CN104605868B - A kind of lower limb rehabilitation robot vola multidimensional sensing device - Google Patents
A kind of lower limb rehabilitation robot vola multidimensional sensing device Download PDFInfo
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- CN104605868B CN104605868B CN201510033085.8A CN201510033085A CN104605868B CN 104605868 B CN104605868 B CN 104605868B CN 201510033085 A CN201510033085 A CN 201510033085A CN 104605868 B CN104605868 B CN 104605868B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 18
- 239000011230 binding agent Substances 0.000 claims abstract description 7
- 239000007787 solid Substances 0.000 claims description 3
- 238000012549 training Methods 0.000 description 7
- 230000035876 healing Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000000153 supplemental effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 229920002379 silicone rubber Polymers 0.000 description 2
- 241000167880 Hirundinidae Species 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 229910021418 black silicon Inorganic materials 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013079 data visualisation Methods 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000004945 silicone rubber Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of lower limb rehabilitation robot vola multidimensional sensing device, mainly include vola gripper shoe, binder, heel block, moment bearing plate, sensor, sensor stand, big bracing frame, fixed mount, connecting plate, intermediate support plate, baffle plate, guide rail and slide block, the foot of patient is bundled in the gripper shoe of vola, when patient move along a straight line in sagittal plane, treadmill movement time, vola multidimensional sensing device obtains patient's foot moment, frictional force and pressure at right angles to foot plate by seven sensor correspondences.Present configuration is compact, low cost, can directly obtain patient's plantar pressure, frictional force and moment.
Description
Technical field
The invention belongs to rehabilitation medical instrument, the vola multidimensional sensing dress of a kind of lower limb rehabilitation robot
Put.
Background technology
Lower limb rehabilitation robot is the new and high technology product that Rehabilitation Treatment Technique is combined with robotics, mainly
For recovering the lower extremity motor function of functional disorder patient.Nervus centralis device has the plasticity of height,
This is effectively illustrated at neural rehabilitation field and is verified, healing robot drives patient's repetition training, can
The plasticity making patient moving function reaches optimum, by functional gradual treatment, finally helps patient
Regain motor function.
The multi-joint lower limb rehabilitation robot of University On The Mountain Of Swallows's research and development, has passive exercise, supplemental training and resistance
Train three kinds of training modes, and the function of lower limb rehabilitation robot supplemental training is the motion by identifying patient
It is intended to, follows and assist human body lower limbs to complete the process of set orbiting motion.
Obtaining in the technology that patient moving is intended to, acquisition based on the motion intention under bioelectrical signals is rehabilitation
The focus that robot field studied in recent years, but in the acquisition mode document at home and abroad of this motor message also
Under test, also do not actually enter the practical stage of " motion intention ".And power controls to obtain motion
The Technical comparing being intended to is ripe, proposes a kind of vola multidimensional sensing device based on force control method, is used for obtaining trouble
Person's lower limb end vola power, is calculated each joint of patient's lower limb by equilibrium equation and torque equilibrium equation
Moment, and then according to this joint moment, analyze the motion intention obtaining patient, and utilize pid algorithm to control
Healing robot each motor movement speed, drives healing robot mechanical arm to drive patient to carry out simple joint auxiliary
Training and multi-joint supplemental training.
The scholar expert of research vola Force sensor is the most both at home and abroad, but for healing robot vola power
Sensing device is fewer.Zhang Lixun having Harbin Engineering University currently mainly et al., in patent " vola
Force transducer " disclosed in a kind of force transducer for sole of foot, it is made up of four cantilever beams posting foil gauge
Sensor, can realize the five-dimension force/torgue measurement in addition to cross force, have low cost, and the errors of principles is little,
Simple in construction, durable, feature that reliability is high.Zhao little Wen et al. is at " a kind of white carbon black-silicone rubber plantar pressure
Apparatus for measuring distribution " sole pressure distribution measurer that proposes in article devises a set of low cost, operation
Simply, response is fast, can be used for Human Sole pressure distribution measurement device, and this device is based on white carbon black-silicon rubber
The pressure-sensitive character that glue is good, can detect pressure distribution and the size of various contact surface, have and be similar to skin
Flexible touch sensor, and utilize LabVIEW programmable software, devise Human Sole pressure and divide
Cloth measurement apparatus, its software programming simple and flexible, human-computer interaction interface is directly perceived, portable strong, has strong
The features such as big data visualization fractional analysis and instrument controlling ability, this device can realize Human Sole pressure distribution
Real-time display.
