CN111228084A - Upper limb rehabilitation training device - Google Patents
Upper limb rehabilitation training device Download PDFInfo
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- CN111228084A CN111228084A CN202010059691.8A CN202010059691A CN111228084A CN 111228084 A CN111228084 A CN 111228084A CN 202010059691 A CN202010059691 A CN 202010059691A CN 111228084 A CN111228084 A CN 111228084A
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- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 15
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- 210000001145 finger joint Anatomy 0.000 claims abstract description 11
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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
- A61H1/0277—Elbow
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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
- A61H1/0281—Shoulder
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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
- A61H1/0285—Hand
- A61H1/0288—Fingers
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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
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- A61H2201/1207—Driving means with electric or magnetic drive
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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
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- A61H2201/1238—Driving means with hydraulic or pneumatic drive
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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
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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
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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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- A61H2230/00—Measuring physical parameters of the user
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Abstract
The invention relates to an upper limb rehabilitation training device, which comprises a storage unit and a control unit, wherein the storage unit is used for storing pre-training data, and the pre-training data is related data when a normal upper limb moves in a natural state; the control unit is used for controlling the upper limb rehabilitation training device to selectively carry out finger rehabilitation training and/or upper arm rehabilitation training by taking the pre-training data as training parameters; the finger rehabilitation training comprises rehabilitation training of finger joints, and the upper arm rehabilitation training comprises rehabilitation training of at least one of shoulder joints, elbow joints and wrist joints. The invention has the advantages that the related data of the normal upper limb in the natural state is used as the training parameters, thereby effectively regulating and controlling the coordination of the upper limb in the training process and furthest ensuring that the patient recovers the original exercise habit after training.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an upper limb rehabilitation training device.
Background
The existing upper limb rehabilitation device is divided into a finger rehabilitation training device and an upper arm rehabilitation training device to be used for respectively performing rehabilitation training on fingers and an upper arm, wherein the finger rehabilitation training is mainly aimed at finger joints, and the upper arm rehabilitation training is mainly aimed at shoulder joints, elbow joints and wrist joints.
In actual life, the fingers and the upper arms of human beings often need to move together to complete corresponding actions, so that after the fingers and the upper arms of the current operator are respectively recovered, the current operator needs a certain time to recover the matching of the fingers and the upper arms, and the efficiency of the separate training of the fingers and the upper arms is lower than that of the simultaneous fusion training of the fingers and the upper arms. However, if the finger rehabilitation training device and the upper arm rehabilitation training device in the prior art are directly combined to perform fusion training, the movement complexity is increased due to the increase of the number of joints, so that the overall coordination control during training becomes a difficult point, and because the limb length of each current operator has a gap, when different current operators adopt the same set of device to perform training, the accurate positioning capability cannot be obtained if fixed parameters are used, and the rehabilitation effect is influenced.
Disclosure of Invention
The invention aims to provide an upper limb rehabilitation training device, which aims to realize rehabilitation training of fingers and upper arms at the same time and improve training efficiency.
In order to achieve the above object, the present invention provides an upper limb rehabilitation training device, comprising a storage unit and a control unit, wherein:
the storage unit is used for storing pre-training data, and the pre-training data is related data when the normal upper limb moves in a natural state;
the control unit is used for controlling the upper limb rehabilitation training device to selectively carry out finger rehabilitation training and/or upper arm rehabilitation training by taking the pre-training data as training parameters; the finger rehabilitation training comprises rehabilitation training of finger joints, and the upper arm rehabilitation training comprises rehabilitation training of at least one of shoulder joints, elbow joints and wrist joints.
Optionally, the upper limb rehabilitation training device further comprises an action assembly and a sensor array, the action assembly is in communication connection with the control unit and is used for driving each joint to move, the sensor array is in communication connection with the control unit and comprises a force sensor, and the force sensor is used for detecting the force applied to the action assembly;
the upper limb rehabilitation training device is provided with an active mode and a passive mode, and the control unit is used for collecting the pre-training data in the passive mode;
the control unit, in acquiring the pre-training data, is configured to: recording the position change of the action component and the force change suffered by the action component in the process of executing the specified action by the normal upper limb of the operator; judging whether the number of times of the normal upper limb movement of the operator reaches the preset training number; performing motion pattern recognition from a time series in which the operator performs the specified action, and storing data of the motion pattern as the pre-training data.
