A kind of household portable elbow joint function auxiliary device and control method

Abstract

The present invention provides a household portable elbow joint function assistive device, comprising: a power transmission mechanism, including a shell and a synchronous belt arranged in the shell; a driving mechanism, including a driving motor and a current sensor; an elbow tray, fixedly connected to the driving motor; an elbow motion actuator, including a driven shaft, a forearm connecting rod, a special-shaped shaft, a coil spring, a machine cover and a transparent cover; a forearm tray, fixedly connected to the forearm connecting rod; and a central control module for control, including an operation interface, a central controller and a motor driver, wherein an acceleration sensor is also provided at the driven shaft, and a plane section and a rectangular boss are respectively provided at both ends of the special-shaped shaft, the plane section is connected to an angular velocity sensor, and a pressure sensor dot matrix is ​​also provided at the forearm tray. The present invention also provides a control method for a household portable elbow joint function assistive device to control the household portable elbow joint function assistive device.

Description

Technical Field

[0001] The invention belongs to the technical field of rehabilitation engineering, and in particular relates to a household portable elbow joint function assistive device and a control method. Background Art

[0002] As an automated and intelligent rehabilitation medical device, rehabilitation robots can effectively make up for the deficiencies of subjective factors such as the experience, emotions and physical strength of physiotherapists in traditional rehabilitation treatment, so that patients can independently carry out active rehabilitation training. Active training methods are suitable for patients in the middle and late stages of rehabilitation, aiming to guide patients to actively move and realize interactive control between robots and patients. Rehabilitation function assistive devices assist patients in completing corresponding rehabilitation training movements by providing certain assistance to patients, thereby avoiding secondary injuries to patients. However, in the prior art, rehabilitation function assistive devices are relatively large in size, and the assistance provided cannot be adjusted in real time according to the different conditions of different patients, and their practicality and convenience are poor. Summary of the invention

[0003] The present invention is made to solve the above-mentioned problems, and its purpose is to provide a household portable elbow joint function assisting device and a control method.

[0004] The present invention provides a household portable elbow joint function assistive device, which has the following features: a power transmission mechanism, including a shell and a synchronous belt arranged in the shell; a driving mechanism, including a driving motor connected to the synchronous belt and a current sensor connected to the driving motor for collecting real-time current data; an elbow tray, fixedly connected to the driving motor and used for placing the elbow; an elbow motion actuator, including a driven shaft arranged in the shell, a forearm connecting rod connected to the driven shaft, a special-shaped shaft connected to the driven shaft, a coil spring connected to the driven shaft, a machine cover arranged outside the coil spring, and a transparent cover connected to the machine cover; a forearm tray, fixedly connected to the forearm connecting rod and used for placing the forearm; and a central control module, which is used for control, including an operation interface, a central controller and The motor driver is provided with an acceleration sensor at the driven shaft for collecting the rotation speed, and a flat section and a rectangular boss are provided at both ends of the special-shaped shaft respectively. The flat section is connected with an angular velocity sensor for real-time monitoring of the rotation angle. A pressure sensor matrix is ​​provided at the forearm tray for obtaining target position pressure information, including pressure distribution information of the contact surface between the patient's arm and the arm tray, as well as the size of the pressure data and the pressure data change trend. The current sensor, acceleration sensor, angular velocity sensor and pressure sensor matrix are all connected to the central controller for communication to transmit the collected data to the central controller for data processing, and the data are displayed on the operation interface. The motor driver is connected to the drive motor via the Modbus bus for controlling the drive motor.

[0005] The portable household elbow joint functional assistive device provided by the present invention may also have the following features: the transparent cover is provided with six evenly distributed rectangular grooves, and the machine cover is provided with six evenly distributed bosses. The transparent cover and the machine cover are connected by matching the rectangular grooves and the bosses. The transparent cover is rotated by changing the matching of the rectangular grooves and the bosses to quantitatively adjust the preload force of the coil spring. The single rotation angle of the transparent cover is 60°.

[0006] The portable elbow joint functional assistive device for home use provided by the present invention may also have the following features: wherein a synchronous belt is arranged around the rotating shaft and the driven shaft of the driving motor, and the driving motor drives the driven shaft to rotate through the synchronous belt to drive the forearm connecting rod to move.

