Human body curved surface fitting motion control method based on six-dimensional force control and physiotherapy device

Abstract

The invention provides a human body curved surface fitting motion control method based on six-dimensional force control and a physical therapy device. A six-dimensional force / torque sensor is used for obtaining force and torque information in real time when the physical therapy device makes contact with a human body; according to the force and moment information, the motion track of the physiotherapy device is dynamically adjusted in combination with a human body curved surface model or real-time scanning data, and it is ensured that the physiotherapy device can be tightly attached to the human body surface. According to the human body curved surface fitting motion control method based on six-dimensional force control and the physical therapy device, accurate fitting of the complex curved surface of the human body can be achieved, it is ensured that acting force is evenly distributed, and the physical therapy effect is improved; and the motion trail can be adjusted through real-time force feedback, so that the self-adaptive capability of the equipment and the comfort level of the user are enhanced.

Description

Technical Field

[0001] The present invention belongs to the technical field of rehabilitation physiotherapy and robot control, and particularly relates to a human body curved surface fitting motion control method and a physiotherapy device based on six-dimensional force control. Background Art

[0002] In the fields of rehabilitation medicine and daily health care, physiotherapy devices are widely used to relieve muscle fatigue, promote blood circulation, and assist in rehabilitation treatment. Traditional physiotherapy devices usually adopt fixed mechanical structures or simple contact massage heads. These devices are difficult to adapt to the complex and irregular surface curvatures of the human body, resulting in limited physiotherapy effects and may cause discomfort or even harm to users. In recent years, with the development of robot technology and sensor technology, six-dimensional force / torque sensors have gradually been introduced into physiotherapy devices. Six-dimensional force control technology can real-time sense the force and torque information when the device contacts the human body, so as to achieve more precise control and a better human-computer interaction experience. However, the existing physiotherapy devices based on six-dimensional force control still have the following problems:

[0003] Insufficient curved surface fitting: When facing the complex curved surfaces of different parts of the human body (such as the back, legs, etc.), the existing devices are difficult to dynamically adjust to maintain good fitting.

[0004] Limitations of control algorithms: Traditional control algorithms mostly rely on preset trajectories or fixed patterns and lack the ability to adaptively adjust according to actual force feedback.

[0005] Poor user experience: Due to the inability to accurately adjust the magnitude and direction of the acting force, it is easy to cause excessive or insufficient local pressure, affecting the physiotherapy effect.

[0006] Therefore, there is an urgent need for a method that can combine six-dimensional force control technology to achieve automatic recognition of the human body curved surface and dynamically adjust the motion trajectory, so as to improve the safety, effectiveness, and comfort of physiotherapy devices. The present invention precisely proposes a brand-new solution to the above problems. Summary of the Invention

[0007] In view of this, in order to overcome the deficiencies of the prior art, the present invention provides a human body curved surface fitting motion control method and a physiotherapy device based on six-dimensional force control, which can not only achieve precise fitting of the complex curved surface of the human body, ensure uniform distribution of the acting force, and improve the physiotherapy effect; but also can adjust the motion trajectory through real-time force feedback, enhancing the adaptive ability of the device and the user comfort.

[0008] To solve the above technical problems, the technical solution adopted by the present invention is: A human body curved surface fitting motion control method based on six-dimensional force control, which uses a six-dimensional force / torque sensor to real-time obtain the force and torque information when the physiotherapy device contacts the human body;

[0009] According to the force and torque information, combined with the human body surface model or real-time scanning data, dynamically adjust the movement trajectory of the physiotherapy device to ensure that it can closely fit the human body surface.

[0010] As a further improvement of the present invention, an adaptive motion planning algorithm is introduced. According to the magnitude and direction of the acting force feedback by the six-dimensional force sensor, the motion speed, acceleration, and magnitude of the acting force of the physiotherapy device are adjusted in real time;

[0011] Set a safety force threshold to avoid harm to the human body caused by excessive acting force, and at the same time ensure uniform distribution of the acting force.

