Mechanical arm driving and driven control device with damping feedback

Abstract

The invention discloses a mechanical arm driving and driven control device with damping feedback. The mechanical arm driving and driven control device comprises a driving controller and a driven mechanism. The main controller is provided with a joint mechanism with adjustable rotating damping force. The joint mechanism comprises a main shaft. A first installation seat plate and a second installation seat plate which can rotate relatively are arranged on the main shaft. A friction disk is fixed to the first installation seat plate. A driving mechanism which makes contact with and rubs with the friction disk so as to change the rotating damping force of the friction disk is arranged on the second installation seat plate. A joint and a joint executer for driving the joint to move are arranged on the driven mechanism. An angle sensor for detecting the relative rotating angle of the first installation seat plate and the second installation seat plate and a driven sensor for detecting the movement of the joint of the driven mechanism are both connected with a controller. The joint mechanism of the driving controller is controlled by the controller to do the movement suitable for the movement of the corresponding joint of the driven mechanism according to the feedback of the corresponding joint of the driven mechanism in a self-adaptive mode, and then the teaching-playing function and the damping force feedback function are achieved.

Description

technical field [0001] The invention relates to the field of medical instruments, in particular to a master-slave manipulation device of a mechanical arm with damping feedback. Background technique [0002] With the aggravation of the aging trend in our country, human motor dysfunction (that is, the nerve damage of the human body caused by spinal injury, stroke, accident injury, etc.) has become a common disease. Through timely and effective rehabilitation training, the central nervous system of the brain can be stimulated to restore some functions, eliminate the limb motor dysfunction caused by motor neuron damage, and improve the patient's motor ability. With the development of economy and technology in recent years, the use of automated systems to help patients recover has become the mainstream of rehabilitation training at home and abroad. [0003] Rehabilitation training equipment can cooperate with physical therapists to treat patients and help patients perform rehabi...

AI Technical Summary

Problems solved by technology

Although the existing rehabilitation training equipment has been developed for many years, and some have been applied to clinical treatment, there are still deficiencies in use: the movement posture curve data of rehabilitation training is pre-stored in the memory of the control system, and these data It collects the data of walking gait curve or upper limb activity of most normal people, and obtains the data after statistical analysis. It is difficult to learn to effectively operate the existing rehabilitation equipment, let alone write programs in time to adjust the training action curve data for each patient

Rehabilitation training equipment is supposed to cooperate with the physiotherapist's treatment and play an auxiliary role, but now it affects the patient's treatment process due to manipulation problems

Images