CN106618957A - Somatosensory control method for upper limb rehabilitation robot and rehabilitation training strategy - Google Patents
Somatosensory control method for upper limb rehabilitation robot and rehabilitation training strategy Download PDFInfo
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- CN106618957A CN106618957A CN201611168722.3A CN201611168722A CN106618957A CN 106618957 A CN106618957 A CN 106618957A CN 201611168722 A CN201611168722 A CN 201611168722A CN 106618957 A CN106618957 A CN 106618957A
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- 238000012549 training Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 33
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 29
- 230000003238 somatosensory effect Effects 0.000 title abstract description 7
- 230000033001 locomotion Effects 0.000 claims abstract description 71
- 210000003414 extremity Anatomy 0.000 claims abstract description 68
- 230000002146 bilateral effect Effects 0.000 claims abstract description 8
- 230000001360 synchronised effect Effects 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims abstract description 6
- 210000000323 shoulder joint Anatomy 0.000 claims description 35
- 210000002310 elbow joint Anatomy 0.000 claims description 22
- 230000009471 action Effects 0.000 claims description 13
- 210000001624 hip Anatomy 0.000 claims description 12
- 210000003857 wrist joint Anatomy 0.000 claims description 8
- 210000001503 joint Anatomy 0.000 claims description 7
- 230000036541 health Effects 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 4
- 241001269238 Data Species 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 238000009499 grossing Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000003672 processing method Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000002490 cerebral effect Effects 0.000 abstract description 3
- 210000002569 neuron Anatomy 0.000 abstract description 2
- 230000001225 therapeutic effect Effects 0.000 abstract description 2
- 238000002560 therapeutic procedure Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 5
- 230000006872 improvement Effects 0.000 description 4
- 208000006011 Stroke Diseases 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 230000035876 healing Effects 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 238000000205 computational method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003387 muscular Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003930 cognitive ability Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 230000037213 diet Effects 0.000 description 1
- 235000005911 diet Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000003716 rejuvenation Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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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
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
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Abstract
The invention discloses a somatosensory control method for an upper limb rehabilitation robot and a rehabilitation training strategy. Kinect is used for collecting upper limb motion data, an upper computer is used for processing the motion data and obtaining a control signal, and a lower computer is used for transmitting the control signal to a servo driver to drive a wearable exoskeleton mechanical arm to drive injured limbs to carry out rehabilitation training. The rehabilitation training strategy includes bilateral limb mirror image synchronized rehabilitation training under the mirror image somatosensory control, master-slave rehabilitation training under the synchronized somatosensory control and semi-active rehabilitation training. Body movement somatosensory control is adopted, the control mode is more intuitive and natural and simpler, multi-joint real-time coordinated control can be carried out, and training of complex motions is convenient to achieve; a somatosensory master-slave real-time control mode is convenient for physical therapists to adjust rehabilitation training plans in real time; patients can drive the injured limbs to carry out healthy limb and injured limb bilateral coordination synchronized mirror image motions through own healthy limb motions, repairing of the cerebral neurons is more conveniently promoted, and the therapeutic effect of a mirror image therapy on the whole injured limbs is improved.
Description
Technical field：
The present invention relates to a kind of upper limbs ectoskeleton mirror image rehabilitation machine of motion sensing control.
Background technology：
Cerebral apoplexy has become one of Etiological of harm human body health, and rejuvenation trend is presented.Therewith
The high disability rate come causes most of Post stroke limbs of patient mobility impairment, has a strong impact on patients ' life quality.It is this kind of inclined
Paralysed patient needs to implement as early as possible intensive high-intensity exercise treatment to reach optimal rehabilitation effect.But it is not enough for suffering limb muscular strength,
The patient that rehabilitation exercise training can not independently be carried out, can only pass through the auxiliary of Physical Therapist or by means of rehabilitation training equipment.Profit
When carrying out rehabilitation training with healing robot auxiliary patient, the Motion Control Strategies and the stability of a system of healing robot are one
Determine that rehabilitation efficacy can be affected in degree.
