WO2021012731A1 - 一种绳索驱动三自由度的训练机器人 - Google Patents

一种绳索驱动三自由度的训练机器人 Download PDF

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Publication number
WO2021012731A1
WO2021012731A1 PCT/CN2020/086153 CN2020086153W WO2021012731A1 WO 2021012731 A1 WO2021012731 A1 WO 2021012731A1 CN 2020086153 W CN2020086153 W CN 2020086153W WO 2021012731 A1 WO2021012731 A1 WO 2021012731A1
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Prior art keywords
rope
forearm
ring
driving
magnetorheological
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PCT/CN2020/086153
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English (en)
French (fr)
Inventor
宋爱国
石珂
厉叶
李会军
欧阳云霞
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东南大学
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Publication of WO2021012731A1 publication Critical patent/WO2021012731A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • 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
    • A63B23/14—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 for wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands

Definitions

  • the invention relates to intelligent robot technology, in particular to a rope-driven training robot with three degrees of freedom.
  • rehabilitation training is an effective way to restore the movement function of the wrist.
  • the therapist In traditional rehabilitation treatment at home and abroad, the therapist usually conducts rehabilitation training on one-to-one patients.
  • rehabilitation training parameters There is a lack of scientific evaluation of training parameters and objective and effective evaluation of rehabilitation effects, and it is usually easy to cause a large economic burden on patients. Therefore, the development of a wrist active and passive rehabilitation training device can improve the efficiency and effect of rehabilitation training, and has important application value and practical urgency.
  • the objective of the present invention is to solve the deficiencies in the prior art and provide a rope-driven training robot with three degrees of freedom.
  • the rope-driven three-degree-of-freedom training robot of the present invention includes an active and passive hybrid drive system and a robot body.
  • the robot body includes an outer forearm ring, an inner forearm ring and a hand ring.
  • the outer forearm ring is fixed to Bracket, the inner ring of the forearm is nested in the outer ring of the forearm;
  • the hand ring is provided with a driving rope, the other end of the driving rope is fixed to the extension arm of the forearm inner ring, and then from the extension arm along the Bowden line and active
  • the magnetorheological output module on the passive hybrid drive system is connected;
  • the active passive hybrid drive system includes the magnetorheological output module, a transmission module and a first DC motor, and the first DC motor is driven by the transmission module
  • the magnetorheological output module rotates, and the rotation of the magnetorheological output module causes the driving rope connected to it to generate tension.
  • the tension of the driving rope is transmitted to the hand ring through the extension arm along the corresponding Bowden wire, thereby controlling the hand circle
  • the ring does the corresponding action;
  • the outer circumference of the forearm outer ring is also provided with a driving rope through the Bowden wire, the other end of the driving rope is connected to the winding shaft driven by the second DC motor, and the second DC motor drives the rotation of the winding shaft to make
  • the drive rope wound on the spool expands and contracts to control the relative rotation between the inner ring of the forearm and the outer ring of the forearm (yes, the rotation angle is any angle, but considering that it is used with wrist rotation, the normal rotation angle is only Maximum +-90°).
  • the hand ring is provided with four driving ropes, namely a first driving rope, a second driving rope, a third driving rope, and a fourth driving rope.
  • One end of the four driving ropes is respectively fixed to the hand
  • the first cable hole (12), the second cable hole (13), the third cable hole (14) and the fourth cable hole (15) on the ring (3) are then passed through the first extension arm and the second extension arm ,
  • the wire holes on the third extension arm and the fourth extension arm enter into the active and passive hybrid drive system along the corresponding first Bowden wire, second Bowden wire, third Bowden wire and fourth Bowden wire
  • the first magnetorheological output module, the second magnetorheological output module, the third magnetorheological output module and the fourth magnetorheological output module are respectively connected, and the first DC motor passes through the corresponding first transmission
  • the module and the second transmission module drive the first magnetorheological output module, the second magnetorheological output module, the third magnetorheological output module and the fourth magnetorheological output module to rotate, and then in
  • the outer wall of the inner ring of the forearm is tightly wound with a plurality of ropes, and both ends of the rope pass through the outer ring of the forearm, namely the fifth drive rope and the sixth drive rope, and the fifth drive rope and the sixth drive rope respectively pass through the first
  • Both the fifth Bowden wire and the sixth Bowden wire are connected to the spool driven by the second DC motor in the active and passive hybrid drive system, and the spool rotates to pull the fifth and sixth drive ropes, thereby driving the forearm
  • the inner ring rotates around the outer ring of the forearm.
