CN111811852A - Dynamic lower limb rehabilitation auxiliary tool testing system - Google Patents
Dynamic lower limb rehabilitation auxiliary tool testing system Download PDFInfo
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- CN111811852A CN111811852A CN202010598631.3A CN202010598631A CN111811852A CN 111811852 A CN111811852 A CN 111811852A CN 202010598631 A CN202010598631 A CN 202010598631A CN 111811852 A CN111811852 A CN 111811852A
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- 238000012360 testing method Methods 0.000 title claims abstract description 37
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 35
- 238000007667 floating Methods 0.000 claims abstract description 58
- 210000004394 hip joint Anatomy 0.000 claims abstract description 18
- 230000001133 acceleration Effects 0.000 claims description 19
- 238000002474 experimental method Methods 0.000 claims description 10
- 210000003414 extremity Anatomy 0.000 abstract description 8
- 238000011161 development Methods 0.000 abstract description 3
- 230000018109 developmental process Effects 0.000 abstract 2
- 238000000034 method Methods 0.000 description 23
- 210000000689 upper leg Anatomy 0.000 description 22
- 210000001699 lower leg Anatomy 0.000 description 19
- 230000000875 corresponding effect Effects 0.000 description 11
- 230000000694 effects Effects 0.000 description 11
- 239000003638 chemical reducing agent Substances 0.000 description 10
- 238000009434 installation Methods 0.000 description 10
- 210000001624 hip Anatomy 0.000 description 8
- 230000005021 gait Effects 0.000 description 7
- 238000005070 sampling Methods 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 4
- 238000012549 training Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 3
- 230000002596 correlated effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000002266 amputation Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000001338 self-assembly Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/008—Subject matter not provided for in other groups of this subclass by doing functionality tests
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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Abstract
The invention discloses a dynamic lower limb rehabilitation assistive device testing system, which comprises: developments laboratory bench support and treadmill, developments laboratory bench support includes: the device comprises a frame body, a hanging adjusting frame fixedly mounted at the top end of the frame body and a floating platform hinged to the frame body below the hanging adjusting frame, wherein the bottom of the hanging adjusting frame is connected with the floating platform through a spring, a tension sensor is arranged on the hanging adjusting frame or the floating platform, a single chip microcomputer reads data of the tension sensor, 1 joint mounting frame is mounted on each side of a front plate of the floating platform, a user is positioned on a treadmill when the device is used, 2 joint mounting frames are positioned on two sides of the user, the rehabilitation assisting device comprises a module to be tested and an exoskeleton joint module at a hip joint, the module to be tested is the exoskeleton joint module or an artificial limb module, and the exoskeleton joint module at the hip joint is. Different pulling forces can be realized by adjusting the springs so as to adjust the acting force of the weight of the loaded exoskeleton on a subject, and therefore testing of the person under different acting forces of the exoskeleton can be realized.
Description
Technical Field
The invention belongs to the technical field of rehabilitation aids, and particularly relates to a dynamic lower limb rehabilitation aid testing system.
Background
By the end of 2013, the population of the elderly in China reaches 2.02 hundred million, which accounts for about 15% of the total population, wherein the disabled elderly have 3750 ten thousands and 8500 more than ten thousands of disabled people; in 2020, the elderly population is expected to reach 2.43 hundred million, the disabled people will reach 4600 ten thousand, the disabled people will reach 9800 ten thousand, and most of the daily lives of the disabled people need rehabilitation aids.
At present, the existing rehabilitation aids at home and abroad are researched: HAL series lower limb exoskeleton of Japan bobble university, LOKOMAT jointly developed by Swiss Federal Industrial university and Swiss university, lower limb dynamic exoskeleton developed by biomedical engineering of Twente university in the Netherlands, wearable lower limb walking exoskeleton developed by electromechanical institute of Zhejiang university, and the like. The key point of the research is the structural design and control aspects of the lower limb exoskeleton training robot, but the research on the exoskeleton auxiliary effect is neglected.
In the early stage, the evaluation of the auxiliary effect of the rehabilitation aid is mainly to visually observe the training process of a subject by a physical therapist and evaluate the auxiliary effect of the rehabilitation aid according to self experience. However, this evaluation method is subjective and inefficient, and parameters in the training process cannot be accurately controlled and recorded.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a dynamic lower limb rehabilitation assistive device testing system.
The purpose of the invention is realized by the following technical scheme.