The control mode that at present exoskeleton robot is adopted is broadly divided into two kinds：One kind is program curing, by finishing in advance
Programme-control machine people single joint or combinative movement are performed in rehabilitation training；Another kind be exactly by control panel or
Controller carries out On-line Control.Front kind of control mode, is arranged, it is not easy to meet according to trouble because Physical Therapist is not necessarily familiar with programming
Person's rehabilitation degree makes the requirement of instant adjusting training scheme.Latter control mode typically can only simultaneously control a joint,
Enable control multi-joint simultaneously and be also not easy the requirement for meeting harmony and meeting human motion custom, this causes to train and adjusts
Seem relatively difficult if combinative movement in whole some daily lifes (such as diet, carry trousers etc.).A kind of new body-sensing is man-machine
Interaction technique is applied to upper limb rehabilitation robot, studies a kind of more natural, intuitively motion sensing control mode, can preferably solve
The problems referred to above.With regard to robot motion sensing control method, also there is research in the past, but needs to install gyro at human synovial mostly
The signal pickup assemblies such as instrument, acceleration transducer, however it remains the problems such as installing loaded down with trivial details, wearing and operate inconvenience.
The content of the invention：
The invention aims to overcome the shortcomings of the above, there is provided a kind of control mode is more directly perceived, natural, simple
The motion sensing control method and rehabilitation training strategy of upper limb rehabilitation robot.
The purpose of the present invention is achieved through the following technical solutions：A kind of motion sensing control method of upper limb rehabilitation robot,
Upper extremity exercise data are gathered using Kinect, exercise data is processed by host computer, obtain control signal, slave computer will
Control signal passes to servo-driver, drives Wearable exoskeleton mechanical arm to drive suffering limb to carry out rehabilitation training, and host computer is
PC, slave computer is motion controller.
Further improvement of the present invention is：Upper extremity exercise data acquisition and procession method is：
A, the three-dimensional coordinate that human body 6 joints are caught by Kinect sensor, be respectively shoulder center, Center of Coxa,
Strong side limbs shoulder joint, elbow joint, wrist joint, affected limb shoulder joint；
B, human body coordinate system is set up, according to the 6 joint point datas for obtaining, build space vector, calculate joint angles；Close
Section angle includes flexor of elbow joints/stretch angle [alpha], shoulder abduction/interior receipts angle beta, shoulder joint is anteflexion/after stretch angle γ；Wherein, shoulder
Joint abduction/interior receipts angle beta is defined as upper arm to the projection in human coronary face and the angle of linea vertebralis, shoulder joint is anteflexion/after stretch
Angle γ is defined as the angle of upper arm and human coronary face；
It is C, smooth using Kalman filtering algorithm to calculated joint angles data, according to the refreshing frequency of Kinect
Rate, the Refresh Data time in state change matrix is takenTime-consuming, the raising system real time of compensation system transmission；
D, to smoothing after joint angles data carry out speed limit and amplitude limiting processing, ensured by setting largest motion angular speed
Patient's training of safety.
Further improvement of the present invention is：Joint angles computational methods are：
A, human body coordinate system is set up, 6 skeletal points that Kinect is obtained are labeled as shoulder center SC, Center of Coxa HC, strong side
Limbs shoulder joint Sj, elbow joint E, wrist joint W, affected limb shoulder joint Sh, plane n is the coronal-plane of human body, wherein human body is divided
The two-part plane for before and after, plane m ＇ is parallel to human body sagittal plane, wherein human body is divided into the two-part plane in left and right, plane
H is both perpendicular to coronal-plane n and plane m ＇；
B, flexor of elbow joints/stretch angle computation method are：Cross elbow joint point and wrist joint point builds vectorCross shoulder joint
Point and elbow joint point build vector
Flexor of elbow joints/hade degree
C, shoulder abduction/interior receipts angle, shoulder joint is anteflexion/after stretch angle computation method and be：
The Center of Coxa point H crossed in coronal-plane nCWith shoulder joint node Sj、Sh, build vectorWithCalculate
The normal vector of coronal-plane n
Calculate On projection
CalculateProjection vector in plane n
By Center of Coxa point HCWith shoulder joint intermediate point SC, build vector
Shoulder abduction/interior receipts angle
Shoulder joint is anteflexion/rear hade degree
Further improvement of the present invention is：Joint angles data speed limit and amplitude limiting processing method are：If the angle of t
Position XtWith previous moment Angle Position Xt-1Between speed be more than safe speed ωset, force the Angle Position at current time to replace
It is changed to Xt＇, to ensure safe speed ω of the maximal rate less than settingset；The data of next frame are according to said method with replacement
Data afterwards compare, when angular dimension exceedes the upper limit of setting range or during lower limit, then by the angle pressure assignment be the upper limit or
Lower limit.
