CN109646242A - A kind of Table top type upper limb rehabilitation robot and its application method - Google Patents
A kind of Table top type upper limb rehabilitation robot and its application method Download PDFInfo
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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
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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
- A61H1/0218—Drawing-out devices
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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
- A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
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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
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
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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
- A61H2201/5061—Force sensors
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus
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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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/10—Electroencephalographic signals
- A61H2230/105—Electroencephalographic signals used as a control parameter for the apparatus
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Abstract
A kind of Table top type upper limb rehabilitation robot of the present invention and its application method, are related to healing robot technical field.A kind of Table top type upper limb rehabilitation robot, by rack, omni-directional wheel and drive system (1), lower computer control system (2), it contacts force detection system (3), position detecting system (4), myoelectricity measuring system (5), EEG measuring system (6) and upper computer control system (7), Bluetooth system (8) and power supply are connected in electric signal mode and are formed.The present invention has small in size, family's strong applicability, measurement accuracy high, and sexual valence is relatively high, feature applied widely.Rehabilitation, evaluation especially are trained to patient using brain electricity and electromyography signal, evaluation result is more convincing and accuracy.It realizes that virtual animation is shown by host computer, the enthusiasm of patient can be improved, increase the interest in training process, prevent training excessively uninteresting.Remote interaction function is realized by host computer, and the guidance and monitoring of profession can also be enjoyed by so that patient is in.
Description
Technical field
The present invention relates to healing robot technical field, a kind of Table top type upper limb rehabilitation robot and Rehabilitation are referred specifically to
Control (use) method of training process.
Background technique
Healing robot is broadly divided into two kinds at present: exoskeleton-type and end contact.Exoskeleton-type is a kind of bionical machine
Device people, be by human motion joint apply external motivating force with reduce even replace operator during the motion from
The force that body joint spendes, so that physical disabilities be made to realize normal locomitivity.As Univ Zurich Switzerland has 6 freedom degrees
ARmin, University of Washington have the CADEN-7 of 7 freedom degrees, and the ARM GUIDE and meaning that California, USA branch school Irive is developed are big
The Giulo Rosati that sharp University of Padova develops.Although exoskeleton device has control precisely and high-freedom degree, but be through
Fear and sense of insecurity can be brought on patient body, be unfavorable for Rehabilitation.End contact refer in equipment certain point with
The a certain position of patient's upper limb is in contact.The MIT-MANUS, the Gentle/ of Reading university, Britain designed such as the Massachusetts Institute of Technology
S waits the end formula design structure exactly used.The complicated in mechanical structure of these healing robots, cost is very high, and controls non-
It is often complicated, it is be easy to cause the secondary injury of patient, can only be used in individual large hospitals.
2012, the Chinese Academy of Sciences developed a kind of Table top type upper limb rehabilitation robot Reha-Maus, can be realized position and tactile
Control.The software platform of control algolithm programming and test is established in Scilab/Scicos in linux system, position passes
Sensor has used the Wii Remote game paddle controller of Japanese Nintendo, which hangs on the top of motion platform,
Inconvenient to use and be restricted, there is delay in data transmission.Data and control are transmitted through the cable to computer, integration degree
Low, route is too many.
So far, the research paper of healing robot emerges one after another, and mechanical structure is complex, cost is very high, uncomfortable
It is used together in medium and small rehabilitation institution or family.
Summary of the invention
It is an object of the invention to overcome at high cost, complicated in mechanical structure, use existing for above-mentioned existing healing robot
It is inconvenient, lack the defects of Rehabilitation Assessment data, propose a kind of Table top type upper limb rehabilitation robot and its application method.
One kind of the invention realizes human-computer interaction, STM32 Implementation of Embedded System real-time control, collection syncerebrum electricity, flesh by PC machine
Electricity, virtual reality technology are in the Table top type upper limb rehabilitation robot of one, by rack, omni-directional wheel and drive system, and slave computer control
System processed contacts force detection system, position detecting system, myoelectricity measuring system, EEG measuring system and upper computer control system,
Bluetooth system and power supply are connected in electric signal mode to be formed.
