CN114272077A - Double-arm training robot and double-arm training method - Google Patents
Double-arm training robot and double-arm training method Download PDFInfo
- Publication number
- CN114272077A CN114272077A CN202111517844.XA CN202111517844A CN114272077A CN 114272077 A CN114272077 A CN 114272077A CN 202111517844 A CN202111517844 A CN 202111517844A CN 114272077 A CN114272077 A CN 114272077A
- Authority
- CN
- China
- Prior art keywords
- arm
- driven
- rotating shaft
- driving
- rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012549 training Methods 0.000 title claims abstract description 91
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims description 29
- 238000005381 potential energy Methods 0.000 claims description 16
- 230000009977 dual effect Effects 0.000 claims description 8
- 230000000694 effects Effects 0.000 abstract description 7
- 210000001364 upper extremity Anatomy 0.000 description 32
- 238000005452 bending Methods 0.000 description 5
- 210000000323 shoulder joint Anatomy 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 210000002310 elbow joint Anatomy 0.000 description 3
- 210000003414 extremity Anatomy 0.000 description 3
- 230000000149 penetrating effect Effects 0.000 description 3
- 208000007101 Muscle Cramp Diseases 0.000 description 2
- 208000005392 Spasm Diseases 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 208000029028 brain injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 230000004770 neurodegeneration Effects 0.000 description 1
- 208000015122 neurodegenerative disease Diseases 0.000 description 1
- 230000007996 neuronal plasticity Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The invention provides a double-arm training robot and a double-arm training method, wherein the robot comprises a driven arm seat, a driven arm, a driving arm seat, a driving arm and a support, wherein the driving arm is provided with a first driving rod, a second driving rod, a first motor, a second motor and a third motor; a first driven rod, a second driven rod, a first position sensor, a second position sensor and a third position sensor are arranged on the driven arm seat; the support is arranged at the lower ends of the driving arm and the driven arm and is suitable for bearing the driving arm and the driven arm, the driving arm and the driven arm are symmetrically arranged relative to the geometric center of the support, auxiliary control over the training track of the driving arm can be achieved according to the input track of the driven arm, participation of a user is increased, the training effect of the user is improved, and safety of the user is protected.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a double-arm training robot and a double-arm training method.
Background
With the accelerated aging process in China, patients with brain injuries and neurodegenerative diseases increase year by year, particularly 80% of stroke patients experience motor dysfunction, wherein 45% of patients experience loss of upper limb functions including paralysis of musculoskeletal muscles, and stroke is the cause of death of the third highest in China, and at the present stage of China, rehabilitation therapists cannot perform one-to-one training on each patient by repeatedly bending affected limbs of the patients to reduce muscle spasm and stimulate neural plasticity, so that the brain can form new neural connection.
However, the existing rehabilitation assisting devices pull the affected limb by making a preset track, and only the affected limb is trained independently by a single mechanical arm, which is completely externally provided for the user to provide motion guidance, so that the user has almost no active participation in the whole training process, and this involuntary training task is indicated to be worthless, and the active participation is a very important factor during the training, therefore, the active participation of the user during the training is necessary for the effectiveness of the training, and how to increase the participation of the user is not a good solution in the prior art.
Disclosure of Invention
The invention provides a double-arm training robot which can enable a user to make a training track by himself.
In order to solve the above problems, the present invention provides a dual-arm training robot, including a driven arm base, a driven arm, a driving arm base, a driving arm and a support, wherein the driving arm includes a second handle, a second connecting portion, a first driving lever and a second driving lever, the driving arm base is connected to the first driving lever through a first rotating shaft and a second rotating shaft perpendicular to each other, the first rotating shaft connected to the driving arm base is provided with a first motor, the second rotating shaft connected to the first driving lever is provided with a second motor, the first driving lever is connected to the second driving lever through a third rotating shaft, the third rotating shaft is provided with a third motor, the second handle is rotatably connected to one end of the second connecting portion and is adapted to horizontally rotate the second handle, and the other end of the second connecting portion is rotatably connected to the second driving lever, adapted to vertically rotate the second handle;
the driven arm comprises a first handle, a first connecting part, a first driven rod and a second driven rod, the driven arm seat is connected with the first driven rod through a fourth rotating shaft, the fourth rotating shaft is provided with a second position sensor, the first driven rod is connected with the second driven rod through a fifth rotating shaft, the fifth rotating shaft is provided with a third position sensor, the lower end of the driven arm seat is provided with a sixth rotating shaft, the sixth rotating shaft is provided with the first position sensor, the first handle is rotatably connected with one end of the first connecting part and is suitable for enabling the first handle to horizontally rotate, and the first connecting part is rotatably connected with the other end of the second driven rod and is suitable for enabling the first handle to vertically rotate;
the support is arranged at the lower ends of the driving arm and the driven arm and is suitable for bearing the driving arm and the driven arm, and the driving arm and the driven arm are symmetrically arranged relative to the geometric center of the support.