Further improvement of the present invention is：Control system hardware includes Kinect, host computer, slave computer, servo-drive
Device, servomotor, the network switch and power pack, host computer is connected to same with motion controller by the network switch
Enter row information exchange in LAN, the network switch be connected with host computer by wireless network forms, the network switch and move
Controller is connected using twisted-pair feeder.
A kind of rehabilitation training strategy of upper limb rehabilitation robot, rehabilitation training strategy includes following Three models：
The first pattern, the both limbs mirror image synchronization rehabilitation training under mirror image motion sensing control：With patient health side
The natural action of limbs directly controls robot motion, drives suffering limb to perform under the auxiliary of robot and strong side limbs identical
Action, realizes a kind of new bilateral mirror image synchronization rehabilitation training.
Second pattern, the rehabilitation training of the master-slave mode under synchronous motion sensing control：With Physical Therapist and patient's suffering limb homonymy
Limb motion drives suffering limb to perform under the auxiliary of robot and the strong side limbs identical rehabilitation of Physical Therapist as motion controller
Action.
The third pattern, semi-active type rehabilitation training：Kinect catches the palm position of Physical Therapist, is asked by inverse kinematics
The angle that solution upper limbs exoskeleton rehabilitation robot end movement is rotated to needed for the Shi Ge joints of Physical Therapist's palm position, drives servo
Motor makes upper limbs exoskeleton rehabilitation robot drive the motion of patient's suffering limb, completes patient's palm dynamic with the touching of Physical Therapist's palm
Make, carry out half initiative rehabilitation training mode.
The present invention has compared with prior art advantages below：It is different from the control mould of traditional exoskeleton rehabilitation robot
Formula, the present invention adopts limb action motion sensing control, and control mode is more directly perceived, natural, simple, can carry out multi-joint real-time linkage
Control, is easy to the training of compound action；Body-sensing principal and subordinate's real-time control mode, is easy to Physical Therapist's real-time adjustment rehabilitation training scheme；
Patient can drive suffering limb to carry out strong limb-suffering limb bilateral coordinate synchronization mirror movements by the motion of itself strong side limbs, more have
Help promote the reparation of cerebral neuron, improve therapeutic effect of the mirror image therapy to whole affected limb.
Description of the drawings：
Fig. 1 is the structural representation of the present invention；
Fig. 2 is that artis is obtained and angle calculation schematic diagram；
Fig. 3 is the speed limit and amplitude limiting processing flow chart of the present invention；
In figure：1：Kinect sensor；2：Main control computer；3：Switch；4：Motion controller；5：Driver：6：Open
Close；7：Servomotor；8：Wearable mechanical arm.
Specific embodiment：
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below will be in the embodiment of the present invention
Technical scheme be clearly and completely described, it is clear that described embodiment is a part of embodiment of the invention, rather than
Whole embodiments.The element for describing in one embodiment of the invention and feature can be with one or more other realities
Apply the element that illustrates in mode and feature combines.It should be noted that for purposes of clarity, eliminate in explanation and nothing of the present invention
Close, part known to persons of ordinary skill in the art and the expression and description of process.Based on the embodiment in the present invention, ability
The every other embodiment that domain those of ordinary skill is obtained on the premise of creative work is not paid, belongs to the present invention
The scope of protection.
As Fig. 1 shows a kind of embodiment of the motion sensing control method of upper limb rehabilitation robot of the present invention, control system
Hardware includes Kinect, host computer (PC), slave computer (motion controller), servo-driver, servomotor, the network switch
And power pack.Kinect is responsible for gathering shoulders of human body center, Center of Coxa, strong side limbs shoulder joint, elbow joint, wrist pass
Section, the data in 6 joints of affected limb shoulder joint, host computer is processed joint data, obtains motion control signal, the next
Control signal is passed to servo-driver by machine, drives Wearable exoskeleton mechanical arm to drive suffering limb to carry out rehabilitation training.Rehabilitation
Training mode has mirror image motion sensing control, synchronous motion sensing control and half active motion sensing control.The present invention is using the action for being good for side limbs
As motion controller, traditional healing robot control method is different from, with the characteristic that body-sensing is directly controlled, and need not be worn
Signal pickup assembly is worn, easy to operate, patient can drive suffering limb to enter under the auxiliary of robot by the motion of itself strong limb
A kind of new bilateral mirror image synchronization rehabilitation training of row, it is also possible to carried out with the limb motion of patient's suffering limb homonymy by Physical Therapist
The rehabilitation training of master-slave mode, can also carry out " half actively " formula rehabilitation by the action of patient's palm and Physical Therapist's palm " touching "
Training.
