CN106618957B - A kind of upper limb rehabilitation robot - Google Patents
A kind of upper limb rehabilitation robot Download PDFInfo
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- CN106618957B CN106618957B CN201611168722.3A CN201611168722A CN106618957B CN 106618957 B CN106618957 B CN 106618957B CN 201611168722 A CN201611168722 A CN 201611168722A CN 106618957 B CN106618957 B CN 106618957B
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 34
- 230000033001 locomotion Effects 0.000 claims abstract description 59
- 210000003414 extremity Anatomy 0.000 claims abstract description 37
- 238000000034 method Methods 0.000 claims abstract description 22
- 210000000323 shoulder joint Anatomy 0.000 claims description 35
- 210000002310 elbow joint Anatomy 0.000 claims description 22
- 210000001624 hip Anatomy 0.000 claims description 12
- 210000003857 wrist joint Anatomy 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 5
- 210000001503 joint Anatomy 0.000 claims description 4
- 241001269238 Data Species 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000035876 healing Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000011084 recovery Methods 0.000 abstract description 6
- 230000009471 action Effects 0.000 abstract description 5
- 150000001875 compounds Chemical class 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000036541 health Effects 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000003447 ipsilateral effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000003930 cognitive ability Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 230000037213 diet Effects 0.000 description 1
- 235000005911 diet Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- 238000004886 process control Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000003716 rejuvenation Effects 0.000 description 1
- 230000003238 somatosensory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009466 transformation Effects 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper 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
- 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
-
- 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- 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
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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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
The invention discloses a kind of upper limb rehabilitation robots, the motion control method of the upper limb rehabilitation robot are as follows: upper extremity exercise data are acquired using Kinect, exercise data is handled by host computer, obtain control signal, slave computer controls signal is transmitted to servo-driver, driving wearable exoskeleton mechanical arm movement.The present invention uses limb action motion sensing control, control mode is more intuitive, natural, simple, it can carry out multi-joint real-time linkage control, convenient for the realization of compound action, user can be good for the movement of side limbs by itself, it controls robot and carries out double upper limb coordinate synchronization mirror movements, be more conducive to the recovery of user's limb function.
Description
Technical field:
The present invention relates to a kind of upper limb ectoskeleton mirror image machines of motion sensing control.
Background technique:
Cerebral apoplexy, which has become, endangers one of Etiological of human health, and rejuvenation trend is presented.Therewith
The high disability rate come leads to most of Post stroke limbs of patient mobility impairment, seriously affects patients ' life quality.It is this kind of inclined
Paralysed patient needs to implement as early as possible intensive high-intensity exercise and treats to reach optimal recovery effect.But it is insufficient for myodynamia,
The patient that cannot be independently resumed training, can only be by the auxiliary of Physical Therapist or by means of training equipment.Utilize robot
When auxiliary patient resumes training, the Motion Control Strategies and system stability of robot will affect extensive to a certain extent
Multiple effect.
The control mode that exoskeleton robot uses at present is broadly divided into two kinds: one is program curings, by finishing in advance
Process control machine people execute single joint or combinative movement；Another kind is exactly to be carried out by control panel or controller
Line traffic control.Preceding kind of control mode, since Physical Therapist is not necessarily familiar with programming setting, it is not easy to meet and be made according to patient's recovery extent
The requirement of instant adjusting training scheme out.Latter control mode can only generally control a joint simultaneously, that is, enable while controlling
Multi-joint processed is also not easy to meet harmony and meets the requirement of human motion habit, this to train and adjust some daily lifes
Seem relatively difficult if combinative movement (such as diet, mention trousers etc.) in work.By a kind of novel body-sensing human-computer interaction technology application
In upper limb rehabilitation robot, a kind of more natural, intuitive motion sensing control mode is studied, can preferably be solved the above problems.It closes
In robot motion sensing control method, also there is research in the past, but needs to install gyroscope, acceleration sensing at human synovial mostly
The signal pickup assemblies such as device, however it remains it is erroneous for installation, wearing and it is inconvenient the problems such as.
Summary of the invention:
The purpose of the present invention is to overcome the above shortcomings, and it is more intuitive, natural, simple to provide a kind of control mode
Upper limb rehabilitation robot.
The purpose of the present invention is achieved through the following technical solutions: a kind of upper limb rehabilitation robot, upper limb rehabilitation robot
Motion control method are as follows: using Kinect acquire upper extremity exercise data, exercise data is handled by host computer, obtain
Signal is controlled, slave computer controls signal is transmitted to servo-driver, driving wearable exoskeleton mechanical arm movement, and host computer is
PC machine, slave computer are motion controller.
