TWI577365B - Rehabilitation robot system - Google Patents
Rehabilitation robot system Download PDFInfo
- Publication number
- TWI577365B TWI577365B TW104130103A TW104130103A TWI577365B TW I577365 B TWI577365 B TW I577365B TW 104130103 A TW104130103 A TW 104130103A TW 104130103 A TW104130103 A TW 104130103A TW I577365 B TWI577365 B TW I577365B
- Authority
- TW
- Taiwan
- Prior art keywords
- value
- data
- bending
- module
- control
- Prior art date
Links
Landscapes
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Description
本發明是有關於一種機械手系統，特別是指一種復健機械手系統。 The present invention relates to a robotic system, and more particularly to a rehabilitation robotic system.
習知的手部復健治療，患者需要前往醫療院所且在醫護人員的指示與協助下進行。而醫護人員對於患者手部的復健成效，則是需要以人工的方式使用諸如圓柱積木或是量角器等器具來做評估。然而，由於復健成效往往需要經過多次的療程之後才能顯現，因此患者如果因為時間或路程上的不方便而中途放棄，將使得先前所做的努力以及醫療資源的付出都平白地浪費了。 Conventional hand rehabilitation treatment, patients need to go to the medical institution and with the instructions and assistance of the medical staff. The health care staff's effectiveness in rehabilitating the patient's hand requires manual use of equipment such as cylindrical blocks or protractors for evaluation. However, since the effectiveness of rehabilitation often takes place after many treatments, patients who give up halfway due to inconvenience in time or distance will waste all previous efforts and medical resources.
因此，本發明之目的，即在提供一種易於操作、判斷客觀且適於讓患者可以在自家進行手部復健的個人化復健機械手系統。 Accordingly, it is an object of the present invention to provide a personalized rehabilitation robotic system that is easy to operate, judges objectively, and is suitable for allowing a patient to perform hand rehabilitation at home.
於是本發明復健機械手系統，適用於一使用者之一手掌穿戴，且包含一根據一參考資料產生一控制信號的控制單元、一受該控制信號控制以執行一題目手勢的機械手，及一穿戴於該手掌的資料手套。該資料手套包括一指套且偵測該指套之一彎曲度並產生相關於該指套的該彎 曲度的一數據資料。該控制單元更接收來自該資料手套的該數據資料，並將該數據資料比對於該參考資料，以產生一判斷符合該參考資料程度的比對結果。 Therefore, the rehabilitation robot system of the present invention is suitable for wearing by one of the palms of a user, and includes a control unit that generates a control signal according to a reference material, a robot that is controlled by the control signal to perform a topic gesture, and A data glove worn on the palm of the hand. The data glove includes a finger cuff and detects one of the finger cuffs and produces the bend associated with the finger cuff A data sheet of curvature. The control unit further receives the data from the data glove and compares the data to the reference to generate a comparison result that determines the degree of compliance with the reference.
本發明之功效在於，藉由該機械手在該使用者面前執行該題目手勢，可使得該使用者清楚地看到所需要學習的手勢，接著再穿戴著該資料手套學習該題目手勢而做出一對應的回答手勢。而該控制單元如同醫護人員一般地比對與判斷該回答手勢與該題目手勢間的符合程度，讓該使用者得知目前的復健進展，從而讓患者在自家也能進行有效的復健療程。 The effect of the present invention is that the robot performs the question gesture in front of the user, so that the user can clearly see the gesture that needs to be learned, and then wear the data glove to learn the topic gesture and make A corresponding answer gesture. The control unit generally compares and judges the degree of conformity between the answer gesture and the topic gesture as the medical staff, so that the user knows the current progress of rehabilitation, so that the patient can perform effective rehabilitation treatment at home. .
