CN111811851A - Static lower limb rehabilitation auxiliary tool testing system - Google Patents
Static lower limb rehabilitation auxiliary tool testing system Download PDFInfo
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- CN111811851A CN111811851A CN202010598614.XA CN202010598614A CN111811851A CN 111811851 A CN111811851 A CN 111811851A CN 202010598614 A CN202010598614 A CN 202010598614A CN 111811851 A CN111811851 A CN 111811851A
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- 238000012360 testing method Methods 0.000 title claims abstract description 43
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 40
- 230000003068 static effect Effects 0.000 title claims abstract description 34
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- 230000001133 acceleration Effects 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims description 5
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- 210000000689 upper leg Anatomy 0.000 description 19
- 230000000875 corresponding effect Effects 0.000 description 11
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- 238000010586 diagram Methods 0.000 description 7
- 230000005021 gait Effects 0.000 description 7
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- 210000002683 foot Anatomy 0.000 description 5
- 210000001624 hip Anatomy 0.000 description 5
- 244000309466 calf Species 0.000 description 4
- 238000012549 training Methods 0.000 description 4
- 210000003423 ankle Anatomy 0.000 description 3
- 230000002596 correlated effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 210000004394 hip joint Anatomy 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000002266 amputation Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000011527 polyurethane coating Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000001338 self-assembly Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/008—Subject matter not provided for in other groups of this subclass by doing functionality tests
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- Rehabilitation Tools (AREA)
Abstract
The invention discloses a static lower limb rehabilitation assistive device testing system, which comprises: base and mobile device, the mobile device includes: the rehabilitation device comprises a horizontal guide rail, a vertical guide rail and a joint fixing structure, wherein the horizontal guide rail is horizontally arranged, the vertical guide rail is vertically arranged, the bottom end of the horizontal guide rail is fixedly arranged on the base, the bottom end of the vertical guide rail is fixedly arranged with a sliding block on the horizontal guide rail, the joint fixing structure is fixedly arranged on the sliding block of the vertical guide rail and is used for installing a rehabilitation aid, and the rehabilitation aid is an exoskeleton joint module or an artificial limb module. The rehabilitation aid of the static lower limb rehabilitation aid testing system can select the exoskeleton joint module or the artificial limb module, test different rehabilitation aids, acquire parameter requirements on the rehabilitation aids, and can also interact with the rehabilitation aids directly to evaluate the auxiliary effect of the rehabilitation aids.
Description
Technical Field
The invention belongs to the technical field of rehabilitation aids, and particularly relates to a static lower limb rehabilitation aid testing system.
Background
By the end of 2013, the population of the elderly in China reaches 2.02 hundred million, which accounts for about 15% of the total population, wherein the disabled elderly have 3750 ten thousands and 8500 more than ten thousands of disabled people; in 2020, the elderly population is expected to reach 2.43 hundred million, the disabled people will reach 4600 ten thousand, the disabled people will reach 9800 ten thousand, and most of the daily lives of the disabled people need rehabilitation aids.
At present, the existing rehabilitation aids at home and abroad are researched: HAL series lower limb exoskeleton of Japan bobble university, LOKOMAT jointly developed by Swiss Federal Industrial university and Swiss university, lower limb dynamic exoskeleton developed by biomedical engineering of Twente university in the Netherlands, wearable lower limb walking exoskeleton developed by electromechanical institute of Zhejiang university, and the like. The key point of the research is the structural design and control aspects of the lower limb exoskeleton training robot, but the research on the exoskeleton auxiliary effect is neglected.
In the early stage, the evaluation of the auxiliary effect of the rehabilitation aid is mainly to visually observe the training process of a subject by a physical therapist and evaluate the auxiliary effect of the rehabilitation aid according to self experience. However, this evaluation method is subjective and inefficient, and parameters in the training process cannot be accurately controlled and recorded.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a static lower limb rehabilitation assistive device testing system which is provided with a sitting posture working mode and simulates the application scene of a lower limb rehabilitation assistive device; various sensors are arranged on the test platform, various data in the actual application process are collected in real time, and the characteristics of different aspects of the rehabilitation aid can be evaluated; meanwhile, the test platform is provided with all-directional safety protection measures from a plurality of angles, so that the comfort and the safety in the use process are ensured.
The purpose of the invention is realized by the following technical scheme.