Optionally, the control unit, during the acquiring of the pre-training data, is configured to: taking the wearing size of a current operator as a standard, extracting motion mode data which is closest to the current operator and serves as first data from a database, wherein the database is prestored with motion mode data of different operators under the natural state of normal upper limbs; a motion data module which extracts the minimum size difference Manhattan distance norm of each joint from the first data and is used as second data; calculating a first joint space solution when each joint of the current operator reaches a preset position; calculating a second joint space solution for the second data; calculating a distance norm of the first joint space solution and the second joint space solution, taking the distance norm of the first joint space solution and the second joint space solution as a radius, taking a point in each trajectory plan in the second data as a circle center to serve as a multi-dimensional space sphere, and performing sampling calculation of a planned path in the multi-dimensional space spheres to obtain a plurality of expected solutions; and judging whether the expected solution is within joint limits or not, and taking the expected solution within the joint limits as the pre-training data.
Optionally, the number of expected solutions is at least three.
Optionally, the upper limb rehabilitation training device further comprises an action assembly and a sensor array, the action assembly is in communication connection with the control unit and is used for driving each joint to move, the sensor array is in communication connection with the control unit and comprises a position sensor, and the position sensor is used for detecting angle information of each joint;
the upper limb rehabilitation training device has an active mode and a passive mode;
the control unit is configured in the active mode for: sending an action instruction by taking the pre-training data as a training parameter; recording current angle information of each joint of an operator; and controlling the action component to execute the action instruction according to the current angle information.
Optionally, the control unit is configured to, in the process of controlling the action component to execute the action instruction according to the current angle information: generating a smooth position curve from the current angle to the command angle of each joint; and generating a sequence transmission rule point according to the smooth position curve, and sending the rule point information to the action component so as to control the action component to execute the action instruction.
Optionally, the action assembly comprises a rope drive assembly and a pneumatic assembly; the rope driving assembly comprises a first rope driving module, the first rope driving module is used for driving the knuckle of an operator to do stretching movement, and the pneumatic assembly is used for driving the knuckle of the operator to do internal bending movement; the sensor assembly further comprises a force sensor, and the force sensor is used for detecting the tensile force applied to the first rope driving module;
the passive mode of the upper limb rehabilitation training device comprises a passive training mode of a knuckle, and in the passive training mode of the knuckle, the first rope driving module is in a pre-tightening state;
the control unit is configured in a passive training mode of the knuckle to: recording a tension value of the first rope driving module when an operator acts; and judging the action intention of the operator according to the tension value, and controlling the action assembly to execute corresponding actions according to the action intention and the pre-training data.
Optionally, the control unit, in the process of judging the action intention of the operator and controlling the action component to execute the corresponding action, is configured to: if the tension value is zero, the control unit judges that the action intention of the operator is stretching movement, and controls the first rope driving module to tighten according to the pre-training data so as to drive the knuckle to do stretching movement; if the pulling force value is larger than zero and the pulling force value is larger than a preset threshold value, the control unit judges that the action intention of the operator is inward bending movement, controls the first rope driving module to relax, and controls the pneumatic assembly to drive the knuckle to do inward bending movement according to the pre-training data.
Optionally, the control unit is configured to control the first rope driving module to tighten or loosen through an admittance control method.
Optionally, the action assembly comprises a rope driving assembly and a direct driving assembly, the rope driving assembly comprises a second rope driving module and a third rope driving module, the second rope driving module is used for driving a wrist joint of an operator to move, the third rope driving module is used for driving an elbow joint of the operator to move, and the direct driving assembly is used for driving a shoulder joint of the operator to move; the sensor array further comprises a force sensor, and the force sensor is used for detecting the force applied to the second rope driving module and the third rope driving module;
the passive mode of the upper limb rehabilitation training device comprises a passive training mode of an upper arm, and in the passive training mode of the upper arm, the second rope driving module, the third rope driving module and the direct drive assembly are all set to be in a moment control mode;
the control unit is configured in a passive training mode of the upper arm to: collecting tension values applied to the second rope driving module and the third rope driving module when an operator acts, and judging the action intention of the operator according to the tension values; and controlling the second rope driving module, the third rope driving module and the direct drive assembly to execute corresponding actions according to the action intention and the pre-training data.
