CN110812105A - Active three-degree-of-freedom upper limb rehabilitation robot based on virtual reality technology - Google Patents
Active three-degree-of-freedom upper limb rehabilitation robot based on virtual reality technology Download PDFInfo
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- CN110812105A CN110812105A CN201810907218.3A CN201810907218A CN110812105A CN 110812105 A CN110812105 A CN 110812105A CN 201810907218 A CN201810907218 A CN 201810907218A CN 110812105 A CN110812105 A CN 110812105A
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- 238000012549 training Methods 0.000 claims abstract description 57
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- 230000003993 interaction Effects 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims abstract description 10
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- 235000021016 apples Nutrition 0.000 description 1
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- 238000005094 computer simulation Methods 0.000 description 1
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- 235000013399 edible fruits Nutrition 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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Abstract
The invention provides an active three-degree-of-freedom upper limb rehabilitation robot based on a virtual reality technology, which comprises: the interactive force acquisition module is arranged on the three-degree-of-freedom upper limb rehabilitation robot; the position acquisition module is arranged on the three-degree-of-freedom upper limb rehabilitation robot; and the control computer controls the upper limbs of the patient to train through a passive training mode or an active training mode, and displays the actual motion state of the three-degree-of-freedom upper limb rehabilitation robot into a virtual scene in the control computer in real time. The invention applies the virtual reality technology to rehabilitation training and displays the motion state of the rehabilitation robot in real time through the virtual model. And in the passive training process, the motion position and the motion speed of each joint are input, the robot is controlled to perform passive training on the patient, the position feedback of the joints is read, and the motion state of the rehabilitation robot is displayed in a virtual environment. In the active training process, the speed of the rehabilitation robot is controlled by collecting the interaction force of the patient and the robot.
Description
Technical Field
The invention relates to the technical field of virtual reality, in particular to an active three-degree-of-freedom upper limb rehabilitation robot based on a virtual reality technology.
Background
The virtual reality technology is emerging in the last 80 th century, is a brand-new emerging technology integrating a plurality of disciplines and developed along with the improvement of the hardware level of a computer in the beginning of the century, and is advanced science integrating a plurality of information technologies such as a computer graphic technology, an artificial intelligence interaction, a computer simulation, a display technology, a multimedia technology, a sensing technology, a network and the like. Virtual reality can simulate the entity that people imagine with the help of computer, and can interact with this virtual entity through human sense organ or limbs. With the progress of science and technology, virtual reality technology has been applied to various fields, and the aspects of military industry from the beginning have penetrated into the current architectural engineering, human education, medical rehabilitation, entertainment culture and the like. The virtual reality technology is introduced into rehabilitation medical treatment, so that tedious rehabilitation training can be avoided, the initiative of active rehabilitation of patients and the overall rehabilitation training effect can be improved. However, the domestic training system based on the virtual reality technology is still in the initial development stage, the mode of virtual training is relatively simple, and the three-dimensional effect and the openness of a virtual scene are poor.
Disclosure of Invention
The invention aims to provide an active three-degree-of-freedom upper limb rehabilitation robot based on a virtual reality technology and a method for the same.
The technical scheme of the invention is realized as follows:
the invention provides an active three-degree-of-freedom upper limb rehabilitation robot based on a virtual reality technology, which comprises:
the interactive force acquisition module is arranged on the three-degree-of-freedom upper limb rehabilitation robot, acquires interactive force signals at the positions of the upper arm, the lower arm and the grab handle of the three-degree-of-freedom upper limb rehabilitation robot, and sends the interactive force signals to the control computer;
the position acquisition module is arranged on the three-degree-of-freedom upper limb rehabilitation robot, acquires the angle information of each joint of the three-degree-of-freedom upper limb rehabilitation robot, and sends the angle information to the control computer;
and the control computer controls the upper limbs of the patient to train through a passive training mode or an active training mode, and displays the actual motion state of the three-degree-of-freedom upper limb rehabilitation robot into a virtual scene in the control computer in real time.
