CN213099164U - Upper limb rehabilitation training robot - Google Patents
Upper limb rehabilitation training robot Download PDFInfo
- Publication number
- CN213099164U CN213099164U CN202021368817.1U CN202021368817U CN213099164U CN 213099164 U CN213099164 U CN 213099164U CN 202021368817 U CN202021368817 U CN 202021368817U CN 213099164 U CN213099164 U CN 213099164U
- Authority
- CN
- China
- Prior art keywords
- upper limb
- moving
- rehabilitation
- rehabilitation training
- coordination mechanism
- 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.)
- Active
Links
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The utility model provides an upper limbs rehabilitation training robot, include: a rehabilitation coordination mechanism for placing the forearm and the palm grip; the force measuring device is arranged below the rehabilitation coordination mechanism and is used for measuring and calculating the direction and the magnitude of the horizontal resultant force of the rehabilitation coordination mechanism; the moving device is connected below the force measuring device and comprises 4 Mecanum wheels, the moving device is used for moving according to the horizontal resultant force direction of the rehabilitation coordination mechanism, and the motion speed of the moving device is positively correlated with the horizontal resultant force of the rehabilitation coordination mechanism; and the control module is electrically connected between the force measuring device and the moving device and is used for processing the signal of the force measuring device so as to control the movement of the moving device. The utility model discloses structural design is ingenious, and the crossing over of family rehabilitation can be realized from clinical to small-size and low-cost robot, makes the patient obtain the benefit, and rehabilitation training intensity is higher, and the effect is better.
Description
Technical Field
The utility model relates to an upper limbs rehabilitation training equipment field, more specifically the saying so relates to an upper limbs rehabilitation training robot.
Background
At present, rapid development of robotics has attracted clinical attention. It can make the rehabilitation treatment after nervous system injury more effective and systematic, such as apoplexy and spinal cord injury. Traditional therapies require significant effort and long term time by the patient.
Most of the developed robotic systems are mainly deployed in rehabilitation centers and hospitals due to size and cost. Rehabilitation training device size and cost limitations prevent the patient from having sufficient time to train, resulting in slow recovery of the patient.
SUMMERY OF THE UTILITY MODEL
The utility model provides an upper limb rehabilitation training robot, which can effectively solve the problems.
The utility model discloses a realize like this:
an upper limb rehabilitation training robot comprising:
a rehabilitation coordination mechanism for placing the forearm and the palm grip;
the force measuring device is arranged below the rehabilitation coordination mechanism and is used for measuring and calculating the direction and the magnitude of the horizontal resultant force of the rehabilitation coordination mechanism;
the moving device is connected below the force measuring device and comprises 4 Mecanum wheels, the moving device is used for moving according to the horizontal resultant force direction of the rehabilitation coordination mechanism, and the motion speed of the moving device is positively correlated with the horizontal resultant force of the rehabilitation coordination mechanism;
and the control module is electrically connected between the force measuring device and the moving device and is used for processing the signal of the force measuring device so as to control the movement of the moving device.
As a further improvement, the rehabilitation coordination mechanism comprises:
the upper limb placing piece is matched with the cambered surface of the small arm in shape;
the first connecting piece is horizontally and fixedly arranged below the upper limb placing piece;
one end of the second connecting piece is hinged to the first connecting piece;
a grip; and
and two ends of the flexible connecting pipe are respectively connected with the second connecting piece and the handle.
As a further refinement, the rehabilitation coordination mechanism further comprises a gyroscope sensor mounted within the grip.
As a further refinement, the force measuring device comprises:
a substrate;
set up in the moving platform on the base plate, it includes:
the first sliding rails are arranged on the substrate in parallel at intervals;
the first moving plate is arranged on one side, away from the base plate, of the first sliding rail and is parallel to the base plate;
the second sliding rails are arranged on one side, far away from the base plate, of the first moving plate in parallel at intervals and are perpendicular to the first sliding rails; and
the second moving plate is arranged on one side, far away from the first moving plate, of the second slide rail and is parallel to the first moving plate;
the first strain sensor is fixedly arranged on the substrate and is vertical to the first slide rail, and is used for detecting the displacement of the first moving plate; and
and the second strain sensor is fixedly arranged on the substrate and is vertical to the second slide rail, and is used for detecting the displacement of the second moving plate.
