WO2021068543A1 - 带有精确力控制的可穿戴式上肢康复训练机器人 - Google Patents

带有精确力控制的可穿戴式上肢康复训练机器人 Download PDF

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Publication number
WO2021068543A1
WO2021068543A1 PCT/CN2020/095734 CN2020095734W WO2021068543A1 WO 2021068543 A1 WO2021068543 A1 WO 2021068543A1 CN 2020095734 W CN2020095734 W CN 2020095734W WO 2021068543 A1 WO2021068543 A1 WO 2021068543A1
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Prior art keywords
rehabilitation training
wearable
force
upper limb
robot
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PCT/CN2020/095734
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English (en)
French (fr)
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宋爱国
莫依婷
秦欢欢
李会军
徐宝国
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东南大学
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Priority to US16/969,198 priority Critical patent/US11690773B2/en
Publication of WO2021068543A1 publication Critical patent/WO2021068543A1/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
    • 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
    • A61H1/0277—Elbow
    • 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
    • A61H1/0281—Shoulder
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • 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
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors

Definitions

  • the invention relates to a wearable upper limb rehabilitation device, in particular to a wearable upper limb rehabilitation training robot with precise force control.
  • the purpose of the present invention is to provide a portable and wearable rehabilitation training robot, which can provide rehabilitation training with precise force control for the left and right upper limbs of the wearer.
  • the present invention adopts the following technical solutions:
  • the robotic arm includes a base, a plurality of joints, and an active actuator for driving the joints.
  • a force/torque sensor is installed at the end of the robotic arm to detect the force exerted on the patient's upper limbs by the robotic arm during the rehabilitation training process;
  • the wearable component is connected to the base of the robotic arm; preferably, the wearable component is a waistband, which uses a resin material.
  • the control box includes an actuator position reading module, an actuator drive module, a communication module, a power supply module, and a microcontroller; the actuator position reading module is used to read the angle information of the active actuator, and the actuator drive The module is used to convert the instructions of the microcontroller into the executable instructions of the active actuator.
  • the communication module is responsible for the two-way data communication between the robot arm and the control box.
  • the data communication includes active actuator data and force/torque sensors. Data; the control box is preferably installed on a wearable component.
  • the patient’s hand touches the end of the robotic arm
  • the active actuator drives the joint movement
  • the end of the robotic arm and the hand generate force
  • the actuator position reading module obtains the angle information of the active actuator and transmits it to Microcontroller
  • force/torque sensor detects the force exerted on the patient’s upper limbs by the robotic arm, and feeds it back to the microcontroller.
  • the microcontroller adjusts the working status of the active actuator according to the angle information and the magnitude of the force to realize the rehabilitation training process Precise control of force.
  • the mechanical arm includes a left mechanical arm and a right mechanical arm, which are respectively installed on the left and right sides of the wearable component.
  • the mechanical arm includes a horizontal rotation joint and at least two pitch joints, and the joints are connected in sequence by connecting pieces, wherein the horizontal rotation joint is connected to the base, and the pitch joint is sequentially connected behind the horizontal rotation joint,
  • the force/torque sensor is installed at the end of the pitch joint at the farthest distance from the base.
  • the end of the robotic arm is a spherical handle, which can be grasped by the patient, or can be bound to the patient's wrist by a flexible cord.
  • a through hole is opened in the front of the waist belt, and a magic belt adapted to the size of the through hole is used to fix the waist belt on a person's waist.
  • control box includes a current detection module, which is used to monitor the feedback current of the active actuator in real time, and is responsible for emergency power-off processing.
  • the present invention has the following significant advantages: the robot of the present invention has a compact structure, is light and easy to carry, can directly wear the entire robot on the patient, and the patient performs active and passive actions by holding or tying the end of the robotic arm.
  • Rehabilitation The force/torque sensor realizes the precise control of the force in the rehabilitation training, which makes the rehabilitation training more accurate and improves the efficiency of the rehabilitation training.
  • the training method is more novel, interesting and natural than the traditional method, and it has important research significance and practical value for improving the effect of upper limb rehabilitation training. Combining wearable robots with rehabilitation medicine can reduce hospitalization and save users' economic burden and time cost.
  • Figure 1 is a schematic diagram of the overall structure of a three-degree-of-freedom upper limb rehabilitation training robot of the present invention
  • Fig. 2 is a schematic diagram of the wearing effect of the robot of Fig. 1;
  • FIG. 3 is a schematic diagram of the assembly part of the horizontal rotation joint and the first pitch joint of the robot of FIG. 1;
  • Fig. 4 is a schematic structural diagram of the assembly part of the second pitch joint of the robot of Fig. 1.
  • a three-degree-of-freedom wearable upper limb rehabilitation training robot with precise force control.
  • the left and right manipulator arms are mounted on the wearable belt, and the control box for controlling the robot's work is enclosed in the belt.
  • the robot includes a right mechanical arm end 1, a right mechanical arm second link 2, a right third active actuator-second link connector 3, a right third active actuator 4, and a right third active actuator-
  • the first link connector 5 the first link of the right robot arm 6, the first link-U-shaped bracket connector 7, the right second active actuator 8, the right first active actuator 9, and the right robot arm base 10.
  • Wearable belt 11 one hole for velcro installation 12, two pores for velcro installation 13, left arm base 14, L-shaped double-layer connector 15, left second active execution 16, left second active Actuator-first link connecting piece 17, left mechanical arm first link 18, left third active actuator-first link connecting piece 19, left third active actuator 20, first link-U-shaped Bracket connecting piece 21, left mechanical arm second link 22, left mechanical arm end 23, left mechanical arm end force/torque sensor 24, right mechanical arm end force/torque sensor 25, control box 26.
  • the manipulator bases 10 and 14 are installed on both sides of the waist belt 11 by screws as the base point of the movement.
  • the right first active actuator 9 is installed in the base 10 with its axis vertically upward, and is connected to the right second active actuator 8 through a connecting piece.
  • the robot obtains three degrees of freedom in space, which can meet the basic movement requirements of human upper limb movement.
  • the robot is worn on the waist of a person, and the use of Velcro allows the robot to be fixed on the waist to adapt to the body of different people.
  • the patient's hand holds the end of the robotic arm 2, 23, or uses a flexible cord to bind the end of the robotic arm to the wrist.
  • the present invention does not require a somatosensory device to capture actions.
  • the robot can calculate the corresponding hand position information through the angle information of the three joints, and realize closed-loop control through the force/torque sensor at the end of the robot to adjust the robot.
  • the correct working state can realize precise force control during the rehabilitation process.
  • FIG 3 shows the structural schematic diagram of the assembly part of the horizontal rotation joint and the first pitch joint, including the second actuator U-shaped bracket 28, the double-layer connecting piece support 29, the mounting hole 30 of the connecting piece, and the base mounting ⁇ 31.
  • the assembly relationship of the first pitch joint is: the connecting piece 7 is installed on the U-shaped bracket 28 through the mounting hole 30, one end of the connecting piece 7 is screwed into the first connecting rod 6 or 18 through threads, and the U-shaped bracket 27 is installed on the U-shaped bracket 28.
  • the axis of the active actuator rotates around the axis.
  • the assembly relationship of the horizontal revolute joint is: one end of the L-shaped double-layer connecting piece 29 clamps the second active actuator, one end has four pillars in the middle, and the pillar connects the upper and lower double layers. Assembled together, in this way, the L-shaped double-layer connector 29 rotates with the axis of the first active actuator as the center, so that the second active actuator installed therein also rotates with the axis of the first active actuator as the center.
  • FIG. 4 a schematic structural diagram of the assembly part of the second pitch joint is shown, including the U-shaped bracket 32 of the third active actuator and the mounting hole 33 of the connector.
  • the U-shaped bracket 32 is installed on the shaft of the third active actuator and rotates around the shaft center.
  • the connecting piece 3 is mounted on it, and the second connecting rod is matched with the thread to form a second pitch joint.
  • force/torque sensors are installed at the ends of the left and right manipulators to obtain the force between the end of the robot and the human hand during the rehabilitation training process, as a feedback signal, to adjust the working state of the robot, and to achieve precise force control during the rehabilitation process.
  • the robot does not require additional somatosensory devices, and the integrated wearable design can ensure the safe and stable operation of the robot.

Abstract

一种带有精确力控制的可穿戴式上肢康复训练机器人，包括可穿戴式腰带（11）、多自由度机械臂，以及控制盒（26）。机器人通过腰带（11）穿戴在人的腰部，由主动执行器（4，8，9，16，20，27）驱动，能够实现左、右肩关节内收/外展/前屈/后伸以及左、右肘关节前屈/后伸这些自由度的主被动康复训练。可穿戴式的设计提高了康复训练机器人的便携性，增加了康复训练的舒适度。此外，在机械臂末端（1，23）安装有力/力矩传感器（24，25），用于获取康复训练过程中机器人末端与人手之间的作用力，作为反馈信号，调节机器人的工作状态，实现康复过程中的精确力控制。

Description

带有精确力控制的可穿戴式上肢康复训练机器人 技术领域
本发明涉及可穿戴式上肢康复装置，尤其涉及一种带有精确力控制的可穿戴式上肢康复训练机器人。
背景技术
在我国，由于老龄化人口迅速增多，一些老年病如脑溢血、脑卒中等随之增加，而由此引发的肢体运动障碍则成为了当代康复医学的难题。目前在医院里，康复主要依靠医护人员引导患者进行康复训练，由于需要人工辅助，费时费力，价格比较昂贵。此外，还有部分患者是通过使用简单的机械装置进行大量重复性的康复训练，可大大降低患者在上肢康复方面的经济和时间两方面的消耗。然而现有的机械装置多为被动训练，不能主动带着患者上肢运动，而且存在结构不合理、穿戴舒适性差、缺乏安全与个性的运动规划等诸多问题。
发明内容
本发明的目的是提供一种轻便且可穿戴的康复训练的机器人，可以为穿戴者的左、右上肢提供带有精确力控制的康复训练。
本发明为了解决上述技术问题采用以下技术方案：
一种带有精确力控制的可穿戴式上肢康复训练机器人，其特征在于，包括：
机械臂，包括基座、多个关节以及用于驱动所述关节的主动执行器，机械臂末端安装有力/力矩传感器，用于检测机械臂在康复训练过程中施加在患者上肢的力；
可穿戴式部件，与所述机械臂的基座连接；优选的，所述可穿戴式部件为腰带，使用树脂材料。
控制盒，包括执行器位置读取模块、执行器驱动模块、通讯模块、电源模块以及微控制器；所述执行器位置读取模块用于读取主动执行器的角度信息，所述执行器驱动模块用于将微控制器的指令转化为主动执行器可执行的指令，所述通讯模块负责机械臂与控制盒之间双向的数据通信，所述数据通信包括主动执行器数据、力/力矩传感器数据；所述控制盒优选安装在可穿戴式部件上。
进行康复训练时，患者手部与机械臂末端接触，主动执行器驱动关节运动，机械臂末端和手部产生作用力，执行器位置读取模块获取主动执行器的角度信息，并将其传递给微控制器，力/力矩传感器检测机械臂施加在患者上肢的力，并将其反馈给微控制器，微控制器根据角度信息和力的大小，调节主动执行器的工作状态，实现康复训练过程作用力的精确控制。
进一步的，所述机械臂包括左机械臂和右机械臂，分别安装在可穿戴式部件的左右两侧。
进一步的，所述机械臂包括水平旋转关节以及至少两个俯仰关节，关节之间通过连接件依序相连，其中，所述水平旋转关节与基座连接，俯仰关节依次连接在水平旋转关节 之后，所述力/力矩传感器安装在距离基座最远端的俯仰关节末端。优选的，所述机械臂的末端为一个圆球型把柄，把柄可供患者抓握，或，通过柔性绳索与患者手腕进行绑定。
进一步的，所述腰带前方开设有通孔，使用与通孔尺寸适配的魔术带将腰带固定在人的腰部。
进一步的，所述控制盒包括电流检测模块，用于实时监控主动执行器的反馈电流，并负责紧急断电处理。
和现有技术相比，本发明具有如下显著优点：本发明的机器人结构紧凑，轻便易携带，可以直接将整个机器人穿戴在患者身上，患者通过握住或绑住机械臂的末端，进行主被动康复训练。通过力/力矩传感器实现了康复训练中力的精确控制，使康复训练更加精准，提高康复训练效率。在训练方式上较传统方式更为新颖、有趣和自然，对于提升上肢康复训练效果具有重要的研究意义与实用价值。将可穿戴机器人与康复医疗相结合，可减少住院治疗，节省用户的经济负担和时间成本。
附图说明
图1是本发明的一种三自由度上肢康复训练机器人的整体结构示意图；
图2是图1机器人的穿戴效果示意图；
图3是图1机器人的水平旋转关节和第一俯仰关节的装配部分的结构示意图；
图4是图1机器人的第二俯仰关节的装配部分的结构示意图。
具体实施方式
下面结合说明书附图和实施例对本发明的技术方案作进一步详细的说明。
如图1所示，一种三自由度的带有精确力控制的可穿戴式上肢康复训练机器人，左右机械臂安装在可穿戴式腰带上，用于控制机器人工作的控制盒封装在腰带内。
具体的，机器人包括右机械臂末端1，右机械臂第二连杆2，右第三主动执行器-第二连杆连接件3，右第三主动执行器4，右第三主动执行器-第一连杆连接件5，右机械臂第一连杆6，第一连杆-U型支架连接件7，右第二主动执行器8，右第一主动执行器9，右机械臂基座10，可穿戴式腰带11，魔术贴安装处一孔12，魔术贴安装处二孔13，左机械臂基座14，L型双层连接件15，左第二主动执行16，左第二主动执行器-第一连杆连接件17，左机械臂第一连杆18，左第三主动执行器-第一连杆连接件19，左第三主动执行器20，第一连杆-U型支架连接件21，左机械臂第二连杆22，左机械臂末端23，左机械臂末端力/力矩传感器24，右机械臂末端力/力矩传感器25，控制盒26。机械臂基座10、14通过螺丝安装在腰带11两侧，作为运动的基点。右第一主动执行器9安装在基座10内，其轴垂直向上，通过连接件与右第二主动执行器8连接。右第二执行器8与右第三执行器4之间有连杆6。右第三执行器4后续接的是连杆2，连杆2安装了机械臂末端1。因此，机器人获得了空间内的三个自由度，可以满足人上肢运动的基本运动需求。
如图2所示，在实际应用时，机器人穿戴在人的腰部，使用魔术贴让机器人能固定在腰部，适应不同人的身材。患者手部握住机械臂末端2、23，或使用柔性绳索将机械臂末端与手腕绑定。与常见的康复训练机器人不同，本发明不需要体感装置捕捉动作，机器人通过三个关节的角度信息可以解算出对应的手部位置信息，并通过机器人末端的力/力矩传感 器实现闭环控制，调节机器人的工作状态，实现康复过程中的精确力控制。
如图3所示，展现了水平旋转关节和第一俯仰关节的装配部分的结构示意图，包括第二执行器U型支架28，双层连接件支柱29，连接件的安装孔30，基座安装孔31。
其中，第一俯仰关节的装配关系是：连接件7通过安装孔30安装在U型支架28上，连接件7的一端通过螺纹拧入第一连杆6或18中，U型支架27安装在主动执行器的轴上，以轴心为中心转动。水平旋转关节的装配关系是：L型双层连接件29一端夹住第二主动执行器，一端中间有四根支柱，支柱连接上下双层，四根支柱的中心和第一主动执行器的轴装配在一起，如此，L型双层连接件29以第一主动执行器的轴心为中心转动，从而安装在其中的第二主动执行器也以第一主动执行器的轴心为中心转动。
如图4所示，展现了第二俯仰关节的装配部分的结构示意图，包括第三主动执行器U型支架32，连接件的安装孔33。
其中，U型支架32安装在第三主动执行器的轴上，以轴心为中心发生转动。其上安装连接件3，与第二连杆通过螺纹进行配合，组成了第二俯仰关节。
本实施例所设计的应用于上肢康复训练的可穿戴机器人，由六个主动执行器4、8、9、16、20、27引导患者上肢，进行针对左、右肩关节内收/外展/前屈/后伸以及左、右肘关节前屈/后伸这些自由度的个性化康复训练。不需要繁琐重复的人工辅助，减小患者的经济负担和心理负担。
此外，在左右机械臂末端安装有力/力矩传感器，用于获取康复训练过程中机器人末端与人手之间的作用力，作为反馈信号，调节机器人的工作状态，实现康复过程中的精确力控制。该机器人不需要额外的体感装置，一体化可穿戴的设计可以保障机器人安全稳定地运行。

Claims (9)

  1. 一种带有精确力控制的可穿戴式上肢康复训练机器人，其特征在于，包括：
    机械臂，包括基座、多个关节以及用于驱动所述关节的主动执行器，机械臂末端安装有力/力矩传感器，用于检测机械臂在康复训练过程中施加在患者上肢的力；
    可穿戴式部件，与所述机械臂的基座连接；
    控制盒，包括执行器位置读取模块、执行器驱动模块、通讯模块、电源模块以及微控制器；所述执行器位置读取模块用于读取主动执行器的角度信息，所述执行器驱动模块用于将微控制器的指令转化为主动执行器可执行的指令，所述通讯模块负责机械臂与控制盒之间双向的数据通信，所述数据通信包括主动执行器数据、力/力矩传感器数据；
    进行康复训练时，患者手部与机械臂末端接触，主动执行器驱动关节运动，机械臂末端和手部产生作用力，执行器位置读取模块获取主动执行器的角度信息，并将其传递给微控制器，力/力矩传感器检测机械臂施加在患者上肢的力，并将其反馈给微控制器，微控制器根据角度信息和力的大小，调节主动执行器的工作状态，实现康复训练过程作用力的精确控制。
  2. 根据权利要求1所述的可穿戴式上肢康复训练机器人，其特征在于：所述机械臂包括左机械臂和右机械臂，分别安装在可穿戴式部件的左右两侧。
  3. 根据权利要求1或2所述的可穿戴式上肢康复训练机器人，其特征在于：所述机械臂包括水平旋转关节以及至少两个俯仰关节，关节之间通过连接件依序相连，其中，水平旋转关节与基座连接，俯仰关节依次连接在水平旋转关节之后，所述力/力矩传感器安装在距离基座最远端的俯仰关节末端。
  4. 根据权利要求3所述的可穿戴式上肢康复训练机器人，其特征在于：所述机械臂的末端为一个圆球型把柄，把柄供患者抓握，或通过柔性绳索与患者手腕进行绑定。
  5. 根据权利要求1所述的可穿戴式上肢康复训练机器人，其特征在于：所述可穿戴式部件为腰带。
  6. 根据权利要求5所述的可穿戴式上肢康复训练机器人，其特征在于：所述腰带使用树脂材料。
  7. 根据权利要求5所述的可穿戴式上肢康复训练机器人，其特征在于：所述腰带前方开设有通孔，使用与通孔尺寸适配的魔术带将腰带固定在人的腰部。
  8. 根据权利要求1所述的可穿戴式上肢康复训练机器人，其特征在于：所述控制盒安装在可穿戴式部件上。
  9. 根据权利要求1所述的可穿戴式上肢康复训练机器人，其特征在于：所述控制盒包括电流检测模块，用于实时监控主动执行器的反馈电流，并负责紧急断电处理。
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