1‧‧‧輸入介面 1‧‧‧Input interface
11‧‧‧選擇按鈕 11‧‧‧Select button
12‧‧‧輸入按鈕 12‧‧‧ input button
2‧‧‧控制單元 2‧‧‧Control unit
21‧‧‧指令監測模組 21‧‧‧Instruction Monitoring Module
22‧‧‧彙整處理模組 22‧‧‧Consolidation processing module
23‧‧‧馬達控制模組 23‧‧‧Motor control module
24‧‧‧無線傳輸模組 24‧‧‧Wireless Transmission Module
25‧‧‧訊號擷取模組 25‧‧‧Signal capture module
26‧‧‧操作訊息提示模組 26‧‧‧Operation Message Prompt Module
27‧‧‧音效播放模組 27‧‧‧Audio Playback Module
3‧‧‧機械手 3‧‧‧ Robot
31‧‧‧本體 31‧‧‧Ontology
32‧‧‧伺服馬達 32‧‧‧Servo motor
4‧‧‧資料手套 4‧‧‧Information gloves
41‧‧‧指套 41‧‧‧ finger sets
411‧‧‧彎曲感測器 411‧‧‧Bend sensor
5‧‧‧顯示裝置 5‧‧‧Display device
6‧‧‧音訊裝置 6‧‧‧Audio device
71‧‧‧流程 71‧‧‧Process
72‧‧‧流程 72‧‧‧ Process
73‧‧‧流程 73‧‧‧ Process
本發明之其他的特徵及功效，將於參照圖式的實施方式中清楚地呈現，其中：圖1是一方塊示意圖，說明本發明復健機械手系統之一實施例；圖2是一示意圖，說明本實施例之一機械手；圖3是一示意圖，說明本實施例之一資料手套；圖4是一流程圖，說明本實施例之一簡單訓練模式的運作流程；圖5是一流程圖，說明本實施例之一困難訓練模式的運作流程；及圖6是一流程圖，說明本實施例之一客製化訓練模式的運作流程。 Other features and advantages of the present invention will be apparent from the embodiments of the present invention. FIG. 1 is a block diagram showing an embodiment of the rehabilitation robot system of the present invention; FIG. 2 is a schematic view. FIG. 3 is a schematic diagram illustrating a data glove of the embodiment; FIG. 4 is a flowchart illustrating the operation flow of a simple training mode of the embodiment; FIG. The operational flow of the difficult training mode of the present embodiment is illustrated; and FIG. 6 is a flowchart illustrating the operational flow of one of the customized training modes of the present embodiment.
參閱圖1，本發明復健機械手系統之一實施例，包含一輸入介面1、一控制單元2、一機械手3、一資料手套4、一顯示裝置5及一音訊裝置6。 Referring to FIG. 1, an embodiment of the rehabilitation robot system of the present invention comprises an input interface 1, a control unit 2, a robot 3, a data glove 4, a display device 5, and an audio device 6.
該輸入介面1包括多個選擇按鈕11供一使用者按壓，每一個選擇按鈕11受觸發而使該輸入介面1產生一相應的指令信號，該指令信號指示多種不同訓練模式的其中之一，且於本實施例中該等不同訓練模式包括一簡單訓練模式、一困難訓練模式及一客製化訓練模式。 The input interface 1 includes a plurality of selection buttons 11 for a user to press, each of the selection buttons 11 being triggered to cause the input interface 1 to generate a corresponding command signal indicating one of a plurality of different training modes, and In the present embodiment, the different training modes include a simple training mode, a difficult training mode, and a customized training mode.
該控制單元2包括一指令監測模組21、一彙整處理模組22、一馬達控制模組23及一無線傳輸模組24。 The control unit 2 includes an instruction monitoring module 21, a take-up processing module 22, a motor control module 23, and a wireless transmission module 24.
該指令監測模組21接收來自該輸入介面1的該指令信號，且將該指令信號解譯後，產生一對應的模式選擇信號。 The command monitoring module 21 receives the command signal from the input interface 1 and interprets the command signal to generate a corresponding mode selection signal.
該彙整處理模組22儲存多個分別對應於該等不同訓練模式的參考資料，且接收來自該指令監測模組21的該模式選擇信號，並根據該模式選擇信號以選擇所對應的該參考資料。 The processing module 22 stores a plurality of reference materials respectively corresponding to the different training modes, and receives the mode selection signal from the instruction monitoring module 21, and selects a corresponding reference data according to the mode selection signal. .
當該使用者按壓對應於該簡單訓練模式的該選擇按鈕11時，該指令信號指示該簡單訓練模式，且該彙整處理模組22所選擇的該參考資料包括根據一隨機變數而產生的五個預設彎曲值。 When the user presses the select button 11 corresponding to the simple training mode, the command signal indicates the simple training mode, and the reference data selected by the take-up processing module 22 includes five generated according to a random variable. Preset the bending value.