Optionally, the dual-arm training robot further comprises a first spring and a second spring, one end of the first spring is connected with the second driven rod, the other end of the first spring is connected with the driven arm seat, and the horizontal upward elastic potential energy provided by the first spring to the second driven rod is equal to the sum of the gravitational potential energy of the second driven rod and the shaft end friction force of the fifth rotating shaft; one end of the second spring is connected with the first driven rod, the other end of the second spring is connected with the driven arm seat, and the horizontal upward elastic potential energy provided by the second spring for the first driven rod is equal to the sum of the gravitational potential energy of the first driven rod and the second driven rod and the friction force of the shaft end of the fourth rotating shaft.
Optionally, the dual-arm training robot further comprises a slide way, a first slide block and a second slide block, a sixth rotating shaft at the lower end of the driven arm seat is connected with the first slide block and is suitable for enabling the driven arm seat to rotate 180 degrees anticlockwise around the first slide block, and the driving arm seat is fixedly connected with the second slide block; the first sliding block and the second sliding block are respectively in sliding connection with the slide ways, the driving arm and the driven arm are suitable for sliding towards the connecting line direction of the driving arm seat and the driven arm seat, and the lower end of the slide way is in rotating connection with the central shaft of the support through a piece of central shaft penetrating through the support and is suitable for horizontal rotation.
Optionally, the dual-arm training robot further includes a first limiting portion disposed outside the driven arm seat and a second limiting portion disposed outside the driving arm seat, and the first limiting portion and the second limiting portion are adapted to interfere with outward rotation of the driving arm and the driven arm.
Optionally, a fastening piece is respectively arranged at the joint of the driven arm seat and the slide way and at the joint of the driving arm seat and the slide way, and the fastening piece is suitable for fastening or loosening the driving arm and the driven arm on the slide way.
Optionally, the dual-arm training robot further includes a third limiting portion and a fourth limiting portion, the third limiting portion and the fourth limiting portion are respectively disposed on the driven arm seat and the driving arm seat, and the third limiting portion and the fourth limiting portion are parallel to the slide rail of the slide rail and are respectively adapted to limit the lifting height of the first driven rod and the first driving rod.
Optionally, the dual-arm training robot further comprises a control circuit and a controller, and the control circuit and the controller are both arranged to be tightly attached to the central shaft.
Optionally, the first rotating shaft and the second rotating shaft are T-shaped rotating shafts;
the second motor is horizontally arranged in the second rotating shaft, the second rotating shaft comprises a fifth connecting part and a sixth connecting part, the fifth connecting part is provided with a protruding part, the protruding part is rotatably connected with the fourth connecting part of the first rotating shaft, and the sixth connecting part is rotatably connected with the first driving rod; the first motor is vertically arranged in the first rotating shaft, the first rotating shaft comprises a third connecting portion and a fourth connecting portion, the third connecting portion is rotatably connected with the driving arm seat, the fourth connecting portion is connected with the second rotating shaft, and the fourth connecting portion is suitable for rotating around the second rotating shaft by 180 degrees clockwise.
Optionally, the first motor is vertically arranged relative to the ground, the second motor and the third motor are horizontally arranged relative to the ground, the first motor is adapted to horizontally rotate the protruding portion, the second motor is adapted to vertically rotate the first active lever, and the third motor is adapted to vertically rotate the second active lever.
Compared with the prior art, the training robot has the advantages that the driving arm with the three motors and the driven arm with the three sensors are arranged on the training robot, so that the following training of the driving arm and the driven arm is realized, a user can make a training track through one upper limb, the other upper limb can follow the training track for training, the training track is made according to the self condition of the user, the training effect is improved, the user can make the training track by himself, the participation degree of the user is increased, and the training enthusiasm is improved; set up the joint that has three degree of freedom on driven arm and master arm, can make the human upper limbs structure of arm adaptation better, guarantee that the arm can simulate the motion action of upper limbs completely, increased the authenticity of training, help the user train more comfortably, can further promote the training enthusiasm, and then promote the training effect.
In another aspect, the present invention further provides a dual-arm training method, based on the dual-arm training robot as described above, where the dual-arm training method includes:
performing dynamic modeling on the driven arm or the driving arm to obtain a first dynamic model; acquiring first dynamic data of the driven arm through a first position sensor, a second position sensor and a third position sensor; obtaining desired data from the first kinetic data; and respectively controlling a first motor, a second motor and a third motor to enable the driving arm to carry out mirror image movement relative to the driven arm based on the expected data and the first dynamic model.
From this, acquire the first dynamics data that the slave arm received through the sensor, then handle through the controller, obtain the expectation data, carry out work based on the three motor in the motion condition control master arm of expectation data and master arm, realize the mirror motion based on the slave arm, guarantee that the user can formulate the training orbit according to the condition of self, promote user's enthusiasm, protected user's safety.