The force transducer for sole of foot of Zhang Lixun et al. research is five-dimensional force sensor, and most of existing rehabilitation machines
Device people is the three degree of freedom in research people's sagittal plane, and a three-dimensional force sensor device is sufficient to, fall
Low device operand；And the vola power apparatus for measuring distribution that Zhao little Wen proposes relies on and is distributed in foot plate not coordination
Put the change of sensor signal to judge the change of gait, the most only measure the pressure being perpendicular to foot plate
Power.
Summary of the invention
It is an object of the invention to provide a kind of compact conformation, low cost, can directly obtain patient's multidimensional vola
The lower limb rehabilitation robot vola multidimensional sensing device of pressure, frictional force and moment.Present invention is primarily based on power
Control method proposes a kind of lower limb rehabilitation robot vola multidimensional sensing device, is used for obtaining patient's lower limb end
Foot bottom stress situation, is calculated each joint moment of patient's lower limb by equilibrium equation and torque equilibrium equation
Data, and then the motion intention of patient is obtained according to this joint moment data analysis, and utilize pid algorithm
Control healing robot each motor movement rule, drive healing robot to drive patient to carry out simple joint and Duo Guan
Joint supplemental training.
The vola multidimensional sensing device of the present invention mainly includes vola gripper shoe, binder, heel block, moment
Bearing plate, sensor, sensor stand, big bracing frame, fixed mount, connecting plate, intermediate support plate, gear
Plate, guide rail and slide block.Wherein, vola gripper shoe is a rectangular frame, at this vola gripper shoe minor face
One end is provided with heel block, on the frame before and after front and back two binders are separately fixed at the long limit of vola gripper shoe,
For binding instep.The big bracing frame being made up of two risers and connecting plate is fixed on vola by two risers
On the framework of intermediate lateral both sides, gripper shoe bottom surface, two Qian shape first sensor supports and the second sensor prop up
Frame is separately fixed on the framework of gripper shoe bottom surface, vola of big bracing frame both sides, and first sensor is fixed on
On one sensor stand, the second sensor is fixed on the second sensor stand, in the centre of vola gripper shoe
Being provided with moment bearing plate, be respectively equipped with journal stirrup in the middle of the both sides on this long limit of moment bearing plate, bearing pin is each passed through
This journal stirrup forms revolute pair with the through hole on big bracing frame, and two trip bolts are separately fixed at moment bearing plate
In the upper screw hole corresponding with the first and second center sensors, the two screw and the first and second sensings
Device has suitable pretightning force；Qian shape intermediate support plate is provided with two through holes, and two of above-mentioned big bracing frame stand
Plate is connected with connecting plate after being each passed through through hole；First baffle plate and second baffle are separately fixed at vola gripper shoe
Following both sides, the third and fourth sensor is separately fixed at the outside of the third and fourth sensor connecting plate,
Third and fourth sensor connecting plate is separately fixed at outside the riser at above-mentioned intermediate support plate two ends, and two tight
Gu screw is each passed through screwed hole corresponding with the third and fourth sensor on the first and second baffle plates, these are two years old
Individual screw and the third and fourth sensor have suitable pretightning force；Outside the riser at above-mentioned intermediate support plate two ends
Side is respectively provided with vertical little guide rail, is equipped with small slide block on this vertical little guide rail, and the two ends of big guide rail are fixed on
The lower end of the little guide rail of above-mentioned two, this big guide rail is provided with big slide block, and this big slide block is fixed on above-mentioned big support
Below the connecting plate of frame；Five, the six, the 7th sensors are separately fixed on the bottom surface of intermediate support plate,
The fixed mount being fixed on moment bearing plate bottom surface it is provided with, on this fixed mount between two risers of big bracing frame
Center is provided with the screwed hole corresponding with the 7th sensor, by trip bolt for pretension the 7th sensor,
When vola gripper shoe has fore-and-aft direction relative motion trend relative to intermediate support plate, sensor can detect
Frictional force to patient's foot；Big guide rail is provided with the screwed hole corresponding with the five, the 6th sensors, passes through
Trip bolt pretension the five, the 6th two sensors of residue；Fixed mount, big bracing frame, connecting plate, the most sliding
Block is connected by screw and is integrally forming, thus by being overlapped little guide rail slide block by two, is formed relative to intermediate supports
The up and down motion of plate is secondary.Thus during patient's sole force, the pressure being perpendicular to foot plate can be detected.