The present invention gathers upper extremity exercise data using Kinect, and exercise data is processed by host computer, obtains control
Control signal is passed to servo-driver by signal processed, slave computer, drives Wearable exoskeleton mechanical arm to drive suffering limb to carry out health
Refreshment is practiced.
Upper extremity exercise data acquisition and procession method is：
(1) three-dimensional coordinate in 6 joints of human body, respectively shoulder center S are caught by Kinect sensorC, in hip
Heart HC, strong side limbs shoulder joint Sj, elbow joint E, wrist joint W, affected limb shoulder joint Sh.As shown in Figure 2.
(2) human body coordinate system is set up, according to the 6 skeleton point datas for obtaining, space vector is built, joint angles are calculated.
Joint angles include flexor of elbow joints/stretch angle [alpha], shoulder abduction/interior receipts angle beta, shoulder joint is anteflexion/after stretch angle γ.Wherein,
Shoulder abduction/interior receipts angle beta is defined as upper arm to the projection in human coronary face and the angle of linea vertebralis, and shoulder joint is anteflexion/after
Stretch the angle that angle γ is defined as upper arm and human coronary face.
It is as shown in Figure 2 that joint angles calculate schematic diagram.Human body (is divided into before and after two by its midplane n for the coronal-plane of human body
Partial plane), plane m ＇ is parallel to human body sagittal plane (human body is divided into the two-part plane in left and right), and plane h is simultaneously vertical
In coronal-plane n and plane m ＇.
1. flexor of elbow joints/stretch angle calculation
Cross elbow joint point and wrist joint point builds vectorCross shoulder joint node and elbow joint point builds vector
Flexor of elbow joints/hade degree
2. shoulder abduction/interior receipts angle, shoulder joint is anteflexion/after stretch angle calculation
The Center of Coxa point H crossed in coronal-plane nCWith shoulder joint node Sj、Sh, build vectorWithCalculate hat
The normal vector of shape face n
Calculate On projection
CalculateProjection vector in plane n
By Center of Coxa point HCWith shoulder joint intermediate point SC, build vector
Then shoulder abduction/interior receipts angle
Shoulder joint is anteflexion/rear hade degree
The joint angles computational methods of the present invention are not based on Kinect coordinate planes, but based on human body coordinate system, make
User do not need it is strict just face Kinect sensor, facilitate Kinect and be placed in the preferable position in the visual field, so as to
Avoid causing the unstable phenomenon of data because joint is mutually blocked.
(3) it is smooth using Kalman filtering algorithm to calculated joint angles data, according to the refreshing frequency of Kinect
Rate, the Refresh Data time in state change matrix is takenKalman filtering advance Speculation can as data buffering and
The time-consuming compensation of system transfers, improves the real-time of system.
(4) to smoothing after joint angles data carry out speed limit and amplitude limiting processing, protected by setting largest motion angular speed
Card patient's training of safety.
If the Angle Position X of ttWith previous moment Angle Position Xt-1Between speed be more than safe speed ωset, force
The Angle Position at current time is replaced with Xt＇, to ensure safe speed ω of the maximal rate less than settingset.The number of next frame
According to comparing with the data after replacing according to said method, after safe speed is satisfied with, data and curves overlap again with former data.
Setting movement angle scope is to ensure another measure of security, when angular dimension exceedes the upper limit (lower limit) of setting range
When, then it is the upper limit (lower limit) by the angle pressure assignment.By taking the motion of elbow joint flexion/extension as an example, safe speed is set to ωset=
80 °/s, angular range is set to 60 °～180 °.Speed limit is as shown in Figure 3 with the handling process of amplitude limiting processing.
Control system hardware includes Kinect, host computer (PC), slave computer (motion controller), servo-driver, watches
Take motor, the network switch and power pack.Host computer is connected to same local with motion controller by the network switch
Enter row information exchange in net, the network switch is connected with host computer by wireless network forms, the network switch and motion control
Device is connected using twisted-pair feeder.
