjustable
Pedal annex adjusts the gait training of auxiliary patient by sensing the effect of power between feedback patient and pedal, permits simultaneously
Perhaps patient is in different landform repetition trainings, according to the flat ground of different soft and hard degree, uneven ground and lifting stair ramp
Deng the different gait training scheme of guiding patients design, and allow patient that acceptable training flow is adjusted and preset in training
And scheme.One lasting weight support balanced structure 400 is used for supporting Y-axis caused by patient's action, the displacement on Z axis,
The first support 301 of hip structure 300 has flexible actuator according to crotch's size come adjusting means, the freedom of adjustment gradient
Crotch's torsional freedom of degree and belt transmission.As shown in Figure 17 a, 17b, emotion induction module 600 is " mood intermediary a mould
Block ", ecological signal of the patient when performing each task is collected and recorded to the module, and analyzes the mood shape of patient now
State.By collecting the emotional state information with record storage patient, establish the model of patient's emotional state and produce reciprocal effect
Reflect patient's emotional reactions with time and the change of training.As shown in figure 19, a general computer is by suitably adjusting
After installation application software, it can be led to as the control system of healing robot, Physical Therapist by computer and patient's remote communication
The data for crossing Real Time Observation patient are suggested to provide medical rehabilitation training.
Claims (9)
1. a kind of medical rehabilitation robot system of multi-modal perceptible feedback, including support frame (100), it is characterised in that
It is provided with the support frame (100)：
Multi-modal perception pedal plate structure (200), the rehabilitation for providing multiple analog to user acts, and receives user
Feedack；
Hip structure (300), the rehabilitation for providing hip to user act；
Weight support balanced structure (400), for providing it support when user acts；
Control system (500), instruction is made according to movement locus, coordinate the step in rehabilitation action and crotch acts simultaneously；
Safety device, in case of emergency safely stopping rehabilitation action；
Emotion induction module (600), for perceiving and feeding back the emotional change of user；
Remote communication module (700), is connected with internet, is instructed for the medical personnel for enabling to be in distal end and user in rehabilitation
Exchanged and instructed during white silk；
The multi-modal perception pedal plate structure (200), hip structure (300) and emotion induction module (600) all with control
System (500) connects.
2. the medical rehabilitation robot system of multi-modal perceptible feedback according to claim 1, it is characterised in that：It is described more
Mode, which perceives pedal plate structure (200), includes a pair of pedals (201), and each pedal (201) has X-axis, Y-axis, Z axis and θ
The free degree of axle four direction, pedal can rotate under the driving of the first power set (202) around θ axles, meanwhile, pedal can
It is subjected to displacement, is provided with below pedal for feeling along X-axis, Y-axis, Z axis respectively under the second power set (203) effect
Answer the load cell (204) of the pressure in X-axis, Y-axis and Z-direction, load cell connection control system (500).
3. the medical rehabilitation robot system of multi-modal perceptible feedback according to claim 1, it is characterised in that：The hip
Portion's structure (300) includes the first support (301) that can be flexibly fixed to user's hip, and the first support can be dynamic the 3rd
The lower rotation of power apparatus (302) effect, tilt, bending and stretching.
4. the medical rehabilitation robot system of multi-modal perceptible feedback according to claim 1, it is characterised in that：The body
Balanced structure (400) is supported to include again：It is securable to body harness (401), pulley system (402), the power set of user
(403), connected between body harness and power set by rope (404) and pulley system, the weight support balanced structure
Also include being used for the tension detecting apparatus for detecting rope tension.
5. the medical rehabilitation robot system of multi-modal perceptible feedback according to claim 4, it is characterised in that：The body
Body suspender belt (401) has the suspender belt for being used for fixing buttocks and pelvis.
6. the medical rehabilitation robot system of multi-modal perceptible feedback according to claim 1, it is characterised in that：It is described more
It is dismountable that mode, which perceives pedal plate structure (200), and be can be used alone.
7. the medical rehabilitation robot system of multi-modal perceptible feedback according to claim 1, it is characterised in that：The hip
Portion's structure (300) is dismountable, and be can be used alone.
8. the medical rehabilitation robot system of multi-modal perceptible feedback according to claim 1, it is characterised in that：The branch
Support frame frame (100) includes vertical support structure (101), vertically moves balladeur train (102) and passively move horizontally spring structure
(103)。
9. the medical rehabilitation robot system of multi-modal perceptible feedback according to claim 1, it is characterised in that：The branch
Support frame frame (100) has a set of arm support (104) for being supplied to user's both hands to support.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620542929.1U CN207186797U (en) | 2016-06-04 | 2016-06-04 | The medical rehabilitation robot system of multi-modal perceptible feedback |
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| CN201620542929.1U CN207186797U (en) | 2016-06-04 | 2016-06-04 | The medical rehabilitation robot system of multi-modal perceptible feedback |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112770687A (en) * | 2018-09-27 | 2021-05-07 | 康坦手术股份有限公司 | Medical robot comprising an automatic positioning mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112770687A (en) * | 2018-09-27 | 2021-05-07 | 康坦手术股份有限公司 | Medical robot comprising an automatic positioning mechanism |
| CN112770687B (en) * | 2018-09-27 | 2024-03-29 | 康坦手术股份有限公司 | Medical robot comprising an automatic positioning mechanism |
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| GR01 | Patent grant | ||
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Granted publication date: 20180406 Termination date: 20180604 |