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Under-actuated upper limb rehabilitation robot control system

A rehabilitation robot and control system technology, applied in the direction of passive exercise equipment, gymnastics equipment, sports accessories, etc., can solve a single problem, only for patients in a specific rehabilitation period, patients with low degree of autonomy and participation, can not be effective Identify the patient's intentions and other issues to achieve the effect of light and flexible actuators, reducing the number of drives, and enriching the types

Active Publication Date: 2017-07-25
HUAZHONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The currently known upper limb rehabilitation robots have the following disadvantages: 1), most of them adopt the joint-driven control mode, which is difficult to control, and the mechanism is bulky and inflexible; 2), the training method is single, and it can only be used for patients in a certain rehabilitation period ; 3) The man-machine interface is single, unable to effectively identify the patient's intention, and the patient's degree of autonomy and participation is low; 4), the degree of intelligence is low, and it is impossible to objectively record or only partially record the relevant data in the patient's rehabilitation process

Method used

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  • Under-actuated upper limb rehabilitation robot control system
  • Under-actuated upper limb rehabilitation robot control system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] The specific process of using passive mode for rehabilitation exercise is as follows:

[0034] The patient’s arm is fixed to the robotic arm of the rehabilitation robot through a strap, and the hand is grasped at the handle of the robotic arm. The rehabilitation physician selects the required rehabilitation training actions through the keyboard and mouse 5 connected to the microcomputer 4 and modifies the corresponding parameters. The computer 4 sends the motion trajectory parameters corresponding to the rehabilitation action to the motion control card 6-2 through the PCI bus. The digital output port of the motion control card 6-2 controls the relay 6-5 to close, and then the relay 6-5 makes the electromagnetic clutch 6 6 and the servo motor 6-3 are powered on, and the motion control card 6-2 converts the motion command into an analog command that can be recognized by the servo drive 6-3 to control the motor motion. At this time, the servo motor 6-3 drives the wire rope to ...

Embodiment 2

[0040] The specific process when using eye movement mode for rehabilitation exercise is as follows:

[0041] The patient’s arm is fixed to the robotic arm of the rehabilitation robot through a strap, and the hand is grasped at the handle of the robotic arm. The eye tracker 2-1 is worn by the patient, and the pupil position is monitored in real time through a miniature camera installed on the eye tracker. And send to the microcomputer 4 through the image acquisition card 2-2, calculate the motion parameters required by the rehabilitation robot through the image algorithm in the microcomputer 4 and send them to the motion control card 6-2 and the motion control card 6-2 through the PCI bus. The digital output port control relay 6-5 closes together, and the relay 6-5 powers up the electromagnetic clutch 6-6 and the servo motor 6-3. At the same time, the motion control card 6-2 converts the motion command to the servo drive 6-3. The recognized analog command controls the motor moveme...

Embodiment 3

[0046] The specific process when using active assist mode for rehabilitation exercise is as follows:

[0047] The patient’s arm is fixed to the robotic arm of the rehabilitation robot through a strap, and the hand is grasped at the handle of the robotic arm. The patient applies a slight force to the handle. The direction of the force is the direction the patient wants to move. The six-dimensional force sensor 2-5 is The six-dimensional force information at the handle can be collected and sent to the microcomputer 4 through the data acquisition card 2-4. The microcomputer 4 calculates the required motion parameters of the rehabilitation robot through the corresponding algorithm and sends it to the motion control card 6 through the PCI bus. -2, the digital output port of the motion control card 6-2 controls the relay 6-5 closely, and then the relay 6-5 powers on the electromagnetic clutch 6-6 and the servo motor 6-3, and the motion control card 6-2 will move The instructions are co...

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Abstract

The invention belongs to the field of medical rehabilitation equipment, and discloses an under-actuated upper limb rehabilitation robot control system. The system comprises a microcomputer and a power-supply distribution module, a data collection module and a motion control module which are connected with the microcomputer; the data collection module comprises an eye tracker, an image collection card, a joint torque sensor, a six-dimensional force sensor, a holding power sensor, a displacement sensor, myoelectric electrodes, a tension sensor and a data collection card, and the motion control module comprises a motion control card, a limiting switch, an emergency stop switch, a servo motor, an electromagnetic clutch and a joint encoder. The system adopts an under-actuated structure, the number of actuators is reduced, the actuators are arranged at the back, an actuating mechanism of the whole rehabilitation robot is light and flexible, and complicated action can be completed.

Description

Technical field [0001] The invention belongs to the field of medical rehabilitation equipment, and more specifically, relates to an under-actuated upper limb rehabilitation robot control system. Background technique [0002] Human upper limbs play an irreplaceable role in various operation tasks in daily life with their strong motor ability. However, motor nerve damage caused by stroke or spinal cord injury may cause upper limb motor dysfunction. These patients with motor dysfunction It is often difficult to take care of themselves, causing a great blow to the patients and their families, and also bringing heavy pressure and burden to the development of society. [0003] Traditional upper limb rehabilitation training is performed one-to-one by rehabilitation therapists. This training method is long, low in efficiency, and difficult to ensure training intensity and accuracy. The patient's participation in the entire rehabilitation process is low and lacks interest. The introduction...

Claims

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Application Information

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IPC IPC(8): A61H1/00A61H1/02A63B23/12
CPCA61H1/00A61H1/0274A61H2201/50A61H2201/5007A61H2201/5058A63B23/12
Inventor 熊蔡华何畅贺磊程小为伍轩
Owner HUAZHONG UNIV OF SCI & TECH
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