當該使用者按壓對應於該困難訓練模式的該選擇按鈕11時，該指令信號指示該困難訓練模式，且該彙整 處理模組22所選擇的該參考資料包括五預設彎曲值組，每一預設彎曲值組具有根據一隨機變數而依序產生的多個對應不同時間點的預設彎曲值。 When the user presses the selection button 11 corresponding to the difficult training mode, the instruction signal indicates the difficult training mode, and the summary The reference data selected by the processing module 22 includes five preset bending value groups, and each preset bending value group has a plurality of preset bending values corresponding to different time points sequentially generated according to a random variable.
該輸入介面1還包括多個輸入按鈕12，當該使用者按壓對應於該客製化訓練模式的該選擇按鈕11時，該指令信號指示該客製化訓練模式，且該彙整處理模組22所選擇的該參考資料包括由該多個輸入按鈕12所輸入的五預設彎曲值或是五預設彎曲值組，其中，每一預設彎曲值組具有多個對應不同時間點的預設彎曲值。 The input interface 1 further includes a plurality of input buttons 12, and when the user presses the selection button 11 corresponding to the customized training mode, the command signal indicates the customized training mode, and the take-up processing module 22 The selected reference material includes five preset bending values or five preset bending value groups input by the plurality of input buttons 12, wherein each preset bending value group has a plurality of presets corresponding to different time points. Bending value.
該馬達控制模組23接收來自該彙整處理模組22對應於受選擇的該訓練模式的該參考資料，並以脈衝寬度調變(Pulse Width Modulation，PWM)的方式將該參考資料轉換成一控制信號。 The motor control module 23 receives the reference data corresponding to the selected training mode from the take-up processing module 22, and converts the reference data into a control signal by means of Pulse Width Modulation (PWM). .
該無線傳輸模組24接收該控制信號，且採用ZigBee無線通訊標準將該控制信號無線地傳送至該機械手3。 The wireless transmission module 24 receives the control signal and wirelessly transmits the control signal to the robot 3 using a ZigBee wireless communication standard.
參閱圖2，該機械手3受該脈衝寬度調變的控制信號控制以執行一題目手勢。本實施例所採用的該機械手3包括一相似於該使用者的手掌形狀的本體31，及裝設於該本體31的五伺服馬達32。該五伺服馬達32接收該脈衝寬度調變的控制信號後，分別使該本體31的五手指部產生相應於該五預設彎曲值(或該五預設彎曲值組)的彎曲度而呈現該題目手勢供該使用者學習。值得一提的是，該機械手3是採用3D列印技術製作而成，透過3D列印技術而能 快速地獲得客製化的產品。 Referring to Figure 2, the robot 3 is controlled by the pulse width modulated control signal to perform a subject gesture. The robot 3 used in this embodiment includes a body 31 similar to the palm shape of the user, and a five servo motor 32 mounted on the body 31. After receiving the pulse width modulation control signal, the five servo motor 32 respectively causes the five finger portions of the body 31 to generate a curvature corresponding to the five preset bending values (or the five preset bending value groups) to present the The topic gesture is for the user to learn. It is worth mentioning that the robot 3 is made by 3D printing technology and can be processed by 3D printing technology. Get customized products quickly.
參閱圖3，該資料手套4穿戴於該使用者的該手掌，包括五指套41且分別偵測相應於該五指套41的五彎曲度並產生相關於該五彎曲度的一數據資料。該五指套41分別裝設有對應的五彎曲感測器411(Flex sensor)，且該五彎曲感測器411依據不同的彎曲度而分別對應不同的五電阻值。該數據資料包括分別正比該五彎曲度的該五電阻值。本實施例所使用的彎曲感測器411是一種可撓性電阻，其電阻值的變化範圍約略介於30kOhm至40kOhm之間。 Referring to FIG. 3, the data glove 4 is worn on the palm of the user, and includes a five-finger sleeve 41 and respectively detects five degrees of curvature corresponding to the five-finger sleeve 41 and generates a data relating to the five degrees of curvature. The five finger sleeves 41 are respectively provided with corresponding five bending sensors 411 (Flex sensors), and the five bending sensors 411 respectively correspond to different five resistance values according to different bending degrees. The data includes the five resistance values that are proportional to the five degrees of curvature, respectively. The bending sensor 411 used in this embodiment is a flexible resistor whose resistance value ranges from approximately 30 kOhm to 40 kOhm.
再參閱圖1，該控制單元2還包括一訊號擷取模組25、一操作訊息提示模組26及一音效播放模組27。 Referring to FIG. 1 , the control unit 2 further includes a signal capture module 25 , an operation message prompt module 26 , and an audio play module 27 .
該訊號擷取模組25擷取來自該資料手套4所產生的該數據資料，且將該數據資料所包括的該五電阻值分別正規化為介於一第一數值及一第二數值間的五偵側彎曲值，且該第一數值對應於每一指套41呈一完全展開狀態之偵測彎曲值，該第二數值對應於每一指套41呈一完全彎曲狀態之偵測彎曲值。本實施例選用0為該第一數值，180為該第二數值。舉例而言，當該使用者之拇指呈現完全展開的狀態時，該訊號擷取模組25正規化對應該拇指的該電阻值而輸出一數值等於0的偵測彎曲值。依此類推，該訊號擷取模組25也會依照該使用者的其他四根手指的彎曲度而產生另外四個對應的偵測彎曲值。 The signal capture module 25 retrieves the data generated by the data glove 4, and normalizes the five resistance values included in the data data to be between a first value and a second value. The five detection side bending values, and the first value corresponds to the detected bending value of each of the finger sleeves 41 in a fully expanded state, and the second value corresponds to the detected bending value of each of the finger sleeves 41 in a fully curved state. . In this embodiment, 0 is used as the first value, and 180 is the second value. For example, when the user's thumb is in a fully deployed state, the signal capture module 25 normalizes the resistance value corresponding to the thumb and outputs a detected bending value equal to zero. By analogy, the signal capture module 25 also generates four corresponding detected bending values according to the curvature of the other four fingers of the user.
該彙整處理模組22更接收來自該訊號擷取模組25的該五偵測彎曲值，並將該數據資料的該五偵測彎曲值 比對於對應的該參考資料的該五預設彎曲值，且判斷該五偵測彎曲值與對應的該五預設彎曲值間的符合程度，而產生一比對結果。且顯示至少一相關於該五偵側彎曲值、該五預設彎曲值或其組合的圖形畫面於該顯示裝置5。 The processing module 22 further receives the five detected bending values from the signal capturing module 25, and the five detected bending values of the data data Comparing the five preset bending values of the corresponding reference material and determining the degree of conformity between the five detected bending values and the corresponding five predetermined bending values, a comparison result is generated. And displaying at least one graphic screen related to the five-detection side bending value, the five preset bending values, or a combination thereof on the display device 5.
該操作訊息提示模組26儲存有複數提示視訊，且於接收該模式選擇信號或該五偵側彎曲值而顯示一相應的提示視訊於該顯示裝置5。 The operation message prompting module 26 stores a plurality of prompt video messages, and displays a corresponding prompt video to the display device 5 after receiving the mode selection signal or the five-detection side bending value.
該音效播放模組27儲存有複數提示音訊，且於接收該模式選擇信號或該五偵側彎曲值而播放一相應的提示音訊於該音訊裝置6。本實施例的該等提示音訊包括：對應該使用者按壓任一個選擇按鈕11的模式選擇音效、提示該使用者開始進行學習該機械手3所顯示的該題目手勢的手勢提醒音效、以及對應該彙整處理模組22所產生的該比對結果的正確/錯誤音效等。 The sound effect playing module 27 stores a plurality of prompting sounds, and plays a corresponding prompting sound to the audio device 6 after receiving the mode selection signal or the five detecting side bending values. The prompting audio of the embodiment includes: selecting a sound effect corresponding to a mode in which the user presses any one of the selection buttons 11, prompting the user to start learning a gesture reminding sound effect of the topic gesture displayed by the robot 3, and correspondingly The correct/error sound effect and the like of the comparison result generated by the processing module 22.
