CN104983541B - A kind of Spatial Parallel drives wrist robots for rehabilitation therapy - Google Patents
A kind of Spatial Parallel drives wrist robots for rehabilitation therapy Download PDFInfo
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- CN104983541B CN104983541B CN201510405044.7A CN201510405044A CN104983541B CN 104983541 B CN104983541 B CN 104983541B CN 201510405044 A CN201510405044 A CN 201510405044A CN 104983541 B CN104983541 B CN 104983541B
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Abstract
Wrist robots for rehabilitation therapy is driven the invention discloses Spatial Parallel, the system realizes that the core of six-freedom motion is a kind of parallel institution, mainly including upper mounting plate, lower platform, the upper hinge and lower hinge of six driving supporting legs and connection leg and upper lower platform.In addition, the system also includes six-dimension force sensor, two gloves (doctor and patient are each with one) and computer control system for fixing wrist.The present invention is used for wrist joint disease, injury gained in sports and the postoperative rehabilitation of wrist portion.
Description
Technical field
The present invention relates to rehabilitation medical robot system, particularly a kind of wrist based on space multiple freedom parallel mechanism
Healing robot.
Background technology
The rehabilitation system of wrist joint is the important component in rehabilitation medical robot field, the health of wrist joint
Multiple treatment generally requires medical practitioner and carries out one-to-one or even many-to-one treatment, the specialty of rehabilitation training to patient in person
Technical requirements are high and repeatability is high, and many patients are required for the treatment of multicycle, heavy work is so brought to medical practitioner
Measure, larger financial burden is also brought to patient, wrist rehabilitation system, which can be used for wrist joint disease, motion, to be damaged
Wound and the postoperative rehabilitation of wrist portion.The movement locus of wrist when being trained by typing medical practitioner to Rehabilitation, and it is multiple
Now the movement locus can realize the automatic rehabilitation treatment of wrist joint disease.Wrist rehabilitation system be one be related to it is many
The complication system of free degree mechanism, multifreedom motion control, Signal sampling and processing etc..Presently relevant patent achievement is present
Freedom of motion it is few, complicated, motion the low defect of reproducibility.The mechanical structure of the present invention is simple, freedom of motion
Many, movement locus reproducibility is high.
The content of the invention
Wrist robots for rehabilitation therapy is driven it is an object of the invention to provide a kind of Spatial Parallel.The system can be realized pair
Wrist joint disease, injury gained in sports and the postoperative rehabilitation training of wrist portion.The six-freedom degree motion of wrist joint can be achieved；
Can typing doctor wrist when being treated to patients ' recovery rehabilitation exercise track；The rehabilitation course of typing can be automatically applied to wrist
Joint, drives wrist joint motion.
Brief description of the drawings
Fig. 1：The structural representation of the present invention.
Fig. 2：The present invention uses operation chart.
Embodiment
As shown in drawings, scheme of the present invention is：One kind includes lower platform, six driving supporting legs, connections
The six-degree-of-freedom parallel connection mechanism that the hinge of upper lower platform and six driving supporting legs is constituted, for detecting that the six-dimensional force of signal is sensed
Device, for fixing the gloves of wrist and realizing the computer software and hardware system that signal transacting, storage and motion platform are accurately controlled
System, above various pieces, which together form, can realize the wrist rehabilitation system of expectation function.Wherein, lower platform and the earth
Or fixed with the plane connected with the earth, for supporting whole kinematic system, and the reference data moved as upper mounting plate.
Upper mounting plate is used to drive wrist to realize the set characteristics of motion, and the upper surface of upper mounting plate is provided with six-dimension force sensor, sensor
Upper surface is connected to fix the gloves of wrist by column, and six-dimension force sensor and gloves are designed to two sets, are respectively intended to
The wrist of fixed doctor and patient, detect the motion of the two, doctor can be thus detected and stored and is doing wrist health to patient
Whole motion process during multiple treatment training, i.e. Data Enter process, then can be upper flat as to realize using the signal of storage
The expected pose signal of platform motion, for instructing the motion of upper mounting plate, so as to realize that upper mounting plate drives wrist reproduction doctor to suffering from
The rehabilitation campaign of person's wrist.By driving supporting leg to connect between upper lower platform, connected between platform and supporting leg by ball pivot,
Supporting leg is removed outside the isolated degree of freedom of own axis, it is possible to achieve upper mounting plate drives the six-freedom degree motion of wrist.