[0012] As a further improvement of the present invention, the physiotherapy device is equipped with a multi-degree-of-freedom robotic arm or a flexible drive mechanism, which can move flexibly in three-dimensional space to adapt to the complex curved surfaces of different parts of the human body;

[0013] Combined with joint position control and end effector attitude adjustment, achieve full coverage and precise fitting of the human body surface.

[0014] As a further improvement of the present invention, the physiotherapy device is configured with a high-performance processor and dedicated control software for processing six-dimensional force sensor data, executing motion planning algorithms, and controlling the movement of the mechanical structure;

[0015] Support user-defined physiotherapy modes. The physiotherapy modes include gentle massage and deep massage, and the parameters can be automatically adjusted according to user needs.

[0016] As a further improvement of the present invention, the physiotherapy device can automatically adjust the physiotherapy intensity and frequency according to the characteristics of the user's body shape, muscle hardness, etc., to provide a personalized physiotherapy experience.

[0017] As a further improvement of the present invention, during the physiotherapy process, the physiotherapy device can real-time monitor the user's physiological indicators, and the physiological indicators include heart rate and muscle response, and dynamically adjust the physiotherapy strategy accordingly.

[0018] As a further improvement of the present invention, each component of the physiotherapy device adopts a modular design, which is convenient for replacement and maintenance. At the same time, it supports expansion function modules, and the expansion function modules include a heating module and a vibration module. The modular design is convenient for expansion and maintenance. Each component adopts a modular design, which is not only convenient for replacement and maintenance, but also supports expansion function modules (such as heating module, vibration module), further enriching the physiotherapy experience.

[0019] As a further improvement of the present invention, the physiotherapy device has self-learning ability and can continuously optimize the motion planning algorithm and physiotherapy strategy through the data accumulated from multiple uses to improve the user experience. With high intelligence, the physiotherapy device has self-learning ability and can continuously optimize the motion planning algorithm and physiotherapy strategy through the data accumulated from multiple uses, thereby continuously improving the user experience.

[0020] As a further improvement of the present invention, the physiotherapy device provides multiple operation modes, including manual mode, semi-automatic mode and full-automatic mode, to meet the needs of different users;

[0021] In the manual mode, the user can directly adjust the movement trajectory and intensity of the physiotherapy device through the controller;

[0022] In the semi-automatic mode, the physiotherapy device automatically adjusts within the parameter range set by the user;

[0023] In the full-automatic mode, the physiotherapy device completely autonomously completes the physiotherapy process.

[0024] The flexible and rich operation modes provide three operation modes: manual, semi-automatic and full-automatic, to meet the operation needs of different users. Whether the user hopes to fully control independently or rely on the device to automatically complete the physiotherapy process, a good user experience can be obtained.

[0025] A physiotherapy device based on six-dimensional force control includes a physiotherapy chair body. Armrests are provided on both sides of the physiotherapy chair body. A backboard is provided at the rear of the physiotherapy body. A support frame is commonly provided between the armrests on both sides. A first linear slide is vertically provided at one end of the front side of the backboard. An installation plate slidably connected to the backboard vertically is provided on the slider of the first linear slide. A connection chute is vertically provided on the backboard. A connection slider slidably connected to the connection chute is provided on the installation plate. A second linear slide is provided on the installation plate in the left-right direction. A telescopic push rod is provided on the slider of the second linear slide in the front-rear direction. A rotating shaft is rotatably provided on the output shaft of the telescopic push rod in the front-rear direction through a fixing plate. A first adjustment motor for driving the rotation of the rotating shaft is provided on the fixing plate. A second adjustment motor is vertically provided on the output shaft of the first adjustment motor. A physiotherapy head is vertically provided on the output shaft of the second adjustment motor. A protective sleeve is also sleeved on the physiotherapy head.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0027] First, it precisely fits the human body surface. By using a six-dimensional force / torque sensor to obtain the force and torque information in real time, and combining with the human body surface model or scanning data to dynamically adjust the movement trajectory, it ensures that the physiotherapy device can closely fit the human body surface and achieve precise coverage of the complex human body surface.

