Shoulder joint rehabilitation robot and control method thereof

Abstract

The present disclosure provides a shoulder joint rehabilitation robot and a control method thereof, the shoulder joint rehabilitation robot comprising: a shoulder member having a plurality of shoulder anchor points; an upper arm member having a plurality of upper arm anchor points in one-to-one correspondence with the plurality of shoulder anchor points; each shoulder anchor point and the corresponding upper arm anchor point move relative to each other through the corresponding electric mechanism, each upper arm anchor point is connected to the upper arm component through a plane rotating bearing, and the far end, far away from the upper arm component, of each upper arm anchor point is connected with the corresponding electric mechanism. Each shoulder anchor point is connected to the shoulder component through a plane rotating bearing, and the far end, away from the shoulder component, of each shoulder anchor point is connected with a corresponding electric mechanism through a ball bearing and a line pipe sleeve connected with the ball bearing. According to the shoulder joint rehabilitation robot, rehabilitation training of shoulder joints is safer, more comfortable and more efficient.

Description

Technical Field

[0001] This disclosure relates to the technical field of sports rehabilitation treatment for shoulder injuries, specifically to a parallel-driven wearable shoulder joint rehabilitation robot and its control method. Background Technology

[0002] Currently, due to injuries such as stroke and spinal cord injury affecting upper limb motor function, the demand for shoulder joint rehabilitation is increasing year by year. The shoulder joint of the human upper limb is a joint with high complexity and freedom of movement, increasing the complexity of rehabilitation training. Given limited medical resources, rehabilitation robots can be used to replace physical therapists in sports rehabilitation therapy and muscle recovery training.

[0003] Most existing shoulder and upper limb rehabilitation robots employ end-effector traction or are attached to exoskeletons consisting of links and joints. End-effector traction makes it difficult to ensure that upper limb joints, especially the shoulder joint, rehabilitate according to the predetermined movement pattern. Exoskeletons can lead to human-machine incompatibility issues when the wearing position deviates from the predetermined position, and may even pose a potential risk of injury to the user, which is unacceptable in rehabilitation applications. Summary of the Invention

[0004] To address the aforementioned technical issues, this disclosure proposes a structural design for a cable-driven parallel wearable shoulder joint rehabilitation robot, improving the configuration design and driving and control methods of the shoulder joint rehabilitation robot.

[0005] In one general aspect, a shoulder joint rehabilitation robot is provided, the shoulder joint rehabilitation robot comprising: a shoulder component having a plurality of shoulder anchor points; an upper arm component having a plurality of upper arm anchor points corresponding one-to-one with the plurality of shoulder anchor points; and a plurality of electric mechanisms, wherein each shoulder anchor point and its corresponding upper arm anchor point move relative to each other through the corresponding electric mechanism, wherein each upper arm anchor point is connected to the upper arm component via a planar rotary bearing, and the distal end of each upper arm anchor point remote from the upper arm component is connected to the corresponding electric mechanism, and each shoulder anchor point is connected to the shoulder component via a planar rotary bearing, and the distal end of each shoulder anchor point remote from the shoulder component is connected to the corresponding electric mechanism via a ball bearing.

[0006] According to an embodiment, each electric mechanism includes a rope, a sheath disposed outside the rope, and an electric winch. Each upper arm anchor point is connected to one end of the rope, and each shoulder anchor point is fixed to the end of the sheath by a ball bearing, such that the upper arm anchor point is pulled by the rope by the rotation of the electric winch and moves relative to the corresponding shoulder anchor point.

[0007] According to an embodiment, each electric mechanism includes an electric push rod, each upper arm anchor point is connected to one end of the push rod, and each shoulder anchor point is fixed to the other end of the push rod by a ball bearing, such that the corresponding shoulder anchor point and upper arm anchor point move relative to each other through the extension and retraction of the electric push rod.

[0008] According to an embodiment, the shoulder joint rehabilitation robot further includes a first brace and a second brace. The first brace includes a cylindrical portion extending along the thoracolumbar spine and a Y-shaped support extending from the shoulder member to both sides of the cylindrical portion. The second brace includes a strip-shaped support extending from the upper arm member toward the elbow.

[0009] According to an embodiment, each of the plurality of shoulder anchor points and the plurality of upper arm anchor points consists of five or more, and the shoulder members and upper arm members are provided with an array of anchor point mounting holes for adjusting the anchor point positions.