Optionally, the control unit is configured to control the second rope driving module, the third rope driving module and the direct drive assembly to perform corresponding actions through an admittance control method
Compared with the prior art, the upper limb rehabilitation training device has the following advantages:
the upper limb rehabilitation training device comprises a storage unit and a control unit, wherein the storage unit is used for storing pre-training data, and the pre-training data is related data when the upper limb moves in a natural state; the control unit is used for performing finger rehabilitation training and/or upper arm rehabilitation training by taking the pre-training data as training parameters, the finger rehabilitation training comprises rehabilitation training of finger joints, and the upper arm rehabilitation training comprises rehabilitation training of at least one of shoulder joints, elbow joints and wrist joints. The device can carry out rehabilitation training to finger and upper arm simultaneously, and at first gather human upper limbs motion pattern data under natural state before carrying out rehabilitation training to finger and upper arm to train with this motion pattern data, can effectively control the coordination that a plurality of joints carried out the training simultaneously.
Secondly, the pre-training data can be acquired by the current operator in a passive mode, and can also be acquired by screening the motion mode data of the normal upper limbs of other operators in a natural state, which are pre-stored in the database of the control unit, so that different operators can use different pre-training data as training parameters, the training effectiveness can be improved, and the rehabilitation effect can be improved.
Thirdly, the upper limb rehabilitation training device mainly reforms the control unit, and the existing finger rehabilitation training device and the upper arm rehabilitation training device can be combined for use, so that the simultaneous training of the fingers and the upper arm is realized, and the cost investment of a hardware device is not required to be increased.
Drawings
Fig. 1 is an overall frame diagram of an upper limb rehabilitation training device provided by the invention according to an embodiment;
FIG. 2 is a partial schematic view of an upper limb rehabilitation training device provided in accordance with an embodiment of the present invention;
FIG. 3 is a partial schematic view of an upper limb rehabilitation training device according to an embodiment of the present invention, showing a first cord drive module and an air bag;
FIG. 4a is a schematic view of the pneumatic assembly of the upper limb rehabilitation training device according to one embodiment of the present invention when it is not inflated;
figure 4b is a schematic view of the pneumatic assembly of the upper limb rehabilitation training device provided in accordance with one embodiment of the present invention when inflated;
fig. 5 is a flowchart of pre-training data collection in the upper limb rehabilitation training method according to an embodiment of the present invention;
fig. 6 is a flowchart of pre-training data collection in the upper limb rehabilitation training method according to another embodiment of the present invention;
fig. 7 is a flowchart illustrating the finger rehabilitation training in the active mode according to an embodiment of the present invention;
fig. 8 is a flowchart illustrating a passive mode of finger rehabilitation training in the upper limb rehabilitation training method according to an embodiment of the present invention;
fig. 9 is a flowchart illustrating the upper arm rehabilitation training method in an active mode according to an embodiment of the present invention;
fig. 10 is a flowchart illustrating the upper arm rehabilitation training method in the passive mode according to an embodiment of the present invention.
Reference numerals:
100-a control unit;
210-position sensor, 220-force sensor;
310-finger wearing part, 320-upper arm wearing part;
410-a pneumatic assembly;
411-air bag;
420-direct drive assembly;
431-a first rope driving module, 432-a second rope driving module and 433-a third rope driving module.
Detailed Description
To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to the appended drawings. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
As used in this specification, the singular forms "a", "an" and "the" include plural referents, and the plural forms "a plurality" include more than two referents, e.g., two, three, four or more referents, unless the content clearly dictates otherwise. As used in this specification, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise, and the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. The same or similar reference numbers in the drawings identify the same or similar elements.
The core idea of the invention is to provide an upper limb rehabilitation training device which can perform finger rehabilitation training and upper arm rehabilitation training on an operator. Wherein, the finger rehabilitation training comprises the rehabilitation training of finger joints, and the upper arm rehabilitation training comprises the rehabilitation training of at least one of shoulder joints, elbow joints and wrist joints.
The upper limb rehabilitation training device comprises a storage unit and a control unit. The storage unit is used for storing pre-training data, and the pre-training data is related to the movement of the normal upper limb in a natural state. The control unit may be configured to perform rehabilitation training on the fingers and the upper arm simultaneously with the pre-training data as a training parameter.