A further improvement of the present invention is that: upper extremity exercise data acquisition and procession method are as follows:
A, by Kinect sensor capture 6 joints of human body three-dimensional coordinate, be respectively shoulder center, Center of Coxa,
Strong side limbs shoulder joint, elbow joint, wrist joint, affected limb shoulder joint；
B, human body coordinate system is established, according to the 6 of acquisition joint point datas, space vector is constructed, calculates joint angles；It closes
Section angle includes flexor of elbow joints/stretch angle [alpha], shoulder abduction/interior receipts angle beta, and shoulder joint is anteflexion/extend back angle γ；Wherein, shoulder
Joint abduction/interior receipts angle beta is defined as upper arm to the projection in human coronary face and the angle of linea vertebralis, and shoulder joint is anteflexion/it extendes back
Angle γ is defined as the angle of upper arm Yu human coronary face；
C, smooth using Kalman filtering algorithm to the joint angles data being calculated, according to the refreshing of Kinect frequency
Rate takes the Refresh Data time in state change matrixThe time-consuming of compensation system transmission, improves system real time；
D, speed limit and amplitude limiting processing are carried out to smoothed out joint angles data, is guaranteed by setting largest motion angular speed
Patient's training of safety.
A further improvement of the present invention is that: joint angles calculation method are as follows:
A, human body coordinate system is established, 6 skeletal points that Kinect is obtained are labeled as shoulder center SC, Center of Coxa HC, strong side
Limbs shoulder joint Sj, elbow joint E, wrist joint W, affected limb shoulder joint Sh, plane n is the coronal-plane of human body, wherein by human body point
For the two-part plane in front and back, plane m ' is parallel to human body sagittal plane, wherein human body is divided into the two-part plane in left and right, plane
H is both perpendicular to coronal-plane n and plane m '；
B, flexor of elbow joints/stretch angle computation method are as follows: cross elbow joint point and wrist joint point constructs vectorCross shoulder joint
Point and elbow joint point construct vector
Flexor of elbow joints/hade degree
C, shoulder abduction/interior receipts angle, shoulder joint is anteflexion/extendes back angle computation method are as follows:
Cross the Center of Coxa point H in coronal-plane nCWith shoulder joint node Sj、Sh, construct vectorWithIt calculates
The normal vector of coronal-plane n
It calculatesInOn projection
It calculatesProjection vector in plane n
Pass through Center of Coxa point HCWith shoulder joint intermediate point SC, construct vector
Shoulder abduction/interior receipts angle
Shoulder joint is anteflexion/extend back angle
A further improvement of the present invention is that: joint angles data speed limit and amplitude limiting processing method are as follows: if the angle of t moment
Position XtWith previous moment Angle Position Xt-1Between speed be greater than safe speed ωset, the Angle Position at current time is forced to replace
It is changed to Xt', to guarantee that maximum speed is no more than the safe speed ω of settingset；The data of next frame are according to the above method with replacement
Data afterwards compare, when angular dimension be more than setting range the upper limit or lower limit when, then by the angle pressure assignment be the upper limit or
Lower limit.
A further improvement of the present invention is that: control system hardware includes Kinect, host computer, slave computer, servo-drive
Device, servo motor, the network switch and power pack, host computer are connected to motion controller by the network switch same
Information exchange is carried out in local area network, the network switch is connect with host computer by wireless network forms, the network switch and movement
Controller is connected using twisted pair.
Compared with the prior art, the present invention has the following advantages: it is different from the control model of traditional upper limb rehabilitation robot,
The present invention uses limb action motion sensing control, and control mode is more intuitive, natural, simple, can carry out multi-joint real-time linkage control
System, convenient for the training of compound action；Body-sensing principal and subordinate's real-time control mode is convenient for the real-time adjusting training scheme of Physical Therapist；User
Can be good for the movement of side limbs by itself, control robot carries out double upper limb coordinate synchronization mirror movements, be more conducive to using
The recovery of person's limb function.
Detailed description of the invention:
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is that artis obtains and angle calculation schematic diagram；
Fig. 3 is speed limit and amplitude limiting processing flow chart of the invention；
In figure: 1:Kinect sensor；2: main control computer；3: interchanger；4: motion controller；5: driver: 6: opening
It closes；7: servo motor；8: wearable mechanical arm.
