A limb rehabilitation robot and its usage method

Abstract

The present invention provides a limb rehabilitation robot, which includes a robot body. The robot body includes a base. Multiple first universal wheels and a motor group for driving the first universal wheels are provided at the bottom of the base. A braking component is provided on the first universal wheels. A controller for controlling the operation of the motor group is provided at the top of the base. The controller includes an MCU, and the MCU is arranged in a housing. A slot is provided on the housing. Multiple touch sensors evenly distributed in a radial shape are provided on the side wall of the slot. Each touch sensor is provided with a corresponding pressure sensor. The touch sensors, pressure sensors, motor group and braking component are all electrically connected to the MCU. A touch shaft is arranged in the slot. A first support plate is arranged on the touch shaft. A first strap for binding a limb is arranged on the first support plate. The limb rehabilitation robot provided by the present invention is applicable to different limb parts and can provide rehabilitation training for bedridden patients.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to a limb rehabilitation robot and a method for using the same. Background Art

[0002] With the aggravation of population aging, the number of stroke patients is increasing. Stroke, also known as "apoplexy" and "cerebrovascular accident", is an acute cerebrovascular disease, which is a group of diseases caused by sudden rupture of brain blood vessels or blood flow obstruction due to blood vessel blockage, resulting in brain tissue damage. The main clinical manifestations are mental disorders, motor, sensory and language disorders. After a period of treatment, except for being conscious, the rest will still exist to varying degrees, and these symptoms become sequelae. Common sequelae include: central paralysis, peripheral paralysis, and hemiplegia. Stroke sequelae seriously affect the normal life of patients and require family members or medical staff to provide daily care, which not only brings great mental pressure to patients, but also brings a heavy economic burden to families.

[0003] Early start of exercise rehabilitation training after stroke can minimize the probability of limb disability. Traditional rehabilitation training is carried out by a rehabilitation physician to provide artificial assistance to patients one-on-one. The existing rehabilitation training devices for stroke patients in the Department of Neurology have a single training mode and can only perform rehabilitation training on a single part of the upper or lower limbs; they are not only expensive and difficult to operate, but also cannot provide rehabilitation training for bedridden patients. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a limb rehabilitation robot and a method for using the same, which are applicable to different limb parts and can provide rehabilitation training for bedridden patients.

[0005] To achieve the above object, the technical solution of the present invention is as follows. A limb rehabilitation robot includes a robot body, and the robot body includes a base. A plurality of first universal wheels and a motor group for driving the first universal wheels are provided at the bottom of the base. A brake assembly is provided on the first universal wheels. A controller for controlling the operation of the motor group is provided at the top of the base. The controller includes an MCU, and the MCU is arranged in a housing. A slot is provided on the housing, and a plurality of touch sensors evenly distributed in a radial shape are provided on the side wall of the slot. Each touch sensor is provided with a corresponding pressure sensor. The touch sensors, pressure sensors, motor group and brake assembly are all electrically connected to the MCU. A touch shaft that can slide freely is provided in the slot. A first support plate is provided on the touch shaft, and a first strap for binding a limb is provided on the first support plate. When the touch sensor is contacted by the touch shaft, touch direction information is generated. When the pressure sensor is contacted by the touch sensor, pressure information is generated. The MCU receives the touch direction information and pressure information, and controls the motor group to adjust the moving direction and speed of the first universal wheels according to the touch direction information and pressure information.

[0006] Optionally, a rocker potentiometer is used to replace the controller. The rocker potentiometer includes a rocker. The rocker is slidably connected to a mounting seat through a first brush plate and a second brush plate. The first brush plate and the second brush plate are vertically crossed in the horizontal direction. A first limiting rib is provided on the first brush plate, and a second limiting rib is provided on the second brush plate. A first limiting groove and a second limiting groove are provided on the mounting seat. The first limiting rib is slidably connected in the first limiting groove, and the second limiting rib is slidably connected in the second limiting groove. Pressure sensors are provided at both ends of the first limiting groove and the second limiting groove. The top end of the rocker is connected to the first support plate. The MCU receives the touch direction information generated by the rocker driving the first brush plate and the second brush plate to move, and the MCU receives the pressure information generated by the pressure sensor being touched by the first brush plate and / or the second brush plate.

[0007] Preferably, the limb rehabilitation robot further includes a fixed slave unit. The fixed slave unit includes a base, and the base is connected to a second support plate through a support rod. A second strap is provided on the second support plate.

[0008] Preferably, the top of the base is connected to the controller through a column. A horizontally arranged first connecting rod is connected to the column, and a horizontally arranged second connecting rod is connected to the support rod. The first connecting rod and the second connecting rod are hinged, and an angle sensor is provided on the hinge shaft. The angle sensor is electrically connected to the MCU.

[0009] Preferably, the limb rehabilitation robot further includes a path input device, the path input device is a slave robot, the slave robot has the same structure as the robot body, and the robot body and the slave robot are connected online to drive two different limbs to move.

[0010] Preferably, the limb rehabilitation robot further includes a path input device, the path input device is a multimedia device, and the robot body is connected online with the multimedia device.

[0011] Preferably, a plurality of second universal wheels are provided at the bottom of the base, the lengths of the first connecting rod and the second connecting rod are adjustable, and the heights of the column and the support rod are adjustable.