[0010] In another general aspect, a control method for a shoulder joint rehabilitation robot is provided. The shoulder joint rehabilitation robot includes: a shoulder component having multiple shoulder anchor points; an upper arm component having multiple upper arm anchor points corresponding one-to-one with the multiple shoulder anchor points; multiple electric mechanisms, wherein each shoulder anchor point and its corresponding upper arm anchor point move relative to each other through a corresponding electric mechanism; a first inertial measurement unit and a second inertial measurement unit are respectively disposed on the shoulder component and the upper arm component. The control method includes: acquiring the original coordinates of the multiple shoulder anchor points based on a shoulder coordinate system, the original coordinates of the multiple upper arm anchor points based on an upper arm coordinate system, the original posture of the first inertial measurement unit based on the shoulder coordinate system, and the original posture of the second inertial measurement unit based on the upper arm coordinate system. Based on the distances between corresponding anchor points at multiple different body positions of the upper arm relative to the shoulder, and the attitudes of the first and second inertial measurement units relative to the ground, the relative attitude difference and translation difference between the shoulder coordinate system and the upper arm coordinate system are calculated respectively; the upper arm coordinate system is converted into the shoulder coordinate system based on the relative attitude difference and translation difference; the center of rotation of the shoulder joint is calculated based on the positions of multiple feature points on the upper arm component in the shoulder coordinate system at multiple different body positions; the length trajectory and velocity trajectory of the rope or push rod of each electric mechanism between the corresponding shoulder anchor point and the upper arm anchor point are calculated based on the target trajectory of the upper arm around the center of rotation of the shoulder joint; and the multiple electric mechanisms are controlled to drive the relative movement of each shoulder anchor point and the corresponding upper arm anchor point through the length trajectory and velocity trajectory.

[0011] According to an embodiment, calculating the center of rotation of the shoulder joint based on the positions of multiple feature points on the upper arm component in the shoulder coordinate system at multiple different body positions includes: for one of the multiple feature points on the upper arm component, obtaining multiple sets of coordinates of the feature point in the shoulder coordinate system at the corresponding body position based on the pose difference between the upper arm and the shoulder coordinate system at five or more body positions, and fitting a position of the center of rotation of the shoulder joint based on the multiple sets of coordinates, wherein at least one set of data with the largest deviation of coordinate values ​​from the sphere among the five or more sets of shoulder joint pose data is removed before fitting.

[0012] According to the embodiment, the average value of the calculated multiple shoulder joint rotation center after removing the error term is taken as the shoulder joint rotation center.

[0013] According to an embodiment, the control method further includes: calibrating and updating the center of rotation of the shoulder joint based on the distance between corresponding anchor points and the relative posture relationship between the shoulder component and the upper arm component obtained based on a predetermined time interval.

[0014] In another general aspect, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the control method for the shoulder joint rehabilitation robot as described above.

[0015] The parallel wearable shoulder rehabilitation robot according to the embodiment can make shoulder rehabilitation training safer, more comfortable and efficient, and improve the safety of shoulder rehabilitation training and the patient's experience in rehabilitation training. Attached Figure Description

[0016] The above and other aspects, features and advantages of this disclosure will become more clearly understood from the following detailed embodiments, taken in conjunction with the accompanying drawings, in which: Figure 1 A schematic diagram of a shoulder joint rehabilitation robot according to an embodiment of the present disclosure is shown.

[0017] Figure 2 A schematic diagram of a shoulder member and an upper arm member according to an embodiment of the present disclosure is shown.

[0018] Figure 3 A flowchart illustrating a control method for a shoulder joint rehabilitation robot according to an embodiment of the present disclosure is shown. Detailed Implementation

[0019] The following detailed embodiments are provided to aid the reader in gaining a comprehensive understanding of the methods, apparatus, and / or systems described herein. However, after understanding the disclosure of this application, various changes, modifications, and equivalents of the methods, apparatus, and / or systems described herein will be readily apparent. For example, the order of operations described herein is merely illustrative and is not limited to the order set forth herein; rather, changes that will be readily understood after understanding the disclosure of this application are possible, except for operations that must occur in a specific order. Furthermore, for clarity and brevity, descriptions of features known after understanding the disclosure of this application may be omitted.