As a further improvement, the first strain sensor is connected to the first moving plate through a third connecting member, and the second strain sensor is connected to the second moving plate through a fourth connecting member.
As a further improvement, the upper limb placing piece is provided with air holes at intervals.
As a further improvement, the first/second strain sensors are provided with through holes.
The utility model has the advantages that:
1. the coordination of the rehabilitation coordination mechanism, the force measuring sensor, the moving mechanism, the distance sensor and the control module is adopted, so that the upper limb is placed on the rehabilitation coordination mechanism and force is applied to the upper limb placing piece, the force measuring sensor calculates the resultant force direction and magnitude, and sends a signal to the control module to control the moving direction and speed of the moving mechanism;
2. a gyroscope sensor is arranged in a holding handle, and a wrist motion state signal is converted into yaw angle, pitch angle and roll angle data of the gyroscope sensor, so that the wrist rotation state is known;
3. the utility model discloses structural design is ingenious, and the crossing over of family rehabilitation can be realized from clinical to small-size and low-cost robot, makes the patient obtain the benefit, and rehabilitation training intensity is higher, and the effect is better.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic view of the overall structure of the upper limb rehabilitation training machine provided by the embodiment of the present invention.
Fig. 2 is a schematic position diagram of a robot and a distance sensor provided in an embodiment of the present invention.
Fig. 3 is an overall structure diagram of the upper limb rehabilitation training robot provided by the embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a rehabilitation coordination mechanism provided by the embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a load cell according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a mobile platform according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a moving mechanism according to an embodiment of the present invention.
Fig. 8 is a distance positioning calculation diagram according to an embodiment of the present invention.
In the figure: 1. training platform 11, horizontal plane 12, first baffle 13, second baffle
2. Upper limb rehabilitation training robot 21, rehabilitation coordination mechanism 211 and upper limb placing piece
2111. Air hole 212, first connecting piece 213, second connecting piece 214 and handle
215. Flexible connecting pipe 22, force transducer 221, base plate 222 and moving platform
2221. First slide rail 2222, first movable plate 2223, second slide rail
2224. Second moving plate 223, first strain sensor 224, second strain sensor
225. Third connecting piece 226, fourth connecting piece 23, moving mechanism
231. Mecanum wheel 24, control module 3, first distance sensor
4. Second distance sensor 5. display module
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1 to 8, an upper limb rehabilitation training robot 2 includes: a rehabilitation coordination mechanism 21 including an upper limb placing member 211 and a grip 214; a gyroscope sensor disposed within the grip 214; the force sensor 22 is used for measuring the direction and the magnitude of the horizontal resultant force applied to the rehabilitation coordination mechanism 21; the moving mechanism 23 is arranged below the force sensor 22 and is used for driving the rehabilitation coordination mechanism 21 to move; distance sensors are arranged on the moving mechanism 23 at intervals, the rays of the adjacent distance sensors form 90 degrees with each other, and the distance sensors are used for acquiring the position and deflection angle of the moving mechanism 23; the control module 24 is electrically connected to the gyroscope sensor, the load cell 22, the moving mechanism 23, and the distance sensor, respectively, and the control module 24 is configured to control the moving mechanism 23 to move according to signals of the sensors, wherein the movement speed of the moving mechanism 23 is positively correlated to the magnitude of the horizontal resultant force applied to the rehabilitation coordinating mechanism 21.
Referring to fig. 3 to 4, the rehabilitation coordination mechanism 21 includes: an upper limb placing piece 211, the shape of which is matched with the cambered surface of the small arm; a first connecting member 212 horizontally and fixedly disposed below the upper limb placing member 211; a second connecting member 213 having one end hinged to the first connecting member 212; a grip 214; and a flexible connection tube 215 having both ends connected to the second connection member 213 and the grip 214, respectively. The upper limb placing piece 211 is provided with air holes 2111 at intervals, so that the use comfort of the upper limb placing piece 211 is improved. The second connecting piece 213 is hinged on the first connecting piece 212 and adopts the flexible connecting pipe 215, so that the user can hold the grip 214 to realize the omnibearing movement of the wrist joint; since the grip 214 is provided with a gyro sensor therein, the motion information of the grip 214 is converted into yaw, pitch and roll data of the gyro sensor.