[0012] A method for using a limb rehabilitation robot includes the following steps:

[0013] Bind the affected limb of the patient to the robot body. The bound limb drives the touch axis to contact the touch controller through the first support plate. After the touch controller is contacted by the touch axis, touch direction information is generated, and the touch direction information is transmitted to the MCU. The MCU controls the motor set to adjust the moving direction and speed of the first universal wheel according to the touch direction information;

[0014] When the robot body is in the non-resistance training mode, the MCU controls the motor set to only adjust the moving direction of the first universal wheel to be consistent with the touch axis according to the touch direction information, and the brake assembly releases the first universal wheel. The patient drives the robot body to move through the strength of the affected limb itself;

[0015] When the robot body is in the anti-resistance training mode, the MCU controls the motor set to only adjust the moving direction of the first universal wheel to be consistent with the touch axis according to the touch direction information, and controls the brake assembly to brake the first universal wheel. The patient drives the robot body to move through the strength of the affected limb itself to overcome the resistance of the brake assembly;

[0016] When the robot body is in the assistance training mode, the MCU controls the motor set to adjust the moving direction of the first universal wheel to be consistent with the touch axis according to the touch direction information, and drives the first universal wheel to rotate along the moving direction of the touch axis. The patient drives the robot body to move through the assistance of the motor set.

[0017] A method for using a limb rehabilitation robot includes the following steps:

[0018] Connect the robot body online with the path input device, and turn off the touch controller of the robot body;

[0019] Bind the affected limb to the robot body, and place the operating limb on the path input device;

[0020] Adjust the lengths of the first link and the second link according to the length of the affected limb, so that the angle sensor corresponds to the shoulder joint, elbow joint, wrist joint, hip joint, knee joint or ankle joint of the affected limb;

[0021] Adjust the support height of the column and / or the support rod according to the training height of the affected limb, so that the affected limb moves in the horizontal plane;

[0022] Select the training mode of the robot body;

[0023] The real-time motion trajectory or prefabricated motion trajectory input by the path input device;

[0024] The MCU of the robot body receives the motion trajectory input by the path input device, and controls the motor set to drive the first universal wheel to complete the motion trajectory.

[0025] The training mode of the robot body is range of motion training, manual passive training, manual passive reciprocating training or multimedia interactive training.

[0026] Preferably, the MCU of the robot body receives the motion trajectory input by the path input device, and controls the motor set to drive the robot body to complete the motion trajectory in the same or opposite direction.

[0027] Preferably, one end of the joint of the detected limb is fixed on the robot body, and the other end is fixed on the fixed slave unit. The operating side limb inputs the real-time / prefabricated motion trajectory through the path input device. The MCU of the robot body receives the motion trajectory information and issues an instruction to control the motor set to adjust the moving direction and speed of the first universal wheel. When the robot body executes the trajectory information, the pressure sensor and the angle sensor feedback the pressure information and the joint movement angle information, and the controller or the multimedia device detects the range of motion of the joint and the muscle strength / muscle tone of the muscle group involved in the joint according to the pressure information and the joint movement angle information.

[0028] The beneficial effect of the present invention is that when in use, the patient lies on the hospital bed or sits on the chair, binds the affected limb of the patient to the first support plate, and the bound limb drives the touch axis to contact the touch controller through the first support plate. After the touch controller is contacted by the touch axis, it generates touch direction information and transmits the touch direction information to the MCU. The MCU controls the motor set to adjust the moving direction and speed of the first universal wheel according to the touch direction information; the first support plate can bind the upper arm, forearm, palm, thigh, calf or sole of the foot, so that the affected limb performs rehabilitation training in the horizontal plane. One device can meet the rehabilitation training of multiple parts, has a wide range of applications, can save the hospital equipment procurement cost and storage space; selects different training modes according to the function of the patient's affected limb for rehabilitation training, and can meet the training needs of patients in different rehabilitation training stages. Description of the Drawings

[0029] Figure 1 Schematic diagram of the structure of one embodiment of the present invention;

[0030] Figure 2 Schematic diagram of the structure for fixing the auxiliary machine;

[0031] Figure 3 Schematic diagram of the structure of the controller;

[0032] Figure 4 Schematic diagram of the structure of the touch axis;

[0033] Figure 5 Schematic diagram of the structure of the robot auxiliary machine;

[0034] Figure 6 Schematic diagram of the structure of the multimedia device;

[0035] Figure 7 Schematic diagram of the structure of the rocker potentiometer;

[0036] Figure 8 For Figure 7 Schematic diagram of the structure of the mounting base shown;

[0037] Figure 9 For Figure 8 Schematic diagram of the structure of the first limiting groove shown.

[0038] In the figure, 1 is the robot body; 11 is the base; 12 is the first universal wheel; 2 is the column; 21 is the first connecting rod; 3 is the controller; 31 is the housing; 32 is the slot; 33 is the touch controller; 34 is the touch axis; 35 is the pressure sensor; 4 is the first support plate; 41 is the first strap; 5 is the fixed auxiliary machine; 51 is the base; 52 is the support rod; 53 is the second support plate; 54 is the second strap; 55 is the second connecting rod; 56 is the second universal wheel; 6 is the angle sensor; 71 is the robot auxiliary machine; 72 is the multimedia device; 8 is the rocker potentiometer; 81 is the bottom plate; 82 is the insulating substrate; 821 is the resistance film layer; 822 is the connector; 83 is the first brush plate; 831 is the first guiding groove; 832 is the first limiting rib; 84 is the second brush plate; 841 is the second guiding groove; 842 is the second limiting rib; 85 is the mounting base; 851 is the circular relief notch; 852 is the annular protrusion; 853 is the first limiting groove; 854 is the second limiting groove; 86 is the rocker; 861 is the disc; 862 is the circular spring; 87 is the upper cover; 871 is the upper relief notch. Specific embodiments

[0039] The following combines the accompanying drawings and specific embodiments to further specifically illustrate the technical solutions of the present invention:

[0040] Embodiment 1

[0041] Please refer to togetherFigures 1-5 , the limb rehabilitation robot provided in this embodiment includes a robot body 1. The robot body 1 includes a base 11. A plurality of first universal wheels 12 and a motor group for driving the first universal wheels 12 are provided at the bottom of the base 11. A braking assembly is provided on the first universal wheels 12. A controller 3 for controlling the operation of the motor group is provided on the top of the base 11. The controller 3 includes an MCU. The MCU is arranged in a housing 31. A slot 32 is provided on the housing 31. A plurality of touch sensors 33 evenly distributed in a radial shape are provided on the side wall of the slot 32. Each touch sensor 33 is provided with a corresponding pressure sensor 35. The touch sensors 33, pressure sensors 35, motor group, and braking assembly are all electrically connected to the MCU. A touch shaft 34 that can freely slide in the slot 32 is provided in the slot 32. A first support plate 4 is provided on the touch shaft 34. A first strap 41 for binding a limb is provided on the first support plate 4. After the touch sensor 33 is touched by the touch shaft 34, touch direction information is generated. After the pressure sensor 35 is touched by the touch sensor 33, pressure information is generated. The MCU controls the motor group to adjust the moving direction and rotation speed of the first universal wheel 12 according to the touch direction information and pressure information.

[0042] When in use, the patient lies on the hospital bed or sits on the chair, and the affected limb of the patient is bound to the first support plate 4. The bound limb drives the touch shaft 34 to contact the touch sensor 33 through the first support plate 4. After the touch sensor 33 is touched by the touch shaft 34, touch direction information is generated and transmitted to the MCU. The MCU controls the motor group to adjust the moving direction and rotation speed of the first universal wheel 12 according to the touch direction information. The pressure sensor 35 can detect the pressure exerted by the touch shaft 34 on the touch sensor 33 and feedback the pressure value to the MCU. The MCU selects different training modes according to the information fed back by the touch sensor 33 and the pressure sensor 35. The first support plate 4 can bind the upper arm, forearm, palm, thigh, calf or foot, enabling the affected limb to perform rehabilitation training in the horizontal plane. One device can meet the rehabilitation training needs of multiple parts, with a wide range of applications, saving the hospital's equipment procurement cost and storage space. According to the function of the patient's affected limb, select the non-resistance training mode, anti-resistance training mode, and assistive training mode for training, which can meet the training needs of patients in different rehabilitation training stages.

[0043] The pressure sensor 35 is annular, and there is a gap between the touch controller 33 and the pressure sensor 35. The touch controller 33 and the pressure sensor 35 can be used as a two-stage switch, which can provide three different touch direction information; in the first case, if the affected limb cannot drive the touch shaft 34 to contact the touch controller 33, the robot body drives the affected limb for passive training; in the second case, if the affected limb can drive the touch shaft 34 to contact the touch controller 33, but the touch controller 33 cannot contact the pressure sensor 35, the robot body provides assistance, and the affected limb performs active assisted training; in the third case, if the affected limb can drive the touch shaft 34 to contact the touch controller 33, and the touch controller 33 can contact the pressure sensor 35, the robot body provides resistance, and the affected limb performs active resistance training.

[0044] More specifically, the limb rehabilitation robot further includes a fixed sub-machine 5. The fixed sub-machine 5 includes a base 51. The base 51 is connected to a second support plate 53 through a support rod 52. A second strap 54 is provided on the second support plate 53; when the robot body 1 is bound to the forearm / calf, the fixed sub-machine 5 provides support for the upper arm / thigh, which can prevent the upper arm / thigh from hanging in the air, reduce the pressure on the elbow joint / knee joint, and improve comfort.

[0045] More specifically, the top of the base 11 is connected to the controller 3 through a column 2. A horizontally arranged first connecting rod 21 is connected to the column 2. A horizontally arranged second connecting rod 55 is connected to the support rod 52. The first connecting rod 21 and the second connecting rod 55 are hinged, and an angle sensor 6 is provided on the hinge axis. The angle sensor 6 is electrically connected to the MCU. The axis line of the angle sensor 6 coincides with the axis line of the joint rotation of the rehabilitation part; by detecting the active joint range of motion and the passive joint range of motion through the angle sensor 6, medical staff can formulate targeted training plans based on the active joint range of motion and the passive joint range of motion to improve the rehabilitation efficiency; patients can also intuitively grasp the progress during the training through numbers, thereby relieving the anxiety of patients, enhancing confidence and training enthusiasm.

[0046] More specifically, the limb rehabilitation robot further includes a path input device, which is the slave robot 71. The slave robot 71 has the same structure as the robot main body 1. The robot main body 1 and the slave robot 71 are connected online to drive two different limbs to move. When in use, the patient lies on the hospital bed or sits on the chair. The robot main body 1 and the slave robot 71 are respectively placed on both sides of the body. The affected limb is bound to the robot main body 1, and the operating limb is placed on the slave robot 71. The slave robot 71 is driven to move by the operating limb. The robot main body 1 collects the movement trajectory of the slave robot 71 and completes the movement trajectory of the slave robot 71 in the same or opposite direction. Or the robot main body 1 and the slave robot 71 are respectively placed on the same side of the body, and the affected limb is driven to move by the limb on the same side. It is possible to select any combination of the four limbs for limb training, realize the associated movement or separated movement between the limbs, promote the nerve recovery of the affected limb through the associated reaction between the limbs, and break the associated reaction through the associated and separated reaction training between the limbs, so as to realize the free control of the limbs and greatly improve the rehabilitation effect.

[0047] More specifically, a plurality of second universal wheels 56 are provided at the bottom of the base 51. When the robot main body 1 is bound to the upper arm / thigh and the fixed slave 5 provides support for the lower arm / lower leg, the second universal wheels 56 enable the base 51 to move along with the robot main body 1, can prevent the lower arm / lower leg from hanging in the air, reduce the pressure on the elbow joint / knee joint, and improve the comfort level. The lengths of the first connecting rod 21 and the second connecting rod 55 can be adjusted, which can meet the usage requirements of rehabilitation training for patients of different heights and different parts. The heights of the column 2 and the support rod 52 can be adjusted, and the support height can be adjusted according to the height of the bed on which the patient lies or the height of the limb off the ground when the patient sits upright, so as to meet the usage requirements of rehabilitation training for different patients.

[0048] Embodiment 2

[0049] Please refer to Figure 6 , this embodiment is basically the same as the technical solution provided in Embodiment 1. The difference is that the path input device is a multimedia device 72, and the robot main body 1 is connected online with the multimedia device 72. In this embodiment, the multimedia device is a computer, and the movement trajectory of the mouse movement can be used as the movement trajectory of the rehabilitation training. Medical staff can select the pre-set movement trajectory for training, or the patient's operating hand can drag the mouse, and the robot main body 1 moves in real time according to the movement trajectory of the mouse. During the training process, the action trajectory is displayed on the display, and the left and right keys of the mouse can respectively correspond to the forward and reverse rotations of the motor group, so as to realize that the robot main body 1 completes the real-time movement trajectory or the prefabricated movement trajectory input by the multimedia device 72 in the same or opposite direction.

[0050] Embodiment 3

[0051] Please refer to Figures 7-9, this embodiment is basically the same as the technical solutions provided in Embodiment 1 or Embodiment 2. The difference is that a rocker potentiometer 8 is used to replace the controller 3. The rocker potentiometer 8 includes a bottom plate 81, an insulating substrate 82, a first brush plate 83, a second brush plate 84, a mounting seat 85, and an upper cover 87 arranged in sequence from bottom to top. An upper relief notch 871 is provided in the upper cover 87. A resistive film layer 821 is provided on the insulating substrate 82. The end of the resistive film layer 821 is connected to a connector 822. The connector 822 is connected to the MCU to transmit the touch direction information generated by the movement of the first brush plate 83 and the second brush plate 84 to the MCU. The first brush plate 83 and the second brush plate 84 are vertically crossed in the horizontal direction; a first guide groove 831 is provided on the first brush plate 83. The first guide groove 831 is arranged along the long side direction of the first brush plate 83. A first conductive elastic sheet is provided at the bottom of the first brush plate 83. A second guide groove 841 is provided on the second brush plate 84. The second guide groove 841 is arranged along the long side direction of the second brush plate 84. A second conductive elastic sheet is provided at the bottom of the second brush plate 84. Both the first conductive elastic sheet and the second conductive elastic sheet are in matching contact with the resistive film layer 821; a circular relief notch 851 is provided on the mounting seat 85. A rocker 86 is provided in the circular relief notch 851. The rocker 86 passes through the first guide groove 831, the second guide groove 841, and the upper relief notch 871. A disc 861 is fixed outside the rocker 86. The disc 861 is coaxially arranged with the rocker 86. The diameter of the disc 861 is larger than the diameter of the upper relief notch 871. The disc 861 abuts against the bottom of the upper relief notch 871. An annular protrusion 852 is provided on the mounting seat 85 around the circular relief notch 851. The outer diameter of the annular protrusion 852 is equal to the diameter of the disc 861. The diameters of the upper relief notch 871 and the circular relief notch 851 are the same. The disc 861 is arranged on the annular protrusion 852, which can effectively ensure the position of the disc 861. A circular spring 862 is sleeved outside the disc 861 and the annular protrusion 852. When the rocker 86 is toggled, the disc 861 moves to one side, driving the circular spring 862 to move to one side. The outer wall of the annular protrusion 852 restricts the position of the circular spring 862, causing the circular spring 862 to be stretched, ensuring that the rocker 86 can achieve a stable and reliable reset action.

[0052] Two first sliding strips are provided at the bottom of the first brush plate 83, and two second sliding strips are provided at the bottom of the second brush plate 84; the downwardly protruding sliding strips can reduce the contact area between the brush plate and the insulating substrate 82, thereby reducing the friction when the brush plate slides, effectively improving the smoothness of toggling the rocker 86, and at the same time being able to extend the service life of the rocker potentiometer 8.

[0053] Above the first brush plate 83, there is a first limiting rib 832. Above the second brush plate 84, there is a second limiting rib 842. At the bottom of the mounting seat 85, there are a first limiting groove 853 and a second limiting groove 854. The first limiting rib 832 is slidably connected within the first limiting groove 853, and the second limiting rib 842 is slidably connected within the second limiting groove 854. Pressure sensors 35 are provided at both ends of the first limiting groove 853 and the second limiting groove 854. The top end of the rocker 86 is connected to the first support plate 4.

[0054] The bound limb drives the rocker 86 to move through the first support plate 4. The rocker 86 drives the first brush plate 83 and the second brush plate 84 to move. The MCU obtains the touch direction information. When the displacement of the first brush plate 83 and / or the second brush plate 84 touches the pressure sensors provided at both ends, the MCU can obtain the pressure information.

[0055] A method for using a limb rehabilitation robot includes the following steps:

[0056] Bind the affected limb of the patient to the robot body 1. The bound limb drives the touch shaft 34 to contact the touch controller 33 through the first support plate 4. After the touch controller 33 is contacted by the touch shaft 34, touch direction information is generated and transmitted to the MCU. The MCU controls the motor set to adjust the moving direction and speed of the first universal wheel 12 according to the touch direction information.

[0057] When the robot body 1 is in the non-resistance training mode, the MCU controls the motor set to only adjust the moving direction of the first universal wheel 12 to be consistent with that of the touch shaft 34 according to the touch direction information, and the brake assembly releases the first universal wheel 12. The patient drives the robot body 1 to move through the strength of the affected limb itself.

[0058] When the robot body 1 is in the anti-resistance training mode, the MCU controls the motor set to only adjust the moving direction of the first universal wheel 12 to be consistent with that of the touch shaft 34 according to the touch direction information, and controls the brake assembly to brake the first universal wheel 12. The patient drives the robot body 1 to move through the strength of the affected limb itself to overcome the resistance of the brake assembly.

[0059] When the robot body 1 is in the assistance training mode, the MCU controls the motor set to adjust the moving direction of the first universal wheel 12 to be consistent with that of the touch shaft 34 according to the touch direction information, and drives the first universal wheel 12 to rotate along the moving direction of the touch shaft 34. The patient drives the robot body 1 to move through the assistance of the motor set.

[0060] A method for using a limb rehabilitation robot includes the following steps:

[0061] Connect the robot body 1 to the path input device, and turn off the touch controller 33 of the robot body 1;

[0062] Bind the affected limb to the robot body 1, and place the operating limb on the path input device;

[0063] Adjust the lengths of the first link 21 and the second link 55 according to the length of the affected limb, so that the angle sensor 6 corresponds to the shoulder joint, elbow joint, wrist joint, hip joint, knee joint or ankle joint of the affected limb;

[0064] Adjust the support height of the column 2 and / or the support rod 52 according to the training height of the affected limb, so that the affected limb moves in the horizontal plane;

[0065] Select the training mode of the robot body 1;

[0066] The real-time motion trajectory or prefabricated motion trajectory input by the path input device;

[0067] The MCU receives the motion trajectory input by the path input device, and controls the motor group to drive the first universal wheel 12 to complete the motion trajectory.

[0068] More specifically, the path input device is the robot slave 71. The MCU receives the motion trajectory of the robot slave 71, and controls the motor group to drive the robot body 1 in the same or opposite direction to complete the motion trajectory of the robot slave 71;

[0069] More specifically, the path input device is the multimedia device 72. The MCU receives the real-time motion trajectory or prefabricated motion trajectory input by the multimedia device 72, and controls the motor group to drive the robot body 1 in the same or opposite direction to complete the real-time motion trajectory or prefabricated motion trajectory input by the multimedia device 72.

[0070] More specifically, one end of the detected limb joint is fixed on the robot body 1, and the other end is fixed on the fixed slave 5. The operating limb inputs the real-time / prefabricated motion trajectory through the path input device. The MCU of the robot body 1 receives the motion trajectory information, and issues an instruction to control the motor group to adjust the first universal wheel 12 to adjust the moving direction and speed. When the robot body 1 executes the trajectory information, the pressure sensor 35 and the angle sensor 6 feedback the pressure information and the joint movement angle information. The controller or the multimedia device detects the joint mobility and the muscle strength / muscle tone of the muscle groups involved in the joint according to the pressure information and the joint movement angle information.

[0071] Specific applications of the limb rehabilitation robot

[0072] The joint range of motion, also known as the joint range of movement, refers to the maximum arc that can be reached when the joint moves; joint movement is divided into active and passive, and the joint range of movement is divided into the active range of movement and the passive range of movement.

[0073] Muscle tone is the degree of tension in a muscle at rest, manifested as minute and continuous involuntary contractions of muscle tissue.

[0074] Coordinated movement refers to the coordinated action of muscle groups related to a specific movement or action in a certain spatio-temporal relationship under the control of the central nervous system, resulting in smooth, accurate, and controlled movement.

[0075] Assessment

[0076] I. Range of motion assessment of joints (detecting the range of motion of a joint)

[0077] One end of the joint of the limb to be detected is fixed on the robot body 1, and the other end is fixed on the fixed slave unit 5. The operator moves the robot slave unit 71 or the mouse of the multimedia device 72 with the operating limb to generate trajectory information of a real-time / pre-set motion trajectory and set program information, and transmits this information to the robot body 1. The robot body 1 processes this information according to the set program and executes it. When the robot body 1 executes the trajectory information, it feeds back information. The controller or the multimedia processor assesses the passive range of motion of the joint based on the command information received by the robot body 1 and the feedback information during the execution process.

[0078] The assessment of the range of motion of joints is mainly based on the angle values of joint movements measured by the angle sensor 6.

[0079] II. Assessment of muscle tone (detecting the muscle tone of a group of muscle groups)

[0080] The application method of assessing muscle tone is basically the same as that of assessing the range of motion of joints. The difference lies in that one end of a group of muscle groups across the joint of the limb to be detected is fixed on the robot body 1, and the other end is fixed on the fixed slave unit 5. The controller or the multimedia processor assesses the muscle tone based on the command information received by the robot body 1 and the feedback information during the execution process.

[0081] The assessment of muscle tone is mainly based on the angle values of joint movements and the pressure values of the pressure sensor.

[0082] III. Assessment of muscle strength (detecting the muscle strength of a group of muscle groups)

[0083] One end of a group of muscle groups across the joint of the limb to be detected is fixed on the robot body 1, and the other end is fixed on the fixed slave unit 5 → the robot body 1 moves to make the touch axis 34 in the robot in the initial position → the person to be detected starts to move.

[0084] 1. If the touch axis 34 of the robot body 1 does not move, it reflects that the muscle does not contract or the muscle contracts but cannot produce movement;

[0085] 2. The touch axis 34 of the robot body 1 moves, but the touch axis 34 cannot reach the pressure sensor. The reactive muscle contracts and can generate movement without resisting gravity.

[0086] 3. The touch axis 34 of the robot body 1 moves, and the touch axis 34 reaches the pressure sensor.

[0087] Evaluation method:

[0088] A. Divide the levels by setting the values of the pressure sensor. When the contraction of the muscle group generates movement to overcome the set resistance level, the robot starts to move.

[0089] B. When the movement of the limb causes the toucher 33 of the robot body 1 to touch the pressure sensor, the robot body 1 starts to move. By adjusting the resistance of the brake assembly, the pressure value of the toucher on the pressure sensor during the movement generated by the muscle contraction is reflected. The pressure value is the muscle strength value. The muscle strength of the muscle group is judged by calculating the pressure value, speed, and angle.

[0090] The patient starts to move the limb.

[0091] 1. If the toucher 33 does not move, it indicates that the muscle does not contract or the contraction cannot generate movement.

[0092] 2. If the toucher 33 moves, but the toucher 33 does not touch the pressure sensor, it indicates that the muscle strength can contract without resisting gravity.

[0093] 3. In case 1, first set the pressure level that can start the movement of the robot body 1 when the toucher 33 touches the pressure sensor. When the muscle contraction reaches this level, the robot body 1 starts to move; in case 2, when the muscle contraction generates movement, the robot starts to move. The pressure value when the toucher 33 touches the pressure sensor is the muscle strength value. At the same time, the pressure value, together with the angle and speed, jointly judges the muscle strength of the cluster.

[0094] IV. Evaluation of limb coordination control (specifically for patients with limb coordination function disorders)

[0095] 1. Detect the coordination control ability of one limb

[0096] The limb of the subject is fixed on the robot body 1 → the robot body 1 moves to make the toucher 33 in the initial position → formulate a real-time / pre-prepared movement trajectory through the multimedia device 72 and display the movement trajectory on the display → the limb to be examined controls the robot body 1 to complete the action according to the requirements → the robot body 1 feeds back information during the execution of the movement trajectory → the controller or the multimedia processor evaluates the limb coordination control according to the formulated or pre-prepared instruction information and the feedback information during the execution process.

[0097] 2. Detect the coordinated control ability between limbs

[0098] One limb is fixed on the main body 1 of the robot, and the other limb is fixed on the auxiliary machine 71 of the robot → The main body 1 of the robot moves to make the touch controller 33 in the initial position → Formulate and prefabricate a motion trajectory through the multimedia device, and display the motion trajectory on the display → Both limbs complete the actions as required → The main body 1 of the robot and the auxiliary machine 71 of the robot feedback information during the execution of the motion trajectory → The controller or the multimedia processor evaluates the coordinated control between the limbs according to the formulated or prefabricated instruction information and the feedback information during the execution process.

[0099] The difference between detecting the coordinated control ability between limbs and detecting the coordinated control ability of one side is that: the coordinated control ability between both limbs reflects the degree of cooperation between both limbs; the coordinated ability of one limb reflects the coordinated ability between different muscle groups of one limb.

[0100] V. Evaluation of the completion degree of limb movements

[0101] 1. Evaluation of the completion degree of passive limbs

[0102] The limb to be detected is fixed on the main body 1 of the robot, and the trajectory information and the set program information of the motion trajectory generated by the manipulative limb moving the auxiliary machine 71 of the robot and the mouse, or the motion trajectory formulated and prefabricated by the multimedia device 72 → Transmit these instruction information to the main body 1 of the robot → The main body 1 of the robot processes these instruction information according to the set program and executes → The main body 1 of the robot feedbacks information during the execution of the motion trajectory → The controller or the multimedia processor evaluates the passive joint range of motion according to the instruction information received by the main body of the robot and the feedback information during the execution process.

[0103] The evaluation of the completion degree of passive limbs is similar to the evaluation of the joint range of motion. The difference is that the joint range of motion measures the information of the range of motion of one joint, while the completion degree of passive limbs measures the completion degree information of multiple joints jointly completing one action.

[0104] 2. Evaluation of the completion degree of active limbs

[0105] The limb to be detected is fixed on the main body 1 of the robot, and the manipulative limb moves the auxiliary machine 71 of the robot and the mouse to generate a motion trajectory, or the motion trajectory formulated and prefabricated by the multimedia device 72, display the motion trajectory on the display or the desktop, and transmit these instruction information to the main body 1 of the robot → The limb to be examined controls the main body 1 of the robot to complete the action as required → The main body 1 of the robot feedbacks information during the execution of the motion trajectory → The controller or the multimedia processor evaluates the completion degree of active limbs according to the formulated or prefabricated instruction information and the feedback information during the execution process.

[0106] The assessment of the completion degree of active limb movements mainly detects the range of joint motion and the ability of active muscle control. It reflects a comprehensive ability.

[0107] Treatment

[0108] I. Range of motion training of joints

[0109] One end of the limb joint to be trained is fixed on the robot body 1, and the other end is fixed on the fixed slave unit 5 → The manipulative limb moves the robot slave unit 71, the movement trajectory generated by the mouse, or the trajectory information and set program information of the movement trajectory formulated and prefabricated by the multimedia device 72 → Transmit this information to the robot body 1 → The robot body 1 processes this information according to the set program and executes → The robot body 1 feeds back information in real time during the execution of the movement trajectory → The controller or the multimedia processor judges the training effect according to the command information received by the robot body 1 and the feedback information during the execution process.

[0110] The range of motion training of joints has automatic, manual, and manual back-and-forth training. Automatic training is based on the data detected by the range of joint motion and completes the range of motion training according to the set program; manual training is based on the movement trajectory generated by the robot slave unit and the mouse, and the robot body executes these instructions; manual back-and-forth training is the manual mode plus pressing the back-and-forth training key, and the training stops when the data detected by the robot body reaches the set value.

[0111] II. Passive stretching training

[0112] The distal end of the limb joint to be trained is fixed on the robot body 1, and the proximal end is fixed on the fixed slave unit 5 → The manipulative limb moves the robot slave unit 71, the movement trajectory generated by the mouse, or the trajectory information and set program information of the movement trajectory formulated and prefabricated by the multimedia device 72 → Transmit this information to the robot body 1 → The robot body 1 processes this information according to the set program and executes → The robot body 1 feeds back information in real time during the execution of the movement trajectory → The controller or the multimedia processor evaluates the effect of passive stretching training according to the command information received by the robot body 1 and the feedback information during the execution process.

[0113] The difference between passive range of motion training and passive stretching training is that passive range of motion training mainly increases the range of joint motion, while passive stretching training mainly reduces muscle tension. Therefore, the time for maintaining passive stretching at the end of joint training will be longer.

[0114] III. Co-directional training and separation training between limbs

[0115] One limb is fixed on the robot main body 1, and the other limb is fixed on the robot slave unit 71 → The robot main body 1 moves to place the touch controller 33 in the initial position → The operating limb moves the robot slave unit 71, the movement trajectory generated by the mouse, or the trajectory information of the movement trajectory formulated and prefabricated by the multimedia device 72 and the set program information → Transmit this information to the robot main body 1 → The two limbs control the robot main body 1 and the robot slave unit 71 to perform co-directional training and separation training according to the set program → The robot main body 1 and the robot slave unit 71 collect feedback information in real time during the execution process → The controller or the multimedia processor judges the training effect according to the formulated or prefabricated instruction information and the feedback information during the execution process.

[0116] The mirror training and separation training between limbs include passive and active. Passive includes bilateral passive and unilateral passive. Bilateral passive means that both sides are trained in the same direction and separated by the movement trajectories formulated and prefabricated by the multimedia device; unilateral passive activity means that the affected side generates co-directional or separation training according to the activities of the operating side. Co-directional training is not limited to bilateral, and it may be both lower limbs and both upper limbs. The set program includes the pressure magnitude for starting and terminating the movement when the touch axis 34 of the robot main body 1 touches the pressure sensor 35.

[0117] IV. Automatic Switching Mode Training

[0118] The training limb is fixed on the robot main body

[0119] The operating limb moves the robot slave unit 71, the movement trajectory generated by the mouse, or the trajectory information of the movement trajectory formulated and prefabricated by the multimedia device 72 and the set program information → Transmit this information to the robot main body 1 → The robot main body 1 processes this information according to the set program and executes it → The robot main body 1 feeds back information in real time during the execution of the movement trajectory → The controller adjusts the training mode according to this feedback information. The controller 3 or the multimedia processor 72 judges the effect of the automatic switching mode training according to the instruction information received by the robot main body 1 and the feedback information during the execution process.

[0120] The automatic switching mode first formulates instructions, and then the robot main body 1 completes these instructions. When the robot main body 1 detects active muscle contraction, increased muscle tone, or restricted joint range of motion, it will make corresponding mode adjustments.

[0121] V. Active Training

[0122] 1. Assistive Mode Training

[0123] The training side limb is fixed on the robot body 1 → The robot body 1 moves to make the touch controller in the initial position → The system sets the program → When the training side limb moves and the touch controller 33 generates a direction, the robot body 1 provides assistance in the same direction → The robot body 1 provides real-time feedback information during the movement trajectory → The controller or the multimedia processor judges the effect of the active assistance mode training according to the instruction information received by the robot body 1 and the feedback information during the execution process.

[0124] For active training, muscle contraction must occur to move the touch controller 33; the magnitude of the assistance is reflected by the touch pressure sensor 35 of the touch controller 33, and the duration, speed, and magnitude of the assistance are set through the multimedia system.

[0125] 2. Resistance-free active training

[0126] The training side limb is fixed on the robot body 1 → The robot body 1 moves to make the touch controller 33 in the initial position → When the training side limb moves and the touch controller 33 generates a direction, the robot body provides assistance and follows in the same direction → The robot body 1 provides real-time feedback information during the execution of the movement trajectory → The controller or the multimedia processor judges the effect of the resistance-free active mode training according to the feedback information during the movement of the robot body 1.

[0127] 3. Resistance training

[0128] The training side limb is fixed on the robot body 1 → The robot body 1 moves to make the touch controller 33 in the initial position → The system sets the program → When the training side limb moves and the touch controller 33 generates a direction, the robot body 1 moves in the opposite direction or increases the brake → The robot body 1 collects feedback information during the execution process → The controller or the multimedia processor judges the effect of the resistance training mode according to the instruction information received by the robot body 1 and the feedback information during the execution process.

[0129] The system setting program includes setting the magnitude of the resistance, and the magnitude of the resistance is the pressure generated when the touch controller 33 touches the pressure sensor. For example, when the resistance is 10, the training side limb moves and the touch controller touches the pressure sensor, and the resistance must reach more than 10 to be able to move.

[0130] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A limb rehabilitation robot, characterized in that: It includes a robot body (1), and the robot body (1) includes a base (11). Multiple first universal wheels (12) and a motor group for driving the first universal wheels (12) are provided at the bottom of the base (11). A braking component is provided on the first universal wheels (12). A controller (3) for controlling the operation of the motor group is provided at the top of the base (11). The controller (3) includes an MCU, and the MCU is arranged inside a housing (31). A slot (32) is provided on the housing (31). Multiple touch sensors (33) are evenly distributed in a radial shape on the side wall of the slot (32). Each touch sensor (33) is provided with a corresponding pressure sensor (35). The touch sensors (33), pressure sensors (35), motor group, and braking component are all electrically connected to the MCU. A touch shaft (34) that can slide freely is provided in the slot (32). A first support plate (4) is provided on the touch shaft (34). A first strap (41) for binding a limb is provided on the first support plate (4). After being touched by the touch shaft (34), the touch sensor (33) generates touch direction information. After being touched by the touch sensor (33), the pressure sensor (35) generates pressure information. The MCU receives the touch direction information and pressure information, and controls the motor group to adjust the moving direction and rotation speed of the first universal wheels (12) according to the touch direction information and pressure information; It further includes a fixed slave unit (5). The fixed slave unit (5) includes a base (51). The base (51) is connected to a second support plate (53) through a support rod (52). A second strap (54) is provided on the second support plate (53); The top of the base (11) is connected to the controller (3) through a column (2). A horizontally arranged first connecting rod (21) is connected to the column (2). A horizontally arranged second connecting rod (55) is connected to the support rod (52). The first connecting rod (21) and the second connecting rod (55) are hinged, and an angle sensor (6) is provided on the hinge axis. The angle sensor (6) is electrically connected to the MCU; Multiple second universal wheels (56) are provided at the bottom of the base (51). The lengths of the first connecting rod (21) and the second connecting rod (55) are adjustable.

2. The limb rehabilitation robot according to claim 1, characterized in that: It further includes a path input device. The path input device is a robot slave unit (71). The robot slave unit (71) has the same structure as the robot body (1). The robot body (1) and the robot slave unit (71) are connected online to drive two different limbs to move.

3. The limb rehabilitation robot according to claim 1, characterized in that: It further includes a path input device. The path input device is a multimedia device (72). The robot body (1) and the multimedia device (72) are connected online.

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