[0028] Second, it has strong adaptability. By introducing an adaptive motion planning algorithm, according to the magnitude and direction of the force feedback by the six-dimensional force sensor, it can adjust the movement speed, acceleration and force magnitude in real time, avoid causing harm to the human body due to excessive force, and ensure uniform distribution of the force.

[0029] Thirdly, it provides a personalized physiotherapy experience. The physiotherapy device can automatically adjust the intensity and frequency according to the user's body type, muscle hardness and other characteristics, and provide a personalized physiotherapy plan. It supports multiple physiotherapy modes (such as gentle massage, deep massage) to meet the needs of different users.

[0030] Fourthly, it has high safety. A safety force threshold is set to prevent the device from exerting too much force and causing harm to the user. At the same time, the user's heart rate and muscle reactions are monitored in real time during physiotherapy, and the physiotherapy strategy is dynamically adjusted to enhance the user's sense of security and comfort.

[0031] Fifthly, through the coordinated work of the first linear slide, the second linear slide, the telescopic push rod and multiple adjustment motors, the flexible movement of the physiotherapy head in three-dimensional space is realized, which can cover parts such as the human back and shoulders. And through the support frame, it can help the user sit in the appropriate position more quickly, facilitating the subsequent physiotherapy. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0033] Figure 1 is a schematic structural diagram of the present invention;

[0034] Figure 2 is a schematic structural diagram of the guiding slot and guiding plate of the present invention;

[0035] Figure 3 is a schematic structural diagram of the physiotherapy head and protective cover of the present invention.

[0036] In the figures: 101, physiotherapy chair body; 102, armrest; 103, back panel; 104, support frame; 105, first linear slide; 106, mounting plate; 107, connecting chute; 108, connecting slider; 109, second linear slide; 110, telescopic push rod; 111, first adjustment motor; 112, second adjustment motor; 113, physiotherapy head; 114, bearing; 115, rotating shaft; 201, protective cover; 301, fixing plate; 302, guiding slot; 303, guiding plate. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] To better understand the present invention, the content of the present invention will be further clearly elaborated below in conjunction with embodiments. However, the protected content of the present invention is not limited to the following embodiments. In the following description, a large number of specific details are given to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details.

[0038] A human body curved surface fitting motion control method based on six - dimensional force control, which uses a six - dimensional force / torque sensor to obtain the force and torque information in real time when the physiotherapy device contacts the human body;

[0039] According to the force and torque information, combined with the human body curved surface model or real - time scanning data, dynamically adjust the motion trajectory of the physiotherapy device to ensure that it can closely fit the human body surface.

[0040] Introduce an adaptive motion planning algorithm, and according to the magnitude and direction of the acting force fed back by the six - dimensional force sensor, adjust the motion speed, acceleration and the magnitude of the acting force of the physiotherapy device in real time;

[0041] Set a safety force threshold to avoid harm to the human body caused by excessive acting force and ensure uniform distribution of the acting force.

[0042] The physiotherapy device is equipped with a multi - degree - of - freedom robotic arm or a flexible drive mechanism, which can move flexibly in three - dimensional space to adapt to the complex curved surfaces of different parts of the human body;

[0043] Combined with joint position control and end - effector attitude adjustment, achieve full - range coverage and precise fitting of the human body surface.

[0044] The physiotherapy device is configured with a high - performance processor and dedicated control software, which is used to process six - dimensional force sensor data, execute motion planning algorithms, and control the motion of the mechanical structure; support user - defined physiotherapy modes, and the physiotherapy modes include gentle massage and deep massage, and can automatically adjust parameters according to user needs.

[0045] The physiotherapy device can automatically adjust the physiotherapy intensity and frequency according to the characteristics of the user's body shape, muscle hardness, etc., to provide a personalized physiotherapy experience.

[0046] During the physiotherapy process, the physiotherapy device can monitor the user's physiological indicators in real time. The physiological indicators include heart rate and muscle response, and dynamically adjust the physiotherapy strategy accordingly.

[0047] Each component of the physiotherapy device adopts a modular design, which is convenient for replacement and maintenance. At the same time, it supports expansion function modules, and the expansion function modules include a heating module and a vibration module.

[0048] The physiotherapy device has self - learning ability, and can continuously optimize the motion planning algorithm and physiotherapy strategy through the data accumulated from multiple uses, so as to improve the user experience. With a high degree of intelligence, the physiotherapy device has self - learning ability, and can continuously optimize the motion planning algorithm and physiotherapy strategy through the data accumulated from multiple uses, thereby continuously improving the user experience.

[0049] The physiotherapy device provides a variety of operation modes, including manual mode, semi - automatic mode and full - automatic mode, to meet the needs of different users;

[0050] In manual mode, the user can directly adjust the movement trajectory and intensity of the physiotherapy device through the controller;

[0051] In semi-automatic mode, the physiotherapy device automatically adjusts within the parameter range set by the user;

[0052] In fully automatic mode, the physiotherapy device completely autonomously completes the physiotherapy process.

[0053] Working principle:

[0054] First, after the user starts the physiotherapy device, the device enters the standby state.

[0055] After that, the user can arbitrarily select one of the operation modes from manual mode, semi-automatic mode, and semi-automatic mode. According to the demand, the user can choose one of the following three operation modes, and then the physiotherapy device can be used to perform physiotherapy on the user.

[0056] During the physiotherapy process, the six-axis force / torque sensor real-time obtains the force and torque information when the physiotherapy head 113 contacts the human body; and will combine the human body surface model or real-time scan data, and the high-performance processor dynamically calculates and adjusts the movement trajectory of the physiotherapy device to ensure that it closely fits the human body surface.

[0057] The physiotherapy device can also adjust the following parameters in real time according to the magnitude and direction of the acting force feedback by the six-axis force sensor: movement speed, dynamically adjusted according to the magnitude of the contact force; acceleration: smooth transition to avoid sudden acceleration or deceleration; magnitude of the acting force, ensure uniform distribution of the acting force to avoid excessive force causing harm to the human body; safety force threshold, the system sets a safety force threshold to prevent the acting force from exceeding the human body's tolerance range.

[0058] According to the characteristics of the user's body shape, muscle hardness, etc., the physiotherapy device automatically adjusts the following parameters: intensity, providing appropriate massage intensity for different parts (such as shoulders, back); frequency, adjusting the massage rhythm according to the user's needs.

[0059] Supports multiple physiotherapy modes (such as gentle massage, deep massage), and the user can choose a suitable mode according to their own needs.

[0060] During the physiotherapy process, the device real-time monitors the user's physiological indicators (such as heart rate, muscle reaction).

[0061] Dynamically adjusts the physiotherapy strategy according to the monitoring results, for example: when an abnormal heart rate is detected, reduce the massage intensity or pause the physiotherapy; when the muscle reaction indicates that the user feels uncomfortable, adjust the massage frequency or mode.

[0062] The physiotherapy device supports modular design, and the user can select the following functional modules according to their needs: heating module, increasing the warm effect and promoting blood circulation; vibration module, enhancing the massage experience and relieving muscle tension.

[0063] The physiotherapy device has the ability of self-learning and continuously optimizes the following aspects through the data accumulated from multiple uses: the motion planning algorithm to improve the accuracy and smoothness of the motion trajectory; the physiotherapy strategy to provide a more personalized physiotherapy plan according to the user's feedback and physiological data.

[0064] After the physiotherapy is completed, the device returns to the standby state, and the user can perform the next physiotherapy at any time.

[0065] The system saves the physiotherapy data of this time for reference in subsequent optimization.

[0066] As Figure 1 、 2 、as shown in Figure 3, a physiotherapy device based on six-degree-of-freedom force control includes a physiotherapy chair body 101. Armrests 102 are arranged on both sides of the physiotherapy chair body 101. A backrest 103 is arranged at the rear of the physiotherapy body. A support frame 104 is jointly arranged between the two armrests 102. A first linear slide 105 is vertically arranged at one end of the front side of the backrest 103. An installation plate 106 that is vertically slidably connected to the backrest 103 is arranged on the slider of the first linear slide 105. A connecting chute 107 is vertically arranged on the backrest 103. A connecting slider 108 that is slidably connected to the connecting chute 107 is arranged on the installation plate 106. The sliding holes of the connecting chute 107 and the cross-section of the connecting slider 108 are both T-shaped. A second linear slide 109 is arranged on the installation plate 106 in the left-right direction. A telescopic push rod 110 is arranged on the slider of the second linear slide 109 in the front-rear direction. A rotating shaft 115 is rotatably arranged in the front-rear direction on the output shaft of the telescopic push rod 110 through a fixing plate 301. The fixing plate 301 is rotatably connected to the rotating shaft 115 through a bearing 114. A first adjustment motor 111 for driving the rotation of the rotating shaft 115 is arranged on the fixing plate 301. The first adjustment motor 111 is connected to the rotating shaft 115 through a gear transmission component. A second adjustment motor 112 is vertically arranged on the output shaft of the first adjustment motor 111. A physiotherapy head 113 is vertically arranged on the output shaft of the second adjustment motor 112. A protective sleeve 201 is also sleeved on the physiotherapy head 113. The material of the protective sleeve 201 is silicone or medical-grade elastic material, ensuring no irritation to the skin and used to isolate the direct contact between the physiotherapy head 113 and the patient's skin. The protective sleeve 201 supports quick disassembly and replacement, facilitating maintaining hygiene when used among different patients and avoiding cross-infection.

[0067] The patient can be made to sit on the physiotherapy chair body 101, and the patient's back can be made to lean against the support frame, so as to ensure that the patient can quickly and comfortably sit in a proper position; then, through the up-and-down movement of the slider of the first linear slide 105, under the sliding fit between the connecting slider 108 and the connecting chute 107, the mounting plate 106 can be driven to slide smoothly up and down along the back plate 103 to adjust the initial height and vertical position of the physiotherapy head 113; then, the slider of the second linear slide 109 is driven to move left and right along the mounting plate 106 to further finely adjust the horizontal position of the physiotherapy head 113 in the left-and-right direction; the output shaft of the telescopic push rod 110 extends and retracts in the front-and-back direction, driving the physiotherapy head 113 to pass through the support frame 104 and push towards the patient's back to complete the adjustment of the horizontal position of the physiotherapy head 113 in the front-and-back direction; then the first adjustment motor 111 is started, and the rotation angles of the second adjustment motor 112 and the physiotherapy head 113 are controlled through the gear transmission assembly to ensure that it closely fits the human body surface, and the second adjustment motor 112 is started to further adjust the posture of the physiotherapy head 113 to adapt to the massage requirements of different parts; then the physiotherapy head 113 can be driven by the telescopic push rod 110 to massage the corresponding part of the patient's back at a certain frequency and intensity.

[0068] Subsequently, the position and posture of the physiotherapy head 113 are adjusted through the first linear slide 105, the second linear slide 109, the telescopic push rod 110, the first adjustment motor 111 and the second adjustment motor 112, so as to perform physiotherapy treatment on other parts.

[0069] An extension plate is also provided at the bottom side end of the physiotherapy chair body 101, and floor bolts for connecting to the ground are also provided on the extension plate. Through the extension plate and the floor bolts, the device can be stably fixed to the ground to prevent it from being easily moved.

[0070] A guide slot 302 is provided on the slider of the second linear slide 109, and a guide plug 303 inserted into the guide slot 302 is provided on the fixing plate 301. Through the cooperation of the guide slot 302 and the guide plug 303, the first adjustment motor 111, the second adjustment motor 112 and the physiotherapy head 113 can be stably moved in the front-and-back direction, and the telescopic push rod 110 can be prevented from being easily deformed and damaged.

[0071] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A human body curved surface fitting motion control method based on six - dimensional force control, characterized in that: Utilize a six - dimensional force / torque sensor to obtain the force and torque information in real - time when the physiotherapy device contacts the human body; According to the force and torque information, combined with the human body surface model or real - time scan data, dynamically adjust the motion trajectory of the physiotherapy device to ensure that it can closely fit the human body surface.

2. The method for controlling the human body curved surface fitting motion based on six - dimensional force control according to claim 1, wherein: Introduce an adaptive motion planning algorithm, and according to the magnitude and direction of the acting force feedback by the six - dimensional force sensor, adjust the motion speed, acceleration and magnitude of the acting force of the physiotherapy device in real - time; Set a safety force threshold to avoid excessive acting force causing harm to the human body and ensure uniform distribution of the acting force at the same time.

3. The method for human body curved surface fitting motion control based on six - dimensional force control according to claim 2, wherein: The physiotherapy device is equipped with a multi - degree - of - freedom robotic arm or a flexible drive mechanism, which can move flexibly in three - dimensional space to adapt to the complex curved surfaces of different parts of the human body; Combine joint position control and end - effector attitude adjustment to achieve full - coverage and precise fitting of the human body surface.

4. The method for human body curved surface fitting motion control based on six - dimensional force control according to claim 3, wherein: The physiotherapy device is configured with a high - performance processor and dedicated control software, which are used to process the data of the six - dimensional force sensor, execute the motion planning algorithm, and control the motion of the mechanical structure; Support user - defined physiotherapy modes. The physiotherapy modes include gentle massage and deep massage, and the parameters can be automatically adjusted according to user needs.

5. The method for human body curved surface fitting motion control based on six - dimensional force control according to claim 4, characterized in that: The physiotherapy device can automatically adjust the physiotherapy intensity and frequency according to the characteristics of the user's body shape, muscle hardness, etc., to provide a personalized physiotherapy experience.

6. The human body curved surface fitting motion control method based on six - dimensional force control according to claim 5, characterized in that: During the physiotherapy process, the physiotherapy device can real - time monitor the user's physiological indicators. The physiological indicators include heart rate and muscle response, and adjust the physiotherapy strategy accordingly.

7. The method for controlling the human body curved surface fitting motion based on six - dimensional force control according to claim 6, characterized in that: Each component of the physiotherapy device adopts a modular design, which is convenient for replacement and maintenance. At the same time, it supports expansion function modules. The expansion function modules include a heating module and a vibration module.

8. The method for human body curved surface fitting motion control based on six - dimensional force control according to claim 7, wherein: The physiotherapy device has self - learning ability, and can continuously optimize the motion planning algorithm and physiotherapy strategy through the data accumulated from multiple uses to improve the user experience.

9. The method for controlling the human body curved surface fitting motion based on six - dimensional force control according to claim 8, wherein: The physiotherapy device provides multiple operation modes, including manual mode, semi - automatic mode and full - automatic mode, to meet the needs of different users; In the manual mode, the user can directly adjust the motion trajectory and intensity of the physiotherapy device through the controller; In the semi - automatic mode, the physiotherapy device automatically adjusts within the parameter range set by the user; In the full - automatic mode, the physiotherapy device completely autonomously completes the physiotherapy process.

10. A physiotherapy device based on six - dimensional force control, characterized in that: It includes a physiotherapy chair body (101). Armrests (102) are provided on both sides of the physiotherapy chair body (101). A backboard (103) is provided at the rear of the physiotherapy body. A support frame (104) is jointly provided between the armrests (102) on both sides. At one end on the front side of the backboard (103), a first linear slide (105) is vertically provided. An installation plate (106) that is vertically slidably connected to the backboard (103) is provided on the slide of the first linear slide (105). A connection chute (107) is vertically provided on the backboard (103). A connection slider (108) that is slidably connected to the connection chute (107) is provided on the installation plate (106). A second linear slide (109) is provided on the installation plate (106) along the left-right direction. A telescopic push rod (110) is provided on the slide of the second linear slide (109) along the front-back direction. A rotating shaft (115) is rotatably provided along the front-back direction on the output shaft of the telescopic push rod (110) through a fixing plate (301). A first adjustment motor (111) for rotationally driving the rotating shaft (115) is provided on the fixing plate (301). A second adjustment motor (112) is vertically provided on the output shaft of the first adjustment motor (111). A physiotherapy head (113) is vertically provided on the output shaft of the second adjustment motor (112). A protective sleeve (201) is also sleeved on the physiotherapy head (113).

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