KR102036288B1 - Hand Rehabilitation System for Task-Oriented Therapy - Google Patents

Abstract

Hand rehabilitation robot system for the cooperative movement according to the present invention, thimbles that are fitted to the finger of the patient; A bend wire that surrounds two or more predetermined thimble of the thimble to form one or more loops; Extension wires connected to each of the thimble to transmit a force in an extension direction; Motors connected to each of the bending wires and the extension wires to pull or unwind the wires; Encoders for sensing the number of driving of the motors; Load cells configured to sense tension with respect to each of the bending wire and the extension wire; And calculating the positions of the thimble by using the sensing information of the encoders and the sensing information of the load cells, and selectively driving one or more of the motors to move the positions to predetermined positions. Or a control device for executing the stretching movement.

Description

Hand Rehabilitation System for Task-Oriented Therapy

The present invention relates to a rehabilitation system, and more particularly to a hand rehabilitation robot system and method for cooperative movement.

According to data from the Korea National Statistical Office in 2015, the number of elderly people aged 65 or older in Korea was 6.65 million, an increase of 1.12 million compared to 2010, and the proportion is increasing, and the elderly population suffering from diseases such as bone weakness and joint building due to stroke The Population and Housing Census: Aging and Population Survey, National Statistical Office, 2015., National Health Statistics: Stroke Photographic Experience Rate, Ministry of Health and Welfare, 2015., Elderly Survey: Elderly (65 years or older) Analysis of prevalence and doctor's prevalence rate of chronic chronic diseases, Ministry of Health and Welfare, 2014., Analysis of health insurance and medical benefit examination decision data about fractures: Total medical expenses by fracture year, Korea Health Insurance Review and Assessment Service, 2014.). These patients are difficult to recover completely due to sequelae and the disease itself.

The sequelae includes hemiplegia in which the intensity of the joint contracture or upper limb, lower extremity or face area is abnormally restricted in motion. The sequelae, such as joint buildup or hemiplegia, are caused by the hardening of joints that have not been properly exercised for a long time, resulting in decreased motor performance. Therefore, the treatment for sequelae requires physical therapy such as gradual and repetitive rehabilitation treatment using heat, electric or mechanical force. Dedicated rehabilitation therapists may also be required depending on when sequelae occur.

However, the number of untreated patients is increasing due to the shortage of therapists (Na Eun-Woo et al., 21, Korean Standard Practice Guideline for Stroke Rehabilitation, 2012, Korean Society for Brain Rehabilitation, Vol. 7, Suppl. March. 2014. , Paik, “Rehabilitation of Hemiplegic Patients,” Journal of the Korean Society for Clinical Neurophysiology, Vol3, No. 2, 2001.).

Moreover, during timely treatment of high priority areas, relatively low-priority body parts such as wrists and fingers were ignored, or peripheral tissues such as bones and cartilage were also hardened, resulting in joint stiffness.

In general, rehabilitation therapy depends on the severity of symptoms, and when the patient cannot move the paralyzed part, the rehabilitation therapist moves the patient instead of the patient or the rehabilitation therapist applies the load repeatedly for a long time in the direction opposite to the patient's motivation.

Recently, robot-based rehabilitation assistance services have been proposed to apply the repetitiveness of rehabilitation treatment to meet the demand of rehabilitation treatment services, and researches on the development and effectiveness of such rehabilitation assistance systems have been actively conducted. , Oh Byung Mo, Han Tae-Ryun, “Effects of Robot-Assisted Upper Limb Rehabilitation in Hemiplegic Patients,” Brain and NeuroRehabilitation, Vol. 7, No. 1, pp. 39-47, March 2014.).

Figure 1 illustrates the application of different movements according to the body part of the patient for rehabilitation treatment, which is also used as a means of evaluating the motor function of the patient in rehabilitation treatment (Fugl-Meyer, AR, Jaasko, L.). , Leyman, I., Olsson, S., and Steglind, S., “The post-stroke hemiplegic patient,” Scand J Rehabil Med , Vol. 7, No. 1, Jan 1975.).

The above motion is largely classified into two key motions, as shown in FIG. The first key motion is the movement of the flexion / extension, which is the movement of the joint that changes the angle between body parts. The second key motion is also the movement of the pronation / supination to rotate the body around the long axis.

The movements performed in most rehabilitation treatments are performed with the key motions described above, and in particular, the hand movements may be combined with the key motions described above in order to perform tasks such as holding two or more fingers together and holding an object or holding chopsticks. Includes collaborative exercises.

Now explain the trend of the rehabilitation system.

3 illustrates a rehabilitation system with various forms and features developed to support rehabilitation treatment. These rehabilitation systems are classified into upper and lower extremities and hands according to the application site and can be classified into wearable, non-wearable and exoskeleton according to the type of wear. Figure 4 shows a table summarizing the functions of the conventional rehabilitation system described above. 3 and 4, item (a) is a non-wearable, wire-based upper limb rehabilitation system with 3 degrees of freedom, low cost and high DOF due to the advantages of wire operation, but bulky and heavy . And item (b) is a non-wearable lower limb rehabilitation system for flexion / extension of the user's knees and hips, and active or passive training by a physiotherapist while performing assistive, manual or resistance training of other systems. Over resistance training can be done, but it is also bulky and heavy. And item (c) is an exoskeletal rehabilitation system of the hand, which understands the patient's will using EMG (electromyography) signals and helps the patient perform certain tasks, but with a low DOF and limited range of motion. Item (D) is a wearable hand rehabilitation system using a high pressure actuator, simple structure and light weight, and operates smoothly. However, the operation is nonlinear and uncertain. Also, because there is no general description of mathematical models, it is difficult to apply traditional control methods based on mathematical models. And item (e) is wireless with a wearable wrist rehabilitation system. It measures various dynamic information of hands by sensors and performs rehabilitation treatment by playing games implemented in virtual reality. However, since there is no actuator, it is difficult to apply to patients who cannot move their hands at all. And item (f) is a non-wearable hand rehabilitation system that allows rehabilitation at almost every stage and can be adapted to the patient's physical characteristics, but this has been a bulky, heavy and expensive problem.

As described above, a rehabilitation system having various functions has been proposed and developed in the related art, but there is a problem that it is expensive, has a large and complex structure, and has a limited type of operating range.

Therefore, in the related art, there is an urgent need for the development of a technology that enables the cooperative movement by precisely controlling the operation of the finger of the patient while having a small and concise structure.

Furthermore, there is a need for the development of a technology that enables patients to check their movements in a virtual reality manner to enable more effective rehabilitation treatment.