[0020] The features described herein may be implemented in different forms and should not be construed as limited to the examples described herein. Rather, the examples described herein are provided only to illustrate some of the many feasible ways of implementing the methods, apparatus and / or systems described herein, many of which will become clear upon understanding the disclosure of this application.

[0021] As used herein, the term “and / or” includes any one of the associated listed items and any combination of any two or more.

[0022] Although terms such as “first,” “second,” and “third” may be used herein to describe various components, assemblies, regions, layers, or parts, these components, assemblies, regions, layers, or parts should not be limited by these terms. Rather, these terms are used only to distinguish one component, assembly, region, layer, or part from another. Thus, without departing from the teaching of the examples described herein, the first component, first assembly, first region, first layer, or first part referred to as the first component, first assembly, first region, first layer, or first part may also be referred to as the second component, second assembly, second region, second layer, or second part.

[0023] In the specification, when an element (such as a layer, region, or substrate) is described as being "on" another element, "connected to," or "bonded to" another element, the element may be directly "on" another element, directly "connected to," or "bonded to" the other element, or one or more other elements may be present in between. Conversely, when an element is described as being "directly on" another element, "directly connected to," or "directly bonded to" another element, no other elements may be present in between.

[0024] The terminology used herein is for the purpose of describing various examples only and is not intended to limit disclosure. Unless the context clearly indicates otherwise, the singular form is intended to include the plural form as well. The terms “comprising,” “including,” and “having” indicate the presence of the described features, quantities, operations, components, elements, and / or combinations thereof, but do not preclude the presence or addition of one or more other features, quantities, operations, components, elements, and / or combinations thereof.

[0025] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains upon understanding this disclosure. Unless expressly defined herein, terms (such as those defined in a general dictionary) shall be interpreted as having a meaning consistent with their meaning in the context of the relevant field and in this disclosure, and shall not be interpreted in an idealized or overly formalistic manner.

[0026] Furthermore, in the description of the examples, detailed descriptions of well-known related structures or functions will be omitted when it is believed that such detailed descriptions would lead to a vague interpretation of this disclosure.

[0027] To enable those skilled in the art to better understand this disclosure, specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings.

[0028] Figure 1 A schematic diagram of a shoulder joint rehabilitation robot according to an embodiment of the present disclosure is shown.

[0029] Figure 2 A schematic diagram of a shoulder member and an upper arm member according to an embodiment of the present disclosure is shown.

[0030] like Figure 1 and Figure 2 As shown, the shoulder joint rehabilitation robot according to an embodiment of this disclosure includes: a shoulder component 100 having a plurality of shoulder anchor points 102; an upper arm component 200 having a plurality of upper arm anchor points 202 corresponding one-to-one with the plurality of shoulder anchor points 102; and a plurality of electric mechanisms, wherein each shoulder anchor point 102 and its corresponding upper arm anchor point 202 move relative to each other via the corresponding electric mechanism. Each upper arm anchor point 202 is connected to the upper arm component 200 via a planar rotary bearing 212, and the distal end of each upper arm anchor point 202 remote from the upper arm component 200 is connected to the corresponding electric mechanism. Each shoulder anchor point 102 is connected to the shoulder component 100 via a planar rotary bearing 112, and the distal end of each shoulder anchor point 102 remote from the shoulder component 100 is connected to the corresponding electric mechanism via a ball bearing 122.

[0031] Specifically, the shoulder component 100 can be a metal fixing plate, and the plurality of shoulder anchor points 102 and the plurality of upper arm anchor points 202 can be five pairs of rope anchor points. The upper arm component 200 can be a metal fixing plate. The distal end of each shoulder anchor point 102, away from the shoulder component 100, can be connected to the corresponding electric mechanism via a ball bearing and a conduit sleeve. As an example, the shoulder joint rehabilitation robot according to an embodiment of this disclosure may include a pair of inertial measurement units (IMUs) 104 and 204, which can be respectively mounted on the shoulder component 100 and the upper arm component 200 via mounting brackets. The inertial measurement unit (IMU) can be used to measure the acceleration and angular velocity of an object, and may mainly consist of a gyroscope (responsible for measuring angular velocity) and an accelerometer (responsible for measuring linear acceleration). In this embodiment, the IMU calculates the ground attitude based on the acceleration and angular velocity. In addition, the IMU also has a built-in magnetometer, so the ground attitude and ground heading angle of the IMU can be obtained.