The control computer includes:
the human-computer interaction module selects an active training mode or a passive training mode;
the robot control module controls the three-degree-of-freedom upper limb rehabilitation robot to move in a passive training mode; controlling the three-degree-of-freedom upper limb rehabilitation robot to move through the interaction force of the patient and the three-degree-of-freedom upper limb rehabilitation robot in an active training mode;
the interactive virtual environment module is used for establishing a virtual three-degree-of-freedom upper limb rehabilitation robot model and a virtual scene model, displaying the actual motion state of the three-degree-of-freedom upper limb rehabilitation robot into a virtual scene in real time according to the joint angle information of the three-degree-of-freedom upper limb rehabilitation robot acquired by the position acquisition module in real time, and interacting with a virtual object in the virtual scene.
The robot control module includes:
the passive training control module is used for setting the position and speed information of the motion of each joint of the three-degree-of-freedom upper limb rehabilitation robot, and controlling the set information as an input signal of the three-degree-of-freedom upper limb rehabilitation robot to drive the upper limb of the patient to perform passive training;
and the active training control module is used for converting an interaction force signal between the patient and the three-degree-of-freedom upper limb rehabilitation robot into a speed input signal of each joint of the three-degree-of-freedom upper limb rehabilitation robot and controlling the three-degree-of-freedom upper limb rehabilitation robot to perform active training along with the patient.
Has the advantages that:
the invention establishes a virtual three-degree-of-freedom upper limb rehabilitation robot model and a virtual scene model by controlling a computer; selecting a passive training mode or an active training mode by controlling a human-computer interaction module in a computer; under the passive training mode, the position and speed information of the motion of each joint of the three-degree-of-freedom upper limb rehabilitation robot is set in a control computer, and the three-degree-of-freedom upper limb rehabilitation robot is controlled by a robot control module in the control computer to drive the upper limb of a patient to perform passive training; in the active training mode, an interactive force signal between a patient and the three-degree-of-freedom upper limb rehabilitation robot is converted into a speed input signal of each joint of the three-degree-of-freedom upper limb rehabilitation robot, and the three-degree-of-freedom upper limb rehabilitation robot is controlled to perform active training along with the patient by controlling a servo motor of each joint; and displaying the actual motion state of the three-degree-of-freedom upper limb rehabilitation robot into a virtual scene in real time according to the angle information of each joint of the three-degree-of-freedom upper limb rehabilitation robot acquired by the position acquisition module in real time, and interacting with a virtual object in the virtual scene.
The invention applies the virtual reality technology to rehabilitation training and displays the motion state of the rehabilitation robot in real time through the virtual model. An active three-degree-of-freedom upper limb rehabilitation robot based on a virtual reality technology is a training system combining active training and passive training. The physician performs rehabilitation training on the patient by selecting both passive training and active training. In the passive training process, the motion position and the motion speed of each joint of the rehabilitation robot are input to control the robot to perform passive training on a patient, meanwhile, the position feedback of the joint is read through RS232 serial port communication, and the motion state of the rehabilitation robot is displayed in a virtual environment. In the active training process, the speed of the rehabilitation robot is controlled by collecting the interaction force of the patient and the rehabilitation robot, and the patient performs virtual interactive training with other models through a robot arm model in a virtual environment.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
fig. 1 is a block diagram of an active three-degree-of-freedom upper limb rehabilitation robot based on a virtual reality technology according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present application, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.
Furthermore, the terms "disposed," "provided," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
The following detailed description of embodiments of the invention refers to the accompanying drawings.
