CN103558786A - Human-computer interaction control system, embedded in Android mobile terminal and FPGA, of hand function rehabilitation robot - Google Patents
Human-computer interaction control system, embedded in Android mobile terminal and FPGA, of hand function rehabilitation robot Download PDFInfo
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Abstract
The invention discloses a human-computer interaction control system, embedded in an Android mobile terminal and FPGA, of a hand function rehabilitation robot and relates to the technical field of human-computer interaction control of robots. The human-computer interaction control system, embedded in the Android mobile terminal and FPGA, of the hand function rehabilitation robot solves the problems that an existing hand function rehabilitation robot system is poor in human-computer interaction capacity, poor in openness and not portable. According to the human-computer interaction control system, embedded in the Android mobile terminal and FPGA, of the hand function rehabilitation robot, a data acquisition module receives information of pressure, applied to finger tips of exoskeleton mechanical arms from human finger tips, acquired by a pressure sensor and rotating angle information, acquired by an angle sensor, of the exoskeleton mechanical arms, the data acquisition module then processes the information and transmits the information to an FPGA single-chip system for data processing to obtain data information and then transmits the data information to the Android mobile terminal in a wireless mode for simulation, and the data information is converted into data files by the Android mobile terminal and then is sent to a PC through the Internet. The human-computer interaction control system, embedded in the Android mobile terminal and FPGA, of the hand function rehabilitation robot is suitable for hand rehabilitation training.
Description
Technical field
The present invention relates to robot human-computer interaction technique field, be specifically related to hand function healing robot interaction control technology field.
Background technology
Along with the continuous application and development of medical rehabilitation Robotics in recent years, hand function recovery robot system has become one of study hotspot of robot field.Hand function healing robot is the convalescence device for the postoperative hand movement function obstacle causing due to neurotrosis such as hand injury and cerebral apoplexy (apoplexy).It stimulates patient's hand exercise neural, and then at utmost recovers patient's hand movement function by patient's hand is carried out to rehabilitation training.
At present, hand function rehabilitation training system mainly adopts exoskeleton mechanical hook-up to drive hand joint to-and-fro movement, reaches the object of stimulus movement nerve and then recovery hand movement function.Yet the hand joint device for rehabilitation of some company's developments, only has less degree of freedom both at home and abroad, and uses open loop control strategy, motor pattern is single.Other adopts the hand convalescence device of closed-loop control system, and its control system also only can meet the simple mechanical motion of convalescence device.The continuous passive rehabilitation pattern of the many employings of these mechanical hook-ups, its main thought is by equipment, to assist limbs of patient to carry out long passive movement to complete rehabilitation.This rehabilitation modality makes the patient can only the uninteresting rehabilitation training of passive receive, in the middle of the process that is difficult to allow patient be dissolved into rehabilitation training.Therefore some researchers introduce man-machine interactive system in rehabilitation training at present, set up the training system that has visible human machine interactive interface, and induction patient initiatively participates in rehabilitation training, improve rehabilitation efficacy.Yet hand device for healing and training or employing PC are as motion controller and human-computer interaction interface at present, systems bulky, is not easy to carry; The special-purpose display device of controlling of exploitation, cost of development is high, does not conventionally have opening.
Summary of the invention
The present invention is in order to solve the problem that existing hand recovery robot system Man machine interaction is low, systemic openness is poor, existing hand recovery robot system is unfavorable for the problem of carrying simultaneously, and the hand function healing robot human-computer interactive control system based on embedding Android mobile terminal and FPGA is provided.
Hand function healing robot human-computer interactive control system based on embedding Android mobile terminal and FPGA, it comprises pressure transducer, angular transducer, data acquisition module, FPGA system-on-a-chip, Android mobile terminal, motor drive module and exoskeleton manipulator
Pressure transducer is used for gathering the finger tip applied pressure information of human body finger tip to exoskeleton manipulator,
The fingertip pressure collection signal output terminal of pressure transducer is connected with the fingertip pressure data acquisition signal input end of data acquisition module,
Angular transducer is used for gathering the rotational angle information of exoskeleton manipulator,
The rotational angle collection signal output terminal of angular transducer is connected with the rotational angle data acquisition signal input end of data acquisition module,
The data acquisition signal output terminal of data acquisition module is connected with the data acquisition signal input end of FPGA system-on-a-chip,
The motor control signal output terminal of FPGA system-on-a-chip is connected with the motor control signal input end of motor drive module,
Motor drive module is used for driving exoskeleton manipulator work,
The exercise data signal input output end of FPGA system-on-a-chip is connected by communication with the exercise data signal input output end of Android mobile terminal.
Described FPGA system-on-a-chip comprises data processing module, motion controller and blue-teeth data transport module,
Data processing module is the rotational angle information to the finger tip applied pressure information of exoskeleton manipulator and exoskeleton manipulator for the human body finger tip that receives data acquisition module and send, also for carrying out data interaction with blue-teeth data transport module, also for these data are sent to motion controller
The motor pattern information that motion controller sends for receiving data processing module, also calls formation motion control information for the motor pattern information to receiving, and by this motion control information, controls motor drive module,
Blue-teeth data transport module is for to carry out wireless data mutual with Android mobile terminal.
