CN102716002B - Seated and recumbent type lower limb rehabilitation robot - Google Patents
Seated and recumbent type lower limb rehabilitation robot Download PDFInfo
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- CN102716002B CN102716002B CN201210226081.8A CN201210226081A CN102716002B CN 102716002 B CN102716002 B CN 102716002B CN 201210226081 A CN201210226081 A CN 201210226081A CN 102716002 B CN102716002 B CN 102716002B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims abstract description 94
- 238000012549 training Methods 0.000 claims abstract description 24
- 230000003993 interaction Effects 0.000 claims abstract description 14
- 210000000629 knee joint Anatomy 0.000 claims description 22
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 16
- 210000001624 hip Anatomy 0.000 claims description 16
- 210000004394 hip joint Anatomy 0.000 claims description 15
- 230000035876 healing Effects 0.000 claims description 13
- 210000003423 ankle Anatomy 0.000 claims description 9
- 238000002955 isolation Methods 0.000 claims description 9
- 210000001503 joint Anatomy 0.000 claims description 5
- 230000000737 periodic effect Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000013523 data management Methods 0.000 claims description 3
- 239000011551 heat transfer agent Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 241000699666 Mus <mouse, genus> Species 0.000 claims description 2
- 238000011579 SCID mouse model Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 14
- 238000001584 occupational therapy Methods 0.000 abstract description 3
- 238000002560 therapeutic procedure Methods 0.000 abstract description 2
- 210000003127 knee Anatomy 0.000 description 6
- 230000002146 bilateral effect Effects 0.000 description 3
- 238000013439 planning Methods 0.000 description 3
- 208000001738 Nervous System Trauma Diseases 0.000 description 2
- 208000005392 Spasm Diseases 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009207 exercise therapy Methods 0.000 description 2
- 208000028412 nervous system injury Diseases 0.000 description 2
- 208000020431 spinal cord injury Diseases 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 210000001699 lower leg Anatomy 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 230000001769 paralizing effect Effects 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
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Abstract
The invention discloses a seated horizontal type lower limb rehabilitation robot and a corresponding passive training control method. The robot comprises a chair, mechanical arms, a man-machine interaction interface and a main industrial control box. When the rehabilitation robot is utilized to assist a patient in participating in passive training, the patient reclines on the chair; the lower limbs on two sides of the patient are respectively fixed with the mechanical arms; a speed instruction signal and a position instruction signal are generated by a host computer in the main industrial control box according to a motion track preset by a user, present positions of the mechanical arms and an expected motion track; the corresponding motion control card, joint driver and motor/encoder are utilized to control the mechanical arms to drive the lower limbs on two sides of the patient to participate in the rehabilitation training; and the traditional occupational therapy and motion therapy are organically combined according to the invention, so that the rehabilitation effect of the patient is effectively improved.
Description
Technical field
The present invention relates to rehabilitation medical instrument technical field, be specifically related to a kind of sitting and lying formula lower limb rehabilitation robot and corresponding passive exercise control method.
Background technology
Spinal cord injury and apoplexy be cause nervous system injury and and then cause paralyse two large main causes, rehabilitation training suitable after nervous system injury can alleviate or avoid deformity.According to plasticity of neural system principle, Therapeutic Method conventional clinically at present comprises physiotherapy, occupational therapy, exercise therapy etc., but, domestic most convalescent home still carries out above treatment by means of artificial or simple passive rehabilitation armarium, when carrying out rehabilitation training by means of artificial mode, although rehabilitation form is comparatively flexible, because labor intensity is very large, limit the single training time of patient, and physiology gait cannot be simulated train; The simple passive rehabilitation medicine equipment that current convalescent home uses such as bicycle can only help patient to carry out single treadmill training, and training track cannot regulate, and therefore also limit its rehabilitation efficacy.
Summary of the invention
The object of the invention is to for spinal cord injury or paralytic provide a kind of sitting and lying formula lower limb rehabilitation robot, and a kind of corresponding passive exercise control method, to adapt to different patients or different rehabilitation stages, thus improve the enthusiasm of patient, and improve its rehabilitation process.
