WO2014194578A1

WO2014194578A1 - Upper limb rehabilitation robot

Info

Publication number: WO2014194578A1
Application number: PCT/CN2013/082517
Authority: WO
Inventors: 宋嵘; 杨东静; 杨锦; 肖潭; 袁培江
Original assignee: 中山大学
Priority date: 2013-06-06
Filing date: 2013-08-29
Publication date: 2014-12-11
Also published as: CN103263338B; CN103263338A

Abstract

An upper limb rehabilitation robot comprises: a support (12), the support (12) comprising an upright column (13), a top frame (15) and a cross beam (14), wherein the top frame (15) is located above the forearm of a patient, and the cross beam (14) is located under the forearm of the patient; a plurality of traction devices (10); a supporting plate (9) used for the patient to place the forearm; a plurality of ropes (6), one end of each rope (6) being connected with one of the traction devices (10), and the other end being fixed on the supporting plate (9); and a control device (16) used for controlling the angle and the strength of the traction devices (10) during traction of the ropes (6). By using the control device for controlling the angle and the strength of the traction devices (10) during traction of the ropes (6), the upper limb rehabilitation robot of the present invention can assist the patient in relatively complicated training actions in a three-dimensional space for shoulder joints and elbow joints of the patient. Therefore, a better rehabilitation effect can be achieved for the patient.

Description

Upper limb rehabilitation robot

The invention relates to a medical auxiliary treatment device, in particular to an upper limb rehabilitation robot. Background technique

Cerebrovascular disease ranks third in the cause of human death, with more than 2 million people dying from stroke each year. In China, there are 1.2 million and 1.5 million new patients with complete stroke, and 800,000 to 1 million deaths. Among them, survivors of stroke have left unilateral limb motor dysfunction, and the incidence of acute patients is higher, which seriously affects patients. Daily behavioral ability. At present, the clinical rehabilitation method for patients with hemiplegia is mainly one-on-one physical therapy of the patient by the physical therapist. Although this method can help patients improve the movement of the limbs, it also has the following disadvantages: First, physical therapy is usually performed in hospitals, which is very inconvenient for patients who already have motor dysfunction. Second, physical therapy is A labor concentration process, it is difficult for physiotherapists to maintain high-intensity and repetitive treatment for a long time. At the same time, there are nearly 10 million stroke patients in China, and the number of physical therapists is seriously insufficient.

Rehabilitation robots designed with robotics can assist physiotherapists in rehabilitation training and free physiotherapists from high-intensity physical labor. In addition, high-precision sensors attached to robots can be used to monitor and evaluate the training process. The physiotherapist can more accurately grasp the recovery of the patient's motor function, and accordingly develop a reasonable training plan, making the hemiplegia rehabilitation training more targeted and scientific.

Most of the existing rehabilitation robots can only provide single-joint or two-degree-of-freedom activities, providing patients with simple straight lines, curves or plane movements, range of motion, limited joints, and a few multi-degree-of-freedom rehabilitation robots to help patients Activities in three-dimensional space, but the movement space and type of movement can not fully meet the requirements of rehabilitation training. In addition, as the degree of freedom of the robot increases, the structure becomes very complicated, and the requirements for control methods and safety are relatively high. . Summary of the invention The object of the present invention is to provide an upper limb rehabilitation robot that can provide a patient with more training actions, convenient wearing, and safety and reliability, in order to avoid the deficiencies in the prior art.

The object of the invention is achieved by the following technical measures:

An upper limb rehabilitation robot for upper limb rehabilitation training of a patient, comprising: a bracket, the bracket comprising a column, a top frame connected to an upper portion of the column, a beam connected to a middle portion or a lower portion of the column, the top The rack is located above the forearm of the patient, the beam is located below the forearm of the patient; a plurality of traction devices, one of the traction devices is disposed on the beam, and the remaining traction devices are disposed on the top frame; a pallet for the forearm of the patient; a plurality of cords, one end of the cord being connected to the traction device and the other end being fixed to the pallet; a control device for controlling the traction device to pull the rope Angle and strength.

Preferably, the traction device comprises a front and rear moving unit, a left and right moving unit and a rope pulling unit; the front and rear moving unit comprises a first motor, a first lead screw having a first rail, connecting the first motor and the first a first coupling of the lead screw, a first slider disposed in the first rail of the first lead screw; the left and right moving unit is fixed on the first slider, and the left and right moving unit includes a second motor, a second lead screw having a second guide rail, a second coupling connecting the second motor and the second lead screw, and a second slide disposed in the second guide rail of the second lead screw The rope pulling unit includes a third motor that provides a pulling force to the rope and a fixed pulley disposed on the second slider, and the rope is connected to the third motor around the fixed pulley.

Preferably, the above-mentioned upper limb rehabilitation robot further includes an electromyography signal collecting device for collecting the myoelectric signal of the patient, and the control device controls the traction device traction device according to the myoelectric signal collected by the myoelectric signal collecting device. The angle and strength of the rope.

Preferably, the above-mentioned upper limb rehabilitation robot further includes a storage device storing a rehabilitation training program and a parameter selection device for selecting parameters for the patient, the control device selecting parameters transmitted by the parameter selection device and the storage device A stored rehabilitation training program controls the angle and force at which the traction device pulls the rope.

Preferably, the above-mentioned upper limb rehabilitation robot further includes a training mode selection device, a storage device storing a rehabilitation training program, and a parameter selection device for selecting parameters for the patient, the training mode including an active control mode and a passive control mode, The control device selects, according to the training mode selected by the patient, whether the angle and the strength of the traction device are pulled by the traction device according to the myoelectric signal collected by the myoelectric signal acquisition device, or the parameter transmitted by the parameter selection device and the storage device. Storage rehabilitation The training program controls the angle and force at which the traction device pulls the rope.

Preferably, the above parameters include the type of training of the patient; wherein the type of training includes abduction, adduction, flexion, extension, and complex coordinated motion of the shoulder joint elbow joint.

Preferably, the upper limb rehabilitation robot further includes a cord tension sensing device, and a magnetic anchor connecting the forearm of the patient and the cord, and when the cord tension sensing device senses that the pulling force of the rope exceeds a preset value, A control device controls the magnetic fixture to disconnect from the patient's forearm.

Preferably, the above-described upper limb rehabilitation robot further includes a pallet for fixing the forearm of the patient, and the cord is fixed to the pallet.

Preferably, the number of the above ropes is 4 or more.

Compared with the prior art, the present invention has the following advantages: The upper limb rehabilitation robot of the present invention controls the traction device to pull the angle and the force of the front, rear, left and right of the rope by the control device, which can help the patient's shoulder joint elbow joint to be more complicated in three-dimensional space. The training action, so that the patient achieves better rehabilitation. The trained rope is attached to the pallet and the patient's forearm is placed on the pallet for easy wearing and safety. DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any inventive labor.

1 is a partial structural schematic view of an upper limb rehabilitation robot according to an embodiment of the present invention;

2 is a schematic structural view of an upper limb rehabilitation robot according to an embodiment of the present invention;

3 is a schematic view showing a control structure of a first embodiment of an upper limb rehabilitation robot according to an embodiment of the present invention;

4 is a schematic view showing a control structure of a second embodiment of an upper limb rehabilitation robot according to an embodiment of the present invention;

Figure 5 is a schematic view showing a control structure of a third embodiment of an upper limb rehabilitation robot according to an embodiment of the present invention;

6 is a schematic diagram showing a control structure of a fourth embodiment of an upper limb rehabilitation robot according to an embodiment of the present invention; Figure

Fig. 7 is a schematic diagram showing the kinematic position inverse analysis of the third embodiment of the upper limb rehabilitation robot according to the embodiment of the present invention. detailed description

The invention is further illustrated by the following description in conjunction with the accompanying drawings in which FIG.

An upper limb rehabilitation robot for use in a patient's upper limb rehabilitation training, as shown in FIGS. 1 to 5, includes: a bracket 12 including a column 13 and a top frame connected to an upper portion of the column 13 15. A beam 14 connected to a central portion or a lower portion of the column 13, the top frame 15 being located above the patient's forearm, the beam 14 being located below the patient's forearm; and a plurality of traction devices 10, one of which The traction device 10 is disposed on the beam 14, the remaining traction device 10 is disposed on the top frame 15; the pallet 9 for the patient's forearm; a plurality of ropes 6, one end of the rope 6 The traction device 10 is connected and the other end is fixed to the pallet 9; and the control device 16 is configured to control the angle and the force of the traction device 10 to pull the rope 6. The traction device 10 corresponds to the rope 6 - one, that is, one traction device 10 corresponds to one rope 6. The height of the top frame 15 and the beam 14 can be set according to the needs of the patient.

The tension of the rope 6 can offset the weight of the patient's forearm, which is convenient for the patient to carry out rehabilitation training in a larger exercise space, which is beneficial to the recovery of the upper limb motor function. Specifically, the rope 6 may be a steel wire rope, and the steel wire rope has good tensile properties and is not easily deformed. The rope 6 can also be a nylon rope.

The upper limb rehabilitation robot of the present invention provides a downward force to the pallet 9 by a cord 6 located below the forearm of the patient, and a plurality of cords 6 located above the forearm of the patient provide an upward force to the pallet 9, and the traction device 10 is controlled by the control device 16. The angle and strength of the rope 6 can help the patient's shoulder joint elbow joint achieve more training actions in a three-dimensional space, thereby enabling the patient to achieve a better rehabilitation effect. The trained rope 6 is fixed on the pallet 9, and the patient's forearm is placed on the pallet 9, which is convenient to wear and safe and reliable. The control device 16 controls the movement of the pallet 9 in the three-dimensional space by controlling the angle and the strength of each rope 6. The patient's forearm is moved with the pallet 9 in a three-dimensional space, thereby helping the patient to perform abduction, adduction, flexion, and stretching along a predetermined trajectory. None of the prior art upper limb rehabilitation robots provide a downward force, and if the patient's forearm cannot be provided with a downward force, then many training actions will not be achieved. The number of the ropes 6 can be set as needed. Preferably, as shown in Fig. 1, the number of the ropes 6 can be set to four. Thus, there is one rope 6 under the patient's forearm and three ropes 6 under the patient's forearm; that is, a downward force is provided to the patient's forearm by a cord 6 located under the patient's forearm, and three are located above the patient's forearm. The rope 6 provides three upward forces to the patient's forearm, and the angle and strength of each of the ropes 6 are controlled by the control device 16 by the control device 16, which can help the patient's shoulder joint elbow joint achieve a large reachable space in a three-dimensional space. More training exercises, so that patients achieve better recovery. Of course, the number of ropes 6 can also be set to be greater than four according to the needs of the training action.

Preferably, as shown in FIGS. 1 and 2, the traction device 10 includes a front and rear moving unit 50, a left and right moving unit 60, and a rope pulling unit 70; the front and rear moving unit 50 includes a first motor 51 having a first guide rail 52. a first lead screw 53, a first coupling 54 connecting the first motor 51 and the first lead screw 53, and a first slider 55 disposed in the first guide rail 52 of the first lead screw 53 The left and right movement unit 60 is fixed to the first slider 55, and the left and right movement unit 60 includes a second motor 61, a second lead screw 63 having a second guide rail 62, and the second motor 61 and a second coupling 64 of the second lead screw 63, a second slider 65 disposed in the second guide rail 62 of the second lead screw 63; the rope pulling unit 70 includes a pulling force for the rope And a third motor 7 and a fixed pulley 71 disposed on the second slider 65. The rope 6 is connected to the third motor 7 around the fixed pulley 71. Specifically, the operations of the first motor 51, the second motor 61, and the third motor 7 are controlled in accordance with the instructions of the control device.

The control device 16 controls the rotation of the first motor 51 to drive the first lead screw 53 to rotate by the first coupling 54 to control the position of the first slider 55 at the first lead screw 53, thereby controlling the angle of the rope 6 in the front-rear direction. The control device 16 controls the rotation of the second motor 61 to drive the second lead screw 63 to rotate by the second coupling 64, and controls the position of the second slider 65 at the second lead screw 63, thereby controlling the angle of the rope 6 in the left-right direction.

The third motor 7 provides a pulling force to the rope 6. Thus, the rope 6 can be provided with tension control and different angle control by the traction device 10. Specifically, as shown in FIG. 2, the fixed pulley 72 is fixed to the top frame 15, and the third motor 7 controls the tension of the rope 6 by the two fixed pulleys 71, 72. The motor 7 is connected to the third coupling 24 via a connecting member 22, and the third coupling 24 is connected to the torque sensor 25. The rotation of the motor 7 drives the wire pulley through the connecting member 22, the third coupling 24, and the torque sensor 25. 27 Turn to control the length of the rope 6. The first bearing housing 26 and the second bearing housing 23 function to support the motor 7, the connecting member 22, the third coupling 24, the torque sensor 25, and the wire pulley 27. As an embodiment of the upper limb robot of the present invention, as shown in FIG. 3, the upper limb rehabilitation robot further includes an electromyography signal acquisition device 17 for acquiring the myoelectric signal of the patient, the control device 16 according to the myoelectricity The myoelectric signal collected by the signal acquisition device 17 controls the angle and force at which the traction device 10 pulls the rope 6. The patient can actively perform various actions of the rehabilitation training. At this time, the myoelectric signal collecting device 17 synchronously collects the electromyogram signals of the eight muscles related to the movement of the upper limb and the shoulder and elbow joint, and the control device 16 filters the received myoelectric signal. After rectification and normalization, the principal component analysis (PCA) algorithm is used to reduce the dimension, and the first four dimensions of information are selected. According to the experimental control model, the auxiliary force and joint angle parameters required by the rehabilitation robot are calculated in real time. The command to control the traction device 10 is obtained, and the corresponding torque signal is output to the traction device 10 to control the angle and strength of the traction rope 6 to help the patient perform the rehabilitation exercise in three dimensions. The various actions of rehabilitation include abduction, adduction, flexion, extension, and complex coordinated movement of the shoulder joint elbow joint.

As another embodiment of the upper limb robot of the present invention: as shown in FIG. 4, the upper limb rehabilitation robot further includes a storage device 18 storing a rehabilitation training program and a parameter selection device 19 for selecting parameters for the patient, the control device The angle and force at which the traction device 10 pulls the rope 6 is controlled in accordance with the parameters transmitted by the parameter selection device 19 and the stored rehabilitation training program within the storage device 18. Specifically, the parameters include the patient's weight and the type of training; wherein the training categories include abduction, adduction, flexion, extension, and complex coordinated motion of the shoulder joint elbow joint. The rehabilitation training program refers to the angle of the angle, the magnitude of the force, and the control sequence of the traction device 10 that is controlled by various parameters according to various parameters.

Prior to use, the patient first selects various parameters, such as the patient's weight, the patient's size, and the type of training, and then the patient does not need to perform active motion, and the control device 16 controls the control based on the patient selected parameters and the rehabilitation training program within the storage device 18. The traction device 10 pulls the angle and force of the string 6, thereby allowing the patient to complete the various training actions set in three dimensions.

As a third embodiment of the upper limb robot of the present invention: as shown in FIG. 5, the upper limb rehabilitation robot further includes a training mode selecting device 20, a storage device 18 storing a rehabilitation training program, and a parameter selecting device for selecting parameters for the patient. 19. The training mode includes an active control mode and a passive control mode, and the two control methods can switch between each other. The control device 16 selects according to the training mode selected by the patient to control the angle and the force of the traction device 10 to pull the rope 6 according to the myoelectric signal collected by the myoelectric signal acquisition device 17, or according to the parameter selection device 19 And the stored rehabilitation training program in the storage device 18 controls the angle at which the traction device 10 pulls the rope 6 And strength. Among them, the parameters include the patient's weight and training type; the training types include abduction, adduction, flexion, extension, and compound coordinated movement of the shoulder joint elbow joint.

In use, the patient first selects the training mode through the training mode selection device 20. When the patient selects the active control mode, the control device 16 controls the angle and force of the traction device 10 to pull the rope 6 based on the myoelectric signal collected by the myoelectric signal acquisition device 17. At this time, the patient actively performs the rehabilitation exercise, and the myoelectric signal acquisition device 17 synchronously collects the myoelectric signals of the eight muscles associated with the movement of the upper limb and the shoulder and elbow joint, and the control device 16 filters, rectifies, and normalizes the received myoelectric signals. After the transformation, the principal component analysis (PCA) algorithm is used to reduce the dimension, and the first four dimensions of information are selected. According to the control model, the auxiliary force and joint angle parameters required by the rehabilitation robot are calculated in real time, and the command for controlling the traction device 10 is further obtained. The corresponding torque signal is output to the traction device 10 to control the angle and strength of the traction rope 6 to help the patient perform rehabilitation exercises in three dimensions. The various actions of the rehabilitation exercise include abduction, adduction, flexion, extension, and complex coordinated movement of the shoulder joint elbow joint.

When the patient selects the passive control mode, the control device 16 controls the angle and the force of the traction device 10 to pull the rope 6 according to the parameters input by the patient in the parameter selection device 19 and the stored rehabilitation training program in the storage device 18. In turn, the patient completes various training actions set in a three-dimensional space. A plurality of training modes are available in the parameter selection device 19 for patient selection, including contact movement, drinking action, etc., and the control device 16 can determine the pallet supporting the forearm movement based on the training mode determined by the patient in the parameter selection device 19. The trajectory of 9 is then inversely analyzed by kinematics: As shown in Fig. 7, two coordinate systems are established, one on the left is the platform coordinate system of the support 12, and the other on the right is the coordinate system of the support for the forearm plate. Position C (x, y, z) of the pallet 9 supporting the forearm movement, find the kinematic parameter length of the three ropes 6, Pi is the coordinates of the i-th pulley, Vi is the ith rope 6 pallet 9 connection The position coordinates of the point: S is the vector from the origin of the fixed coordinate system to the pulley point, and _A is the vector of the connection point of the ith rope 6 pulley point to the pallet 9, which is in the moving platform coordinate system established based on the pallet 9 The vector from the origin of the platform coordinate to the connection point Vi of the pallet 9 is the vector of the origin of the platform coordinate system of the bracket 12 to the coordinate origin of the moving platform, and Q is the rotation matrix between the two coordinate systems, and is used to move the coordinate system of the platform to the bracket 12 Coordinate System The amount of the conversion. From this, the kinematic position inverse solution model can be established as follows (1) (2) (3):

p _i = \\ c + Q vi - p _i \ \ ( 1 )

P , ² = ( c + QV , - p _t ) ^T ( c + QV , - p _t ) (2) p , ² = c ^T c + 2c ^T Q vi - 2 c ^Γ p _; + vivi - 2 p ^ Q vi + pp; (3) After obtaining the kinematic parameters of the rope 6, the control device 16 writes the parameters into the traction device 10, thereby enabling the patient to complete the various training actions set in the three-dimensional space.

Further, as shown in FIG. 1, FIG. 2 and FIG. 6, the upper limb rehabilitation robot further comprises a rope 6 tension sensing device 21, and a magnetic anchor 8 connecting the patient's forearm and the rope 6, when the rope 6 is pulled When the device 21 senses that the pulling force of the string 6 exceeds a preset value, the control device 16 controls the magnetic holder 8 to disconnect from the forearm of the patient. When the pulling force of the rope 6 exceeds a preset value, it indicates that the angle or force of the rope 6 pulling device 10 to pull the rope 6 has exceeded the range of the upper limb movement of the patient, and the control device 16 controls the magnetic holder 8 to disconnect from the patient. The connection of the forearm allows the patient's upper limbs to be injured by excessive stretching and protects the patient. The above is a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto. It should be noted that those skilled in the art can also omit the principles of the present invention without departing from the scope of the present invention. A number of improvements and modifications are also made, which are also considered to be within the scope of the invention.

Claims

1. An upper limb rehabilitation robot, used for upper limb rehabilitation training of patients, characterized in that it includes: a bracket, the bracket includes an upright column, a top frame connected to the upper part of the upright column, and a middle or lower part connected to the upright column. The cross beam, the top frame is located above the patient's forearm, and the cross beam is located below the patient's forearm;

Several traction devices, one of which is provided on the crossbeam, and the remaining traction devices are provided on the top frame;

a support plate for the patient's forearm to rest on;

Several ropes, one end of the rope is connected to the traction device, and the other end is fixed to the pallet;

A control device used to control the angle and strength of the rope pulled by the pulling device.

2. The upper limb rehabilitation robot according to claim 1, characterized in that,

The traction device includes a forward and backward motion unit, a left and right motion unit and a rope traction unit; the forward and backward motion unit includes a first motor, a first screw with a first guide rail, and a connection between the first motor and the first screw. The first coupling and the first slide block arranged in the first guide rail of the first screw; the left and right movement unit is fixed on the first slide block, and the left and right movement unit includes a second motor , a second screw with a second guide rail, a second coupling connecting the second motor and the second screw, a second slider disposed in the second guide rail of the second screw; The rope traction unit includes a third motor that provides pulling force to the rope and a fixed pulley arranged on the second slide block. The rope is connected to the third motor around the fixed pulley.

3. The upper limb rehabilitation robot according to claim 2, characterized in that, the upper limb rehabilitation robot further includes an electromyographic signal acquisition device for collecting the electromyographic signal of the patient, and the control device controls the electromyographic signal according to the electromyographic signal. The electromyographic signal collected by the signal acquisition device controls the angle and strength of the rope pulled by the traction device.

4. The upper limb rehabilitation robot according to claim 2, characterized in that, the upper limb rehabilitation robot further includes a storage device for storing rehabilitation training programs and parameters for the patient to select parameters. Selection device, the control device controls the angle and intensity of the rope pulled by the traction device according to the parameters transmitted by the parameter selection device and the stored rehabilitation training program in the storage device.

5. The upper limb rehabilitation robot according to claim 3, wherein the upper limb rehabilitation robot further includes a training mode selection device, a storage device for storing rehabilitation training programs, and a parameter selection device for the patient to select parameters, The training mode includes an active control mode and a passive control mode. The control device selects the training mode selected by the patient according to the electromyographic signal collected by the electromyographic signal acquisition device to control the angle and intensity of the traction device pulling the rope. It is also based on the parameters transmitted by the parameter selection device and the stored rehabilitation training program in the storage device to control the angle and intensity of the rope pulled by the traction device.

6. The upper limb rehabilitation robot according to claim 4 or 5, wherein the parameters include the patient's training type; wherein the training type includes abduction, adduction, flexion, extension, and compound of the shoulder joint and elbow joint. Coordinated movement.

7. The upper limb rehabilitation robot according to claim 6, wherein the upper limb rehabilitation robot further includes a rope tension sensing device and a magnetic fixator connecting the patient's forearm and the rope. When the rope tension sensing device When sensing that the tension of the rope exceeds a preset value, the control device controls the magnetic fixator to disconnect from the patient's forearm.

8. The upper limb rehabilitation robot according to claim 6, wherein the upper limb rehabilitation robot further includes a support plate for fixing the patient's forearm, and the rope is fixed to the support plate.

9. The upper limb rehabilitation robot according to claim 6, wherein the number of ropes is greater than or equal to 4.