[0032] As an example, the shoulder joint rehabilitation robot according to embodiments of this disclosure may further include a first brace and a second brace. The first brace includes a cylindrical portion 302 extending along the thoracolumbar spine and a Y-shaped support 304 extending from the shoulder member 100 to both sides of the cylindrical portion 302. The second brace includes a strip-shaped support 306 extending from the upper arm member 200 toward the elbow. For example, the second brace includes an upper arm cuff near the elbow that is bound to the entire arm, and a strip-shaped support 306 extending from the upper arm member 200 to the cuff portion. The strip-shaped support 306 may serve as a metal fixing strip for rigidly connecting the upper arm member 200 to the arm fixation brace in the second brace, the Y-shaped support 304 may be a metal fixing strip, and the cylindrical portion 302 may serve as a lumbar-thoracic spine fixation brace that can be worn on the user. The Y-shaped bracket 304 increases the stability of the shoulder component 100 by being fixed proximally to the shoulder component 100 and distally to the cylindrical portion 302. The user's affected arm is connected to a brace bound to the entire arm via a strip bracket 306. The shoulder component is effectively fixed to the shoulder and torso by the Y-shaped brackets 304 extending from the shoulder component 100 to both sides of the cylindrical portion 302 extending along the thoracolumbar spine of the first brace. The upper arm component is connected to the brace bound to the entire arm via the strip bracket 306 to fix it to the affected arm. Specifically, the upper arm component can be fixed to the affected arm via two aluminum strip plates, so that the movement of the upper arm component driven by the rope can be better transmitted to the entire arm, avoiding displacement between the upper arm component and the arm. The cylindrical portion 302 of the first brace can be fixed tightly against the thoracolumbar spine. The Y-shaped bracket 304 of the first brace can form a triangular structure between the two metal strip plates and the thoracic and lumbar spine fixation brace. In addition, the two silver metal strips form a triangular structure between the shoulder component and the shoulder component, thereby ensuring the structural stability between the shoulder component and the cylindrical part 302 and transmitting the support force to the cylindrical part 302 and the user's torso.

[0033] Each electric mechanism may include a rope, a sheath disposed outside the rope, and an electric winch. Each upper arm anchor point 202 is connected (e.g., directly connected) to one end of the rope, and each shoulder anchor point 102 is fixed to the end of the sheath by a ball bearing and a connected conduit sleeve, such that the upper arm anchor point 202 is pulled by the rope by the rotation of the electric winch, causing relative movement with the corresponding shoulder anchor point 102. That is, the shoulder anchor point 102 on the shoulder member 100 is equipped with a ball bearing (fisheye bearing) and a flat rotary bearing at the position where the wire rope is led out from the sheath and conduit sleeve, so that the end of the sheath can rotate freely in the direction of the rope tension at the position where the rope is led out, thereby reducing wear on the wire rope.

[0034] As an example, the rope can be a steel wire rope and can be driven by a motor. The motor can be housed in a fixed box, and multiple motors can be used to pull multiple steel cables that extend from the shoulder anchor point of the shoulder component to the upper arm anchor point of the upper arm component. The length and speed of each steel cable can be controlled in real time, thereby controlling the posture of the upper arm relative to the torso and achieving the purpose of controlling the rotation law of the shoulder joint. The motor can be a joint motor used for robotic arms, and all motors are housed in the fixed box. When the motor shaft drives the winch mounted on it to rotate, the steel wire rope gradually tightens around the winch or gradually unwinds from the winch, allowing the steel wire rope to slide within the sheath, thereby controlling the distance and relative speed between a pair of rope anchor points.

[0035] In addition, a model of the coupling mechanism of the rope-driven parallel rehabilitation robot is established. This model can be a Simulink model, using the same controller and control strategy as the actual system, and fully simulating the unidirectional tensile characteristics of the rope.

[0036] As an alternative example, each electric mechanism may include an electric actuator, with each upper arm anchor 202 connected to one end of the actuator, for example, via a ball bearing, and each shoulder anchor 102 fixed to the other end of the actuator via a ball bearing, such that the corresponding shoulder anchor and upper arm anchor move relative to each other through the extension and retraction of the electric actuator. By substituting the actuator with a rope, bidirectional force application of the electric mechanism can be achieved.