The type of drive of supporting leg can be electronic, hydraulic pressure or pneumatic, be selected as the case may be.
Typing stage of the doctor to patients wrist's rehabilitation motor message：The hand of doctor and patient insert correspondence hand respectively
Set, two palmistrys are held, and its wrist is implemented to fix, and in the state of each bar supporting leg is all in being servo-actuated, doctor knows according to its specialty
Know and wrist rehabilitation training is carried out to patient.Upper mounting plate and leg motion are driven, six-dimension force sensor can detect flat
The characteristics of motion signal of platform, is transferred to computer and is handled and stored, so as to realize that doctor transports to patients wrist's rehabilitation
The typing of dynamic signal.
Patient itself the wrist rehabilitation stage：The hand insertion correspondence gloves of patient, implement to fix by gloves to wrist.
Doctor to the typing phase acquisition of patients wrist's rehabilitation motor message and store signal regard that wrist rehabilitation is controlled as
The ideal signal for the treatment of, computer system instructs the motion of upper mounting plate using the signal, realizes the accurate reproduction to the signal.With
The system carries out the process of wrist rehabilitation training to patient, is exactly that the system realizes the process reappeared to upper mounting plate motor message.
Due to storage be upper mounting plate motion pose desired signal, therefore desired signal needs to obtain by parallel institution inverse kinematic
The motor message of each bar supporting leg, computer system controls the motion of each bar supporting leg according to the motor message respectively, so as to realize pair
Upper mounting plate drives the control of gloves and Wrist-sport, detects the motion of upper mounting plate by six-dimension force sensor in control, will be real
Border motion signal feedback is to signal input part is expected, computer makes the difference to both actual motion signal and desired signal, obtaining
Deviation as the net input quantity of control system, motion correction is carried out using the net input quantity, so as to realize to upper flat
The accurate control of the motion of platform and gloves and wrist.
Claims (2)
1. a kind of Spatial Parallel drives wrist robots for rehabilitation therapy, it is characterised in that：The robot includes upper mounting plate, lower flat
Platform, six driving supporting legs, two six-dimension force sensors, two gloves and a computer system, wherein
The lower platform is fixed in ground or the plane connected with the earth, for supporting whole system, and is used as system
The benchmark of motion；
The lower end of six drivings supporting leg is all connected by ball pivot and the lower platform, and upper end is all by ball pivot and described flat
Platform is connected；
The upper mounting plate can realize the motion of six-freedom degree, the upper mounting plate under six supports and driving for driving supporting leg
Upper surface described two six-dimension force sensors are installed, pose and motor message for detecting upper mounting plate, each six-dimensional force
Sensor upper surface is connected to fix the gloves of wrist by column respectively；Six-dimension force sensor and gloves are designed to two
Set, is respectively intended to fix the wrist of doctor and patient, detects the motion of the two；
The computer system is used for the information for obtaining six-dimension force sensor collection, and stores the information of acquisition, described information bag
Upper mounting plate pose and motor message are included,
The computer system is additionally operable to the motions of six driving supporting legs of control, when needed, can be according to the information of the storage
Control driving leg motion, to reproduce the motion of upper mounting plate；
The robot has two kinds of mode of operations：Move typing pattern and rehabilitation pattern；
Under the motion typing pattern, the hand of doctor and patient insert correspondence gloves respectively, and two palmistrys are held, by gloves to two
Individual wrist is implemented to fix, and in the state of each bar driving supporting leg is all in being servo-actuated, doctor is carried out according to its professional knowledge to patient
Wrist rehabilitation is trained, so as to drive upper mounting plate and driving leg motion, six-dimension force sensor is by the upper mounting plate detected
Pose and motor message are transferred to computer system and are handled and stored；
Under the rehabilitation pattern, the hand insertion correspondence gloves of patient are implemented to fix by gloves to wrist, described to calculate
Machine system obtains the desired signal of upper mounting plate motion according to the information of storage, and by parallel institution inverse kinematic, the expectation is believed
Number, the motor message of each bar supporting leg is obtained, the computer system controls the motion of each bar supporting leg according to the motor message respectively；
The information of the storage is included in the signal under the motion typing pattern gathering and storing；
The computer system detects the motion of upper mounting plate by six-dimension force sensor in control, obtains actual motion signal,
Both actual motion signal and desired signal are made the difference, deviation is obtained, assign obtained deviation as the net defeated of control system
Enter amount, motion correction is carried out using the net input quantity.