以下分別就本實施例的該三種訓練模式做進一步的說明：參閱圖4，流程71說明該使用者選擇操作於該簡單訓練模式，該指令監測模組21產生對應於該簡單訓練模式的一模式選擇訊號。接著，該控制單元2讀取一隨機變數且產生相關於該隨機變數的五預設彎曲值，而該彙整處理模組22根據該模式選擇信號而選擇該五預設彎曲值並輸出。該馬達控制模組23接收該五預設彎曲值並據以轉換成一控制信號。該無線傳輸模組24接收該控制信號，且無線傳送該控制信號至該機械手3，使得該機械手3受該控制 信號控制而執行一題目手勢。 The three training modes of the present embodiment are further described below. Referring to FIG. 4, the flow 71 indicates that the user selects to operate in the simple training mode, and the command monitoring module 21 generates a mode corresponding to the simple training mode. Select the signal. Next, the control unit 2 reads a random variable and generates five preset bending values related to the random variable, and the take processing module 22 selects the five preset bending values according to the mode selection signal and outputs the same. The motor control module 23 receives the five preset bending values and converts them into a control signal accordingly. The wireless transmission module 24 receives the control signal and wirelessly transmits the control signal to the robot 3, so that the robot 3 is controlled by the control Signal control controls a topic gesture.
於該機械手3執行並呈現出該題目手勢後，該使用者穿戴著該資料手套4以學習該題目手勢，而使得該資料手套4輸出包括五電阻值之一數據資料。該訊號擷取模組25接收該數據資料且將該五電阻值分別正規化成五偵測彎曲值。最後，該控制單元2再根據該彙整處理模組22比對該五偵測彎曲值相符於該五預設彎曲值的程度而判斷該使用者的回答是否正確。若該五偵測彎曲值與該五預設彎曲值相符合，則該音效播放模組27播放一正確提示音訊；若該五偵測彎曲值與該五預設彎曲值不符合，則該音效播放模組27播放一錯誤提示音訊。此外，該彙整處理模組22還能將該資料手套4所輸出的該數據資料即時地顯示於該顯示裝置5，並能儲存該數據資料供日後的查閱或分析以掌握該使用者的復健進展。 After the robot 3 executes and presents the topic gesture, the user wears the data glove 4 to learn the topic gesture, so that the data glove 4 outputs data including one of the five resistance values. The signal capture module 25 receives the data and normalizes the five resistance values into five detected bending values. Finally, the control unit 2 determines whether the user's answer is correct according to the degree to which the five detection bending values conform to the five preset bending values. If the five detected bending values match the five preset bending values, the sound effect playing module 27 plays a correct prompting sound; if the five detected bending values do not match the five preset bending values, the sound effect The play module 27 plays an error prompt message. In addition, the data processing module 22 can display the data outputted by the data glove 4 on the display device 5, and can store the data for later review or analysis to grasp the user's rehabilitation. progress.
參閱圖5，流程72說明該使用者選擇操作於該困難訓練模式，大致相同於該簡單訓練模式，不同之處在於：該控制單元2讀取一隨機變數且產生五預設彎曲值組，且每一預設彎曲值組具有多個根據該隨機變數而依序產生的多個對應不同時間點的預設彎曲值。且該機械手3於接收相關於該五預設彎曲值組的控制信號後，會連續地執行多個不同的題目手勢供該使用者學習。接著，該使用者穿戴著該資料手套4學習該連續的多個不同的題目手勢。 Referring to FIG. 5, the process 72 illustrates that the user selects to operate in the difficult training mode, which is substantially the same as the simple training mode, except that the control unit 2 reads a random variable and generates five preset bending value groups, and Each preset bending value group has a plurality of preset bending values corresponding to different time points correspondingly generated according to the random variable. And after receiving the control signal related to the five preset bending value groups, the robot 3 continuously executes a plurality of different topic gestures for the user to learn. Next, the user wears the data glove 4 to learn the plurality of consecutive different topic gestures.