The upper limb rehabilitation training device is used for simultaneously performing rehabilitation training on fingers and upper arms, and comprises the following steps: acquiring the pre-training data by using a control unit and storing the pre-training data in the storage unit; and the control unit takes the pre-training data as a training parameter to perform rehabilitation training on the fingers and the upper arm at the same time. The method has the advantages that the related data of the movement of the normal upper limbs of a human body in a natural state are collected in advance, and the data are used as training parameters to carry out rehabilitation training on the fingers and the upper arms of an operator at the same time, so that the coordination of the finger joints, the shoulder joints, the elbow joints and the wrist joints is convenient to control in the training process, and the training parameters are parameters which are not artificially planned or parameters based on the movement mode data of the upper limbs in the natural state, so that the problem that the movement is unnatural or the past movement habits of the current operator are not met can be avoided to the maximum extent, and the possibility that the phenomenon of the current operator influencing the daily life of the current operator due to the new upper limb movement habits formed by muscle memory after long-term training is reduced.
The overall framework of the upper limb rehabilitation training device is shown in fig. 1, and the upper limb rehabilitation training device includes a wearing part, a sensor array, a control unit 100, and an action assembly. Wherein, the wearing portion is used for being worn by an operator. The action component is connected with the wearing part, the action component is also in communication connection with the control unit 100, and the action component is used for driving at least one of a finger joint, a shoulder joint, an elbow joint and a wrist joint of an operator to move. The sensor array is in communication connection with the control unit and comprises a position sensor 210 and a force sensor 220, the position sensor 210 is installed on the wearing part and is arranged in one-to-one correspondence with each joint so as to be used for detecting angle information of each joint of an operator, and the force sensor 220 is arranged on the action assembly and is used for detecting force applied to the action assembly. The control unit 100 is configured to first collect and store pre-training data, then take the pre-training data as a training parameter, and perform rehabilitation training of the fingers and the upper arm based on the training parameter at the same time.
More specifically, with continued reference to fig. 1 in conjunction with fig. 2 and 3, the wearing portion includes a finger wearing portion 310 and an upper arm wearing portion 320, the finger wearing portion 310 being generally designed in the form of a glove and having first and second opposing surfaces, wherein the first surface is on the dorsal side and the second surface is on the ventral side. The action assembly comprises a rope driving assembly, a pneumatic assembly 410 and a direct drive assembly 420, wherein the rope driving assembly comprises a first rope driving module 431, a second rope driving module 432 and a third rope driving module 433. Wherein the first rope driving modules 431 are arranged on the first surface and are used for driving the knuckles of the operator to do stretching movement, and the number of the first rope driving modules 431 is set according to the number of the knuckles to be recovered, such as five. The second rope drives module 432 with the third rope drives module 433 and all sets up in on the upper arm portion of wearing 320, just the second rope drives module 432 and is used for driving operator's wrist joint motion, the third rope drives module 433 and is used for driving operator's elbow joint motion. Each rope drive module comprises a pull rope and a drive mechanism, wherein the drive mechanism is used for providing a drive force for the pull rope, such as a motor, so that the pull rope drives the corresponding joint to move. Meanwhile, the first rope driving module 431, the second rope driving module 432 and the third rope driving module 433 are all provided with the force sensors, so that the pulling force value received by the pulling rope of each rope driving module can be detected conveniently. The pneumatic assembly comprises an air bag 411 and an inflation module (not shown in the figures), the air bag 411 being arranged on the second surface, the inflation module being in communication with the control unit and being adapted to inflate the air bag 411. When the air cell 411 is not inflated, the air cell 411 has a flat structure as shown in fig. 4a, and when the air cell 411 is inflated, the air cell 411 is curled and bent as shown in fig. 4b, thereby bringing the fingers of the operator into flexion. The direct drive assembly is generally a motor, and the motor is directly connected with the upper arm wearing part and is used for driving the shoulder joint of the operator to move.
A method for performing upper limb rehabilitation training using the upper limb rehabilitation training device will be described with reference to fig. 5 to 10.
The pre-training data is first acquired before training the various joints of the upper limb. The collection mode of the pre-training data can be selected according to the actual condition of the current operator.
When the current operator has a certain autonomous movement capability, for example, when one upper limb of the current operator is damaged and needs to perform rehabilitation training, and the other upper limb still can perform normal actions, according to the symmetry of the human body, the movement pattern data of the normal upper limb in a natural state can be used as the pre-training data, that is, the movement pattern data of the normal upper limb of the current operator is used as the training parameter.
The upper limb rehabilitation training has an active mode and a passive mode, wherein the active mode refers to a mode that an operator completely acts under the control of the control unit, the passive mode generates an action intention according to the action movement which the operator wants to carry out under the condition that the current operator still has certain movement capacity, then the control unit detects the action intention and sends an instruction according to the action intention so as to assist or resist the action intention of the operator, and therefore the operator is helped to train. For convenience of description, the following description will be made by taking the intention of the rehabilitation training device to assist the operator when referring to the passive mode.