2. Spatial Parallel according to claim 1 drives wrist robots for rehabilitation therapy, wherein the drive of six driving supporting legs
Flowing mode is motorized motions, hydraulic-driven or pneumatic actuation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510405044.7A CN104983541B (en) | 2015-07-10 | 2015-07-10 | A kind of Spatial Parallel drives wrist robots for rehabilitation therapy |
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| CN201510405044.7A CN104983541B (en) | 2015-07-10 | 2015-07-10 | A kind of Spatial Parallel drives wrist robots for rehabilitation therapy |
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| CN104983541A CN104983541A (en) | 2015-10-21 |
| CN104983541B true CN104983541B (en) | 2017-10-10 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105546022A (en) * | 2016-02-22 | 2016-05-04 | 江苏科技大学 | Passive ship-based equipment impact-resistant platform based on six-degree-of-freedom parallel mechanism |
| CN105596018B (en) * | 2016-03-25 | 2020-07-28 | 上海电气集团股份有限公司 | Human motion trend detection device and detection method based on force sensor |
| CN106109165B (en) * | 2016-06-21 | 2018-03-13 | 北京工业大学 | A kind of adaptive wrist joint convalescence device of six degree of freedom |
| CN107626049A (en) * | 2017-10-19 | 2018-01-26 | 广州大学 | Medical positioning device |
| CN107775627A (en) * | 2017-10-31 | 2018-03-09 | 嘉兴复尔机器人有限公司 | A kind of six-degree-of-freedom parallel robot |
| CN111067760B (en) * | 2019-12-31 | 2022-11-08 | 上海机器人产业技术研究院有限公司 | Upper limb rehabilitation training robot based on omnidirectional mobile platform |
| CN111956448A (en) * | 2020-07-30 | 2020-11-20 | 杭州昭君科技有限公司 | Lower limb rehabilitation robot and kinesthesia control method thereof |
| CN112353581B (en) * | 2020-09-30 | 2022-07-29 | 北京工业大学 | Wheelchair waist power assisting device with four converged rotary joint axes |
| CN115252252A (en) * | 2022-06-27 | 2022-11-01 | 中国人民解放军空军特色医学中心 | Method, device and equipment for realizing induction based on scoliosis induction training system |
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| US4858912A (en) * | 1988-08-22 | 1989-08-22 | Boyd Billy E | Arm exercising apparatus |
| CN200951175Y (en) * | 2006-06-30 | 2007-09-26 | 河南科技大学 | Pneumatic type wrist recovering exercising apparatus |
| CN101292935A (en) * | 2008-02-02 | 2008-10-29 | 河北工业大学 | Robot for rehabilitation of anklebone |
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| CN104983541A (en) | 2015-10-21 |
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Effective date of registration: 20180323 Address after: 528400 Guangdong city of Zhongshan province Tsuiheng Ma An Cun intersection of "three five" project workshop of A building in the first layer, second layer, third layer, fourth layer Patentee after: Kazakhstan Tian Yu (Zhongshan) robotics Co., Ltd. Address before: 150000 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Patentee before: HARBIN TIANYU REHABILITATION MEDICAL ROBOT CO., LTD. |
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