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Virtual and real combined robot-assisted finger motion function rehabilitation training system

A robot-assisted, rehabilitation training technology, applied in sports accessories, gymnastics equipment, passive exercise equipment, etc., to achieve comprehensive rehabilitation training, improve the effect of initiative and fun

Inactive Publication Date: 2011-02-23
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the rehabilitation robots disclosed in these two patent applications only have the functions of the mechanism part of the rehabilitation robot system that can realize the finger movement function required by the virtual-real combination technology, and do not introduce the "virtual-real combination" technology to build a set of virtual-real Combined robot-assisted finger motor function rehabilitation training system

Method used

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  • Virtual and real combined robot-assisted finger motion function rehabilitation training system
  • Virtual and real combined robot-assisted finger motion function rehabilitation training system
  • Virtual and real combined robot-assisted finger motion function rehabilitation training system

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Embodiment Construction

[0028] The invention will be described in further detail below in conjunction with the accompanying drawings and examples

[0029] Such as figure 1 , 3 As shown, in the present invention, the upper computer 1 provides a virtual environment for selection and switching of rehabilitation modes, parameter setting, and image and sound feedback of rehabilitation tasks. The control card 2 communicates with the computer 1 through the network port, and communicates with the driver 3 through the IO channel and the DA channel. The IO channel sends the mode to select the required high and low level, and the DA channel sends the driver 3 to drive the finger joint robot. Control signal for unit 4 to control. The driver 3 controls the motor of the driving unit 4 according to the received IO and DA information. The driving unit 4 and the actuator 5 are driven by means of a wire rope jacket 6 . The angle sensor and force sensor installed on the actuator 5 communicate with the control card...

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Abstract

The invention discloses a virtual and real combined robot-assisted finger motion function rehabilitation training system, which comprises an upper computer, a control card, a driver and a finger joint motion function rehabilitation robot, wherein the upper computer comprises an interactive graphic user interface and a rehabilitation training task simulation viewport and is in real-time communication with the control card through a network port; the control card forwards the command sent by the upper computer to driver, and transmits the signals acquired by an external sensor to the upper computer; the control card comprises a DA interface, an AD interface, an IO interface and a network communication interface; the driver performs torque control or position control on a motor of the robot according to the command information sent by a controller, and has the following functions of: switching a torque mode, a speed mode and two different modes in a mode of controlling a digital quantity switch; and the finger joint rehabilitation robot has a mechanical structure capable of realizing active and passive bidirectional drive and comprises an execution mechanism and a drive unit.

Description

technical field [0001] The invention relates to a robot-assisted finger movement function rehabilitation training system combining virtual and real. The system adopts the method of "integration of reality and reality" to realize rehabilitation training for human finger joints. The position control and torque control required for rehabilitation training use a programmable digital switch on the drive to input high and low levels to switch modes. Background technique [0002] The hand is one of the most important structures of the human body and plays an important role in production and life. Its good exercise ability is an important guarantee for people to complete their daily life and work. However, the hand performs thousands of movements such as flexion, extension, finger alignment and grasping every day, which also makes the finger joints vulnerable to damage in daily life. This kind of injury needs to immobilize the fingers for a long time during treatment, but long-te...

Claims

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Application Information

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IPC IPC(8): A61H1/02A63B23/16
Inventor 李继婷王爽郑若隐张玉茹陈中元
Owner BEIHANG UNIV
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