WO2022257073A1

WO2022257073A1 - Dual-arm robot-based weakly connected upper limb rehabilitation training system and training method therefor

Info

Publication number: WO2022257073A1
Application number: PCT/CN2021/099371
Authority: WO
Inventors: 韩毅; 方泽邈; 刘涛; 王硕玉
Original assignee: 南京浙溧智能制造研究院有限公司
Priority date: 2021-06-10
Filing date: 2021-06-10
Publication date: 2022-12-15
Also published as: CN115484915A

Abstract

The present invention relates to the field of medical instruments. Disclosed are a dual-arm robot-based weakly connected upper limb rehabilitation training system and a training method therefor. The system comprises a dual-arm rehabilitation training robot unit. The dual-arm rehabilitation training robot unit comprises two multi-degree-of-freedom robotic arms, a sensing detection module, a motion control module, a communication module, and a master interaction module. The present system can be used to carry out rehabilitation training of upper limb shoulder and elbow joints for a patient. The use of an active arm and an auxiliary arm of a dual-arm robot and the mode that the auxiliary arm is not fixedly connected to the patient theoretically do not have an over-constraint problem and overcome defects of existing upper limb rehabilitation robots. The system can generate targeted rehabilitation solutions and rehabilitation actions according to conditions of patients, so as not only to carry out rehabilitation training for most patients whose motor function of shoulder and elbow joints is damaged due to stroke, but can to carry out prevention of diseases related to shoulder and elbow joints for healthy people.

Description

A weakly connected upper limb rehabilitation training system and training method based on a dual-arm robot

technical field

The invention belongs to the field of medical equipment, and in particular relates to a weakly connected upper limb rehabilitation training system based on a dual-arm robot and a training method thereof.

Background technique

Impairment of upper limb motor function is a common sequela of stroke. Up to 80% of stroke patients develop upper limb dysfunction within 3 months after stroke, and the independence and quality of life of a large number of patients are seriously affected. The rehabilitation process of the upper limb function of patients is generally inseparable from long-term rehabilitation training. However, coupled with the increase in the number of patients brought about by the aging population, rehabilitation physiotherapists are far from meeting the clinical needs of heavy rehabilitation tasks. Many rehabilitation tasks fall on clinical medical staff, which greatly increases the burden on medical staff. There is a need for an automated robotic system for upper limb rehabilitation training.

The current upper limb rehabilitation training robot system is mainly divided into exoskeleton type and terminal connection type according to the different physical connection methods with the user:

Typical exoskeleton-type upper limb rehabilitation training robot systems, such as ARMin of the University of Zurich in Switzerland, CADEN-7 of the University of Washington in the United States, Multi-Joint Arm Exoskeleton of the University of Tübingen in Germany, and the upper limb exoskeleton robot rehabilitation training system of Harbin Institute of Technology, etc. The skeletal robot is fixedly connected to the user, which can completely restrain the user's upper limbs, well control the movement of each joint, and realize multi-degree-of-freedom rehabilitation training actions; however, due to the problem of over-constraint, it needs to adjust the hardware for different users. The system, hardware structure and controller design need to take into account safety, comfort, and training effectiveness, and face many challenges.

End-connected upper limb rehabilitation training robots can be divided into two categories: single-arm and double-arm. Typical single-arm end-connected upper limb rehabilitation training robot systems such as MIT-MANUS of the Massachusetts Institute of Technology in the United States, GENTLE/s of the University of Reading in the United Kingdom, It provides users with fewer constraints, is more natural, is easy to install and use, and has advantages in safety and comfort; but it is not convenient to directly control the independent movement of each joint of the body. Due to the existence of redundant degrees of freedom in the human body, it causes compensation. The position status of each joint is usually uncertain, so that some degrees of freedom of the user's upper limbs may not be able to obtain sufficient rehabilitation training movements; typical double-arm end-connected upper limb rehabilitation training robot systems such as iPAM at the University of Leeds in the United Kingdom and upper limbs researched by South China University of Technology Rehabilitation robots, etc., the ends of both arms of the robot are fixedly connected to the user, which overcomes the defect that the connection at the end of a single arm cannot fully control the degrees of freedom of the user's upper limbs, but still introduces the problem of over-constraint.