Described data processing module comprises that pressure information receiver module, rotational angle information receiving module, system start module, system stopping modular, the default receiver module of rotational angle information, the default receiver module of rehabilitation exercise speed, force value presetting module, rotational angle information comparison module, motor pattern generation module and rotation mode generation module
Pressure information receiver module is the finger tip applied pressure information to exoskeleton manipulator for the human body finger tip that receives data acquisition module and send, and by described pressure information by being sent to blue-teeth data transport module,
Rotational angle information receiving module is for the rotational angle information of the exoskeleton manipulator that receives data acquisition module and send, and described rotational angle information is sent to blue-teeth data transport module,
System starts the system log-on message that module sends through blue-teeth data transport module for receiving Android mobile terminal, and this system log-on message is sent to motion controller,
The system Stop message that system stopping modular sends through blue-teeth data transport module for receiving Android mobile terminal, and this system Stop message is sent to motion controller,
The default receiver module of rotational angle information arranges exoskeleton manipulator maximum rotation angle and minimum rotation angle for what receive that Android mobile terminal sends, and described maximum rotation angle and minimum rotation angle are sent to motion controller,
The default receiver module of rehabilitation exercise speed arranges exoskeleton manipulator finger gymnastic movement velocity for what receive that Android mobile terminal sends through blue-teeth data transport module, and this rehabilitation exercise speed is sent to motion controller,
Force value presetting module is used for setting the preset value of human body finger tip to the finger tip applied pressure of exoskeleton manipulator, and this pressure preset value is stored,
Force value comparison module compares the preset value of the finger tip applied pressure of exoskeleton manipulator the finger tip applied pressure information of exoskeleton manipulator and the default human body finger tip of force value presetting module for human body finger tip that pressure information receiver module is received, and comparative result is sent to motor pattern generation module
Rotational angle information comparison module compares for the rotational angle information of exoskeleton manipulator and the rotational angle information of the default exoskeleton manipulator that the default receiver module of rotational angle information receives that rotational angle information receiving module is received, and comparative result is sent to rotation mode generation module
Motor pattern generation module is used for generating exoskeleton manipulator motor pattern according to the comparative result of force value comparison module, and this motor pattern is sent to motion controller and blue-teeth data transport module,
Rotation mode generation module is used for generating according to the comparative result of rotational angle information comparison module the rotation mode of exoskeleton manipulator, and this rotation mode is sent to motion controller and blue-teeth data transport module.
The motor pattern of described exoskeleton manipulator is active movement pattern or passive movement pattern,
When human body finger tip is greater than human body finger tip to the preset value of the finger tip applied pressure of exoskeleton manipulator to the finger tip applied pressure numerical value of exoskeleton manipulator, the motor pattern of exoskeleton manipulator is active movement pattern,
When human body finger tip is less than human body finger tip to the preset value of the finger tip applied pressure of exoskeleton manipulator to the finger tip applied pressure numerical value of exoskeleton manipulator, the motor pattern of exoskeleton manipulator is passive movement pattern.
The rotation mode of described exoskeleton manipulator 8 is for clockwise rotating pattern or rotating counterclockwise pattern,
During default exoskeleton manipulator maximum rotation angle that the rotational angle information of the exoskeleton manipulator receiving when rotational angle information receiving module is more than or equal to that the default receiver module of rotational angle information receives, the rotation mode of exoskeleton manipulator is for rotating counterclockwise pattern
During default exoskeleton manipulator minimum rotation angle that the rotational angle information of the exoskeleton manipulator receiving when rotational angle information receiving module is less than or equal to that the default receiver module of rotational angle information receives, the rotation mode of exoskeleton manipulator is for clockwise rotating pattern.
Described motion controller comprises motor pattern judge module, rotation mode judge module, motion control program calling module, system start-up routine calling module and system shut down procedure calling module,
Motor pattern judge module is used for receiving and judging the exoskeleton manipulator motor pattern that motor pattern generation module sends, and this motor pattern is sent to motion control program calling module,
Rotation mode judge module is used for receiving and judging the rotation mode of the exoskeleton manipulator that rotation mode generation module sends, and this rotation mode is sent to motion control program calling module,
Motion control program calling module is for receiving the rotation mode of the exoskeleton manipulator sending after the exoskeleton manipulator motor pattern that sends after motor pattern judge module judgement and the judgement of rotation mode judge module, and call corresponding rotation control program according to this motor pattern and rotation mode, by this motion control program, control motor drive module
System start-up routine calling module starts for receiving data processing module system the system log-on message that module sends, and by this system log-on message calling system start-up routine, controls the startup of motor drive module,
System shut down procedure calling module starts for receiving data processing module system the system Stop message that module sends, and controls stopping of motor drive module by this system Stop message calling system shut down procedure.
Described Android mobile terminal comprises human-computer interaction module and virtual emulation module,
Human-computer interaction module, for to carry out wireless data mutual with blue-teeth data transport module, is also sent to virtual emulation module for the data message that blue-teeth data transport module is sent,
The data message that virtual emulation module sends for receiving human-computer interaction module, also for by this data message, the motion state of exoskeleton manipulator being carried out to virtual emulation, and sends it back human-computer interaction module by the data result of the picture of emulation and emulation.
