LU504157B1 - Planar two-dimensional training robot and training method for upper-limb rehabilitation - Google Patents
Planar two-dimensional training robot and training method for upper-limb rehabilitation Download PDFInfo
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- LU504157B1 LU504157B1 LU504157A LU504157A LU504157B1 LU 504157 B1 LU504157 B1 LU 504157B1 LU 504157 A LU504157 A LU 504157A LU 504157 A LU504157 A LU 504157A LU 504157 B1 LU504157 B1 LU 504157B1
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- synchronous belt
- mobile platform
- upper table
- servo motor
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 82
- 210000003414 extremity Anatomy 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 15
- 230000007246 mechanism Effects 0.000 claims description 12
- 241000276425 Xiphophorus maculatus Species 0.000 claims description 6
- 239000010409 thin film Substances 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000004044 response Effects 0.000 abstract description 4
- 208000006011 Stroke Diseases 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 210000003857 wrist joint Anatomy 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000002310 elbow joint Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 241001442234 Cosa Species 0.000 description 1
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003930 cognitive ability Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000011866 long-term treatment Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
- A63B21/0058—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors
- A63B21/0059—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors using a frequency controlled AC motor
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/40—Interfaces with the user related to strength training; Details thereof
- A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
- A63B21/4017—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the upper limbs
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/09—Adjustable dimensions
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present disclosure belongs to the field of medical rehabilitation robots, and relates to the field of stroke rehabilitation robots, in particular to a planar two-dimensional training robot for upper-limb rehabilitation. The planar two-dimensional training robot for upper-limb rehabilitation includes a liftable table assembly, where a quick-change terminal platform is arranged on the liftable table assembly, and the quick-change terminal platform is connected to a drive system. The planar two-dimensional training robot for upper-limb rehabilitation according to the present disclosure has a wide application range, a simple structure and a rapid response.
Description
PLANAR TWO-DIMENSIONAL TRAINING ROBOT AND TRAINING METHOD FOR U504157
UPPER-LIMB REHABILITATION
The present disclosure belongs to the field of medical rehabilitation robots, and relates to the field of stroke rehabilitation robots, in particular to a planar two-dimensional training robot for upper-limb rehabilitation.
A stroke, a clinically prevalent disease, features a high incidence, a high mortality rate and a high disability rate, and has a big effect on patients’ health and quality of life. As shown in surveys, the stroke has become the number one reason for death and disability of adults in
China on account of bad living habits in recent years. Literature statistics suggest that related rehabilitation treatment can notably restore the cognitive ability and the motor ability within three months after the onset of the stroke, and has noticeable rehabilitation effects within one year, but long-term treatment is still required for recovery to a normal level.
However, artificial interactive assisted rehabilitation by nurses is laborious, and strains medical resources. In view of this, it is imperative to develop an appropriate medical rehabilitation apparatus for motor dysfunction of stroke patients. Most current upper-limb rehabilitation training apparatuses on the market are in the form of an exoskeleton. They are exclusively applicable to patients with certain active motor ability despite a low cost, and rarely adaptable to the patients without collecting real-time motor information of the patients during rehabilitation training. Other upper-limb rehabilitation robots are impossible to popularize due to their high production and manufacturing costs despite comprehensive functions.
An objective of the present disclosure is to provide a planar two-dimensional training robot for upper-limb rehabilitation having a wide application range, a simple structure and a rapid response. Further, a planar two-dimensional training method for upper-limb rehabilitation is provided.
Based on the above objective, the present disclosure uses the following technical solution:
A planar two-dimensional training robot for upper-limb rehabilitation includes a liftable table assembly, where a quick-change terminal platform is arranged on the liftable table assembly, and the quick-change terminal platform is connected to a drive system.
Further, the liftable table assembly includes an upper table, and the quick-change terminal platform and the drive system are both arranged on the upper table; the upper table is hinged to a lower table, the lower table is horizontally arranged below the upper table, and both the upper table and the lower table are in a platy structure, and an angle adjustment mechanism is arranged between the upper table and the lower table, a bottom end of the lower table is connected to a liftable rod, and a bottom end of the liftable rod is connected to a support base.
Further, the angle adjustment mechanism includes an elongated slot provided at a top end of the lower table, a front portion of the elongated slot is hinged to a telescopic cylinder, an end, far away from the elongated slot, of the telescopic cylinder is hinged to a first connection rod and a second connection rod, an end, far away from the telescopic cylinder, of the first connection rod is hinged to a rear portion of the upper table, and an end, far away from the telescopic cylinder, of the second connection rod is hinged to a rear portion of the elongated slot; and the angle adjustment mechanism further includes an inclinometer arranged in the upper table.
Further, the quick-change terminal platform includes a transverse guide rod perpendicula}V504157 to the elongated slot, the transverse guide rod is slidably connected to a mobile platform, a speed sensor is integrated in the mobile platform, the mobile platform is further hinged to a terminal motor, and the terminal motor is perpendicular to the transverse guide rod; a shaft of the terminal motor is connected to an arm rest perpendicular to the shaft, and the arm rest is connected to a two-dimensional force sensor; and a handpiece is connected on the arm rest.
Further, a quick-change connection structure is arranged between the handpiece and the arm rest, and the handpiece includes a hand grip, a two-handed grip and a spherical grip.
Further, the handpiece of each kind is internally provided with a thin-film pressure sensor.
Further, one end of the arm rest is connected to the terminal motor, the other end of the arm rest is provided with a limb fixation member, and the limb fixation member is in a cambered platy structure.
Further, the drive system includes slidable pulley platforms fixedly connected to two ends of the transverse guide rod, and further includes a pair of fixed pulley platforms fixedly connected to a left rear end and a right rear end of the upper table; each slidable pulley platform is slidably connected to a linear guide rail, each linear guide rail is perpendicular to the transverse guide rod, the linear guide rail and the transverse guide rod are parallel to the upper table, and each linear guide rail is fixedly connected to the upper table; the drive system includes a left drive system, and further includes a right drive system, and a projection of the right drive system and a projection of the left drive system are symmetrical; the left drive system includes first tension wheels connected to the slidable pulley platforms, and further includes first small pulleys arranged on the fixed pulley platforms, and a first servo motor fixedly connected to a left front end of the upper table, and the first servo motor is connected to a first driving pulley; and the left drive system further includes a first synchronous belt connected to the mobile platform, one end of the first synchronous belt is fixedly connected to a left front end of the mobile platform, and the other end of the first synchronous belt is fixedly connected to a right rear end of the mobile platform after being sequentially wound around a first tension wheel on a left side of the upper table, the first driving pulley, a first small pulley at the left rear end of the upper table, a first small pulley at the right rear end of the upper table and a first tension wheel on a right side of the upper table.
Further, the right drive system includes second tension wheels connected to the slidable pulley platforms, and further includes second small pulleys arranged on the fixed pulley platforms, a first tension wheel and a second tension wheel on the same slidable pulley platform are arranged lengthways, and a first small pulley and a second small pulley on the same fixed pulley platform are arranged lengthways; the right drive system further includes a second servo motor fixedly connected to a right front end of the upper table, and the second servo motor is connected to a second driving pulley; and the right drive system further includes a second synchronous belt connected to the mobile platform, one end of the second synchronous belt is fixedly connected to a right front end of the mobile platform, and the other end of the second synchronous belt is fixedly connected to a left rear end of the mobile platform after being sequentially wound around a second tension wheel on the right side of the upper table, the second driving pulley, a second small pulley at the right rear end of the upper table, a second small pulley at the left rear end of the upper table and a second tension wheel on the left side of the upper table.
A training method of the planar two-dimensional training robot for upper-limb rehabilitation as described above includes: LUS04157 step 1, energizing the planar two-dimensional training robot for upper-limb rehabilitation, adjusting a height of an upper table through a liftable rod, binding a corresponding affected limb of a patient to an arm rest through a strap, and holding a handpiece with a hand of the patient; adjusting a telescoping length of a telescopic cylinder, selecting an inclination angle between the upper table and a lower table, and measuring the inclination angle by an inclinometer and sending the inclination angle to a control system; and starting training by selecting an appropriate rehabilitation training mode according to physical condition of the patient; and step 2, selecting an active mode for training, and actively driving a mobile platform by the patient to perform two-dimensional movement in a horizontal plane in the upper table according to a training plan: under the condition that the patient drives the mobile platform to move leftwards, inputting force and position information into the control system by a two-dimensional force sensor, clockwise rotating a first servo motor and a second servo motor on a left side and a right side respectively, generating pulling force by tightening a first synchronous belt and a second synchronous belt connected to a left side of the mobile platform, pulling the mobile platform to move leftwards accordingly, and simultaneously extending a first synchronous belt and a second synchronous belt connected to a right side of the mobile platform; under the condition that the patient drives the mobile platform to move rightwards, counterclockwise rotating a first servo motor and a second servo motor on a left side and a right side respectively, generating pulling force by tightening a first synchronous belt and a second synchronous belt connected to a right side of the mobile platform, pulling the mobile platform to move rightwards along with the patient, and simultaneously extending a first synchronous belt and a second synchronous belt connected to a left side of the mobile platform; under the condition that the patient drives a quick-change terminal platform to move forwards, driving left and right slidable pulley platforms to move forwards by a transverse guide rod of the quick-change terminal platform, in this case, counterclockwise rotating a first servo motor, clockwise rotating a second servo motor, generating pulling force by tightening a first synchronous belt and a second synchronous belt connected to a front side of the mobile platform, pulling the quick-change terminal platform to move forwards along with the patient, and simultaneously extending a first synchronous belt and a second synchronous belt connected to a rear side of the mobile platform; under the condition that the patient drives a quick-change terminal platform to move backwards, clockwise rotating a first servo motor, counterclockwise rotating a second servo motor, generating pulling force by tightening a first synchronous belt and a second synchronous belt connected to a rear side of the mobile platform, pulling the quick-change terminal platform to move backwards along with the affected limb of the patient, and simultaneously extending a first synchronous belt and a second synchronous belt connected to a front side of the mobile platform; and under the condition that the patient drives the quick-change terminal platform to move in any trajectory in the horizontal plane, coupling a first servo motor to a second servo motor for rotation, and causing the mobile platform to move accordingly.
Compared with the prior art, the present disclosure has the following beneficial effects:
The planar two-dimensional training robot for upper-limb rehabilitation of the present disclosure is provided as a novel planar training robot for training of a stroke patient under rehabilitation. Through cooperation of the telescopic cylinder with the first connection rod and the second connection rod, an inclination angle of 0°C-90°C may be formed between the uppekV5041 57 table and the lower table, thereby facilitating adjustment of a training angle and solving the shortcoming that a similar product may be merely used for training on a horizontal plane or a vertical plane.
The present disclosure has a simple structure and a low cost. Since a desktop training module uses a solution of driving through the synchronous belt driven by the servo motor, the simple structure is achieved, and complicated structures and wires of an exoskeleton device are avoided. Coupled drive through the first servo motor and the second servo motor may drive the quick-change terminal platform to generate different movement routes such as forward, backward, leftward and rightward movement, and four different training modes are provided for rehabilitation training, that is, an active training mode, a passive training mode, a mirroring training mode, and a user-defined training mode, such that the robot is suitable for patients at different rehabilitation stages and has a wide application range.
The present disclosure has the advantages of a quick response, safe operation and a low cost. Three kinds of quick-change handpieces not only adapt to patients with different rehabilitation conditions, but also provide a hardware foundation for diversification of training programs. The servo motor transmits power to the mobile platform through the synchronous belt. By uniformly applying force to a left front portion, a left rear portion, a right front portion and a right rear portion of the mobile platform, both movement accuracy and use safety of the patient may be ensured. A rapid movement response and a low cost are also conducive to popularization and use of the present disclosure.
Fig. 1 is a schematic diagram of Example 1 according to the present disclosure;
Fig. 2 is a front view of Example 1 according to the present disclosure;
Fig. 3 is a side view of Example 1 according to the present disclosure;
Fig. 4 is a top view of Example 1 according to the present disclosure;
Fig. 5 is a schematic diagram of a drive mechanism system according to Example 1 of the present disclosure;
Fig. 6 is a schematic diagram of an angle adjustment mechanism according to Example 1 of the present disclosure;
Fig. 7 is a schematic diagram of a quick-change terminal platform according to Example 1 of the present disclosure;
Fig. 8 is a schematic diagram of a handpiece according to Example 1 of the present disclosure; and
Fig. 9 is a schematic diagram of a two-handed grip according to Example 1 of the present disclosure.
In the figures: liftable table assembly 100, upper table 101, lower table 102, first connection rod 103, telescopic cylinder 104, fixed support 105, slidable pulley platform 106, fixed pulley platform 107, linear guide rail 108, second connection rod 109, quick-change terminal platform 200, mobile platform 201, transverse guide rod 202, terminal motor 203, handpiece 204, arm rest 205, two-dimensional force sensor 206, connection rod 207, grip 208, left drive system 300, first servo motor 301, first driving pulley 302, first tension wheel 303, first small pulley 304, first synchronous belt 305, right drive system 400, second servo motor 401, second driving pulley 402, second tension wheel 403, second small pulley 404, and second synchronous belt 405.
Detailed Description of the Embodiments LUS04157
Example 1
As shown in Figs. 1-9, a planar two-dimensional training robot for upper-limb rehabilitation includes a liftable table assembly 100, where a quick-change terminal platform 5 200 is arranged on the liftable table assembly 100, and the quick-change terminal platform 200 is connected to a drive system. The planar two-dimensional training robot for upper-limb rehabilitation further includes a control system.
As shown in Fig. 1, the liftable table assembly 100 includes an upper table 101, and the quick-change terminal platform 200 and the drive system are both arranged on the upper table 101; the upper table 101 is hinged to a lower table 102, and the upper table 101 is hinged to a front end of the lower table 102; the lower table 102 is horizontally arranged below the upper table 101, and both the upper table 101 and the lower table 102 are in a platy structure; and an angle adjustment mechanism is arranged between the upper table 101 and the lower table 102, a bottom end of the lower table 102 is connected to a liftable rod, and a bottom end of the liftable rod is connected to a support base.
As shown in Fig. 6, the angle adjustment mechanism includes an elongated slot provided at a top end of the lower table 102, a front portion of the elongated slot is hinged to a telescopic cylinder 104, and a rear end of the telescopic cylinder 104 is hinged to a front in the elongated slot of the lower table 102 through a hinge support; an end, far away from the elongated slot, of the telescopic cylinder 104 is hinged to a first connection rod 103 and a second connection rod 109, an end, far away from the telescopic cylinder 104, of the first connection rod 103 is hinged to a rear portion of the upper table 101, and an end, far away from the telescopic cylinder 104, of the second connection rod 109 is hinged to a rear portion of the elongated slot; and the angle adjustment mechanism further includes an inclinometer arranged in the upper table 101. The rear portion of the upper table 101 is fixedly connected to a hinge support hinged to the first connection rod 103, and a rear portion of the lower table 102 is fixedly connected to a hinge support hinged to the second connection rod 109.
As shown in Fig. 7, the quick-change terminal platform 200 includes a transverse guide rod 202 perpendicular to the elongated slot, the transverse guide rod 202 is slidably connected to a mobile platform 201, a speed sensor is integrated in the mobile platform 201, the mobile platform 201 is further hinged to a terminal motor 203, a rear end of the terminal motor 203 is hinged to the mobile platform 201, a hinge axis is parallel to the transverse guide rod 202, and the terminal motor 203 is perpendicular to the transverse guide rod 202; a shaft of the terminal motor 203 is connected to an arm rest 205 perpendicular to the shaft, and the arm rest 205 is connected to a two-dimensional force sensor 206; and a handpiece 205 is connected on the arm rest 204. The two-dimensional force sensor 206 is mounted on a lower plane of the arm rest 205 through a bolt, and the handpiece 204 is fixed to an upper plane of the arm rest 205 through a bolt and clamps the arm rest 205 together with the two-dimensional force sensor 206. The transverse guide rod 202 is in a cylindrical structure horizontally arranged, the mobile platform 201 is provided with a linear bearing hole perpendicular to the elongated slot, and the mobile platform 201 is connected to the transverse guide rod 202 through the linear bearing hole. The mobile platform 201 may slide on the transverse guide rod 202 but may not rotate around the transverse guide rod 202.
As shown in Fig. 8, a quick-change connection structure is arranged between the handpiece 204 and the arm rest 205, and the handpiece 204 includes a hand grip, a two-handed grip and a spherical grip. The hand grip, the two-handed grip or the spherical grip may be used-4504157 according to condition of a patient. The handpiece 204 of each kind 1s internally provided with a thin-film pressure sensor. As shown in Fig. 9, the two-handed grip includes a connection rod 207, and two ends of the connection rod 207 are connected to grips 208 perpendicular to the connection rod. When the two-handed grip is used, a middle of the connection rod 207 is connected to the arm rest 205, and the two grips 208 are centrally symmetrical with respect to the middle of the connection rod 207.
One end of the arm rest 205 is fixedly connected to the shaft of the terminal motor 203, and the other end is provided with a limb fixation member in a cambered platy structure.
As shown in Figs. 2-5. the drive system includes slidable pulley platforms 106 fixedly connected to two ends of the transverse guide rod 202, and further includes a pair of fixed pulley platforms 107 fixedly connected to a left rear end and a right rear end of the upper table 101; each slidable pulley platform 106 is slidably connected to a linear guide rail 108, each linear guide rail 108 is perpendicular to the transverse guide rod 202, the linear guide rail 108 and the transverse guide rod 202 are parallel to the upper table 101, each linear guide rail 108 is fixedly connected to the upper table 101, and two linear guide rails 108 are fixed on a left side and a right side of the upper table 101 through bolts respectively; the drive system includes a left drive system, and further includes a right drive system, and a projection of the right drive system and a projection of the left drive system are symmetrical. The two slidable pulley platforms 106 cooperate with the left and right linear guide rails 108 respectively and are mounted on the left side and the right side of the upper table 101. Two fixed pulley platforms 107 are fixed on a left side and a right side of a rear of the upper table 101 through bolts. The drive system further includes two fixed supports 105 fixed to a left side and a right side of a front of the upper table 101 through bolts.
The drive system includes a left drive system, and further includes a right drive system, and a projection of the right drive system and a projection of the left drive system are symmetrical. Orthographic projections on an upper table top of the left drive system 300 and the right drive system 400 are symmetrically arranged with respect to a connection line of midpoints of a front side and a rear side of the upper table top. The left drive system includes first tension wheels 303 connected to the slidable pulley platforms 106, and further includes first small pulleys 304 arranged on the fixed pulley platforms 107, the left drive system 300 further includes a first servo motor 301 fixedly connected to a left front end of the upper table 101, and a shaft of the first servo motor 301 is connected to a first driving pulley 302 through a flat key. The left drive system 300 includes a first synchronous belt 305 connected to the mobile platform 201, one end of the first synchronous belt 305 is fixedly connected to a left front end of the mobile platform 201, and the other end of the first synchronous belt 305 is fixedly connected to a right rear end of the mobile platform 201 after being sequentially wound around a first tension wheel 303 on a left side of the upper table 101, a first driving pulley 302, a first small pulley 304 at the left rear end of the upper table 101, a first small pulley304 at the right rear end of the upper table 101 and a first tension wheel 303 on a right side of the upper table 101.
The projections of the right drive system 400 and the left drive system 300 are designed to be mirrored. In order to guarantee that the first synchronous belt 305 and the second synchronous belt 405 do not interfere with each other during operation, a mounting plane of the right drive system 400 is lower than a mounting plane of the left drive system 300. The right drive system 400 includes second tension wheels 403 connected to the slidable pulley platform&U5041 57 106, and further includes second small pulleys 404 arranged on the fixed pulley platforms 107.
A first tension wheel 303 and a second tension wheel 403 on the same slidable pulley platform 106 are arranged lengthways, a first tension wheel 303 is before a second tension wheel 403 on the left, and a first tension wheel 303 is behind a second tension wheel 403 on the right. A first tension wheel 304 and a second tension wheel 404 on the same fixed pulley platform 107 are arranged lengthways, a first small pulley 304 is before a second small pulley 404 on the left, and a first small pulley 304 is before a second small pulley 404 on the right. The right drive system 400 further includes a second servo motor 401 fixedly connected to a right front end of the upper table 101, and a shaft of the second servo motor 401 is connected to a second driving pulley 402 through a flat key. The right drive system 400 includes a second synchronous belt 405 connected to the mobile platform 201, one end of the second synchronous belt 405 is fixedly connected to a right front end of the mobile platform 201, and the other end of the second synchronous belt is fixedly connected to a left rear end of the mobile platform 201 after being sequentially wound around a second tension wheel 403 on the right side of the upper table 101, the second driving pulley 402, a second small pulley 404 at the right rear end of the upper table 101, a second small pulley 404 at the left rear end of the upper table 101 and a second tension wheel 403 on the left side of the upper table 101.
Example 2
A training method of the planar two-dimensional training robot for upper-limb rehabilitation according to this example includes:
Step 1, the planar two-dimensional training robot for upper-limb rehabilitation is energized, a height of an upper table 101 is adjusted through a liftable rod to adapt to a height of a patient, a corresponding affected limb of a patient is bound to an arm rest 205 through a strap, and the patient holds a handpiece 204 with a hand. A telescoping length of a telescopic cylinder 104 is adjusted, an inclination angle between the upper table 101 and a lower table 102 is selected, a training plane is determined, the inclination angle is measured by an inclinometer in the upper table 101 and is sent to a control system for participating in kinematics and dynamics control over the robot. Training is started by selecting an appropriate rehabilitation training mode according to physical condition of the patient.
Step 2, in the case that an active mode is selected for training, the patient actively drives a mobile platform 201 to perform two-dimensional movement in a horizontal plane in the upper table 101 according to a training plan: under the condition that the patient drives the mobile platform 201 to move leftwards, force and position information is input into the control system by a two-dimensional force sensor 206, a first servo motor 301 and a second servo motor 401 on a left side and a right side clockwise rotate, pulling force is generated by tightening a first synchronous belt 305 and a second synchronous belt 405 connected to a left side (a left front end and a left rear end) of the mobile platform 201, the mobile platform 201 is pulled to move leftwards accordingly, and a first synchronous belt 305 and a second synchronous belt 405 connected to a right side (a right front end and a right rear end) of the mobile platform 201 are simultaneously extended.
Similarly, under the condition that the patient drives the mobile platform 201 to move rightwards, a first servo motor 301 and a second servo motor 401 on a left side and a right side counterclockwise rotate, pulling force is generated by tightening a first synchronous belt 305 and a second synchronous belt 405 connected to a right side (a right front end and a right rear end) of the mobile platform 201, the mobile platform 201 is pulled to move rightwards along V504157 with the patient, and a first synchronous belt 305 and a second synchronous belt 405 connected to a left side (a left front end and a left rear end) of the mobile platform 201 are simultaneously extended.
Under the condition that the patient drives a quick-change terminal platform 200 to move forwards, a transverse guide rod 202 of the quick-change terminal platform 200 drives left and right slidable pulley platforms 106 to move forwards, in this case, a first servo motor 301 counterclockwise rotates, a second servo motor 401 clockwise rotates, pulling force 1s generated by tightening a first synchronous belt 305 and a second synchronous belt 405 connected to a front side (a left front end and a right front end) of the mobile platform 201, the quick-change terminal platform 200 is pulled to move forwards along with the patient, and a first synchronous belt 305 and a second synchronous belt 405 connected to a rear side (a left rear end and a right rear end) of the mobile platform 201 are simultaneously extended.
Under the condition that the patient drives a quick-change terminal platform 200 to move backwards, a first servo motor 301 clockwise rotates, a second servo motor 401 counterclockwise rotates, pulling force is generated by tightening a first synchronous belt 305 and a second synchronous belt 405 connected to a rear side (a left rear end and a right rear end) of the mobile platform 201, the quick-change terminal platform 200 is pulled to move backwards along with the affected limb of the patient, and a first synchronous belt 305 and a second synchronous belt 405 connected to a front side (a left front end and a right front end) of the mobile platform 201 simultaneously extended.
Under the condition that the patient drives the quick-change terminal platform 200 to move in any trajectory in the horizontal plane, that is, composite movement in a forward direction, a backward direction, a leftward direction and a rightward direction, based on a coupled rotation mode of a first servo motor 301 and a second servo motor 401, the mobile platform 201 is caused to move accordingly. In this mode, output torque of the first servo motor 301 and the second servo motor 401 may be controlled to provide adjustable resistance for the affected limb.
Step 3, in the case that a passive mode training is selected, a quick-change terminal platform 200 actively moves to drive an affected limb of a patient to move, and a movement trajectory and an assistance value provided for the affected limb are set based on a training plan, and are achieved according to different rotation modes of a first servo motor 301 and a second servo motor 401: under the condition that a mobile platform 201 drives the patient to move leftwards, force and position information is input into the control system by a two-dimensional force sensor 206, the first servo motor 301 and the second servo motor 401 on a left side and a right side clockwise rotate, pulling force is generated by tightening a first synchronous belt 305 and a second synchronous belt 405 connected to a left side of the mobile platform 201, the mobile platform 201 is pulled to move leftwards accordingly, the affected limb of the patient moves accordingly, and a first synchronous belt 305 and a second synchronous belt 405 connected to a right side (a right front end and a right rear end) of the mobile platform 201 are simultaneously extended.
Similarly, under the condition that the mobile platform 201 drives the patient to move rightwards, the first servo motor 301 and the second servo motor 401counterclockwise rotate, pulling force is generated by tightening a first synchronous belt 305 and a second synchronous belt 405 connected to a right side of the mobile platform 201, the mobile platform 201 is pulled to move rightwards, the affected limb of the patient moves accordingly, and a first synchronousV5041 57 belt 305 and a second synchronous belt 405 connected to a left side (a left front end and a left rear end) of the mobile platform 201 are simultaneously extended.
Under the condition that the quick-change terminal platform 200 drives the patient to move forwards, the first servo motor 301 counterclockwise rotates, the second servo motor 401 clockwise rotates, pulling force is generated by tightening a synchronous belt connected to a front side of the mobile platform 201, the quick-change terminal platform 200 is pulled to move forwards, a slidable pulley platform 106 moves forwards along a linear guide rail 108, and the affected limb of the patient moves accordingly. Under the condition that the mobile platform 201 drives the patient to move backwards, the first servo motor 301 clockwise rotates, the second servo motor 401 counterclockwise rotates, pulling force is generated by tightening a first synchronous belt 305 and a second synchronous belt 405 connected to a rear side of the mobile platform 201, the quick-change terminal platform 200 is pulled to move backwards, and the affected limb of the patient moves accordingly.
Under the condition that the mobile platform 201 moves in any trajectory in the horizontal plane, that is, composite movement in a forward direction, a backward direction, a leftward direction and a rightward direction, based on a coupled rotation mode of the first servo motor 301 and the second servo motor 401, the affected limb moves along with the mobile platform 201. In this mode, output torque of the first servo motor 301 and the second servo motor 401 may be controlled to provide adjustable assistance for the affected limb.
Step 4, in the case that a user-defined mode is selected for training, a patient is driven by a mobile platform 201 at a relatively constant speed to perform training based on a set trajectory and according to training contents. Rotation modes of a first servo motor 301 and a second servo motor 401 are different from those in the passive mode in that a movement speed of the mobile platform 201 keeps at a certain constant speed in the user-defined mode and is graded and adjustable.
Step 5: During training in the three modes in steps 2-4, if the two-dimensional force sensor 206 measures resultant external force of the mobile platform 201 interacting with the patient is greater than a certain set value, a force overload protection mechanism is automatically triggered to prevent the patient from being injured due to a spasm or limited range of motion of a joint.
Step 6: during training in the three modes in step 2-4, the terminal motor 203 cooperates with the first servo motor 301 and the second servo motor 401, and when the two-handed grip is combined, assistance in wrist joint training may be implemented during training at a shoulder and an elbow joint. When the two-handed grip is used, a middle of the connection rod 207 is connected to the arm rest, and in this case, the arm rest does not participate in fixation of a wrist joint. The terminal motor rotates to drive two grips 208 to rotate around the middle of the connection rod 207, thus driving the wrist joint, the shoulder and the elbow joint of the patient to move.
A derivation formula of a kinematic and dynamic control strategy of the control system is as follows:
Firstly, a spatial coordinate system is defined as follows: a positive direction of Y axis indicates a front portion in the case of facing an apparatus. A positive direction of X axis indicates a right portion, and a positive direction of Z axis indicates a top portion. a) Kinematics:
{sin à — cos a) = 253Rop# {1} sin æ + cosa) = 2xRow, #{2} where v represents a movement speed of the mobile platform 201 measured by the speed sensor; a represents an included angle between a movement direction of the mobile platform 201 and the positive direction of the Y axis, within a range of -90°-90°;
R represents a radius of the first driving pulley 302 and a radius of the second driving pulley 402; and
Win Wr represent a rotation speed of the first servo motor 301 and a rotation speed of the second servo motor 401 respectively, with a clockwise direction as a positive direction, and a counterclockwise direction as a negative direction. b) Dynamics: 27; = F(sing — cos )R (3) 27, = F(sin6 + cost )R (4) sing = cosg - sin (5) cos = /cos*p-cos?8 + sin?e (6) where ”:- Tr represents output torque of the left servo motor and output torque of the right servo motor respectively;
F represents an assistance/resistance value required to be set, with an assistance value being positive and a resistance value being negative; ô represents an included angle between a projection of F in a horizontal plane and the positive direction of Y axis, within a range of -90°-90°; represents an inclination angle of a table top (the upper table 101), that is, an included angle between a movement plane (the upper table 101) and the horizontal plane, within a range of 0°-90°; 8 represents an included angle between F and YoZ plane, within a range of -90°-90°; and
R represents a radius of the first driving pulley 302 and a radius of the second driving pulley 402.
Claims (10)
1. A planar two-dimensional training robot for upper-limb rehabilitation, comprising a liftable table assembly, wherein a quick-change terminal platform is arranged on the liftable table assembly, and the quick-change terminal platform is connected to a drive system.
2. The planar two-dimensional training robot for upper-limb rehabilitation according to claim 1, wherein the liftable table assembly comprises an upper table, and the quick-change terminal platform and the drive system are both arranged on the upper table; the upper table 1s hinged to a lower table, the lower table is horizontally arranged below the upper table, and both the upper table and the lower table are in a platy structure; and an angle adjustment mechanism is arranged between the upper table and the lower table, a bottom end of the lower table 1s connected to a liftable rod, and a bottom end of the liftable rod is connected to a support base.
3. The planar two-dimensional training robot for upper-limb rehabilitation according to claim 2, wherein the angle adjustment mechanism comprises an elongated slot provided at a top end of the lower table, a front portion of the elongated slot is hinged to a telescopic cylinder, an end, far away from the elongated slot, of the telescopic cylinder is hinged to a first connection rod and a second connection rod, an end, far away from the telescopic cylinder, of the first connection rod is hinged to a rear portion of the upper table, and an end, far away from the telescopic cylinder, of the second connection rod is hinged to a rear portion of the elongated slot; and the angle adjustment mechanism further comprises an inclinometer arranged in the upper table.
4. The planar two-dimensional training robot for upper-limb rehabilitation according to claim 3, wherein the quick-change terminal platform comprises a transverse guide rod perpendicular to the elongated slot, the transverse guide rod is slidably connected to a mobile platform, a speed sensor is integrated in the mobile platform, the mobile platform is further hinged to a terminal motor, and the terminal motor is perpendicular to the transverse guide rod, a shaft of the terminal motor is connected to an arm rest perpendicular to the shaft, and the arm rest is connected to a two-dimensional force sensor; and a handpiece is connected on the arm rest.
5. The planar two-dimensional training robot for upper-limb rehabilitation according to claim 4, wherein one end of the arm rest is connected to the terminal motor, the other end of the arm rest is provided with a limb fixation member, and the limb fixation member is in a cambered platy structure.
6. The planar two-dimensional training robot for upper-limb rehabilitation according to claim 4, wherein a quick-change connection structure is arranged between the handpiece and the arm rest, and the handpiece comprises a hand grip, a two-handed grip and a spherical grip.
7. The planar two-dimensional training robot for upper-limb rehabilitation according to claim 6, wherein the handpiece of each kind is internally provided with a thin-film pressure Sensor.
8. The planar two-dimensional training robot for upper-limb rehabilitation according to any one of claims 4-7, wherein the drive system comprises slidable pulley platforms fixedly connected to two ends of the transverse guide rod, and further comprises a pair of fixed pulley platforms fixedly connected to a left rear end and a right rear end of the upper table; each slidable pulley platform is slidably connected to a linear guide rail, each linear guide rail is perpendicular to the transverse guide rod, and each linear guide rail is fixedly connected to the upper table; the drive system comprises a left drive system, and further comprises a right driv&V504157 system, and a projection of the right drive system and a projection of the left drive system are symmetrical; the left drive system comprises first tension wheels connected to the slidable pulley platforms, and further comprises first small pulleys arranged on the fixed pulley platforms, and a first servo motor fixedly connected to a left front end of the upper table, and the first servo motor is connected to a first driving pulley, and the left drive system further comprises a first synchronous belt connected to the mobile platform, one end of the first synchronous belt is fixedly connected to a left front end of the mobile platform, and the other end of the first synchronous belt is fixedly connected to a right rear end of the mobile platform after being sequentially wound around a first tension wheel on a left side of the upper table, the first driving pulley, a first small pulley at the left rear end of the upper table, a first small pulley at the right rear end of the upper table and a first tension wheel on a right side of the upper table.
9. The planar two-dimensional training robot for upper-limb rehabilitation according to claim 8, wherein the right drive system comprises second tension wheels connected to the slidable pulley platforms, and further comprises second small pulleys arranged on the fixed pulley platforms, a first tension wheel and a second tension wheel on the same slidable pulley platform are arranged lengthways, and a first small pulley and a second small pulley on the same fixed pulley platform are arranged lengthways; the right drive system further comprises a second servo motor fixedly connected to a right front end of the upper table, and the second servo motor is connected to a second driving pulley, and the right drive system further comprises a second synchronous belt connected to the mobile platform, one end of the second synchronous belt is fixedly connected to a right front end of the mobile platform, and the other end of the second synchronous belt is fixedly connected to a left rear end of the mobile platform after being sequentially wound around a second tension wheel on the right side of the upper table, the second driving pulley, a second small pulley at the right rear end of the upper table, a second small pulley at the left rear end of the upper table and a second tension wheel on the left side of the upper table.
10. A training method of the planar two-dimensional training robot for upper-limb rehabilitation according to claim 9, comprising: step 1, energizing the planar two-dimensional training robot for upper-limb rehabilitation, adjusting a height of an upper table through a liftable rod, binding a corresponding affected limb of a patient to an arm rest through a strap, and holding a handpiece with a hand of the patient; adjusting a telescoping length of a telescopic cylinder, selecting an inclination angle between the upper table and a lower table, and measuring the inclination angle by an inclinometer and sending the inclination angle to a control system; and starting training by selecting an appropriate rehabilitation training mode according to physical condition of the patient; and step 2, selecting an active mode for training, and actively driving a mobile platform by the patient to perform two-dimensional movement in a horizontal plane in the upper table according to a training plan: under the condition that the patient drives the mobile platform to move leftwards, inputting force and position information into the control system by a two-dimensional force sensor, clockwise rotating a first servo motor and a second servo motor on a left side and a right side respectively, generating pulling force by tightening a first synchronous belt and a second synchronous belt connected to a left side of the mobile platform,
pulling the mobile platform to move leftwards accordingly, and simultaneously extending a firs}U504157 synchronous belt and a second synchronous belt connected to a right side of the mobile platform; under the condition that the patient drives the mobile platform to move rightwards, counterclockwise rotating a first servo motor and a second servo motor on a left side and a right side respectively, generating pulling force by tightening a first synchronous belt and a second synchronous belt connected to a right side of the mobile platform, pulling the mobile platform to move rightwards along with the patient, and simultaneously extending a first synchronous belt and a second synchronous belt connected to a left side of the mobile platform; under the condition that the patient drives a quick-change terminal platform to move forwards, driving left and right slidable pulley platforms to move forwards by a transverse guide rod of the quick-change terminal platform, in this case, counterclockwise rotating a first servo motor, clockwise rotating a second servo motor, generating pulling force by tightening a first synchronous belt and a second synchronous belt connected to a front side of the mobile platform, pulling the quick-change terminal platform to move forwards along with the patient, and simultaneously extending a first synchronous belt and a second synchronous belt connected to a rear side of the mobile platform; under the condition that the patient drives a quick-change terminal platform to move backwards, clockwise rotating a first servo motor, counterclockwise rotating a second servo motor, generating pulling force by tightening a first synchronous belt and a second synchronous belt connected to a rear side of the mobile platform, pulling the quick-change terminal platform to move backwards along with the affected limb of the patient, and simultaneously extending a first synchronous belt and a second synchronous belt connected to a front side of the mobile platform; and under the condition that the patient drives the quick-change terminal platform to move in any trajectory in the horizontal plane, coupling a first servo motor to a second servo motor for rotation, and causing the mobile platform to move accordingly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| LU504157A LU504157B1 (en) | 2023-05-08 | 2023-05-08 | Planar two-dimensional training robot and training method for upper-limb rehabilitation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| LU504157A LU504157B1 (en) | 2023-05-08 | 2023-05-08 | Planar two-dimensional training robot and training method for upper-limb rehabilitation |
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| Publication Number | Publication Date |
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| LU504157B1 true LU504157B1 (en) | 2023-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| LU504157A LU504157B1 (en) | 2023-05-08 | 2023-05-08 | Planar two-dimensional training robot and training method for upper-limb rehabilitation |
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| Country | Link |
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| LU (1) | LU504157B1 (en) |
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2023
- 2023-05-08 LU LU504157A patent/LU504157B1/en active IP Right Grant
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Effective date: 20231110 |