The foot of patient is bundled in the gripper shoe of vola, when patient move along a straight line in sagittal plane, treadmill movement time,
Vola multidimensional sensing device by seven sensor correspondences obtain patient's feet to the moment of foot plate, frictional force and
Pressure at right angle.
The present invention compared with prior art has the advantage that
Present invention is mainly applied to sitting and lying formula lower limb rehabilitation robot, its structure is compacter, low cost, can be straight
Obtain and take patient's plantar pressure, frictional force and moment.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention.
Fig. 2 is the upper part structural representation of the present invention.
Fig. 3 is that the moment bearing plate bearing pin of the present invention is each passed through moment bearing plate long limit journal stirrup and big bracing frame
On through hole formed revolute pair schematic diagram.
Fig. 4 is the mid portion structural representation of the present invention.
Fig. 5 is the lower part structural representation of the present invention.
In figure: 1 vola gripper shoe, 2 the 3rd sensors, 3 moment bearing plates, 4 first sensors,
5 the 7th sensors, 6 fixed mounts, 7 second sensors, 8 second sensor stands, 9 binders,
10 heel blocks, 11 intermediate support plates, 12 the 4th sensors, 13 small slide blocks, 14 little lead
Rail, 15 big guide rails, 16 the 6th sensors, 17 big bracing frames, 18 big slide blocks, 19 first biographies
Sensor bracket, 20 the 5th sensors, 21 little guide rails, 22 small slide blocks, 23 first baffle plates, 24
Trip bolt, 25 trip bolts, 26 bearing pins, 27 screws, 28 connecting plates, 29 second baffles,
30 trip bolts, 31 the 3rd sensor connecting plates, 32 the 4th sensor connecting plates, 33 fastening spiral shells
Nail, 34 trip bolts.
Detailed description of the invention
In the lower limb rehabilitation robot vola multidimensional sensing device schematic diagram shown in Fig. 1-5,
Vola gripper shoe 1 is a rectangular frame, is provided with heel block in one end of this vola gripper shoe minor face
10, on the frame before and after front and back two binders 9 are separately fixed at the long limit of vola gripper shoe, it is used for binding instep.
The big bracing frame 17 being made up of two risers and connecting plate 28 is fixed at the bottom of the gripper shoe of vola by two risers
On the framework of intermediate lateral both sides, face, two Qian shape first sensor supports 19 and the second sensor stand 8 points
Not being fixed on the framework of gripper shoe bottom surface, vola of big bracing frame both sides, first sensor 4 is fixed on first
In the middle of sensor stand, the second sensor 7 is fixed in the middle of the second sensor stand, in vola gripper shoe
Centre is provided with moment bearing plate 3, is respectively equipped with journal stirrup, bearing pin 26 in the middle of the both sides on this long limit of moment bearing plate
Being each passed through this journal stirrup and form revolute pair with the through hole on big bracing frame, two trip bolts 24,25 are solid respectively
Be scheduled in screw hole corresponding with the first and second center sensors on moment bearing plate, the two screw with
First and second sensors have suitable pretightning force；Qian shape intermediate support plate 11 is provided with two through holes, above-mentioned
Two risers of big bracing frame are connected with connecting plate after being each passed through through hole；First baffle plate 23 and second baffle 29
Being separately fixed at the both sides below the gripper shoe of vola, the 3rd sensor 2 and the 4th sensor 12 are separately fixed at
3rd sensor connecting plate 31 and the outside of the 4th sensor connecting plate 32, the third and fourth sensor connects
Plate is separately fixed at outside the riser at above-mentioned intermediate support plate two ends, and two trip bolts 33,30 are each passed through
Screwed hole corresponding with the third and fourth sensor on first and second baffle plates, the two screw and the 3rd and
4th sensor has suitable pretightning force；It is respectively provided with the least outside the riser at above-mentioned intermediate support plate two ends
Guide rail 21,14, is equipped with small slide block 22,13 on this vertical little guide rail, and the two ends of big guide rail 15 are fixed
In the lower end of the little guide rail of above-mentioned two, this big guide rail is provided with big slide block 18, this big slide block be fixed on above-mentioned greatly
The connecting plate bottom surface of bracing frame；5th sensor the 20, the 6th sensor the 16, the 7th sensor 5 is fixed respectively
On the bottom surface of intermediate support plate, it is provided with between two risers of big bracing frame and is fixed on moment bearing plate bottom surface
Fixed mount 6, this fixed mount is separately fixed on two risers of big bracing frame by screw 27, this fixed mount
On center be provided with the screwed hole corresponding with the 7th sensor, passed for pretension the 7th by trip bolt 34
Sensor, when vola gripper shoe has fore-and-aft direction relative motion trend relative to intermediate support plate, sensor is i.e.