Described human-computer interaction module comprises information receiving module, rehabilitation exercise speed presetting module, rotational angle presetting module, touch screen operational module, system log-on message acquisition module, system Stop message acquisition module and display module,
Information receiving module is the rotational angle information to the finger tip applied pressure information of exoskeleton manipulator and exoskeleton manipulator for the human body finger tip that receives data processing module and send, and this pressure information and rotational angle information are sent to display module show, this pressure information and rotational angle information are sent to virtual emulation module simultaneously
Rehabilitation exercise speed presetting module, for when exoskeleton manipulator is during in passive movement pattern, is preset exoskeleton manipulator finger rehabilitation exercise speed, and this preset value is sent to display module shows,
Rotational angle presetting module, for when exoskeleton manipulator is during in passive movement pattern, is preset exoskeleton manipulator rotational angle, and this preset value is sent to display module shows,
Touch screen operational module is used for the preset value of exoskeleton manipulator finger rehabilitation exercise speed and the preset value of exoskeleton manipulator rotational angle to carry out data input,
System log-on message acquisition module is used for acquisition system log-on message, and this system log-on message is sent to blue-teeth data transport module,
System Stop message acquisition module is used for acquisition system Stop message, and this system Stop message is sent to blue-teeth data transport module,
Display module is the rotational angle information to the finger tip applied pressure information of exoskeleton manipulator and exoskeleton manipulator for the human body finger tip that receives information receiving module and send, the preset value of the exoskeleton manipulator finger gymnastic movement velocity that rehabilitation exercise speed presetting module sends, the picture of emulation and the data result of emulation that the preset value of exoskeleton manipulator rotational angle and virtual emulation module send, and to described pressure information, rotational angle information, the preset value of finger gymnastic movement velocity, the preset value of rotational angle, the picture of emulation and the result of emulation show.
Hand function healing robot human-computer interactive control system based on embedding Android mobile terminal and FPGA also comprises PC, and the data-signal output terminal of Android mobile terminal is connected by internet with the data-signal input end of PC.
Described PC comprises information management module,
Data message and simulation result that information management module sends for receiving Android mobile terminal, and the data message receiving and simulation result are stored and called.
Beneficial effect: the invention provides a kind of hand function healing robot human-computer interactive control system based on embedding Android mobile terminal and FPGA, fingertip pressure exoskeleton manipulator being subject to by sensor and angle information gather and information are fed back to exoskeleton manipulator in time, realizing the closed loop moving of hand exoskeleton mechanism controls, introduce the human-computer interaction function based on Android mobile terminal simultaneously, exoskeleton manipulator can be matched with patient and carry out rehabilitation; Actual motion situation by exoskeleton manipulator is carried out virtual emulation exploitation under Android system, and simulation result is shown, make patient can clearly understand hand exercise situation, patient can independently carry out rehabilitation training by simulation scenarios, the active participation that is Rehabilitation training has improved more than 20%, and can improve Man machine interaction.Simultaneously, the applied Android mobile terminal of the present invention is used common apparatus, make the present invention not need special equipment or device can realize human-computer interaction function, given prominence to the open good feature of the present invention, Android mobile terminal and FPGA system-on-a-chip volume are little simultaneously, good portability, is conducive to patient and can carries out easily rehabilitation training.
Accompanying drawing explanation
Fig. 1 is the structural representation based on embedding the hand function healing robot human-computer interactive control system of Android mobile terminal and FPGA.
Embodiment
Embodiment one, in conjunction with Fig. 1, this embodiment is described, hand function healing robot human-computer interactive control system based on embedding Android mobile terminal and FPGA, it comprises pressure transducer 1, angular transducer 14, data acquisition module 2, FPGA system-on-a-chip 3, Android mobile terminal 9, motor drive module 6 and exoskeleton manipulator 8
Pressure transducer 1 is for gathering the finger tip applied pressure information of human body finger tip to exoskeleton manipulator 8,
The fingertip pressure collection signal output terminal of pressure transducer 1 is connected with the fingertip pressure data acquisition signal input end of data acquisition module 2,
The rotational angle collection signal output terminal of angular transducer 14 is connected with the rotational angle data acquisition signal input end of data acquisition module 2,
The data acquisition signal output terminal of data acquisition module 2 is connected with the data acquisition signal input end of FPGA system-on-a-chip 3,
The motor control signal output terminal of FPGA system-on-a-chip 3 is connected with the motor control signal input end of motor drive module 6,
Motor drive module 6 is for driving exoskeleton manipulator 8 work,
The exercise data signal input output end of FPGA system-on-a-chip 3 is connected by communication with the exercise data signal input output end of Android mobile terminal 9.
Principle of work: pressure transducer 1 is sent to data acquisition module 2 by the human body finger tip collecting to the finger tip applied pressure information of exoskeleton manipulator 8, angular transducer 14 is sent to data acquisition module 2 by the rotational angle information of the exoskeleton manipulator collecting 8, 2 pairs of pressure informations that receive of data acquisition module and rotational angle information are carried out being sent to after data-switching and data processing FPGA system-on-a-chip 3 and are processed and obtain movable information, and this movable information is sent to Android mobile terminal 9 by wireless transmission method, Android mobile terminal 9 forms data file by this movable information, and this data file is sent to PC by internet.
In present embodiment, pressure transducer 1 and angular transducer 14 are respectively used to obtain fingertip pressure information and the finger angle information that exoskeleton manipulator 8 is subject to, and data acquisition module 2 is sent to FPGA system-on-a-chip 3 after robot fingertip pressure information and finger angle information are changed by A/D.