The above solutions may have over-constraint problems, or may not allow users to receive sufficient rehabilitation training.

Therefore, a weakly connected upper limb rehabilitation training system based on a dual-arm robot is designed, which can not only enable the user to receive full rehabilitation training for each degree of freedom of the upper limbs, but also avoid the problem of over-constraint, which can reduce the difficulty of system design and relax the measurement requirements during use. , obviously has positive practical significance.

Contents of the invention

The object of the present invention is to provide a weakly connected upper limb rehabilitation training system based on a dual-arm robot to solve the above-mentioned defects caused by the prior art.

A weakly connected upper limb rehabilitation training system based on a dual-arm robot, comprising a dual-arm rehabilitation training robot unit, the dual-arm rehabilitation training robot unit including two multi-degree-of-freedom mechanical arms, a sensor detection module, a motion control module, and a communication module And the main control interaction module;

Among the two multi-degree-of-freedom mechanical arms, one is the active arm, which is fixedly connected to the end of the patient's affected limb, and is used to drive the patient to complete rehabilitation training; the other is an auxiliary arm, which is not fixedly connected to the user, and is weak The connection mode, the contact position with the user is not fixed, and the contact position with the user can be changed during the rehabilitation training process, which is used to provide auxiliary support and restraint at the right time;

The sensing detection module is located on the multi-degree-of-freedom mechanical arm and is used to obtain some motion parameters of the multi-degree-of-freedom mechanical arm, which includes an encoder, a torque sensor and a multi-dimensional force sensor;

The motion control module is installed on the multi-degree-of-freedom mechanical arm, and is used to execute the motion command of the main control interaction module, and at the same time, perform preliminary processing on the data obtained by the sensor detection module, and then pack the data.

The communication module is installed on the multi-degree-of-freedom mechanical arm, and is used to send data packets from the motion control module to the main control interaction module, and at the same time send motion commands from the main control interaction module to the motion control module.

The main control interaction module is used for human-computer interaction of patients during training, which includes PC, audio and transceiver.

Preferably, the encoder is located at each joint of the multi-degree-of-freedom manipulator, and is used to detect the angular displacement of each degree of freedom of the manipulator;

The torque sensor at each joint of the multi-degree-of-freedom mechanical arm is used to detect the torque of each joint of the mechanical arm;

The multi-dimensional force sensor is located at the end of the multi-degree-of-freedom manipulator to detect the interaction force between the patient and the robot.

Preferably, the PC is used to further process the data packets of the motion control module and send control instructions in real time according to the rehabilitation action requirements, and the PC can also perform patient information registration and be equipped with a rehabilitation action plan and generation unit;

The sound is used to send out action prompts during detection and rehabilitation training, and perform auxiliary counting and safety range reminders;

The transceiver is used to send and receive data packets of the communication module.

Preferably, the rehabilitation action planning and generation unit includes a patient data acquisition module, a rehabilitation action planning module and a rehabilitation action generation module;

The patient data collection module is used to collect rehabilitation action plans and generate required patient data;

The rehabilitation action planning module is used to plan targeted rehabilitation programs and rehabilitation training actions according to the joints required by the patient for rehabilitation training;

The rehabilitation action generation module is used to generate a reference movement trajectory of the robot arm corresponding to the rehabilitation action according to the human body limb model, patient data and rehabilitation action.

A training method according to the above-mentioned weakly connected upper limb rehabilitation training system based on a dual-arm robot, comprising the steps of:

S1. User information collection and rehabilitation action generation. The user's limb parameters, joints that need rehabilitation training and the required training level are obtained through the patient data collection module, and then the rehabilitation plan and rehabilitation plan are obtained through the rehabilitation action planning module and the rehabilitation action generation module. The reference motion trajectory of the robot arm corresponding to the motion;

S2. The patient is connected to the rehabilitation training system, and the patient is physically connected to the end of the multi-degree-of-freedom mechanical arm;

S3. Upper limb rehabilitation training. The patient performs targeted rehabilitation training through the multi-degree-of-freedom robotic arm. The sound of the main control interaction module will assist in counting and remind the patient to train within the recommended safety range.

Preferably, in the step S2, the active arm is fixedly connected to the patient, and the auxiliary arm does not need to be fixed to the patient, and only moves to a corresponding position to contact the patient when needed, which is a weak connection.

Preferably, in the step S3, the main control interaction module processes the sensor data transmitted by the communication module and the reference motion trajectory of the robot arm generated by the rehabilitation action plan and generation unit, comprehensively generates control instructions, and transmits them to the movement control instructions through the communication module. Control module execution;

The safe range and the recommended number of repetitions and the number of repetitions per group are also designed.

The advantage of the present invention is that: the present invention adopts a dual-arm robot and weakly connected auxiliary arms. In principle, there is no over-constraint problem, which can not only enable the patient's shoulder and elbow joints to obtain sufficient and effective rehabilitation training, but also avoid the over-constraint problem and reduce the risk of over-constraint. Design Difficulty Relax usage requirements.

Description of drawings

Figure 1 is a composition diagram of the dual-arm rehabilitation training robot unit of the weakly connected upper limb rehabilitation training system based on the dual-arm robot.

Figure 2 is a composition diagram of the rehabilitation action plan and generation unit of the weakly connected upper limb rehabilitation training system based on the dual-arm robot.

Fig. 3 is a flow chart of the rehabilitation training method of the weakly connected upper limb rehabilitation training system based on the dual-arm robot.

Fig. 4 is a physical diagram of the training of the dual-arm rehabilitation training robot in a preferred embodiment.

Detailed ways

In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

As shown in Figure 1, the dual-arm rehabilitation training robot unit of the weakly connected upper limb rehabilitation training system based on dual-arm robots includes: two multi-degree-of-freedom robotic arms, a sensor detection module, a motion control module, a communication module, and a main control interaction Module; one of the two multi-degree-of-freedom robotic arms, one is the active arm, which is fixedly connected to the end of the patient's affected limb, and is used to drive the patient to complete rehabilitation training actions, and the other is the auxiliary arm, which is not fixedly connected to the user and is a weak connection method, the contact position with the user is not fixed, and the contact position with the user can be changed during the rehabilitation training process, which is used to provide auxiliary support and restraint in a timely manner; the sensing detection module is composed of an encoder, a torque sensor and a multi-dimensional force sensor. The sensor detects the angular displacement of each degree of freedom of the manipulator, the torque sensor detects the torque of each joint of the manipulator, and the multi-dimensional force sensor detects the interaction force between the patient and the robot; the motion control module is used to execute the motion commands of the main control interaction module, and at the same time The data obtained by the sensor detection module is preliminarily processed, and then the data is packaged; the communication module is installed on the multi-degree-of-freedom robotic arm, which is used to send the data package from the motion control module to the main control interaction module, and at the same time receive The motion command of the control interaction module is sent to the motion control module; the main control interaction module includes a PC, audio and transceiver, and the PC is used to further process the data packets of the motion control module and send control commands in real time according to the rehabilitation action requirements, patient information registration And it is equipped with a rehabilitation action planning and generation unit. The sound is used to send out action prompts during the detection and rehabilitation training process, and perform auxiliary counting and safety range reminders. The transceiver is used to send and receive data packets from the communication module.

As shown in Figure 2, the rehabilitation action planning and generation unit of the weakly connected upper limb rehabilitation training system based on the dual-arm robot consists of: patient data acquisition module, rehabilitation action planning module and rehabilitation action generation module. The patient data collection module is used to collect rehabilitation action plans and generate required patient data. The rehabilitation action planning module is used to plan targeted rehabilitation programs and rehabilitation training actions according to the joints required by the patient for rehabilitation training. The rehabilitation action generation module is used to generate a reference movement trajectory of the robot arm corresponding to the rehabilitation action according to the human body limb model, patient data and rehabilitation action.