Drawings
FIG. 1 is a perspective view of a dual arm training robot having a housing according to an embodiment of the present invention;
FIG. 2 is a top view of a dual arm training robot having a housing according to an embodiment of the present invention;
FIG. 3 is a perspective view of a dual arm training robot with the housing removed in accordance with an embodiment of the present invention;
FIG. 4 is a front view of a dual arm training robot with the housing removed in accordance with an embodiment of the present invention.
Description of reference numerals:
1-a driven arm seat; 2-a driven arm; 21-a first driven lever; 22-a second driven lever; 3-driving arm seat; 4-the master arm; 41-a first active lever; 42-a second active lever; 5-support; 51-a first spring; 52-a second spring; 6-a slideway; 61-a first slide; 62-a second slide; 7-a first rotating shaft; 71-a third connecting portion; 72-a fourth connection; 8-a second axis of rotation; 81-a fifth connection; 82-sixth connecting portion.
Detailed Description
In the robot design, the design of bending/stretching motion of elbow joint and stretching/bending motion of forearm are mainly generated by 2-degree-of-freedom master/slave configuration, the robot tail end (namely the handle position) can only move on a two-dimensional plane, namely, the robot tail end can only face the user to perform stretching and shrinking of front and back positions, the moving space is limited, and the training of stretching and shrinking the shoulder joint can not be performed together.
In the training task design, a preset training track task is mainly formulated, and the joint bending/stretching movement is mechanically carried out by formulating the preset training track, so that the training track cannot be changed according to the requirements of a user. When the upper limb strength of a user is weak, the trajectory training cannot be carried out through the upper limb strength of the user, at the moment, the traditional upper limb training robot only can mechanically move to a target trajectory according to the lapse of time according to a preset time varying system, the movement speed cannot be slowed down, once the user is uncomfortable, the upper limb of the user is easily pulled, the upper limb of the user is also easily subjected to muscle spasm, the training effect is poor, the user is easily subjected to frustration, and the training enthusiasm of the user is reduced; when user's upper limbs strength is stronger, the user can use the upper limbs strength of oneself to carry out independent training, traditional upper limbs training robot this moment still can be according to the time-varying system of predetermineeing along with the lapse of time, mechanically to the motion of target track, when the user wants to increase training speed or training range, the moment of torsion that the arm can export a resistance user upper limbs motion hinders user's training, and the training effect is equally relatively poor, is unfavorable for the intensive training in later stage.
In the description of the present invention, it should be noted that terms such as "upper", "lower", "front", "rear", "left", "right", and the like in the embodiments indicate terms of orientation, and are used only for simplifying the positional relationship based on the drawings of the specification, and do not represent that the elements, devices, and the like indicated in the description must operate according to the specific orientation and the defined operation, method, and configuration, and such terms are not to be construed as limiting the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the description herein, references to the terms "an embodiment," "one embodiment," and "one implementation," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or implementation is included in at least one embodiment or example implementation of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or implementation. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or implementations.
XYZ coordinate axes are provided herein wherein a forward direction of the X axis represents a forward direction, a reverse direction of the X axis represents a rearward direction, a forward direction of the Y axis represents a right direction, a reverse direction of the Y axis represents a left direction, a forward direction of the Z axis represents an upward direction, and a reverse direction of the Z axis represents a downward direction.
Referring to fig. 1 and 2, to solve the above problems, the present invention provides a dual-arm training robot, including: the driving arm comprises a driven arm seat 1, a driven arm 2, a driving arm seat 3, a driving arm 4 and a support 5, wherein the driving arm 4 comprises a second handle, a second connecting part, a first driving rod and a second driving rod, the driving arm base 3 is connected with the first driving rod through a first rotating shaft 7 and a second rotating shaft 8 which are vertical to each other, a first rotating shaft 7 connected with the driving arm seat 3 is provided with a first motor, a second rotating shaft 8 connected with the first driving rod is provided with a second motor, the first driving rod is connected with the second driving rod through a third rotating shaft, the third rotating shaft is provided with a third motor, the second handle is rotatably connected with one end of the second connecting part and is suitable for enabling the second handle to horizontally rotate, the other end of the second connecting part is rotatably connected with the second driving rod and is suitable for enabling the second handle to vertically rotate;
the driven arm comprises a first handle, a first connecting part, a first driven rod 21 and a second driven rod 22, the driven arm seat 1 is connected with the first driven rod 21 through a fourth rotating shaft, the fourth rotating shaft is provided with a second position sensor, the first driven rod 21 is connected with the second driven rod 22 through a fifth rotating shaft, the fifth rotating shaft is provided with a third position sensor, a sixth rotating shaft is arranged at the lower end of the driven arm seat 1, the sixth rotating shaft is provided with a first position sensor, the first handle is rotatably connected with one end of the first connecting part and is suitable for the horizontal rotation of the first handle, and the first connecting part is rotatably connected with the other end of the second driven rod 22 and is suitable for the vertical rotation of the first handle;
the support 5 is arranged at the lower ends of the driving arm 4 and the driven arm and is suitable for bearing the driving arm 4 and the driven arm, and the driving arm 4 and the driven arm are symmetrically arranged relative to the geometric center of the support 5.