Republic of Korea Patent Publication No. 1020140142895 Republic of Korea Patent Publication No. 1020120133321 Republic of Korea Patent Publication No. 1020120139473 Republic of Korea Patent Publication No. 1020150111235

According to the present invention, the wires connected to the thimbles fitted to the fingers of the patient are pulled or released for cooperative movement to perform flexion or extension of the fingers to control the movement of the finger of the patient with a compact and concise structure. The purpose of the present invention is to provide a hand rehabilitation robot system for the cooperative movement.

In addition, another object of the present invention is to sense the motion of the finger to perform the flexion or kidney movement to view in virtual reality to match the visual stimulation and the movement of the finger by the patient to increase the effect of the rehabilitation treatment hand It is to provide a rehabilitation robot system.

Still another object of the present invention is to provide a hand rehabilitation robot system for a cooperative exercise for controlling the position of the thimble by calculating the position of the thimble controlled by the wires according to inverse kinematics.

Hand rehabilitation robot system for cooperative exercise according to the present invention for achieving the above object, thimbles that are fitted to the finger of the patient; A bend wire that surrounds two or more predetermined thimble of the thimble to form one or more loops; Extension wires connected to each of the thimble to transmit a force in an extension direction; Motors connected to each of the bending wires and the extension wires to pull or unwind the wires; Encoders for sensing the number of driving of the motors; Load cells configured to sense tension with respect to each of the bending wire and the extension wire; And calculating the positions of the thimble by using the sensing information of the encoders and the sensing information of the load cells, and selectively driving one or more of the motors to move the positions to predetermined positions. Or a control device for executing the stretching movement.

According to the present invention, the wires connected to the thimbles fitted to the fingers of the patient are pulled or released for cooperative movement to perform flexion or extension of the fingers to control the movement of the finger of the patient with a compact and concise structure. Thereby causing the effect of enabling cooperative movement.

In another aspect, the present invention senses the motion of the finger to perform the flexion or stretching motion to view in virtual reality to match the visual stimulation and the movement of the finger by the patient to cause the effect of rehabilitation treatment.

In addition, the present invention calculates the position of the thimble controlled by the wires according to inverse kinematics, thereby causing the effect of being able to precisely control the position of the thimble.

1 illustrates the application of different movements according to the body part of a patient for the treatment of rehabilitation.
2 illustrates key motion for rehabilitation treatment.
3 illustrates a rehabilitation system developed to support rehabilitation treatment.
4 is a table showing the functions of the rehabilitation system of FIG.
5 is an external view of a KUREHAND-I system according to a first preferred embodiment of the present invention.
6 to 8 schematically show the wire structure of the KUREHAND-I system according to the first preferred embodiment of the present invention.
9 is a table showing the block arrangement of the KUREHAND-I system according to the first preferred embodiment of the present invention.
10 is a block diagram of a KUREHAND-I system according to a first preferred embodiment of the present invention.
11 is a processing procedure diagram of the KUREHAND-I system according to the first preferred embodiment of the present invention.
12 and 13 illustrate the implementation of inverse kinematic modeling of the KUREHAND-I system according to the first preferred embodiment of the present invention.
14 illustrates load cell test results of a KUREHAND-I system according to a first preferred embodiment of the present invention.
15 illustrates encoder test results of the KUREHAND-I system according to the first preferred embodiment of the present invention.
FIG. 16 illustrates the tension control test results of the KUREHAND-I system according to the first preferred embodiment of the present invention. FIG.
Figure 17 shows the path of the fingertip and the position where the wire passes in accordance with the first preferred embodiment of the present invention.
FIG. 18 shows the wire length change calculated on the basis of inverse kinematics and the actual wire length measured on the encoder according to the first preferred embodiment of the present invention.
19 illustrates four types of grip types.
20 shows the initial outer tooth and final position for a number of grips.
FIG. 21 shows a table showing the position of pulleys for multiple grips. FIG.
22 and 23 illustrate changes in length of wire for multiple grips.
24 and 25 illustrate data measured by a lip motion sensor and a virtual hand and a virtual elastic body of a patient displayed thereon.
26 is an external view of a KUREHAND-II system according to a second preferred embodiment of the present invention.
27 and 28 schematically show the wire structure of the KUREHAND-II system according to the second preferred embodiment of the present invention.
FIG. 29 is a table showing a block arrangement of a KUREHAND-II system according to a second preferred embodiment of the present invention. FIG.
30 is a diagram illustrating the KUREHAND-II system according to the second preferred embodiment of the present invention.
FIG. 31 is a graph showing a test result of a load cell of a KUREHAND-II system according to a second preferred embodiment of the present invention. FIG.
32 is a graph showing an experiment result of the encoder of the KUREHAND-II system according to the second preferred embodiment of the present invention.
33 is a diagram showing the results of a tension control experiment of the KUREHAND-II system according to a second preferred embodiment of the present invention.
34 and 35 show experimental results for inverse kinematics of the KUREHAND-II system according to the second preferred embodiment of the present invention.
36 to 39 show experimental results of various configurations of the KUREHAND-II system according to the second preferred embodiment of the present invention.
40 to 41 show experimental results of the virtual reality interface of the KUREHAND-II system according to the second preferred embodiment of the present invention.
FIG. 42 is a table showing specifications of the KUREHAND-I and II systems according to the first and second preferred embodiments of the present invention. FIG.
43 is a view showing a structure of a load cell for measuring wire tension according to the first embodiment of the present invention.

The present invention is independent and precise according to the physical characteristics of the patient while having a small and concise structure by performing a bending or stretching movement for the fingers by pulling or releasing the wires connected to the thimble fitted to the fingers of the patient for cooperative movement. Control the movement of the finger of the patient to enable cooperative movement.

In addition, the present invention senses the motion of the finger to perform the flexion or stretching movements to view in virtual reality to match the visual stimulation and the movement of the finger by the patient to enhance the effect of rehabilitation treatment.

In another aspect, the present invention can calculate the position of the thimble controlled by the wires according to the inverse kinematics to precisely control the position of the thimble.

This rehabilitation system according to a preferred embodiment of the present invention, hereinafter referred to as KUREHAND (Kyungpook national university's Universal REhabilitation system for HAND) system.

The KUREHAND system of the present invention is divided into a KUREHAND-I system for simultaneously performing the flexion and extension of two or more fingers and a KUREHAND-II system for performing the flexion and extension for each of the fingers, and in the following description, the KUREHAND-I system and the KUREHAND system. -II Describe the system separately.

<First Embodiment: KUREHAND-I System>

First, the configuration and operation of the KUREHAND-I system according to the first embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Mechanical configuration of KUREHAND-I system

5 is a diagram illustrating the appearance of a KUREHAND-I system according to a first preferred embodiment of the present invention. The KUREHAND-I system includes a main frame 10, a plurality of thimble 20, a plurality of wires 30, a plurality of pulleys 40, a plurality of motor and load cell sensors 50, a lip motion sensor 60, It includes a control device not shown.

The main frame 10 has a cube shape, the plurality of thimble 20 is located inside, the plurality of thimble 20 is a rehabilitation treatment of the thumb, index finger, middle finger in the first preferred embodiment of the present invention Three can be provided for. Three fingers of the patient are inserted into each of the plurality of thimble 20, and the plurality of thimble 20 delivers physical force for stretching or flexing to each of the patient's fingers to perform the finger rehabilitation treatment of the patient.

The plurality of thimble 20 is connected to a plurality of motors and load cell sensors 50 through a plurality of wires 30, the plurality of wires 30 are the plurality of force energy generated through the plurality of motors Passed to the thimble 20. The plurality of motors and load cells sense the tensile force and the number of motor driving force applied to the plurality of wires 30 and provide them to the control device.

A plurality of pulleys 40 are positioned inside the main frame 10, and the plurality of pulleys 40 are connected to the plurality of motors and load cell sensors 50 and the plurality of thims 20. The force energy transfer path of 30 is diverted, which allows each of the plurality of wires 30 to transfer force energy to the plurality of thimble 20 at a suitable location for stretching or flexing the finger joint.

A lip motion sensor 60, which is an infrared sensor, is positioned on a lower surface of the main frame 100, and the lip motion sensor 60 senses the shape of a hand and a finger inserted into an internal space of the main frame 10. And provide the sensing information according to the control device.

The control device is provided with the sensing information on the shape of the hand and finger, the sensing information on the tensile force applied to the plurality of wires 30, the motor drive number of the plurality of motors to receive the position of the finger of the patient, that is, the thimble It is detected according to the inverse kinematics, and by controlling the driving of the motor in accordance with the position change of the detected thimble to reflect the movement state of the patient to perform the rehabilitation treatment precisely.

In addition, the control device is provided with the sensing information on the shape of the hand and finger, the sensing information on the tensile force applied to the plurality of wires 30, the number of motor drive of the plurality of motors to receive the movement of the finger according to the rehabilitation treatment To create a virtual reality image and output it through a display not shown to help the patient or rehabilitation of the rehabilitation of the rehabilitation therapist.

In addition, the control device performs the rehabilitation treatment of the finger of the patient by driving the plurality of motors in response to the command of the patient or physiotherapist through a user interface not shown.

<Wire structure>

The wire structure of the KUREHAND-I system according to the first preferred embodiment of the present invention described above will be described in more detail.

The joint of one finger performs two joint movements of flexion / extension. In order to bend or stretch these joints independently, two wires and two actuators are required to generate the tensile force by winding the wire. Thus, six wires and six actuators are required to bend or stretch the three fingers independently.

However, the KUREHAND-I system of the present invention has a new multi-wire structure to reduce the number of actuators required for the rehabilitation system, which is shown schematically in FIGS. 6 to 8. 6 illustrates a process of bending a finger according to a wire structure according to the first embodiment of the present invention, and FIG. 7 illustrates a process of stretching a finger according to the wire structure according to the first embodiment of the present invention. 8 illustrates an actual embodiment of the wire structure according to the first preferred embodiment of the present invention.

The present invention includes four wires 31 to 34 and four actuators 51 to 54 to bend or stretch the three fingers independently. That is, three extension wires 32 to 34 for widespread movement of each finger and one bending wire 31 for pulling inward are provided.

Each of the three extension wires 32 to 34 pulls a finger in a direction orthogonal to the direction indicated by the finger.

In addition, the one bending wire 31 wraps fingers to form a loop to reduce the number of actuators. That is, the bending wire 31 forms a loop surrounding the thumb and middle finger, a loop surrounding the thumb and the index finger, and the end of the bending wire is fixed to the thumb, and when the bending wire 31 is pulled by the pulley, The circumference of the loops surrounding the fingers is reduced so that the fingers gather. Since the two loops cannot bend independently, they surround each of the two fingers, and all three fingers are wound in one loop.

This allows three fingers to bend or stretch independently through the interaction of three extension wires and one bending wire. For example, in order to bend only the middle finger, you can fix the length of the extension wires of the thumb and index finger, loosen the extension wires of the middle finger, and pull the flex wire.

Block Configuration of KUREHAND-I System

The block configuration of the KUREHAND-I system according to the first preferred embodiment of the present invention described above will be described in more detail.

9 is a table showing a block diagram of a KUREHAND-I system according to a first preferred embodiment of the present invention, and FIG. 10 is a block diagram of a KUREHAND-I system according to a first preferred embodiment of the present invention. The figure is shown.

The human body 100 of the patient includes a brain 102, muscles 104, first to third fingers 106, 108, 110, and eyes 112. The eye 112 receives virtual reality image information of a finger under rehabilitation treatment by the KUREHAND-I system 200 according to the first preferred embodiment of the present invention, and transmits it to the brain 102, and the brain 102. In practice, his / her fingers 106, 108, and 110 move through the muscle 104 to receive the virtual reality image information and perform rehabilitation treatment.

The KUREHAND-I system 200 is largely composed of a mechanism 202, a sensor 236, a controller 238, a PC 222, and a switch 230.

The instrument unit 202 is a cube-shaped main frame, the first to third thimble (2041 to 2043) which is located inside the main frame and fitted to the patient's first to third fingers (106, 108, 110), and the first First to third wires 2061 to 2063 for finger extension, which are connected to each of the first to third thimbles 2041 to 2043 and pull or release in the direction of extension of the finger joint, and the first and second thimbles 2041 and A fourth wire 2064 for finger bending to form a loop surrounding 2042 and a second thimble 2042 and 2043 and pulling the loops to reduce the size of the loop or releasing the loops to increase the size of the loop; And first to fourth motors 2101 to 2104 connected to the first to fourth wires 2061 to 2064 to generate force energy for pulling or releasing the first to fourth wires 2061 to 2064. Force energy of the first to fourth wires 2061 to 2064 is located on the side of the main frame. It consists of the first to fourth pulleys (2081 ~ 2084) for switching the transmission path.

The sensor unit 236 may include first to fourth load cells 2121 to 2124 that sense pressure applied to the first to fourth wires 2061 to 2064, and the first to fourth load cells 2121 to 2124. AD to convert the sensing signal from the first to fourth ADC (2141 ~ 2144) for providing to the MCU 232, and the first to fourth sensing the number of driving of the first to fourth motor (2101 ~ 2104) Four encoders (2161 ~ 2164), and the lip motion unit 220 that is located on the lower side of the main frame and the infrared sensor for generating the sensing information for detecting the shape and position of the finger of the patient.

The control unit 238 is the fingertips of the patient, that is, the first to third thimble 2041 according to the sensing signals from the first to fourth load cells 2121 to 2124 and the first to fourth encoders 2161 to 2164. 2043) detects the position according to inverse kinematics and controls the driving of the first to fourth motors 2101 to 2104 according to the detected change in the position of the thimble to accurately reflect the movement state of the patient and perform the rehabilitation treatment precisely. Or a second SCI 226 for interfacing between the PC 222 and the MCU 232 and the MCU 232 for controlling the driving of the motors at the request of a patient or physiotherapist via a switch 230. And a first SCI 218 for an interface between the first to fourth encoders 2161 to 2164 and the MCU 232, and a GPIO 228 for an interface between the switch 230 and the MCU 232. It is composed.

The PC 222 is the first and the third thimble (2041 ~ 2043) provided by the MCU 232 of the control unit 238 and the shape and position information of the finger of the patient provided through the lip motion unit 220 Virtual reality image information about the finger of the patient is generated based on the location of the patient, and is output through the display 224 to guide the patient or the physiotherapist.

The switch 230 receives various commands or information from the patient or physiotherapist and provides them to the MCU 232.

The MCU 232 may employ a Syncworks TMS320F28335 module, the first to fourth motors 2101 to 210 may employ a ROBOTIS servo motor MX64-R, and the first to fourth load cells 2121. 2124) KTOYO's 247C-5kg load cell can be employed. In particular, the tension of the wire is measured by a load cell sensor in which the member transmits the tension of the wire in the direction of the load cell, as shown in FIG. 43. When the tension of the wire is high, the member presses the load cell harder and tensions the wire. If this is low, the member is formed to push the load cell less. As such, the present invention is measured by converting the tension of the wire into a compressive force to press the load cell.

<Process of KUREHAND-I System>

The processing of the KUREHAND-I system according to the first preferred embodiment of the present invention described above will be described in detail with reference to FIG.

The operation mode of the KUREHAND-1 system includes an automatic mode or a manual mode, in which the first to third motors are driven to move the first to third thimbles to perform an operation for a predetermined rehabilitation treatment. In the manual mode, the first to fourth motors are driven to move the first to third thimbles according to a switch input.

The rehabilitation treatment in this automatic mode depends on the condition of the patient. That is, in the case of a patient who cannot move his or her hand at all, rehabilitation treatment is performed by adjusting movement such as forcibly extending or bending a finger according to a specific posture through position control. In this case, the rehabilitation therapist may control the driving of the pulleys and the motor so that the finger of the patient may perform the movement according to the desired shape.

Explain the flexion process of the finger further. A motor connected to the bend wire that wraps the fingers to bend the specific finger pulls the bend wire to reduce its length, and as the length of the bend wire decreases, the tension of the bend wire becomes larger and the diameter of the ring surrounding the finger becomes smaller, consequently An extension wire connected to each finger is stretched to increase the tension. At this time, the motor for controlling the extension wire connected to the remaining fingers other than the finger to be bent is stopped and the wire does not move. At the same time, the tension of the extension wire connected to the finger to be bent is converted into a compressive force by a mechanism for pushing the load cell and this force is converted into an electrical signal of the load cell. This signal is amplified and digitized through the interface circuit and passed to the MCU. The MCU calculates an error by comparing the output value of the load cell with a digital value for wire tension, and calculates an output for the speed of the motor by a PD parameter value obtained by the Ziegler-Nichols method. The MCU transmits the output value according to the speed of the motor to the motor through the RS485 communication interface of the interface circuit through the SCI module. In addition, the MCU reads the encoder value of the motor at regular intervals, through which the MCU estimates the position change of the finger. In this way, independent bending and position control of the fingers is possible.

It also explains the finger stretching process a bit more. The motor corresponding to the finger to be stretched is stopped while the motor corresponding to the finger to be stretched to stretch the specific finger is wound. Accordingly, as the fingers stretch, the length of the bending wire surrounding the fingers increases and the tension increases. This tension is controlled by the MCU to maintain a constant tension. In this way, independent stretching motions and position control of the fingers are possible.

And when the patient can move his or her hand, work-oriented rehabilitation is performed by allowing the patient to perform specific tasks. In other words, data about the position and position of the hand is transmitted to the PC via lip motion, and based on the data, the hand and the object of the patient are realized in the virtual space using Unity, a software for game development. The patient bends his finger and pulls an object in the virtual space to change the tension of the connected wire. The changed tension is maintained at a constant tension by the MCU.

In the virtual space, when the hand of the patient touches a rigid body or the elastic body is gripped, the finger may no longer bend or may receive a reaction force according to the elasticity of the object. When the PC provides data such as the degree of pressurization of the object to the MCU, the MCU sends a motor stop command or increases the tension to produce a reaction force caused by the object's elasticity. The reaction force thus implemented is fed back to the patient through the hand, allowing the patient to actually lift or feel elastic and perform occupational therapy.

When the program is executed, the KUREHAND-I system initializes the MX64-R, such as the peripheral circuits SCI and ADC of the TMS320F28335 chip to a preset state (step 300), and drives a timer to repeat the algorithm at regular intervals ( Step 302). The KUREHAND-I system then checks if a timer interrupt is generated (step 304), whether a manual or automatic mode interrupt is generated by the patient or rehabilitation therapist (step 306).

When an operation in automatic mode is requested by the patient or rehabilitation therapist, the KUREHAND-I system sends a read command to the motor to return the current encoder value and resets the finger displacement based on the initially received data. Initialize to step 308. At this time, since it takes a long time to transmit and receive the read command for the motor, only the encoder data from one motor is read, not all the motors. In other words, once the main loop is executed, the encoder data can be read only by one of the four motors, and four main loops must be executed to obtain encoder data of all the motors. After receiving the encoder value, the KUREHAND-I system measures the sensing signal 20 times in each of the four load cells, averages the measured data, and filters the noise to detect wire tension data (step 310). If the tension of the wire is a predetermined over tension, the KUREHAND-I system performs an emergency stop to protect the system and the patient (step 332). In contrast, if the wire tension is not over tension, the KUREHAND-I system sequentially calculates output values for moving the patient's fingers according to the rehabilitation treatment already established (step 314), and drives the motors according to the output values. The patient's fingers can be moved according to a predetermined rehabilitation treatment (step 316). That is, the PD controller of the KUREHAND-I system obtains the drive parameters of the motors using the Ziegler-Nichols method based on the obtained tension data. After all processes of the main loop are completed, the KUREHAND-I system stores data such as encoder values and tension values required for the experiment in chronological order in different memory locations (step 318).

And the data of the Leapmotion according to the present invention is processed by the interrupt service routine, because the transmission speed is very slow compared to the transmission speed of the main program, which is information about how the finger pressed the elastic body in the virtual reality to be.

When the operation in the manual mode by the patient or the rehabilitation therapist is requested, the KUREHAND-I system turns off the motor to the standby state and executes an interrupt service routine according to the switch input (step 320). In the KUREHAND-I system, when a patient selects a motor to be driven by pressing a switch and commands an operation, the output of the motor selected in the interrupt service routine is transmitted to the motor at a predetermined speed, and the wire is pulled or released to move the finger to rehabilitation. Allow treatment to be carried out (step 326).

During this rehabilitation treatment, the KUREHAND-I system detects wire tension data (step 322). If the tension of the wire is a predetermined over tension, the KUREHAND-I system performs an emergency stop to protect the system and the patient (step 332).

Adjustment by Inverse Kinematics

As described above, the KUREHAND-I system according to the first preferred embodiment of the present invention is designed to perform various adjustment tasks of the hand. That is, the thimble-shaped mechanism worn on the finger is the final effect of the system and allows various operations in three-dimensional space according to the configuration state of the system. Accordingly, the wire transmitting force directly to the thimble must be freely adjustable in that direction, for which the position of the pulley is adjusted. The position of the pulley and the length of the wire change the operating range of the end effector of the system.

Also, the position of the remaining pulleys and motors does not affect the trajectory of the end effector because only the last pulley through which the wire passes before the wire is connected to the thimble is affected.

The adjustment process according to this inverse kinematics is further explained.

Home and Constraints

Before obtaining the inverse kinematics of the KUREHAND-I system according to the first preferred embodiment of the present invention, some definitions, assumptions and constraints for modeling the system as a wire system in three-dimensional space are described.

12 shows a geometric model of the KUREHAND-I system in three-dimensional space, the cube-shaped main frame is modeled as a cube. The position of the end effector in the center of FIG. 12 is defined as in Equation 1.

In Equation 1, Pt, Pi, Pm represents the position of the thimble with respect to the thumb, middle finger and index finger.

The thimble is assumed to be hemisphere Rf, and Pt, Pi, and Pm are located inside the main frame and are represented by Equation 2.

And the point of contact with the wire and the pulley passing through the wire is defined according to the equation (3).

Three extension wires and one flexing wire contact each thimble modeled as a sphere. The point where these wires and thimble meet is according to equation (4).

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는

위치에서부터

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는

위치에 영향을 받은 엄지, 검지, 엄지, 중지의 순서로 감싸진 부분에 이르는

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Is

From location

It is defined as the length to the location. And the length of the bend wire

Is

To reach the wrapped part in the order of thumb, index finger, thumb, middle finger

Until.

에 의해 평면 S가 형성되면, 상기 평면 S는 수학식 5에 따라 표현될 수 있다. remind

If the plane S is formed by, the plane S can be expressed according to the equation (5).

At this time, the position of P4 is expressed according to equation (6) and equation (7).

의 위치는 평면 S에 위치하며, 직선

상에 존재하며, 세그먼트

상에 존재하지는 않는다. 이는 수학식 8에 따라 표현된다. This is a branch

The position of is located on the plane S, straight

Present in the segment

It is not present in the phase. This is expressed according to equation (8).

의 위치는

에 근접할 수 있으며, 왜냐하면

가

또는

에 평행할 때에 마찰력은 가장 작기 때문이다. 또한

는 꼭지점에 있는 삼각형

에만 존재할 수 있다. 이는 와이어가 항상 적절하게 인장된 것으로 가정하기 때문이다. Additionally

The location of

Close to, because

end

or

This is because the frictional force is the smallest when parallel to. Also

Is the triangle at the vertex

Can only exist. This is because the wire is always assumed to be properly tensioned.

This can be represented by equations (9) and (10).

Inverse Kinematics

이 원하는 조정 운동에 따라 결정될 때에, 원하는 위치에서의 위치

를 위한 와이어의 길이

는 다음과 같다. 상기

는

와

사이의 거리에서 골무의 반지름을 뺀 것과 같으며, 이는 와이어가 항상 적절히 인장되어 있기 때문이다. 즉, 이는 수학식 11에 따라 획득된다. The locations

The position at the desired position when determined according to the desired adjusting movement

Length of wire

Is as follows. remind

Is

Wow

It is equal to the distance between the thimble minus the radius, because the wire is always properly tensioned. That is, this is obtained according to the equation (11).

의 길이는

에서

까지의 거리의 합과 같고, 각 손가락의 둘레의 길이는 엄지 손가락과 검지 손가락 사이의 거리의 두배이고, 엄지와 중지 사이의 거리의 두배이며, 이는 도 13에 도시한 바와 같다. And

The length of

in

It is equal to the sum of the distances to, and the length of the circumference of each finger is twice the distance between the thumb and the index finger, and twice the distance between the thumb and the middle finger, as shown in FIG.

This represents the sum and the arc of the segment, which is represented by Equation 12.

는 지점

는 직각 삼각형을 형성하므로, 수학식 13에 따라 피타고라스 정리를 사용하여 획득된다. In Equation 12

Point

Since forms a right triangle, it is obtained using Pythagorean theorem according to equation (13).

와

가 평행하다고 가정하면,

는 수학식 14에 나타낸 바와 같이 0로 근접한다. And

Wow

Suppose is parallel

Approaches 0 as shown in equation (14).

은

,

사이의 둔각과 같고, 각

은

과

에 의해 형성되는 둔각과 같다. 이는 수학식 15를 사용하여 쉽게 얻어질 수 있다. bracket

silver

,

Equal to obtuse angle between

silver

and

It is equal to the obtuse angle formed by. This can be easily obtained using equation (15).

The inverse kinematics described above can be verified by experiment.

<Experiment Result>

Experiments and results of the KUREHAND-I system according to the first preferred embodiment of the present invention will now be described. Test and result of each component constituting the KUREHAND-I system will be described.

<Loadcell test>

In the KUREHAND-I system of the present invention, the load cell measures tension on each of the plurality of wires and converts the electrical signal into an electrical signal. That is, the tension of the wire connected to the patient's hand depends on the hand's movement, and this change is measured by the load cell for the main controller to control in the control system.

The test for the load cell is carried out as follows. After the pendulum is attached to the wire, the tension applied to the wire is measured. The mass of the pendulum was measured to increase 200 [g] to 3 [Kg], and the experimental result graph is as shown in FIG. 14, and the signal measured in the load cell was almost linear. As a result of fitting this as a linear function using MATLAB, the ratio of voltage-to-mass is calculated to be 0.365 [V / Kg], and the cause of the error is assumed to be due to the hysteresis or nonlinearity of the sensor.

<Encoder test>

In the KUREHAND-I system of the present invention, the length of the wire and the displacement of the fingertip can be measured by using the data of the encoder embedded in the motor and the diameter of the pulley assembled in the motor.

The change in the position of the finger and the wire length were tested using the output value of the encoder, and the experimental method is as follows. Whenever the length of the wire was changed by 50 [mm], the change in the encoder value and the actual length of the wire was measured, as shown in FIG. 15 shows that the difference between the actual wire length and the measured value of the encoder is increased. This is because the diameter of the pulley becomes large when the fire is wound around the pulley assembled to the motor.

<Experiment on Tension Control>

The KUREHAND-I system according to the present invention maintains a desired tension on a desired wire using a PD controller, and the following experiment was performed to verify this.

First, the desired reference tension was input to the PD controller, and the actual wire tension measured by the load cell was measured, and the result is shown in FIG. 16. At relatively low tensions, the desired tension is maintained with a slight error, but at high tensions there is some vibration, and the cause of the vibration is due to the structure of the unfixed pulley, and the friction of the pulley as it passes through the pulley assembled in the system. By virtue of removing the minute vibration of the wire, there was almost no vibration. This proved that the KUREHAND-I system can control the desired tension, which is shown in FIGS. 17 and 18.

 17 shows the path of the finger and the position through which the wire passes. The actual wire length measured at the encoder according to the wire length change and path calculated based on the inverse kinematics is shown in FIG. 18. The two graphs, although different, are nearly identical, and the source of the error is the same as the source of the error generated by the encoder test. Accordingly, it is proved that the KUREHAND-I system according to the first preferred embodiment of the present invention can control the fingertip to a desired position.

Experiment on various configurations of KUREHAND-I system

The KUREHAND-I system according to the first preferred embodiment of the present invention is designed to reconstruct the wire structure to achieve various coordinated motions of the hand. To verify this, some of the 30 grips proposed by A. I. Kapandju were implemented using a real system, and the state of the system was recorded at that time.

19 shows four types of grips: subterminal opposition, spherical pentadigital palmar prehension, subterminal tridigital prehension and centralized grip.

20 shows the initial and final positions of each grip, and FIG. 21 shows a table showing the initial positions of the pulleys reconfigured to perform each grip.

22 and 23 show the change in the length of the wire based on the encoder data when performing each grip, indicating that the KUREHAND-I system according to the first preferred embodiment of the present invention can implement various cooperative operations of the hand. Indicates.

Experiment on Virtual Reality Interface

The virtual reality interface of the KUREHAND-I system according to the first preferred embodiment of the present invention allows the patient to provide visual and mechanical feedback to the patient to perform rehabilitation with the KUREHAND-I system when the patient can move slightly. . To verify this experiment, the following experiment was performed.

The present invention realizes a virtual elastic body for the patient's virtual hands and movements based on the data measured by the lip motion sensor and displays it on the monitor, the patient looks at the monitor and performs a given task to the target through the tension of the wire I feel the elasticity of the. In addition to measuring the tension change of the wire, the displayed hand and object are captured, and the measured data are as shown in FIGS. 24 and 25.

FIG. 24A illustrates position data detected by the lip motion sensor when the patient bends and extends a finger to grasp a virtual object realized in virtual reality.

As such, the patient may receive feedback from the monitor and wire visually and mechanically while performing certain tasks and performing rehabilitation treatment, which is the reason for enhancing the therapeutic effect.

Second Embodiment: KUREHAND-II System

First, the configuration and operation of the KUREHAND-II system according to the second preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Mechanical configuration of KUREHAND-II system

Fig. 26 shows the appearance of a KUREHAND-II system according to a second preferred embodiment of the present invention.

In the KUREHAND-II system according to the second preferred embodiment of the present invention, support frames 504 and 506 are formed at positions corresponding to the center and three-finger positions of the main frame 500 and the main frame 500. The upper portion of the center support frame 502 is provided with a cylindrical guide module of the vertical movement. The three support frames 506 for the three fingers are provided with motors 508 and 510 having encoders at upper and lower ends, respectively. The motors 508 and 510 are attached with pulleys for winding or unwinding wires. The thimble 504 to be fitted to the finger changes the position of the finger while winding or unwinding both ends of the connected wire 504. A load cell for measuring the tension of the wire is positioned below the support frames 406.

The position of the motor and the angle of the frame installed in the main frame 500 is designed to be adjusted according to the condition of the patient.

In particular, the KUREHAND-II system according to the second preferred embodiment of the present invention may use a smaller load cell to modularize the motor.

In addition, two wires, two actuators and two load cells are added to the KUREHAND-II system, and the other part is the same as the KUREHAND-I system.

The wire structure, hardware configuration, control system and inverse kinematics of the KUREHAND-II system of the second preferred embodiment of the present invention will be described in more detail, and the parts common to the KUREHAND-I system will be omitted.

<Wire structure>

The wire structure applied to the KUREHAND-II system according to the second preferred embodiment of the present invention is shown in FIGS. 27 and 28.

The KUREHAND-II system has a total of six wires and six actuators to move three fingers independently. The wires are classified into three extension wires and three bending wires. The bending wire is connected to a motor located at the bottom of the system via a guide module. The KUREHAND-II system according to the second preferred embodiment of the present invention has the advantage of excellent reactivity and reduced friction since the motor is pulled straight without using a loop structure.

That is, the bent wires according to the second preferred embodiment of the present invention are inserted into the guide formed in the support frame formed in the direction perpendicular to the center of the main frame to allow the fingers to be bent in the direction of the center of the hand of the patient.

Block Configuration of KUREHAND-II System

The block configuration of the KUREHAND-II system according to the second preferred embodiment of the present invention is as shown in FIG. The KUREHAND-II system consists of a mechanical mechanism, a main controller, an actuator, a sensor component, other interface circuit components, and a virtual reality interface.

The mechanical mechanism consists of a main frame with a Y-shaped frame, a center support frame, a guide module for determining the path of the wire, support frames for supporting the motor for driving the wire, and a support for supporting the wrist. The load cell used as the sensor is a CBMS similar to 247C-5kg, but a smaller volume is used. The number of actuators and load cells is six, respectively, and two load cell interfaces and an RS485 communication interface are added to the interface board due to changes in the wire structure. Other components not mentioned are identical to the KUREHAND-I system.

<Process of KUREHAND-II System>

The control system and main algorithm of the KUREHAND-II system according to the preferred embodiment of the present invention are almost the same as the system of the KUREHAND-I system, except that two motors and wires are added and each finger is controlled independently. Unlike the KUREHAND-I system, the KUREHAND-II system does not have a loop-shaped wire and controls the finger independently. For example, in order to bend the thumb, the corresponding function can be performed by pulling the bending wire attached to the thimble for the thumb while simultaneously maintaining the tension of the extension wire or releasing it at the same speed as the bending wire.

Inverse Kinematics

Home and Constraints

Before acquiring the electronic kinematics of the KUREHAND-II system according to the second preferred embodiment of the present invention, some definitions, assumptions and constraints for modeling the system as a wire system in three-dimensional space are described.

로 정의한다. 그리고 골무는 구의 반경

로 가정한다. 30 shows a geometric model of the KUREHAND-II system in three-dimensional space. In a Cartesian coordinate system composed of x, y and z axes, the origin is defined as the point where the center axis of the upright frame is defined and passes through the bottom surface of the frame. The main frame is modeled as a line segment with a space length of 25 [mm]. The end effector in the center of FIG. 30 is represented by equation (16).

It is defined as And the thimble is the radius of the sphere

Assume

의 위치는 시스템 내부에 위치하며 수학식 17로 표현된다. And

The position of is located inside the system and is represented by Equation 17.

의 위치는 수학식 18로 정의된다. Of the wire obtained from the load cell module mounted to the motor

The position of is defined by Equation 18.

로 정의된다. 이 와이어는 항상 적절하게 신장되어 있으며 탄성과 무게는 무시된다. 이 경우 와이어의 전체 길이는 아니지만, 골무에서

까지의 길이가 된다. And the length of the three extension wires

Is defined as This wire is always properly stretched and its elasticity and weight are ignored. In this case, not the entire length of the wire, but in thimble

Will be the length to.

는 수학식 19로 정의된다. Also, where the wire is drawn into the guide module

Is defined by equation (19).

Inverse Kinematics

그리고

는 미리 설정된 조건에 따라 주어지고, 원하는 위치인

로의 위치 변화를 위한 와이어의 길이

는 수학식 20에 따라 산출된다. remind

And

Is given according to the preset conditions,

Length of wire for changing furnace position

Is calculated according to equation (20).

은

와

사이의 거리로부터 골무의 반지름을 뺀 값과 같다. Since these wires are always assumed to be properly tensioned,

silver

Wow

It is equal to the distance between the minus the radius of the thimble.

Experimental Results of the KUREHAND-II System

The experiments and results of the KUREHAND-II system according to the second preferred embodiment of the present invention described above will now be described.

<Load Cell Test>

The experimental method of the KUREHAND-II system according to the second preferred embodiment of the present invention was the same as that performed in the KUREHAND-I system, and the mass of the pendulum increased by 200 [g] to 2 [Kg]. The experimental result graph is as shown in FIG. Referring to FIG. 31, the signal measured by the load cell was almost straight. As a linear function using MATLAB, the voltage-to-mass ratio is calculated to be 0.512 [V / Kg] and the cause of the error is estimated due to the hysteresis or nonlinearity of the sensor.

<Encoder test>

The same experiment as the encoder test of the KUREHAND-II system according to the second preferred embodiment of the present invention was performed, and the experimental results are shown in FIG. 32. Referring to FIG. 32, unlike the result of KUREHAND-I, there is almost no difference between the measured wire length and the measured wire length. This is because the diameter of the pulley assembled in the motor is larger than that of KUREHAND-I and the structure of the electric wire is changed.

<Experiment on Tension Control>

The tension control experiment for the KUREHAND-II system according to the second preferred embodiment of the present invention described above is the same as that performed in the KUREHAND-I system. The experimental result is as shown in FIG. According to FIG. 33, the tension of the wire is controlled according to the input reference tension, and errors and vibrations are reduced compared to the KUREHAND-I system. This is due to the new load cell module that measures wire tension. It is thus proved that the system can control the desired tension.

Experiment on Inverse Kinematics

Verification of the inverse kinematics for the KUREHAND-II system according to the second preferred embodiment of the present invention was performed in the same manner as the KUREHAND-I system, and the experimental results are according to FIG. 34. 34 shows the path of the finger. The actual wire length measured by the encoder according to the change and the path of the wire length calculated based on the inverse kinematics is shown in FIG. 35. Referring to FIG. 35, the two graphs are almost identical, and the cause of some errors is the same as that of the error generated in the encoder test. Thus, the KUREHAND-II system proved to be able to control the fingertip to the desired position.

Experiment on various configurations

Experiments on various configurations of the KUREHAND-II system according to the second preferred embodiment of the present invention were performed in the same manner as in the KUREHAND-I, and the experimental results are as follows. 36 shows the initial position and the final position of each grip, and FIG. 37 shows the initial position of the pulley reconfigured to perform each grip. 38 and 39 show a change in wire length based on encoder data when performing the grip, which indicates that the system can implement various cooperative operations of the hand.

Experiment on Virtual Reality Interface

The experiment on the virtual reality interface for the KUREHAND-II system according to the second preferred embodiment of the present invention was performed in the same manner as in the KUREHAND-I, and the results are as follows. 40 (a) shows the position data of the lip motion when the patient bends and extends the finger to maintain the virtual object realized in the virtual reality. The shapes of the hands and objects are then shown in (b) and (c). Figure 41 (a) shows the increased tension to make the fingers feel the elasticity by the tension of the extension line when holding the elastic body by hand. This allows patients to perform specific tasks, perform rehabilitation treatments, and get visual and mechanical feedback from monitors and wires.

The present invention introduces a KureHand system that can reconfigure the system and supports hand-oriented treatment with various adjustments. This KUREHAND system takes advantage of the wire and actuator system, which is simple in structure and easy to change length. It is also inexpensive and does not depend on the physical characteristics of the user.

In addition, the KUREHAND system according to the present invention was modeled as a geometric model to obtain inverse-kinematics and verified through experiments. In addition, the components of the KUREHAND system were verified through testing.

In addition, to verify the performance of the KUREHAND system, various adjustment movements of the hand were implemented through the KUREHAND system, and it was proved that the reconstruction of the KUREHAND system can support various adjustment tasks of patients who cannot move their hands.

In addition, all experiments confirmed that task-oriented treatment can be performed by providing visual and mechanical feedback to hand-movable patients using a virtual reality interface.

42 is a table showing the specifications of the KUREHAND-I and II systems. The KUREHAND-I system uses a loop driven wire structure so that three fingers can each bend independently with four actuators. In other words, there is an advantage that fewer actuators can have a higher degree. In addition, the KUREHAND-II system pulls the finger directly under the tension of the wire, reducing friction loss and improving the system's responsiveness.

Since the KUREHAND system of the present invention is designed to reconstruct a system for rehabilitation of a hand having the most complicated structure, it can be applied to rehabilitation assistance systems in various fields such as upper and lower limbs, which is obvious to those skilled in the art by the present invention.

In addition, the research on the multi-wire mechanism and inverse kinematics proposed by the KUREHAND system of the present invention can be used in various fields such as the HRI system.

10: main frame
20 thimble
30: wire
40: pulley
50: motor
60: Lip Motion

Claims (21)

In the hand rehabilitation robot system for the cooperative movement,
Thimbles fitted to a patient's finger;
A bend wire that surrounds two or more predetermined thimble of the thimble to form one or more loops;
Extension wires connected to each of the thimble to transmit a force in an extension direction;
Motors connected to each of the bending wires and the extension wires to pull or unwind the wires;
Encoders for sensing the number of driving of the motors;
Load cells configured to sense tension with respect to each of the bending wire and the extension wire;
Using the sensing information of the encoders and the sensing information of the load cells to calculate the position of the thimble, by selectively driving one or more of the motors to move the position to a predetermined position to bend the finger of the patient or Hand rehabilitation robot system for cooperative movement, characterized in that; The method of claim 1,
And a plurality of pulleys for changing a force energy transfer direction of wires connected between the motors and the thimble.
The pulley is attached to the main frame and the hand rehabilitation robot system for cooperative movement, characterized in that the position is variable. The method of claim 1,
The bending wire constitutes a loop surrounding the thumb and index finger and a loop surrounding the thumb and middle finger,
Hand rehabilitation robot system for cooperative movement, characterized in that for reducing the size of the loops as the pulled by the motor to bend the finger joints. The method of claim 1,
The load cell is a hand rehabilitation robot system for the cooperative movement for sensing the wire tension by converting the wire tension into a compressive force. The method of claim 1,
Hand rehabilitation robot system for the cooperative movement characterized in that it further comprises an infrared sensor which is installed on the lower side of the thimble fitted to the finger of the patient to detect the position and shape of the finger of the patient. The method of claim 5,
Hand rehabilitation robot system for the cooperative movement further comprises a PC for converting the position and shape of the fingers of the patient obtained from the infrared sensor to convert to a virtual reality image. The method of claim 1,
The controller,
Calculating the position of the thimble according to inverse kinematics using the sensing information of the encoders and the sensing information of the load cells,
By calculating the length of the wire for the movement to the predetermined position,
Hand rehabilitation robot system for cooperative movement, characterized in that for selectively driving one or more of the motors correspondingly. The method of claim 1,
It is further provided with a switch operated by the patient or physiotherapist,
The control device
If a manual mode is requested through the switch,
Hand rehabilitation robot system for cooperative movement, characterized in that for selectively driving one or more of the motors in accordance with the information input through the switch. The method of claim 1,
It is further provided with a switch operated by the patient or physiotherapist,
The control device
When auto mode is requested through the switch,
And selectively driving one or more of the motors to move the thimble to a predetermined position for rehabilitation. The method of claim 1,
The control device
Hand rehabilitation robot system for cooperative movement, characterized in that the emergency stop of the motor, if the tension of the wire sensed from one or more of the load cells more than a predetermined value. delete In the hand rehabilitation robot system for the cooperative movement,
Thimbles fitted to a patient's finger;
Extension wires connected to each of the thimble to transmit a force in an extension direction;
Bending wires connected to each of the thimble and transmitting a force in a bending direction;
Motors connected to each of the bending wires and the extension wires to pull or unwind the wires;
Encoders for sensing the number of driving of the motors;
Load cells configured to sense tension with respect to each of the bending wires and the extension wires;
Using the sensing information of the encoders and the sensing information of the load cells to calculate the position of the thimble, by selectively driving one or more of the motors to move the position to a predetermined position to bend the finger of the patient or It includes; a control device for performing a renal movement;
The controller,
Calculating the position of the thimble according to inverse kinematics using the sensing information of the encoders and the sensing information of the load cells,
By calculating the length of the wire for the movement to the predetermined position,
Hand rehabilitation robot system for cooperative movement, characterized in that it drives one or more of the motors correspondingly. The method of claim 12,
The bending wires are inserted into the guide formed in the support frame formed in a direction perpendicular to the center of the main frame, the hand rehabilitation robot system for cooperative movement, characterized in that the fingers are bent in the direction of the center of the hand of the patient. The method of claim 12,
The load cell is a hand rehabilitation robot system for the cooperative movement for sensing the wire tension by converting the wire tension into a compressive force. The method of claim 12,
Hand rehabilitation robot system for the cooperative movement characterized in that it further comprises an infrared sensor which is installed on the lower side of the thimble fitted to the finger of the patient to detect the position and shape of the finger of the patient. The method of claim 15,
Hand rehabilitation robot system for the cooperative movement further comprises a PC for converting the position and shape of the fingers of the patient obtained from the infrared sensor to convert to a virtual reality image. delete The method of claim 12,
It is further provided with a switch operated by the patient or physiotherapist,
The control device
If a manual mode is requested through the switch,
Hand rehabilitation robot system for cooperative movement, characterized in that for driving one or more of the motors in accordance with the information input through the switch. The method of claim 12,
It is further provided with a switch operated by the patient or physiotherapist,
The control device
When auto mode is requested through the switch,
And selectively driving one or more of the motors to move the thimble to a predetermined position for rehabilitation. The method of claim 12,
The control device
The hand rehabilitation robot system for cooperative exercise, characterized in that the emergency stop of the motor, if the tension of the wire sensed from one or more of the load cells is greater than a predetermined value. delete

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