As shown in Figure 3, a rehabilitation training method of a weakly connected upper limb rehabilitation training system based on a dual-arm robot includes the following steps:

1) User information collection and rehabilitation action generation, through the patient data acquisition module to obtain the user's limb parameters, joints that need rehabilitation training and the required training level; then through the rehabilitation action planning module and rehabilitation action generation module to obtain rehabilitation programs and rehabilitation The reference motion trajectory of the robot arm corresponding to the motion.

2) The patient is connected to the rehabilitation training system, and the patient is physically connected to the end of the multi-degree-of-freedom mechanical arm.

3) For upper limb rehabilitation training, patients are trained according to targeted rehabilitation training actions through the multi-degree-of-freedom robotic arm. The sound of the main control interaction module will assist in counting and remind patients to train within the recommended safety range.

After the training, record the patient's feedback, and optimize the rehabilitation training program based on the feedback.

The technical solution of the present invention can not only provide full rehabilitation training for each degree of freedom of the user's upper limbs, but also avoid the problem of over-constraint.

In the present invention, the structural form of the dual-arm rehabilitation training robot unit is not limited, as long as the action traction of the user's upper limbs is not realized through a fixed connection. Its main body is two multi-degree-of-freedom robotic arms, which include a sensor detection module, a motion control module, a communication module, and a main control interaction module. In order to facilitate the understanding of those skilled in the art, the implementation form of the dual-arm rehabilitation training robot unit in a preferred embodiment is provided below. However, it should be noted that this embodiment is only for auxiliary description, and is not the only implementation form of the dual-arm rehabilitation training robot unit of the present invention.

As shown in FIG. 4 , in this preferred embodiment, the main body of the dual-arm rehabilitation training robot unit is two multi-degree-of-freedom mechanical arms, including an active arm 1 and an auxiliary arm 2 . The active arm 1 is fixedly connected to the end of the user's upper limbs, and is used to drive the patient to complete rehabilitation training actions. The auxiliary arm 2 is not fixedly connected to the user, and is a weak connection. The contact position with the user is not fixed, and the contact position with the user is in the rehabilitation training process. can be changed in order to provide auxiliary supports and constraints when appropriate.

For ease of understanding, the method for using the dual-arm rehabilitation training robot unit is specifically described below, which includes the following steps:

1) User information collection and rehabilitation action generation, through the patient data acquisition module to obtain the user's limb parameters, joints that need rehabilitation training and the required training level; then through the rehabilitation action planning module and rehabilitation action generation module to obtain rehabilitation programs, and rehabilitation The reference motion trajectories of the robot’s active arm and auxiliary arm corresponding to the action, the planned contact position of the robot’s auxiliary arm and the patient, and its displacement scheme.

2) The user is connected to the rehabilitation training system, the user sits in a suitable position, and is physically connected to the end of the active arm of the dual-arm rehabilitation training robot through the hand; and the relative position of the user's hand and shoulder is measured to determine the starting position.

3) For upper limb rehabilitation training, the multi-degree-of-freedom mechanical arm pulls the patient according to the targeted rehabilitation training action for training. The sound of the main control interaction module will assist in counting and remind the patient to train within the recommended safety range.

It can be known from common technical knowledge that the present invention can be realized through other embodiments without departing from its spirit or essential features. Accordingly, the above-disclosed embodiments are, in all respects, illustrative and not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are embraced by the present invention.