Can detect that the frictional force of patient's foot；It is respectively equipped with the spiral shell corresponding with the five, the 6th sensors on big guide rail
Pit, by the five, the 6th two sensors of trip bolt 33 pretension；Fixed mount, big bracing frame, connection
Plate, big slide block are connected by screw and are integrally forming, thus by by two overlap little guide rail slide blocks, formed relative to
The up and down motion of intermediate support plate is secondary.
Claims (1)
1. a lower limb rehabilitation robot vola multidimensional sensing device, its mainly include vola gripper shoe, binder,
Heel block, moment bearing plate, sensor, sensor stand, big bracing frame, fixed mount, connecting plate,
Intermediate support plate, baffle plate, guide rail and slide block, it is characterised in that: vola gripper shoe is a rectangular frame,
Be provided with heel block in one end of this vola gripper shoe minor face, front and back two binders are separately fixed at vola and prop up
On frame before and after the long limit of fagging；The big bracing frame being made up of two risers and connecting plate is solid by two risers
It is scheduled on the framework of intermediate lateral both sides, gripper shoe bottom surface, vola, Qian shape first sensor support and Qian shape second
Sensor stand is separately fixed on the framework of gripper shoe bottom surface, vola of big bracing frame both sides, first sensor
Being fixed on first sensor support, the second sensor is fixed on the second sensor stand, supports in vola
The centre of plate is provided with moment bearing plate, is respectively equipped with journal stirrup, bearing pin in the middle of the both sides on this long limit of moment bearing plate
Being each passed through this journal stirrup and form revolute pair with the through hole on big bracing frame, two trip bolts are separately fixed at power
In screw hole corresponding with the first and second center sensors on square bearing plate, the two screw and first and
Second sensor has suitable pretightning force；Qian shape intermediate support plate is provided with two through holes, above-mentioned big bracing frame
Two risers be each passed through through hole after be connected with connecting plate；First baffle plate and second baffle are separately fixed at foot
Both sides below end gripper shoe, the third and fourth sensor is separately fixed at the third and fourth sensor connecting plate
Outside, the third and fourth sensor connecting plate is separately fixed at outside the riser at above-mentioned intermediate support plate two ends,
Two trip bolts are each passed through screw thread corresponding with the third and fourth sensor on the first and second baffle plates
Hole, the two screw and the third and fourth sensor have suitable pretightning force；At above-mentioned intermediate support plate two ends
Riser outside be respectively provided with vertical little guide rail, this vertical little guide rail is equipped with small slide block, the two of big guide rail
End is fixed on the lower end of the little guide rail of above-mentioned two, and this big guide rail is provided with big slide block, and this big slide block is fixed on
State below the connecting plate of big bracing frame；Five, the six, the 7th sensors are separately fixed at intermediate support plate
On bottom surface, being provided with the fixed mount being fixed on moment bearing plate bottom surface between two risers of big bracing frame, this is solid
Determine the center on frame and be provided with the screwed hole corresponding with the 7th sensor, by trip bolt for pretension the 7th
Sensor；Big guide rail is provided with the screwed hole corresponding with the five, the 6th sensors, pre-by trip bolt
Tight five, the 6th two sensors；Fixed mount, big bracing frame, connecting plate, big slide block are connected by screw
It is integrally forming, thus by being overlapped little guide rail slide block by two, is formed secondary relative to the up and down motion of intermediate support plate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510033085.8A CN104605868B (en) | 2015-01-22 | 2015-01-22 | A kind of lower limb rehabilitation robot vola multidimensional sensing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510033085.8A CN104605868B (en) | 2015-01-22 | 2015-01-22 | A kind of lower limb rehabilitation robot vola multidimensional sensing device |
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| Publication Number | Publication Date |
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| CN104605868A CN104605868A (en) | 2015-05-13 |
| CN104605868B true CN104605868B (en) | 2016-10-05 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111588381B (en) * | 2019-02-20 | 2022-11-15 | 宁波大学 | Foot sole multidimensional sensing device of lower limb rehabilitation robot |
| CN114486037A (en) * | 2022-02-18 | 2022-05-13 | 橙象医疗科技（广州）有限公司 | Road condition simulation equipment with force measuring device and control method thereof |
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