When the pre-training data is acquired by using the normal upper limbs of the current operator, the pre-training data is required to be acquired in the passive mode. Fig. 5 shows the process of acquiring the pre-training data with the normal upper limbs of the operator in an exemplary embodiment. As shown in fig. 5, the acquisition of the pre-training data includes the following steps:
and step S11, the upper limb rehabilitation training device is worn on the normal upper limb of the operator currently. Before the current operator wears the upper limb rehabilitation training device or after the current operator wears the upper limb rehabilitation training device, the training mode of the upper limb rehabilitation training device is adjusted to be a passive mode.
In step S12, the operator performs a predetermined operation such as grasping and carrying the object according to his or her own habit.
In step S13, the control unit records the position change and the force change of the motion assembly during the operation. The change in the position of the motion member is a change in the position of the connection point between the motion member and the wearing portion, and the change in the position of the motion member can be recorded by recording the change in the angle information of each joint detected by the position sensor. This is well known to those skilled in the art and will not be described in detail here.
Step S14, the control unit judges whether the operation times of the operator reach the preset operation times of the pre-training data, if not, the step S12 and the step S13 are repeated; if yes, go to step S15;
in step S15, the control unit performs motion pattern recognition from a time series of each execution of the specified operation by the operator, and stores data of the motion pattern as the pre-training data.
For a current operator who has two damaged upper limbs and needs to perform rehabilitation training, the pre-training data cannot be acquired by using the normal upper limbs of the operator, and at this time, the motion pattern data closest to the motion habit of the current operator needs to be acquired from the motion pattern data of the normal upper limbs of other operators moving in a natural state to serve as the pre-training data. Therefore, the control unit further comprises a database and a data processing module, wherein the database is stored with the motion pattern data of different operators when the normal upper limbs wear the upper limb rehabilitation training device and perform the designated action in the passive state. Fig. 6 shows a flow chart for collecting pre-training data suitable for the current operator from pre-stored movement pattern data.
As shown in fig. 6, the method for acquiring the pre-training data includes the following steps:
step S21, adjusting a wearing size of the upper limb rehabilitation training device so that the upper limb rehabilitation training device fits a current operator;
step S22, taking the wearing size as a standard, the data processing module extracts the motion mode data closest to the current operator from the database and records the motion mode data as first data;
step S23, the data processing module extracts motion pattern data with the minimum size difference manhattan distance norm of each joint from the first data, and records the motion pattern data as second data;
step S24, the data processing module calculates a joint space solution when each joint of the operator reaches a calibration position on the wearing part by adopting an inverse kinematics algorithm, and records the joint space solution as a first joint space solution; and meanwhile, the data processing module calculates a joint space solution of the second data and records the joint space solution as a second joint space solution.
Step S25, the data processing module calculating a distance norm of the first joint space solution and the second joint space solution;
step S26, the data processing module uses the distance norm obtained in step S25 as a radius, and uses a point in each trajectory plan (C-Space) in the second data as a circle center to make a plurality of multidimensional Space spheres;
step S27, the data processing module performs sampling calculation of a planned path using a rapid searching random tree algorithm (RRT) in a spatial range of the multidimensional space sphere, and obtains a plurality of expected solutions;
step S28, the data processing module judges whether each expected solution is within joint limits, if yes, the expected solutions within the joint limits are taken as the pre-training data; if not, judging that no solution exists, finishing the acquisition process and not acquiring proper pre-training data.
In step S27, the number of the desired solutions may be selected according to actual needs, for example, one, two, three, four, five, etc. The number of the expected solutions can be three under the influence of various factors such as processing capacity of the data processing module, data feedback time, data validity and the like.
After the pre-training data is acquired, the upper limb rehabilitation training device takes the pre-training data as training parameters to perform rehabilitation training on the fingers and the upper arm of the current operator. In fact, the upper limb rehabilitation training device can not only perform rehabilitation training on the fingers and the upper arms at the same time, but also perform rehabilitation training on the fingers or the upper arms independently. When the finger or the upper arm is separately trained, the finger or the upper arm is similar to the finger rehabilitation training device or the upper arm rehabilitation training device in the prior art, the finger or the upper arm has two choices of an active mode and a passive mode, but if the finger and the upper arm are trained simultaneously, the finger and the upper arm need to be trained actively or passively at the same time. And the simultaneous training is equivalent to combining the active training of the fingers with the active training of the upper arms and regulating the coordination of the two by utilizing the pre-training data, or combining the passive training of the fingers with the passive training of the upper arms and regulating the coordination of the two by utilizing the pre-training data.
FIG. 7 shows a flow of an active mode in training a finger in an exemplary embodiment, including the steps of:
step S31, the operator wears the upper limb rehabilitation training device;
step S32, the control unit sends an action instruction according to the pre-training data;
step S33, the position sensor detects current angle information of a knuckle of an operator and sends the current angle information to the control unit;
in step S34, the control unit controls the action component to execute the action command according to the current angle information.
Before the control unit sends the action command, whether the upper limb rehabilitation training device is initialized or not is checked, if so, the control unit can directly send the action command, if not, the device is initialized, and then the control unit sends the action command again.
In general, the knuckles have two tendencies to move, one of which is to drive the fingers in extension and the other of which is to drive the fingers in flexion (e.g., making a fist or grasping an object).
When the motion command sent by the control unit is an extension motion, the specific operations of step S34 are: the control unit generates a smooth position curve from a current angle to a command angle, then generates a sequence transmission regular point according to the smooth position curve, and sends the regular point to the first rope driving module, so that a pull rope of the first rope driving module is tightened, and meanwhile, the pneumatic module does not act, and fingers can be driven to extend.
When the motion command sent by the control unit is an inflexion motion, the specific operations of step S34 are: the control unit generates a smooth position curve from a current angle to a command angle, then generates a sequence transmission rule point according to the smooth position curve, and sends the rule point to the first rope driving module and the pneumatic assembly, so that the inflating module of the pneumatic assembly inflates the air bag, the air bag expands and contracts, and meanwhile, the pull rope of the first rope driving module is loosened to realize the inward bending movement of the fingers. The "command angle" as used herein refers to angle information of any joint when the motion command is completed.
FIG. 8 shows a flow of passive mode in training a finger in an exemplary embodiment, including the steps of:
and step S41, the operator wears the upper limb rehabilitation training device.
Step S42, adjusting the pull rope of the first rope drive module to a pre-tightening state.
And step S43, the operator acts, and meanwhile, the force sensor detects the pulling force value applied to the pulling rope of the first rope driving module and sends the pulling force value to the control unit.
And step S44, the control unit judges the action intention of the operator according to the tension value and controls the action component to execute corresponding action by combining the action intention and the pre-training data.
Before an operator acts, whether the upper limb rehabilitation training device is initialized or not is detected, if so, the operator can act directly, and if not, a system of the upper limb rehabilitation training device is initialized.
And the process of step S44 specifically includes: if the tension value is zero, the control unit judges that the action intention of the operator is stretching movement, and then the control unit controls the pull rope of the first rope driving module to be tightened according to the pre-training data so as to drive the knuckle to do stretching movement. If the pulling force value is greater than zero, the control unit determines that the action intention of the operator is likely to be an inflexion motion. And a threshold value is also preset in the control unit and is used for further judging whether the action intention of the operator is the inward bending movement. Specifically, if the pulling force value is greater than the threshold value, the control unit determines that the action intention of the operator is flexion, then the control unit controls the pulling rope of the first rope driving module to loosen, and simultaneously the control unit controls the inflating unit of the pneumatic assembly to inflate the air bag according to the pre-training data, so that the air bag expands and contracts, and the finger joint is driven to do flexion. If the pulling force value is greater than zero but less than the threshold value, the control unit determines that the operator has no action intention.
In this embodiment, the control unit preferably controls the pull rope of the first rope driving assembly to be tightened or loosened by an admittance control method.
Fig. 9 shows a flow of the active mode in training the upper arm in an exemplary embodiment, which is similar to the active mode of the finger training, and specifically includes the following steps:
step S51, the operator wears the upper limb rehabilitation training device;
in step S52, the control unit sends an action command according to the pre-training data. Before the control unit sends the action command, the upper limb rehabilitation training device is initialized.
Step S53, the position sensor detects the current angle information of the shoulder joint, elbow joint and wrist joint of the operator, and sends the current angle information to the control unit;
in step S54, the control unit controls the action component to execute the action command according to the current angle information.
The step S54 includes: the control unit generates a smooth position curve from the current angle of the shoulder joint, the elbow joint and the wrist joint to the command angle, then generates a sequence transmission rule point according to the smooth position curve, and sends the sequence transmission rule point to the second rope driving module, the third rope driving module and the direct driving assembly so as to control the second rope driving module, the third rope driving module and the direct driving assembly to jointly act to complete the action command.
Fig. 10 shows a flow of the passive mode in training the upper arm in an exemplary embodiment, including the following steps:
step S61, the operator wears the upper limb rehabilitation training device;
step S62, after the upper limb rehabilitation training device is confirmed to be initialized, the second rope driving module, the third rope driving module and the direct drive assembly are all set to be in a torque control mode;
step S63, an operator acts, and meanwhile the force sensor detects the tension values of the second rope driving module and the third rope driving module and sends the tension values to the control unit;
and step S64, the control unit judges the action intention of the operator according to the tension value and controls the second rope driving module, the third rope driving module and the direct drive assembly to drive each joint to move according to the action intention so as to execute a corresponding action instruction.
In the step S64, the method for the control unit to determine the action intention is similar to the step S44 in the passive mode of finger training, and those skilled in the art can set the action intention by following the step S44, or can also set the action intention by using the determination method in the prior art, and will not be described in detail here.
In this embodiment, the control unit preferably controls the second rope driving module, the third rope driving module and the direct drive assembly to drive each joint to move by an admittance control method, so as to execute a corresponding action command.
According to the upper limb rehabilitation training method and device provided by the embodiment of the invention, before the finger joint, the shoulder joint, the elbow joint and the wrist joint are carried out, related data of the upper limb moving in a natural state are collected in advance to be used as training parameters, so that the finger joint, the shoulder joint, the elbow joint and the wrist joint can be kept in coordination during simultaneous training, the simultaneous training of fingers and an upper arm is realized, and the training efficiency is improved. Moreover, compared with the finger training device and the upper arm training device in the prior art, the upper limb training device provided by the embodiment can only modify the control unit, so that the two devices can be used together to realize the simultaneous training of the finger and the upper arm, and other hardware devices do not need to be greatly modified, so that the investment of hardware cost of the upper limb rehabilitation training device cannot be increased.
Although the present invention is disclosed above, it is not limited thereto. Various modifications and alterations of this invention may be made by those skilled in the art without departing from the spirit and scope of this invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (11)
1. The utility model provides an upper limbs rehabilitation training device which characterized in that, includes memory cell and the control unit, wherein:
the storage unit is used for storing pre-training data, and the pre-training data is related data when the normal upper limb moves in a natural state;
the control unit is used for controlling the upper limb rehabilitation training device to selectively carry out finger rehabilitation training and/or upper arm rehabilitation training by taking the pre-training data as training parameters; the finger rehabilitation training comprises rehabilitation training of finger joints, and the upper arm rehabilitation training comprises rehabilitation training of at least one of shoulder joints, elbow joints and wrist joints.
2. The upper limb rehabilitation training device according to claim 1, further comprising an action assembly and a sensor array, wherein the action assembly is connected with the control unit in a communication manner and is used for driving each joint to move, and the sensor array is connected with the control unit in a communication manner and comprises a force sensor used for detecting the force applied to the action assembly;
the upper limb rehabilitation training device is provided with an active mode and a passive mode, and the control unit is used for collecting the pre-training data in the passive mode;
the control unit, in acquiring the pre-training data, is configured to: recording the position change of the action component and the force change suffered by the action component in the process of executing the specified action by the normal upper limb of the operator; judging whether the number of times of the normal upper limb movement of the operator reaches the preset training number; performing motion pattern recognition from a time series in which the operator performs the specified action, and storing data of the motion pattern as the pre-training data.
3. The upper limb rehabilitation training device of claim 1, wherein the control unit, during acquisition of the pre-training data, is configured to: taking the wearing size of a current operator as a standard, extracting motion mode data which is closest to the current operator and serves as first data from a database, wherein the database is prestored with motion mode data of different operators under the natural state of normal upper limbs; a motion data module which extracts the minimum size difference Manhattan distance norm of each joint from the first data and is used as second data; calculating a first joint space solution when each joint of the current operator reaches a preset position; calculating a second joint space solution for the second data; calculating a distance norm of the first joint space solution and the second joint space solution, taking the distance norm of the first joint space solution and the second joint space solution as a radius, taking a point in each trajectory plan in the second data as a circle center to serve as a multi-dimensional space sphere, and performing sampling calculation of a planned path in the multi-dimensional space spheres to obtain a plurality of expected solutions; and judging whether the expected solution is within joint limits or not, and taking the expected solution within the joint limits as the pre-training data.