Referring to fig. 5 to 6, the load cell 22 includes: a substrate 221; a movable stage 222 disposed on the substrate 221, comprising: first slide rails 2221 disposed on the substrate 221 in parallel at intervals; a first moving plate 2222 disposed on a side of the first slide rail 2221 away from the base plate 221 and parallel to the base plate 221; a second slide rail 2223, which is disposed in parallel at an interval on a side of the first moving plate 2222 away from the base plate 221 and is perpendicular to the first slide rail 2221; and a second moving plate 2224 disposed on a side of the second slide rail 2223 away from the first moving plate 2222 and parallel to the first moving plate 2222; a first strain sensor 223 fixed on the base plate 221 and perpendicular to the first slide rail 2221, for detecting a displacement of the first moving plate 2222; and a second strain sensor 224 fixed on the substrate 221 and perpendicular to the second slide rail 2223, for detecting a displacement of the second moving plate 2224. The first strain sensor 223 is connected to the first moving plate 2222 through a third link 225, and the second strain sensor 224 is connected to the second moving plate 2224 through a fourth link 226. The first/second strain sensor 223/224 is provided with a through hole, so that the strain sensor can deform under the action of a small force, and the sensitivity of the strain sensor to the small force is improved. The horizontal movement of the rehabilitation coordinating mechanism 21 drives the mobile platform 222 to displace in the horizontal position, so that the first strain sensor 223 and the second strain sensor 224 deform, and stress data is generated. According to the stress of the first strain sensor 223 and the stress of the first strain sensor 223, the magnitude and the direction of the resultant force are synthesized and then sent to the control module 24 to control the moving direction and the moving speed of the moving mechanism 23.
Referring to fig. 7, the moving mechanism 23 includes 4 mecanum wheels 231, and each mecanum wheel 231 has a separate motor, so that the moving platform 23 can move in all directions in the horizontal plane.
Referring to fig. 1 to 2, an upper limb rehabilitation training machine with positioning and tracking functions includes: a training platform 1; an upper limb rehabilitation training robot 2; a first distance sensor 3 and a second distance sensor 4 provided on the upper limb rehabilitation training robot 2; a display module 5; and a positioning module arranged on the upper limb rehabilitation training robot 2. The training platform 1 comprises: a horizontal plane 11, a first baffle 12 perpendicular to said horizontal plane 11, and a second baffle 13 perpendicular to said horizontal plane 11 and perpendicular to said first baffle 12. The upper limb rehabilitation training robot 2 moves on the horizontal plane 11. The ray of the first distance sensor 3 and the ray of the second distance sensor 4 form a right angle with each other, the first distance sensor 3 is used for measuring the distance between the upper limb rehabilitation training robot 2 and the first baffle 12, and the second distance sensor 4 is used for measuring the distance between the upper limb rehabilitation training robot 2 and the second baffle 13. The display module 5 is used for displaying parameters such as the motion trail and the speed of the upper limb rehabilitation training robot 2. The positioning module is respectively connected with the upper limb rehabilitation training robot 2, the first distance sensor 3, the second distance sensor 4 and the display module 5 in an electric mode, the positioning module is used for converting signals of the first distance sensor 3 and the second distance sensor 4 into position signals to be displayed on the display module 5, and the positioning module is used for converting the movement direction and the speed of the upper limb rehabilitation training robot 2 into movement parameters to be displayed on the display module 5.
Referring to fig. 8, the number of the first distance sensors 3 is 2, and the number of the second distance sensors 4 is 1. The distances between the first distance sensor 3 and the first shutter 12 are d1 and d2, respectively, and the difference Δ d between the distances d1 and d2 is obtained, and since the distance e between the first distance sensor 3 and the second distance sensor 4 is known, the deflection angle c is arctan ((Δ d)/e) according to the trigonometric function formula tan (c) ═ Δ d)/e. According to the obtained deflection angle c, the vertical distance x from the left end of the upper limb rehabilitation training robot 2 to the second baffle 13 can be obtained by combining the distance a between the second distance sensor 4 and the second baffle 13; by combining the average values (d1+ d2)/2 of d1 and d2, the vertical distance y between the front end of the upper limb rehabilitation training robot 2 and the first baffle 12, that is, the positioning position (x, y) of the upper limb rehabilitation training robot 2 can be obtained.
