KR101383450B1 - Upper extremity rehabilitation robot control method for meal assistance - Google Patents

Abstract

The present invention relates to an upper extremity rehabilitation robot control method for meal assistance capable of assisting a meal for the elderly and patients for rehabilitation whose physical strength of an upper extremity is less than a normal person. More specifically, the upper extremity rehabilitation robot control method for meal assistance comprises a step of detecting the movement of an upper extremity of a user by a detection member after a dish is disposed at a predetermined position, and the upper extremity of the user is mounted at an arm end of an articulated robot; a step of calculating the direction where the upper extremity wants to go and the power by the detected movement in the detection member; a step of generating and outputting control signals to be output to the articulated robot based on a calculated value; and a step of assisting the upper extremity of the user with the power in the direction where the upper extremity wants to go and moving the upper extremity by driving the arm of the articulated robot based on the output control signals. [Reference numerals] (AA) Start; (BB) End; (S100) Detect the minute movement of an upper extremity by a detection member; (S200) Calculate the direction where the upper extremity wants to go and the power by the detected minute movement; (S310) Compare a calculated value relative to the power and a reference value of the power previously inputted; (S320) Output control signals by converting any one of magnetic polarity among the detection member and an articulated robot if the calculated value is greater than or equal to the reference value; (S400) Generate each control signal of X-axis, Y-axis, and Z-axis to be outputted to the articulated robot based on the calculated value and output the same; (S500) Selectively drive arms of the articulated robot on the line of the X-axis, Y-axis, and Z-axis based on the each control signal of the outputted X-axis, Y-axis, and Z-axis

Description

Upper extremity rehabilitation robot control method for meal assistance

The present invention relates to an upper limb rehabilitation robot control method for assisting meals to assist the elderly and rehabilitation patients of lower limb muscle strength than normal, and more specifically, to the articulated robot equipped with a sensing member for fixing the upper limb of the user And detecting the movement of the upper limb with the sensing member and generating a control signal based on the detected movement, the articulated robot is driven by the generated control signal to allow the user to eat. The present invention relates to a method for controlling an upper limb rehabilitation robot for meal assistance in which the robot guides the direction of the upper limb and assists the force.

The life expectancy of human beings is increasing every year, and domestic and international countries are rapidly entering an aging society.

As the aging world is progressing, the silver industry is actively developing into the life support, life support and life activity support areas. Technology and life support robot technology are also being actively researched and developed.

In particular, in the elderly, the strength of the muscles is weak and the magnetic behavior is often difficult or difficult, and many behaviors are restricted.

In addition, the lack of muscle strength due to aging or decrease in the degree of myopic eye is more restrictive than the general population.

Therefore, as a kind of silver industry, there is a need for a muscle aid system to supplement and supplement the insufficient strength of the elderly.

The necessity of such a muscle aid is not limited only to the elderly.

In the case of patients with insufficient physical strength for various reasons such as various diseases or accidents, the necessity of the above-mentioned muscle aids is emerging, and even in the case of rehabilitation patients who are unable to move freely by their own force, There is a need for a muscle aid system.

For this reason, many proposals have been provided in the prior art, among which Patent No. 10-1237245 (2013.02.18) includes a picking arm provided with a gripper for picking up food placed on a plate, and food picked up by the picking arm. The feeding spoon is provided with a feeding arm for moving the spoon to the user's mouth, an operation unit for instructing the movement of the picking arm and the feeding arm by the user, and an electrical connection with the picking arm, the feeding arm and the operation unit. And a control unit for controlling the movement of the picking arm and the feeding arm according to a command of the control unit, wherein the operation unit is provided with a touch pad type liquid crystal display so that the shape of the plate is displayed as it is and the position of the plate containing the food that the user wants to eat. Just touch the meal aid to automatically put the food into the user's mouth by operating the picking arm and the feeding arm Provide the robot.

However, the above-described conventional technology not only can not perform work other than meals, but also does not consider characteristics (physique, position of the mouth) on the user's body, which causes a lot of inconvenience to the user.

In addition, there was a possibility that a safety accident could occur because there is no countermeasure against malfunction of the robot.

Therefore, the present invention is provided to solve the above problems, by grasping the movement of the user's upper limb lower than the muscle strength of the upper limb, the articulated robot assists the user's lack of upper limb muscle strength, stable of the user such as the elderly and rehabilitation patients As well as eating, you can do everything you can to the upper limbs at the designated table, which can increase your convenience in life, help with muscle rehabilitation exercises, and a sensing member worn only on a part of the upper limb. Since it is fastened to, the sensing member is supported by the articulated robot, the user can not feel the weight of the sensing member relatively, the ease of wearing is improved than the conventional technology, the user can be more various operations and free activities, During strength training, strength training of various parts is possible, and the sensing member has a specified force. When the force sensed to provide an upper limb rehabilitation robot control method for a meal auxiliary that the sensing member is a multi-to be automatically disconnected from the joint robot wherein the securing the user's safety according to the malfunction of the articulated robot has the purpose.

Upper limb rehabilitation robot control method for meal aid according to the present invention, the table is arranged in a predetermined predetermined position, the arm one end of the arm of the articulated robot through a fastening member for fastening the sensing member fixed to the user's upper arm by magnetic force Capturing the movement of the user's upper limb after attaching to the upper body, calculating a direction and a force to which the upper limb intends to go by the movement captured by the sensing member, and calculating the multi-joint based on the calculated value Generating and outputting a control signal for each of the X-axis, Y-axis, or Z-axis to be output to the robot, and selectively selecting the arm of the articulated robot based on the control signal of each of the output X-, Y-, or Z-axis. Driving along the axis or the Y-axis or the Z-axis, and assisting and moving the force in the direction in which the upper limb of the user wants to go; In the step of calculating the force, comparing the calculated value for the force with the reference value of the previously input force, and if the calculated value is greater than the reference value, the magnetic pole of any one of the sensing member and the articulated robot is converted to the fastening Outputting a control signal such that the members are separated from each other.

At this time, in the step of calculating the direction and the force to the upper limb according to the present invention, by detecting the movement of the upper limb left and right in the sensing member, calculating the direction and force on the X axis line, and the detection Comprising the movement of the upper limb forward and backward in the member to calculate the direction and force on the Y-axis, and the sensing member to identify the movement of the upper limb up and down, the direction and force on the Z-axis Calculating may be included.

And the upper limb rehabilitation robot control method for dietary supplement according to the present invention comprises the step of generating a demonstration (Demo) motion by moving the at least one or more times to the designated position after the upper limbs move to the same designated position in a continuous repetition May be further included.

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Upper limb rehabilitation robot control method for meal aid according to the present invention has the following effects.

First, by identifying the movement of the user's upper limb that the strength of the upper limb is lower than the normal one, the articulated robot assists the user's lack of upper limb muscle strength, so that not only a stable meal for the elderly or rehabilitation patients, Work can be done to increase the convenience of life, as well as has an effect of helping the upper extremity muscle rehabilitation exercises.

Second, since the sensing member to be worn only on a portion of the upper limb is fastened to one end of the articulated robot by itself, the sensing member is supported by the articulated robot, so that the user can not feel the weight of the sensing member relatively, so that convenience of wearing is conventional. It is improved than the technology of the user, the user can more various movements and free activities, and when strength training has the effect of possible strength training of various parts.

Third, when the sensing member detects a force greater than a specified force, the sensing member is automatically separated from the articulated robot, thereby ensuring the safety of the user due to a malfunction of the articulated robot.

Figure 1 is a block diagram showing an embodiment of the upper limb rehabilitation robot control method for meal aid.
Figure 2 is a block diagram showing in more detail the step of calculating the direction and force to go to the upper limb according to the present invention.
3 is a block diagram showing a state in which a demonstration motion according to the present invention is executed.
Figure 4 is an exemplary view showing the configuration of the upper limb rehabilitation robot for meal aid according to the present invention.
Figure 5 is an exemplary view showing a state in which the upper limbs fixed to the upper limb rehabilitation robot for meal aid according to the present invention.
6 is an exemplary view showing a configuration of a sensing member according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concepts of the terms appropriately The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention, and not all of the technical ideas of the present invention are described. Therefore, at the time of the present application, It should be understood that variations can be made.

1 is a block diagram showing an embodiment of the upper limb rehabilitation robot control method for the meal aid of the present invention, Figure 2 is a block diagram showing the step of calculating the direction and force to go to the upper limb according to the present invention in more detail 3 is a block diagram showing a state in which the demonstration motion according to the present invention is executed, Figure 4 is an exemplary view showing the configuration of the upper limb rehabilitation robot for meal aid according to the present invention, Figure 5 is a meal according to the present invention Exemplary diagram showing a state in which the upper limb fixed to the upper limb rehabilitation robot for assistance, Figure 6 is an exemplary view showing the configuration of the sensing member according to the present invention.

The present invention relates to a method for controlling the upper limb rehabilitation robot for meal aid to assist the rehabilitation of patients with lowering muscle strength of the upper limb than the normal person. same.

 As shown in FIGS. 4 to 6, the sensing member 200 for capturing the movement of the user's upper limb A and the motion for calculating the motion of the upper limb A captured by the sensing member 200 and outputting it as a control signal. Based on the control signal output through the control unit 300 and the motion control unit 300, the user's upper limbs (A) to guide the direction to move to the tableware 10 arranged at the designated position of the table table 100 and force A multi-joint robot 400 is included to assist the present invention. The sensing member 200, the motion control unit 300, and the multi-joint robot 400 will be described in more detail with reference to the accompanying drawings.

First, the table table 100 is a plurality of tableware 10 containing the food is arranged in a predetermined position, it is formed in a plate shape of a specified width.

At this time, a plurality of markings 101 are printed on the upper surface of the dining table 100, so that the table 10 can know the designated positions of the tableware 10 arranged on the dining table 100.

The sensing member 200 is fixed to the user's upper limb A and captures the movement of the upper limb A.

At this time, referring to the detection member 200 with reference to the drawings in more detail, the detection member 200 is the motion detection to capture the movement of the cuff 210, the upper limb (A) is fixed to the user's upper limb (A) It consists of a sensor 220.

First, the cuff 210 has a receiving groove 211 in which the upper limb A of the user is received is formed on one side, and a plurality of fastening bands 212 for fixing the upper limb A accommodated in the receiving groove 211. Included.

Therefore, when the user's upper limbs (A) of the user's upper limb (A) is received inwardly and then weave a plurality of fastening bands (212), the upper limb (A) of the user is firmly fixed to the cuff (210). do.

And the other side of the cuff 210 is provided with the motion detection sensor 220, the motion detection sensor 220 captures the movement of the cuff 210, the upper limb (A) is fixed.

In addition, a first fastening member 231 is provided on the other side of the motion detection sensor 220, wherein the first fastening member 231 is provided at one end of the articulated robot 400. ) Is fastened to each other by magnetic force, and fixes the cuff 210 to one end of the articulated robot 400.

Therefore, it is preferable that the first fastening member 231 is provided with a plurality of magnetic bodies (not shown) having magnetic properties so that the first fastening member 231 contacts the second fastening member 232 by magnetic force. In addition, the second fastening member 232 may also be provided with a plurality of magnetic bodies (not shown) having magnetic properties corresponding to the magnetic bodies (not shown) of the first fastening member 231.

The motion controller 300 is electrically connected to the sensing member 200, and calculates a direction and a force to which the upper limb A is to move based on the motion captured by the sensing member 200, and calculates the calculated upper and lower extremities. Generates and outputs a control signal to be applied to the articulated robot 400 according to one direction and force.

In this case, the motion control unit 300 may be connected to the sensing member 200 by a cable to allow data to be input and output, or may be connected to a wireless communication means.

In addition, the articulated robot 400 has the sensing member 200 fastened to one end of the arm, and based on the calculation value output through the motion control unit 300, the upper limb A fixed to the sensing member 200. ) Optionally guides the direction and assists the force so that the user's upper limb A moves along the X-axis, Y-axis, or Z-axis line to the tableware placed at the designated position of the table table 100.

Looking at the embodiment of the present invention according to the above configuration, first the table 10 is disposed in a predetermined position previously selected by the preliminary operation, and the user's upper limbs (A) is fastened to the sensing member 200 is fixed by magnetic force After the fastening members 231 and 232 are mounted on one end of the arm of the articulated robot 400, the meal preparation is completed.

And in the first step, as shown in Figure 1,

The sensing member 200 captures the movement of the upper limb A by detecting the movement of the user. (S100)

At this time, the sensing member 200 detects the movement of the upper limb A to the left and right to capture the movement on the X-axis, and the upper limb A moves to the front and back in the sensing member 200. It grasps the movement on the Y-axis line, and grasps the movement of the upper limb A up and down in the sensing member 200 to capture the movement on the Z-axis line.

In the second step,

The motion of the user according to the motion captured by the first step is grasped, and the direction and the force that the upper limb A wants to go are calculated (S200).

At this time, the calculation of the direction and the force on the X-axis line calculates the direction and the force by the movement of the left and right captured by the sensing member 200 (S210), the calculation of the direction and the force on the Y-axis line is the sensing member 200 The direction and the force are calculated by the movement of the front and rear captured in the (S220), and the calculation of the direction and the force on the Z axis line calculates the direction and the force by the movement of the up and down captured by the sensing member 200. (S230)

In the second step of calculating the direction and force to which the upper limb A wants to go, the calculated value for the force is compared with the reference value of the previously input force (S310), and if the calculated value is greater than the reference value, the detection is performed. The first fastening member 231, which allows the member 200 to be mounted to the articulated robot 400, converts the magnetic force of any one of the second fastening members 232 so that the fastening members 231 and 232 are separated from each other. Outputs a control signal (S320).

Therefore, the polarity of the electromagnet provided in the second fastening member 232 described in the configuration of the upper limb rehabilitation robot for meal assistance is converted to the same polarity as the magnetic material (not shown) of the first fastening member 231, so that the polarity is reduced. The fastening is released by the repulsive force acting between the same magnetic material.

In the third step,

On the basis of the calculated value calculated by the second step, the control signal for each of the X-axis, Y-axis or Z-axis to be output to the articulated robot 400 is generated and output.

At this time, the generated control signal is output to the servo driver of each of the X-axis, Y-axis or Z-axis provided in the articulated robot 400.

In the fourth step,

The arm of the articulated robot 400 is selectively driven on the X-axis, Y-axis, or Z-axis line based on the control signal of each of the X-axis, Y-axis, or Z-axis output by the third step. The sensing member 200 (A) is fixed to assist the force in the direction according to the user's movement to move the upper limb A. (S500)

In another embodiment of the present invention, as shown in FIG. 3, when the upper limb A moves to the same designated position in a continuous repetition, at least one or more movements to the designated position are performed to store the movement trajectory, thereby demonstrating a demo motion. Generating may further include (S600).

When the demo motion is generated, the user does not need to continuously move the upper limb A until the target point is reached to move the upper limb to the target point. (A) is moved.

When the demo motion is executed, the arm of the articulated robot 400 is selectively selected based on a control signal of each of the X-axis, Y-axis, or Z-axis previously input in the process of generating the demo motion. Alternatively, by driving along the Z-axis line, the upper extremity A is moved by assisting a force in the direction according to the movement of the user with the sensing member 200 having the upper extremity A fixed thereto.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

10: tableware 100: dining table
200: sensing member 300: motion control unit
400: articulated robot 210: cuff
220: motion detection sensor 211: receiving groove
212: fastening band 231: first fastening member
232: second fastening member

Claims (4)

A sensing member for capturing the movement of the user's upper limb, a motion controller for applying a control signal based on the motion captured by the sensing member, and a multi-joint robot for moving the sensing member with a signal applied from the motion controller, Tableware is arranged at a predetermined designated position, and the sensing member captures the movement of the user's upper limb after mounting the sensing member on which the upper limb of the user is fixed to one end of the arm of the articulated robot through a fastening member which is magnetically fastened. Calculating a direction and a force to which the upper limb is going by the motion captured by the sensing member; and controlling each of the X-axis, Y-axis, or Z-axis to be output to the articulated robot based on the calculated value. Generating and outputting a signal, and selectively selecting an arm of the articulated robot based on the control signal of each of the output X-axis, Y-axis, or Z-axis Or is driven in the Y-axis or Z-axis line, in upper limb rehabilitation robot control method for a meal which includes the step of moving the secondary to secondary to a force in the direction in which the upper limbs of the user want to go,
In the step of calculating the direction and force the upper limbs want to go
Comparing the output value for the force with the reference value of the previously input force; And
If the calculated value is more than the reference value, the upper limb rehabilitation robot control method for meal support comprising the step of outputting a control signal to separate the fastening members by converting the stimulation of any one of the sensing member and the articulated robot.
The method according to claim 1,
In the step of calculating the direction and force the upper limbs want to go
Calculating a direction and a force on an X-axis line by detecting movement of the upper and lower left and right sides of the sensing member;
Calculating a direction and a force on a Y-axis line by detecting movement of the upper and lower limbs in the sensing member;
The upper limb rehabilitation robot control method comprising the step of calculating the direction and the force on the Z-axis by detecting the upper and lower movements of the upper limb in the sensing member.
delete The method according to claim 1,
When the upper limb is moved to the same designated position by continuous repetition
A method for controlling upper limb rehabilitation robot for meal assistance further comprising the step of generating a demonstration (Demo) motion by moving the movement to the designated position at least once or more.

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