Pressure transducer 1 described in present embodiment is fixed on the pad of finger of exoskeleton manipulator 8, by Real-time Collection patient, put on the fingertip pressure of exoskeleton manipulator 8 to drive exoskeleton manipulator 8 to carry out rehabilitation exercise according to patient's actual rehabilitation situation, angular transducer 14 is for gathering the displacement information of exoskeleton manipulator 8, this displacement information is sent to FPGA system-on-a-chip 3 through data acquisition module 2, for the control of exoskeleton manipulator 8 provides state parameter.
Motor drive module 6 described in present embodiment is the motor PWM driver modules that adopt Verilog language design, produces the PWM waveform of 2500 frequency divisions, to realize the accurate control of two-way direct current generator in every finger by AVALON bus.It is that the RE-max17 motor of 4.5W is as the physical construction drive source of exoskeleton manipulator 8 that direct current generator is selected power.
In present embodiment, circuit structure that every finger of exoskeleton manipulator 8 is all comprised of the L298N motor drive ic of integrated two H bridges and 12 analog to digital converters of 4 passages gathers and drives, for realizing the sampling to the driving of motor and moment, joint position signal.
Embodiment two, in conjunction with Fig. 1, this embodiment is described, this embodiment is with the difference based on embedding the hand function healing robot human-computer interactive control system of Android mobile terminal and FPGA described in embodiment one, described FPGA system-on-a-chip 3 comprises data processing module 4, motion controller 5 and blue-teeth data transport module 7
The motor pattern information that motion controller 5 sends for receiving data processing module 4, also calls formation motion control information for the motor pattern information to receiving, and by this motion control information, controls motor drive module 6,
Blue-teeth data transport module 7 is for to carry out wireless data mutual with Android mobile terminal 9.
In present embodiment, described data processing module 4, motion controller 5 and blue-teeth data transport module 7 are C language and the Verilog program of the soft core of Nios II of some embeddings, and its inside chip all adopts Cyclone IV family chip, its circuit all adopts the external application Power supply of 5V, by voltage transitions, offer the voltage of FPGA system-on-a-chip 3 steady operations, the soft core of Nios II communicates by AVALON high-speed bus and underlying device, the hardware system that has the FPGA of 15408 logical blocks and the RAM of 4Mbit can meet in the soft core of Nios II and embeds UC/OS-II operating system, realize the image data of exoskeleton manipulator 8 real-time receiving sensors, and the kinematic parameter of processing finger.
The finger tip applied pressure information of the human body finger tip that data processing module 4 sends for identification data acquisition module 2 to exoskeleton manipulator 8, the data message that the finger rotational angle information of exoskeleton manipulator 8 and blue-teeth data transport module 7 send, to determine the rehabilitation exercise pattern of exoskeleton manipulator 8, and the motor pattern information of generation is sent in motion controller 5, motion controller 5 carries out motion control information by the motor pattern information receiving and calls, and the result of calling is sent to motor drive module 6, blue-teeth data transport module 7 is for receiving the motor pattern information of data processing module 4, this movable information is sent to Android mobile terminal 9 by wireless transmission, receive the data message that Android mobile terminal 9 sends simultaneously, and this data message is sent to data processing module 4.
Embodiment three, this embodiment is with the difference based on embedding the hand function healing robot human-computer interactive control system of Android mobile terminal and FPGA described in embodiment two, described data processing module 4 comprises pressure information receiver module, rotational angle information receiving module, system starts module, system stopping modular, rotational angle information is preset receiver module, rehabilitation exercise speed is preset receiver module, force value presetting module, force value comparison module, rotational angle information comparison module, motor pattern generation module and rotation mode generation module,
Pressure information receiver module is the finger tip applied pressure information to exoskeleton manipulator 8 for the human body finger tip that receives data acquisition module 2 and send, and by described pressure information by being sent to blue-teeth data transport module 7,
Rotational angle information receiving module is for the rotational angle information of the exoskeleton manipulator 8 that receives data acquisition module 2 and send, and described rotational angle information is sent to blue-teeth data transport module 7,
System starts the system log-on message that module sends through blue-teeth data transport module 7 for receiving Android mobile terminal 9, and this system log-on message is sent to motion controller 5,
The system Stop message that system stopping modular sends through blue-teeth data transport module 7 for receiving Android mobile terminal 9, and this system Stop message is sent to motion controller 5,
The default receiver module of rotational angle information arranges exoskeleton manipulator 8 maximum rotation angles and minimum rotation angle for what receive that Android mobile terminal 9 sends, and described maximum rotation angle and minimum rotation angle are sent to motion controller 5,
The default receiver module of rehabilitation exercise speed arranges exoskeleton manipulator 8 finger gymnastic movement velocitys for what receive that Android mobile terminal 9 sends through blue-teeth data transport module 7, and this rehabilitation exercise speed is sent to motion controller 5,
Force value presetting module is used for setting the preset value of human body finger tip to the finger tip applied pressure of exoskeleton manipulator 8, and this pressure preset value is stored,
Force value comparison module compares the preset value of the finger tip applied pressure of exoskeleton manipulator 8 the finger tip applied pressure information of exoskeleton manipulator 8 and the default human body finger tip of force value presetting module for human body finger tip that pressure information receiver module is received, and comparative result is sent to motor pattern generation module
Rotational angle information comparison module compares for the rotational angle information of exoskeleton manipulator 8 and the rotational angle information of the default exoskeleton manipulator 8 that the default receiver module of rotational angle information receives that rotational angle information receiving module is received, and comparative result is sent to rotation mode generation module
Motor pattern generation module is used for generating exoskeleton manipulator 8 motor patterns according to the comparative result of force value comparison module, and this motor pattern is sent to motion controller 5 and blue-teeth data transport module 7,
Rotation mode generation module is used for generating according to the comparative result of rotational angle information comparison module the rotation mode of exoskeleton manipulator 8, and this rotation mode is sent to motion controller 5 and blue-teeth data transport module 7.