A static lower limb rehabilitation aid testing system, comprising: base and mobile device, the mobile device includes: the rehabilitation device comprises a horizontal guide rail, a vertical guide rail and a joint fixing structure, wherein the horizontal guide rail is horizontally arranged, the vertical guide rail is vertically arranged, the bottom end of the horizontal guide rail is fixedly arranged on the base, the bottom end of the vertical guide rail is fixedly arranged with a sliding block on the horizontal guide rail, the joint fixing structure is fixedly arranged on the sliding block of the vertical guide rail and is used for installing a rehabilitation aid, and the rehabilitation aid is an exoskeleton joint module or an artificial limb module.
In the above technical solution, the method further comprises: and the vertical guide rail is positioned on one side in front of the seat.
In the above technical solution, the joint fixing structure includes: the device comprises a bearing seat, a rotating bracket, an installation rod and a locking block, wherein the bearing seat is fixedly installed with a sliding block of the vertical guide rail, the rotating bracket is coupled with the bearing seat and can rotate on the bearing seat, and the locking block is installed on the rotating bracket and used for relatively fixing the rotating bracket and the bearing seat; the plurality of mounting rods are mounted on the rotating bracket and used for mounting the exoskeleton joint module or the prosthesis module.
In the above technical solution, the rotating bracket includes: the rotating bracket is coupled with the bearing seat through the other end of the shaft, and the mounting rod is fixedly arranged on the fixed plate.
In the above technical solution, the mounting rod is located at a side of the fixing plate away from the bearing seat.
In the above technical solution, the number of the mounting rods is 4, and the 4 mounting rods are distributed along the rectangular array and are respectively located at 4 corners of a rectangle.
In the technical scheme, the number of the locking blocks is 2, and each locking block is of a cam structure.
In the above technical solution, the exoskeleton joint module is formed with a plurality of through holes along a circumferential direction, and each mounting rod passes through one of the through holes when the exoskeleton joint module is mounted on the joint fixing structure;
the prosthesis module includes a cylindrical structure or a substantially cylindrical structure that is inserted between and secured by a plurality of mounting rods when the prosthesis module is mounted on the joint securing structure.
In the above technical solution, the rehabilitation assisting device is internally provided with a motor, and the static lower limb rehabilitation assisting device testing system further includes: and the industrial personal computer controls the joint motor to move.
In the above technical solution, the method further comprises: the device comprises an encoder and/or a sensor which are arranged in the rehabilitation assistive device, wherein the encoder is used for obtaining the rotating angle, the angular speed and the angular acceleration of the joint motor of the rehabilitation assistive device, the sensor is used for obtaining the torque of the joint motor of the rehabilitation assistive device, and the industrial personal computer obtains the data of the encoder and/or the sensor.
In the above technical scheme, the industrial computer control be provided with a relay on the circuit of joint motor motion, still include: and the singlechip is used for controlling the relay.
In the above technical solution, the single chip microcomputer controls the movement of the horizontal guide rail and the vertical guide rail.
In the above technical solution, a travel switch is installed on the rehabilitation aid and used for limiting the upper limit of the rotation of the joint motor. The travel switch is electrically connected with the singlechip.
In the above technical solution, the method further comprises: the joint motor is controlled to rotate, the relay is electrically connected with the joint motor through the joint driver, and a data exchange card is arranged on a circuit between the relay and the industrial personal computer.
In the technical scheme, a motion control card is arranged on a circuit between the data exchange card and the industrial personal computer.
In the technical scheme, the single chip microcomputer is electrically connected with a horizontal guide rail motor of the horizontal guide rail, and the single chip microcomputer is electrically connected with a vertical guide rail motor of the vertical guide rail.
In the technical scheme, the single chip microcomputer controls the horizontal guide rail motor through a horizontal guide rail driver, and the single chip microcomputer controls the vertical guide rail motor through a vertical guide rail driver.
In the technical scheme, the industrial personal computer acquires the data of the encoder and/or the sensor through the data acquisition card.
In the technical scheme, the single chip microcomputer is electrically connected with the data acquisition card, judges whether the data of the encoder and/or the sensor reach a threshold value or not, and controls the relay to disconnect the circuit when the data of the encoder and/or the sensor reach the threshold value.
In the technical scheme, the industrial personal computer is connected with a signal input end and a display.