The human arm structure is complicated, wherein the shoulder joint is the most flexible joint and has three degrees of freedom, and the shoulder joint has three rotation modes of axial direction, abduction adduction and flexion and extension and three translation modes of up-down, left-right and front-back, and the elbow joint has two degrees of freedom, so the complexity of the upper limb structure causes the redundancy problem of the movement.
In an embodiment, two rotation shafts perpendicular to each other are arranged between the driving arm seat 3 and the first driving rod and used for simulating the left-right and up-down movement of the shoulder joint, a third rotation shaft capable of enabling the second driving rod to move up and down is arranged between the first driving rod and the second driving rod and used for simulating the bending and stretching movement of the elbow joint, and the driving arm 4 can move in three degrees of freedom up, down, left, right, front and back through the mutual matching of the first rotation shaft, the second rotation shaft and the third rotation shaft, so that the movement state of the upper limb of a human body can be simulated. The motors are arranged between every two rotating shafts, and the three motors are matched to jointly control the movement of the first driving rod and the second driving rod, so that the upper limb simulation control of the driving arm 4 is ensured, and the movement track of a user is mapped on the driving arm 4.
The lower end of the driven arm seat 1 is provided with a sixth rotating shaft, the driven arm seat 1 is connected with the first driven rod 21 through a fourth rotating shaft, and the first driven rod 21 is connected with the second driven rod 22 through a fifth rotating shaft, so that a user can realize the rotation of the upper limb with three degrees of freedom by controlling the driven arm; and each rotating shaft is provided with a position sensor, so that the rotating positions of the two driven rods of the driven arm can be obtained. The motion of the driven arm is controlled by a user so as to obtain the motion trail of the driven arm, and then the motion trail of the driving arm 4 is controlled based on the motion trail of the driven arm.
The driven arm and the driving arm 4 are both connected to the support 5 and symmetrically arranged relative to the geometric center of the support 5, the support 5 is used for fixing the driven arm and the driving arm 4, and the upper limbs of a human body are bilaterally symmetrical, so that the auxiliary training of the upper limbs is guaranteed to be better completed by arranging the driven arm and the driving arm 4 which are similar to the upper limbs of the human body in structure.
Optionally, as shown in fig. 3, the dual-arm training robot further includes a first spring 51 and a first spring 52, one end of the first spring 51 is connected to the second driven rod 22, and the other end is connected to the driven arm base 1, and the elastic potential energy of the first spring 51 in the horizontal upward direction provided to the second driven rod 22 is equal to the sum of the gravitational potential energy of the second driven rod 22 and the shaft end friction force of the fifth rotating shaft;
one end of the second spring 52 is connected with the first driven rod 21, the other end of the second spring is connected with the driven arm seat 1, and the horizontal upward elastic potential energy provided by the second spring 52 to the first driven rod 21 is equal to the sum of the gravitational potential energy of the first driven rod 21 and the second driven rod 22 and the shaft end friction force of the fourth rotating shaft;
the first spring 51 ensures that the sum of the vertical upward component of the elastic potential energy of the second driven rod 22 and the gravitational potential energy of the second driven rod 22 and the shaft end friction force of the fifth rotating shaft is balanced; the second spring 52 ensures that the upward vertical component of the elastic potential energy of the first driven lever 21 is balanced with the sum of the gravitational potential energy of the first driven lever 21 and the second driven lever 22 and the shaft end friction force of the fourth rotating shaft. The two springs act together to ensure that the driven arm realizes self-balance of force under the condition of not receiving the action of external force, so that the driven arm cannot sag downwards due to gravity. In the use, also guarantee that the user can not receive the interference of gravity to the arm when control driven arm, reduce the control degree of difficulty to the driven arm, further promote the training effect.
In one embodiment, the first driven rod and the second driven rod are respectively provided with a hook suitable for connecting a second spring 52 and the first spring 51, one end of the first spring 51 is connected to the driven arm seat 1, the other end of the first spring is connected to the hook of the second driven rod 22, one end of the second spring 52 is connected to the driven arm seat 1, and the other end of the second spring is connected to the hook of the first driven rod 21.
