CN105640740A - Intelligent rehabilitation method and system - Google Patents
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- 208000000112 Myalgia Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 208000027089 Parkinsonian disease Diseases 0.000 description 1
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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
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/002—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices isometric or isokinetic, i.e. substantial force variation without substantial muscle motion or wherein the speed of the motion is independent of the force applied by the user
- A63B21/0023—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices isometric or isokinetic, i.e. substantial force variation without substantial muscle motion or wherein the speed of the motion is independent of the force applied by the user for isometric exercising, i.e. substantial force variation without substantial muscle motion
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/54—Torque
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- Physical Education & Sports Medicine (AREA)
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Abstract
The invention provides an intelligent rehabilitation method and system, and belongs to the medical technical field. The intelligent rehabilitation method comprises the steps that a patient executes one or more of following motion modes for training: a constant-speed mode, wherein torque of a motor is adjusted in real time based on torque applied by the patient, so as to guarantee that the motor rotates constantly at a preset rotation speed; an equal-length mode, wherein, the torque applied by the patient is adjusted based on preset resistance torque applied by the motor; an isotonic mode, wherein, the rotation speed of the motor is adjusted in real time based on the torque applied by the patient, so as to guarantee that the torque of the motor is not changed; a passive mode, wherein, the voltage for being supplied to the motor is adjusted based on the rotation speed of the motor after the patient applies the torque, so as to guarantee that the rotation speed of the motor is consistent with the preset rotation speed. Thus, the patient can set by himself corresponding treatment intensity, treatment time, and the like based on his own conditions; besides, active movements of the patient and passive stretching are combined, so that the rehabilitation training time is greatly shortened for the patient.
Description
Technical field
The present invention relates to field of medical technology, particularly relate to a kind of intelligent rehabilitation method and system.
Background technology
Along with modern's operating pressure increases the more and more anxiety with lifestyle gradually, overweight living burden, long-time fixing same posture, for a long time station sit for a long time amount of exercise not enough, repeatedly bend over etc. cause vertebra excessively strain or form bad posture, the centrum such as myalgia or neck, waist, chest is caused to produce fiber crops syndrome of aching, modern medicine adopts Physiotherapy gradually, namely rehabilitation carrys out vertebra and the bone of bending with sizing, vertebra or bone nerve are releived, to release the root of the fiber crops that ache.
Generally speaking, Physiotherapy teacher is when carrying out Physiotherapy to patient, and over-borrowing helps various rehabilitation equipment, and it uses motor to carry out driving mechanical equipment, moves in order to a certain position of the moving body in area repeatedly, makes this position return to normal angle or shape gradually. But existing rehabilitation equipment is functional all comparatively single, the operating mode of a certain the characteristic that generally all can only work, intelligence, can not well help patient's rehabilitation not.
Summary of the invention
For the problems referred to above, it is desirable to provide a kind of intelligent rehabilitation method and system, it provides the training patterns of different mode for patient, provides facility to patient.
Technical scheme provided by the invention is as follows:
A kind of intelligent rehabilitation method, comprising: patient performs one or more motion patterns following and trains:
Constant velocity mode, in this mode: the moment applied based on patient adjusts motor torque in real time, it is ensured that motor is with preset rotation speed uniform rotation;
Deng long pattern, in this mode: based on the moment of default resistance torque adjustment patient's applying that motor applies;
Deng a pattern, in this mode: the moment applied based on patient adjusts motor rotating speed in real time, it is ensured that motor torque is constant;
Passive Mode, in this mode: the rotating speed applying the rear motor of moment based on patient, regulates the voltage of power supply motor, it is ensured that motor rotating speed and preset rotation speed are consistent.
Further preferably, in constant velocity mode, specifically comprise:
Obtain the moment that patient is applied on intelligent rehabilitation device;
Obtain when front motor rotating speed;
Obtain the difference when front motor rotating speed and the first preset rotation speed;
Difference based on described rotating speed regulates motor torque, it is ensured that regulate rear motor with the first preset rotation speed uniform rotation.