According to an aspect of the present invention, the present invention proposes a kind of sitting and lying formula lower limb rehabilitation robot, it is characterized in that, this robot comprises: seat 7, two mechanical arms 3, human-computer interaction interface 1 and main industrial control box 2, wherein,
Every bar mechanical arm 3 has three joints, the hip of the corresponding human body lower limbs of difference, knee joint, ankle three joints;
Described human-computer interaction interface 1 for for user's input, select movement locus and set relevant parameter, intelligent monitoring and data management are carried out to rehabilitation training;
Described main industrial control box 2 in order to each joint of control motion, gather the relevant heat transfer agent of robot;
Described main industrial control box 2 comprises host computer PC 104, the left movement control card that communicates and right motion control card is carried out by data/address bus and host computer PC 104, the left hip joint driver connected by corresponding interface to described left movement control card, left knee joint driver, left ankle joint driver, the right hip joint driver connected by corresponding interface to described right motion control card, right knee joint driver, right ankle joint driver, the left hip motor/encoder be connected with described left hip joint driver, the left knee joint motor/encoder be connected with described left knee joint driver, the left ankle motor/encoder be connected with described left ankle joint driver, the right hip motor/encoder be connected with described right hip joint driver, the right knee joint motor/encoder be connected with described right knee joint driver, the right ankle motor/encoder be connected with described right ankle joint driver, the digital signal input and output DIDO digital signal acquiring card communicated is carried out by USB interface bus and host computer PC 104, the light-coupled isolation level shifting circuit plate connect is linked with described DIDO digital signal acquiring, the multiple absolute position encoders being arranged on each joint position of robot be connected with described light-coupled isolation level shifting circuit plate.
According to another aspect of the present invention, the invention allows for and a kind ofly utilize described healing robot assisting patients to carry out the control method of passive rehabilitation training, it is characterized in that, the method comprises the following steps:
Step 1, patient reclines on the seat of healing robot, is fixed respectively by the bilateral lower limb of patient with two mechanical arms of healing robot;
Step 2, for morning, the mid-term of rehabilitation residing for patient, comprise the phase of collapsing from physical exhaustion and spasm period, user selects by human-computer interaction interface the end movement track being applicable to patient, and the relevant parameter of end movement track that setting is selected;
Step 3, host computer PC 104 calculates the desirable initial locations in each joint of the mechanical arm of robot according to the relevant parameter of set end movement track, the current actual positions in each joint of mechanical arm that absolute position encoder collects is read by DIDO digital signal acquiring card, and produce speed command and position command signal according to the position deviation of desirable initial locations and current actual positions, and speed command and position command signal are sent to corresponding motion control card;
Step 4, motion control card exports the pulse of characteristic frequency and direction signal to corresponding joint driver according to the speed command received and position command signal, joint driver produces drive current according to the pulse received and direction signal, the motor in corresponding motor/encoder is driven to move accordingly, make each joint motions of mechanical arm to described desirable initial locations, meanwhile, the encoder in corresponding motor/encoder feeds back the angle information of each joint motor in real time to host computer by corresponding joint driver, motion control card;
Step 5, after each joint motions of mechanical arm to described desirable initial locations, PC104 goes out the desired trajectory in each joint according to the end movement trajectory calculation selected;
Step 6, PC104 produces speed command and position command signal according to the current initial position of the desired trajectory in described each joint and each joint of mechanical arm, and by the periodic movement that corresponding motion control card, joint driver, motor/encoder control drive the lower limb of patient to carry out repeatedly, until the training time of setting terminate.
Sitting and lying formula lower limb rehabilitation robot involved in the present invention and corresponding passive exercise control method, organically combine the feature of occupational therapy and exercise therapy, can improve the enthusiasm of patient's active participate dramatically, and improve its rehabilitation process.
Accompanying drawing explanation
Fig. 1 is the structure chart of the sitting and lying formula lower limb rehabilitation robot according to the embodiment of the present invention;
Fig. 2 is the electric control system population structure block diagram according to the embodiment of the present invention;
Fig. 3 is that the present invention utilizes healing robot assisting patients to carry out the control method flow chart of passive exercise;
Fig. 4 is the treadmill movement end orbit of the embodiment of the present invention and the track graph of a relation in each joint;
Fig. 5 is the stepping movement end orbit of the embodiment of the present invention and the track graph of a relation in each joint.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Fig. 1 is the structure chart of the sitting and lying formula lower limb rehabilitation robot according to the embodiment of the present invention, as shown in Figure 1, sitting and lying formula lower limb rehabilitation robot of the present invention is made up of basic machine and electric control system two parts, wherein, basic machine comprises seat 7 and two mechanical arms 3, every bar mechanical arm 3 has three degree of freedom (joint), the hip of the corresponding human body lower limbs of difference, knee joint, ankle three joints, the joint of degree of freedom also referred to as robot of described mechanical arm or the joint of mechanical arm; Electric control system comprises human-computer interaction interface 1 and main industrial control box 2.