Claims

A weakly connected upper limb rehabilitation training system based on a dual-arm robot, characterized in that it includes a dual-arm rehabilitation training robot unit, and the dual-arm rehabilitation training robot unit includes two multi-degree-of-freedom mechanical arms, a sensor detection module, a motion control module, communication module and main control interaction module;

Among the two multi-degree-of-freedom mechanical arms, one is the active arm, which is fixedly connected to the end of the patient's affected limb, and is used to drive the patient to complete rehabilitation training; the other is an auxiliary arm, which is not fixedly connected to the user, and is weak The connection mode, the contact position with the user is not fixed, and the contact position with the user can be changed during the rehabilitation training process, which is used to provide auxiliary support and restraint at the right time;

The sensing detection module is located on the multi-degree-of-freedom mechanical arm and is used to obtain some motion parameters of the multi-degree-of-freedom mechanical arm, which includes an encoder, a torque sensor and a multi-dimensional force sensor;

The motion control module is installed on the multi-degree-of-freedom mechanical arm, and is used to execute the motion command of the main control interaction module, and at the same time, perform preliminary processing on the data obtained by the sensor detection module, and then pack the data.

The communication module is installed on the multi-degree-of-freedom mechanical arm, and is used to send data packets from the motion control module to the main control interaction module, and at the same time send motion commands from the main control interaction module to the motion control module.

The main control interaction module is used for human-computer interaction of patients during training, which includes PC, audio and transceiver.
A weakly connected upper limb rehabilitation training system based on a dual-arm robot according to claim 1, wherein the encoder is located at each joint of the multi-degree-of-freedom mechanical arm for detecting the angular displacement of each degree of freedom of the mechanical arm ;

The torque sensor at each joint of the multi-degree-of-freedom mechanical arm is used to detect the torque of each joint of the mechanical arm;

The multi-dimensional force sensor is located at the end of the multi-degree-of-freedom manipulator to detect the interaction force between the patient and the robot.
A weakly connected upper limb rehabilitation training system based on a dual-arm robot according to claim 1, wherein the PC is used to further process the data packets of the motion control module and send control instructions in real time according to the rehabilitation action requirements, and the PC The machine can also perform patient information registration and be equipped with a rehabilitation action plan and generation unit;

The sound is used to send out action prompts during detection and rehabilitation training, and perform auxiliary counting and safety range reminders;

The transceiver is used to send and receive data packets of the communication module.
A weakly connected upper limb rehabilitation training system based on a dual-arm robot according to claim 1, wherein the rehabilitation action planning and generation unit includes a patient data acquisition module, a rehabilitation action planning module, and a rehabilitation action generation module ;

The patient data collection module is used to collect rehabilitation action plans and generate required patient data;

The rehabilitation action planning module is used to plan targeted rehabilitation programs and rehabilitation training actions according to the joints required by the patient for rehabilitation training;

The rehabilitation action generation module is used to generate a reference movement trajectory of the robot arm corresponding to the rehabilitation action according to the human body limb model, patient data and rehabilitation action.
A training method for a weakly connected upper limb rehabilitation training system based on a dual-arm robot according to any one of claims 1-4, characterized in that it comprises the steps of:

S1. User information collection and rehabilitation action generation. The user's limb parameters, joints that need rehabilitation training and the required training level are obtained through the patient data collection module, and then the rehabilitation plan and rehabilitation plan are obtained through the rehabilitation action planning module and the rehabilitation action generation module. The reference motion trajectory of the robot arm corresponding to the motion;

S2. The patient is connected to the rehabilitation training system, and the patient is physically connected to the end of the multi-degree-of-freedom mechanical arm;

S3. Upper limb rehabilitation training. The patient performs targeted rehabilitation training through the multi-degree-of-freedom robotic arm. The sound of the main control interaction module will assist in counting and remind the patient to train within the recommended safety range.
A weakly connected upper limb rehabilitation training system based on a dual-arm robot according to claim 1, characterized in that: in the step S2, the active arm is fixedly connected to the patient, and the auxiliary arm and the patient do not need to be fixed, and only move to The corresponding position is in contact with the patient, which is a weak connection.
A weakly connected upper limb rehabilitation training system based on a dual-arm robot according to claim 1, characterized in that: in the step S3, the main control interaction module processes the sensor data transmitted through the communication module and the rehabilitation action plan and The robot arm generated by the generation unit refers to the motion trajectory, comprehensively generates control instructions, and transmits them to the motion control module for execution through the communication module;

The safe range and the recommended number of repetitions and the number of repetitions per group are also designed.