Further preferably, waiting in long pattern, specifically comprising:
Electromechanical locks is dead;
Motor applies to preset resistance torque;
Patient applies moment;
Obtain torque value in real time, to adjust the moment that patient applies.
Further preferably, waiting in a pattern, specifically comprising:
Obtain the moment that patient is applied on intelligent rehabilitation device;
Obtain current motor torque;
Obtain the difference of current motor torque and preset torque;
Difference based on described torque regulates the electric current supplying described motor, to adjust motor rotating speed, it is ensured that regulate rear motor to rotate with preset torque.
Further preferably, in Passive Mode, specifically comprise:
Obtain when front motor rotating speed;
Obtain the difference when front motor rotating speed and the 2nd preset rotation speed;
Difference based on described rotating speed regulates the voltage supplying described motor, it is ensured that regulate rear motor with the 2nd preset rotation speed uniform rotation.
A kind of intelligent rehabilitation system, comprising: master control chip, the upper communication zone, at least one servo observing and controlling district, push button district and state display space, wherein,
Described master control chip, is connected with the described upper communication zone, servo observing and controlling district, push button district and state display space respectively, for controlling described intelligent rehabilitation system works;
The described upper communication zone, for configuring described intelligent rehabilitation system, sending controling instruction to master control chip and the working parameter showing described intelligent rehabilitation system components;
Described push button district, for inputting steering order;
Described servo observing and controlling district, for performing steering order, drives patient motion;
Described state display space, for showing the working order of described intelligent rehabilitation system components.
Further preferably, described servo observing and controlling district comprises: servo driver of motor, motor, encoder, retarding mechanism, moment sensing device, angle sensor device and output shaft, wherein,
Described servo driver of motor, is connected with described master control chip and motor respectively, for controlling described machine operation;
Described retarding mechanism, is connected with described motor and output shaft respectively, for controlling described output shaft rotation, thus slows down;
Described encoder, is connected with described servo-driver and described motor respectively, adjusts the rotating speed of described motor based on the steering order of described servo driver of motor;
Described moment sensing device, is connected with described master control chip, motor and output shaft, respectively for induction motor torque;
Described angle sensor device, is connected with described master control chip and described output shaft, respectively for induction motor rotating speed.
Further preferably, described intelligent rehabilitation system comprises two servo observing and controlling districts, the left head controlling to be attached thereto respectively and the rotation of right head.
Further preferably, push button district comprises the rotating forward button, invert button, maintenance/recovery button, emergency stop push button, startup button, stop button and the safety limit switch that are connected respectively with master control chip.
Further preferably, described state display space comprises the servo condition LED, communications status LED, angle sensor device state LED and the moment sensing device state LED that are connected respectively with master control chip.
Intelligent rehabilitation method provided by the invention and system, it is possible to bring following useful effect:
In intelligent rehabilitation method provided by the invention, for patient provide constant velocity mode, etc. long pattern, etc. pattern and Passive Mode, patient is in moving process, it is possible to unrestricted choice either mode. Like this, patient can treat intensity, treatment time etc. accordingly according to own situation sets itself, in conjunction with patient's active movement and passive drawing, substantially reduces the rehabilitation training time of patient. Be suitable for cerebral apoplexy disease, the patient of the various disease such as gait that Parkinsonism, patient with nervous system disease, Spinal injury, traumatic brain injury, multiple sclerosis, orthopaedic disease cause is not normal, lower limb degenerative joint disease, physique weak, hemiplegia or paralytic patient, treatment is an apprentice of heavy limbs and stretches and assist work frees; Biomechanics can be widely used in, medical science of recovery therapy, sports medical science, orthopedics, neurological and relevant clinical research.
Accompanying drawing explanation
Below by the way of clearly understandable, accompanying drawings preferred implementation, is further described above-mentioned characteristic, technology feature, advantage and implementation thereof.