Specific embodiment:
It in order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below will be in the embodiment of the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.The elements and features described in one embodiment of the invention can be with one or more other realities
Elements and features shown in mode are applied to combine.It should be noted that being omitted for purposes of clarity, in explanation and nothing of the present invention
Expression and description close, component known to persons of ordinary skill in the art and processing.Based on the embodiments of the present invention, ability
Domain those of ordinary skill every other embodiment obtained under the premise of not making the creative labor, belongs to the present invention
The range of protection.
A kind of embodiment of upper limb rehabilitation robot of the present invention as shown in figure 1, control system hardware include Kinect,
Host computer (PC machine), slave computer (motion controller), servo-driver, servo motor, the network switch and power pack.
Kinect is responsible for acquiring shoulders of human body center, Center of Coxa, strong side limbs shoulder joint, elbow joint, wrist joint, affected limb shoulder joint
The data in 6 joints are saved, host computer handles joint data, obtains motion control signal, and slave computer will control signal and pass
To servo-driver, the movement of wearable exoskeleton mechanical arm is driven.Motor pattern has mirror image motion sensing control, synchronous motion sensing control
With half active motion sensing control.The present invention, as motion controller, is different from traditional upper limb healing using the movement of strong side limbs
Robot control method, with the characteristic that body-sensing directly controls, and without dressing signal pickup assembly, easy to operate, user
The movement of limb can be good for by itself, and to drive other side limbs to carry out a kind of novel bilateral mirror image under the auxiliary of robot same
Step resumes training, and can also carry out resuming training for master-slave mode by the ipsilateral limb motion of Physical Therapist and user, can be with
" half actively " formula is carried out by the movement of user's palm and Physical Therapist's palm " touching " to resume training.
The present invention acquires upper extremity exercise data using Kinect, is handled by host computer exercise data, obtains control
Signal processed, slave computer control signal is transmitted to servo-driver, driving wearable exoskeleton mechanical arm movement.
Upper extremity exercise data acquisition and procession method are as follows:
(1) three-dimensional coordinate in 6 joints of human body, respectively shoulder center S are captured by Kinect sensorC, in hip
Heart HC, strong side limbs shoulder joint Sj, elbow joint E, wrist joint W, affected limb shoulder joint Sh.As shown in Figure 2.
(2) human body coordinate system is established, according to the 6 of acquisition skeleton point datas, space vector is constructed, calculates joint angles.
Joint angles include flexor of elbow joints/stretch angle [alpha], shoulder abduction/interior receipts angle beta, and shoulder joint is anteflexion/extend back angle γ.Wherein,
Shoulder abduction/interior receipts angle beta is defined as upper arm to the projection in human coronary face and the angle of linea vertebralis, and shoulder joint is anteflexion/after
Stretch the angle that angle γ is defined as upper arm Yu human coronary face.
It is as shown in Figure 2 that joint angles calculate schematic diagram.Wherein plane n is that human body (is divided into front and back two by the coronal-plane of human body
Partial plane), plane m ' is parallel to human body sagittal plane (human body is divided into the two-part plane in left and right), and plane h is vertical simultaneously
In coronal-plane n and plane m '.
1. flexor of elbow joints/stretch angle calculation
Cross elbow joint point and wrist joint point building vectorCross shoulder joint node and elbow joint point building vector
Flexor of elbow joints/hade degree
2. shoulder abduction ,/interior receipts angle, shoulder joint is anteflexion/extendes back angle calculation
Cross the Center of Coxa point H in coronal-plane nCWith shoulder joint node Sj、Sh, construct vectorWithCalculate hat
The normal vector of shape face n
It calculatesInOn projection
It calculatesProjection vector in plane n
Pass through Center of Coxa point HCWith shoulder joint intermediate point SC, construct vector
Then shoulder abduction/interior receipts angle
Shoulder joint is anteflexion/extend back angle
Joint angles calculation method of the invention is not based on Kinect coordinate plane, but is based on human body coordinate system, makes
User do not need it is stringent just face Kinect sensor, facilitate Kinect and be placed in the preferable position in the visual field, thus
It avoids causing the unstable phenomenon of data because joint is mutually blocked.
(3) smooth using Kalman filtering algorithm to the joint angles data being calculated, according to the refreshing of Kinect frequency
Rate takes the Refresh Data time in state change matrixKalman filtering advance Speculation can be used as data buffering and
The time-consuming compensation of system transmission, improves the real-time of system.