Optionally, as shown in fig. 3, the dual-arm training robot further comprises a slideway 6, a first slide block 61 and a first slide block 62, wherein a sixth rotating shaft at the lower end of the driven arm seat 1 is connected with the first slide block 61, and is adapted to rotate the driven arm seat 1 around the first slide block 61 by 180 ° counterclockwise, and the driving arm seat 3 is fixedly connected with the first slide block 62;
the first sliding block 61 and the first sliding block 62 are respectively connected with the sliding way 6 in a sliding manner, the driving arm 4 and the driven arm are suitable for sliding towards the connecting line direction of the driving arm seat 3 and the driven arm seat 1, and the lower end of the sliding way 6 is connected with the central shaft of the support 5 in a rotating manner through a piece of central shaft penetrating through the central shaft and is suitable for horizontal rotation.
The sixth rotating shaft at the lower end of the driven arm seat 1 is connected with the first sliding block 61, so that the driven arm can move in three degrees of freedom.
When the distance between the master arm 4 and the slave arm is too large, the moving distance output by the master arm 4 may be too far for a user, so that the moving amplitude is too large, the spreading amplitude of the upper limb of the user exceeds the bearable range of the user, in order to prevent the upper limb from being pulled, the first sliding block 61 and the first sliding block 62 are in sliding connection with the slideway 6, the distance between the master arm 4 and the slave arm can be adjusted according to the requirement of the user, the distance between the slave arm and the master arm 4 is consistent with the shoulder width of the user, the moving range of the master arm 4 is kept within the moving range of the upper limb of the user, and the safety of the user is protected.
In one embodiment, the space is too narrow, so that the upper limbs of the user cannot be effectively extended during training, and at this time, the dual-arm training robot needs to have a certain rotation function to train in a limited space, so that the slide 6 is rotatably connected with the support 5 through a central shaft penetrating through the support 5, and can horizontally rotate relative to the support 5, and when the dual arms of the training robot interfere with each other due to the space, the training can be performed by changing the angles of the dual arms relative to the support 5.
Optionally, the dual-arm training robot further includes a first limiting portion disposed outside the driven arm seat 1 and a second limiting portion disposed outside the driving arm seat 3, and the first limiting portion and the second limiting portion are adapted to interfere with outward rotation of the driving arm 4 and the driven arm 2.
In order to ensure the safety of the user and prevent the horizontal extension range of the driving arm 4 and the driven arm 2 from being too large to hurt the user, when the extension range of the driven arm 2 or the driving arm 4 is too large, the user may not have the capability of automatically protecting the upper limb, and the maximum horizontal extension range of the driven arm 2 and the driving arm 4 is limited by the first limiting part at the outer side of the driven arm seat 1 and the second limiting part at the outer side of the driving arm seat 3, so as to protect the safety of the user.
Optionally, the joints of the driven arm seat 1 and the slide 6 and the joints of the driving arm seat 3 and the slide 6 are respectively provided with a fastener, which is suitable for fastening or loosening the driving arm 4 and the driven arm 2 on the slide 6.
Loosening of the driving arm seat 3 and the driven arm seat 1 on the slideway 6 is realized through a fastener, and the relative distance between the driving arm 4 and the driven arm 2 can be freely adjusted; the driving arm seat 3 and the driven arm seat 1 are fastened on the slide 6 through fasteners, the driving arm 4 and the driven arm 2 can be fixed, and the training effect is improved.
Optionally, the dual-arm training robot further includes a third limiting portion and a fourth limiting portion, the third limiting portion and the fourth limiting portion are respectively disposed on the driven arm base 1 and the driving arm base 3, and the third limiting portion and the fourth limiting portion are parallel to the slide rail of the slide 6 and are respectively adapted to limit the lifting heights of the first driven rod 21 and the first driving rod.
In an embodiment, the third limiting portion and the fourth limiting portion respectively limit the maximum lifting height of the first driven rod 21 and the first driving rod, so as to prevent the driving arm 4 from outputting a track with the same amplitude when the upper limb controlling the driven arm 2 makes a motion amplitude of the upper limb unsuitable for controlling the driving arm 4, and prevent the driving arm 4 from causing damage to the upper limb when the motor fails.
Optionally, the dual-arm training robot further comprises a control circuit and a controller, and the control circuit and the controller are both arranged to be tightly attached to the central shaft.
In an embodiment, with control circuit and controller integration in a plurality of box bodys, hug closely the box body and place around the center pin, can effectively reduce the volume of support 5, save space, the removal and the placing of the double-armed robot of being convenient for.
Alternatively, as shown in fig. 4, the first rotating shaft 7 and the second rotating shaft 8 are T-shaped rotating shafts;
the second motor is horizontally arranged in the second rotating shaft 8, the second rotating shaft 8 comprises a fifth connecting part 81 and a sixth connecting part 82, the fifth connecting part 81 is provided with a protruding part, the protruding part is rotatably connected with the fourth connecting part 72 of the first rotating shaft 7, and the sixth connecting part 82 is rotatably connected with the first active lever 41;
the first motor is vertically arranged in the first rotating shaft 7, the first rotating shaft 7 comprises a third connecting portion 71 and a fourth connecting portion 72, the third connecting portion 71 is rotatably connected with the driving arm seat 3, the fourth connecting portion 72 is connected with the second rotating shaft 8, and the fourth connecting portion 72 is suitable for rotating around the second rotating shaft 8 clockwise by 180 degrees.