[0007] The portable household elbow joint functional assistive device provided by the present invention may also have the following features: a transparent cover through hole is provided at the center of the transparent cover, and a special-shaped shaft is also provided with a special-shaped shaft flange. The transparent cover through hole is used in conjunction with the special-shaped shaft, and the aperture of the transparent cover through hole is slightly larger than the diameter of the special-shaped shaft flange.

[0008] In the household portable elbow joint functional assistive device provided by the present invention, it can also have the following features: wherein, the driven shaft is also provided with a large rectangular incision, and the rectangular boss is used in conjunction with the large rectangular incision, and the driven shaft drives the special-shaped shaft to move through the large rectangular incision, so that the movement characteristics of the driven shaft and the special-shaped shaft are consistent, and further drive the angle sensor to move to measure the rotation angle, and the thickness of the rectangular boss is less than 1% of the opening width of the large rectangular incision.

[0009] The portable elbow joint functional assistive device for household use provided by the present invention may also have the following features: a groove is provided in the transparent cover to accommodate a coil spring, the groove is provided with a side protrusion, one end of the coil spring is fixedly connected to the driven shaft, and the other end is fixed in the side protrusion and fixedly connected to the transparent cover, and the preload force of the coil spring is adjusted by rotating the transparent cover to provide assisting effects of different sizes.

[0010] The portable elbow joint functional assistive device for home use provided by the present invention may also have the following features: the pressure sensor dot matrix is ​​an 8*8 dot matrix with a size of 7cm*5cm, the pressure collection range is 0.01N~100N, and the pressure distribution information includes the distribution coordinate value of the pressure data collected by the pressure sensor dot matrix on the patient's arm, which is used to detect the placement position of the arm.

[0011] The present invention also provides a control method for a household portable elbow joint function assistive device, which has the following characteristics:

[0012] Step 1, after the patient places the arm and elbow on the arm tray and the elbow tray respectively, two extreme movement positions of the arm during movement are collected as safety position data through an angle sensor;

[0013] Step 2: The safety position data is communicated to the central controller, and the central controller performs safety limit according to the extreme motion position to limit the motion range of the forearm connecting rod;

[0014] Step 3, through the operation panel, select the passive teaching mode or the active power-assist mode to perform rehabilitation training, and collect data from the current sensor, acceleration sensor, angular velocity sensor and pressure sensor dot matrix in real time during the training process. The central controller performs fuzzy reasoning based on the collected data and the given fuzzy rules, and finally defuzzifies the fuzzy parameters and outputs the cascade PID control parameters. The central controller issues a control instruction and controls the drive motor through the motor driver to make the elbow motion actuator perform the corresponding rehabilitation action;

[0015] Step 4: After the training cycle is over, the drive motor stops running.

[0016] Among them, in step 2, the central controller performs safety limit according to the extreme movement position. During the rehabilitation training process, the movement position of the forearm connecting rod cannot exceed the extreme movement position. The formula for the movement range of the forearm connecting rod is as follows:

[0017] θ high >θ real >θ low (1)

[0018] In formula (3), θ real is the movement angle of the forearm link, θ high is the highest movement position of the forearm link, θ low It is the lowest movement position of the forearm link.

[0019] The control method of the portable elbow joint function assistive device for home use provided by the present invention may also have the following features: wherein, in step 3, after selecting the passive teaching mode, the following steps are specifically included:

[0020] Step A1, when the passive teaching mode is selected, the central controller enters the state data collection, and the drive motor is in the standby state;

[0021] Step A2, the rehabilitation physician leads the patient to complete a set of rehabilitation training exercises, during which the acceleration sensor and the angular velocity sensor are used to sample and record the motion process state data of the drive motor in real time, and the motion process state data is transmitted to the central controller for storage;

[0022] Step A3: After the rehabilitation training exercise is finished, the rehabilitation physician selects to stop recording through the operation panel, and the central controller stops collecting status data. The central controller controls the drive motor through the motor driver according to the stored state data of the exercise process to reproduce the rehabilitation training exercise;

[0023] In step A4, the central controller adjusts the fuzzy PID parameters according to the motion process state data and outputs the corresponding motor control signal. The motor driver transmits the motor control signal to the drive motor through the Modbus bus to reproduce the rehabilitation training motion.

[0024] The control method of the portable elbow joint function assistive device for home use provided by the present invention may also have the following features: wherein, in step 3, after selecting the active assist mode, the following steps are specifically included:

[0025] Step B1, when the active power-assistance mode is selected, the central controller sets a preset power-assistance value, determines the preset power-assistance value through the operation panel, and sets the power-assistance direction according to the different muscle tension conditions of the patient, which are flexion power-assistance and extension power-assistance, respectively, to assist the patient in elbow flexion or extension exercises, and the drive motor is in a standby state;

[0026] Step B2, after the preset power assist value is set, the central controller generates a control signal according to the preset power assist value and controls the drive motor to provide corresponding power assist through the motor driver. The drive motor drives the forearm connecting rod to move to provide corresponding power assist for the patient to perform rehabilitation training. During the rehabilitation training, the pressure sensor matrix, current sensor, angle sensor, and acceleration sensor begin to collect the motion state data of the device in real time and transmit it to the central controller;

[0027] Step B3, the central controller calculates the current power-assisting torque of the drive motor according to the current data collected by the current sensor, and adjusts and determines the power-assisting position coordinate point and calculates the pulse frequency sent by the power-assisting torque of the drive motor according to the target position pressure information and the motion range of the forearm connecting rod. The central controller uses the fuzzy PID control algorithm to adjust the fuzzy PID parameters in real time to adjust the pulse frequency, and outputs the corresponding control signal to adjust the power-assisting torque of the drive motor accordingly, and makes the power-assisting torque provided by the drive motor stable and close to the preset power-assisting value by stabilizing the size of the pressure data.

[0028] In step B3, when determining the assisting position coordinate point, the coordinate position of the main pressure action point, the pressure data size and the change trend are determined according to the target position pressure information, specifically including:

[0029] According to the target position pressure information, the pressure action point with the maximum value is selected as the main pressure action point. According to the coordinate information and value information of the main pressure action point, the movement position of the forearm link is adjusted so that the main pressure action point satisfies:

[0030]

[0031] In formula (2), F is the pressure value, G is the coordinate position of the main pressure point,

[0032] The output formula of pulse frequency is as follows:

[0033] OUTPUT=K p1 *F real +K d *(P real -P bias )'-K p1 *[K p2 *(V real -V bias )+K i *∑(V real -V bias )](3).

[0034] Functions and Effects of the Invention

[0035] According to a home portable elbow joint functional assistive device and control method involved in the present invention, because in the active assisting mode, different preset assisting values ​​can be set according to different patients to guide the patients to actively perform elbow flexion and extension exercises, and the patient's elbow joint state is monitored in real time during the assisting process, and the motion state of the elbow motion actuator is adjusted in real time by real-time regulation of the control parameters of the drive motor, which can better adapt to the disturbance changes of different patients and different situations, and stably provide corresponding assisting forces to assist patients in rehabilitation exercises; and the home portable elbow joint functional assistive device of the present invention has a small device size and light weight, can be promoted to home use, effectively improves the practicability and portability of rehabilitation equipment, is convenient for patients to conduct rehabilitation training in different scenarios, and is conducive to market promotion and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a structural schematic diagram of a portable household elbow joint function assistive device in an embodiment of the present invention;

[0037] Figure 2 is a schematic structural diagram of a power transmission mechanism in an embodiment of the present invention;

[0038] Figure 3 is a schematic structural diagram of an elbow motion actuator in an embodiment of the present invention;

[0039] Figure 4 is a schematic diagram of the structure of the cooperation between the transparent cover and the machine cover in an embodiment of the present invention;

[0040] Figure 5 is a schematic structural diagram of a transparent cover in an embodiment of the present invention;

[0041] Figure 6 Schematic diagram of the connection structure between the driven shaft and the special-shaped shaft in an embodiment of the present invention;

[0042] Figure 7 is a schematic diagram of a pressure sensor array in an embodiment of the present invention;

[0043] Figure 8 is a control structure block diagram of a central controller in an embodiment of the present invention;

[0044] Fig. 9 It is a fuzzy PID control block diagram in an embodiment of the present invention;

[0045] Fig.10 It is a block diagram of cascade PID control in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the technical means and effects achieved by the present invention easier to understand, the present invention is described in detail below in conjunction with embodiments and drawings.

[0047] <Example>

[0048] Figure 1 It is a structural schematic diagram of a household portable elbow joint function assistive device in an embodiment of the present invention.

[0049] like Figure 1 As shown, a household portable elbow joint function assistive device 100 of this embodiment includes a power transmission mechanism 10, a driving mechanism 20, an elbow tray 30, an elbow motion actuator 40, a forearm tray 50 and a central control module (not shown in the figure).

[0050] Figure 2 Schematic diagram of the structure of the power transmission mechanism in the embodiment of the present invention.

[0051] like Figure 2 As shown, the power transmission mechanism 10 includes a housing 11 and a timing belt 12 disposed in the housing.

[0052] The driving mechanism 20 includes a driving motor 21 connected to the synchronous belt 12 and a current sensor 22 connected to the driving motor 21 for collecting real-time current data.

[0053] The elbow tray 30 is fixedly connected to the driving motor 21 and is used for placing the elbow.

[0054] Figure 3 is a schematic structural diagram of an elbow motion actuator in an embodiment of the present invention, Figure 4 is a schematic diagram of the structure of the cooperation between the transparent cover and the machine cover in an embodiment of the present invention, Figure 5 is a schematic diagram of the structure of a transparent cover in an embodiment of the present invention, Figure 6 It is a schematic diagram of the connection structure between the driven shaft and the special-shaped shaft in an embodiment of the present invention.

[0055] like Figure 3-Figure 6 As shown, the elbow motion actuator 40 includes a driven shaft 41 arranged in the housing 11, a forearm connecting rod 42 connected to the driven shaft 41, a special-shaped shaft 43 connected to the driven shaft 41, a coil spring 44 connected to the driven shaft 43, a machine cover 45 arranged outside the coil spring 44, and a transparent cover 46 connected to the machine cover 45.

[0056] The transparent cover 46 is also provided with six evenly distributed rectangular grooves 461, and the machine cover 45 is also provided with six evenly distributed bosses 451. The transparent cover 46 and the machine cover 45 are connected by the rectangular grooves 461 and the bosses 451.

[0057] The transparent cover 46 is rotated by the matching change of the rectangular groove 461 and the boss 451 to quantitatively adjust the preload force of the coil spring 44. The single rotation angle of the transparent cover 46 is 60°.

[0058] The center of the transparent cover 46 is also provided with a transparent cover through hole 462, and the special-shaped shaft 43 is also provided with a special-shaped shaft flange 431.

[0059] The cover through hole 462 is used in conjunction with the special-shaped shaft 43 , and the diameter of the cover through hole 462 is slightly larger than the diameter of the special-shaped shaft flange 431 .

[0060] A groove 463 is also provided in the transparent cover 46 to accommodate the coil spring 44. The groove 463 is provided with a side protrusion. One end of the coil spring 44 is fixedly connected to the driven shaft 43, and the other end is fixed in the side protrusion and fixedly connected to the transparent cover 46. The preload force of the coil spring 44 is adjusted by rotating the transparent cover 46 to provide different magnitudes of assisting effects.

[0061] An acceleration sensor 60 is also provided at the driven shaft 41 for collecting the rotation speed.

[0062] A flat section 432 and a rectangular boss 433 are respectively provided at two ends of the special-shaped shaft 43. The flat section 432 is connected to an angular velocity sensor 70 for real-time monitoring of the rotation angle.

[0063] The driven shaft 41 is also provided with a large rectangular cutout 411. The rectangular boss 433 cooperates with the large rectangular cutout 411. The driven shaft 41 drives the special-shaped shaft 43 to move through the large rectangular cutout 411, so that the movement characteristics of the driven shaft 41 and the special-shaped shaft 43 are consistent, and further drives the angle sensor 70 to move to measure the rotation angle.

[0064] The thickness of the rectangular boss 433 is less than 1% of the opening width of the large rectangular cutout 411 , so that the rectangular boss 433 and the large rectangular cutout 411 can be matched more smoothly.

[0065] The forearm tray 50 is fixedly connected to the forearm connecting rod 42 and is used for placing the forearm.

[0066] A pressure sensor array 80 is also provided at the forearm tray 50 for obtaining target position pressure information, including pressure distribution information of the contact surface between the patient's arm and the arm tray, as well as the size of the pressure data and the pressure data change trend.

[0067] The synchronous belt 12 is arranged around the rotating shaft 211 of the driving motor 21 and the driven shaft 41 . The driving motor 21 drives the driven shaft 41 to rotate through the synchronous belt 12 to drive the forearm connecting rod 42 to move.

[0068] The central control module is used for control, including an operation interface, a central controller and a motor driver.

[0069] The current sensor 22, the acceleration sensor 60, the angular velocity sensor 70 and the pressure sensor array 80 are all connected to the central controller to transmit the collected data to the central controller for data processing and display the data on the operation interface.

[0070] The motor driver is connected to the drive motor 21 via the Modbus bus and is used to control the drive motor 21 .

[0071] Figure 7 Schematic diagram of a pressure sensor array in an embodiment of the present invention.

[0072] like Figure 7 As shown, the pressure sensor dot matrix 80 is an 8*8 dot matrix with a size of 7cm*5cm. The pressure acquisition range is 0.01N~100N.

[0073] The pressure distribution information includes the distribution coordinate values ​​of the pressure data collected by the pressure sensor array on the patient's arm, which is used to detect whether the arm is placed in the correct position.

[0074] A control method of a portable elbow joint function assistive device for home use in this embodiment comprises the following steps:

[0075] Step 1: After the patient places his arm and elbow on the arm tray 50 and the elbow tray 30 respectively, the angle sensor 70 collects two extreme movement positions of the arm during movement as safety position data.

[0076] Step 2, communicating the safety position data to the central controller, and the central controller performs safety limiting according to the extreme motion position to limit the motion range of the forearm link 42.

[0077] In step 2, the central controller performs safety limit according to the extreme motion position. During the rehabilitation training, the motion position of the forearm link cannot exceed the extreme motion position. The formula for the motion range of the forearm link is as follows:

[0078] θ high >θ real >θ low (1)

[0079] In formula (3), θ real is the movement angle of the forearm link, θ high is the highest movement position of the forearm link, θ low It is the lowest movement position of the forearm link.

[0080] Step 3, select the passive teaching mode or the active assistance mode through the operation panel to perform rehabilitation training, and collect data from the current sensor 22, the acceleration sensor 60, the angular velocity sensor 70 and the pressure sensor dot matrix 80 in real time during the training process. The central controller performs fuzzy reasoning based on the collected data and the given fuzzy rules, and finally defuzzifies the fuzzy parameters and outputs the cascade PID control parameters. The central controller issues a control instruction and controls the drive motor 21 through the motor driver to make the elbow motion actuator 40 perform corresponding rehabilitation movements.

[0081] Figure 8 It is a control structure block diagram of the central controller in an embodiment of the present invention.

[0082] like Figure 8 As shown, the central controller is provided with a CPU for performing calculations and issuing corresponding control instructions, and controls the drive motor 21 to move through the motor driver, thereby controlling the elbow motion actuator 40 to perform corresponding rehabilitation movements, and based on the real-time data collected by the current sensor 22, the acceleration sensor 60, the angular velocity sensor 70 and the pressure sensor dot matrix 80 during the rehabilitation training process, fuzzy reasoning is performed according to given fuzzy rules, and finally the fuzzy parameters are defuzzified, and the cascade PID control parameters are output to control the drive motor 21 to perform corresponding movements.

[0083] Fig. 9 is a fuzzy PID control block diagram in an embodiment of the present invention, Fig.10 It is a block diagram of cascade PID control in an embodiment of the present invention.

[0084] like Fig. 9 and Fig.10As shown, the central controller is also provided with a fuzzy controller and a cascade PID controller to perform fuzzy PID control. The central controller collects data in real time based on the rehabilitation training data monitoring device composed of a current sensor 22, an acceleration sensor 60, an angular velocity sensor 70 and a pressure sensor dot matrix 80. The fuzzy controller performs fuzzy reasoning according to given fuzzy rules, and finally defuzzifies the fuzzy parameters, and outputs the cascade PID control parameters to the cascade PID controller. In the cascade PID control, the outer loop is a speed PI controller and the inner loop is a pressure PD controller. The cascade PID control is used to ensure that the elbow motion actuator 40 performs the corresponding action according to the control instruction.

[0085] In step 3, after selecting the passive teaching mode, the specific steps include:

[0086] Step A1, when the passive teaching mode is selected, the central controller enters the state data collection, and the drive motor 21 is in the standby state;

[0087] Step A2, the rehabilitation physician guides the patient to complete a set of rehabilitation training exercises, during which the acceleration sensor 60 and the angular velocity sensor 70 sample and record the motion process state data of the drive motor 21 in real time, and transmit the motion process state data to the central controller for storage;

[0088] Step A3: After the rehabilitation physician leads the patient to complete the rehabilitation training exercise, the operation panel is used to select to stop recording, and the central controller stops collecting status data. The central controller controls the drive motor 21 through the motor driver according to the stored exercise process status data to reproduce the rehabilitation training exercise;

[0089] In step A4, the central controller adjusts the fuzzy PID parameters according to the motion process state data and outputs the corresponding motor control signal. The motor driver transmits the motor control signal to the drive motor 21 via the Modbus bus to reproduce the rehabilitation training motion.

[0090] In step 3, after selecting the active power-assist mode, the specific steps include:

[0091] Step B1, when the active power-assistance mode is selected, the central controller sets a preset power-assistance value, determines the preset power-assistance value through the operation panel, and sets the power-assistance direction according to different muscle tension conditions of the patient, which are flexion power-assistance and extension power-assistance, respectively, to assist the patient in flexion or extension of the elbow joint, and the drive motor 21 is in a standby state;

[0092] Step B2, after the preset power assist value is set, the central controller generates a control signal according to the preset power assist value and controls the drive motor 21 through the motor driver to provide corresponding power assist, and the drive motor 21 drives the forearm connecting rod 42 to move to provide corresponding power assist for the patient to perform rehabilitation training. During the rehabilitation training, the pressure sensor matrix 80, the current sensor 22, the angle sensor 70, and the acceleration sensor 60 start to collect the motion state data of the device in real time and transmit it to the central controller;

[0093] Step B3, the central controller calculates the current assist torque of the drive motor 21 according to the current data collected by the current sensor 22, and adjusts and determines the assist position coordinate point and calculates the pulse frequency sent by the assist torque of the drive motor 21 according to the target position pressure information and the motion range of the forearm connecting rod 42. The central controller uses the fuzzy PID control algorithm to adjust the fuzzy PID parameters in real time to adjust the pulse frequency, and outputs the corresponding control signal to adjust the assist torque of the drive motor 21 accordingly, and stabilizes the size of the pressure data to make the assist provided by the drive motor 21 stable and close to the preset assist value.

[0094] In step B3, when determining the assisting position coordinate point, the coordinate position of the main pressure action point, the pressure data size and the change trend are determined according to the target position pressure information, specifically including:

[0095] like Figure 7 As shown in the figure, according to the target position pressure information, the pressure action point with the maximum value is selected as the main pressure action point, and according to the coordinate information and value information of the main pressure action point, the movement position of the forearm connecting rod is adjusted so that the main pressure action point satisfies:

[0096]

[0097] In formula (2), F is the pressure value, G is the coordinate position of the main pressure point,

[0098] The output formula of pulse frequency is as follows:

[0099] OUTPUT=K p1 *F real +K d *(P real -P bias )'-K p1 *[K p2 *(V real -V bias )+K i *∑(V real -V bias )](3).

[0100] Step 4: After the training cycle is completed, the driving motor 21 stops running.

[0101] Functions and Effects of the Embodiments

[0102] According to a home-use portable elbow joint functional assistive device and control method involved in the present embodiment, because in the active assisting mode, different preset assisting values ​​can be set according to different patients to guide the patients to actively perform elbow flexion and extension exercises, and the patient's elbow joint state is monitored in real time during the assisting process, and the motion state of the elbow motion actuator is adjusted in real time by real-time regulation of the control parameters of the drive motor, it can better adapt to the disturbance changes of different patients and under different circumstances, and stably provide corresponding assisting forces to assist the patient's rehabilitation exercises; and, the home-use portable elbow joint functional assistive device of the present embodiment has a small device size and light weight, and can be promoted to home use, which effectively improves the practicability and portability of the rehabilitation equipment, facilitates the rehabilitation training of patients in different scenarios, and is conducive to market promotion and use.

[0103] The above-mentioned embodiments are preferred examples of the present invention and are not intended to limit the protection scope of the present invention.

Claims

1. A portable elbow joint function assistive device for household use, characterized in that: include: A power transmission mechanism, comprising a housing and a synchronous belt arranged in the housing; A driving mechanism, comprising a driving motor connected to the synchronous belt and a current sensor connected to the driving motor for collecting real-time current data; An elbow tray, fixedly connected to the drive motor and used for placing the elbow; The elbow motion actuator comprises a driven shaft arranged in the housing, a forearm connecting rod connected to the driven shaft, a special-shaped shaft connected to the driven shaft, a coil spring connected to the driven shaft, a machine cover arranged outside the coil spring, and a transparent cover cooperatively connected to the machine cover; A forearm tray, fixedly connected to the forearm connecting rod, for placing the forearm; as well as Central control module, used for control, including operation interface, central controller and motor driver, The driven shaft is also provided with an acceleration sensor for collecting the rotation speed. The two ends of the special-shaped shaft are respectively provided with a flat section and a rectangular boss, and the flat section is connected to an angular velocity sensor for real-time monitoring of the rotation angle. The forearm tray is also provided with a pressure sensor array for obtaining target position pressure information, including obtaining pressure distribution information of the contact surface between the patient's arm and the forearm tray, as well as the size of the pressure data and the pressure data change trend. The current sensor, the acceleration sensor, the angular velocity sensor and the pressure sensor array are all connected to the central controller to transmit the collected data to the central controller for data processing, and display the data on the operation interface. The central controller performs fuzzy reasoning based on the collected data and given fuzzy rules, and finally defuzzifies the fuzzy parameters and outputs cascade PID control parameters. The central controller issues a control instruction and controls the drive motor through the motor driver to make the elbow motion actuator perform corresponding rehabilitation movements. The synchronous belt is arranged around the rotating shaft of the driving motor and the driven shaft, and the driving motor drives the driven shaft to rotate through the synchronous belt to drive the forearm connecting rod to move. The transparent cover is also provided with a groove to accommodate the coil spring, and the groove is provided with a side protrusion. One end of the coil spring is fixedly connected to the driven shaft, and the other end is fixed in the side protrusion and fixedly connected to the transparent cover. The preload force of the coil spring is adjusted by rotating the transparent cover to provide assisting effects of different sizes.

2. The portable elbow joint function assistive device for home use according to claim 1, characterized in that: in, The transparent cover is also provided with six evenly distributed rectangular grooves, and the machine cover is also provided with six evenly distributed bosses. The transparent cover and the machine cover are matched and connected through the rectangular grooves and the bosses. The transparent cover is rotated by the matching change of the rectangular groove and the boss to quantitatively adjust the preload force of the coil spring, and the single rotation angle of the transparent cover is 60°.

3. The portable elbow joint function assistive device for home use according to claim 1, characterized in that: in, The center of the transparent cover is also provided with a transparent cover through hole, and the special-shaped shaft is also provided with a special-shaped shaft flange. The through hole in the cover is used in conjunction with the special-shaped shaft, and the diameter of the through hole in the cover is slightly larger than the diameter of the flange of the special-shaped shaft.

4. The portable elbow joint function assistive device for home use according to claim 1, characterized in that: in, The driven shaft is also provided with a large rectangular cutout, and the rectangular boss is used in conjunction with the large rectangular cutout. The driven shaft drives the special-shaped shaft to move through the large rectangular cutout, so that the movement characteristics of the driven shaft and the special-shaped shaft are consistent, and further drives the angular velocity sensor to move to measure the rotation angle. The thickness of the rectangular boss is less than 1% of the opening width of the large rectangular cutout.

5. The portable elbow joint function assistive device for home use according to claim 1, characterized in that: in, The pressure sensor array is 8*8, the size is 7cm*5cm, and the pressure acquisition range is 0.01N~100N. The pressure distribution information includes the distribution coordinate values ​​of the pressure data collected by the pressure sensor array on the patient's arm, which is used to detect the placement position of the arm.

6. The portable elbow joint function assistive device for home use according to claim 1, characterized in that: in, The control method of the portable elbow joint function auxiliary device for home use comprises the following steps: Step 1, after the patient places the arm and elbow on the forearm tray and the elbow tray respectively, two extreme movement positions of the arm during movement are collected by the angular velocity sensor as safety position data; Step 2, communicating the safety position data to the central controller, and the central controller performs safety limiting according to the extreme motion position to limit the motion range of the forearm connecting rod; Step 3, selecting a passive teaching mode or an active power-assisting mode through the operation panel to perform rehabilitation training, and collecting data of the current sensor, the acceleration sensor, the angular velocity sensor, and the pressure sensor dot matrix in real time during the training process, the central controller performs fuzzy reasoning based on the collected data and according to given fuzzy rules, and finally defuzzifies the fuzzy parameters and outputs cascade PID control parameters, and the central controller issues a control instruction to control the drive motor through the motor driver to make the elbow motion actuator perform corresponding rehabilitation movements; Step 4: After the training cycle is over, the drive motor stops running. Wherein, in step 2, the central controller performs safety limiting according to the extreme motion position. During the rehabilitation training process, the motion position of the forearm connecting rod cannot exceed the extreme motion position. The formula for the motion range of the forearm connecting rod is as follows: i high >θ real >θ low (1) In formula (3), θ real is the movement angle of the forearm link, θ high is the highest movement position of the forearm link, θ low is the lowest movement position of the forearm connecting rod.

7. The portable elbow joint function assistive device for home use according to claim 6, Features: Wherein, in said step 3, after selecting said passive teaching mode, the following steps are specifically included: Step A1, when the passive teaching mode is selected, the central controller enters state data collection, and the drive motor is in a standby state; Step A2, a rehabilitation physician leads the patient to complete a set of rehabilitation training exercises, during which the acceleration sensor and the angular velocity sensor are used to sample and record the motion process state data of the drive motor in real time, and the motion process state data is transmitted to the central controller for storage; Step A3, after the rehabilitation training exercise led by the rehabilitation physician is finished, the operation panel is used to select to stop recording, and the central controller stops collecting status data. The central controller controls the drive motor through the motor driver according to the stored state data of the exercise process to reproduce the rehabilitation training exercise; Step A4, the central controller adjusts the fuzzy PID parameters according to the motion process state data, and outputs corresponding motor control signals, and the motor driver transmits the motor control signals to the drive motor via the Modbus bus to reproduce the rehabilitation training motion.

8. The portable elbow joint function assistive device for home use according to claim 6, Features: Wherein, in said step 3, after selecting said active power-assisting mode, the following steps are specifically included: Step B1, when the active power-assist mode is selected, the central controller sets a preset power-assist value, determines the preset power-assist value through the operation panel, and sets the power-assist direction according to different muscle tensions of the patient, which are flexion power-assist and extension power-assist, respectively, to assist the patient in flexion or extension of the elbow joint, and the drive motor is in a standby state; Step B2, after the preset power assist value is set, the central controller generates a control signal according to the preset power assist value and controls the drive motor to provide corresponding power assist through the motor driver, and the drive motor drives the forearm connecting rod to move to provide corresponding power assist for the patient to perform rehabilitation training. During the rehabilitation training, the pressure sensor matrix, the current sensor, the angular velocity sensor, and the acceleration sensor begin to collect device motion state data in real time and transmit it to the central controller; Step B3, the central controller calculates the current assist torque of the drive motor according to the current data collected by the current sensor, and adjusts and determines the assist position coordinate point and calculates the pulse frequency sent by the assist torque of the drive motor according to the target position pressure information and the motion range of the forearm connecting rod. The central controller uses a fuzzy PID control algorithm to adjust the fuzzy PID parameters in real time to adjust the pulse frequency, and outputs a corresponding control signal to adjust the assist torque of the drive motor accordingly, and stabilizes the size of the pressure data so that the assist provided by the drive motor is stably close to the preset assist value. In the step B3, when determining the assisting position coordinate point, the coordinate position of the pressure main action point, the pressure data size and the change trend are determined according to the target position pressure information, specifically including: According to the target position pressure information, the pressure action point with the maximum value is selected as the main pressure action point, and according to the coordinate information and value information of the main pressure action point, the movement position of the forearm connecting rod is adjusted so that the main pressure action point satisfies: In formula (2), F real is the actual pressure measurement value, F set is the target pressure value, G real is the real motion position, G(x,y) effctive is the range of motion that the patient can perform, x and y are the coordinates of the forearm tip position, The output formula of the pulse frequency is as follows: OUTPUT=K p1 *F real +K d *(P real -P set )'-K p1 *[K p2 *(V real -V set )+K i *∑(V real -V set )] (3), In formula (3), OUTPUT is the pulse frequency output, K p1 and K p2 is the proportionality coefficient, K d is the differential coefficient, P real is the quantity measured for the actual position, P set is the target position control quantity, V real is the actual speed measurement value, V set is the target speed control quantity, K i is the integration coefficient.

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