參閱圖6，流程73說明該使用者選擇操作於該客製化訓練模式，大致相同於該簡單訓練模式，不同之處 在於：該使用者或是其他的協助人員需要透過該輸入介面1的該等輸入按鈕12先輸入五預設彎曲值，而該機械手3於接收相關於該五預設彎曲值的該控制信號後，會執行一題目手勢供該使用者學習。接著，該使用者穿戴著該資料手套4學習該題目手勢。值得一提的是，該使用者或其他的協助人員也可以輸入五預設彎曲值組，其中，每一預設彎曲值組具有多個對應不同時間點的預設彎曲值。當該機械手3接收相關於該五預設彎曲值組的該控制信號後，會連續地執行多個不同的題目手勢供該使用者學習。 Referring to FIG. 6, the flow 73 indicates that the user selects to operate in the customized training mode, which is substantially the same as the simple training mode, and the difference is The user or other assisting personnel need to input five preset bending values through the input buttons 12 of the input interface 1, and the robot 3 receives the control signal related to the five preset bending values. After that, a topic gesture is executed for the user to learn. Next, the user wears the data glove 4 to learn the topic gesture. It is worth mentioning that the user or other assisting personnel can also input five preset bending value groups, wherein each preset bending value group has a plurality of preset bending values corresponding to different time points. When the robot 3 receives the control signal related to the five preset bending value groups, a plurality of different topic gestures are continuously executed for the user to learn.
經由以上的說明，上述實施例具有以下優點： Through the above description, the above embodiment has the following advantages:
一、藉由該控制單元2根據一參考資料產生一控制信號以控制該機械手3執行一題目手勢，該使用者可以清楚且具體地看到所要學習的手勢，並穿戴著該資料手套4學習該題目手勢而做出一對應的回答手勢且產生一數據資料。該控制單元2接收該數據資料並將該數據資料比對於該參考資料以判斷兩者間的符合程度，讓該使用者能即時得知目前的復健進展，從而讓該使用者在自家也能進行有效的復健療程。而且透過人機之間的互動，也增添了復健過程中的樂趣而促使該使用者持之以恆地進行復健而獲得療效。 1. The control unit 2 generates a control signal according to a reference data to control the robot 3 to perform a topic gesture, and the user can clearly and specifically see the gesture to be learned, and wears the data glove 4 to learn The topic gestures a corresponding answer gesture and generates a data profile. The control unit 2 receives the data and compares the data to the reference data to determine the degree of conformity between the two, so that the user can immediately know the current progress of the rehabilitation, so that the user can also Perform an effective rehabilitation session. Moreover, through the interaction between human and machine, it also adds fun in the rehabilitation process and prompts the user to rehabilitate and achieve curative effect.
二、藉由該輸入介面1選擇該簡單訓練模式、該困難訓練模式及該客製化訓練模式三者中的一種，能使該使用者依照自身的復健進度而選擇適合的訓練模式。其中，該機械手3於該簡單訓練模式及該困難訓練模式中所 執行的題目手勢是依據一隨機變數而產生，從而該題目手勢也是隨機地變換，因此能較為全面地訓練該使用者進行各種不同的手勢。而該機械手3於該客製化訓練模式中所執行的題目手勢則是透過該輸入介面1的該等輸入按鈕12所進行設定，因此能針對該使用者需要加強的特定手勢來進行訓練。 2. Selecting one of the simple training mode, the difficult training mode, and the customized training mode by the input interface 1 enables the user to select an appropriate training mode according to his own rehabilitation progress. Wherein the robot 3 is in the simple training mode and the difficult training mode The executed topic gesture is generated according to a random variable, so that the topic gesture is also randomly transformed, so that the user can be more comprehensively trained to perform various gestures. The title gesture executed by the robot 3 in the customized training mode is set by the input buttons 12 of the input interface 1, so that the specific gesture that the user needs to strengthen can be trained.
三、藉由該控制單元2的該操作訊息提示模組26與該音效播放模組27依照該使用者的操作狀態而能分別輸出提示視訊/提示音訊於該顯示裝置5/該音訊裝置6，有助於該使用者清楚地了解目前的操作狀態，或是接下來該執行什麼步驟。 The operation message prompting module 26 and the sound effect playing module 27 of the control unit 2 can respectively output prompting video/prompt audio to the display device 5/the audio device 6 according to the operating state of the user. Help the user to clearly understand the current operational status, or what steps to follow.
四、藉由該無線傳輸模組24無線傳輸該控制信號至該機械手3，能使該機械手3的擺放更具彈性。且相較於WiFi及Bluetooth等無線通訊標準，採用ZigBee來進行傳輸具有開發複雜度較低、耗電較省及建立連線所需時間較短的優勢。 4. The wireless transmission module 24 wirelessly transmits the control signal to the robot 3 to make the placement of the robot 3 more flexible. Compared with wireless communication standards such as WiFi and Bluetooth, ZigBee is used for transmission with the advantages of low development complexity, low power consumption and short connection time.