Compared with the prior art, the invention has the following beneficial effects:
(1) the static lower limb rehabilitation assistive device testing system is provided with a horizontal guide rail and a vertical guide rail, and can realize the testing of joints (hip, knee and ankle) at different positions in sitting posture and standing posture states by adjusting the positions of the upper sliding blocks of the horizontal guide rail and the vertical guide rail, effectively simulate the actual use scene of the lower limb rehabilitation assistive device, and restore the actual use scene of a rehabilitation assistive device wearer;
(2) the joint fixing structure of the static lower limb rehabilitation assistive device testing system is provided with the locking block which is of a cam structure, and when a testee wears the exoskeleton or the artificial limb module and adjusts the comfort level during an experiment, the joint fixing structure can be effectively locked through the locking block;
(3) the rehabilitation assistive device of the static lower limb rehabilitation assistive device testing system can select the exoskeleton joint module or the artificial limb module, realize the test of different rehabilitation assistive devices, acquire the parameter requirements of the rehabilitation assistive devices, and also can directly interact with the rehabilitation assistive devices to evaluate the assisting effect of the rehabilitation assistive devices;
(4) the hardware system has a modular design, is convenient for secondary development, and provides convenience for developing lower limb rehabilitation aids in multiple directions and multiple angles;
(5) the static lower limb rehabilitation assistive device testing system is provided with safety protection measures such as a travel switch and a relay, and the safety of a testee is protected.
Drawings
FIG. 1 is a schematic structural diagram of a static lower limb rehabilitation aid testing system according to the present invention;
FIG. 2 is a schematic structural diagram of a static lower limb rehabilitation aid testing system according to the present invention;
FIG. 3 is a cross-sectional view (left) and a top view (right) of the rotating bracket;
FIG. 4 is a perspective view of the rotating bracket;
FIG. 5 is a schematic structural view of the exoskeleton joint module;
FIG. 6a is a front view of a prosthesis module;
FIG. 6b is a rear view of the prosthesis module;
FIG. 7 is a schematic structural view of the exoskeleton;
FIG. 8 is a schematic diagram of an electrical control structure of the static lower limb rehabilitation training aid test system of the present invention;
FIG. 9a is a diagram of the state of use of the static lower limb rehabilitation aid test system of the present invention (prosthesis module);
FIG. 9b is a diagram of the state of use of the static lower limb rehabilitation aid test system of the present invention (exoskeleton joint module);
FIG. 9c is a diagram of the state of use of the static lower limb rehabilitation aid test system of the present invention (exoskeleton joint module);
FIG. 9d is a diagram of the state of use of the static lower limb rehabilitation aid test system of the present invention (exoskeleton joint module);
FIG. 10a is a graph of the sample expected values and actual values obtained according to method two;
fig. 10b shows the sample expected values and actual values obtained according to method one.
Wherein,
1: base, 2: seat, 3: horizontal guide rail, 301: horizontal rail driver, 302: horizontal rail motor, 4: vertical guide rail, 401: vertical rail drive, 402: vertical guide rail motor, 5: joint fixation structure, 501: bearing seat, 502: rotating bracket, 503: mounting rod, 504: locking block, 6: a single chip microcomputer; 7: joint motor, 8: exoskeleton joint module, 801: decelerator, 802: fixed end bracket, 803: output end support, 9: lumbar fixation brace, 10: upper thigh fixation brace, 11: lower thigh fixation brace, 12: upper shank fixation brace, 13: lower shank fixation brace, 14: foot fixing brace, 15: thigh bar, 16: a shank rod; 17: prosthesis module, 1701: prosthetic socket attachment, 1702: shank tube connector, 18: industrial personal computer, 19: data acquisition card, 20: sensor, 21: encoder, 22: joint driver, 24: motion control card, 25: data exchange card, 26: a relay, 27: a travel switch.
Detailed Description
The technical scheme of the static lower limb rehabilitation assistive device testing system is further described below by combining a specific embodiment.
The following examples relate to the following types of instruments:
an industrial personal computer: IDEL-12
Motion control card: GT-400-SV-ISA-G
A data exchange card: terminal board of motion control card, no model type matched with motion control card
Exoskeleton module (self-assembly): a joint driver: AP2-090, joint motor: GRM7613H, encoder: AM64/1617, decelerator: LCSG-I-25-160, sensor (moment sensor): M2210G
A data acquisition card: M8128B1SN04375
A relay: JQC-3FF-S-Z
A single chip microcomputer: STM32F4
A travel switch: XCE102
Example 1
As shown in fig. 1-2, the device comprises: base 1, mobile device and adorn seat 2 on this base 1 admittedly, the mobile device includes: the rehabilitation device comprises a horizontal guide rail 3, a vertical guide rail 4 and a joint fixing structure 5, wherein the horizontal guide rail 3 is horizontally arranged, the bottom end of the horizontal guide rail 3 is fixedly arranged on a base 1, the vertical guide rail 4 is positioned on one side in front of a seat 2 (the front side is the side where a patient sits on the upper leg of the seat), the bottom end of the vertical guide rail 4 is fixedly arranged with a sliding block of the horizontal guide rail 3, the joint fixing structure 5 is fixedly arranged on the sliding block of the vertical guide rail 4 and used for installing a rehabilitation aid, and the rehabilitation aid is an exoskeleton joint module 8 or an artificial limb. The sliding distance of the sliding blocks on the horizontal guide rail 3 and the vertical guide rail 4 is adjusted, so that the position between the joint fixing structure 5 and the seat 2 is adjusted, and the joint fixing structure 5 moves on the plane on one side of the seat 2.