In an embodiment, the fourth connecting portion 72 may rotate clockwise 180 ° around the second rotating shaft 8, the driven arm base 1 may rotate counterclockwise 180 ° around the first slider 61, and after the third connecting portion 71 and the driven arm base 1 rotate 180 °, left-right exchange between the driving arm 4 and the driven arm 2 may be achieved, so as to ensure that both the left arm and the right arm of the user can be trained by the driving arm 4 and the driven arm 2.
Alternatively, the first motor is vertically disposed with respect to the ground, the second motor and the third motor are horizontally disposed with respect to the ground, the first motor is adapted to horizontally rotate the protruding portion, the second motor is adapted to vertically rotate the first active lever 41, and the third motor is adapted to vertically rotate the second active lever 42.
The first motor is vertically arranged relative to the ground, so that the freedom degree control of the left and right directions of the active arm 4 can be realized, and the active arm 4 can train the left and right arms of a user; the second motor and the third motor are horizontally arranged relative to the ground, so that the upper and lower degrees of freedom and the front and back degrees of freedom of the main driving arm 4 can be controlled, the upper limb action of a user can be simulated, and the upper limb training of the user is realized.
In another aspect, the present invention further provides a dual-arm training method, adapted to the dual-arm training robot described above, including:
and S100, performing dynamic modeling on the driven arm or the driving arm to obtain a first dynamic model.
Because the mechanical components of the driving arm 4 and the driven arm 2 are similar and are both composed of two connecting rods and three shafts, the accurate control of the mechanical arm can be ensured only by performing dynamic modeling on one of the driving arm 4 and the driven arm 2.
And S200, controlling a first position sensor, a second position sensor and a third position sensor to acquire first dynamic data of the driven arm.
First dynamic data of the driven arm 2 are acquired by three sensors, which first dynamic data comprise position data, force data and direction data. The motion trail of the driven arm 2 can be accurately acquired through the first dynamic data, so that the motion trail output of the driving arm 4 is controlled based on the motion trail of the driven arm 2.
And step S300, obtaining expected data according to the first dynamic data.
And processing the first dynamic data by using a controller, namely processing the motion trail of the driven arm 2 by using the controller to obtain the motion trail required to be completed by the driving arm 4.
The first dynamic data include position data of the driven arm 2, magnitude and direction data of the force received by the driven arm 2.
And S400, respectively controlling a first motor, a second motor and a third motor to enable the driving arm to perform mirror image motion relative to the driven arm based on the expected data and the first dynamic model.
The expected data is put into the first dynamic model, whether the main driving arm 4 reaches the corresponding position of the preset track or not can be judged in the training process, and therefore the main driving arm 4 can be controlled to output the auxiliary force to the upper limb according to the requirement, and the mirror image training of the two arms is achieved.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. A double-arm training robot is characterized by comprising a driven arm seat (1), a driven arm (2), a driving arm seat (3), a driving arm (4) and a support (5), wherein the driving arm (4) comprises a second handle, a second connecting part, a first driving rod (41) and a second driving rod (42), the driving arm seat (3) is connected with the first driving rod (41) through a first rotating shaft (7) and a second rotating shaft (8) which are perpendicular to each other, the first rotating shaft (7) connected with the driving arm seat (3) is provided with a first motor, the second rotating shaft (8) connected with the first driving rod (41) is provided with a second motor, the first driving rod (41) is connected with the second driving rod (42) through a third rotating shaft, the third rotating shaft is provided with a third motor, and the second handle is rotatably connected with one end of the second connecting part, the second handle is suitable for being horizontally rotated, and the other end of the second connecting part is rotatably connected with the second active rod (42) and is suitable for being vertically rotated;
the driven arm (2) comprises a first handle, a first connecting part, a first driven rod (21) and a second driven rod (22), the driven arm seat (1) is connected with the first driven rod (21) through a fourth rotating shaft, a second position sensor is arranged on the fourth rotating shaft, the first driven rod (21) is connected with the second driven rod (22) through a fifth rotating shaft, a third position sensor is arranged on the fifth rotating shaft, a sixth rotating shaft is arranged at the lower end of the driven arm seat (1), a first position sensor is arranged on the sixth rotating shaft, the first handle is rotatably connected with one end of the first connecting part and is suitable for enabling the first handle to horizontally rotate, and the first connecting part is rotatably connected with the other end of the second driven rod (22) and is suitable for enabling the first handle to vertically rotate;
the support (5) is arranged at the lower ends of the driving arm (4) and the driven arm (2) and is suitable for bearing the driving arm (4) and the driven arm (2), and the driving arm (4) and the driven arm (2) are symmetrically arranged relative to the geometric center of the support (5).