  • connection between the fifth drive rope and the sixth drive rope and the spool is respectively provided with a corresponding first tensioner and a second tensioner, the first tensioner and the second tensioner Tighten the fifth driving rope and the sixth driving rope respectively to make the transmission of the two driving ropes smooth and smooth.
  • a first posture sensor and a second posture sensor are respectively provided on the hand ring and the forearm inner ring, and the first posture sensor and the second posture sensor respectively detect the user's hand posture and the forearm inner ring and The relative rotation angle of the outer ring of the forearm.
  • first driving rope (8), the second driving rope (9), the third driving rope (10) and the fourth driving rope (11) are respectively installed with a first tension sensor (40) and a second The tension sensor (41), the third tension sensor (42), and the fourth tension sensor (43) are installed in the first cable hole (12), the second cable hole (13), the third cable hole (14), and the fourth Between the cable hole (15) and the thread holes on the first extension arm (4), the second extension arm (5), the third extension arm (6) and the fourth extension arm (7); the first tension sensor, the The second tension sensor, the third tension sensor, and the fourth tension sensor are respectively used to detect the rope tension through the controller (such as NI-RIO controller) to achieve precise tension control and force feedback active rehabilitation training, the user's forearm passes through the inner ring of the forearm , The hand is set in the hand ring, and then the first DC motor and the second DC motor are controlled by the controller to rotate, and the hand is driven to move with corresponding strength and angle.
  • the controller such as NI-RIO
  • outer forearm ring (1), the inner forearm ring (2) and the hand ring (3) are all made of light organic materials and made by 3D printing.
  • the present invention has the following advantages:
  • the whole of the present invention is made by 3D printing with light organic materials, has low cost, is convenient for personalized customization, has light weight, high strength, and can meet the needs of rehabilitation training.
  • the present invention makes human-computer interaction more friendly through rope drive, has good adaptability to limbs of different lengths, and does not cause joint misalignment, and avoids possible damage during training.
  • the active and passive hybrid drive system of the present invention realizes high-bandwidth force feedback, which makes the robot force control more compliant, and the rehabilitation training process is more comfortable and safe.
  • the invention can be easily integrated into any training robot or bracket, realize seamless integration, provide more comprehensive training, can be conveniently fixed in any place, and greatly improve the flexibility of the robot.
  • Figure 1 is a schematic diagram of the robot body structure of the present invention
  • FIG. 2 is a schematic diagram of the structure of the driving system in the present invention.
  • Figure 3 is a diagram of the lower-level structure of the drive system of the present invention.
  • the rope-driven three-degree-of-freedom training robot of this embodiment includes a robot body and an active and passive hybrid drive system: the robot body includes a forearm outer ring 1, a forearm inner ring 2, and a hand ⁇ 3. ⁇ 3.
  • the forearm outer ring 1 is fixed on any bracket 26, and the forearm inner ring 2 is sleeved in the forearm outer ring 1 and can rotate relative to it.
  • the hand ring 3 is connected to the inner ring 2 of the forearm through the first driving rope 8, the second driving rope 9, the third driving rope 10, and the fourth driving rope 11.
  • the four driving ropes extend from the first extension arm 4 and the second The extension arm 5, the third extension arm 6, and the fourth extension arm 7 enter the line holes along the first Bowden wire 16, the second Bowden wire 17, the third Bowden wire 18, and the fourth Bowden wire 19 and the active no
  • the first magnetorheological output module 27, the second magnetorheological output module 28, the third magnetorheological output module 29, and the fourth magnetorheological output module 30 in the source hybrid drive system are connected.
  • the DC motor 31 drives the first magnetorheological output module 27, the second magnetorheological output module 28, the third magnetorheological output module 29, and the fourth magnetorheological output module through the first transmission module 32 and the second transmission module 33.
  • the magnetorheological output module 30 rotates to generate tension on the first driving rope 8, the second driving rope 9, the third driving rope 10, and the fourth driving rope 11, along the first Bowden wire 16, the second Bowden wire 17.
  • the third Bowden wire 18, the fourth Bowden wire 19 are conducted to the hand ring 3 through the first extension arm 4, the second extension arm 5, the third extension arm 6, the fourth extension arm 7 ⁇ 3 Movement.
  • the relative rotation of the forearm inner ring 2 and the forearm outer ring 1 is controlled by the fifth driving rope 20 and the sixth driving rope 21.
  • the specific structure is: the fifth driving rope 20 and the sixth driving rope 21 are respectively passed through the fifth Bowden wire 22
  • the sixth Bowden wire 23 is connected to the spool 36 driven by the second DC motor 37, and the first tensioner 34 and the second tensioner 35 are used to tighten the fifth drive rope 21 and the sixth drive rope 22 ,
  • the transmission is smooth and smooth
  • the first posture sensor 38 is used to detect the posture of the user's hand 24
  • the second posture sensor 39 is used to detect the relative rotation angle of the forearm inner ring 2 and the forearm outer ring 1, the first tension sensor 40
  • the second tension sensor 41, the third tension sensor 42, and the fourth tension sensor 43 are respectively used to detect rope tension to achieve precise tension control and force feedback active rehabilitation training.
  • the user's forearm 25 passes through the forearm inner ring 2, and the hand 24 is placed in the hand Inside the
  • the first attitude sensor collects the current hand attitude, and the controller according to In the current posture, the drive system is controlled to generate different tensions on different ropes, thereby providing corresponding force feedback for the hands; when passive training is required, the controller controls the ropes to generate different tensions according to the set trajectory to drive the hand along the set trajectory Exercise and complete passive training.
  • the first DC motor 31 is turned on, keeps rotating, and drives the four magnetorheological output modules to rotate, and then adjusts the output of each magnetorheological output module to tighten the four driving ropes with different tensions. (The first driving rope to the fourth driving rope). At this time, different magnitudes of force will be fed back to the user's hand to provide force feedback during training.
  • the tension adjustment of each driving rope is based on formula (1), where T is the rope tension vector, A is the robot rope-wrist Jacobian matrix, which is only related to the current wrist attitude angle ⁇ , and ⁇ is the torque fed back to the three degrees of freedom of the wrist Vector, knowing ⁇ and the current attitude angle, you can find T in the reverse direction, that is, control the driving rope to generate tension according to T, which can generate force feedback ⁇ at the wrist; in passive training, refer to formula (2), which is similar to active training.
  • the rope tension vector T is still calculated based on ⁇ , but at this time ⁇ is related to the current arm attitude angle ⁇ and the target attitude angle ⁇ .
  • the rope generates tension T, changing the wrist attitude angle from ⁇ to ⁇ to achieve passive training.
  • the second DC motor 37 is only related to the rotation angle ⁇ of the wrist along the forearm axis.
  • the second DC motor 37 rotates by n ⁇ , where n is the ratio of the bobbin to the outer diameter of the forearm inner ring 2.
  • T A( ⁇ ) -1 ⁇ ( ⁇ - ⁇ ) (2).

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  • Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Mechanical Engineering (AREA)
  • Epidemiology (AREA)
  • Robotics (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)

Abstract

一种绳索驱动三自由度的训练机器人，包括机器人本体和有源无源混合驱动系统，机器人本体包括前臂外环（1）、前臂内环（2）和手部圆环（3），通过绳索驱动使用者腕关节进行训练，可避免使用者与机器人之间的关节不对准现象，且能够适应不同肢体长度，减轻使用者负载重量，能够有效增加训练的舒适度，提高训练效率，有源无源混合驱动系统能够在训练过程中提供大输出、高带宽的力反馈，辅助患者进行康复训练。

Description

一种绳索驱动三自由度的训练机器人 技术领域
本发明涉及智能机器人技术，具体涉及一种绳索驱动三自由度的训练机器人。
背景技术
医学理论实践证明，对腕关节受伤患者，进行康复训练是恢复其腕部运动功能的有效途径。在国内外传统康复治疗中，通常由治疗师一对一对患者进行康复训练，缺乏科学评价训练参数以及康复效果的客观有效评估，且通常容易对患者产生较大经济负担。因此研制一种满足腕部主被动康复训练装置可以提高康复训练效率和效果，具有重要的应用价值和实际的紧迫性。
发明内容
发明目的：本发明的目的在于解决现有技术中存在的不足，提供一种绳索驱动三自由度的训练机器人。
技术方案：本发明的一种绳索驱动三自由度的训练机器人，包括有源无源混合驱动系统和机器人本体，机器人本体包括前臂外环、前臂内环和手部圆环，前臂外环固定于支架，前臂内环嵌套于前臂外环内；所述手部圆环上设置有驱动绳索，驱动绳索的另一端固定于前臂内环的延长臂，然后从延长臂沿鲍登线与有源无源混合驱动系统上的磁流变输出模组相连；所述有源无源混合驱动系统包括磁流变输出模组、传动模组和第一直流电机，第一直流电电机通过传动模组带动磁流变输出模组转动，磁流变输出模组的转动使得与之相连的驱动绳索产生张力，驱动绳索的张力沿对应鲍登线经延长臂传导至手部圆环，进而控制手部圆环做相应动作；所述前臂外环外周通过鲍登线也设有驱动绳索，该驱动绳索的另一端连接于由第二直流电机驱动的绕线轴，第二直流电机驱动绕线轴的转动，使缠绕于绕线轴上的驱动绳索随之伸缩，进而控制前臂内环和前臂外环之间相对旋转(是的旋转角度为任意角度但是考虑到其是配合手腕旋转使用，正常使用的旋转角度仅为最大+-90°)。
进一步的，所述手部圆环上设有四个驱动绳索，分别为第一驱动绳索、第二驱动绳索、第三驱动绳索和第四驱动绳索，这四根驱动绳索一端分别固定于手部圆环(3)上的第一索孔(12)、第二索孔(13)、第三索孔(14)、第四索孔(15)，然后经第一延长臂、第二延长臂、第三延长臂和第四延长臂上的线孔进入沿对应的第一鲍登线、第二鲍登线、第三鲍登线和第四鲍登线与有源无源混合驱动系统中的第一磁流变输出模组、第二磁流变输出模组、第三磁流变输出模组和第四磁流变输出模组分别相连接，第一直流电机通过对应的第一传动模组、第二传动模组带动第一磁流变输出模组、第二磁流变输出模组、第三磁流变输出模组和第四磁流变输出模组转动，进而在第一驱动绳索、第二驱动绳索、第三驱动绳索和第四驱动绳索上产生张相应力，并沿对应的第一鲍登线、第二鲍登线、第三鲍登线和第四鲍登线经相应第一延长臂、第二延长臂、第三延长臂、第四延长臂线孔传导至手部圆环，最终带动手部圆环运动。
进一步的，所述前臂内环外壁紧密缠绕有多圈绳索，绳索两端通过前臂外环穿出， 即为第五驱动绳索和第六驱动绳索，第五驱动绳索和第六驱动绳索分别经由第五鲍登线和第六鲍登线均连接至由有源无源混合驱动系统内的第二直流电机驱动的绕线轴，绕线轴转动，拉动第五驱动绳索、第六驱动绳索，从而带动前臂内环绕前臂外环转动。
进一步的，所述第五驱动绳索和第六驱动绳索与绕线轴的连接处分别设有对应的第一张紧器与第二张紧器，所述第一张紧器与第二张紧器分别收紧第五驱动绳索、第六驱动绳索，使这两个驱动绳索的传动平稳顺滑。
进一步的，所述手部圆环和前臂内环上分别设有第一姿态传感器和第二姿态传感器，所述第一姿态传感器和第二姿态传感器分别检测使用者手部姿态以及前臂内环与前臂外环相对旋转角度。
进一步的，所述第一驱动绳索(8)、第二驱动绳索(9)、第三驱动绳索(10)和第四驱动绳索(11)上分别安装有第一张力传感器(40)、第二张力传感器(41)、第三张力传感器(42)、第四张力传感器(43)，且在第一索孔(12)、第二索孔(13)、第三索孔(14)、第四索孔(15)与第一延长臂(4)、第二延长臂(5)、第三延长臂(6)和第四延长臂(7)上的线孔之间；第一张力传感器、第二张力传感器、第三张力传感器、第四张力传感器分别用以检测绳索张力通过控制器(例如NI-RIO控制器)实现的精准张力控制及力反馈主动康复训练，使用者前臂穿过前臂内环，手部套在手部圆环内，然后通过控制器控制第一直流电机和第二直流电机的转动，带动手部做相应力度和角度的运动。
进一步的，所述前臂外环(1)、前臂内环(2)和手部圆环(3)均采用轻质有机材料并通过3D打印制成。
有益效果：与现有技术相比，本发明具有以下优点：
1.本发明整体采用轻质有机材料通过3D打印制作完成，成本低，便于个性化定制，质量轻，强度较高，能够满足康复训练需求。
2.本发明通过绳索驱动使得人机交互更加友好，对不同长度肢体适配性好，且不会发生关节不对准现象，避免训练过程中可能出现的损伤。
3.本发明的有源无源混合驱动系统实现高带宽的力反馈，使得机器人力控制更加柔顺，康复训练过程更加舒适、安全。
4.通过四根延长臂，使得机器人工作空间扩大，能够实现人类日常活动的腕关节运动空间。
5.本发明能够便捷地集成到任意训练机器人或支架上，实现无缝结合，提供更全面的训练，能够方便的固定在任意地方，极大地提升了机器人使用的灵活性。
附图说明
图1是本发明中机器人本体结构示意图；
图2是本发明中驱动系统结构示意图；
图3是本发明中驱动系统下层结构图。
具体实施方式
下面对本发明技术方案进行详细说明，但是本发明的保护范围不局限于所述实施例。
如图1至图3所示，本实施例的一种绳索驱动三自由度的训练机器人，包括机器人本体和有源无源混合驱动系统：机器人本体包括前臂外环1、前臂内环2和手部圆环3。其中，前臂外环1固定在任意支架26上，前臂内环2套在前臂外环1内，且可相对其旋转。
手部圆环3通过第一驱动绳索8、第二驱动绳索9、第三驱动绳索10、第四驱动绳索11与前臂内环2相连，四根驱动绳索分别从第一延长臂4、第二延长臂5、第三延长臂6、第四延长臂7线孔进入沿第一鲍登线16、第二鲍登线17、第三鲍登线18、第四鲍登线19与有源无源混合驱动系统中的第一磁流变输出模组27、第二磁流变输出模组28、第三磁流变输出模组29、第四磁流变输出模组30相连接，第一直流电机31通过第一传动模组32、第二传动模组33带动第一磁流变输出模组27、第二磁流变输出模组28、第三磁流变输出模组29、第四磁流变输出模组30转动在第一驱动绳索8、第二驱动绳索9、第三驱动绳索10、第四驱动绳索11上产生张力，沿第一鲍登线16、第二鲍登线17、第三鲍登线18、第四鲍登线19经第一延长臂4、第二延长臂5、第三延长臂6、第四延长臂7线孔传导至手部圆环3，带动手部圆环3运动。
而前臂内环2与前臂外环1相对旋转则由第五驱动绳索20、第六驱动绳索21控制，具体结构为：第五驱动绳索20、第六驱动绳索21分别经第五鲍登线22、第六鲍登线23连接至由第二直流电机37驱动的绕线轴36上，第一张紧器34与第二张紧器35用以收紧第五驱动绳索21、第六驱动绳索22，使传动平稳顺滑，第一姿态传感器38用以检测使用者手部24姿态，第二姿态传感器39用以检测前臂内环2与前臂外环1相对旋转角度，第一张力传感器40、第二张力传感器41、第三张力传感器42、第四张力传感器43分别用以检测绳索张力实现精准张力控制及力反馈主动康复训练，使用者前臂25穿过前臂内环2，手部24套在手部圆环3内，即可由机器人辅助进行康复训练。
本发明的具体工作原理为：
实际运用中，当需要主动训练时，各驱动绳索均放松，使用者的前臂套进前臂内环中，手部套在手部圆环内，第一姿态传感器采集当前手部姿态，控制器根据当前姿态，控制驱动系统在不同绳索上产生不同张力，从而为手部提供相应的力反馈；当需要被动训练时，控制器根据设定轨迹控制绳索产生不同张力，从而带动手部沿设定轨迹运动，完成被动训练。
使用过程中，第一直流电机31开启，保持旋转，带动四个磁流变输出模组转动，然后通过调节各磁流变输出模组的输出大小，来分别以不同拉力拉紧四根驱动绳索(第一驱动绳索至第四驱动绳索)，此时会反馈不同大小的力至使用者手部，从而提供训练中的力反馈。
其中，各驱动绳索的张力调节依据公式(1)，其中T为绳索张力向量，A为机器人绳索-手腕雅克比矩阵，仅与当前手腕姿态角β有关，τ为反馈至手腕三自由度的力矩向量，得知τ以及当前姿态角，可反向求得T，即控制驱动绳索按T生成张力，可在手腕处产生力反馈τ；被动训练中，参照公式(2)，同主动训练相似，依然是根据τ计算绳索张力向量T，但是此时τ与手臂当前姿态角θ与目标姿态角α有关，绳索产生张力T，将手腕姿态角由α变为β从而实现被动训练。
第二直流电机37仅与手腕沿前臂轴向旋转角度γ相关，手腕转动γ则第二直流电机37转动nγ，n为绕线轴与前臂内环2的外径之比。
T＝A(β) -1·τ     (1)
T＝A(β) -1·τ(α-β)     (2)。

Claims (7)

  1. 一种绳索驱动三自由度的训练机器人，其特征在于：包括有源无源混合驱动系统和机器人本体，机器人本体包括前臂外环(1)、前臂内环(2)和手部圆环(3)，前臂外环(1)固定于支架，前臂内环(2)套于前臂外环(1)内；
    所述手部圆环(3)上设置有驱动绳索，驱动绳索的另一端固定于前臂内环(2)的延长臂，然后从延长臂沿鲍登线与有源无源混合驱动系统上的磁流变输出模组相连；所述有源无源混合驱动系统包括磁流变输出模组、传动模组和第一直流电机，第一直流电机(31)通过传动模组带动磁流变输出模组转动，磁流变输出模组的转动使得与之相连的驱动绳索产生张力，驱动绳索的张力沿对应鲍登线经延长臂传导至手部圆环(3)，进而控制手部圆环(3)做相应动作；
    所述前臂外环(1)外周通过鲍登线也设有驱动绳索，该驱动绳索的另一端连接于由第二直流电机(31)驱动的绕线轴，第二直流电机(31)驱动绕线轴的转动，使缠绕于绕线轴上的驱动绳索随之伸缩，进而控制前臂内环(2)和前臂外环(1)之间相对旋转。
  2. 根据权利要求1所述的绳索驱动三自由度的训练机器人，其特征在于：所述手部圆环(3)上设有四个驱动绳索，分别为第一驱动绳索(8)、第二驱动绳索(9)、第三驱动绳索(10)和第四驱动绳索(11)，这四根驱动绳索一端分别固定于手部圆环(3)上的第一索孔(12)、第二索孔(13)、第三索孔(14)、第四索孔(15)，然后经第一延长臂(4)、第二延长臂(5)、第三延长臂(6)和第四延长臂(7)上的线孔进入沿对应的第一鲍登线(16)、第二鲍登线(17)、第三鲍登线(18)和第四鲍登线(19)与有源无源混合驱动系统中的第一磁流变输出模组(27)、第二磁流变输出模组(28)、第三磁流变输出模组(29)和第四磁流变输出模组(30)分别相连接，第一直流电机(31)通过对应的第一传动模组(32)、第二传动模组(33)带动第一磁流变输出模组(27)、第二磁流变输出模组(28)、第三磁流变输出模组(29)和第四磁流变输出模组(30)转动，进而在第一驱动绳索(8)、第二驱动绳索(9)、第三驱动绳索(10)和第四驱动绳索(11)上产生张相应力，并沿对应的第一鲍登线(16)、第二鲍登线(17)、第三鲍登线(18)和第四鲍登线(19)经相应第一延长臂(4)、第二延长臂(5)、第三延长臂(6)、第四延长臂(7)线孔传导至手部圆环(3)，最终带动手部圆环(3)运动。
  3. 根据权利要求1所述的绳索驱动三自由度的训练机器人，其特征在于：所述前臂内环(2)外壁紧密缠绕有多圈绳索，绳索两端通过前臂外环(1)穿出，即为第五驱动绳索(20)和第六驱动绳索(21)，第五驱动绳索(20)和第六驱动绳索(21)分别经由第五鲍登线(22)和第六鲍登线(23)均连接至由有源无源混合驱动系统内的第二直流电机(37)驱动的绕线轴(36)，绕线轴(36)转动，拉动第五驱动绳索(20)、第六驱动绳索(21)，从而带动前臂内环(2)绕前臂外环(1)转动。
  4. 根据权利要求3所述的绳索驱动三自由度的训练机器人，其特征在于：所述第五驱动绳索(20)和第六驱动绳索(21)与绕线轴的连接处分别设有对应的第一张紧器(34)与第二张紧器(35)，所述第一张紧器(34)与第二张紧器(35)分别收紧第五驱动绳索(21)、第六驱动绳索(22)，使这两个驱动绳索的传动平稳顺滑。
  5. 根据权利要求1所述的绳索驱动三自由度的训练机器人，其特征在于：所述手部圆环和前臂内环上分别设有第一姿态传感器(38)和第二姿态传感器(39)，所述第一姿态传感器(38)和第二姿态传感器(39)分别检测使用者手部(24)姿态以及前臂内环(2)与前臂外环(1)相对旋转角度。
  6. 根据权利要求1所述的绳索驱动三自由度的训练机器人，其特征在于：所述第一驱动绳索(8)、第二驱动绳索(9)、第三驱动绳索(10)和第四驱动绳索(11)上分别安装有第一张力传感器(40)、第二张力传感器(41)、第三张力传感器(42)、第四张力传感器(43)，且在第一索孔(12)、第二索孔(13)、第三索孔(14)、第四索孔(15)与第一延长臂(4)、第二延长臂(5)、第三延长臂(6)和第四延长臂(7)上的线孔之间，第一张力传感器(40)、第二张力传感器(41)、第三张力传感器(42)、第四张力传感器(43)分别检测绳索张力通过控制器(44)实现的精准张力控制及力反馈主动训练，使用者前臂(25)穿过前臂内环(2)，手部(24)套在手部圆环(3)内，然后通过控制器(44)控制第一直流电机(31)和第二直流电机(37)的转动，带动手部(24)做相应力度和角度的运动。
  7. 根据权利要求1所述的绳索驱动三自由度的训练机器人，其特征在于：所述前臂外环(1)、前臂内环(2)和手部圆环(3)均采用轻质有机材料并通过3D打印制成。
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