A kind of rehabilitation training strategy of upper limb rehabilitation robot, rehabilitation training strategy includes following Three models：
The first pattern, the both limbs mirror image synchronization rehabilitation training under mirror image motion sensing control：With patient health side
The natural action of limbs directly controls robot motion, drives suffering limb to perform under the auxiliary of robot and strong side limbs identical
Action, realizes a kind of new bilateral mirror image synchronization rehabilitation training.
Second pattern, the rehabilitation training of the master-slave mode under synchronous motion sensing control：With Physical Therapist and patient's suffering limb homonymy
Limb motion drives suffering limb to perform under the auxiliary of robot and the strong side limbs identical rehabilitation of Physical Therapist as motion controller
Action.
The third pattern, semi-active type rehabilitation training：Kinect catches the palm position of Physical Therapist, is asked by inverse kinematics
The angle that solution upper limbs exoskeleton rehabilitation robot end movement is rotated to needed for the Shi Ge joints of Physical Therapist's palm position, drives servo
Motor makes upper limbs exoskeleton rehabilitation robot drive the motion of patient's suffering limb, completes patient's palm dynamic with the touching of Physical Therapist's palm
Make, carry out half initiative rehabilitation training mode.
Half initiative rehabilitation pattern is applied to the rehabilitation training of the patient for having certain muscular strength, can temper patient visual and limbs
The coordination ability between motion, is favorably improved the cognitive ability of patient, can further promote motorial rehabilitation.
The present invention devises a kind of body-sensing of upper limb rehabilitation robot with Kinect somatosensory sensor as signal pickup assembly
Control method and Training strategy, with the limbs of Physical Therapist's limbs or patient's own health side as motion controller, apoplexy
Patient can directly control the motion of robot by being good for the natural action of side limbs, drive suffering limb to enter under the auxiliary of robot
A kind of new bilateral mirror image synchronization rehabilitation training of row, the rehabilitation training of master-slave mode and " half actively " formula rehabilitation training.
Finally it should be noted that：Although the present invention and its advantage has below been described in detail it should be appreciated that not
Various changes can be carried out in the case of the spirit and scope of the present invention being defined by the claims appended hereto, substitute and
Conversion.And, the scope of the present invention is not limited only to the concrete reality of the process described by specification, equipment, means, method and steps
Apply example.One of ordinary skilled in the art will readily appreciate that from the disclosure, can be used according to the present invention and be held
The row function essentially identical to corresponding embodiment described herein obtains result, the existing and future essentially identical with it
Process to be developed, equipment, means, method or step.Therefore, appended claim is directed at being wrapped in the range of them
Include such process, equipment, means, method or step.
Claims (6)
1. a kind of motion sensing control method of upper limb rehabilitation robot, it is characterised in that：Upper extremity exercise data are gathered using Kinect,
Exercise data is processed by host computer, obtains control signal, control signal is passed to servo-driver by slave computer, driven
Wearable exoskeleton mechanical arm drives suffering limb to carry out rehabilitation training, and host computer is PC, and slave computer is motion controller.
2. the motion sensing control method of a kind of upper limb rehabilitation robot according to claim 1, it is characterised in that：Described is upper
Limb exercise data acquisition is with processing method：
A, the three-dimensional coordinate that 6 joints of human body are caught by Kinect sensor, are respectively shoulder center, Center of Coxa, strong side
Limbs shoulder joint, elbow joint, wrist joint, affected limb shoulder joint；
B, human body coordinate system is set up, according to the 6 joint point datas for obtaining, build space vector, calculate joint angles；Joint angle
Degree includes flexor of elbow joints/stretch angle [alpha], shoulder abduction/interior receipts angle beta, shoulder joint is anteflexion/after stretch angle γ；Wherein, shoulder joint
Abduction/adduction angle beta is defined as upper arm to the projection in human coronary face and the angle of linea vertebralis, and shoulder joint is anteflexion/rear hade degree
γ is defined as the angle of upper arm and human coronary face；
It is C, smooth using Kalman filtering algorithm to calculated joint angles data, according to the refreshing frequency of Kinect, will
The Refresh Data time in state change matrix takesTime-consuming, the raising system real time of compensation system transmission；
D, to smoothing after joint angles data carry out speed limit and amplitude limiting processing, ensure patient by setting largest motion angular speed
Training of safety.