2. The dual arm training robot according to claim 1, further comprising a first spring (51) and a second spring (52), wherein one end of the first spring (51) is connected to the second driven lever (22) and the other end is connected to the driven arm base (1), and the elastic potential energy of the first spring (51) in the horizontal upward direction to the second driven lever (22) is equal to the sum of the gravitational potential energy of the second driven lever (22) and the shaft end friction force of the fifth rotating shaft;
one end of the second spring (52) is connected with the first driven rod (21), the other end of the second spring is connected with the driven arm seat (1), and the horizontal upward elastic potential energy provided by the second spring (52) to the first driven rod (21) is equal to the sum of the gravitational potential energy of the first driven rod (21) and the second driven rod (22) and the shaft end friction force of the fourth rotating shaft.
3. The dual-arm training robot according to claim 1 or 2, characterized by further comprising a slide (6), a first slider (61) and a second slider (62), wherein the sixth rotating shaft is connected with the first slider (61) and is suitable for rotating the driven arm base (1) around the first slider (61) by 180 degrees counterclockwise, and the driving arm base (3) is fixedly connected with the second slider (62);
first slider (61) with second slider (62) respectively with slide (6) sliding connection, driving arm (4) with driven arm (2) are suitable for towards the line direction slip of driving arm seat (3) and driven arm seat (1), the lower extreme of slide (6) run through one in the center pin rotation of support (5) is connected, is suitable for the horizontal rotation.
4. The dual-arm training robot according to claim 3, further comprising a first limit portion disposed outside the driven arm seat (1) and a second limit portion disposed outside the driving arm seat (3), the first limit portion and the second limit portion being adapted to interfere with outward rotation of the driving arm (4) and the driven arm (2).
5. The dual-arm training robot according to claim 4, wherein a joint of the driven arm base (1) and the slideway (6) and a joint of the driving arm base (3) and the slideway (6) are respectively provided with a fastener suitable for fastening or loosening the driving arm (4) and the driven arm (2) on the slideway (6).
6. The dual-arm training robot of claim 3, further comprising a third limiting part and a fourth limiting part, wherein the third limiting part and the fourth limiting part are respectively disposed on the driven arm seat (1) and the driving arm seat (3), and the third limiting part and the fourth limiting part are parallel to a slide rail of the slide (6) and are respectively adapted to limit the lifting height of the first driven rod (21) and the first driving rod (41).
7. The dual-arm training robot of claim 3, further comprising a control circuit and a controller, both of which are disposed proximate to the central shaft.
8. The dual-arm training robot according to claim 1, wherein the first and second rotating shafts (7, 8) are T-shaped rotating shafts;
the second motor is horizontally arranged in the second rotating shaft (8), the second rotating shaft (8) comprises a fifth connecting part (81) and a sixth connecting part (82), the fifth connecting part (81) is provided with a protruding part, the protruding part is rotatably connected with a fourth connecting part (72) of the first rotating shaft (7), and the sixth connecting part (82) is rotatably connected with the first active rod (41);
the first motor is vertically arranged in the first rotating shaft (7), the first rotating shaft (7) comprises a third connecting portion (71) and a fourth connecting portion (72), the third connecting portion (71) is rotatably connected with the driving arm seat (3), the fourth connecting portion (72) is connected with the second rotating shaft (8), and the fourth connecting portion (72) is suitable for rotating around the second rotating shaft (8) clockwise by 180 degrees.
9. The dual arm training robot of claim 8, wherein the first motor is vertically disposed with respect to the ground, the second motor and the third motor are horizontally disposed with respect to the ground, the first motor is adapted to horizontally rotate the protrusion, the second motor is adapted to vertically rotate the first active lever (41), and the third motor is adapted to vertically rotate the second active lever (42).