The difference based on embedding the hand function healing robot human-computer interactive control system of Android mobile terminal and FPGA described in embodiment four, this embodiment and embodiment three is, the motor pattern of described exoskeleton manipulator 8 is active movement pattern or passive movement pattern
When human body finger tip is greater than human body finger tip to the preset value of the finger tip applied pressure of exoskeleton manipulator 8 to the finger tip applied pressure numerical value of exoskeleton manipulator 8, the motor pattern of exoskeleton manipulator 8 is active movement pattern,
When human body finger tip is less than human body finger tip to the preset value of the finger tip applied pressure of exoskeleton manipulator 8 to the finger tip applied pressure numerical value of exoskeleton manipulator 8, the motor pattern of exoskeleton manipulator 8 is passive movement pattern.
The mode of motion of 4 pairs of exoskeleton manipulators 8 of data processing module is controlled, and the motor pattern of exoskeleton manipulator 8 is switched, wherein the rehabilitation exercise pattern of exoskeleton manipulator 8 is divided into active movement pattern and passive movement pattern, the judgement of the motor pattern of data processing module 4 in operational process according to the data that send for data acquisition module 2, when the pressure transducer 1 of the finger tip of exoskeleton manipulator 8 does not detect pressure signal or when the pressure value that collects is less than default pressure value, data processing module 4 judgement patient hands cannot independently complete motion, data processing module 4 switches to passive movement pattern by the motor pattern of exoskeleton manipulator 8, now, data processing module 4 sends motor pattern information to motion controller 5, after motion controller 5 these motor pattern information of identification, call the corresponding motion control program of this motor pattern information, form motion control information and be sent to motor drive module 6, thereby control the motor of exoskeleton manipulator 8, by motor, provide driving force, and then drive patient's finger to carry out rehabilitation training campaign, when pressure transducer 1 detects pressure signal, and when the pressure value of this pressure signal reaches default pressure value, data processing module 4 judgement patients can independently complete rehabilitation training, data processing module 4 switches to active movement pattern by the rehabilitation exercise pattern of exoskeleton manipulator 8, by patient, drives exoskeleton manipulator 8 to move.
The difference based on embedding the hand function healing robot human-computer interactive control system of Android mobile terminal and FPGA described in embodiment five, this embodiment and embodiment three is, the rotation mode of described exoskeleton manipulator 8 is for clockwise rotating pattern or rotating counterclockwise pattern
When the rotational angle information of the exoskeleton manipulator 8 receiving when rotational angle information receiving module is more than or equal to the default exoskeleton manipulator 8 maximum rotation angle that the default receiver module of rotational angle information receives, the rotation mode of exoskeleton manipulator 8 is for rotating counterclockwise pattern
When the rotational angle information of the exoskeleton manipulator 8 receiving when rotational angle information receiving module is less than or equal to the default exoskeleton manipulator 8 minimum rotation angle that the default receiver module of rotational angle information receives, the rotation mode of exoskeleton manipulator 8 is for clockwise rotating pattern.
The rotation mode of 4 pairs of exoskeleton manipulators 8 of data processing module is controlled, and the rotation mode of exoskeleton manipulator 8 is switched, the judgement of the rotation mode of data processing module 4 in operational process according to the data that send for data acquisition module 2, when the rotational angle detecting when the angular transducer 14 of exoskeleton manipulator 8 is more than or equal to the default exoskeleton manipulator 8 maximum rotation angle that the default receiver module of rotational angle information receives, the rotational angle of data processing module 4 judgement patient hands has surpassed maximal value, data processing module 4 switches to by the rotation mode of exoskeleton manipulator 8 pattern of rotating counterclockwise, when angular transducer 14 detects rotational angle and is less than or equal to the default exoskeleton manipulator 8 minimum rotation angle that the default receiver module of rotational angle information receives, the rotational angle of data processing module 4 judgement patient hands has reached minimum value, data processing module 4 switches to by the rotation mode of exoskeleton manipulator 8 pattern of clockwise rotating, now, data processing module 4 sends rotation mode information to motion controller 5, after motion controller 5 these rotation mode information of identification, call the corresponding motion control program of this rotation mode information, form motion control information and be sent to motor drive module 6, thereby control the electric machine rotation of exoskeleton manipulator 8, by motor, provide driving force, and then drive patient's finger to carry out rehabilitation training campaign.