The use method of the static lower limb rehabilitation assistive device testing system comprises the following steps:
method one (for initial stage of recovery): the rehabilitation assisting tool is worn by a patient, the rehabilitation assisting tool is controlled to drive the patient to move based on expected data of a gait cycle, actual data of the rehabilitation assisting tool in the gait cycle is measured, and the expected data of the gait cycle is compared with the actual data.
Method two (for mid or end stage of rehabilitation): the patient is enabled to move and actively drive the rehabilitation assistive device to move, actual data of one gait cycle are obtained and compared with expected data (the expected data are data obtained based on healthy people).
The method can be used for objectively evaluating the auxiliary effect of the rehabilitation assistive device.
Make the patient dress recovered utensil of assisting: when the rehabilitation assistive device is the exoskeleton joint module, the exoskeleton is worn by the patient; when the rehabilitation assistive device is an artificial limb module, the patient wears an artificial limb.
Example 2
In addition to embodiment 1, as shown in fig. 3 to 4, the joint fixing structure 5 includes: the vertical guide rail structure comprises a bearing seat 501, a rotating support 502, a mounting rod 503 and a locking block 504, wherein the bearing seat 501 is fixedly mounted with a sliding block of the vertical guide rail 4, the rotating support 502 is in shaft connection with the bearing seat 501 and can rotate on the bearing seat 501, and the locking block 504 is mounted on the rotating support 502 and used for relatively fixing the rotating support 502 and the bearing seat 501; a plurality of mounting bars 503 are mounted to the pivoting bracket 502 for mounting the exoskeleton joint module 8 or the prosthesis module 17.
Preferably, the rotating bracket 502 includes: the shaft and with the fixed plate of axle one end solid dress, rotate the support 502 and pass through the other end coupling of axle with bearing frame 501, installation pole 503 is solid dress on the fixed plate and is located the fixed plate and keep away from one side of bearing frame 501.
Preferably, the number of the mounting rods 503 is 4, and 4 mounting rods 503 are distributed along the rectangular array and are respectively located at 4 corners of a rectangle. The distribution of the mounting rods 503 may have other forms as long as the rehabilitation aid can be mounted.
Preferably, there are 2 locking blocks 504, and each locking block 504 is a cam structure having a crank arm. The locking block 504 is rotatable on the rotating bracket 502 and can be fastened by a bolt when rotated to a certain angle. The locking block 504 is rotated to press the cam structure of the locking block 504 against the bearing seat 501, and the locking block 504 and the rotating bracket 502 are fastened by bolts to be relatively fixed, so that the rotating bracket 502 and the bearing seat 501 are relatively fixed. Explained further, the bearing housing comprises: the locking device comprises a bottom plate and a cylindrical shell fixed on the bottom plate, wherein two rolling bearings are arranged in parallel in the cylindrical shell, a shaft of a rotating bracket 502 is arranged in the rolling bearings in the cylindrical shell, and when the rotating bracket 502 and a bearing seat 501 are fixed relatively through a locking block 504, a cam structure of the locking block 504 presses the outer surface of the cylindrical shell of the bearing seat 501. Preferably, a polyurethane coating is applied to the outer surface of the cylindrical housing to increase surface friction.
Install joint motor 7 in the recovered utensil of assisting, the recovered utensil test system of assisting of static low limbs still includes: and the industrial personal computer 18 controls the joint motor 7 to move.
An encoder 21 and a sensor 20 are installed in the rehabilitation assistive device, the sensor 20 can be a torque sensor or other sensors for measuring torque, the encoder 21 is used for obtaining the rotating angle, the angular velocity and the angular acceleration of the joint motor 7 of the rehabilitation assistive device, the sensor 20 is used for obtaining the torque of the joint motor 7 of the rehabilitation assistive device, and the industrial personal computer 18 obtains the data of the encoder 21 and the sensor 20.
As shown in fig. 5, the exoskeleton joint module 8 is formed with a plurality of through holes along the circumferential direction, and each mounting rod 503 passes through one of the through holes when the exoskeleton joint module 8 is mounted on the joint fixing structure 5.