Application method thinking of the invention is divided into the training of three different modes according to the hemiplegia degree of patient's suffering limb: main
Dynamic training mode, passive exercise mode and interactive training mode.Different control methods is designed according to different modes.Passive
In training mode, kinematics mathematical modeling is carried out to robot, coordinated control three continuous suitching type omni-directional wheels form different rails
The control of mark, such as move forward and backward, side-to-side movement, diagonal movement, polygon track.By upper computer selecting mode and number,
It is sent to slave computer using bluetooth, slave computer receives the data that host computer is sent by the serial ports of STM32.STM32 and motor drive
Dynamic device is communicated using CAN bus.The signal of three-dimensional force sensor acquisition is AD converted into STM32 after amplifier,
Detection for contact force.In training process, the range that setting patient exerts oneself in the case where no excessive tensile, if it exceeds this
A range, robot is by stop motion.2 PS/2 interface optical mouse sensors are mounted on robot, symmetrical position, chassis
It sets, the location information of optical mouse sensor in acquisition motion process is connect with the port STM32, by the position of optical mouse sensor
Confidence breath is converted into the real-time location information of robot.Force signal and location information are sent to by the serial ports of STM32 upper
Machine shows the information such as the progress of virtual animation and training, and saves data, convenient for establishing more perfect Rehabilitation Assessment data.It is main
In dynamic training mode, in order to enhance the muscle performance of patient, suitable Resistance Value is selected first, is then turned on ADC acquisition, will be adopted
The data collected are converted to voltage value, carry out the calculating of resultant force and torque, Resistance Value and real-time collected resistance to selection
Power is compared, and using the method for PID control, changes contact of the patient with robot by changing the torque of motor output
Power, to be rapidly achieved setting value.The movement model in training process is arranged in the information of acquisition position sensor in training process
It encloses, to prevent patient's excessive tensile, leads to the secondary injury of suffering limb.Still need in training by location information and contact force information
It is transmitted to host computer, plays virtual animation for host computer.Using the movement mould of MYO armlet acquisition upper arm electromyography signal identification arm
Formula acquires EEG signals using EmotivEpoc, judges the initial position of movement.Save brain electricity and myoelectricity data information, be
Patient provides more complete Rehabilitation Assessment data.Interactive training mode is a kind of more flexible motor pattern, is applicable in muscle
There is the patient of less locomitivity, select suitable Resistance Value first, ADC acquisition is then turned on, by collected data conversion
For voltage value, carry out the calculating of resultant force and torque, the Resistance Value of selection be compared with real-time collected resistance, when turn
The value changed provides resistance exercise when being greater than the set value, conversely, providing power.
Rehabilitation training of the present invention is achieved through the following technical solutions:
A kind of Table top type upper limb rehabilitation robot, it is first determined the communication protocol of upper computer and lower computer, and according to driving
The drive mode that the CAN communication agreement selection of device is suitble under this mode instructs.Track is fixed in Passive Mode, can also be with
Different tracks is write according to the actual demand of patient by programmer, current track is mainly formed by 5 kinds, is contained daily
Plane motion form required for acting.Patient is sent to by the corresponding motor pattern of upper computer selecting by bluetooth
First optical mouse sensor and ADC are initialized in STM32, STM32, and the reception for opening serial ports is interrupted, and number is received
According to data that are rear, comparing communication protocol and receive, the execution of respective function is carried out, to complete training process.In aggressive mode
The Resistance Value of selection is transmitted to STM32 by bluetooth, is rapidly achieved setting value using PID adjusting.The resistance selected in interactive mode
Value is transmitted to STM32 by bluetooth, compares setting value and actual value, corresponding to provide resistance or dynamic movement.
The host computer and slave computer communications protocol format are as shown in table 1:
Table 1
| Frame head | Mode | Track | Resistance | Speed | Distance | Number | Postamble |
| 1BYTE | 1BYTE | 1BYTE | 1BYTE | 1BYTE | 1BYTE | 1BYTE | 1BYTE |
The STM32 carries out initialization to ADC and comprises the steps of:
S1 opens PA mouthfuls of clocks and ADC1 clock, and port required for being arranged is simulation input；
S2 resets ADC1, while the Frequency Dividing Factor of ADC1 is arranged；
S3 initializes ADC1 parameter, and setting ADC1 works in continuous conversion, discontinuous scan pattern, and opens ADC1
External trigger conversion；
S4 opens the DMA transfer of ADC1, and handles collected force information inside DMA transfer interruption；
S5 enables converter, executes and resets calibration and AD calibration.
Wherein, because amplifier output voltage range matched with three-dimensional force sensor is -5-+5V, and STM32 cannot be acquired
Negative voltage, and ADC acceptable voltage range is 0-3.3V.
Therefore contact force signal needs to design add circuit before entering STM32, is divided after promoting 5v voltage, it will
Signal after partial pressure passes to STM32, opens AD conversion.
Meanwhile the sample frequency of three-dimensional force sensor is determined by the timer 3 of STM32, by the timing for setting timer 3
Time carrys out clocked flip ADC1 and is AD converted.
The STM32 comprises the steps of: optical mouse sensor initialization
S1, the GPIO mouth that initialization PS/2 is connect with STM32；
S2 interrupts mapping and abort packet setting；
Then S3, PS/2 protocol driver are parsed using the clock signal for receiving PS/2 equipment and generating is interrupted；
S4 initializes optical mouse sensor；
S5 handles the data of optical mouse sensor MOUSE；
In the step S4, specific initialization step is as follows:
S1, optical mouse sensor electrification reset；
S2 obtains 0XAA；
S3 obtains ID 0X00；
200,100,80 sample rates are respectively set in S4, the special initialization sequence into idler wheel mode；
S5 obtains MOUSE ID；
S6 is again introduced into setting sample rate；
S7 obtains MOUSE ID；
Resolution ratio is arranged in S8；
Zoom ratio is arranged in S9；
Sample rate is arranged in S10；
S11 enables data report；
In step s 5, optical mouse sensor data are handled inside the interruption of timer 2.
As described above, compared with prior art, the invention has the following advantages that
(1) the desktop type upper limb rehabilitation robot, small in size, family's strong applicability, sexual valence are relatively high.
(2) three kinds of motor patterns are designed, it is applied widely to adapt to the use of different degrees of hemiplegic patient.
(3) control of the control control instruction and contact force of omni-directional wheel drive module is completed as master control borad using STM32
Function.
(4) using optical mouse sensor as position sensor, cheap, measurement accuracy is up to grade, very
It is suitble to short distance positioning, avoids traditional photoelectric encoder position error as caused by wheel slip and machine error.
(5) contact force information of patient is acquired by three-dimensional force sensor, and contact force is controlled by PID.
(6) the sEMG data of arm muscles are obtained by MYO armlet, and identify the motor pattern of arm.
(7) EEG signals are acquired by EmotivEpoc, host computer is transmitted to by bluetooth, host computer is according to EEG signals point
Analysis activity is intended to, as the mark of training action starting.
(8) host computer realizes that virtual animation is shown, the enthusiasm of patient can be improved, and increases the entertaining in training process,
Prevent training excessively uninteresting.
(9) host computer realizes remote interaction function, and the guidance and monitoring of profession can also be enjoyed by so that patient is in.
(10) Rehabilitation Assessment is carried out to patient using brain electricity and electromyography signal, evaluation result is more convincing and accurate
Property.
Detailed description of the invention
Fig. 1 is a kind of desktop type upper limb rehabilitation robot block diagram of the present invention；
Fig. 2 is robot chassis of the present invention scheme of installation；
Fig. 3 is passive exercise model process block diagram of the present invention；
Fig. 4 is active training model process block diagram of the present invention；
Fig. 5 is interactive training model process block diagram of the present invention；
Fig. 6 is that the contact force PID governing response curve graph that resistance gear is certain value is arranged in active control of the embodiment of the present invention；
Fig. 7 is location information figure of the position sensor of the embodiment of the present invention in linear motion.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples
Embodiment
A kind of Table top type upper limb rehabilitation robot (as shown in Fig. 1), by rack, omni-directional wheel and drive system 1, slave computer
Control system 2 contacts force detection system 3, position detecting system 4, myoelectricity measuring system 5, EEG measuring system 6 and host computer control
System 7 processed, Bluetooth system 8 and power supply are connected in electric signal mode to be formed.
The lower computer control system 2 uses STM32 system, is communicated by Bluetooth system 8 with upper computer control system 7,
The control model instruction that upper computer control system 7 is sent is received, the control instruction for completing omni-directional wheel and drive system 1 generates accordingly
Motor drive commands, and contact 3 contact force of force detection system control function.