A dynamic lower limb rehabilitation aid testing system, comprising: dynamic experiment platform support, industrial computer and treadmill, the dynamic experiment platform support includes: the device comprises a frame body, an adjusting rack fixedly mounted at the top end of the frame body and a floating platform hinged to the frame body below the adjusting rack, wherein the bottom of the adjusting rack is connected with the floating platform through a spring; the floating stage includes: the utility model discloses a rehabilitation assisting tool, including the unsteady platform front bezel of level setting and install 2 joint installation framves in this unsteady platform front bezel both sides, wherein, 1 is respectively installed to unsteady platform front bezel every side the joint installation frame is located the treadmill and this 2 joint installation frames are located user's both sides when the user uses, and the rehabilitation assisting tool includes module and the exoskeleton joint module of hip joint department that awaits measuring, and the module that awaits measuring is exoskeleton joint module or artificial limb module, installs hip joint department exoskeleton joint module on every joint installation frame.
In the above technical solution, the floating platform further includes: the floating platform comprises two connecting rods, wherein one ends of the two connecting rods are hinged to the front floating platform plate, the other ends of the two connecting rods are hinged to the frame body, and the front floating platform plate, the frame body and the two connecting rods form a four-bar mechanism so that the floating platform is hinged to the frame body.
In the technical scheme, the two connecting rods are hinged with the frame body through the floating platform rear plate, wherein one ends of the two connecting rods, which are hinged with the frame body, are hinged with the floating platform rear plate, and the floating platform rear plate is fixedly arranged on the frame body.
In above-mentioned technical scheme, 2 joint mounting brackets are parallel arrangement and the distance on the unsteady platform front bezel is adjustable.
In the technical scheme, a relevant joint motor is installed in the module to be tested, and the industrial personal computer controls the joint motor to move.
In the above technical solution, the method further comprises: the device comprises an encoder and/or a sensor which are arranged in a module to be tested, wherein the encoder is used for obtaining the rotating angle, the angular speed and the angular acceleration of the joint motor of the module to be tested, the sensor is used for obtaining the torque of the joint motor of the module to be tested, and the industrial personal computer obtains the data of the encoder and/or the sensor.
In the above technical scheme, the industrial computer control be provided with a relay on the circuit of joint motor motion, still include: and the singlechip is used for controlling the relay.
In the technical scheme, when the module to be tested is the exoskeleton joint module, a travel switch is installed on the exoskeleton joint module and used for limiting the upper limit of the rotation of the joint motor, and the travel switch is electrically connected with the single chip microcomputer.
In the above technical solution, the method further comprises: the joint motor is controlled to rotate, the relay is electrically connected with the joint motor through the joint driver, and a data exchange card is arranged on a circuit between the relay and the industrial personal computer.
In the technical scheme, a motion control card is arranged on a circuit between the data exchange card and the industrial personal computer.
In the technical scheme, the industrial personal computer acquires the data of the encoder and/or the sensor through the data acquisition card.
In the technical scheme, the single chip microcomputer is electrically connected with the data acquisition card, judges whether the data of the encoder and/or the sensor reach a threshold value or not, and controls the relay to disconnect the circuit when the data of the encoder and/or the sensor reach the threshold value.
In the technical scheme, the bottom end of the dynamic experiment table support is provided with a caster which can be locked.
The dynamic lower limb rehabilitation assistive device testing system has the beneficial effects that:
(1) the dynamic lower limb rehabilitation assistive device testing system is provided with the floating platform and the adjusting and hanging frame, and can adapt to testees with different heights, the waist of the testee fixed on the joint mounting frame can move up and down and back and forth during experiments, certain comfort level and safety are guaranteed, the actual use scene of the lower limb rehabilitation assistive device is effectively simulated, and the actual use scene of a wearer of the rehabilitation assistive device is restored;
(2) the dynamic lower limb rehabilitation assistive device testing system is provided with a spring and a tension sensor to form an upward tension, the tension sensor can measure the acting force of the weight of the mounted exoskeleton on a subject, and different tensions can be realized by adjusting the spring to adjust the acting force of the weight of the mounted exoskeleton on the subject, so that the testing of a person under different acting forces of exoskeleton can be realized;
(3) during the experiment, a test subject wears the rehabilitation assistive device for testing to obtain the parameter requirement of the rehabilitation assistive device, and can also directly interact with the rehabilitation assistive device to evaluate the assisting effect of the rehabilitation assistive device;
(4) the hardware system has a modular design, is convenient for secondary development, and provides convenience for developing lower limb rehabilitation aids in multiple directions and multiple angles;
(5) the dynamic lower limb rehabilitation auxiliary tool testing system is provided with safety protection measures such as a travel switch and a relay, and the safety of a testee is protected.
Drawings
Fig. 1 is a schematic structural diagram of a dynamic lower limb rehabilitation aid testing system (with an exoskeleton joint module installed) according to the present invention;
FIG. 2 is a schematic structural diagram of a dynamic lower limb rehabilitation aid testing system according to the present invention;
FIG. 3 is a schematic structural view of the frame of the present invention;
FIG. 4 is a schematic structural view of an adjusting and hanging rack according to the present invention;
FIG. 5 is a schematic structural diagram of a floating platform according to the present invention;
FIG. 6 is a schematic structural view of an exoskeleton joint module;
FIG. 7 is a schematic structural view of the exoskeleton;
FIG. 8 is a schematic view of the structure of the electric control part of the dynamic lower limb rehabilitation training aid test system of the present invention;
FIG. 9a is a schematic view of the dynamic lower limb rehabilitation aid testing system during testing (with the exoskeleton worn by the user);
FIG. 9b is a schematic view of the dynamic lower limb rehabilitation aid testing system during testing (with the exoskeleton and prosthesis module worn by the user);
FIG. 10a is a graph of a sample expected value and an actual value obtained according to method one;
fig. 10b shows the sample expected values and actual values obtained according to method two.
Wherein, 1: dynamic bench support, 1-1: a frame body, 1-2: floating platform, 1-2-1: joint mounting frame, 1-2-2: front plate of floating platform, 1-2-3: connecting rod, 1-2-4: floating platform back plate, 1-3: a regulating and hanging rack, 1-3-1: spring, 1-3-2: tension sensor, 1-3-3: hanger mounting plate, 1-4: handrail, 1-5: first mount, 1-6: second mount, 2: treadmill, 3: exoskeleton joint module, 3-1: joint motor, 3-2: reducer, 3-3: sensor, 3-4: output end support, 3-5: fixed end bracket, 4: waist fixing brace, 5: upper thigh fixation brace, 6: thigh bar, 7: lower thigh fixation brace, 8: upper shank fixation brace, 9: shank, 10: lower shank fixation brace, 11: foot fixing brace, 12: industrial personal computer, 13: data acquisition card, 14: encoder, 15: joint driver, 16: a relay, 17: data exchange card, 18: motion control card, 19: travel switch, 20: and a single chip microcomputer.
Detailed Description
The technical scheme of the invention is further explained by combining specific examples.
The following examples relate to the following types of instruments:
an industrial personal computer: IDEL-12
Motion control card: GT-400-SV-ISA-G
A data exchange card: terminal board of motion control card, no model type matched with motion control card
Exoskeleton module (self-assembly): a joint driver: AP2-090, joint motor: GRM7613H, encoder: AM64/1617, decelerator: LCSG-I-25-160, sensor (moment sensor): M2210G
A data acquisition card: M8128B1SN04375
A relay: JQC-3FF-S-Z
A single chip microcomputer: STM32F4
A travel switch: XCE102
Example 1
As shown in fig. 1 to 4, a dynamic lower limb rehabilitation aid testing system includes: dynamic experiment platform support 1, industrial computer 12 and treadmill 2, dynamic experiment platform support 1 includes: the device comprises a frame body 1-1, an adjusting and hanging frame 1-3 fixedly installed at the top end of the frame body 1-1 and a floating platform 1-2 hinged to the frame body 1-1 below the adjusting and hanging frame 1-3, wherein the bottom of the adjusting and hanging frame 1-3 is connected with the floating platform 1-2 through a spring 1-3-1, a tension sensor 1-3-2 (S-shaped tension sensor) is arranged on the adjusting and hanging frame 1-3 or the floating platform 1-2 and used for measuring the tension of the adjusting and hanging frame 1-3 on the floating platform 1-2, and an industrial personal computer 12 reads the data of the tension sensor 1-3-2; as shown in fig. 5, the floating platform 1-2 includes: the floating platform comprises a floating platform front plate 1-2-2 arranged horizontally and 2 joint installation frames 1-2-1 arranged on two sides of the floating platform front plate 1-2-2, wherein each side of the floating platform front plate 1-2-2 is respectively provided with 1 joint installation frame 1-2-1, a user (patient and testee) is positioned on a treadmill 2 when in use, the 2 joint installation frames 1-2-1 are positioned on two sides of the user, the rehabilitation assistive device comprises a module to be tested and an exoskeleton joint module at a hip joint, and the module to be tested comprises: each joint mounting rack 1-2-1 is provided with an exoskeleton joint module at a hip joint.
The exoskeleton joint modules when assembled into an exoskeleton of a complete lower limb as shown in fig. 7, the exoskeleton comprises: the exoskeleton joint module 3, a waist fixing support 4, a thigh upper fixing support 5, a thigh lower fixing support 7, a shank upper fixing support 8, a shank lower fixing support 10, a foot fixing support 11, a thigh rod 6 and a shank rod 9, wherein the parts of the waist fixing support, the thigh upper fixing support, the thigh lower fixing support, the shank upper fixing support and the shank lower fixing support which are fixed with corresponding bodies are all arc-shaped and are respectively and sequentially used for fixing the waist, the thigh upper, the thigh lower, the shank upper and the shank lower parts of a user, and the foot fixing support is planar and is used for fixing the feet of the user; the thigh rod and the shank rod are connecting rods; the waist fixing support is provided with a mounting hole corresponding to the fixing end bracket of the exoskeleton joint module and can be fixed together by using a screw; the upper end of the thigh upper part fixing support is provided with a mounting hole corresponding to the output end bracket of the exoskeleton joint module, and the lower end of the thigh upper part fixing support is provided with a mounting hole corresponding to the thigh rod 6, so that the thigh upper part fixing support and the exoskeleton joint module can be fixed together by using screws; the upper end of the thigh lower part fixing support is provided with a mounting hole corresponding to the thigh rod, and the lower end of the thigh lower part fixing support is provided with a mounting hole corresponding to the fixed end bracket of the exoskeleton joint module and can be fixed together by using screws; the upper end of the lower part fixing support is provided with a mounting hole corresponding to the output end bracket of the exoskeleton joint module, and the lower end of the lower part fixing support is provided with a mounting hole corresponding to the lower leg rod, so that the lower leg rod and the upper leg fixing support can be fixed together by using screws; the upper end of the lower fixing support of the crus is provided with a mounting hole corresponding to the crus rod, and the lower end of the lower fixing support of the crus is provided with a mounting hole corresponding to the fixed end bracket of the exoskeleton joint module and can be fixed together by using screws; the foot fixing support is provided with a mounting hole corresponding to the output end bracket of the exoskeleton joint module and can be fixed together by using a screw.
No matter whether the module to be tested is the exoskeleton joint module 3 or the artificial limb module, a user needs to wear the waist fixing support 4, the thigh upper part fixing support 5 and the exoskeleton joint module 3 (hip joint) positioned between the waist fixing support 4 and the thigh upper part fixing support 5 and use the two as a fixed exoskeleton, and when the module to be tested is the exoskeleton joint module 3, the fixed exoskeleton and the module to be tested need to be fixedly installed, as shown in fig. 9 a. When the module to be tested is a prosthesis module, the prosthesis module needs to be fixedly mounted with the fixed exoskeleton, as shown in fig. 9 b.
The invention relates to a use method of a dynamic lower limb rehabilitation assistive device testing system, which comprises the following steps:
1) the method comprises the following steps that all exoskeletons (not including prosthesis modules) to be worn by a user are installed on a joint installation frame 1-2-1 through an exoskeleton joint module 3 at a hip joint, and the tension F1 of a suspension adjusting frame 1-3 to a floating platform 1-2 is obtained through a tension sensor 1-3-2; a user wears all exoskeletons and is positioned on the running machine 2, the 2 joint mounting frames 1-2-1 are positioned on two sides of the user (if the module to be tested is a prosthetic limb module and the user wears the prosthetic limb module), the exoskeletons are mounted on the joint mounting frames 1-2-1 through the exoskeletons joint module 3 at the hip joint (the exoskeletons joint module 3 at the hip joint is mounted on each joint mounting frame 1-2-1), the tension F2 of the adjusting and hanging frame 1-3 to the floating platform 1-2 is obtained through the tension sensor 1-3-2, the user can move on the running machine, and the springs are adjusted to the running machine
X is 9-18 kg, and the mass of all the exoskeletons is X;
2) carrying out the first method or the second method:
method one (for initial stage of recovery): the module to be tested and the exoskeleton joint module 3 at the hip joint are controlled to drive a user to move on the treadmill based on expected data of one gait cycle, actual data of the module to be tested in the gait cycle are measured, and the expected data and the actual data of the gait cycle are compared.
Method two (for mid or end stage of rehabilitation): the user moves and actively drives the module to be tested and the exoskeleton joint module 3 at the hip joint to move on the treadmill, and actual data of one gait cycle is obtained and compared with expected data (the expected data is data obtained based on healthy people).
The method can be used for objectively evaluating the auxiliary effect of the rehabilitation assistive device.
Example 2
On the basis of embodiment 1, as shown in fig. 5, the floating platform 1-2 further includes: the floating platform comprises two connecting rods 1-2-3 which are arranged in the vertical direction, one ends of the two connecting rods 1-2-3 are hinged with a front plate 1-2-2 of the floating platform, the other ends of the two connecting rods 1-2-3 are hinged with a frame body 1-1, the front plate 1-2-2 of the floating platform, the frame body 1-1 and the two connecting rods 1-2-3 form a four-connecting-rod mechanism, and therefore the floating platform 1-2 is hinged with the frame body 1-1. Preferably, the two connecting rods 1-2-3 are hinged with the frame body 1-1 through the rear plate 1-2-4 of the floating platform, wherein one end of the two connecting rods 1-2-3 hinged with the frame body 1-1 is hinged with the rear plate 1-2-4 of the floating platform, and the rear plate 1-2-4 of the floating platform is fixedly arranged on the frame body 1-1.
The 2 joint mounting racks 1-2-1 are arranged in parallel, and the distance between the joint mounting racks 1-2-1 and the floating platform front plate 1-2-2 is adjustable (the joint mounting racks can be fastened after adjustment). The position of the joint mounting rack 1-2-1 for mounting the exoskeleton joint module at the hip joint is of a circular ring structure, the exoskeleton joint module at the hip joint is of a cylindrical shape, a circular ring frame is fixedly mounted outside the cylindrical shape, when the exoskeleton joint module at the hip joint is mounted on the joint mounting rack 1-2-1, the circular ring structure is sleeved outside the exoskeleton joint module at the hip joint, and the circular ring frame and the circular ring structure are fastened through bolts.
As shown in fig. 4, the top end of the adjusting hanging rack is provided with a hanging rack mounting plate 1-3-3, and the adjusting hanging rack is mounted on the rack body 1-1 through the hanging rack mounting plate.
As shown in fig. 3, a first mounting table 1-5 and a second mounting table 1-6 are arranged on a frame body 1-1, the first mounting table 1-5 is used for mounting a floating table 1-2, and the second mounting table 1-6 is used for fixedly mounting an adjusting rack 1-3.
Preferably, the rack body includes: the n-shaped welding pipe comprises a first pipe part, a second pipe part and a second pipe part which are sequentially connected end to end, the 2 second straight pipes are arranged in parallel and fixedly arranged on the second pipe part at intervals, the included angle between the second straight pipes and the second pipe part is 60-90 degrees, the included angle between the second straight pipes and the horizontal plane is 60-90 degrees, the 2 first straight pipes are respectively and fixedly arranged on the first pipe part and the second pipe part, each first straight pipe is provided with a handrail 1-4, the height of the handrail 1-4 on the first straight pipe can be adjusted up and down, and the 2 first straight pipes are respectively connected with the second straight pipes close to the first straight pipes through a supporting pipe. The first mounting table 1-5 and the second mounting table 1-6 are fixedly mounted with 2 second straight pipes. The bottom end of the frame body 1-1 is provided with a caster which can be locked.
Example 3
As shown in fig. 8, on the basis of embodiment 2, a joint motor 3-1 is installed in the module to be tested, and an industrial personal computer 12 controls the joint motor 3-1 to move.
Further comprising: the device comprises an encoder 14 and/or a sensor 3-3 which are arranged in a module to be tested, wherein the encoder 14 is used for obtaining the rotation angle, the angular speed and the angular acceleration of the joint motor 3-1 of the module to be tested, the sensor 3-3 is used for obtaining the torque of the joint motor 3-1 of the module to be tested, and the industrial personal computer 12 is used for obtaining the data of the encoder 14 and/or the sensor 3-3.
As shown in fig. 6, the exoskeleton joint module comprises: the device comprises a joint motor 3-1, a speed reducer 3-2, a fixed end support 3-5, an output end support 3-4 and a sensor 3-3, wherein the sensor is a torque sensor; the joint motor is a flat direct current motor special for a robot joint, the main body is in a flat cylindrical shape, and an output shaft is formed on the circular surface of the flat cylindrical shape; the speed reducer is a harmonic speed reducer, the main body of the speed reducer is in a flat cylindrical shape, an input shaft hole is formed in the end face of the input side, an installation disc with an installation hole is arranged on the output side, an output shaft of the joint motor is fixed in the input shaft hole of the speed reducer, and a shell of the joint motor is fixedly connected with a shell of the end face of the input side of the speed reducer; the fixed end support is formed by bending a flat plate, one end of the flat plate is bent upwards, the other end of the flat plate is bent downwards, two surfaces which are bent upwards and downwards are two parallel mounting planes, one mounting plane is a circular ring-shaped frame, the circular ring-shaped frame is fixedly connected with a shell of the end face of the output side of the speed reducer, a plurality of through holes are formed in the circular ring-shaped frame along the circumferential direction, and bolts penetrate through the through holes to fasten the circular ring-shaped frame and the circular ring structure of the joint mounting rack 1-2-1; the sensor is in a flat cylindrical shape and structurally comprises an inner ring and an outer ring, the sensor between the inner ring and the outer ring can measure torque existing between the inner ring and the outer ring, the inner ring and the outer ring are provided with mounting holes which are distributed annularly, and the sensor is fixed on a mounting disc on the output side of the speed reducer through the mounting holes of the outer ring; the output end bracket is in a thin plate shape, one end of the output end bracket is connected with the inner ring of the sensor through a mounting hole, and the other end of the output end bracket is provided with a mounting hole; when the exoskeleton joint module is in a power-on working state, a joint motor generates driving torque, the driving torque is amplified by a speed reducer and transmitted to an output end support by a sensor, joint driving torque is generated between a fixed end support and the output end support, and the sensor can measure the torque in real time; the encoder is arranged at the output shaft of the joint motor and can measure the rotating angle, the angular speed and the angular acceleration of the joint motor in real time.
The prosthesis module comprises: the prosthetic socket connection and the calf tube connection (this example employs the Yankee prosthetic orthopedic technologies, Inc. model 3E 80). The artificial limb socket connecting piece is provided with a mounting hole, and the artificial limb socket can be fixed on the artificial limb socket connecting piece through a screw and is used for being worn by a thigh amputation patient; the shank pipe connecting piece is provided with a mounting hole for fixing the shank pipe on the shank pipe connecting piece.
A relay 16 is arranged on a circuit of the industrial personal computer 12 for controlling the movement of the joint motor 3-1, and the device further comprises: a single chip 20 controlling the relay 16. The relay is used for cutting off the power supply when an emergency occurs in an experiment, and plays a role in safety protection.
When the module to be tested is the exoskeleton joint module 3, a travel switch 19 is installed on the exoskeleton joint module 3 and used for limiting the upper limit of the rotation of the joint motor 3-1, and the travel switch 19 is electrically connected with the single chip microcomputer 20. The travel switch is arranged between the fixed end bracket and the output end bracket of the exoskeleton joint module and is connected with the single chip microcomputer through a wire, when the included angle between the fixed end bracket and the output end bracket reaches the boundary of the joint safety angle range, the travel switch is activated, and the relay is disconnected by the travel switch through the single chip microcomputer; the rotation of the joint motor is limited, and the safety of a testee is protected.
Further comprising: the joint motor 3-1 is controlled to rotate by the joint driver 15, the relay 16 is electrically connected with the joint motor 3-1 through the joint driver 15, and a data exchange card 17 is arranged on a circuit between the relay 16 and the industrial personal computer 12 and used for converting data types to realize communication among different interfaces.
A motion control card 18 is arranged on a circuit between the data exchange card 17 and the industrial personal computer 12, and the motion control card is connected with the industrial personal computer through a PCI bus.
The industrial personal computer 12 acquires data of the encoder 14 and/or the sensor 3-3 through a data acquisition card 13, and the data acquisition card is connected with the industrial personal computer through a PCI bus.
The single chip microcomputer 20 is electrically connected with the data acquisition card 13, the single chip microcomputer 20 judges whether the data of the encoder 14 and/or the sensor 3-3 reach a threshold value, and when the data reach the threshold value, the single chip microcomputer 20 controls the relay 16 to break a circuit, so that the power supply of the joint motor is disconnected.
The data acquisition card processes the joint angle, the angular velocity, the angular acceleration and the torque information of the joint motor acquired by the encoder and the sensor and transmits the processed information to the industrial personal computer for calculation through the PCI bus, and the motion control card is used for compiling programs to control the rotation of the joint motor. The sensor and the encoder are connected with the data acquisition card through wires, and the data acquired by the sensor and the encoder are transmitted to the industrial personal computer through the data acquisition card for processing and calculation.
Preferably, the industrial personal computer is connected with a signal input end and a display, and the signal input end is a mouse, a keyboard and a control panel. The mouse and the keyboard are connected with a USB interface of the industrial personal computer through a USB line, and the control program of the electric control machine can be compiled and modified by using the mouse and the keyboard; the displayer is connected with a VGA interface of the industrial personal computer through a VGA line and can display the angle, the angular speed, the angular acceleration and the torque of the joint motor in real time.
Further explaining the first and second methods, the details are as follows:
method one (for initial stage of recovery): inputting one of an angle, an angular velocity, an angular acceleration and a moment of a gait cycle to an industrial personal computer and controlling a joint motor to rotate, wherein the joint motor drives a patient to move; the encoder and/or the sensor measures the angle, the angular velocity, the angular acceleration and/or the moment of the joint motor, and compares the angle, the angular velocity, the angular acceleration and/or the moment with the gait cycle angle, the angular acceleration and/or the moment input by the industrial personal computer, so that objective evaluation can be made on the auxiliary effect of the rehabilitation assistive device.
Method two (for mid or end stage of rehabilitation): the patient actively drives the joint motor to move, and the encoder and/or the sensor measures the angle, the angular speed, the angular acceleration and/or the moment of the joint motor and compares the angle, the angular speed, the angular acceleration and/or the moment with the expected value of the angle, the angular speed, the angular acceleration and/or the moment in one gait cycle.
The use method of the dynamic lower limb rehabilitation assistive device testing system comprises the following steps:
in order to objectively evaluate the assistance effect of a rehabilitation aid, a mean error u and a root mean square error E are definedRMS:
Where n represents the number of sampling points of the encoder and/or sensor on the module under test, Mi、NiThe method comprises the steps of respectively sequentially obtaining a sampling expected value before sampling of a module to be tested and an actual value obtained when the module to be tested is sampled, and obtaining the angle, the angular velocity, the angular acceleration and/or the torque of the module to be tested. Angle, angular velocity,The mean error u of angular acceleration and torque is positively correlated, and the root mean square error E of angle, angular velocity, angular acceleration and torqueRMSAlso positively correlated, mean error u and root mean square error ERMSThe larger the value of (d), the worse the auxiliary effect of the module to be tested, and conversely, the mean error u and the root mean square error ERMSThe smaller the value of (a) indicates the better the auxiliary effect of the module under test (when judging the auxiliary effect of the module under test, one or more of the angle, the angular velocity, the angular acceleration and the torque can be judged, because of the mean error u and the root mean square error E of the angle, the angular velocity, the angular acceleration and the torqueRMSThere is a positive correlation, and therefore, the results of judging one or more of the angle, the angular velocity, the angular acceleration, and the torque are almost the same).
Respectively sampling a module to be tested according to a first method and a second method, wherein the module to be tested is an exoskeleton joint module, the sampling expected value and the actual value obtained according to the first method are shown in a graph 10a, the sampling expected value and the actual value obtained according to the second method are shown in a graph 10b, and a mean error u and a root mean square error E are calculatedRMSThe auxiliary effect of the rehabilitation assistive device is evaluated.
The invention has been described in an illustrative manner, and it is to be understood that any simple variations, modifications or other equivalent changes which can be made by one skilled in the art without departing from the spirit of the invention fall within the scope of the invention.
Claims (10)
1. A dynamic lower limb rehabilitation assistive device testing system is characterized by comprising: dynamic experiment platform support (1), industrial computer (12) and treadmill (2), dynamic experiment platform support (1) includes: the device comprises a frame body (1-1), an adjusting and hanging frame (1-3) fixedly installed at the top end of the frame body (1-1) and a floating platform (1-2) hinged to the frame body (1-1) below the adjusting and hanging frame (1-3), wherein the bottom of the adjusting and hanging frame (1-3) is connected with the floating platform (1-2) through a spring (1-3-1), a tension sensor (1-3-2) is arranged on the adjusting and hanging frame (1-3) or the floating platform (1-2) and used for measuring the tension of the adjusting and hanging frame (1-3) on the floating platform (1-2), and an industrial personal computer (12) reads the data of the tension sensor (1-3-2); the floating platform (1-2) comprises: the rehabilitation assistive device comprises a floating platform front plate (1-2-2) arranged horizontally and 2 joint mounting frames (1-2-1) arranged on two sides of the floating platform front plate (1-2-2), wherein 1 joint mounting frame (1-2-1) is respectively arranged on each side of the floating platform front plate (1-2-2), a user is positioned on a treadmill (2) when the rehabilitation assistive device is used, the 2 joint mounting frames (1-2-1) are positioned on two sides of the user, the rehabilitation assistive device comprises a module to be tested and an exoskeleton joint module at a hip joint, the module to be tested is an exoskeleton joint module (3) or a prosthesis module, and the exoskeleton joint module at the hip joint is arranged on each joint mounting frame (1-2-1).
2. The dynamic lower limb rehabilitation aid testing system according to claim 1, wherein the floating platform (1-2) further comprises: the floating platform comprises two connecting rods (1-2-3), one ends of the two connecting rods (1-2-3) are hinged to a front plate (1-2-2) of the floating platform, the other ends of the two connecting rods are hinged to a frame body (1-1), the front plate (1-2-2) of the floating platform, the frame body (1-1) and the two connecting rods (1-2-3) form a four-connecting-rod (1-2-3) mechanism, and therefore the floating platform (1-2) is hinged to the frame body (1-1).
3. The dynamic lower limb rehabilitation aid testing system according to claim 2, wherein the two connecting rods (1-2-3) are hinged with the frame body (1-1) through a floating platform rear plate (1-2-4), wherein one end of the two connecting rods (1-2-3) hinged with the frame body (1-1) is hinged with the floating platform rear plate (1-2-4), and the floating platform rear plate (1-2-4) is fixedly arranged on the frame body (1-1).
4. The dynamic lower limb rehabilitation aid testing system according to claim 3, wherein 2 joint mounting frames (1-2-1) are arranged in parallel and the distance between the joint mounting frames and the floating platform front plate (1-2-2) is adjustable.
5. The dynamic lower limb rehabilitation aid test system according to claim 4, wherein a relevant joint motor (3-1) is installed in a module to be tested, and the industrial personal computer (12) controls the joint motor (3-1) to move.
6. The dynamic lower extremity rehabilitation aid testing system of claim 5, further comprising: the device comprises an encoder (14) and/or a sensor (3-3) which are installed in a module to be tested, wherein the encoder (14) is used for obtaining the rotating angle, the angular speed and the angular acceleration of the joint motor (3-1) of the module to be tested, the sensor (3-3) is used for obtaining the torque of the joint motor (3-1) of the module to be tested, and the industrial personal computer (12) obtains the data of the encoder (14) and/or the sensor (3-3).
7. The dynamic lower limb rehabilitation aid testing system according to claim 6, wherein a relay (16) is arranged on a circuit for controlling the movement of the joint motor (3-1) by the industrial personal computer (12), and a single chip microcomputer (20) controls the relay (16).
8. The dynamic lower limb rehabilitation aid testing system according to claim 7, wherein when the module to be tested is the exoskeleton joint module (3), a travel switch (19) is installed on the exoskeleton joint module (3) and used for limiting the upper limit of the rotation of the joint motor (3-1), and the travel switch (19) is electrically connected with the single chip microcomputer (20).
9. The dynamic lower extremity rehabilitation aid testing system of claim 8, further comprising: the joint motor control system comprises a joint driver (15) for controlling the joint motor (3-1) to rotate, a relay (16) is electrically connected with the joint motor (3-1) through the joint driver (15), and a data exchange card (17) is arranged on a circuit between the relay (16) and the industrial personal computer (12).
10. The dynamic lower limb rehabilitation aid test system according to claim 9, wherein a motion control card (18) is arranged on a circuit between the data exchange card (17) and the industrial personal computer (12);
the industrial personal computer (12) acquires data of the encoder (14) and/or the sensor (3-3) through a data acquisition card (13);
the single chip microcomputer (20) is electrically connected with the data acquisition card (13), the single chip microcomputer (20) judges whether the data of the encoder (14) and/or the sensor (3-3) reach a threshold value or not, and the single chip microcomputer (20) controls the relay (16) to disconnect a circuit when the threshold value is reached.
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