The difference based on embedding the hand function healing robot human-computer interactive control system of Android mobile terminal and FPGA described in embodiment six, this embodiment and embodiment three is, described motion controller 5 comprises motor pattern judge module, rotation mode judge module, motion control program calling module, system start-up routine calling module and system shut down procedure calling module
Motor pattern judge module is used for receiving and judging exoskeleton manipulator 8 motor patterns that motor pattern generation module sends, and this motor pattern is sent to motion control program calling module,
Rotation mode judge module is used for receiving and judging the rotation mode of the exoskeleton manipulator 8 that rotation mode generation module sends, and this rotation mode is sent to motion control program calling module,
Motion control program calling module is for receiving the rotation mode of the exoskeleton manipulator 8 sending after exoskeleton manipulator 8 motor patterns that send after motor pattern judge module judgement and the judgement of rotation mode judge module, and call corresponding rotation control program according to this motor pattern and rotation mode, by this motion control program, control motor drive module 6
System start-up routine calling module starts for receiving data processing module 4 systems the system log-on message that module sends, and by this system log-on message calling system start-up routine, controls the startup of motor drive module 6,
System shut down procedure calling module starts for receiving data processing module 4 systems the system Stop message that module sends, and controls stopping of motor drive module 6 by this system Stop message calling system shut down procedure.
Embodiment seven, in conjunction with Fig. 1, this embodiment is described, this embodiment is with the difference based on embedding the hand function healing robot human-computer interactive control system of Android mobile terminal and FPGA described in embodiment three, described Android mobile terminal 9 comprises human-computer interaction module 10 and virtual emulation module 11
Human-computer interaction module 10, for to carry out wireless data mutual with blue-teeth data transport module 7, is also sent to virtual emulation module 11 for the data message that blue-teeth data transport module 7 is sent,
The data message that virtual emulation module 11 sends for receiving human-computer interaction module 10, also for by this data message, the motion state of exoskeleton manipulator 8 being carried out to virtual emulation, and the data result of the picture of emulation and emulation is sent it back to human-computer interaction module 10.
Human-computer interaction module 10 and virtual emulation module 11 in Android mobile terminal 9 described in present embodiment, have been carried, human-computer interaction module 10 adopts JAVA language compilation, it is the program based on Android, program can provide the interface for patient's operation, the Android interface editing style that adopts Google to provide, interface can show the chart of exoskeleton manipulator 8 movement velocitys and angle information simultaneously, can store database information simultaneously; Virtual emulation module 11 adopts OpenGL graphics engine, the movement information signal receiving by identification Android mobile terminal 9, real hand exercise situation is carried out to real-time simulation, when virtual emulation hand exercise situation, the motion of respectively pointing dactylus of exoskeleton manipulator 8 need to consider the to be connected kinematic relation of dactylus, for patient feeds back hand exercise information intuitively.
The difference based on embedding the hand function healing robot human-computer interactive control system of Android mobile terminal and FPGA described in embodiment eight, this embodiment seven is, described human-computer interaction module 10 comprises information receiving module, rehabilitation exercise speed presetting module, rotational angle presetting module, touch screen operational module, system log-on message acquisition module, system Stop message acquisition module and display module
Information receiving module is the rotational angle information to the finger tip applied pressure information of exoskeleton manipulator 8 and exoskeleton manipulator 8 for the human body finger tip that receives data processing module 4 and send, and this pressure information and rotational angle information are sent to display module show, this pressure information and rotational angle information are sent to virtual emulation module 11 simultaneously
Rehabilitation exercise speed presetting module, for when exoskeleton manipulator 8 is during in passive movement pattern, is preset exoskeleton manipulator 8 finger gymnastic movement velocitys, and this preset value is sent to display module shows,
Rotational angle presetting module, for when exoskeleton manipulator 8 is during in passive movement pattern, is preset exoskeleton manipulator 8 rotational angles, and this preset value is sent to display module shows,
Touch screen operational module is used for the preset value of the preset value of exoskeleton manipulator 8 finger gymnastic movement velocitys and exoskeleton manipulator 8 rotational angles to carry out data input,
System log-on message acquisition module is used for acquisition system log-on message, and this system log-on message is sent to blue-teeth data transport module 7,
System Stop message acquisition module is used for acquisition system Stop message, and this system Stop message is sent to blue-teeth data transport module 7,
Display module is the rotational angle information to the finger tip applied pressure information of exoskeleton manipulator 8 and exoskeleton manipulator 8 for the human body finger tip that receives information receiving module and send, the preset value of the exoskeleton manipulator 8 finger gymnastic movement velocitys that rehabilitation exercise speed presetting module sends, the picture of emulation and the data result of emulation that the preset value of exoskeleton manipulator 8 rotational angles and virtual emulation module 11 send, and to described pressure information, rotational angle information, the preset value of finger gymnastic movement velocity, the preset value of rotational angle, the picture of emulation and the result of emulation show.
Embodiment nine, in conjunction with Fig. 1, illustrate that the difference based on embedding the hand function healing robot human-computer interactive control system of Android mobile terminal and FPGA described in this embodiment and embodiment one is, it also comprises PC 12, and the data-signal output terminal of Android mobile terminal 9 is connected by internet with the data-signal input end of PC 12.
Embodiment ten, in conjunction with Fig. 1, this embodiment is described, this embodiment is with the difference based on embedding the hand function healing robot human-computer interactive control system of Android mobile terminal and FPGA described in embodiment nine, described PC 12 comprises information management module 13, data message and simulation result that information management module 13 sends for receiving Android mobile terminal 9, and the data message receiving and simulation result are stored and called.