(4) speed limit and amplitude limiting processing are carried out to smoothed out joint angles data, is protected by setting largest motion angular speed
Demonstrate,prove patient's training of safety.
If the Angle Position X of t momenttWith previous moment Angle Position Xt-1Between speed be greater than safe speed ωset, force
The Angle Position at current time is replaced with Xt', to guarantee that maximum speed is no more than the safe speed ω of settingset.The number of next frame
Compare according to according to the above method with replaced data, after being satisfied with safe speed, data and curves are overlapped with former data again.
Setting movement angle range is to guarantee another measure of safety, when angular dimension is more than the upper limit (lower limit) of setting range
When, then it is the upper limit (lower limit) by the angle pressure assignment.By taking the movement of elbow joint flexion/extension as an example, safe speed is set as ωset=
80 °/s, angular range is set as 60 °~180 °.The process flow of speed limit and amplitude limiting processing is as shown in Figure 3.
Control system hardware includes Kinect, host computer (PC machine), slave computer (motion controller), servo-driver, watches
Take motor, the network switch and power pack.Host computer is connected to same local by the network switch with motion controller
Information exchange is carried out in net, the network switch is connect with host computer by wireless network forms, the network switch and motion control
Device is connected using twisted pair.
A kind of upper limb rehabilitation robot, motor pattern include the following three types mode:
Mirror movements mode: the first mode directly controls robot with the natural movement of the limbs of patient health side
Movement drives limbs to execute movement identical with strong side limbs under the auxiliary of robot, realizes a kind of novel bilateral mirror image
It synchronizes and resumes training.
Tandem pattern: second of mode uses Physical Therapist and the ipsilateral limb motion of limbs of patient as motion control
Device drives limbs to execute recovery action identical with the strong side limbs of Physical Therapist under the auxiliary of robot.
The third mode, half active movement mode: Kinect captures the palm position of Physical Therapist, passes through inverse kinematics
The angle rotated needed for upper limb rehabilitation robot end movement to Physical Therapist's palm position joint Shi Ge, driving servo motor make
Limb healing robot drives limbs of patient movement, completes the movement of patient's palm and the touching of Physical Therapist's palm.
The patient's that half active movement mode is suitable for having certain muscular strength resumes training, and can temper patient visual and limbs
The coordination ability between movement helps to improve the cognitive ability of patient, can further promote motorial recovery.
The present invention devises a kind of upper limb rehabilitation robot using Kinect somatosensory sensor as signal pickup assembly, with reason
The limbs of teacher's limbs or patient's own health side are treated as motion controller, user can pass through the nature of strong side limbs
Movement directly controls the movement of robot, drives limbs to carry out a kind of novel bilateral mirror image synchronization under the auxiliary of robot extensive
Refreshment is practiced, and resuming training for master-slave mode is resumed training with " half actively " formula.
Finally, it should be noted that although the present invention and its advantage have been described in detail above it should be appreciated that not
Can be carried out in the case where beyond the spirit and scope of the present invention being defined by the claims appended hereto various changes, substitution and
Transformation.Moreover, the scope of the present invention is not limited only to the specific reality of process, equipment described in specification, means, method and steps
Apply example.One of ordinary skilled in the art holds from the disclosure it will be readily understood that can be used according to the present invention
The row function essentially identical to corresponding embodiment described herein obtains the result essentially identical with it, existing and future
Process, equipment, means, method or step to be developed.Therefore, the attached claims are intended to wrap in the range of them
Include such process, equipment, means, method or step.