The contact force detection system 3 is the three-dimensional force sensor for acquiring patient's force information, sample frequency 100Hz.
The position sensor of the position detecting system 4 is symmetrically installed optical mouse sensor for two, by Taiwan gold
The production of Fei Yan company, interface are PS/2 circular hole.The working method of infrared needle light, the high-resolution of 1000DPI are abandoned oblique fire, are changed
It is positive and penetrates, accurate positioning, and it is cheap, measurement accuracy is up to grade, is very suitable to short distance positioning.
The myoelectricity measuring system 5 acquires upper arm electromyography signal and carries out the MYO sensor of pattern-recognition, for Canada's wound
The innovative armlet that industry company's T halmic Labs is released, it is cheap, it can be worn on the elbow joint of any arm
Side, the bioelectrical signals that detection human muscle generates, frequency acquisition are that MYO data export highest frequency 200Hz.MYO sensor
There are eight channels, each channel equidistantly arranges.In addition, the sEMG data electromyography signal of the MYO armlet acquisition residual arm muscle of patient
It is transferred to upper computer control system 7 by Bluetooth system 8, calculates the absolute average of each channel sEMG data and summation, then
Judgement of making comparisons with the threshold value being previously set acts start-stop, and corresponding time point as movement start-stop point and is extracted remaining
3 characteristic values；Pattern-recognition is carried out by BP neural network, and saves weight and threshold value after training.
The eeg signal acquisition sensor of the EEG measuring system 6, it is public using the nerve science and technology in California, USA San Francisco
The EmotivEpoc of department, by the radio transmission data of Bluetooth system 8,14 channel EGG provide high quality, original brain electricity
Diagram data is transferred to upper computer control system 7, then carries out digital filtering using 8 rank Chebyshev's bandpass filters, then extracts
Feature comes the starting point of identification maneuver intention, the motion control initial signal which being used under Passive Mode.Meanwhile it is logical
Eeg sensor acquisition EEG signals are crossed, data can study facial expression, performance and sentiment indicator.Wherein,
EEG signals are intended to analytic activity, the foundation of Rehabilitation Assessment, training action beginning flag.The electroencephalogramdata data collector cost performance is very
It is high.
The upper computer control system 7 is computer PC machine, realizes electromyographic signal collection and pattern-recognition, Rehabilitation Assessment, brain
Electrical signal collection and analysis, virtual animation show, remote interaction function and parameter setting and data management function.
The Bluetooth system 8 is the bluetooth module that moral flies Lay production, using CSR mainstream Bluetooth chip, bluetooth V2.0 agreement
Standard, it is easy to use.
A kind of desktop type upper limb rehabilitation robot, including upper computer control system 7 and lower computer control system 2, the two are logical
Bluetooth system 8 is crossed to be communicated.Upper computer control system 7 is mainly used to handle electromyography signal and EEG signals, shows virtual dynamic
Draw, be sent to the instruction of lower computer control system 2, save data etc..Lower computer control system 2 is mainly used to complete PC control
The instruction that system 7 is sent, and location information, force information are sent to upper computer control system 7.
In passive exercise mode, patient by host computer or system 7 select track included in Passive Mode and
Times of exercise gives slave computer or system 2 by bluetooth hair system 8, and slave computer STM32 receives serial data, judged,
Instruction is sent by the driver to drive system 1, drives the operation of patient's suffering limb to complete corresponding track.Motion process
In patient's force information acquired by the three-dimensional force sensor of contact force detection system 3, the sample frequency of force snesor is 100Hz.
Position sensor carries out the monitoring of position, and the sample rate of position sensor is set as 10Hz, and resolution ratio is 8 points every millimeter, scaling
Ratio is 1:1.Force information and location information are sent to upper computer control system 7 to save, are used as the Rehabilitation Assessment in later period
Foundation and virtual animation are shown.
Patient is in the resistance shelves and motion profile for locally selecting suitable upper extremity exercise intensity under active training mode, or
The resistance shelves and motion profile of the remotely located suitable sufferer of doctor itself, after slave computer STM32 receives order, are sent to driving
The driver of system 1 instructs accordingly.Force snesor acquires force information in real time, is converted into torque, is compared with setting value
Compared with changing the output electric current of driver by drive system 1 to change the resistance of robot entirety, and then change patient is to machine
The contact force size of people.Host computer or system 7 are intended to be that arm has attonity both of which according to electroencephalogramsignal signal analyzing activity,
As the mark of training action starting, brain function rehabilitation is realized.EEG signals are also used as the foundation of Rehabilitation Assessment simultaneously.
It is remote in the resistance shelves and motion profile that locally select suitable upper extremity exercise intensity or doctor under interactive training mode
The resistance shelves and motion profile for being suitble to sufferer itself are arranged in journey, after slave computer STM32 receives order, are sent to drive system 1
Driver instruct accordingly.Force snesor acquires force information in real time, is converted into torque, is compared with setting value, when
When being greater than the set value, robot provides resistance exercise；When being less than setting value, robot provides power.Acquire brain electricity and myoelectricity letter
Foundation number as later period Rehabilitation Assessment.
Core and key technology of the present invention are that various motion profile modelings, contact are realized in slave computer STM32 control panel
Power control and positioning.
Further, illustrate that the principle of each link is as follows:
There are four types of motor patterns for driver in the drive system 1 of Robot Selection of the present invention, for Passive Mode, control
Variable processed mainly has speed and position.Only one PWM duty cycle of the control amount of " open loop mode " in driver, meets the mode
Condition.The starting point of robot is No. 3 motors subject to, and three motors are in 120 degree of distributions (as shown in Fig. 2).
A kind of application method of Table top type upper limb rehabilitation robot,
The passive exercise process (as shown in Fig. 3):
A. patient locally select again training action mode and frequency of training or the remotely located training action mode of doctor and time
Number；
B. started by button and trained, action command is transmitted to slave computer by host computer, and slave computer is generated according to action mode
Motor control instruction is transmitted to motor driver, and band mobile robot does corresponding movement；
C. slave computer is while controlling motor pattern, and control contact force is maintained in the range of setting, and by contact force
Host computer is transmitted to by bluetooth with location information, virtual animation is played for host computer and uses；
D. in training process, host computer shows the information such as the progress of virtual animation and training, and saves training data.
The process (as shown in Fig. 4) of the active training mode:
A. it whether selectes using brain electric control movement starting；
B. patient is remotely located suitable in the resistance shelves and motion profile that locally select suitable upper extremity exercise intensity or doctor
The combination of syndromes suffers from the resistance shelves and motion profile of itself；
C. started by button and trained, collection analysis EEG signals identify movement initial signal；
D. real-time detection patient is and right to the contact force and location information of three-dimensional force sensor during the motion for slave computer
Contact force carries out PID control, while contact force and location information are transmitted to host computer by bluetooth；
E. in training process, host computer shows the progress msg of virtual animation and training, and saves training data.
The process (as shown in Fig. 5) of the interactive training mode:
A. it whether selectes using brain electric control movement starting；
B. patient is remotely located suitable in the resistance shelves and motion profile that locally select suitable upper extremity exercise intensity or doctor
The combination of syndromes suffers from the resistance shelves and motion profile of itself；
C. started by button and trained, collection analysis EEG signals identify movement initial signal；
D. real-time detection patient is to the contact force and location information of three-dimensional force sensor during the motion for slave computer, when connecing
Resistance is provided when the value of touch is greater than the set value, otherwise power is provided.Contact force and location information are transmitted to by bluetooth simultaneously
Position machine；
E. in training process, host computer shows the progress msg of virtual animation and training, and saves training data.
Further, the control algolithm of passive exercise mode linear movement is elaborated.
Passive exercise mode linear movement control process the following steps are included:
S1, initialization optical mouse sensor and ADC acquisition；
S2, opening timing device 3 and timer 2；
S3, initialization driver, and select open loop mode；
S4, the reception for opening serial ports 2 are interrupted；
S5, make motor 1, motor 2 at the same move, motor 3 is not provided with；
S6, judge whether to reach designated position, if reached, motor carries out opposite direction movement up to starting point, if
Do not reach, then continues to move.
Active training mode, below will be to active training mode by the muscle strength of the control enhancing patient to contact force
The control algolithm of linear movement elaborates.
Active training mode linear movement control process the following steps are included:
S1, Resistance Value range are 0-100N, the Resistance Value needed by upper computer selecting
S2, initialization optical mouse sensor and ADC acquisition；
The output of the three-dimensional force sensor is difference form, corresponding two outlet lines of each axis, by PAO, PA1, PA4,
The collected data of PA5 are first converted into voltage, then make the difference again.
S3, opening timing device 3 and timer 2；
S4, initialization driver, and select current-mode；
S5, the reception for opening serial ports 2 are interrupted；
S6, torque is converted into collected force signal；
S7, PID adjusting is carried out, to reach the Resistance Value of setting.
The progress PID adjusts the linear motion by health adult, under active training mode, selects a certain Resistance Value
Contact force PID adjusts implementation (as shown in Figure 6) and completes.Wherein, abscissa is data amount check, and ordinate is torque.
Further, wherein positioning has used two optical mouse sensors with PS/2 interface, which has 6 pipes
Foot.1 pin is data port, and 3 pins are power ground, and 4 pins are power end, and 5 pins are clock port.Other two pins belong to
Reserved port.One luminous oblique lens and an imaging len are arranged at the bottom of optical mouse sensor.Previous lens
Effect is to be focused the light of the high-brightness light emitting diode of lens behind, thus on the surface below optical mouse sensor
Form strong irradiation light.The effect of the latter lens is by the mobile surface focal imaging below optical mouse sensor, so
Thousands of are scanned each second using a small cmos imaging element afterwards, and lens imaging is actually changed into electricity
Signal.These electric signals are handled by the DSP in optical mouse sensor, and the image of shooting is compared, detection movement
The change of middle image model, to obtain the mobile direction of optical mouse sensor and distance.The clock of optical mouse sensor
Frequency is 10-16.7KHz, and there are two Displacement counter X and Y.When optical mouse sensor movement, X and Y Displacement counter
Value represents accumulated value in the x direction and the y direction.In the case of robot takes the air line in the plane, the position of optical mouse sensor
Information (as shown in Figure 7).The range of X-coordinate is 0-3.5 millimeters, and 0-80 millimeters of the coordinate range of Y-coordinate passes through (7 institute of attached drawing
Show) the visible precision being set to is up to millimeter rank, there is the unexistent high-precision of other positions sensor, and price relative to
Laser positioning is much lower.Two sensors are symmetrically installed with motor 3 for symmetry axis in robot, are 5 millis at a distance from ground
Rice has ignored the resistance due to sensor and ground face contact.The data that two sensors obtain are merged, positioning accuracy is made
More increase for single optical mouse sensor.
In conclusion robot of the present invention has model simple, small in size, light-weight, easy to use, family's applicability
By force, the features such as sexual valence is higher.Patient's virtual and real animation that the information such as path locus pass through host computer in the training process
It plays, allows training process will not be excessively dull full of enjoyment, improve the enthusiasm of patient's training, be more favorable for the health of patient
It is multiple.Patient can carry out a series of rehabilitation training in the family of oneself, and rehabilitation environment is more comfortable.It is long-range by doctor simultaneously
Monitoring guidance and Rehabilitation Assessment, evaluation result is more convincing and accuracy.For healing robot technical field, especially desktop
In terms of formula upper limb rehabilitation robot, new technology material base is provided.
Claims (12)
1. a kind of Table top type upper limb rehabilitation robot, which is characterized in that by rack, omni-directional wheel and drive system (1), slave computer control
System (2) processed, contact force detection system (3), position detecting system (4), myoelectricity measuring system (5), EEG measuring system (6) and
Upper computer control system (7), Bluetooth system (8) and power supply are connected in electric signal mode and are formed.
2. a kind of Table top type upper limb rehabilitation robot as described in claim 1, which is characterized in that the lower computer control system
(2) using the control of the control instruction and contact force detection system (3) contact force of completing omni-directional wheel and drive system (1), pass through
Bluetooth system (8) is communicated with upper computer control system (7), is received control model instruction upper computer control system (7) sent, is driven
Dynamic system (1) generates the STM32 system of corresponding motor drive commands.
3. a kind of Table top type upper limb rehabilitation robot as described in claim 1, which is characterized in that the contact force detection system
(3) for acquisition patient's force information, by force information be sent to upper computer control system (7) save, as the later period Rehabilitation Assessment according to
According to the three-dimensional force sensor shown with virtual animation.