Described human-computer interaction interface 1 is touch screen further, for inputting for user, selecting movement locus and set relevant parameter and carry out intelligent monitoring and data management to rehabilitation training;
Main industrial control box 2 is cores of motion planning and robot control, in order to each joint of control motion, gather the relevant heat transfer agent of robot, the joint angles signal etc. of such as mechanical arm;
Described main industrial control box 2 comprises host computer PC 104, the left movement control card that communicates and right motion control card (as shown in Figure 2) is carried out by data/address bus and host computer PC 104, the left hip joint driver connected by corresponding interface to described left movement control card, left knee joint driver, left ankle joint driver, the right hip joint driver connected by corresponding interface to described right motion control card, right knee joint driver, right ankle joint driver, the left hip motor/encoder be connected with described left hip joint driver, the left knee joint motor/encoder be connected with described left knee joint driver, the left ankle motor/encoder be connected with described left ankle joint driver, the right hip motor/encoder be connected with described right hip joint driver, the right knee joint motor/encoder be connected with described right knee joint driver, the right ankle motor/encoder be connected with described right ankle joint driver, the digital signal input and output DIDO digital signal acquiring card communicated is carried out by USB interface bus and host computer PC 104, the light-coupled isolation level shifting circuit plate connect is linked with described DIDO digital signal acquiring, the multiple absolute position encoders being arranged on each joint position of robot be connected with described light-coupled isolation level shifting circuit plate, described motor/encoder comprises the motor and encoder that are installed together, and described encoder is photoelectric encoder further.
Fig. 2 is the electric control system population structure block diagram according to the embodiment of the present invention, as shown in Figure 2, electric control system of the present invention take PC104 as core, and communicated with the left and right motion control card in main industrial control box 2 respectively by PC104 data/address bus, Serial Communication is sticked into by the DIDO digital signal acquiring in USB interface and main industrial control box 2, communicated with human-computer interaction interface 1 by USB interface, be connected with memory device, reset circuit, keyboard and mouse respectively by corresponding interface, also can be connected with Ethernet.
The instruction that described hip, SCID Mice driver are sent by corresponding sports control card for receiving host computer PC 104, and the motor in the corresponding motor/encoder of Direct driver, and the photoelectric encoder signal of the angle information about each joint motor that the encoder in motor/encoder produces feeds back in corresponding joint driver and motion control card successively, host computer can read this photoelectric encoder signal from corresponding motion control card.
The signal being arranged on the multiple absolute position encoders generations on each joint of robot is delivered to DIDO digital signal acquiring card after the light-coupled isolation level conversion of light-coupled isolation level conversion plate, then is read by PC104.
When utilizing robot assisted patient of the present invention to carry out passive rehabilitation training, patient reclines on robot seat 7, the bilateral lower limb of patient are fixed with two mechanical arms 3 of robot respectively, then realize passive rehabilitation training by passive exercise control method described below.
Fig. 3 is that the present invention utilizes above-mentioned healing robot assisting patients to carry out the control method flow chart of passive exercise, as shown in Figure 3, the present invention can also utilize above-mentioned healing robot assisting patients to carry out passive exercise, in passive exercise process, set movement locus by therapist or patient by human-computer interaction interface, then drive patient's lower limb to train by robot.
The control method that the present invention utilizes above-mentioned healing robot assisting patients to carry out passive exercise comprises following step:
Step 1, patient reclines on the seat of healing robot, is fixed respectively by the bilateral lower limb of patient with two mechanical arms of healing robot;
Step 2, for the morning of rehabilitation residing for patient, mid-term, comprise the phase of collapsing from physical exhaustion and spasm period, user, such as clinical treatment teacher or patient, the end movement track being applicable to patient is selected by human-computer interaction interface, as treadmill movement, stepping movement, simple joint motion etc., and the relevant parameter of the end movement track of setting selection, the relevant parameter of described treadmill movement end movement track comprises speed, orbital radius and training time, the relevant parameter of described stepping movement end movement track comprises the cycle, air line distance and training time, described simple joint motion comprises original position, final position, cycle and training time,
Step 3, host computer PC 104 calculates the desirable initial locations in each joint of the mechanical arm of robot according to the relevant parameter of set end movement track, the current actual positions in each joint of mechanical arm that absolute position encoder collects is read by DIDO digital signal acquiring card, and produce speed command and position command signal according to the position deviation of desirable initial locations and current actual positions, and speed command and position command signal are sent to corresponding motion control card reset, described position command size is position deviation, described speed command depends on position deviation on the one hand, depend on set resetting time on the other hand, resetting time is that robot moves to the desirable initial locations time used from current location,
Step 4, motion control card exports the pulse of characteristic frequency and direction signal to corresponding joint driver according to the speed command received and position command signal, joint driver produces drive current according to the pulse received and direction signal, the motor in corresponding motor/encoder is driven to move accordingly, make each joint motions of mechanical arm to described desirable initial locations, simultaneously, encoder in corresponding motor/encoder is by corresponding joint driver, motion control card feeds back the angle information of each joint motor in real time to host computer, to control based on general loop control theory and to regulate drive current, make each joint of robot exactly according to planned position and speed motion, described angle information signal can also feed back in human-computer interaction interface, to show speed and the positional information in each joint in real time,
The generation of described drive current is further: joint driver, according to the pulse received and direction signal, produces drive current by proportional-integral-differential (PID) control method general in prior art.