Claims (10)
1. the hand function healing robot human-computer interactive control system based on embedding Android mobile terminal and FPGA, it is characterized in that, it comprises pressure transducer (1), angular transducer (14), data acquisition module (2), FPGA system-on-a-chip (3), Android mobile terminal (9), motor drive module (6) and exoskeleton manipulator (8)
Pressure transducer (1) is for gathering the finger tip applied pressure information of human body finger tip to exoskeleton manipulator (8),
The fingertip pressure collection signal output terminal of pressure transducer (1) is connected with the fingertip pressure data acquisition signal input end of data acquisition module (2),
Angular transducer (14) is for gathering the rotational angle information of exoskeleton manipulator (8),
The rotational angle collection signal output terminal of angular transducer (14) is connected with the rotational angle data acquisition signal input end of data acquisition module (2),
The data acquisition signal output terminal of data acquisition module (2) is connected with the data acquisition signal input end of FPGA system-on-a-chip (3),
The motor control signal output terminal of FPGA system-on-a-chip (3) is connected with the motor control signal input end of motor drive module (6),
Motor drive module (6) is for driving exoskeleton manipulator (8) work,
The exercise data signal input output end of FPGA system-on-a-chip (3) is connected by communication with the exercise data signal input output end of Android mobile terminal (9).
2. the hand function healing robot human-computer interactive control system based on embedding Android mobile terminal and FPGA according to claim 1, it is characterized in that, described FPGA system-on-a-chip (3) comprises data processing module (4), motion controller (5) and blue-teeth data transport module (7)
Data processing module (4) is the rotational angle information to the finger tip applied pressure information of exoskeleton manipulator (8) and exoskeleton manipulator (8) for the human body finger tip that receives data acquisition module (2) and send, also for carrying out data interaction with blue-teeth data transport module (7), also for these data being sent to motion controller (5)
The motor pattern information that motion controller (5) sends for receiving data processing module (4), also calls formation motion control information for the motor pattern information to receiving, and by this motion control information, controls motor drive module (6),
Blue-teeth data transport module (7) is for to carry out wireless data mutual with Android mobile terminal (9).
3. the hand function healing robot human-computer interactive control system based on embedding Android mobile terminal and FPGA according to claim 2, it is characterized in that, described data processing module (4) comprises that pressure information receiver module, rotational angle information receiving module, system start module, system stopping modular, the default receiver module of rotational angle information, the default receiver module of rehabilitation exercise speed, force value presetting module, force value comparison module, rotational angle information comparison module, motor pattern generation module and rotation mode generation module
Pressure information receiver module is used for receiving human body finger tip that data acquisition module (2) the sends finger tip applied pressure information to exoskeleton manipulator (8), and by described pressure information by being sent to blue-teeth data transport module (7),
Rotational angle information receiving module is used for receiving the rotational angle information of the exoskeleton manipulator (8) that data acquisition module (2) sends, and described rotational angle information is sent to blue-teeth data transport module (7),
System starts module and is used for receiving the system log-on message that Android mobile terminal (9) sends through blue-teeth data transport module (7), and this system log-on message is sent to motion controller (5),
System stopping modular is used for receiving the system Stop message that Android mobile terminal (9) sends through blue-teeth data transport module (7), and this system Stop message is sent to motion controller (5),
The default receiver module of rotational angle information is used for receiving that Android mobile terminal (9) sends that exoskeleton manipulator (8) maximum rotation angle and minimum rotation angle are set, and described maximum rotation angle and minimum rotation angle are sent to motion controller (5)
The default receiver module of rehabilitation exercise speed is used for receiving that Android mobile terminal (9) sends through blue-teeth data transport module (7) that exoskeleton manipulator (8) finger gymnastic movement velocity is set, and this rehabilitation exercise speed is sent to motion controller (5),
Force value presetting module is used for setting the preset value of human body finger tip to the finger tip applied pressure of exoskeleton manipulator (8), and this pressure preset value is stored,
Force value comparison module compares the preset value of the finger tip applied pressure of exoskeleton manipulator (8) the finger tip applied pressure information of exoskeleton manipulator (8) and the default human body finger tip of force value presetting module for human body finger tip that pressure information receiver module is received, and comparative result is sent to motor pattern generation module
Rotational angle information comparison module compares for the rotational angle information of exoskeleton manipulator (8) and the rotational angle information of the default exoskeleton manipulator (8) that the default receiver module of rotational angle information receives that rotational angle information receiving module is received, and comparative result is sent to rotation mode generation module
Motor pattern generation module is used for generating exoskeleton manipulator (8) motor pattern according to the comparative result of force value comparison module, and this motor pattern is sent to motion controller (5) and blue-teeth data transport module (7),
Rotation mode generation module is used for generating according to the comparative result of rotational angle information comparison module the rotation mode of exoskeleton manipulator (8), and this rotation mode is sent to motion controller (5) and blue-teeth data transport module (7).
4. the hand function healing robot human-computer interactive control system based on embedding Android mobile terminal and FPGA according to claim 3, is characterized in that, the motor pattern of described exoskeleton manipulator (8) is active movement pattern or passive movement pattern,
When human body finger tip is greater than human body finger tip to the preset value of the finger tip applied pressure of exoskeleton manipulator (8) to the finger tip applied pressure numerical value of exoskeleton manipulator (8), the motor pattern of exoskeleton manipulator (8) is active movement pattern,
When human body finger tip is less than human body finger tip to the preset value of the finger tip applied pressure of exoskeleton manipulator (8) to the finger tip applied pressure numerical value of exoskeleton manipulator (8), the motor pattern of exoskeleton manipulator (8) is passive movement pattern.