Claims (2)
1. a kind of upper limb rehabilitation robot, it is characterised in that: the upper limb rehabilitation robot includes: Kinect sensor, upper
Machine, slave computer, servo-driver, wearable exoskeleton mechanical arm, the motion control method of the upper limb rehabilitation robot are as follows:
Upper extremity exercise data are acquired using Kinect, exercise data is handled by host computer, obtain control signal, slave computer will
Control signal is transmitted to servo-driver, driving wearable exoskeleton mechanical arm movement, and host computer is PC machine, and slave computer is movement
Controller；
The upper extremity exercise data acquisition and procession method are as follows:
A, the three-dimensional coordinate that 6 joints of human body are captured by Kinect sensor is shoulder center, Center of Coxa, strong side respectively
Limbs shoulder joint, elbow joint, wrist joint, affected limb shoulder joint；
B, human body coordinate system is established, according to the 6 of acquisition joint point datas, space vector is constructed, calculates joint angles；Joint angle
Degree includes flexor of elbow joints/stretch angle [alpha], shoulder abduction/interior receipts angle beta, and shoulder joint is anteflexion/extend back angle γ；Wherein, shoulder joint
Abduction/adduction angle beta is defined as upper arm to the projection in human coronary face and the angle of linea vertebralis, and shoulder joint is anteflexion/extend back angle
γ is defined as the angle of upper arm Yu human coronary face；
The joint angles calculation method are as follows:
A, human body coordinate system is established, 6 skeletal points that Kinect is obtained are labeled as shoulder center SC, Center of Coxa HC, strong side limbs
Shoulder joint Sj, elbow joint E, wrist joint W, affected limb shoulder joint Sh, plane n is the coronal-plane of human body, and human body is divided into front and back
Two-part plane, plane m ' are parallel to human body sagittal plane, human body are divided into the two-part plane in left and right, plane h hangs down simultaneously
Directly in coronal-plane n and plane m '；
B, flexor of elbow joints/stretch angle computation method are as follows: cross elbow joint point and wrist joint point constructs vectorCross shoulder joint node and
Elbow joint point constructs vector
Flexor of elbow joints/hade degree
C, shoulder abduction/interior receipts angle, shoulder joint is anteflexion/extendes back angle computation method are as follows:
Cross the Center of Coxa point H in coronal-plane nCWith shoulder joint node Sj、Sh, construct vectorWithIt calculates coronal
The normal vector of face n
It calculatesInOn projection
It calculatesProjection vector in plane n
Pass through Center of Coxa point HCWith shoulder joint intermediate point SC, construct vector
Shoulder abduction/interior receipts angle
Shoulder joint is anteflexion/extend back angle
C, smooth using Kalman filtering algorithm to the joint angles data being calculated, it, will according to the refreshing frequency of Kinect
The Refresh Data time that the state of Kalman filtering algorithm changes in matrix takesThe time-consuming of compensation system transmission, improves system
System real-time；
D, speed limit and amplitude limiting processing, X are carried out to smoothed out healthy side upper limb joint angles datatFor collected healthy side upper limb pass
The current angle position of section, Xt-1For the previous moment Angle Position in collected healthy side upper limb joint, if healthy side upper limb t moment
Angle Position XtWith previous moment Angle Position Xt-1Between speed be greater than safe speed ωset, force healthy side upper limb it is current when
The Angle Position at quarter replaces with XtAfter ', by the joint angles data real-time delivery of collected healthy side upper limb to healing robot
Controller, to guarantee that the maximum speed of wearable exoskeleton mechanical arm is no more than the safe speed ω of settingset, when movement angle
It is then the upper limit or lower limit by the angle pressure assignment when spending the upper limit of the size more than setting range or being lower than setting range lower limit.
2. a kind of upper limb rehabilitation robot according to claim 1, it is characterised in that: control system hardware includes
Kinect, host computer, slave computer, servo-driver, servo motor, the network switch and power pack, host computer and bottom
Machine is connected in same local area network by the network switch and carries out information exchange, and the network switch and host computer pass through wireless network
Form connection, the network switch are connected with slave computer using twisted pair.
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| CN201611168722.3A CN106618957B (en) | 2016-12-16 | 2016-12-16 | A kind of upper limb rehabilitation robot |
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| WO2019061162A1 (en) * | 2017-09-28 | 2019-04-04 | 广州博厚医疗技术有限公司 | Method, device and system for assisting in collaborative rehabilitation of bilateral limbs |
| CN108888473B (en) * | 2018-05-22 | 2021-04-09 | 哈尔滨工业大学 | Lower limb joint motion control method based on wearable walking assisting exoskeleton |
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| CN109106556A (en) * | 2018-08-16 | 2019-01-01 | 常州市钱璟康复股份有限公司 | A kind of moving method and its mobile system of upper-limbs rehabilitation training robot |
| CN109452943B (en) * | 2018-09-17 | 2021-03-23 | 周建菊 | Multifunctional rehabilitation clothes for severe hemiplegia patients |
| CN109330819B (en) * | 2018-09-18 | 2021-12-31 | 山东建筑大学 | Master-slave type upper limb exoskeleton rehabilitation robot control system and control method thereof |
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Application publication date: 20170510 Assignee: Jiangsu Guochen Medical Technology Co.,Ltd. Assignor: Center for technology transfer, Nantong University Contract record no.: X2022320000384 Denomination of invention: An upper limb rehabilitation robot Granted publication date: 20191203 License type: Common License Record date: 20230104 |