As shown in fig. 6a and 6b, the prosthesis module 17 includes a cylindrical or near cylindrical structure that is inserted between the plurality of mounting rods 503 and secured by the mounting rods 503 when the prosthesis module 17 is mounted on the joint fixation structure 5.
Preferably, the rehabilitation aid is as follows:
the exoskeleton joint module comprises: the device comprises a joint motor 7, a speed reducer 801, a fixed end bracket 802, an output end bracket 803 and a sensor 20, wherein the sensor 20 is a torque sensor; the joint motor 7 is a flat direct current motor special for a robot joint, the main body of the joint motor is a flat cylinder, and an output shaft is formed on the circular surface of the flat cylinder; the speed reducer 801 is a harmonic speed reducer, the main body of the speed reducer is in a flat cylindrical shape, an input shaft hole is formed in the end face of the input side, an installation disc with an installation hole is arranged on the output side, an output shaft of the joint motor 7 is fixed in the input shaft hole of the speed reducer 801, and a shell of the joint motor 7 is fixedly connected with a shell of the end face of the input side of the speed reducer 801; the fixed end support 802 is formed by bending a flat plate, one end of the flat plate is bent upwards, the other end of the flat plate is bent downwards, two surfaces bent upwards and downwards are two parallel mounting planes, one of the two mounting planes is annular, the annular mounting plane is fixedly connected with a shell on the end face of the output side of the speed reducer 801, and a plurality of through holes for penetrating through the mounting rods 503 are formed in the annular mounting plane along the circumferential direction; the sensor 20 is in a flat cylindrical shape, the structure of the sensor is divided into an inner ring and an outer ring, the sensor between the inner ring and the outer ring can measure torque existing between the inner ring and the outer ring, the inner ring and the outer ring are provided with mounting holes which are distributed annularly, and the sensor 20 is fixed on a mounting disc on the output side of the speed reducer 801 through the mounting holes of the outer ring; the output end bracket 803 is in a thin plate shape, one end of the output end bracket is connected with the inner ring of the sensor 20 through a mounting hole, and the other end of the output end bracket is provided with a mounting hole; when the exoskeleton joint module 8 is in a power-on working state, the joint motor 7 generates driving torque, the driving torque is amplified by the speed reducer 801 and is transmitted to the output end bracket 803 by the sensor 20, joint driving torque is generated between the fixed end bracket 802 and the output end bracket 803, and the sensor 20 can measure the torque in real time; the encoder 21 is installed at the output shaft of the joint motor 7, and can measure the rotation angle, the angular velocity and the angular acceleration of the joint motor 7 in real time.
Exoskeleton joint module 8 when assembled into an exoskeleton as shown in fig. 7, exoskeleton 4 comprises: the exoskeleton joint module 8, a waist fixing support 9, a thigh upper fixing support 10, a thigh lower fixing support 11, a shank upper fixing support 12, a shank lower fixing support 13, a foot fixing support 14, a thigh rod 15 and a shank rod 16, wherein the parts of the waist fixing support 9, the thigh upper fixing support 10, the thigh lower fixing support 11, the shank upper fixing support 12 and the shank lower fixing support 13 fixed with corresponding bodies are all arc-shaped and are respectively used for fixing the waist, the thigh upper part, the thigh lower part, the shank upper part and the shank lower part of a user in sequence, and the foot fixing support 14 is planar and is used for fixing the foot of the user; the thigh rod 15 and the shank rod 16 are connecting rods; the waist fixing support 9 is provided with a mounting hole corresponding to the fixed end bracket 802 of the exoskeleton joint module 8 and can be fixed together by using a screw; the upper end of the upper thigh fixing support 10 is provided with a mounting hole corresponding to the output end bracket 803 of the exoskeleton joint module 8, and the lower end is provided with a mounting hole corresponding to the thigh rod 15, and the upper thigh fixing support and the lower thigh fixing support can be fixed together by using screws; the upper end of the thigh lower part fixing support 11 is provided with a mounting hole corresponding to the thigh rod 15, and the lower end is provided with a mounting hole corresponding to the fixed end bracket 802 of the exoskeleton joint module 8, and the fixing holes can be fixed together by screws; the upper end of the upper shank fixing support 12 is provided with a mounting hole corresponding to the output end bracket 803 of the exoskeleton joint module 8, and the lower end is provided with a mounting hole corresponding to the shank 16, and the upper shank fixing support and the lower shank fixing support can be fixed together by using screws; the upper end of the lower shank fixing support 13 is provided with a mounting hole corresponding to the shank rod 16, and the lower end is provided with a mounting hole corresponding to the fixed end bracket 802 of the exoskeleton joint module 8, and the fixing supports can be fixed together by using screws; the foot attachment brace 14 has mounting holes corresponding to the output brackets 803 of the exoskeleton joint module 8 and can be screwed together.
As shown in fig. 6a and 6b, the prosthesis module 5 comprises: a prosthetic socket connection 1701 and a calf tube connection 1702 (this embodiment employs a Yang-kang prosthetic orthopedic technology Limited model number: 3E 80). The artificial limb socket connecting piece 1701 is provided with a mounting hole, and the artificial limb socket can be fixed on the artificial limb socket connecting piece 1701 through screws and is used for being worn by a thigh amputation patient; the calf tube attachment 1702 is provided with mounting holes for securing the calf tube to the calf tube attachment 1702.
When the device is used, a patient sits on the seat 2 or stands (the sitting on the seat 2 or standing is related to the position of the patient body on which the exoskeleton joint module is arranged, the patient stands when the position provided with the exoskeleton joint module is a hip joint, the rest of the exoskeleton joint module is seated on the seat 2, and the patient sits on the seat 2 when the prosthesis module 5 is arranged), the running distance of the sliding blocks on the horizontal guide rail and the vertical guide rail is controlled by the single chip microcomputer, the sliding blocks on the horizontal guide rail and the vertical guide rail are adjusted to be in a comfortable state, and the sliding blocks on the horizontal guide rail and the.
The use method of the static lower limb rehabilitation assistive device testing system comprises the following steps:
method one (for initial stage of recovery): inputting the angle, angular velocity, angular acceleration and moment of a gait cycle to an industrial personal computer and controlling a joint motor to rotate, wherein the joint motor drives a patient to move; the encoder and the sensor measure the angle, the angular velocity, the angular acceleration and the moment of the joint motor, and the angle, the angular velocity, the angular acceleration and the moment of a gait cycle input by the industrial personal computer are compared, so that the auxiliary effect of the rehabilitation auxiliary tool can be objectively evaluated.
Method two (for mid or end stage of rehabilitation): the patient actively drives the joint motor to move, and the encoder and the sensor measure the angle, the angular velocity, the angular acceleration and the moment of the joint motor and compare the angle, the angular velocity, the angular acceleration and the expected value of the moment in one gait cycle.
Example 3
As shown in fig. 8, on the basis of embodiment 2, a relay 26 is provided on a circuit for controlling the movement of the joint motor 7 by the industrial personal computer 18, and the method further includes: a single chip 6 controlling the relay 26. The relay is used for cutting off the power supply when an emergency occurs in an experiment, and plays a role in safety protection.
The singlechip 6 controls the movement of the horizontal guide rail 3 and the vertical guide rail 4. The position of the joint motor is moved by controlling the positions of the sliding blocks on the horizontal guide rail 3 and the vertical guide rail 4.
Preferably, when the rehabilitation aid is an exoskeleton joint module, a travel switch 27 is installed on the rehabilitation aid to limit the upper limit of the rotation of the joint motor 7.
When the rehabilitation aid is an exoskeleton joint module, the travel switch 27 is arranged between a fixed end support 802 and an output end support 803 of the exoskeleton joint module and is connected with the single chip microcomputer through a wire, when an included angle between the fixed end support 802 and the output end support 803 reaches the boundary of a joint safety angle range, the travel switch 27 is activated, and the travel switch disconnects the relay through the single chip microcomputer; the rotation of the joint motor 7 is limited, and the safety of the testee is protected.
Preferably, the method further comprises the following steps: the joint motor is driven by a joint driver 22 for controlling the rotation of the joint motor 7, a relay 26 is electrically connected with the joint motor 7 through the joint driver 22, and a data exchange card 25 is arranged on a circuit between the relay 26 and the industrial personal computer 18.
Preferably, a motion control card 24 is provided in a circuit between the data exchange card 25 and the industrial personal computer 18, and the motion control card 24 is connected to the industrial personal computer 18 through a PCI bus.
Preferably, the single chip microcomputer 6 is electrically connected to the horizontal rail motor 302 of the horizontal rail 3, and the single chip microcomputer 6 is electrically connected to the vertical rail motor 402 of the vertical rail 4.
Preferably, the single chip microcomputer 6 controls the horizontal guide rail motor 302 through a horizontal guide rail driver 301, and the single chip microcomputer 6 controls the vertical guide rail motor 402 through a vertical guide rail driver 401.
Preferably, the industrial personal computer 18 acquires data of the encoder 21 and the sensor 20 through a data acquisition card 19, the data acquisition card is connected with the industrial personal computer 32 through a PCI bus, and the data exchange card is used for converting data types and realizing communication among different interfaces; the data acquisition card 19 processes the joint angle, the angular velocity, the angular acceleration and the torque information of the joint motor acquired by the encoder and the sensor 20 and transmits the information to the industrial personal computer 18 for calculation through the PCI bus, and the motion control card is used for compiling programs to control the rotation of the joint motor 7. The sensor and the encoder are connected with the data acquisition card through wires, and the data acquired by the sensor and the encoder are transmitted to the industrial personal computer through the data acquisition card for processing and calculation. The single chip microcomputer 6 is electrically connected with the data acquisition card 19, the single chip microcomputer 6 judges whether the data of the encoder 21 and the sensor 20 reach a threshold value, and when the data reach the threshold value, the single chip microcomputer 6 controls the relay to disconnect the circuit, so that the power supply of the joint motor is disconnected.
Preferably, the industrial personal computer 18 is connected with a signal input end and a display, and the signal input end is a mouse, a keyboard and a control panel. The mouse and the keyboard are connected with a USB interface of the industrial personal computer 18 through a USB line, and the control program of the electric control computer can be compiled and modified by using the mouse and the keyboard; the display is connected with a VGA interface of the industrial personal computer 18 through a VGA line, and can display the angle, the angular velocity, the angular acceleration and the torque of the joint motor 7 in real time.
In use, the test condition when the patient is wearing the prosthesis module 5 is shown in fig. 9a, the test condition when the patient is wearing the exoskeleton module is shown in fig. 9b (the exoskeleton module is installed at the knee), the test condition when the patient is wearing the exoskeleton module is shown in fig. 9c (the exoskeleton module is installed at the ankle), and the test condition when the patient is wearing the exoskeleton module is shown in fig. 9d (the exoskeleton module is installed at the ankle).
The use method of the static lower limb rehabilitation assistive device testing system comprises the following steps:
in order to objectively evaluate the assistance effect of a rehabilitation aid, a mean error u and a root mean square error E are definedRMS:
Wherein n represents the number of sampling points of the encoder and/or sensor on the rehabilitation aid, Mi、NiThe method comprises the steps of sampling an expected value before sampling of the rehabilitation aid and an actual value obtained during sampling of the rehabilitation aid, and sampling to obtain an angle, an angular velocity, an angular acceleration and/or a torque of the rehabilitation aid. Angle, angular velocityThe mean error u of the angular acceleration and the torque is positively correlated, the root mean square error E of the angle, the angular velocity, the angular acceleration and the torqueRMSAlso positively correlated, mean error u and root mean square error ERMSThe larger the value of (A), the worse the assisting effect of the rehabilitation assistant tool, and conversely, the mean error u and the root mean square error ERMSThe smaller the value of (a) indicates the better the assisting effect of the rehabilitation assistant (in judging the assisting effect of the rehabilitation assistant, one or more of the angle, the angular velocity, the angular acceleration, and the torque can be judged due to the mean error u and the root mean square error E of the angle, the angular velocity, the angular acceleration, and the torqueRMSThere is a positive correlation, and therefore, the results of judging one or more of the angle, the angular velocity, the angular acceleration, and the torque are almost the same).
Enabling a patient to wear a rehabilitation aid, respectively sampling the rehabilitation aid according to a method I and a method II, enabling the rehabilitation aid to be an exoskeleton joint module at a hip joint, enabling a sampling expected numerical value and an actual numerical value obtained according to the method I to be shown in a figure 10b, enabling the sampling expected numerical value and the actual numerical value obtained according to the method II to be shown in a figure 10a, and calculating a mean error u and a root mean square error ERMSThe auxiliary effect of the rehabilitation assistive device is evaluated.
The invention has been described in an illustrative manner, and it is to be understood that any simple variations, modifications or other equivalent changes which can be made by one skilled in the art without departing from the spirit of the invention fall within the scope of the invention.
Claims (10)
1. A static lower limb rehabilitation assistive device testing system is characterized by comprising: base (1) and mobile device, the mobile device includes: the rehabilitation device comprises a horizontal guide rail (3) arranged horizontally, a vertical guide rail (4) arranged vertically and a joint fixing structure (5), wherein the bottom end of the horizontal guide rail (3) is fixedly arranged on the base (1), the bottom end of the vertical guide rail (4) is fixedly arranged with a sliding block on the horizontal guide rail (3), the joint fixing structure (5) is fixedly arranged on the sliding block of the vertical guide rail (4) and used for installing a rehabilitation aid, and the rehabilitation aid is an exoskeleton joint module (8) or an artificial limb module (17).
2. The static lower limb rehabilitation aid testing system according to claim 1, further comprising: the seat (2) is fixedly arranged on the base (1), and the vertical guide rail (4) is positioned on one side in front of the seat (2).
3. The static lower limb rehabilitation aid testing system according to claim 1 or 2, characterized in that the joint fixation structure (5) comprises: the guide rail device comprises a bearing seat (501), a rotating support (502), an installation rod (503) and a locking block (504), wherein the bearing seat (501) is fixedly installed with a sliding block of the vertical guide rail (4), the rotating support (502) is in shaft connection with the bearing seat (501) and can rotate on the bearing seat (501), and the locking block (504) is installed on the rotating support (502) and used for relatively fixing the rotating support (502) and the bearing seat (501); the mounting rods (503) are multiple and are all mounted on the rotating bracket (502) and used for mounting the exoskeleton joint module (8) or the prosthesis module (17).
4. The static lower limb rehabilitation aid testing system according to claim 3, wherein the rotating bracket (502) comprises: the rotating support (502) is in shaft connection with the bearing seat (501) through the other end of the shaft, and the mounting rod (503) is fixedly arranged on the fixed plate.
5. The static lower limb rehabilitation aid testing system according to claim 4, wherein a mounting rod (503) is located on the side of the fixing plate away from the bearing block (501).
6. The system for testing the rehabilitation aid of lower limbs in a static state as claimed in claim 5, wherein the number of the mounting rods (503) is 4, and 4 mounting rods (503) are distributed along a rectangular array and are respectively positioned at 4 corners of a rectangle.
7. The system as claimed in claim 5, wherein the number of said locking blocks (504) is 2, and each of said locking blocks (504) is a cam structure.
8. The static lower extremity rehabilitation aid testing system according to claim 1, wherein the exoskeleton joint module (8) is formed with a plurality of through holes along a circumferential direction, one through hole for each mounting rod (503) to pass through when the exoskeleton joint module (8) is mounted on the joint fixation structure (5);
the prosthesis module (17) comprises a cylindrical or approximately cylindrical structure which is inserted between a plurality of mounting rods (503) and is fixed by the mounting rods (503) when the prosthesis module (17) is mounted on the joint fixation structure (5).
9. The static lower limb rehabilitation aid testing system according to claim 8, wherein a joint motor (7) is installed in the rehabilitation aid, the static lower limb rehabilitation aid testing system further comprising: the industrial personal computer (18), the industrial personal computer (18) controls the joint motor (7) to move.
10. The static lower limb rehabilitation aid testing system according to claim 9, further comprising: an encoder (21) and/or a sensor (20) installed in the rehabilitation assistive device, wherein the encoder (21) is used for obtaining the rotation angle, the angular speed and the angular acceleration of the joint motor (7) of the rehabilitation assistive device, the sensor (20) is used for obtaining the torque of the joint motor (7) of the rehabilitation assistive device, and the industrial personal computer (18) acquires the data of the encoder (21) and/or the sensor (20);
be provided with a relay (26) on industrial computer (18) control joint motor (7) motion's circuit, still include: a singlechip (6) for controlling the relay (26);
the singlechip (6) controls the horizontal guide rail (3) and the vertical guide rail (4) to move;
a travel switch (27) is arranged on the rehabilitation aid and used for limiting the upper limit of the rotation of the joint motor (7); the travel switch (27) is electrically connected with the singlechip (6);
further comprising: the joint motor (7) is controlled to rotate by a joint driver (22), the relay (26) is electrically connected with the joint motor (7) through the joint driver (22), and a data exchange card (25) is arranged on a circuit between the relay (26) and the industrial personal computer (18);
a motion control card (24) is arranged on a circuit between the data exchange card (25) and the industrial personal computer (18);
the single chip microcomputer (6) is electrically connected with a horizontal guide rail motor (302) of the horizontal guide rail (3), and the single chip microcomputer (6) is electrically connected with a vertical guide rail motor (402) of the vertical guide rail (4);
the single chip microcomputer (6) controls the horizontal guide rail motor (302) through a horizontal guide rail driver (301), and the single chip microcomputer (6) controls the vertical guide rail motor (402) through a vertical guide rail driver (401);
the industrial personal computer (18) acquires data of the encoder (21) and/or the sensor (20) through a data acquisition card (19);
the single chip microcomputer (6) is electrically connected with the data acquisition card (19), the single chip microcomputer (6) judges whether the data of the encoder (21) and/or the sensor (20) reach a threshold value or not, and the single chip microcomputer (6) controls the relay (26) to disconnect a circuit when the data reach the threshold value.
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