4. The upper limb rehabilitation training device of claim 3, wherein the number of expected solutions is at least three.
5. The upper limb rehabilitation training device according to any one of claims 1-4, further comprising an action assembly and a sensor array, wherein the action assembly is connected with the control unit in a communication manner and is used for driving each joint to move, and the sensor array is connected with the control unit in a communication manner and comprises a position sensor used for detecting angle information of each joint;
the upper limb rehabilitation training device has an active mode and a passive mode;
the control unit is configured in the active mode for: sending an action instruction by taking the pre-training data as a training parameter; recording current angle information of each joint of an operator; and controlling the action component to execute the action instruction according to the current angle information.
6. The upper limb rehabilitation training device according to claim 5, wherein the control unit is configured to, during the process of controlling the action component to execute the action command according to the current angle information: generating a smooth position curve from the current angle to the command angle of each joint; and generating a sequence transmission rule point according to the smooth position curve, and sending the rule point information to the action component so as to control the action component to execute the action instruction.
7. The upper limb rehabilitation training device of claim 5, wherein the action assembly comprises a rope drive assembly and a pneumatic assembly; the rope driving assembly comprises a first rope driving module, the first rope driving module is used for driving the knuckle of an operator to do stretching movement, and the pneumatic assembly is used for driving the knuckle of the operator to do internal bending movement; the sensor assembly further comprises a force sensor, and the force sensor is used for detecting the tensile force applied to the first rope driving module;
the passive mode of the upper limb rehabilitation training device comprises a passive training mode of a knuckle, and in the passive training mode of the knuckle, the first rope driving module is in a pre-tightening state;
the control unit is configured in a passive training mode of the knuckle to: recording a tension value of the first rope driving module when an operator acts; and judging the action intention of the operator according to the tension value, and controlling the action assembly to execute corresponding actions according to the action intention and the pre-training data.
8. The upper limb rehabilitation training device according to claim 7, wherein the control unit, in the process of judging the action intention of the operator and controlling the action component to execute the corresponding action, is configured to: if the tension value is zero, the control unit judges that the action intention of the operator is stretching movement, and controls the first rope driving module to tighten according to the pre-training data so as to drive the knuckle to do stretching movement; if the pulling force value is larger than zero and the pulling force value is larger than a preset threshold value, the control unit judges that the action intention of the operator is inward bending movement, controls the first rope driving module to relax, and controls the pneumatic assembly to drive the knuckle to do inward bending movement according to the pre-training data.
9. The upper limb rehabilitation training device of claim 8, wherein the control unit is used for controlling the first rope driving module to tighten or loosen through an admittance control method.
10. The upper limb rehabilitation training device of claim 5, wherein the action assembly comprises a rope drive assembly and a direct drive assembly, the rope drive assembly comprises a second rope drive module and a third rope drive module, the second rope drive module is used for driving the wrist joint of the operator to move, the third rope drive module is used for driving the elbow joint of the operator to move, and the direct drive assembly is used for driving the shoulder joint of the operator to move; the sensor array further comprises a force sensor, and the force sensor is used for detecting the force applied to the second rope driving module and the third rope driving module;
the passive mode of the upper limb rehabilitation training device comprises a passive training mode of an upper arm, and in the passive training mode of the upper arm, the second rope driving module, the third rope driving module and the direct drive assembly are all set to be in a moment control mode;
the control unit is configured in a passive training mode of the upper arm to: collecting tension values applied to the second rope driving module and the third rope driving module when an operator acts, and judging the action intention of the operator according to the tension values; and controlling the second rope driving module, the third rope driving module and the direct drive assembly to execute corresponding actions according to the action intention and the pre-training data.
11. The upper limb rehabilitation training device of claim 10, wherein the control unit is configured to control the second rope drive module, the third rope drive module and the direct drive assembly to perform corresponding actions by an admittance control method.
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Address after: 215000 part of No.3 Factory building, 112 Fangzhong street, Suzhou Industrial Park, Suzhou City, Jiangsu Province Patentee after: Suzhou minimally invasive rehabilitation medical technology (Group) Co.,Ltd. Address before: 215000 part of No.3 Factory building, 112 Fangzhong street, Suzhou Industrial Park, Suzhou City, Jiangsu Province Patentee before: Rui Ke medical technology (Suzhou) Co.,Ltd. |
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