An active three-degree-of-freedom upper limb rehabilitation robot based on virtual reality technology, as shown in fig. 1, includes:
the interactive force acquisition module is arranged on the three-degree-of-freedom upper limb rehabilitation robot, acquires interactive force signals at the upper arm, the lower arm and the grab handle of the three-degree-of-freedom upper limb rehabilitation robot, and transmits the interactive force signals to the control computer through RS232 serial port communication; the FSR pressure sensor is used as an interactive force acquisition module, and is an ultrathin resistance-type pressure sensor with small volume and high sensing precision. The pressure sensor converts the pressure applied to the film area of the FSR sensor into the change of the resistance value, thereby obtaining the pressure information. The higher the pressure, the lower the resistance. It is allowed to be used under a pressure of 0g to 10 kg. The voltage applied to the FSR was 5v, and the voltage dividing resistance was 10 k.OMEGA.. The 4 FSR pressure sensors are arranged in the front and back direction and the left and right direction of the big arm of the rehabilitation robot and are used for controlling the movement of two degrees of freedom of the shoulder; 2 FSR pressure sensors are arranged in the front and back 2 directions of the forearm of the rehabilitation robot and used for controlling the movement of one degree of freedom of the elbow; 2 FSR pressure sensors are arranged on the front side of the rehabilitation robot grab handle and 2 FSR pressure sensors are arranged on the rear side of the rehabilitation robot grab handle and are used for controlling the movement of the wrist in two degrees of freedom. The interactive force acquisition module adopts an Arduino development board to read out the value of the digital quantity of the interactive force acquisition module, and the value is sent to the control computer through RS232 serial port communication.
The position acquisition module is arranged on the three-degree-of-freedom upper limb rehabilitation robot by adopting an incremental encoder, acquires angle information of each joint of the three-degree-of-freedom upper limb rehabilitation robot, and transmits the angle information to the control computer through RS232 serial port communication;
and the control computer controls the upper limbs of the patient to train through a passive training mode or an active training mode, and displays the actual motion state of the three-degree-of-freedom upper limb rehabilitation robot into a virtual scene in the control computer in real time. In the present embodiment, the range of the digital value corresponding to the range of 0 to 5v of the interactive force signal acquired by the control computer is 0 to 1024;
the control computer includes:
the human-computer interaction module selects an active training mode or a passive training mode;
the robot control module controls the three-degree-of-freedom upper limb rehabilitation robot to move in a passive training mode; controlling the three-degree-of-freedom upper limb rehabilitation robot to move through the interaction force of the patient and the three-degree-of-freedom upper limb rehabilitation robot in an active training mode;
the interactive virtual environment module is used for establishing a virtual three-degree-of-freedom upper limb rehabilitation robot model and a virtual scene model, displaying the actual motion state of the three-degree-of-freedom upper limb rehabilitation robot into a virtual scene in real time according to the joint angle information of the three-degree-of-freedom upper limb rehabilitation robot acquired by the position acquisition module in real time, and interacting with a virtual object in the virtual scene. The virtual scene model, such as a room, a mountain, a sky, and the like; other models for interaction are also established in the virtual scene model, such as apples, fruit trays, tables and the like. The control computer collects angle information of each joint through RS232 serial port communication, displays the actual motion state of the upper limb rehabilitation robot in a virtual scene in real time, and interacts with other models in the virtual scene. And under the passive training mode, the rehabilitation robot is controlled to move by the control computer. The rehabilitation robot can be controlled to move by the contact force between the patient and the robot in the active mode.