Step 5, after each joint motions of mechanical arm to described desirable initial locations, PC104 carries out trajectory planning, goes out the desired trajectory in each joint according to the end movement trajectory calculation selected;
The computational methods of described desired trajectory can composition graphs 4 and Fig. 5 be carried out, and Fig. 4 is the treadmill movement end orbit of the embodiment of the present invention and the track graph of a relation in each joint, and Fig. 5 is the stepping movement end orbit of the embodiment of the present invention and the track graph of a relation in each joint.When calculating the desired trajectory in each joint, first need the direct kinematics equation setting up robot, as shown in Figure 4 and Figure 5, if with hip joint rotating shaft for the center of circle, set up rectangular coordinate system, with the rotating shaft of ankle joint for end, then the direct kinematics equation of robot can be described as:
Wherein, (x, y) is for being respectively θ when hip joint and knee joint angle
hipand θ
knee, thigh length and lower-leg length are respectively l
1and l
2time, the position of ankle joint rotating shaft in rectangular coordinate system.
Carry out inverse kinematics to this equation to solve, following inverse kinematics equation can be tried to achieve:
This inverse kinematics the Representation Equation can in the hope of the geometric locus in each joint of robot according to robot end's (ankle joint rotating shaft) movement locus.
Composition graphs 4, the end orbit that robot carries out when passive treadmill is trained can be expressed as:
Wherein, (x
c, y
c) representing the center of circle of treadmill movement, r represents the radius of treadmill movement, and w represents the angular frequency of treadmill movement, and t represents current time.
Composition graphs 5, end orbit when robot carries out passive stepping movement is straight line, and its equation of motion can be expressed as:
Wherein, (x
o, y
o) represent the starting point of stepping movement, (x
d, y
d) representing the terminal of stepping movement, T indication cycle size, namely turns back to the starting point time used again after starting point moves to terminal, and k represents and carries out kth time periodic movement.
According to above treadmill movement and stepping movement equation, be updated in the inverse kinematics equation of healing robot, can try to achieve robot hip joint and kneed path curves or desired trajectory when robot completes passive treadmill and passive stepping movement respectively, the trajectory planning of ankle joint is planned in range of motion according to the principle of " near bending far is stretched ".Desired trajectory during simple joint training is directly determined by setup parameter, does not need Converse solved.
Step 6, PC104 produces speed command and position command signal according to the current initial position of the desired trajectory in described each joint and each joint of mechanical arm, and by the periodic movement that corresponding motion control card, joint driver, motor/encoder control drive the lower limb of patient to carry out repeatedly, until the training time of setting terminate.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. a sitting and lying formula lower limb rehabilitation robot, is characterized in that, this robot comprises: seat (7), two mechanical arms (3), human-computer interaction interface (1) and main industrial control box (2), wherein,
Every bar mechanical arm (3) has three joints, the hip of the corresponding human body lower limbs of difference, knee joint, ankle three joints;
Described human-computer interaction interface (1) for for user's input, select movement locus and set relevant parameter, intelligent monitoring and data management are carried out to rehabilitation training;
Described main industrial control box (2) in order to each joint of control motion, gather the relevant heat transfer agent of robot;
Described main industrial control box (2) comprises host computer PC 104, the left movement control card that communicates and right motion control card is carried out by data/address bus and host computer PC 104, the left hip joint driver connected by corresponding interface to described left movement control card, left knee joint driver, left ankle joint driver, the right hip joint driver connected by corresponding interface to described right motion control card, right knee joint driver, right ankle joint driver, the left hip motor/encoder be connected with described left hip joint driver, the left knee joint motor/encoder be connected with described left knee joint driver, the left ankle motor/encoder be connected with described left ankle joint driver, the right hip motor/encoder be connected with described right hip joint driver, the right knee joint motor/encoder be connected with described right knee joint driver, the right ankle motor/encoder be connected with described right ankle joint driver, the digital signal input and output DIDO digital signal acquiring card communicated is carried out by USB interface bus and host computer PC 104, the light-coupled isolation level shifting circuit plate connect is linked with described DIDO digital signal acquiring, the multiple absolute position encoders being arranged on each joint position of robot be connected with described light-coupled isolation level shifting circuit plate, described motor/encoder comprises the motor and encoder that are installed together,
The movement locus that described healing robot assisting patients carries out comprises treadmill movement, stepping movement, simple joint motion, and the relevant parameter of described treadmill movement end movement track comprises speed, orbital radius and training time and all can regulate; The relevant parameter of described stepping movement end movement track comprises cycle, air line distance and training time equal scalable; Described simple joint motion comprises original position, final position, cycle and training time equal scalable;
Wherein, end orbit during described healing robot treadmill training is expressed as:
Wherein, (x
c, y
c) representing the center of circle of treadmill movement, r represents the radius of treadmill movement, and w represents the angular frequency of treadmill movement, and t represents current time;
End orbit during described healing robot stepping movement is straight line, and its equation of motion is expressed as:
Wherein, (x
0, y
0) represent the starting point of stepping movement, (x
d, y
d) representing the terminal of stepping movement, T indication cycle size, namely turns back to the starting point time used again after starting point moves to terminal, and k represents and carries out kth time periodic movement, and t represents current time.
2. robot according to claim 1, is characterized in that, described human-computer interaction interface (1) is touch screen.
3. robot according to claim 1, is characterized in that, described encoder is photoelectric encoder further.
4. robot according to claim 1, it is characterized in that, described host computer is communicated with human-computer interaction interface (1) by USB interface, is connected respectively by corresponding interface with memory device, reset circuit, keyboard and mouse, can also be connected with Ethernet.
5. robot according to claim 1, it is characterized in that, the instruction that described hip, SCID Mice driver are sent by corresponding sports control card for receiving host computer PC 104, and the motor in the corresponding motor/encoder of Direct driver, and the photoelectric encoder signal that motor/encoder produces feeds back on corresponding joint driver and motion control card simultaneously, host computer can read this photoelectric encoder signal from corresponding motion control card;
The signal that described multiple absolute position encoder produces is delivered to DIDO digital signal acquiring card after light-coupled isolation level conversion, then is read by host computer PC 104.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103393524B (en) * | 2013-08-12 | 2015-08-12 | 王子豪 | Lower back and two-arm traction recovering machine |
| CN104095736B (en) * | 2014-08-04 | 2017-01-11 | 上海理工大学 | Lower limb rehabilitation training system based on multi-position electric wheelchair |
| KR20160133191A (en) * | 2015-05-12 | 2016-11-22 | 현대중공업 주식회사 | Assistant robot for transfer |
| CN107280912B (en) * | 2016-04-01 | 2020-02-07 | 上银科技股份有限公司 | Method for detecting lower limb spasm |
| CN106511031B (en) * | 2016-11-21 | 2019-04-23 | 广东技术师范学院 | A kind of multi-functional recovering aid instrument of lower limb |
| CN108309687B (en) * | 2018-01-22 | 2020-01-14 | 重庆大学 | Closed-loop control system of rehabilitation robot |
| CN108095976B (en) * | 2018-02-06 | 2023-09-29 | 吉林大学 | Bionic knee joint rehabilitation training device with passive rebound function |
| CN108245377B (en) * | 2018-03-18 | 2020-03-24 | 黑龙江中医药大学 | PNF motion trail training rehabilitation bed |
| CN110179622B (en) * | 2019-04-25 | 2022-01-07 | 杭州电子科技大学 | Multifunctional lower limb rehabilitation integrated system based on virtual reality |
| CN110742775B (en) * | 2019-10-12 | 2022-04-12 | 东南大学 | Upper limb active and passive rehabilitation training robot system based on force feedback technology |
| CN113558929A (en) * | 2021-06-30 | 2021-10-29 | 杭州程天科技发展有限公司 | Control method and control device for sitting-lying type lower limb rehabilitation equipment and rehabilitation equipment |
| 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 |
| CN114948609B (en) * | 2022-04-12 | 2023-06-16 | 北京航空航天大学 | Walking aid device and method for paralytic patient |
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| US20060247095A1 (en) * | 2001-09-21 | 2006-11-02 | Rummerfield Patrick D | Method and apparatus for promoting nerve regeneration in paralyzed patients |
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| CN1215614A (en) * | 1998-12-04 | 1999-05-05 | 清华大学 | Functional neuromyo-electric signal identification and stimulation apparatus |
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