Fig. 1 is constant velocity mode schematic flow sheet in the present invention;
Fig. 2 is the medium long pattern schematic flow sheet of the present invention;
Fig. 3 is the present invention's medium model process schematic diagram;
Fig. 4 is Passive Mode schematic flow sheet in the present invention;
Fig. 5 is intelligent rehabilitation system architecture schematic diagram in the present invention;
Fig. 6 is servo observing and controlling district structural representation in the present invention.
Reference numeral:
100-intelligent rehabilitation system, 110-master control chip, the upper communication zone of 120-, 130-servo observing and controlling district, 140-push button district, 150-state display space, 131-servo driver of motor, 132-motor, 133-encoder, 134-retarding mechanism, 135-moment sensing device, 136-angle sensor device, 137-output shaft.
Embodiment
The present invention provides a kind of intelligent rehabilitation method, specifically, this intelligent rehabilitation method comprises: patient performs one or more motion patterns following and trains: 1) constant velocity mode, in this mode: the moment applied based on patient adjusts motor torque in real time, it is ensured that motor 132 is with preset rotation speed uniform rotation; 2) long pattern such as, in this mode: the moment that the default resistance torque adjustment patient applied based on motor 132 applies; 3) pattern such as, in this mode: the moment applied based on patient adjusts motor rotating speed in real time, it is ensured that motor torque is constant; 4) Passive Mode, in this mode: the rotating speed applying the rear motor 132 of moment based on patient, regulates the voltage of power supply motor 132, it is ensured that motor rotating speed and preset rotation speed are consistent.
It is believed that as shown in Figure 1, comprise at constant velocity mode: S11 obtains the moment that patient is applied on intelligent rehabilitation device; S12 obtains when front motor rotating speed; S13 obtains the difference when front motor rotating speed and the first preset rotation speed; S14 regulates motor torque based on the difference of rotating speed, it is ensured that regulate rear motor 132 with the first preset rotation speed uniform rotation. Specifically, under this constant velocity mode, controlled amount is motor rotating speed, and control objectives is for control to motor rotating speed and the first preset rotation speed. In control process, obtain current motor rotating speed and the moment of patient's applying in real time, and it is uploaded to the upper communication zone 120; After the upper communication zone 120 receives the moment of the motor rotating speed uploaded and patient's applying, obtain the difference of this motor rotating speed and the first preset rotation speed immediately, then regulate motor torque (regulating the working current in motor 132 to realize the adjustment of motor torque especially by servocontrol device) according to this difference. In this mode, the whole joint motion of patient are moved according to pre-set velocity, and in moving process, muscle firmly only makes muscular tension increase, and moment exports to be increased.
As shown in Figure 2, long pattern is being waited to comprise: motor 132 is locked extremely by S21; S22 motor 132 applies to preset resistance torque; S23 patient applies moment; S24 obtains torque value in real time, to adjust the moment that patient applies. Specifically, under these long patterns, being locked extremely by motor 132 to needs, read real-time torque value, like this, in this mode, during patient's Muscle contraction, muscle length is constant, and tension force increases, and does not produce the contraction mode of limbs joint activity.
As shown in Figure 3, a pattern is being waited to comprise: S31 obtains the moment that patient is applied on intelligent rehabilitation device; S32 obtains current motor torque; S33 obtains the difference of current motor torque and preset torque; S34 regulates, based on the difference of torque, the electric current supplying motor 132, to adjust motor rotating speed, it is ensured that regulate rear motor 132 to rotate with preset torque. Specifically, under these patterns, controlled amount is motor torque, and control objectives equals preset torque for making motor torque. In control process, obtain moment, the current motor torque of patient's applying in real time and work as front motor rotating speed (comprising sense of rotation), and be uploaded to the upper communication zone 120; After the upper communication zone 120 receives, obtain the difference of this motor torque and preset torque immediately, regulate motor torque (regulating the working current in motor 132 to realize the adjustment of motor torque especially by servocontrol device) according to this difference again, motor 132 is rotated with preset torque. In this mode, during Muscle contraction, tension force is constant, and muscle length changes and produces the contraction mode of limbs joint activity.
As shown in Figure 4, in Passive Mode, specifically comprise: S41 obtains when front motor rotating speed; S42 obtains the difference when front motor rotating speed and the 2nd preset rotation speed; S43 regulates, based on the difference of rotating speed, the voltage supplying motor 132, it is ensured that regulate rear motor 132 with the 2nd preset rotation speed uniform rotation. Specifically, in this passive mode, controlled amount is motor rotating speed, and control objectives equals the 2nd preset rotation speed for making motor rotating speed. In working process, obtain in real time motor torque and motor rotating speed and it is uploaded to the upper communication zone 120; The upper communication zone 120, based on the difference of motor rotating speed and preset rotation speed, regulates the voltage of servocontrol device supply motor 132 to be regulated by motor rotating speed, motor 132 and the 2nd preset rotation speed is rotated. In this mode, motor 132 rotates with setting speed, drives body part motion.
Present invention also offers a kind of intelligent rehabilitation system 100, as shown in Figure 5, this intelligent rehabilitation system 100 comprises: master control chip 110, the upper communication zone 120, at least one servo observing and controlling district 130, push button district 140 and state display space 150 are formed, wherein, master control chip 110, it is connected with the upper communication zone 120, servo observing and controlling district 130, push button district 140 and state display space 150 respectively, works for controlling intelligent rehabilitation system 100; The upper communication zone 120, for configuring intelligent rehabilitation system 100, sending controling instruction to the working parameter of master control chip 110 and the display each integral part of intelligent rehabilitation system 100; Push button district 140, for inputting steering order; Servo observing and controlling district 130, for performing steering order, drives patient motion; State display space 150, for showing the working order of each integral part of intelligent rehabilitation system 100. Communicated by standard RS232 between (comprise an intelligence and touch screen, simple to operate, can regulate in real time and show training data) and master control chip 110 it is believed that the upper communication zone 120. In working process, the upper communication zone 120 is first used to realize being configured in servo observing and controlling district 130, push button district 140 and state display space 150; Afterwards, (selection to operating mode is comprised by the upper communication zone 120 or push button district 140 sending controling instruction, the parameters such as the frequency of each operating mode action, time) to servo observing and controlling district 130, it is controlled, and in state display space 150 and the upper communication zone 120, carries out the display of correlation parameter.
Specifically, the test training quota that can provide in the upper communication zone 120 comprises: can freely arrange position, joint, range of motion, speed, acceleration buffering, training burden etc.; The moment of exportable any time, moment and the dynamic change of time, moment are with the mobilism of position, peak force square, peak force square time length etc.; The relation of exportable acting and time, fatigue exponent, heat exhaustion etc.; Left and right balance of force can be exported in real time, bend and stretch balance of force; Data before and after rehabilitation training effect can be carried out contrast and analysis.
Further, as shown in Figure 6, servo observing and controlling district 130 comprises: servo driver of motor 131, motor 132, encoder 133, retarding mechanism 134, moment sensing device 135, angle sensor device 136 and output shaft 137, wherein, servo driver of motor 131, it is connected with master control chip 110 and motor 132 respectively, works for controlling motor 132; Retarding mechanism 134, is connected with motor 132 and output shaft 137 respectively, rotates for controlling output shaft 137, thus slows down; Encoder 133, is connected with servo-driver and motor 132 respectively, based on the rotating speed of the steering order adjustment motor 132 of servo driver of motor 131; Moment sensing device 135, is connected with master control chip 110, motor 132 and output shaft 137, respectively for induction motor torque; Angle sensor device 136, is connected with master control chip 110 and output shaft 137 respectively, for induction motor rotating speed. In working process, when patient have selected operating mode by the upper communication zone 120, then servo-driver rotates according to relevant control instruction control motor 132, meanwhile obtains motor torque and motor rotating speed respectively by moment sensing device 135 and angle sensor device 136. Under relevant work pattern, if judging to need to reduce motor rotating speed, then controlled the output of output shaft 137 by slowing-down structure.
Intelligent rehabilitation system 100 comprises two servo observing and controlling districts 130, the left head controlling to be attached thereto respectively and the rotation of right head. Like this, patient can the training of unit head, also can two head combined training, simple to operate flexibly to realize more personalized training program.
Having, above-mentioned push button district 140 comprises the rotating forward button, invert button, maintenance/recovery button, emergency stop push button, startup button, stop button and the safety limit switch that are connected respectively with master control chip 110 again. Like this, patient can directly pass through the button sending controling instruction in this push button district 140 to servo observing and controlling district 130, and control motor 132 rotates accordingly. As, patient presses stop button, then master control chip 110 send stop instruction to servo observing and controlling district 130 control motor 132 stop rotate; And for example, patient presses safety limit switch, then master control chip 110 sends angle and the torque that spacing instruction to servo observing and controlling district 130 controls motor 132 rotation, to guarantee that patient is in the range of articulation build-in test set and training, it is provided that safest protection.
State display space 150 comprises the servo condition LED, communications status LED, angle sensor device 136 state LED and the moment sensing device 135 state LED that are connected respectively with master control chip 110, for showing the state of corresponding component. Such as, if the communication failure between the upper communication zone 120 and master control chip 110, then communications status LED shows red light, if normally, then shows green light, analogizes with this.
Intelligent rehabilitation system 100 provided by the invention is absorbed in patient's lower limb knee-joint rehabilitation training, it is a kind of by all multi-technical fusion such as sensing, control, information, medical science of recovery therapy, biomechanics, mechanics novel appts together, according to modern ebm (EvidenceBasedMedicine, and continuous passive motion (ContinuousPassiveMotion EBM), CPM) theoretical, equipment patient can be carried out the passive exercise rehabilitation training of incremental formula, movement at the uniform velocity rehabilitation training, etc. exercise rehabilitation training and isometric exercise rehabilitation training. Nervus centralis and clinical medicine prove, function motion and sensory stimuli play an important role in rehabilitation, and the training for treatment mode of this kind of highly effective and safe can make patient recover faster.
It should be noted that above-described embodiment all can independent assortment as required. The above is only the preferred embodiment of the present invention; it is noted that for those skilled in the art, under the premise without departing from the principles of the invention; can also making some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. an intelligent rehabilitation method, it is characterised in that, described intelligent rehabilitation method comprises: patient performs one or more motion patterns following and trains:
Constant velocity mode, in this mode: the moment applied based on patient adjusts motor torque in real time, it is ensured that motor is with preset rotation speed uniform rotation;
Deng long pattern, in this mode: based on the moment of default resistance torque adjustment patient's applying that motor applies;
Deng a pattern, in this mode: the moment applied based on patient adjusts motor rotating speed in real time, it is ensured that motor torque is constant;
Passive Mode, in this mode: the rotating speed applying the rear motor of moment based on patient, regulates the voltage of power supply motor, it is ensured that motor rotating speed and preset rotation speed are consistent.
2. intelligent rehabilitation method as claimed in claim 1, it is characterised in that, in constant velocity mode, specifically comprise:
Obtain the moment that patient is applied on intelligent rehabilitation device;
Obtain when front motor rotating speed;
Obtain the difference when front motor rotating speed and the first preset rotation speed;
Difference based on described rotating speed regulates motor torque, it is ensured that regulate rear motor with the first preset rotation speed uniform rotation.
3. intelligent rehabilitation method as claimed in claim 1, it is characterised in that, waiting in long pattern, specifically comprising:
Electromechanical locks is dead;
Motor applies to preset resistance torque;
Patient applies moment;
Obtain torque value in real time, to adjust the moment that patient applies.
4. intelligent rehabilitation method as claimed in claim 1, it is characterised in that, waiting in a pattern, specifically comprising:
Obtain the moment that patient is applied on intelligent rehabilitation device;
Obtain current motor torque;
Obtain the difference of current motor torque and preset torque;
Difference based on described torque regulates the electric current supplying described motor, to adjust motor rotating speed, it is ensured that regulate rear motor to rotate with preset torque.
5. intelligent rehabilitation method as claimed in claim 1, it is characterised in that, in Passive Mode, specifically comprise:
Obtain when front motor rotating speed;
Obtain the difference when front motor rotating speed and the 2nd preset rotation speed;
Difference based on described rotating speed regulates the voltage supplying described motor, it is ensured that regulate rear motor with the 2nd preset rotation speed uniform rotation.
6. an intelligent rehabilitation system, it is characterised in that, described intelligent rehabilitation system comprises: master control chip, the upper communication zone, at least one servo observing and controlling district, push button district and state display space are formed, wherein,
Described master control chip, is connected with the described upper communication zone, servo observing and controlling district, push button district and state display space respectively, for controlling described intelligent rehabilitation system works;
The described upper communication zone, for configuring described intelligent rehabilitation system, sending controling instruction to master control chip and the working parameter showing described intelligent rehabilitation system components;
Described push button district, for inputting steering order;
Described servo observing and controlling district, for performing steering order, drives patient motion;
Described state display space, for showing the working order of described intelligent rehabilitation system components.
7. intelligent rehabilitation system as claimed in claim 6, it is characterised in that, described servo observing and controlling district comprises: servo driver of motor, motor, encoder, retarding mechanism, moment sensing device, angle sensor device and output shaft, wherein,
Described servo driver of motor, is connected with described master control chip and motor respectively, for controlling described machine operation;
Described retarding mechanism, is connected with described motor and output shaft respectively, for controlling described output shaft rotation, thus slows down;
Described encoder, is connected with described servo-driver and described motor respectively, adjusts the rotating speed of described motor based on the steering order of described servo driver of motor;
Described moment sensing device, is connected with described master control chip, motor and output shaft, respectively for induction motor torque;
Described angle sensor device, is connected with described master control chip and described output shaft, respectively for induction motor rotating speed.
8. intelligent rehabilitation system as claimed in claim 7, it is characterised in that, described intelligent rehabilitation system comprises two servo observing and controlling districts, the left head controlling to be attached thereto respectively and the rotation of right head.
9. intelligent rehabilitation system as described in claim 6-8 any one, it is characterized in that, push button district comprises the rotating forward button, invert button, maintenance/recovery button, emergency stop push button, startup button, stop button and the safety limit switch that are connected respectively with master control chip.
10. intelligent rehabilitation system as claimed in claim 9, it is characterised in that, described state display space comprises the servo condition LED, communications status LED, angle sensor device state LED and the moment sensing device state LED that are connected respectively with master control chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610171498.7A CN105640740A (en) | 2016-03-24 | 2016-03-24 | Intelligent rehabilitation method and system |
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| CN108553834A (en) * | 2018-06-25 | 2018-09-21 | 广州康医疗设备实业有限公司 | A kind of Isokinetic muscle strength training system and its control method |
| CN109172257A (en) * | 2018-07-13 | 2019-01-11 | 江苏卫生健康职业学院 | Lower limb constant speed force feedback training system |
| CN110269775A (en) * | 2018-03-15 | 2019-09-24 | 深圳市荣原科技有限公司 | A kind of rehabilitation training schema control system |
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| TWI753423B (en) * | 2020-05-06 | 2022-01-21 | 光旴科技股份有限公司 | Fitness equipment measurement and management system |
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| CN112207823B (en) * | 2020-09-22 | 2023-07-25 | 北京石油化工学院 | Constant-speed motion control method and system for rehabilitation robot |
| CN112171670A (en) * | 2020-09-22 | 2021-01-05 | 北京石油化工学院 | Rehabilitation robot equal-tension motion control method and system |
| CN112171670B (en) * | 2020-09-22 | 2024-01-23 | 北京石油化工学院 | Rehabilitation robot isotonic movement control method and system |
| CN114904207A (en) * | 2021-02-10 | 2022-08-16 | 广州源动智慧体育科技有限公司 | Force training instrument control method and device and force training instrument |
| CN114904207B (en) * | 2021-02-10 | 2024-02-27 | 广州源动智慧体育科技有限公司 | Control method and device for strength training instrument and strength training instrument |
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