5. the hand function healing robot human-computer interactive control system based on embedding Android mobile terminal and FPGA according to claim 3, it is characterized in that, the rotation mode of described exoskeleton manipulator (8) is for clockwise rotating pattern or rotating counterclockwise pattern
When the rotational angle information of the exoskeleton manipulator (8) receiving when rotational angle information receiving module is more than or equal to default exoskeleton manipulator (8) the maximum rotation angle that the default receiver module of rotational angle information receives, the rotation mode of exoskeleton manipulator (8) is for rotating counterclockwise pattern
When the rotational angle information of the exoskeleton manipulator (8) receiving when rotational angle information receiving module is less than or equal to default exoskeleton manipulator (8) the minimum rotation angle that the default receiver module of rotational angle information receives, the rotation mode of exoskeleton manipulator (8) is for clockwise rotating pattern.
6. the hand function healing robot human-computer interactive control system based on embedding Android mobile terminal and FPGA according to claim 3, it is characterized in that, described motion controller (5) comprises motor pattern judge module, rotation mode judge module, motion control program calling module, system start-up routine calling module and system shut down procedure calling module
Motor pattern judge module is used for receiving and judging exoskeleton manipulator (8) motor pattern that motor pattern generation module sends, and this motor pattern is sent to motion control program calling module,
Rotation mode judge module is used for receiving and judging the rotation mode of the exoskeleton manipulator (8) that rotation mode generation module sends, and this rotation mode is sent to motion control program calling module,
Motion control program calling module is for receiving exoskeleton manipulator (8) motor pattern of transmission after the judgement of motor pattern judge module and the rotation mode of the rear exoskeleton manipulator (8) sending of rotation mode judge module judgement, and call corresponding motion control program according to this motor pattern and rotation mode, by this motion control program, control motor drive module (6)
System start-up routine calling module is used for receiving data processing module (4) system and starts the system log-on message that module sends, and by this system log-on message calling system start-up routine, controls the startup of motor drive module (6),
System shut down procedure calling module is used for receiving data processing module (4) system and starts the system Stop message that module sends, and controls stopping of motor drive module (6) by this system Stop message calling system shut down procedure.
7. the hand function healing robot human-computer interactive control system based on embedding Android mobile terminal and FPGA according to claim 3, it is characterized in that, described Android mobile terminal (9) comprises human-computer interaction module (10) and virtual emulation module (11)
Human-computer interaction module (10), for to carry out wireless data mutual with blue-teeth data transport module (7), is also sent to virtual emulation module (11) for the data message that blue-teeth data transport module (7) is sent,
The data message that virtual emulation module (11) sends for receiving human-computer interaction module (10), also for by this data message, the motion state of exoskeleton manipulator (8) being carried out to virtual emulation, and the data result of the picture of emulation and emulation is sent it back to human-computer interaction module (10).
8. the hand function healing robot human-computer interactive control system based on embedding Android mobile terminal and FPGA according to claim 7, it is characterized in that, described human-computer interaction module (10) comprises information receiving module, rehabilitation exercise speed presetting module, rotational angle presetting module, touch screen operational module, system log-on message acquisition module, system Stop message acquisition module and display module
Information receiving module is used for receiving human body finger tip that data processing module (4) the sends rotational angle information to the finger tip applied pressure information of exoskeleton manipulator (8) and exoskeleton manipulator (8), and this pressure information and rotational angle information are sent to display module show, this pressure information and rotational angle information are sent to virtual emulation module (11) simultaneously
Rehabilitation exercise speed presetting module, for when exoskeleton manipulator (8) is during in passive movement pattern, is preset exoskeleton manipulator (8) finger gymnastic movement velocity, and this preset value is sent to display module shows,
Rotational angle presetting module, for when exoskeleton manipulator (8) is during in passive movement pattern, is preset exoskeleton manipulator (8) rotational angle, and this preset value is sent to display module shows,
Touch screen operational module is used for the preset value of the preset value of exoskeleton manipulator (8) finger gymnastic movement velocity and exoskeleton manipulator (8) rotational angle to carry out data input,
System log-on message acquisition module is used for acquisition system log-on message, and this system log-on message is sent to blue-teeth data transport module (7),
System Stop message acquisition module is used for acquisition system Stop message, and this system Stop message is sent to blue-teeth data transport module (7),
Display module is the rotational angle information to the finger tip applied pressure information of exoskeleton manipulator (8) and exoskeleton manipulator (8) for the human body finger tip that receives information receiving module and send, the preset value of exoskeleton manipulator (8) the finger gymnastic movement velocity that rehabilitation exercise speed presetting module sends, the picture of emulation and the data result of emulation that the preset value of exoskeleton manipulator (8) rotational angle and virtual emulation module (11) send, and to described pressure information, rotational angle information, the preset value of finger gymnastic movement velocity, the preset value of rotational angle, the picture of emulation and the result of emulation show.
9. the hand function healing robot human-computer interactive control system based on embedding Android mobile terminal and FPGA according to claim 1, it is characterized in that, it also comprises PC (12), and the data-signal output terminal of Android mobile terminal (9) is connected by internet with the data-signal input end of PC (12).
10. the hand function healing robot human-computer interactive control system based on embedding Android mobile terminal and FPGA according to claim 9, is characterized in that, described PC (12) comprises information management module (13),
Data message and simulation result that information management module (13) sends for receiving Android mobile terminal (9), and the data message receiving and simulation result are stored and called.
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