3. the motion sensing control method of a kind of upper limb rehabilitation robot according to claim 2, it is characterised in that：Described pass
Saving angle computation method is：
A, human body coordinate system is set up, 6 skeletal points that Kinect is obtained are labeled as shoulder center SC, Center of Coxa HC, strong side limbs
Shoulder joint Sj, elbow joint E, wrist joint W, affected limb shoulder joint Sh, plane n is the coronal-plane of human body, wherein before human body is divided into
Two-part plane afterwards, plane m ＇ is parallel to human body sagittal plane, wherein human body is divided into the two-part plane in left and right, plane h is same
When perpendicular to coronal-plane n and plane m ＇；
B, flexor of elbow joints/stretch angle computation method are：Cross elbow joint point and wrist joint point builds vectorCross shoulder joint node and
Elbow joint point builds vector
Flexor of elbow joints/hade degree
C, shoulder abduction/interior receipts angle, shoulder joint is anteflexion/after stretch angle computation method and be：
The Center of Coxa point H crossed in coronal-plane nCWith shoulder joint node Sj、Sh, build vectorWithCalculate coronal
The normal vector of face n
Calculate On projection
CalculateProjection vector in plane n
By Center of Coxa point HCWith shoulder joint intermediate point SC, build vector
Shoulder abduction/interior receipts angle
Shoulder joint is anteflexion/rear hade degree
4. the motion sensing control method of a kind of upper limb rehabilitation robot according to claim 2, it is characterised in that：Described pass
Section angle-data speed limit and amplitude limiting processing method are：If the Angle Position X of ttWith previous moment Angle Position Xt-1Between speed
Degree is more than safe speed ωset, force the Angle Position at current time to replace with Xt＇, to ensure maximal rate less than setting
Safe speed ωset；The data of next frame compare according to said method with the data after replacing, when angular dimension exceedes setting model
Then it is the upper limit or lower limit by the angle pressure assignment when upper limit enclosed or lower limit.
5. the motion sensing control method of a kind of upper limb rehabilitation robot according to claim 1, it is characterised in that：Control system
Hardware includes Kinect, host computer, slave computer, servo-driver, servomotor, the network switch and power pack, upper
Machine is connected to by the network switch with motion controller and enters row information in same LAN and exchange, the network switch and host computer
Connected by wireless network forms, the network switch is connected with motion controller using twisted-pair feeder.
6. the rehabilitation training strategy of a kind of upper limb rehabilitation robot, it is characterised in that：Rehabilitation training strategy includes following three kinds of moulds
Formula：
The first pattern, the both limbs mirror image synchronization rehabilitation training under mirror image motion sensing control：With the limbs of patient health side
Natural action directly control robot motion, drive suffering limb to perform under the auxiliary of robot dynamic with strong side limbs identical
Make, realize a kind of new bilateral mirror image synchronization rehabilitation training.
Second pattern, the rehabilitation training of the master-slave mode under synchronous motion sensing control：With Physical Therapist and the limbs of patient's suffering limb homonymy
Motion drives suffering limb to perform under the auxiliary of robot and moves with Physical Therapist's strong side limbs identical rehabilitation as motion controller
Make.
The third pattern, semi-active type rehabilitation training：Kinect catches the palm position of Physical Therapist, by inverse kinematics
The angle that limb exoskeleton rehabilitation robot end movement is rotated to needed for the Shi Ge joints of Physical Therapist's palm position, drives servomotor
Make upper limbs exoskeleton rehabilitation robot drive the motion of patient's suffering limb, complete the action of patient's palm and the touching of Physical Therapist's palm, enter
The initiative rehabilitation training mode of row half.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611168722.3A CN106618957B (en) | 2016-12-16 | 2016-12-16 | A kind of upper limb rehabilitation robot |
Applications Claiming Priority (1)
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| CN107520843A (en) * | 2017-08-22 | 2017-12-29 | 南京野兽达达网络科技有限公司 | The action training method of one species people's multi-freedom robot |
| CN108743222A (en) * | 2018-06-01 | 2018-11-06 | 南昌大学 | A kind of symmetrical rehabilitation error correcting method of finger based on Leap Motion |
| CN108888473A (en) * | 2018-05-22 | 2018-11-27 | 哈尔滨工业大学 | Joint of lower extremity based on wearable walk-aiding exoskeleton moves reproducing method |
| CN109106556A (en) * | 2018-08-16 | 2019-01-01 | 常州市钱璟康复股份有限公司 | A kind of moving method and its mobile system of upper-limbs rehabilitation training robot |
| CN109330819A (en) * | 2018-09-18 | 2019-02-15 | 山东建筑大学 | Master-slave mode upper limb exoskeleton rehabilitation robot control system and its control method |
| CN109452943A (en) * | 2018-09-17 | 2019-03-12 | 周建菊 | A kind of multifunctional recovery clothing for severe hemiplegic patient |
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| CN112206124A (en) * | 2020-09-28 | 2021-01-12 | 国家康复辅具研究中心 | Neural loop-guided upper limb function rehabilitation training system and method |
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| WO2019061162A1 (en) * | 2017-09-28 | 2019-04-04 | 广州博厚医疗技术有限公司 | Method, device and system for assisting in collaborative rehabilitation of bilateral limbs |
| CN108888473A (en) * | 2018-05-22 | 2018-11-27 | 哈尔滨工业大学 | Joint of lower extremity based on wearable walk-aiding exoskeleton moves reproducing method |
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| CN109330819A (en) * | 2018-09-18 | 2019-02-15 | 山东建筑大学 | Master-slave mode upper limb exoskeleton rehabilitation robot control system and its control method |
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| CN109907940A (en) * | 2019-03-29 | 2019-06-21 | 东莞广州中医药大学中医药数理工程研究院 | A kind of upper limb healing system and method based on wrist joint and restoring gloves |
| CN109907940B (en) * | 2019-03-29 | 2024-04-26 | 东莞广州中医药大学中医药数理工程研究院 | Upper limb rehabilitation system and method based on wrist joints and rehabilitation gloves |
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| CN111283678A (en) * | 2020-01-19 | 2020-06-16 | 路邦科技授权有限公司 | Robot mirror image programming control system and control method thereof |
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| CN111714334B (en) * | 2020-07-13 | 2022-08-05 | 厦门威恩科技有限公司 | Upper limb rehabilitation training robot and control method |
| CN111956449A (en) * | 2020-08-10 | 2020-11-20 | 河海大学常州校区 | Exoskeleton rehabilitation treatment device for shoulder-elbow joint injury and control system thereof |
| CN112206124B (en) * | 2020-09-28 | 2022-02-15 | 国家康复辅具研究中心 | Neural loop-guided upper limb function rehabilitation training system and method |
| CN112206124A (en) * | 2020-09-28 | 2021-01-12 | 国家康复辅具研究中心 | Neural loop-guided upper limb function rehabilitation training system and method |
| CN113081666A (en) * | 2021-03-24 | 2021-07-09 | 上海傅利叶智能科技有限公司 | Virtual limiting method and device for rehabilitation robot and rehabilitation robot |
| WO2022228030A1 (en) * | 2021-04-30 | 2022-11-03 | 上海神泰医疗科技有限公司 | Training control method and system based on robot, terminal, and storage medium |
| CN114081778A (en) * | 2021-11-11 | 2022-02-25 | 福建工程学院 | Series-parallel adaptive sliding mode variable structure motion mirror type upper limb rehabilitation training robot and control method thereof |
| CN114081778B (en) * | 2021-11-11 | 2023-05-23 | 福建工程学院 | Series-parallel self-adaptive sliding mode variable structure movement mirror type upper limb rehabilitation training robot and control method thereof |
| CN114732668A (en) * | 2022-03-28 | 2022-07-12 | 上海神泰医疗科技有限公司 | Method, system, equipment and medium for measuring motion precision of limb rehabilitation training robot |
| CN114732668B (en) * | 2022-03-28 | 2023-08-11 | 上海神泰医疗科技有限公司 | Method, system, equipment and medium for measuring motion precision of limb rehabilitation training robot |
| CN115969667A (en) * | 2022-12-21 | 2023-04-18 | 力之医疗科技(广州)有限公司 | Bilateral cooperative rehabilitation system based on multi-modal perception |
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Effective date of registration: 20210621 Address after: 226019 No.205, building 6, Nantong University, No.9, Siyuan Road, Nantong City, Jiangsu Province Patentee after: Center for technology transfer, Nantong University Address before: 226000 No. 9 Siyuan Road, Chongchuan District, Nantong City, Jiangsu Province Patentee before: NANTONG University |
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Application publication date: 20170510 Assignee: Jiangsu Guochen Medical Technology Co.,Ltd. Assignor: Center for technology transfer, Nantong University Contract record no.: X2022320000384 Denomination of invention: An upper limb rehabilitation robot Granted publication date: 20191203 License type: Common License Record date: 20230104 |