10. A two-arm training method based on the two-arm training robot of any one of claims 1 to 9, the two-arm training method comprising:
performing dynamic modeling on the driven arm (2) or the driving arm (4) to obtain a first dynamic model;
acquiring first dynamic data of the driven arm (2) through a first position sensor, a second position sensor and a third position sensor;
obtaining desired data from the first kinetic data;
and respectively controlling a first motor, a second motor and a third motor to enable the driving arm (4) to carry out mirror image movement relative to the driven arm (2) based on the expected data and the first dynamic model.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111517844.XA CN114272077A (en) | 2021-12-10 | 2021-12-10 | Double-arm training robot and double-arm training method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111517844.XA CN114272077A (en) | 2021-12-10 | 2021-12-10 | Double-arm training robot and double-arm training method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114272077A true CN114272077A (en) | 2022-04-05 |
Family
ID=80871770
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111517844.XA Pending CN114272077A (en) | 2021-12-10 | 2021-12-10 | Double-arm training robot and double-arm training method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114272077A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1850824A2 (en) * | 2005-02-04 | 2007-11-07 | Motorika Limited | Methods and apparatuses for rehabilitation and training |
| CN108836732A (en) * | 2018-04-20 | 2018-11-20 | 北京工业大学 | A kind of rehabilitation training of upper limbs exoskeleton mechanism with people-machine motion compatibility and passive gravitational equilibrium characteristic |
| CN109223447A (en) * | 2018-11-23 | 2019-01-18 | 上海理工大学 | A kind of upper limb healing of right and left mutually changing and movable auxiliary device |
| CN109223444A (en) * | 2018-10-23 | 2019-01-18 | 上海电气集团股份有限公司 | Healing robot and its man-machine coordination interaction force control method |
| CN111110509A (en) * | 2019-12-25 | 2020-05-08 | 南京理工大学 | Interchangeable and evading strange seven-degree-of-freedom upper limb exoskeleton rehabilitation robot |
| CN112494271A (en) * | 2020-11-18 | 2021-03-16 | 燕山大学 | Upper limb rehabilitation training device |
-
2021
- 2021-12-10 CN CN202111517844.XA patent/CN114272077A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1850824A2 (en) * | 2005-02-04 | 2007-11-07 | Motorika Limited | Methods and apparatuses for rehabilitation and training |
| CN108836732A (en) * | 2018-04-20 | 2018-11-20 | 北京工业大学 | A kind of rehabilitation training of upper limbs exoskeleton mechanism with people-machine motion compatibility and passive gravitational equilibrium characteristic |
| CN109223444A (en) * | 2018-10-23 | 2019-01-18 | 上海电气集团股份有限公司 | Healing robot and its man-machine coordination interaction force control method |
| CN109223447A (en) * | 2018-11-23 | 2019-01-18 | 上海理工大学 | A kind of upper limb healing of right and left mutually changing and movable auxiliary device |
| CN111110509A (en) * | 2019-12-25 | 2020-05-08 | 南京理工大学 | Interchangeable and evading strange seven-degree-of-freedom upper limb exoskeleton rehabilitation robot |
| CN112494271A (en) * | 2020-11-18 | 2021-03-16 | 燕山大学 | Upper limb rehabilitation training device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zeiaee et al. | Design and kinematic analysis of a novel upper limb exoskeleton for rehabilitation of stroke patients | |
| Parietti et al. | Independent, voluntary control of extra robotic limbs | |
| Mao et al. | Human movement training with a cable driven arm exoskeleton (CAREX) | |
| Jin et al. | Design of a cable-driven active leg exoskeleton (C-ALEX) and gait training experiments with human subjects | |
| Sugar et al. | Design and control of RUPERT: a device for robotic upper extremity repetitive therapy | |
| Stienen et al. | Self-aligning exoskeleton axes through decoupling of joint rotations and translations | |
| US8347710B2 (en) | Robotic exoskeleton for limb movement | |
| Ball et al. | MEDARM: a rehabilitation robot with 5DOF at the shoulder complex | |
| CN113749903A (en) | Non-exoskeleton rehabilitation device with multiple active axes | |
| CN113613581A (en) | Non-exoskeleton robot rehabilitation device with multiple active axes | |
| AbdulKareem et al. | Recent trends in robotic systems for upper-limb stroke recovery: A low-cost hand and wrist rehabilitation device | |
| Gonçalves et al. | Cable-driven robot for upper and lower limbs rehabilitation | |
| Kooren et al. | Design and control of the Active A-Gear: A wearable 5 DOF arm exoskeleton for adults with Duchenne muscular dystrophy | |
| Shen et al. | Upper limb wearable exoskeleton systems for rehabilitation: State of the art review and a case study of the EXO-UL8—Dual-arm exoskeleton system | |
| CN112894765A (en) | Wearable muscle strength auxiliary device | |
| CN114272077A (en) | Double-arm training robot and double-arm training method | |
| CN111687847A (en) | Remote control device and control interaction mode of foot type robot | |
| Park et al. | Design and preliminary evaluation of a multi-robotic system with pelvic and hip assistance for pediatric gait rehabilitation | |
| McDaid | Development of an anatomical wrist therapy exoskeleton (AW-TEx) | |
| Zahedi et al. | A Bamboo-Inspired Exoskeleton (BiEXO) Based on Carbon Fiber for Shoulder and Elbow Joints | |
| Macovei et al. | A short overview of upper limb rehabilitation devices | |
| CN212421309U (en) | Remote control device of foot type robot | |
| Huang et al. | Design of a compliant joint actuator for lower-limb exoskeleton robot | |
| Yang et al. | Mechanism design and kinematic analysis of a waist and lower limbs cable-driven parallel rehabilitation robot | |
| JP7397425B2 (en) | Action expression mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |