CN110051501B

CN110051501B - A desktop type upper limb rehabilitation robot and using method thereof

Info

Publication number: CN110051501B
Application number: CN201910153899.3A
Authority: CN
Inventors: 吴青聪; 徐大文; 陈柏; 吴洪涛; 邵子宴; 朱杨辉; 陈喜; 张玉明; 刘焕瑞
Original assignee: Nanjing University of Aeronautics and Astronautics
Current assignee: Nanjing University of Aeronautics and Astronautics
Priority date: 2019-03-01
Filing date: 2019-03-01
Publication date: 2021-07-09
Anticipated expiration: 2039-03-01
Also published as: CN110051501A

Abstract

The invention discloses a desktop type upper limb rehabilitation robot, which comprises two first roller screw rods extending in parallel and a second roller screw rod stretching over the two first roller screw rods; install the rotary joint on the second roller lead screw, install the hand rest on the rotary joint, wherein adopted the gentle elastic joint of torsional spring formula among the rotary joint, possessed gentle elasticity, can follow the robot and move together, the structure is compacter. The hand rest sliding table connecting part is additionally provided with a spring, so that the flexibility of the mechanism can be increased, and the comfort and the safety of the training process are ensured. The invention also provides a using method of the upper limb rehabilitation robot, and the upper limb rehabilitation requirements of patients with different requirements are met by setting a passive training mode, a cooperative training mode and an active training mode.

Description

Desktop type upper limb rehabilitation robot and using method thereof

Technical Field

The invention belongs to the field of robots, and particularly relates to a desktop type upper limb rehabilitation robot.

The invention also relates to a using method of the upper limb rehabilitation robot.

Background

In modern society, China is facing increasingly serious social problems such as aging of social population, stroke incidence, frequent traffic accidents and the like, and the motor dysfunction of the old and the physically disabled patients is caused, so that the upper limb rehabilitation robot becomes a research focus and a hot spot in the field of medical rehabilitation. The upper limb rehabilitation robot can assist the old and patients with motor dysfunction to carry out rehabilitation training, prevent muscular atrophy and recover arm motor ability of the patients. The desktop type rehabilitation robot is an intelligent mechanical system which can be connected on the upper limb of a person in parallel through a hand support, provides additional power for limb movement of the person, assists a patient to complete rehabilitation training tasks such as movement and rotation of the upper limb in a horizontal plane, and recovers movement functions.

The traditional upper limb rehabilitation robot has a plurality of defects, such as the lack of flexibility of a mechanical system, and easy damage to patients; the patient lacks autonomy in the training process, and the training process is boring, uses inconveniently, feels uncomfortable, and the commonality is poor etc..

In the invention patent of chinese patent publication No. CN102499857B, an exoskeleton-wearable upper limb rehabilitation robot is disclosed, which mainly comprises a shoulder joint exoskeleton, an elbow joint exoskeleton, a wrist joint exoskeleton, and a hand exoskeleton. The degrees of freedom of the exoskeleton and the degrees of freedom of each joint of a human body are required to be highly matched, otherwise, safety accidents are easily caused, the wearing process is complicated, and the use is inconvenient.

In the invention patent of chinese patent publication No. CN109009880A, a tail-end traction type upper limb rehabilitation robot device is disclosed, which comprises a mechanical framework, a main control module, a motor module, an information acquisition module, an information processing module, a communication module, and a detection module, but this mechanism drives a patient to perform passive training, and the patient lacks autonomy and enthusiasm, and the treatment effect is difficult to ensure.

In the invention patent of Chinese patent publication No. CN103263338B, an upper limb rehabilitation robot is disclosed, which consists of a bracket, a plurality of traction devices, a supporting plate for placing the forearm of a patient, a plurality of ropes and a control device. The device controls the angle and the force of the traction rope of the traction device through the control device, and can help a shoulder joint and elbow joint of a patient to realize complex training actions in a three-dimensional space; but the whole mechanism is heavy and can only perform recovery training at a fixed position. Meanwhile, the system is lack of flexibility, and the safety problem is difficult to guarantee.

Disclosure of Invention

The purpose of the invention is as follows: the technical problem to be solved by the invention is to provide a desktop type upper limb rehabilitation robot aiming at the defects of the background technology, so as to achieve the effects of simple and convenient wearing and use, active and passive combination of rehabilitation processes and strong interactivity, carry out various-mode, safe and effective rehabilitation training on the upper limb of a patient and promote the recovery of the arm movement function of the patient.

The technical scheme is as follows: in order to achieve the purpose, the desktop type upper limb rehabilitation robot can adopt the following technical scheme:

a desktop type upper limb rehabilitation robot comprises two first roller screw rods extending in parallel and a second roller screw rod stretching above the two first roller screw rods; the rotary joint is arranged on the second roller screw rod, and the hand support is arranged on the rotary joint;

the rotary joint comprises a large connecting piece arranged on a sliding block of the second roller screw, a small connecting piece borne on the large connecting piece, an annular supporting frame fixed on the small connecting piece, a rotary shaft positioned in the supporting frame and an upper plate; the interior of the rotating shaft is a hollow cavity, the upper connecting plate is provided with a cover plate covering the rotating shaft and an extending part extending into the cavity from the cover plate and fixedly connected with the bottom of the support frame; the rotating shaft is connected with the supporting frame through a rolling bearing, and rotates relative to the supporting frame and the upper plate; the bottom of the hand support is fixed with the top of the rotating shaft, the bottom of the hand support is provided with a concave groove, and the cover plate connected with the upper plate is positioned in the groove; the inside of the rotating shaft is also provided with a torsion spring which is arranged on the outer diameter of the upper plate, and two ends of the torsion spring are respectively clamped into the holes of the upper plate and the rotating shaft to limit the rotating range of the rotating shaft;

the large connecting piece comprises a base and two side walls extending upwards from two sides of the base, at least one optical axis is connected between the two side walls, the small connecting piece is sleeved on the optical axis, springs are arranged between the small connecting piece and the two side walls, the springs are sleeved on the optical axis, one ends of the springs are abutted against the side faces of the small connecting piece, and the other ends of the springs are abutted against the side walls.

Furthermore, a three-dimensional force sensor is arranged in the cavity inside the rotating shaft, the three-dimensional force sensor is positioned between the upper plate and the small connecting piece and is fixed with the upper plate and the small connecting piece, and the three-dimensional force sensor detects interaction force generated between the upper plate and the small connecting piece.

Furthermore, a rotation angle sensor is arranged on the upper surface of the rotating shaft and connected with the upper plate to measure the rotation angle of the rotating shaft.

Furthermore, the two first roller lead screws are connected through a synchronizing device, and the synchronizing device comprises synchronizing wheels respectively arranged at the end parts of the two first roller lead screws, and a synchronizing belt and a travel switch which are positioned on the two synchronizing wheels.

Furthermore, the hand support is a holding rod type hand support, and a binding band for fixing the arm is further arranged on the hand support.

Furthermore, the first roller screw and the second roller screw are both driven by a motor.

Further, the hand support device further comprises a support for supporting the two first roller lead screws and a display located on the support, wherein the display faces the hand support.

Compared with the prior art, the invention has the following advantages: the traditional rehabilitation robot has the following common points: the flexible resilient unit is lacking. The great impact not only makes the rehabilitation robot joint receive external impact easily and damage, has directly influenced the normal operating of robot, may cause secondary injury to the patient even. The torsion spring type flexible elastic joint improves the problem, has flexible elasticity, can move along with the robot, has a more compact structure and more flexible design, and changes the design mode of the joint of the traditional rehabilitation robot. In addition, the spring is additionally arranged at the connecting part of the sliding table, so that the flexibility of the mechanism can be increased, and the comfort and the safety of the training process are ensured.

The beneficial effects of the progress include: the three-dimensional force sensor can accurately measure the interaction force between the upper limb and the mechanism, adjust the moment provided by the robot, adapt to the rehabilitation training state of the arm of the patient and improve the adaptability of the rehabilitation robot; the rotation angle of the hand is measured by a rotation angle sensor. The two points can provide interaction force and the rotation angle of the hand for the virtual reality link, and the training mode is conveniently designed. Therefore, the training effect and the interest can be improved.

The application method of the desktop type upper limb rehabilitation robot provided by the invention adopts the following technical scheme that the application method comprises the following steps:

passive training mode: the arm of the patient is fixedly connected with the hand support through the binding band, the rehabilitation robot pulls the arm of the patient through the combined motion of the first roller screw and the second roller screw, and reciprocating passive training in a horizontal plane is carried out according to a preset training track and a preset motion speed;

a collaborative training mode: in the training process, if the arm movement deviation of the patient is small and the patient is in a human body domination area, the system judges that the patient has the ability to actively finish the expected training action, and the first roller screw rod and the second roller screw rod do not actively apply additional auxiliary force to the arm of the patient; if the motion deviation of the arm of the patient is increased and is in a robot control area, the system judges that the patient cannot independently complete the expected training action, and at the moment, the auxiliary force is applied and adjusted through the combined motion of the first roller screw rod and the second roller screw rod, so that the arm of the patient is helped to return to the expected motion track to continue rehabilitation training; if the motion deviation of the arm of the patient is further increased and is in a safety control area, the system judges that the arm of the patient is in an abnormal training state, and the rehabilitation robot generates damping force through the combined motion of the first roller screw rod and the second roller screw rod to reduce the motion speed of the arm of the patient;

an active training mode: the interactive force between patient's hand and the artifical word slip table of robot that obtains through three-dimensional force sensor detection judges patient's initiative training intention to according to predetermined expectation man-machine interaction impedance model parameter, control I-shaped slip table and move to corresponding training position according to patient's motion intention, make the patient can rely on the motion ability of oneself completely to carry out the rehabilitation training, by the whole rehabilitation training process of patient's initiative domination.

Compared with the prior art, the use method has the advantages that various required training modes are provided according to different stages of patient rehabilitation, and the targeted requirements of different individuals and patients in different stages are met. The system is simple to operate, convenient to use, capable of being switched by left and right hands, and high in universality.

Drawings

Fig. 1 is an assembly schematic diagram of the overall structure of the desktop upper limb rehabilitation robot.

Fig. 2 is an assembled perspective view of the first and second roller screws, the revolute joint, and the hand rest of the desktop upper limb rehabilitation robot according to the present invention.

Fig. 3 is a front view of the revolute joint.

Fig. 4 is a plan view of the revolute joint.

Fig. 5 is a sectional view taken along a-a in fig. 3.

Fig. 6 is a structural view of a small connector and a large connector.

Detailed Description

Referring to fig. 1 to 6, the present invention discloses a desktop upper limb rehabilitation robot, which includes two first roller screws 10 extending in parallel, and a second roller screw 9 crossing over the two first roller screws 10; a rotary joint 50 arranged on the second roller screw 9 and a hand rest 2 arranged on the rotary joint 50. The first roller screw 10 is driven by a motor 111; the second roller screw 9 is driven by a motor 11. The two first roller screws 10 may be mounted on a desktop platform, and in this embodiment, the two first roller screws further include a support 4 for supporting the two first roller screws and a display 3 located on the support, and the display 3 faces the hand rest 2. The bottom of the bracket 4 is provided with a pulley 5. The hand support 2 is a holding rod type hand support, and a bandage 0 for fixing the arm is further arranged on the hand support. Two ends of the second roller screw 9 are respectively fixed on the sliding blocks 15 of the two first roller screws 10, and the sliding blocks 15 of the two first roller screws 10 move synchronously. The two first roller screws 10 are connected through a synchronizing device, and the synchronizing device comprises synchronizing wheels 7 respectively arranged at the end parts of the two first roller screws, a synchronizing belt 6 positioned on the two synchronizing wheels 7 and a travel switch 12.

The rotary joint 50 comprises a large connecting piece 17 arranged on a sliding block 51 of the second roller screw 9, a small connecting piece 16 carried on the large connecting piece 17, an annular supporting frame 29 fixed on the small connecting piece 16, a rotary shaft 23 positioned in the supporting frame 29 and an upper plate 20. The hollow cavity 231 is formed inside the rotating shaft 23. The upper plate 20 has a cover plate 201 covering the rotation shaft 23 and an extension 202 extending from the cover plate 201 into the cavity 231 and fixedly connected to the bottom of the support 29. In the present embodiment, a three-dimensional force sensor 31 is further disposed in the hollow cavity inside the rotating shaft, and the three-dimensional force sensor 31 is located between the upper plate 20 and the small connecting member 16 and is fixed to both the upper plate 20 and the small connecting member 16. The three-dimensional force sensor 31 detects the interaction force generated between the upper plate 20 and the small link 16. Meanwhile, due to the presence of the three-dimensional force sensor 31, the extension 202 is fixed to the bottom of the support frame 29 by the three-dimensional force sensor 31 as an intermediate connection. The rotating shaft 23 is connected with the supporting frame 29 through a rolling bearing 27, and the rotating shaft 23 rotates relative to the supporting frame 29 and the upper plate 20. The bottom of the hand support 2 is fixed with the top of the rotating shaft 23 through the hand supporting plate 18, the bottom of the hand support 2 is provided with a concave groove 22, and the cover plate 201 connected with the upper plate is positioned in the groove 22. A torsion spring 28 is further provided inside the rotating shaft 23. The torsion spring 28 is placed on the outer diameter of the upper plate 20, and both ends of the torsion spring 28 are respectively engaged in the holes of the upper plate 20 and the rotation shaft 23 to restrict the rotation range of the rotation shaft 23. The upper surface of the rotating shaft 23 is provided with a rotation angle sensor 21, and the rotation angle sensor 21 is connected to the upper plate 20 to measure the rotation angle of the rotating shaft 23. Foretell gentle elasticity joint of torsional spring formula has gentle elasticity, can follow the robot and move the structure compacter together, and the design is more nimble, has changed the design mode of traditional recovered robot joint.

In order to further increase the flexibility of the mechanism in this embodiment, the large connecting member 17 includes a base 171 and two sidewalls 172 extending upward from two sides of the base 171. At least one optical axis 32 is connected between the two side walls 172, the small connecting piece 16 is sleeved on the optical axis 32, and springs 14 are arranged between the small connecting piece 16 and the two side walls 172. The spring 14 is fitted over the optical axis 32 and one end of the spring 14 abuts against the side of the small connecting member 16 and the other end abuts against the side wall 172.

The upper limb rehabilitation robot is adopted for rehabilitation training. In patient-specific training, there are divided into a passive training mode, a cooperative training mode, and an active training mode.

Passive training mode: in the acute stage of the rehabilitation process of the patient, the arm of the patient is in a completely relaxed state, the muscle contraction and the synergistic reaction phenomenon do not exist, and the arm of the patient cannot actively perform any movement. The rehabilitation training at this stage usually adopts a completely passive training mode of the patient, the arm of the patient is fixedly connected with the hand support 2 through the binding band 0, the rehabilitation robot pulls the arm of the patient through the actions of the first roller screw 10 and the second roller screw 9, and reciprocating passive training in the horizontal plane is accurately carried out according to a preset training track and a preset movement speed. The passive training mode can promote the arm muscle contraction and the joint mobility of the patient, avoid the muscle atrophy and the joint spasm deformation, and the training track can be reasonably planned according to the clinical experience of a doctor and a treatment scheme.

A collaborative training mode: in the recovery phase of the recovery process of the hemiplegic patient, some muscle joints of the arm of the patient recover partial motor functions, and the muscle tension is gradually increased. The main goal of rehabilitation training at this stage is to induce active movement of the arm of the patient, enhance the confidence of rehabilitation therapy for the patient, further recover the nerve function, train the independent movement of the muscle joints as much as possible, inhibit muscle spasm and coordinate the movement pattern, improve coordination, and gradually recover the dominance of the patient on daily movement. In this stage, the patient often cannot independently complete the rehabilitation training movement, the rehabilitation robot needs to assist the patient to complete the rehabilitation training according to the actual movement ability and movement intention of the patient, and meanwhile, the patient is ensured to exert the recovered movement ability to the maximum extent so as to improve the rehabilitation training effect as much as possible.

The cooperative training mode is mainly aimed at the rehabilitation training requirement in the recovery phase, divides a motion area according to the motion deviation between the actual motion track and the expected training track of the arm of the patient, mainly comprises a human body domination area, a robot domination area and a safety domination area, and judges the control and domination capacity of the patient on the motion of the arm of the patient. Then, a force tracking controller is designed based on an admittance control theory, and the interaction force between the hand support and the arm of the patient is adjusted according to the motion state of the arm of the patient, so that the active motion of the patient is not interfered as much as possible. In the training process, if the arm movement deviation of the patient is small and the patient is in a human body domination area, the system judges that the patient has the ability to actively complete the expected training action, the exoskeleton does not apply additional auxiliary force to the arm of the patient, and the active movement ability of the patient is exerted as much as possible; if the motion deviation of the arm of the patient is increased and is in a robot control area, the system judges that the patient cannot independently complete the expected training action, and at the moment, the exoskeleton applies and adjusts the magnitude of the assisting force according to the motion deviation degree of the arm of the patient to help the arm of the patient to return to the expected motion trajectory to continue rehabilitation training; if the motion deviation of the arm of the patient is further increased and is in a safe control area, the system judges that the arm of the patient is in an abnormal training state, the rehabilitation robot reduces the motion speed of the arm of the patient by increasing the damping force of the system, the arm of the patient is prevented from moving, the safety of the patient is guaranteed, and the damping force is increased along with the increase of the motion deviation.

An active training mode: in the sequela stage of the rehabilitation process of the patient, the coordinated movement phenomenon of the arm of the patient basically disappears, the movement coordination is close to the normal level, and the patient can use the limb on the affected side to complete certain daily movement to a greater extent. The rehabilitation training at this stage is mainly aimed at continuing to train the arms of the patient, preventing the motor function from being degraded, and trying to more freely support the arm movement of the patient by utilizing the recovered motor function to the maximum extent.

The active training mode is mainly to the rehabilitation training demand of sequela phase patient, through the interactive power between patient's hand that three-dimensional force sensor detected and the artifical word slip table of machine, judges patient's active training intention to according to the expected man-machine interaction impedance model parameter of predetermineeing, control I-shaped slip table and move to corresponding training position according to patient's movement intention, make the patient can rely on the motion ability of oneself completely to carry out the rehabilitation training, by the whole rehabilitation training process of patient's initiative domination. In addition, the resistance to movement of the arm of the patient during movement can be changed by adjusting the impedance parameters, and the training intensity of the active mode rehabilitation training process can be adjusted reasonably.

Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes should fall within the scope of the claims of the present invention.

Claims

1. The utility model provides an upper limbs rehabilitation robot of desktop formula which characterized in that: the device comprises two first roller screws extending in parallel and a second roller screw crossing over the two first roller screws; the rotary joint is arranged on the second roller screw rod, and the hand support is arranged on the rotary joint;

2. The desktop upper limb rehabilitation robot of claim 1, wherein: and a three-dimensional force sensor is arranged in the cavity in the rotating shaft, is positioned between the upper plate and the small connecting piece and is fixed with the upper plate and the small connecting piece, and detects the interaction force generated between the upper plate and the small connecting piece.

3. The desktop upper limb rehabilitation robot of claim 1 or 2, wherein: and the upper surface of the rotating shaft is provided with a rotation angle sensor, and the rotation angle sensor is connected with the upper plate to measure the rotation angle of the rotating shaft.

4. The desktop upper limb rehabilitation robot of claim 3, wherein: the two first roller lead screws are connected through a synchronizing device, and the synchronizing device comprises synchronizing wheels respectively arranged at the end parts of the two first roller lead screws, and a synchronizing belt and a travel switch which are positioned on the two synchronizing wheels.

5. The desktop upper limb rehabilitation robot of claim 4, wherein: the hand support is a holding rod type hand support, and a bandage for fixing the arm is further arranged on the hand support.

6. The desktop upper limb rehabilitation robot of claim 4, wherein: the first roller lead screw and the second roller lead screw are both driven by a motor.

7. The desktop upper limb rehabilitation robot of claim 6, wherein: the hand support is characterized by further comprising a support for supporting the two first roller lead screws and a display located on the support, wherein the display faces the hand support.