[0047] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be pointed out that the following embodiments are intended to facilitate the understanding of the present invention, and do not have any limiting effect on it.
[0048] Figure 1 to Figure 4 The markings in are: base 1, telescopic rocker 2, outer arc track 3, inner arc track 4, first servo motor 51, second servo motor 52, bearing seat (61, 62), first reducer 71 , The second reducer 72, the first photoelectric encoder 81, the second photoelectric encoder 82, the six-axis force sensor 9, the handle 10, the universal ball 11, the rocker shell 12, the position sensor 13, the sliding bearing (141, 142 ), positioning bearings (151, 152), mover 16, stator 17, spring 18, computer 19, first servo motor driver 21, second servo motor driver 22, linear motor driver 23, signal conditioner 24, motion control card 25. Display 26.
[0049] Such as figure 1 As shown, the rocker-type upper limb rehabilitation device includes a base 1, a telescopic rocker 2, an outer arc-shaped track 3, and an inner arc-shaped track 4. The outer arc track 3 is fixed on the base 1 through a bearing seat 61. The inner arc track 4 is fixed on the base 1 through a bearing seat 62. Wherein, the radius of the outer arc track 3 is slightly larger than the radius of the inner arc track 4, and the outer arc track 3 straddles the inner arc track 4 and forms an included angle of 90° with the inner arc track 4. A first photoelectric encoder 81 is installed at one end of the outer arc-shaped track 3, and the other end is connected with a first reducer 71. The input end of the first reducer 71 is connected with a first servo motor 51, the first servo motor 51 and the first servo motor The driver 21 is connected. The inner arc-shaped track 4 and the outer arc-shaped track 3 have the same connection specifications, that is, a second photoelectric encoder 82 is installed at one end of the inner arc-shaped track 4, and the other end is connected with the second reducer 72. The input end of the second reducer 72 A second servo motor 52 is connected, and the second servo motor 52 is connected to the second servo motor driver 22.
[0050] Such as figure 2 versus image 3 As shown, the telescopic rocker 2 includes a linear motor, a linear motor driver 23 connected to the linear motor, and a rocker shell 12 arranged outside the linear motor. The linear motor includes a stator 17 and a mover 16. The mover 16 is sleeved on the stator 17 and is fixedly connected with the rocker shell 12. The stator 17 moves linearly relative to the mover 16. A position sensor 13 is installed on the stator 17 to record the position change of the stator 17 relative to the mover 16. In this embodiment, the position sensor 13 is selected as a grating ruler. One end of the stator 17 is connected to the handle 10 through a six-axis force sensor 9, and the six-axis force sensor 9 converts the force signal from the handle 10 into a voltage signal. The signal conditioner 24 is connected to the six-axis force sensor 9 and amplifies the voltage signal output by the six-axis force sensor 9 into a voltage signal suitable for sampling.
[0051] A spring 18 is provided at the bottom of the stator 17 to offset the weight of the stator 17 itself. A positioning bearing 151 fixedly connected to the rocker shell 12 is arranged above the mover 16, and a positioning bearing 152 is arranged below the mover 16 and at the top of the spring 18 to limit the relative relationship between the stator 17 and the mover 16. Position to limit the swing amplitude of the stator 17 inside the rocker shell 12.
[0052] Such as figure 1 As shown, the telescopic rocker 2 vertically penetrates the outer arc-shaped rail 3 and the inner arc-shaped rail 4, and the bottom of the rocker shell 12 is connected to the geometric center of the base through a universal ball 11. The telescopic rocker 2 can make a plane orbiting movement along the outer arc track 3 and the inner arc track 4 with the axis perpendicular to the geometric center position of the base as the central axis. The first photoelectric encoder 81 is used to record the outer arc The angle value of the track 3 deviating from the central axis, and the second photoelectric encoder 82 is used to record the angle value of the inner arc track 4 deviating from the central axis.
[0053] The above-mentioned rocker-type upper limb rehabilitation device further includes a computer 19, a display 26 connected to the computer, and a motion control card 25. The motion control card 25 is installed in the computer 19 through a PCI interface, and is connected to the first servo motor driver 21, the second servo motor driver 22, and the linear motor driver 23 to control the output voltage and current of these three drivers.
[0054] Such as Figure 4 As shown, the control process of the rocker-type upper limb rehabilitation device is: the computer 19 and its control program synchronize the output voltages of the first servo motor driver 21, the second servo motor driver 22, and the linear motor driver 23 through the motion control card 25 Output current; the current position of the telescopic rocker 2 is collected by the first photoelectric encoder 81, the second photoelectric encoder 82 and the position sensor 13, and the obtained position signal is fed back to the motion control card 25 to form a closed loop control. The electrical signal generated by the six-axis force sensor 9 is adjusted by the signal conditioner 24 and then input to the computer 19 and displayed on the display 26. The position signal of the telescopic rocker 2 is input into the computer 19 and displayed on the display 26.
[0055] When the above-mentioned rocker-type upper limb rehabilitation device is used for rehabilitation training, the rocker-type upper limb rehabilitation is placed on the ground, and the patient sits on an adjacent seat (the restraining chair can be used to fix the patient’s torso according to the patient’s needs), and the patient’s upper limb support Live the rehabilitation handle 10, or fix the patient's upper limbs on the handle 10 according to the needs of the patient. According to the patient’s personal situation, set various parameters such as exercise speed, number of exercises, exercise area, training mode, etc. in the display 26. The display 26 will display the specific rehabilitation training task and give feedback to the patient on the rehabilitation training task after the training. Completion.
[0056] The following are three rehabilitation training modes using this rocker-type upper limb rehabilitation device:
[0057] (1) Passive training:
[0058] This rehabilitation training mode is especially suitable for patients who have completely lost their athletic ability. The specific training methods are as follows:
[0059] Step 1: Create a target position, hold the patient's upper limbs on the handle 10, and the display 26 displays the current position and target position of the telescopic rocker 2;
[0060] Step 2: Set the output voltage and output of the first servo motor driver 21, the second servo motor driver 22 and the linear motor driver 23 in the motion control card 25 according to the actual training parameters, such as exercise speed, number of exercises, and exercise area. Electric current starts the rocker-type upper limb rehabilitation device to move the telescopic rocker 2 to drive the patient's upper limbs to move;
[0061] Step 3: According to the target position and current position of the telescopic joystick 2, the motion control card 25 adjusts the output voltage and output current of the first servo motor driver 21, the second servo motor driver 22 and the linear motor driver 23 to make the telescopic joystick 2 When the current position reaches the target position, complete a rehabilitation training task.
[0062] The following is the specific control process in the rehabilitation training:
[0063] (1) According to the output voltage and output current of the first servo motor driver 21, the second servo motor driver 22, and the linear motor driver 23 set in the motion control card 25, control the first servo motor 51, the second servo motor 52, and The linear motor works to drive the outer arc track 3, the inner arc track 4 and the linear motor stator 17 to move, thereby driving the patient's upper limbs to move;
[0064] (2) Collect the current position signal of the telescopic rocker 2 through the first photoelectric encoder 81, the second photoelectric encoder 82 and the position sensor 13 and feed it back to the motion control card 25, and display it on the display 26; the six-axis force sensor 9 collects The force signal applied to the handle 10 is converted into an electrical signal, amplified by the signal conditioner 24, and fed back to the computer 19, and displayed on the display 26;
[0065] (3) According to the established target position and the current position signal fed back to the motion control card 25, the motion control card 25 adjusts the output voltage and output current of the first servo motor driver 21, the second servo motor driver 22 and the linear motor driver 23, Repeat (2) to make the telescopic joystick 2 reach the target position to complete the training task.
[0066] (2) Active training:
[0067] This rehabilitation training mode is especially suitable for patients with partial exercise abilities. The specific training methods are as follows:
[0068] Step 1: Create a target position, the patient's upper limbs hold the handle 10, and the display 26 displays the current position and target position of the telescopic rocker 2;
[0069] Step 2: The patient applies force to the handle 10 to move the telescopic rocker 2;
[0070] Step 3: According to the target position and current position of the telescopic rocker 2, the patient adjusts the applied force so that the current position of the telescopic rocker 2 reaches the target position, and completes a rehabilitation training task.
[0071] The following is the specific control process in the rehabilitation training:
[0072] (1) The patient applies force to the handle 10, and the six-axis force sensor 9 collects the force signal, converts it into an electrical signal, and feeds it back to the computer 19 through the signal conditioner 24. The computer 19 calculates the force based on the dynamic equation The motion trajectory is realized by controlling the first servo motor 51, the second servo motor 52 and the linear motor through the motion control card 25;
[0073] (2) The current position information of the telescopic rocker 2 is collected by the first photoelectric encoder 81, the second photoelectric encoder 82 and the position sensor 13 and fed back to the motion control card 25, and displayed on the display 26; the six-axis force sensor 9 collects The force signal from the handle is converted into an electrical signal, amplified by the signal conditioner 24, and fed back to the computer 19, and displayed on the display 26;
[0074] (3) According to the established target position and current position, the patient adjusts the applied force, and repeats (2) to make the telescopic rocker 2 reach the target position to complete the training task.
[0075] (3) Aid training:
[0076] The rehabilitation training mode is especially suitable for patients who have partial exercise ability but not enough to complete the rehabilitation training task. The specific training methods are as follows:
[0077] Step 1: Create a target position, hold the patient's upper limbs on the handle 10, and the display 26 displays the current position and target position of the telescopic rocker 2;
[0078] Step 2: The patient applies force to the handle 10, while the motion control card 25 additionally sets the output voltage and output current of the first servo motor driver 21, the second servo motor driver 22 and the linear motor driver 23 to move the telescopic rocker 2;
[0079] Step 3: According to the target position and current position, the patient adjusts the applied force, and the motion control card 25 adjusts the output voltage and output current of the first servo motor driver 21, the second servo motor driver 22 and the linear motor driver 23 to expand and contract When the current position of the joystick 2 reaches the target position, a rehabilitation training task is completed.
[0080] The following is the specific control process in the rehabilitation training:
[0081] (1) The patient applies force to the handle 10, and the six-axis force sensor 9 collects the force signal, converts it into an electrical signal, and feeds it back to the computer 19 through the signal conditioner 24. The computer 19 obtains Motion trajectory, and then set the corresponding output voltage and output current of the first servo motor driver 21, the second servo motor driver 22, and the linear motor driver 23 in the motion control card; at the same time, set the output voltage and output current in the motion control card. The output voltage and output current of a servo motor driver 21, a second servo motor driver 22, and a linear motor driver 23 are superimposed to jointly control the operation of the first servo motor 51, the second servo motor 52 and the linear motor to drive the outer arc track 3. The inner arc track 4 and the linear motor stator 17 move;
[0082] (2) Collect the current position signal of the telescopic rocker 2 through the first photoelectric encoder 81, the second photoelectric encoder 82 and the position sensor 13 and feed it back to the motion control card 25, and display it on the display 26; the six-axis force sensor 9 collects The electrical signal from the handle 10 is converted into an electrical signal, amplified by the signal conditioner 24, and fed back to the computer 19, and displayed on the display 26;
[0083] (3) According to the target position and the current position, the patient adjusts the applied force, and the motion control card 25 adjusts the additional output voltage and the additional output voltage of the first servo motor driver 21, the second servo motor driver 22, and the linear motor driver 23. Output current, repeat (2) to make the telescopic rocker 2 reach the target position to complete the training task.
[0084] The above-mentioned embodiments describe the technical solutions of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Anything done within the principle scope of the present invention Any modification, supplement or substitution in a similar manner shall be included in the protection scope of the present invention.