4. a kind of Table top type upper limb rehabilitation robot as described in claim 1, which is characterized in that the position detecting system
(4) for one, cheap, measurement accuracy is up to grade to position sensor, is very suitable to two symmetrical peaces of short distance positioning
The optical mouse sensor of dress.
5. a kind of Table top type upper limb rehabilitation robot as described in claim 1, which is characterized in that the myoelectricity measuring system
It (5) is an acquisition upper arm electromyography signal, electromyography signal is transferred to upper computer control system (7) by Bluetooth system (8), wherein
Electromyography signal is for identifying the MYO armlet of arm motion mode under Rehabilitation Assessment and training mode.
6. a kind of Table top type upper limb rehabilitation robot as described in claim 1, which is characterized in that the EEG measuring system
(6), for one acquisition EEG signals, upper computer control system (7) are transferred to by Bluetooth system (8), wherein EEG signals to
Analytic activity is intended to, the EmotivEpoc of Rehabilitation Assessment foundation.
7. a kind of Table top type upper limb rehabilitation robot as described in claim 1, which is characterized in that the upper computer control system
(7) it is shown for a realization electromyographic signal collection and pattern-recognition, Rehabilitation Assessment, eeg signal acquisition and analysis, virtual animation, is remote
The computer PC machine of journey interactive function and parameter setting and data management function.
8. a kind of Table top type upper limb rehabilitation robot as described in claim 1, which is characterized in that the Bluetooth system (8) is
One realizes that lower computer control system (2) and upper computer control system (7) carry out the bluetooth module of data communication.
9. a kind of application method of Table top type upper limb rehabilitation robot, which is characterized in that the passive exercise process are as follows:
A. user locally selectes training action mode and frequency of training or the remotely located training action mode of doctor and number again；
B. started by button and trained, action command is transmitted to slave computer by host computer, and slave computer generates motor according to action mode
Control instruction is transmitted to motor driver, and band mobile robot does corresponding movement；
C. slave computer is while controlling motor pattern, and control contact force is maintained in the range of setting, and by contact force and position
Confidence breath is transmitted to host computer by bluetooth, plays virtual animation for host computer and uses；
D. in training process, host computer shows the information such as the progress of virtual animation and training, and saves training data.
10. a kind of application method of Table top type upper limb rehabilitation robot as claimed in claim 9, which is characterized in that the master
The process of dynamic training mode are as follows:
A. it whether selectes using brain electric control movement starting；
B. user is in the resistance shelves and motion profile or the remotely located suitable disease of doctor for locally selecting suitable upper extremity exercise intensity
Suffer from itself resistance shelves and motion profile；
C. started by button and trained, collection analysis EEG signals identify movement initial signal；
D. real-time detection user is to the contact force and location information of three-dimensional force sensor during the motion for slave computer, and to contact
Power carries out PID control, while contact force and location information are transmitted to host computer by bluetooth；
E. in training process, host computer shows the progress msg of virtual animation and training, and saves training data.
11. a kind of application method of Table top type upper limb rehabilitation robot as claimed in claim 9, which is characterized in that the friendship
The process of mutual training mode are as follows:
A. it whether selectes using brain electric control movement starting；
B. user is in the resistance shelves and motion profile or the remotely located suitable disease of doctor for locally selecting suitable upper extremity exercise intensity
Suffer from itself resistance shelves and motion profile；
C. started by button and trained, collection analysis EEG signals identify movement initial signal；
D. real-time detection user works as contact force to the contact force and location information of three-dimensional force sensor to slave computer during the motion
Value provide resistance when being greater than the set value, conversely, providing power；Contact force and location information are transmitted to upper by bluetooth simultaneously
Machine；
E. in training process, host computer shows the progress msg of virtual animation and training, and saves training data.
12. a kind of application method of Table top type upper limb rehabilitation robot as claimed in claim 4, which is characterized in that the light
Electric mouse sensor initialization comprises the steps of:
S1, the GPIO mouth that initialization PS/2 is connect with STM32；
S2 interrupts mapping and abort packet setting；
Then S3, PS/2 protocol driver are parsed using the clock signal for receiving PS/2 equipment and generating is interrupted；
S4 initializes optical mouse sensor；
S5 handles the data of optical mouse sensor MOUSE.
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