The utility model provides a pair of upper limbs rehabilitation training robot 2's theory of operation does: by placing the forearm on the upper limb placing part 211, holding the palm of the hand on the grip 214, the movement data of the wrist is collected by the gyroscope sensor, the movement of the forearm on the horizontal plane 11 is transmitted to the strain sensor through the rehabilitation coordinating mechanism 21, the first/second strain sensor 223/224 synthesizes the direction and the magnitude of the resultant force, and sends a signal to the control module 24 to control the movement direction and the speed of the moving mechanism 23.
On the other hand, the upper limb rehabilitation training robot 2 combines with the training platform 1, the first distance sensor 3 used for measuring the distance between the upper limb rehabilitation training robot 2 and the first baffle 12 and the second distance sensor 4 used for measuring the distance between the upper limb rehabilitation training robot and the second baffle 13 are arranged on the upper limb rehabilitation training robot 2, the positioning module is communicated with the background, the running track of the upper limb rehabilitation training robot 2 is displayed on the display module 5, further, whether the running track of the upper limb rehabilitation training robot 2 is carried out according to the target track on the display module 5 can be compared, the deviation between the running track and the target track is compared, and the forearm rehabilitation training score is calculated. Correspondingly, the gyroscope sensor is arranged in the grip 214, the movement data of the grip 214, namely the movement state of the wrist, is displayed on the display module 5, and further, whether the movement state of the wrist is carried out in order according to the target movement on the display module 5 can be compared, and the deviation amount between the movement state and the target movement and the completion time of each time can be compared in real time to calculate the wrist rotation score so as to know the upper limb rehabilitation condition of the user.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An upper limb rehabilitation training robot, comprising:
a rehabilitation coordination mechanism for placing the forearm and the palm grip;
the force measuring device is arranged below the rehabilitation coordination mechanism and is used for measuring and calculating the direction and the magnitude of the horizontal resultant force of the rehabilitation coordination mechanism;
the moving device is connected below the force measuring device and comprises 4 Mecanum wheels, the moving device is used for moving according to the horizontal resultant force direction of the rehabilitation coordination mechanism, and the motion speed of the moving device is positively correlated with the horizontal resultant force of the rehabilitation coordination mechanism;
and the control module is electrically connected between the force measuring device and the moving device and is used for processing the signal of the force measuring device so as to control the movement of the moving device.
2. The upper limb rehabilitation training robot of claim 1, wherein the rehabilitation coordination mechanism comprises:
the upper limb placing piece is matched with the cambered surface of the small arm in shape;
the first connecting piece is horizontally and fixedly arranged below the upper limb placing piece;
one end of the second connecting piece is hinged to the first connecting piece;
a grip; and
and two ends of the flexible connecting pipe are respectively connected with the second connecting piece and the handle.
3. The upper limb rehabilitation training robot of claim 2, wherein the rehabilitation coordination mechanism further comprises a gyroscope sensor mounted within the grip.
4. The upper limb rehabilitation training robot of claim 1, wherein the force measuring device comprises:
a substrate;
set up in the moving platform on the base plate, it includes:
the first sliding rails are arranged on the substrate in parallel at intervals;
the first moving plate is arranged on one side, away from the base plate, of the first sliding rail and is parallel to the base plate;
the second sliding rails are arranged on one side, far away from the base plate, of the first moving plate in parallel at intervals and are perpendicular to the first sliding rails; and
the second moving plate is arranged on one side, far away from the first moving plate, of the second slide rail and is parallel to the first moving plate;
the first strain sensor is fixedly arranged on the substrate and is vertical to the first slide rail, and is used for detecting the displacement of the first moving plate; and
and the second strain sensor is fixedly arranged on the substrate and is vertical to the second slide rail, and is used for detecting the displacement of the second moving plate.
5. The upper limb rehabilitation training robot of claim 4, wherein the first strain sensor is connected to the first moving plate through a third connecting piece, and the second strain sensor is connected to the second moving plate through a fourth connecting piece.
6. The upper limb rehabilitation training robot as claimed in claim 2, wherein the upper limb placing member is provided with air holes at intervals.
7. The upper limb rehabilitation training robot of claim 4, wherein the first/second strain sensor is provided with a through hole.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021368817.1U CN213099164U (en) | 2020-07-13 | 2020-07-13 | Upper limb rehabilitation training robot |
| PCT/CN2021/105264 WO2022012410A1 (en) | 2020-07-13 | 2021-07-08 | Upper limb rehabilitation training robot and single-point upper limb static testing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021368817.1U CN213099164U (en) | 2020-07-13 | 2020-07-13 | Upper limb rehabilitation training robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213099164U true CN213099164U (en) | 2021-05-04 |
Family
ID=75676729
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021368817.1U Active CN213099164U (en) | 2020-07-13 | 2020-07-13 | Upper limb rehabilitation training robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213099164U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111714334A (en) * | 2020-07-13 | 2020-09-29 | 厦门威恩科技有限公司 | Upper limb rehabilitation training robot and control method |
| WO2022012410A1 (en) * | 2020-07-13 | 2022-01-20 | 李琦 | Upper limb rehabilitation training robot and single-point upper limb static testing method |
-
2020
- 2020-07-13 CN CN202021368817.1U patent/CN213099164U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111714334A (en) * | 2020-07-13 | 2020-09-29 | 厦门威恩科技有限公司 | Upper limb rehabilitation training robot and control method |
| WO2022012410A1 (en) * | 2020-07-13 | 2022-01-20 | 李琦 | Upper limb rehabilitation training robot and single-point upper limb static testing method |
| CN111714334B (en) * | 2020-07-13 | 2022-08-05 | 厦门威恩科技有限公司 | Upper limb rehabilitation training robot and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111714334B (en) | Upper limb rehabilitation training robot and control method | |
| CN101061984B (en) | Recovery robot system for providing mechanical assistant by using myoelectric signal | |
| CN213099164U (en) | Upper limb rehabilitation training robot | |
| Zhou et al. | Human motion tracking for rehabilitation—A survey | |
| JP6358427B2 (en) | Wearable motion assist device | |
| CN103750841B (en) | Human knee joint angle wireless detection system and method based on MEMS inertial sensors | |
| CN102724914B (en) | Mobile foundation and the X-ray production apparatus be arranged on such mobile foundation | |
| CN106730638B (en) | The control method of the drive lacking healing robot of motion intention is identified based on reciprocal force | |
| CN104147770A (en) | Inertial-sensor-based wearable hemiplegia rehabilitation apparatus and strap-down attitude algorithm | |
| US20130158940A1 (en) | Vestibular dynamic inclinometer | |
| KR101666232B1 (en) | Autonomous system and method for determining information representative of the movement of an articulated chain | |
| CN206154320U (en) | Arm motion gesture trapper and robot arm moving system | |
| CN213346649U (en) | Upper limb rehabilitation training machine with positioning and tracking functions | |
| CN213130613U (en) | Upper limb rehabilitation coordination mechanism | |
| US20220096295A1 (en) | Mobility aid | |
| CN213048014U (en) | Upper limb rehabilitation force cell | |
| CN102208150A (en) | Six-degree-of-freedom force-feedback virtual surgical instrument | |
| KR20180035669A (en) | upper limb multi-joint impedance measurement method and apparatus thereof | |
| KR20160052882A (en) | Apparatus for measuring body movement | |
| Liu et al. | Physical sensor difference-based method and virtual sensor difference-based method for visual and quantitative estimation of lower limb 3D gait posture using accelerometers and magnetometers | |
| US10901530B2 (en) | Three-dimensional magnetic sensor based finger motion capture interface device | |
| Zhang et al. | Design and human–machine compatibility analysis of Co-Exos II for upper-limb rehabilitation | |
| EP2251767A1 (en) | Haptic interface for a virtual environment | |
| CN114712148B (en) | Upper limb dynamic test method based on upper limb rehabilitation training robot | |
| CN114712149B (en) | Single-point upper limb static test method based on upper limb rehabilitation training robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |