Planar two-dimensional wrist training robot and training method

Abstract

The invention relates to the technical field of cerebral apoplexy rehabilitation robots, in particular to a planar two-dimensional wrist training robot and a training method.The planar two-dimensional wrist training robot comprises a portable box, and a driving system and an executing mechanism are arranged in the portable box; the executing mechanism comprises a grip, and the grip is mounted on the mounting table through a movable platform; the driving system is matched and connected with the mounting table through the transmission mechanism and comprises a middle driving mechanism and a side driving mechanism; the transmission mechanism comprises two transmission shaft parts which are respectively connected with the middle driving mechanism and the side driving mechanism; transmission ropes are wound on the two transmission shafts and connected with the movable platform in a matched mode. According to the portable rehabilitation robot disclosed by the invention, by adopting a coaxial nested arrangement structure of the two transmission shafts and transmission of the transmission rope, the size and the weight of the rehabilitation robot are greatly reduced, and portability of the rehabilitation robot is realized through a detachably mounted combined structure; the cerebral apoplexy rehabilitation robot is simple in structure, low in cost and suitable for popularization and application, and the application range of the cerebral apoplexy rehabilitation robot is expanded.

Description

Technical Field

[0001] The invention relates to the technical field of stroke rehabilitation robots, and in particular to a two-dimensional wrist training robot and a training method. Background Art

[0002] Stroke, as a common and serious cerebrovascular disease, is characterized by high morbidity, high disability rate and high mortality rate. According to statistics, stroke has become the leading cause of death in my country and the leading cause of disability among Chinese adults. Stroke is characterized by high morbidity, mortality and disability rate. Millions of people suffer from stroke every year around the world. Many patients often face varying degrees of limb dysfunction after surviving. Literature statistics show that relevant rehabilitation treatment for patients within three months after the onset of stroke can significantly restore the patient's cognitive and motor abilities. Treatment training within one year also has obvious rehabilitation effects. However, long-term treatment is still required for patients to recover to normal levels.

[0003] Among the sequelae of stroke, the impairment of wrist function has a significant impact on the patient's ability to carry out daily activities. Traditional wrist rehabilitation therapy mainly relies on the therapist's manual-assisted training, but this method has many limitations. On the one hand, the number of therapists is relatively limited, which makes it difficult to meet the growing needs of patients, resulting in some patients being unable to obtain effective rehabilitation treatment in a timely manner. On the other hand, the intensity and accuracy of manual training are difficult to ensure consistency, and the treatment process is relatively boring, resulting in poor patient compliance. With the continuous advancement of science and technology, the application of robotics in the medical field has gradually emerged, and the emergence of wrist rehabilitation training robots has brought new hope for the rehabilitation of stroke patients. Summary of the invention

[0004] The object of the present invention is to provide a planar two-dimensional wrist training robot and a training method which are highly portable and can cooperate with patients to perform active and passive rehabilitation training.

[0005] Based on the above purpose, the present invention adopts the following technical solution:

[0006] A two-dimensional wrist training robot, comprising a portable case, which is divided into two storage chambers by a vertical partition, wherein a driving system and an actuator are respectively arranged in the two storage chambers; the actuator comprises a grip, which is mounted on a mounting table through a movable platform; the driving system is connected to the mounting table through a transmission mechanism, and the driving system comprises a central driving mechanism and a side driving mechanism; the transmission mechanism comprises two transmission shafts, which are respectively connected to the central driving mechanism and the side driving mechanism; transmission ropes are wound around the two transmission shafts, and the transmission ropes are connected to the movable platform; a sensor system is arranged in cooperation with the driving system and the actuator, and a panel cooperating with the sensor system is arranged on the outer surface of the portable case; the sensor system comprises a position sensor and a speed sensor arranged on each motor shaft and the movable platform, and a two-dimensional force sensor is arranged at the bottom end of the grip; a controller unit, a motor drive module and a human-computer interaction interface are arranged in the control panel;

[0007] Preferably, the central driving mechanism includes a central servo motor fixedly mounted on the bottom of the storage cavity, and the output shaft of the central servo motor is arranged vertically upward; the side driving mechanism includes a side servo motor, and the side servo motor is fixedly mounted on the bottom of the storage cavity through a pad; the output shaft of the central servo motor is coaxially connected to the fine driving shaft, and the output shaft of the side servo motor is vertically connected to the coarse driving shaft through a pair of bevel gears; the coarse driving shaft is a hollow shaft structure, and the coarse driving shaft is coaxially sleeved on the outside of the fine driving shaft.

[0008] Preferably, the transmission shaft includes a coarse transmission shaft and a fine transmission shaft, the coarse transmission shaft is a hollow shaft structure, and the coarse transmission shaft is coaxially sleeved on the outside of the fine transmission shaft; the bottom end of the coarse transmission shaft and the top end of the coarse drive shaft are provided with matching gear ring structures, and the bottom end of the fine transmission shaft and the top end of the fine drive shaft are provided with matching gear ring structures.

[0009] Preferably, the mounting platform includes a pair of vertically symmetrical side plates, between which a horizontally arranged bottom plate and middle plate are fixedly installed; bearings are arranged at the center positions of the bottom plate and the middle plate, the middle section of the coarse transmission shaft is connected to the bottom plate through the bearing, the top end of the fine transmission shaft extends beyond the coarse transmission shaft, and the fine transmission shaft is connected to the middle plate through the bearing.

[0010] Preferably, an upper sleeve is sleeved on the outer side of the top end of the thin transmission shaft, and the upper sleeve is fixedly connected to the thin transmission shaft through a cylindrical pin; a lower sleeve is sleeved on the outer side of the top end of the thick transmission shaft, and the lower sleeve is fixedly connected to the thick transmission shaft through a cylindrical pin; the transmission rope is respectively wound around the outer sides of the upper sleeve and the lower sleeve, and a plurality of pulleys cooperating with the transmission rope are arranged on the two side plates of the mounting platform.

[0011] Preferably, a pair of bearings are symmetrically arranged on the top of the inner side surfaces of the two side plates of the mounting platform, and the two ends of the movable platform are rotatably connected between the two side plates of the mounting platform through a pair of bearings; the middle part of the movable platform is a platform structure, and a pair of symmetrical winding shaft structures are arranged at both ends; the two ends of the transmission rope wound on the upper sleeve are respectively wound on the winding shafts at both ends of the movable platform.

[0012] Preferably, the interior of the movable platform is configured as a through hole coaxial with the winding axis, and a bearing is provided at the center position of the top surface of the middle platform portion; a cylindrical two-dimensional force sensor is connected to the bottom end of the handle, and the two-dimensional force sensor is rotatably arranged on the movable platform through the bearing; the two ends of the transmission rope wound on the lower sleeve respectively pass through the two ends of the through hole inside the movable platform and are wound around the bottom end of the two-dimensional force sensor.

[0013] Preferably, the portable box has a pair of door panels hinged at the openings of the two storage cavities, and a handle is provided at one end of the pair of door panels away from the hinge; connecting holes matching the thick drive shaft are provided on the door panels; positioning grooves are provided on the door panels, and a positioning block matching the positioning groove is provided at the bottom of the mounting platform.

[0014] A method for training using the above robot comprises the following steps:

[0015] S1, passive training mode: the middle servo motor and the side servo motor rotate in a certain direction and speed, so that the actuator drives the user's hand to move according to the preset trajectory and speed;

[0016] S2, on-demand training mode: the middle servo motor and the side servo motor rotate in a certain direction and speed, so that the actuator drives the user's hand to move at a constant speed along the preset trajectory;

[0017] S3, Active training mode: The user actively pushes the handle to move, and the two-dimensional force sensor inputs the external force information and position information acting on the handle into the control system. The control system uses the impedance control algorithm to make the middle servo motor and the side servo motor rotate in a certain direction and speed, so that the actuator moves in coordination with the external movement, or adds a preset resistance to it.

[0018] Preferably, during the training process, when the two-dimensional force sensor detects that the combined external force of the actuator and the patient is greater than 50N, the force overload protection mechanism is automatically triggered to stop the middle servo motor and the side servo motor from working and enter a standby state.

[0019] The beneficial effects of the present invention include:

[0020] The present invention adopts a dual-axis drive structure, and the two transmission shafts between the drive system and the actuator adopt an inside-outside nested structure, dividing the two transmission shafts into a hollow thick transmission shaft and a solid thin transmission shaft, thereby realizing the coaxial setting of the two transmission shafts, thereby reducing the space occupied by the transmission structure and avoiding the complex structure and wiring of the traditional exoskeleton device, so that the size and weight of the device can be greatly reduced, making the device as a whole lighter and improving its portability.

[0021] The present invention provides a portable case, in which the drive system part is fixedly arranged in a storage cavity of the portable case, and the actuator and the drive system are connected by a detachable structure so that they can be placed in another storage cavity when not in use; a handle is provided on the portable case, which can be convenient for users to carry with them, or for medical staff to carry it outside for rehabilitation training of patients at home. Compared with traditional rehabilitation exoskeleton robot systems, it has a wider range of usage scenarios.

[0022] The present invention can provide different training modes for patients by setting two servo motors for coupling drive, so that it is suitable for patients at different rehabilitation stages; the present invention uses a transmission rope to perform the second section transmission from the shaft to the execution end. The transmission rope has a flexible structure and low cost, and has a certain flexibility, which can play a role in buffering and vibration absorption during the transmission process, reduce the vibration and impact caused by mechanical operation, and reduce the vibration damage to patients and equipment during training; the transmission rope structure itself is light in weight, which can further reduce the overall weight of the equipment and further improve the degree of lightweight; the present invention has a simple structure and low manufacturing and use costs, and is suitable for wide promotion and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the overall structure of the present invention when it is in a storage state;

[0025] Figure 3 It is a schematic diagram of the structure of the driving system of the present invention in a portable box;

[0026] Figure 4 for Figure 3 A partial enlarged view of the area marked in middle A;

[0027] Figure 5 It is a schematic diagram of the bottom structure of the actuator of the present invention;

[0028] Figure 6 for Figure 8 A partial enlarged view of the area marked in B.

[0029] Figure 7It is a front view of the driving system and the actuator of the present invention;

[0030] Figure 8 It is a schematic diagram of the overall structure of the actuator of the present invention;

[0031] Fig. 9 It is a cross-sectional view of the internal structure of the actuator of the present invention;

[0032] Fig.10 It is a schematic diagram of the overall structural model of the present invention.

[0033] In the figure: portable box 1; door panel 11; handle 12; connecting hole 13; positioning groove 14; control panel 15; mounting table 2; middle plate 21; pulley 22; transmission rope 23; movable platform 24; positioning block 25; grip 3; two-dimensional force sensor 31; servo motor 4; cushion block 41; coupling 42; bevel gear 5; drive shaft 6; coarse drive shaft 61; fine drive shaft 62; transmission shaft 7; coarse drive shaft 71; fine drive shaft 72; lower sleeve 73; upper sleeve 74; deep groove ball bearing 8. DETAILED DESCRIPTION

[0034] Example 1

[0035] The following is a further explanation of the present invention in conjunction with specific embodiments. Figure 1 As shown, this embodiment is a planar two-dimensional wrist training robot, including a drive system and an actuator; the drive system and the actuator are arranged in a detachable structure, and both can be stored in the internal storage cavity of the portable box 1.

[0036] A vertical partition is provided in the portable box 1, through which two storage chambers are separated; two door panels 11 are respectively provided on the top of the two storage chambers. Figure 2 As shown, the two outer ends of the door panel 11 are respectively hinged to the portable case 1, and the inner end is fixedly provided with a handle 12, so that the user can carry the portable case 1 by the handle 12. Fig.10 shown.

[0037] like Figure 3 As shown, the driving system is fixedly arranged in a storage cavity inside the portable case 1, and mainly includes two parts, a central driving mechanism and a side driving mechanism; the central driving mechanism includes a central servo motor 4 vertically fixed on the bottom surface of the storage cavity, and the side driving mechanism includes a side servo motor 4 horizontally fixed in the storage cavity through a pad 41; wherein, the central driving motor 4 is coaxially connected to the driving shaft 6 through a coupling 42, and the side servo motor 4 is connected to a bevel gear 5 through a coupling, and the bevel gear 5 is vertically connected to another bevel gear 5, and the side servo motor 4 is vertically connected to the driving shaft 6 through the matching connection of the two bevel gears 5.

[0038] like Figure 4 As shown, the drive shaft 6 includes two parts, one part is a hollow thick drive shaft 61, and the other part is a solid thin drive shaft 62; the inner diameter of the thick drive shaft 61 is larger than the outer diameter of the thin drive shaft 62, and the thick drive shaft 61 is coaxially sleeved on the outside of the thin drive shaft 62; the thin drive shaft 62 is coaxially connected to the output shaft of the middle servo motor 4, so that the middle servo motor 4 can directly control the thin drive shaft 62 to rotate around the axis; the thick drive shaft 62 is fixedly connected to the bevel gear 5, so that the side servo motor 4 can control the thick drive shaft 62 to rotate around the axis.

[0039] like Figure 5 As shown, a pair of positioning blocks 25 are provided on the bottom surface of the mounting platform 2 of the actuator, and a pair of positioning grooves 14 are provided on the door panel 11 in a matching manner; when the mounting platform 2 is placed on the door panel 11, the positioning blocks 25 can cooperate with the positioning grooves 14 to fix the mounting platform 2 and prevent it from sliding; a transmission shaft 7 extends through the bottom surface of the mounting platform 2, as shown in FIG. Figure 6 As shown, the transmission shaft 7 includes a pair of coaxial transmission shafts, namely a hollow thick transmission shaft 71 and a solid thin transmission shaft 72; a gear-like structure is provided at the bottom end of the thick transmission shaft 71, and a matching gear ring-like structure is also provided at the top end of the thick drive shaft 61 to cooperate therewith, and the gears and gear ring structures of the two can mesh with each other, so that when the two are coaxially aligned and connected, the rotation of the thick drive shaft 61 can be transmitted to the thick transmission shaft 71; similarly, the bottom end of the thin transmission shaft 72 and the top end of the thin drive shaft 62 are provided with matching gear and gear ring structures, which can transmit the rotation of the thin drive shaft 62 to the thin transmission shaft 72.

[0040] The door panel 11 is provided with a connection hole 13 which cooperates with the transmission shaft 7 and the drive shaft 6. When the drive system needs to be connected with the actuator, the door panel 11 does not need to be opened. Instead, the transmission shaft 7 protruding from the bottom plate of the mounting platform 2 is directly passed through the connection hole and connected with the drive shaft 6 inside it. This allows the actuator to be connected with the transmission structure of the drive system, so that the actuator can be controlled by the drive system to work. Figure 7 shown.

[0041] like Figure 8 and Fig. 9 The actuator mainly includes a mounting platform 2, which is composed of a pair of vertically arranged side plates, with a horizontal bottom plate and middle plate 21 arranged between the side plates; deep groove ball bearings 8 are arranged at the center positions of the bottom plate and the middle plate 21, the coarse transmission shaft 71 is connected to the deep groove ball bearing 8 on the bottom plate, and the fine transmission shaft 72 is connected to the deep groove ball bearing 8 on the center plate 21; through the deep groove ball bearing 8, the transmission shaft 7 can rotate freely around the axis relative to the mounting platform 2.

[0042] The top of the thin transmission shaft 72 is arranged beyond the thick transmission shaft 71, and an upper sleeve 74 is arranged outside the part beyond the thick transmission shaft 71; the upper sleeve 74 is fixedly connected to the thin transmission shaft 72 by a cylindrical pin, and when the thin transmission shaft 72 rotates, it will also drive the upper sleeve 74 to rotate together; similarly, a lower sleeve 73 is also fixedly connected to the top of the thick transmission shaft 71 by a cylindrical pin, and grooves are arranged on the outer sides of the upper sleeve 74 and the lower sleeve 73, and a transmission rope 23 is wound around the upper sleeve 74 and the lower sleeve 73 with the help of the grooves.

[0043] Four pairs of pulleys 22 are arranged on the two side panels of the mounting platform 2, respectively arranged on the top and bottom of the outer side of the side panels, and the middle of the inner side; the two pairs of pulleys 22 arranged on the outer side of the side panels are both arranged on the through holes of the side panels, and the two ends of the transmission rope 23 wound on the lower sleeve 73 are respectively arranged through the two pairs of pulleys 22 on the outer side of the side panels; the two pairs of pulleys 22 arranged on the inner side of the side panels cooperate with the transmission rope 23 wound on the upper sleeve 74, and through holes cooperating with them are respectively arranged at both ends of the middle plate 21 for the transmission rope 23 to pass through.

[0044] The end of the actuator is composed of a handle 3, which is for the user to hold and use; a two-dimensional force sensor 31 is fixedly connected to the bottom of the handle 3, and the two-dimensional force sensor 31 is a cylindrical structure; a movable platform 24 is rotatably connected between the two side plates of the mounting table 2 through a deep groove ball bearing 8, and the middle part of the movable platform 24 is a platform structure, and its two ends are arranged as symmetrical winding shaft structures; the transmission rope 23 wound on the upper sleeve 74 is wound on the winding shaft of the movable platform 24 after passing through the pulley 22, and the winding directions of the transmission ropes 23 on both sides are opposite; when the transmission rope 23 is rotated by the upper sleeve 74, it will drive the movable platform 24 to rotate along the axis of the winding shaft.

[0045] The interior of the movable platform 24 is a horizontal hollow through-hole structure, and the two pulleys 22 arranged on the top outer side of the side plate of the mounting platform 2 cooperate with the openings at both ends of the through-holes; a deep groove ball bearing 8 is arranged at the center position of the platform part of the movable platform 24, and the two-dimensional force sensor 31 is rotatably connected to the movable platform 24 through the deep groove ball bearing 8; the two ends of the transmission rope 23 wound on the lower sleeve 73 extend into the internal through-hole of the movable platform 24 through the pulley 22, and are wound around the bottom of the two-dimensional force sensor 31, and the two ends of the transmission rope 23 are fixedly arranged on the outer side of the two-dimensional force sensor 31 and the winding directions of the two ends are opposite; when the thick transmission shaft 71 drives the transmission rope 23 on the lower sleeve 73, it will further drive the handle 3 to rotate around the axis along the central axis of the two-dimensional force sensor 31.

[0046] In this embodiment, a control panel 15 is provided on the outside of the portable box 1, and a controller unit, a motor drive module and a human-computer interaction interface are provided in the control panel 15; the human-computer interaction interface includes a display screen and control buttons, and the user can directly select different training modes and adjust various parameters during training through the control buttons; after the control unit receives the mode selection signal from the human-computer interaction interface, it adjusts the working state of the motor drive module according to the preset program parameters to realize the startup and operation of the corresponding mode.

[0047] The control unit generates a corresponding pulse width modulation signal according to the preset training mode and motion parameters, and sends it to the motor drive module; the motor drive module converts the pulse width modulation signal into the current and voltage required by the motor to drive the motor to operate; the middle servo motor 4 is mainly responsible for controlling the flexion and extension of the wrist joint, and the side servo motor 4 controls the ulnar and radial deviation of the wrist, and the two cooperate with each other to realize the wrist rehabilitation training movement in a two-dimensional plane; both servo motors use high-precision servo motors, which can accurately control the rotation angle and speed to meet the requirements of wrist rehabilitation training for movement accuracy.

[0048] In this embodiment, a sensor system is provided in cooperation with the drive system and the actuator, including a speed sensor (such as an encoder) and a position sensor (such as a Hall sensor) provided on the motor shaft, and a two-dimensional force sensor 31 provided at the bottom of the handle 3; the positive direction of the Y axis is defined as the front of the device, the positive direction of the X axis is defined as the right side, and the positive direction of the Z axis is defined as the top side. The kinematic and mechanical control strategy derivation formulas of the controller module in this embodiment are as follows:

[0049] v(sinα-cosα)=2πRω1

[0050] v(sinα+cosα)=2πRω2

[0051] Wherein: v is the movement speed of the movable platform 24, which is measured by the speed sensor; α is the angle between the movement direction of the movable platform 24 and the positive direction of the Y axis, ranging from -180° to 180°; R is the radius of the rope winding groove on the outer side of the upper sleeve 74 and the lower sleeve 73; ω1 and ω2 are the rotation speeds of the middle servo motor 4 and the side servo motor 4, respectively, clockwise is positive and counterclockwise is negative.

[0052] In order to ensure that the motor can accurately execute the control instructions of the controller unit and realize accurate wrist rehabilitation training, a position and speed closed-loop control strategy is set in the controller module of this embodiment; the position sensor monitors the rotation angle of the motor in real time and feeds back the position information to the controller unit; the controller unit compares the fed-back position value with the preset target position value and calculates the position error; according to the position error, the required adjustment amount is calculated through PID (proportional-integral-differential) control, and the pulse width modulation signal is corrected, thereby realizing precise control of the motor position and ensuring that the wrist can accurately reach the predetermined training position.

[0053] At the same time, the speed sensor measures the real-time speed of the motor and feeds back the speed signal to the controller unit; the controller unit also applies the PID control algorithm to dynamically adjust the pulse width modulation signal according to the error between the speed feedback value domain and the target speed value to maintain a stable click speed, ensuring that the wrist has a uniform and stable speed during training, thereby improving the rehabilitation training effect and the patient's comfort.

[0054] When this embodiment is actually used, the portable box 1 is placed on a flat surface, and then the door panel 11 is opened to take out the actuator from the storage cavity; the transmission shaft 7 is aligned with the drive shaft 6 and then spliced ​​so that the gear ring structures on the coarse drive shaft 61 and the coarse drive shaft 71, and the fine drive shaft 62 and the fine drive shaft 72 are matched and aligned; then the user's affected limb grasps the handle 3 tightly, and the handle 3 is in a vertically upward position to complete the reset, and then the rehabilitation training can be started; a control button is provided on the outside of the portable box 1, and a suitable training program can be selected through the control button; after the training program is selected, the control system will control the servo motor 4 in the drive system to start working, and monitor the user's training situation in real time through the two-dimensional force sensor 31. When the mutual force is too large, the power supply of the servo motor 4 will be cut off to prevent excessive resistance from causing damage to the patient's wrist.

[0055] In actual use of this embodiment, the control unit will adjust the duty cycle and frequency of the pulse width modulation signal according to different training modes to achieve precise control of the motor speed and torque; under passive training, the motor drives the patient's wrist to perform exercise training according to the trajectory set by the preset training content at a relatively fixed speed. Under active training, the control unit controls the motor to generate a corresponding resistance torque through a pulse width modulation signal according to a preset resistance level, thereby hindering the movement of the patient's wrist and ensuring that the resistance is within a safe range to avoid harm to the patient; when it is monitored that the interaction force between the patient and the actuator reaches 50N or more, the force overload protection mechanism will be automatically triggered to stop the middle servo motor and the side servo motor from working and enter standby mode.

[0056] Example 2

[0057] The difference between this embodiment and embodiment 1 is that this embodiment is a method for training a planar two-dimensional wrist training robot based on embodiment 1, comprising the following steps:

[0058] S1. Passive training mode: the middle servo motor 4 and the side servo motor 4 rotate according to the preset trajectory and speed, so that the actuator drives the user's hand to move according to the preset trajectory and speed; in the passive mode, the patient's movement is driven by the active movement of the movable platform 24, and the trajectory and speed of the movement are set by the training content pre-input into the control system, which helps the patient to recover the range of motion of the joints. It is suitable for patients with weak muscle strength in the early rehabilitation stage.

[0059] S2, on-demand training mode: the middle servo motor 4 and the side servo motor 4 operate at a relatively fixed speed, so that the actuator drives the user's hand to move at a constant speed along a preset trajectory; in the on-demand training mode, the patient is driven by the movable platform 24 at a relatively fixed speed according to the preset training content setting trajectory for exercise training, gradually enhancing the patient's muscle strength and movement coordination, which is suitable for patients in the middle stage of rehabilitation.

[0060] S3, active training mode: In the active training mode, the patient relies on his own strength to complete the wrist movement, driving the movable platform 24 to perform two-dimensional movement in the horizontal plane on the table; in the active training mode, the motor applies a certain resistance to further enhance the patient's muscle strength and endurance, which is suitable for patients in the late stage of rehabilitation.

[0061] When the patient drives the movable platform 24 to rotate clockwise with the straight line where the forearm is located as the rotation center, the two-dimensional force sensor 31 inputs the force and position information into the control system, and the side servo motor 4 rotates counterclockwise, so that the movable platform 24 follows the patient's movement, and can provide a certain resistance through the motor rotation speed. Similarly, when the patient drives the handle 3 to rotate counterclockwise with the straight line where the forearm is located as the rotation center, the two-dimensional force sensor 31 inputs the force and position information into the control system, and the side servo motor 4 rotates clockwise, so that the movable platform 24 follows the patient's movement. When the patient drives the handle 3 to rotate clockwise with the vertical line of the straight line where the forearm is located as the rotation center, the two-dimensional force sensor 31 inputs the force and position information into the control system, and the middle servo motor 4 rotates counterclockwise, so that the movable platform 24 follows the patient's movement. When the patient drives the handle 3 to rotate counterclockwise with the vertical line of the straight line where the forearm is located as the rotation center, the two-dimensional force sensor 31 inputs the force and position information into the control system, and the middle servo motor 4 rotates clockwise, so that the movable platform 24 follows the patient's movement. The patient's compound movement in any trajectory in the horizontal plane can realize the follow-up movement of the movable platform 24 according to the above-mentioned motor coupling rotation method.

[0062] During active training, the two-dimensional force sensor 31 inputs the external force information and position information acting on the handle 3 into the control system. The control system uses an impedance control algorithm to make the middle servo motor 4 and the side servo 4 motor rotate in a certain direction and speed, so that the actuator moves in coordination with the external movement, or adds a preset resistance to it.

[0063] During use of this embodiment, the training mode can be actively selected through the human-computer interaction interface, and the operation of the device can be monitored in real time through the sensor system; the two-dimensional force sensor 31 is used to monitor the force on the patient's wrist in real time, and the control unit analyzes and processes the data obtained by the two-dimensional force sensor 31. When it is detected that the patient's wrist muscle strength reaches a certain threshold and the movement coordination meets the preset conditions, the motor drive module can be controlled to enter a higher level of training mode; for example, in the passive training mode, if the sensor data shows that the patient can continuously and stably resist a certain degree of resistance and maintain the correct movement trajectory, the control unit will determine that the patient has the conditions to enter the active training mode, and automatically switch the mode and adjust the motor's power assistance parameters accordingly.

[0064] The above description is only a further explanation of the present invention in combination with specific embodiments. All descriptions do not limit the scope of protection of the present invention. Any changes or replacement schemes that can be easily thought of by any technician in this field within the technical scope disclosed by the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A two-dimensional wrist training robot, including a portable case, characterized in that: The portable case is divided into two storage chambers by a vertical partition, and a driving system and an actuator are respectively arranged in the two storage chambers; the actuator includes a handle, and the handle is installed on the mounting table through a movable platform; the driving system is connected to the mounting table through a transmission mechanism, and the driving system includes a central driving mechanism and a side driving mechanism; the transmission mechanism includes two transmission shafts, and the two transmission shafts are respectively connected to the central driving mechanism and the side driving mechanism; transmission ropes are wound around the two transmission shafts, and the transmission ropes are connected to the movable platform; a sensor system is arranged in cooperation with the driving system and the actuator, and a panel cooperating with the sensor system is arranged on the outer surface of the portable case.

2. The two-dimensional wrist training robot according to claim 1, characterized in that: The central driving mechanism includes a central servo motor fixedly installed at the bottom of the storage cavity, and the output shaft of the central servo motor is arranged vertically upward; the side driving mechanism includes a side servo motor, and the side servo motor is fixedly installed at the bottom of the storage cavity through a pad; the output shaft of the central servo motor is coaxially connected to a fine driving shaft, and the output shaft of the side servo motor is vertically connected to a coarse driving shaft through a pair of bevel gears; the coarse driving shaft is a hollow shaft structure, and the coarse driving shaft is coaxially sleeved on the outside of the fine driving shaft.

3. The two-dimensional wrist training robot according to claim 2, characterized in that: The transmission shaft includes a coarse transmission shaft and a fine transmission shaft, the coarse transmission shaft is a hollow shaft structure, and the coarse transmission shaft is coaxially sleeved on the outside of the fine transmission shaft; the bottom end of the coarse transmission shaft and the top end of the coarse drive shaft are provided with matching gear ring structures, and the bottom end of the fine transmission shaft and the top end of the fine drive shaft are provided with matching gear ring structures.

4. The two-dimensional wrist training robot according to claim 3, characterized in that: The mounting platform includes a pair of vertically symmetrical side plates, between which a horizontally arranged bottom plate and middle plate are fixedly installed; bearings are arranged at the center positions of the bottom plate and the middle plate, the middle section of the coarse transmission shaft is connected to the bottom plate via the bearing, the top end of the fine transmission shaft is arranged beyond the coarse transmission shaft, and the fine transmission shaft is connected to the middle plate via the bearing.

5. The two-dimensional wrist training robot according to claim 4, characterized in that: An upper sleeve is sleeved on the outer side of the top end of the thin transmission shaft, and the upper sleeve is fixedly connected to the thin transmission shaft through a cylindrical pin; a lower sleeve is sleeved on the outer side of the top end of the thick transmission shaft, and the lower sleeve is fixedly connected to the thick transmission shaft through a cylindrical pin; the transmission rope is respectively wound around the outer sides of the upper sleeve and the lower sleeve, and a plurality of pulleys cooperating with the transmission rope are arranged on the two side plates of the mounting platform.

6. The two-dimensional wrist training robot according to claim 5, characterized in that: A pair of bearings are symmetrically arranged at the top of the inner side surfaces of the two side plates of the mounting platform, and the two ends of the movable platform are rotatably connected between the two side plates of the mounting platform through a pair of bearings; the middle part of the movable platform is a platform structure, and a pair of symmetrical winding shaft structures are arranged at both ends; the two ends of the transmission rope wound on the upper sleeve are respectively wound on the winding shafts at both ends of the movable platform.

7. The two-dimensional wrist training robot according to claim 6, characterized in that: The interior of the movable platform is configured as a through hole coaxial with the winding axis, and a bearing is provided at the center position of the top surface of the middle platform portion; the bottom end of the handle is connected to a cylindrical two-dimensional force sensor, and the two-dimensional force sensor is rotatably arranged on the movable platform through a bearing; the two ends of the transmission rope wound on the lower sleeve respectively pass through the two ends of the through hole inside the movable platform and are wound around the bottom end of the two-dimensional force sensor.

8. The two-dimensional wrist training robot according to claim 7, characterized in that: The portable box has a pair of door panels hinged at the openings of the two storage cavities, and a handle is provided at one end of the pair of door panels away from the hinge; the door panels are provided with connecting holes that cooperate with the thick drive shaft; the door panels are provided with positioning grooves, and the bottom of the mounting platform is provided with a positioning block that cooperates with the positioning groove.

9. A method for training using the robot according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1, passive training mode: the middle servo motor and the side servo motor rotate in a certain direction and speed, so that the actuator drives the user's hand to move according to a preset trajectory and speed; S2, on-demand training mode: the middle servo motor and the side servo motor rotate in a certain direction and speed, so that the actuator drives the user's hand to move at a constant speed along a preset trajectory; the movement speed in the on-demand mode is adjusted according to the preset gear position; S3, Active training mode: The user actively pushes the handle to move, and the two-dimensional force sensor inputs the external force information and position information acting on the handle into the control system. The control system uses the impedance control algorithm to make the middle servo motor and the side servo motor rotate in a certain direction and speed, so that the actuator moves in coordination with the external movement, or adds a preset resistance to it.

10. The training method according to claim 9, characterized in that: During the training process, when the two-dimensional force sensor detects that the combined external force of the actuator and the patient is greater than 50N, the force overload protection mechanism is automatically triggered to stop the middle servo motor and the side servo motor from working and enter a standby state.

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