The robot control module includes:
the passive training control module is used for setting the position and speed information of the motion of each joint of the three-degree-of-freedom upper limb rehabilitation robot, and controlling the set information as an input signal of the three-degree-of-freedom upper limb rehabilitation robot to drive the upper limb of the patient to perform passive training;
and the active training control module is used for converting an interaction force signal between the patient and the three-degree-of-freedom upper limb rehabilitation robot into a speed input signal of each joint of the three-degree-of-freedom upper limb rehabilitation robot and controlling the three-degree-of-freedom upper limb rehabilitation robot to perform active training along with the patient.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (3)
1. The utility model provides an active three degree of freedom upper limbs rehabilitation robot based on virtual reality technique which characterized in that includes: the interactive force acquisition module is arranged on the three-degree-of-freedom upper limb rehabilitation robot, acquires interactive force signals at the positions of the upper arm, the lower arm and the grab handle of the three-degree-of-freedom upper limb rehabilitation robot, and sends the interactive force signals to the control computer; the position acquisition module is arranged on the three-degree-of-freedom upper limb rehabilitation robot, acquires the angle information of each joint of the three-degree-of-freedom upper limb rehabilitation robot, and sends the angle information to the control computer; and the control computer controls the upper limbs of the patient to train through a passive training mode or an active training mode, and displays the actual motion state of the three-degree-of-freedom upper limb rehabilitation robot into a virtual scene in the control computer in real time.
2. The robot of claim 1, wherein the control computer comprises:
the human-computer interaction module selects an active training mode or a passive training mode; the robot control module controls the three-degree-of-freedom upper limb rehabilitation robot to move in a passive training mode; controlling the three-degree-of-freedom upper limb rehabilitation robot to move through the interaction force of the patient and the three-degree-of-freedom upper limb rehabilitation robot in an active training mode; the interactive virtual environment module is used for establishing a virtual three-degree-of-freedom upper limb rehabilitation robot model and a virtual scene model, displaying the actual motion state of the three-degree-of-freedom upper limb rehabilitation robot into a virtual scene in real time according to the joint angle information of the three-degree-of-freedom upper limb rehabilitation robot acquired by the position acquisition module in real time, and interacting with a virtual object in the virtual scene.
3. The robot of claim 2, wherein the robot control module comprises:
the passive training control module is used for setting the position and speed information of the motion of each joint of the three-degree-of-freedom upper limb rehabilitation robot, and controlling the set information as an input signal of the three-degree-of-freedom upper limb rehabilitation robot to drive the upper limb of the patient to perform passive training; and the active training control module is used for converting an interaction force signal between the patient and the three-degree-of-freedom upper limb rehabilitation robot into a speed input signal of each joint of the three-degree-of-freedom upper limb rehabilitation robot and controlling the three-degree-of-freedom upper limb rehabilitation robot to perform active training along with the patient.
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| CN201810907218.3A CN110812105A (en) | 2018-08-07 | 2018-08-07 | Active three-degree-of-freedom upper limb rehabilitation robot based on virtual reality technology |
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| CN201810907218.3A CN110812105A (en) | 2018-08-07 | 2018-08-07 | Active three-degree-of-freedom upper limb rehabilitation robot based on virtual reality technology |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111338287A (en) * | 2020-03-13 | 2020-06-26 | 南方科技大学 | Robot motion control method, device and system, robot and storage medium |
| CN111870895A (en) * | 2020-08-10 | 2020-11-03 | 北京赛锐奥科技有限公司 | Intelligent fitness system and implementation method thereof |
| CN113081666A (en) * | 2021-03-24 | 2021-07-09 | 上海傅利叶智能科技有限公司 | Virtual limiting method and device for rehabilitation robot and rehabilitation robot |
-
2018
- 2018-08-07 CN CN201810907218.3A patent/CN110812105A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111338287A (en) * | 2020-03-13 | 2020-06-26 | 南方科技大学 | Robot motion control method, device and system, robot and storage medium |
| CN111870895A (en) * | 2020-08-10 | 2020-11-03 | 北京赛锐奥科技有限公司 | Intelligent fitness system and implementation method thereof |
| CN113081666A (en) * | 2021-03-24 | 2021-07-09 | 上海傅利叶智能科技有限公司 | Virtual limiting method and device for rehabilitation robot and rehabilitation robot |
| CN113081666B (en) * | 2021-03-24 | 2023-05-12 | 上海傅利叶智能科技有限公司 | Virtual limiting method and device of rehabilitation robot and rehabilitation robot |
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Application publication date: 20200221 |