[0037] As an example, the plurality of shoulder anchor points and the plurality of upper arm anchor points may each have five or more. The shoulder component and the upper arm component are provided with an array of anchor point mounting holes for adjusting the anchor point and IMU position, or for mounting other components. This enables multiple combinations of drive anchor point layouts, optimizes motion control effects, and achieves anchor point layout combinations with the largest controllable angle range.

[0038] Figure 3A flowchart illustrating a control method for a shoulder joint rehabilitation robot according to an embodiment of the present disclosure is shown.

[0039] As described above, the shoulder joint rehabilitation robot includes: a shoulder component having multiple shoulder anchor points; an upper arm component having multiple upper arm anchor points corresponding one-to-one with the multiple shoulder anchor points; multiple electric mechanisms, wherein each shoulder anchor point and its corresponding upper arm anchor point move relative to each other through the corresponding electric mechanism; a first inertial measurement unit and a second inertial measurement unit, respectively disposed on the shoulder component and the upper arm component.

[0040] like Figure 3 As shown, based on the structure of the shoulder joint rehabilitation robot described above, the control method of the shoulder joint rehabilitation robot according to embodiments of this disclosure may include: In step S101, the original coordinates of the plurality of shoulder anchor points based on the initial coordinate system, the original coordinates of the plurality of upper arm anchor points based on the initial coordinate system, and the original posture of the first inertial measurement unit based on the initial coordinate system are obtained. The original attitude of the second inertial measurement unit based on the initial coordinate system By utilizing the geometric relationships between different feature points on the shoulder and upper arm components in the model, a shoulder coordinate system B based on the shoulder component is established within the shoulder component, and an upper arm coordinate system C based on the upper arm component is established within the upper arm component. The coordinates of each anchor point and other feature points in their respective coordinate systems B and C, as well as the pose relationship between the IMU on the shoulder component and the shoulder coordinate system B, are updated. The attitude relationship between the IMU on the upper arm component and the upper arm coordinate system C .

[0041] In step S102, based on the distances between corresponding anchor points at multiple different body positions of the upper arm relative to the shoulder and the ground attitude of the first and second inertial measurement units, the relative attitude difference and translation difference between the shoulder coordinate system and the upper arm coordinate system are calculated respectively. Multiple sets of upper arm relative to shoulder positions can be varied and adjusted, and the relative pose relationship between the shoulder coordinate system and the upper arm coordinate system under each position can be calculated respectively. Specifically, relative pose relationship Including the pose relationship R between the shoulder coordinate system B and the upper arm coordinate system C CB Translation relationship d pqr , It can be determined by the distance between five pairs of anchor points ( , The corresponding distance is the first of the shoulder components. The anchor point leads to the first anchor point of the upper arm component. The distance between anchor points and the attitude relationship of the IMUs located on the two components relative to the geodetic coordinate system. and This is obtained by considering the posture relationship between the shoulder coordinate system B and the upper arm coordinate system C in this body position. It can be calculated using the following formula 1: (1) Five sets of rope lengths under this body position To fit the translation relationship between two coordinate systems B and C As shown in Equation 2: ,in, (2) in, For the first shoulder component The coordinates of the anchor point in the shoulder coordinate system B. For the first on the upper arm component The coordinates of each anchor point in the upper arm coordinate system C. (This is achieved through...) The fitting of the three parameters yields the relative pose relationship between coordinate systems B and C for each of the multiple different body positions of the shoulder joint. .

[0042] In step S103, the upper arm coordinate system is transformed into the shoulder coordinate system based on the relative pose difference and translation difference. A feature point is selected on the upper arm component, and its coordinates in the upper arm coordinate system C are known. The relative pose relationships corresponding to multiple sets of different body positions are then used. By using the coordinate transformation matrix, we can obtain the different coordinates of this upper arm feature point in the shoulder coordinate system B corresponding to multiple sets of different body positions.

[0043] In step S104, the center of rotation of the shoulder joint is calculated based on the positions of multiple feature points on the upper arm component in the shoulder coordinate system at multiple different body positions. To control the motion law of the shoulder joint, it is necessary to first determine the positional relationship of the center of rotation of the user's shoulder joint relative to the shoulder component and upper arm component of the rehabilitation robot. For a feature point on the upper arm component, its coordinates at multiple different body positions are theoretically concentric. The center of rotation of the shoulder joint can be determined using four sets of different shoulder joint positions. To improve the accuracy of the center of rotation fitting, additional steps are added to iteratively eliminate cases with large coordinate data errors. Therefore, more than four sets of different shoulder joint positions are needed to fit a center of rotation. In each iteration, coordinate data with the shortest distance to the fitted sphere greater than three times the standard deviation of the fit are eliminated. Cases with large errors can be obtained by taking those exceeding a predetermined value in the standard distribution. Repeat the above steps, take multiple feature points on the upper arm component, fit multiple centers of rotation of the shoulder joint, then iteratively take the average value and eliminate gross error terms, and finally obtain the coordinates of the center of rotation of the shoulder joint in the shoulder coordinate system B.

[0044] As an example, calculating the center of rotation of the shoulder joint based on the positions of multiple feature points on the upper arm component in the shoulder coordinate system at multiple different body positions may include: fitting the position of the center of rotation of the shoulder joint using five or more sets of shoulder joint poses, wherein, for a feature point on the upper arm component, the set of data (or several sets of data with large deviations from the sphere) whose coordinate values ​​deviate most from the sphere among the coordinates corresponding to the five or more sets of shoulder joint poses is iteratively removed during the fitting process. At least one set of data with the largest deviation from the sphere among the coordinates of the feature point in the shoulder coordinate system at the five or more sets of shoulder joint poses is removed during the fitting-removal iterative process.

[0045] As an example, the average of the calculated centers of rotation of the shoulder joint can be obtained by iteratively removing gross error terms. This can be achieved by utilizing the relative pose relationships corresponding to different shoulder joint positions. The coordinate transformation matrix is ​​used to obtain multiple sets of coordinates of the shoulder joint rotation center in the upper arm coordinate system C by using the coordinates of the shoulder joint rotation center in the shoulder coordinate system B. The average of these coordinates is then used to obtain the coordinates of the shoulder joint rotation center in the upper arm coordinate system C.

[0046] According to an embodiment, the control method further includes: calibrating and updating the shoulder joint rotation center based on the distance between corresponding anchor points and the relative posture relationship between the shoulder component and the upper arm component obtained at predetermined time intervals. During the actual wearing of the shoulder joint rehabilitation robot, the position of the rotation center may change relative to the initial calculation result. Therefore, the lengths of the five steel wire ropes and the ground attitude of the two IMUs can be continuously acquired at a certain frequency, and the actual coordinates of the shoulder joint rotation center can be calibrated and updated in real time using the steps described above for determining the shoulder joint rotation center. After the rotation center is updated, during real-time control, it is also necessary to recalculate the updated rope length trajectory and rope speed trajectory according to the calculation steps for solving the rope length and rope speed parts.

[0047] In step S105, based on the target trajectory of the upper arm rotating around the center of the shoulder joint, the length and velocity trajectories of the ropes or push rods of each electric mechanism between the corresponding shoulder anchor point and upper arm anchor point are calculated. Since this robot has a parallel drive structure, after obtaining the coordinates of the user's shoulder joint rotation center relative to the shoulder coordinate system B and the upper arm coordinate system C, the inverse kinematics method can be used. Given the rotational trajectory of the upper arm around the center of the shoulder joint, the desired length and velocity trajectories of each rope between the shoulder anchor point and the upper arm anchor point can be solved. Finally, by loading the rope length and velocity trajectories, trajectory tracking control of the shoulder joint rotation angle is achieved, which can then be used for rehabilitation training.

[0048] In step S106, the plurality of electric mechanisms are controlled to drive the relative movement of each shoulder anchor point and the corresponding upper arm anchor point according to the length trajectory and speed trajectory.

[0049] The shoulder coordinate system B and upper arm coordinate system C, determined in the shoulder joint rotation sphere center calculation process, are both translated to the obtained rotation sphere center position, thereby obtaining the first... The coordinates of each anchor point in the translated shoulder coordinate system B and the first on the upper arm component The coordinates of each anchor point in the translated upper arm coordinate system C .

[0050] For a mechanism formed by a shoulder member and an upper arm member connected by a spherical joint, its motion can be represented by the orientation relationship R (rotation matrix) of the translated coordinate system C relative to the translated coordinate system B, as shown in Equation 3 below: (3) That is, using Euler angles , This indicates the motion of the mechanism. When the mechanism is in its initial position... The two coordinate systems coincide.

[0051] In the translated shoulder coordinate system B, the distance between each pair of anchor points can be obtained, as shown in Equation 4 below: (4) Then given , From the trajectory, the distance between each pair of anchor points at the corresponding moment can be obtained. (That is, the length of each rope).

[0052] In addition, the speed of the rope The rotation angle and angular velocity can be expressed as follows: Equation 5: (5) in, It is the unit direction vector of the rope in the translated coordinate system B.

[0053] Through the above calculation process, the desired length and speed trajectory of each electric mechanism between the two anchor points can be recorded and preset.

[0054] One of the various effects of this disclosure is to ensure that the shoulder joint rehabilitates according to the predetermined movement rhythm, avoid deviations between the wearing position and the predetermined position, and make shoulder joint rehabilitation training safer, more comfortable and efficient.

[0055] An exemplary embodiment of the present disclosure also provides a computer-readable storage medium storing a computer program. The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to perform a control method for a shoulder joint rehabilitation robot according to the present disclosure. The computer-readable recording medium is any data storage device capable of storing data readable by a computer system. Examples of computer-readable recording media include: read-only memory, random access memory, read-only optical disc, magnetic tape, floppy disk, optical data storage device, and carrier waves (such as data transmission via the Internet through wired or wireless transmission paths).

[0056] An exemplary embodiment of the present disclosure also provides a computer device. The computer device includes a processor and a memory. The memory stores a computer program. The computer program is executed by the processor, causing the processor to perform the computer program of the control method for a shoulder joint rehabilitation robot according to the present disclosure.

[0057] Therefore, the exemplary embodiments of this disclosure can be implemented as methods in a computer or a non-transitory computer-readable medium storing computer-executable instructions. In the exemplary embodiments, when executed by a processor, the computer-readable instructions can perform a method according to at least one aspect of this disclosure.

[0058] Furthermore, the methods according to exemplary embodiments of this disclosure can be implemented in the form of program instructions that can be executed by various computer devices and recorded on a computer-readable medium.

[0059] Computer-readable media may include program instructions, data files, data structures, etc., individually or in combination. Program instructions recorded on a computer-readable medium may be specifically designed and configured for the exemplary embodiments of this disclosure, or may be known and available to those skilled in the art of computer software. Computer-readable recording media may include hardware devices configured to store and execute program instructions. For example, computer-readable recording media may be or include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical media such as CD-ROMs and DVDs; magneto-optical media such as optical-magnetic disks; ROM; RAM; flash memory; etc. Program instructions may include not only machine language code generated by a compiler, but also high-level language code executable by a computer through an interpreter, etc.

[0060] While this disclosure includes specific examples, it will be apparent to those skilled in the art that various changes in form and detail may be made to these examples without departing from the spirit and scope of the claims and their equivalents. The examples described herein are to be considered descriptive only and not for limiting purposes. The description of features or aspects in each example is to be considered applicable to similar features or aspects in other examples. Suitable results may be obtained if the described techniques are performed in a different order, and / or if components in the described system, architecture, apparatus, or circuit are combined in a different manner and / or if components in the described system, architecture, apparatus, or circuit are replaced or supplemented by other components or their equivalents. Therefore, the scope of this disclosure is not limited by the specific embodiments but by the claims and their equivalents, and all variations within the scope of the claims and their equivalents shall be construed as included in this disclosure.

Claims

1. A shoulder joint rehabilitation robot, characterized in that, The shoulder joint rehabilitation robot includes: The shoulder component has multiple shoulder anchor points; The upper arm component has multiple upper arm anchor points that correspond one-to-one with the multiple shoulder anchor points; Multiple electric mechanisms are used, with each shoulder anchor point and its corresponding upper arm anchor point moving relative to each other via a specific electric mechanism. Each upper arm anchor point is connected to the upper arm component via a planar rotary bearing, and the distal end of each upper arm anchor point, away from the upper arm component, is connected to a corresponding electric mechanism. Each shoulder anchor point is connected to the shoulder component via a planar rotary bearing, and the distal end of each shoulder anchor point, away from the shoulder component, is connected to a corresponding electric mechanism via a ball bearing.

2. The shoulder joint rehabilitation robot according to claim 1, characterized in that, Each electric mechanism includes a rope, a sheath disposed outside the rope, and an electric winch. Each upper arm anchor is connected to one end of the rope, and each shoulder anchor is fixed to the end of the sheath by a ball bearing, such that the upper arm anchor is pulled by the rope by the rotation of the electric winch and moves relative to the corresponding shoulder anchor.

3. The shoulder joint rehabilitation robot according to claim 1, characterized in that, Each electric mechanism includes an electric push rod, each upper arm anchor point is connected to one end of the push rod, and each shoulder anchor point is fixed to the other end of the push rod by a ball bearing, such that the corresponding shoulder anchor point and upper arm anchor point move relative to each other through the extension and retraction of the electric push rod.

4. The shoulder joint rehabilitation robot according to claim 1, characterized in that, The shoulder joint rehabilitation robot also includes a first brace and a second brace. The first brace includes a cylindrical portion extending along the thoracolumbar spine and Y-shaped supports extending from the shoulder member to both sides of the cylindrical portion. The second brace includes a strip-shaped support extending from the upper arm member toward the elbow.

5. The shoulder joint rehabilitation robot according to claim 1, characterized in that, The plurality of shoulder anchor points and the plurality of upper arm anchor points each consist of five or more, and the shoulder members and upper arm members are provided with an array of anchor point mounting holes for adjusting the anchor point positions.

6. A control method for a shoulder joint rehabilitation robot, characterized in that, The shoulder joint rehabilitation robot includes: The shoulder component has multiple shoulder anchor points; The upper arm component has multiple upper arm anchor points that correspond one-to-one with the multiple shoulder anchor points; Multiple electric mechanisms, wherein each shoulder anchor point and its corresponding upper arm anchor point move relative to each other through a corresponding electric mechanism; The first inertial measurement unit and the second inertial measurement unit are respectively disposed on the shoulder member and the upper arm member. The control method includes: The original coordinates of the multiple shoulder anchor points based on the shoulder coordinate system, the original coordinates of the multiple upper arm anchor points based on the upper arm coordinate system, the original attitude of the first inertial measurement unit based on the shoulder coordinate system, and the original attitude of the second inertial measurement unit based on the upper arm coordinate system are obtained. Based on the distance between corresponding anchor points at multiple different body positions of the upper arm relative to the shoulder and the attitude of the first inertial measurement unit and the second inertial measurement unit relative to the ground, the relative attitude difference and translation difference between the shoulder coordinate system and the upper arm coordinate system are calculated respectively. The upper arm coordinate system is transformed into the shoulder coordinate system based on the relative posture difference and translation difference; The center of rotation of the shoulder joint is calculated based on the positions of multiple feature points on the upper arm component in the shoulder coordinate system at multiple different body positions; Calculate the length and velocity trajectories of the rope or push rod of each electric mechanism between the corresponding shoulder anchor point and upper arm anchor point based on the target trajectory of the upper arm rotating around the center of the shoulder joint; and The multiple electric mechanisms are controlled according to the length trajectory and speed trajectory to drive the relative movement of each shoulder anchor point and the corresponding upper arm anchor point.

7. The control method according to claim 6, characterized in that, Calculating the center of rotation of the shoulder joint based on the positions of multiple feature points on the upper arm component in the shoulder coordinate system at multiple different body positions includes: for one of the multiple feature points on the upper arm component, obtaining multiple sets of coordinates of the feature point in the shoulder coordinate system at the corresponding body position based on the pose difference between the upper arm and the shoulder coordinate system at five or more body positions, and fitting a center of rotation of the shoulder joint based on the multiple sets of coordinates, wherein at least one set of data with the largest deviation of coordinate values ​​from the sphere among the five or more sets of shoulder joint pose data is removed before fitting.

8. The control method according to claim 7, characterized in that, The average value of the calculated center of rotation of the shoulder joint is taken after removing the error term.

9. The control method according to claim 6, characterized in that, The control method further includes calibrating and updating the center of rotation of the shoulder joint based on the distance between corresponding anchor points and the relative posture relationship between the shoulder component and the upper arm component obtained based on a predetermined time interval.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the control method for the shoulder joint rehabilitation robot as described in any one of claims 6 to 9.

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