五、藉由該等彎曲感測器411為主要構件所製作的該資料手套4，由於具有成本低廉、輕巧便利及廣泛適用性的優勢，將有利於本復健系統的推廣與普及從而能幫助更多需要做手部復健的患者。 5. The data glove 4 manufactured by using the bending sensors 411 as a main component has the advantages of low cost, light weight, convenience and wide applicability, which will be beneficial to the promotion and popularization of the rehabilitation system and thus can help. More patients need to do hand rehabilitation.
惟以上所述者，僅為本發明之較佳實施例而已，當不能以此限定本發明實施之範圍，即大凡依本發明申請專利範圍及專利說明書內容所作之簡單的等效變化與修飾，皆仍屬本發明專利涵蓋之範圍內。 The above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, that is, the simple equivalent changes and modifications made by the patent application scope and patent specification content of the present invention, All remain within the scope of the invention patent.
1‧‧‧輸入介面 1‧‧‧Input interface
11‧‧‧選擇按鈕 11‧‧‧Select button
12‧‧‧輸入按鈕 12‧‧‧ input button
2‧‧‧控制單元 2‧‧‧Control unit
21‧‧‧指令監測模組 21‧‧‧Instruction Monitoring Module
22‧‧‧彙整處理模組 22‧‧‧Consolidation processing module
23‧‧‧馬達控制模組 23‧‧‧Motor control module
24‧‧‧無線傳輸模組 24‧‧‧Wireless Transmission Module
25‧‧‧訊號擷取模組 25‧‧‧Signal capture module
26‧‧‧操作訊息提示模組 26‧‧‧Operation Message Prompt Module
27‧‧‧音效播放模組 27‧‧‧Audio Playback Module
3‧‧‧機械手 3‧‧‧ Robot
4‧‧‧資料手套 4‧‧‧Information gloves
41‧‧‧指套 41‧‧‧ finger sets
5‧‧‧顯示裝置 5‧‧‧Display device
6‧‧‧音訊裝置 6‧‧‧Audio device
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW104130103A TWI577365B (en) | 2015-09-11 | 2015-09-11 | Rehabilitation robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW104130103A TWI577365B (en) | 2015-09-11 | 2015-09-11 | Rehabilitation robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201709889A TW201709889A (en) | 2017-03-16 |
| TWI577365B true TWI577365B (en) | 2017-04-11 |
Family
ID=58774524
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW104130103A TWI577365B (en) | 2015-09-11 | 2015-09-11 | Rehabilitation robot system |
Country Status (1)
| Country | Link |
|---|---|
| TW (1) | TWI577365B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203564250U (en) * | 2013-04-25 | 2014-04-30 | 西安交通大学苏州研究院 | Data gloves for function rehabilitation training and assessment of hands and monitoring method thereof |
| TW201445493A (en) * | 2013-05-20 | 2014-12-01 | Univ Kaohsiung Medical | A self-care system for assisting quantitative assessment of rehabilitation movement |
-
2015
- 2015-09-11 TW TW104130103A patent/TWI577365B/en not_active IP Right Cessation
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203564250U (en) * | 2013-04-25 | 2014-04-30 | 西安交通大学苏州研究院 | Data gloves for function rehabilitation training and assessment of hands and monitoring method thereof |
| TW201445493A (en) * | 2013-05-20 | 2014-12-01 | Univ Kaohsiung Medical | A self-care system for assisting quantitative assessment of rehabilitation movement |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201709889A (en) | 2017-03-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20220338761A1 (en) | Remote Training and Practicing Apparatus and System for Upper-Limb Rehabilitation | |
| KR101367801B1 (en) | Finger exercising apparatus and method for assisting exercise of finger | |
| KR100854511B1 (en) | Gait Training Control System | |
| WO2014038049A1 (en) | Training device | |
| US20120077163A1 (en) | 3d monocular visual tracking therapy system for the rehabilitation of human upper limbs | |
| JP2011516915A (en) | Motion content-based learning apparatus and method | |
| WO2015041618A2 (en) | Upper limb therapeutic exercise robot | |
| KR20170124978A (en) | Device of VR Cognitive Rehabilitation Contents for Mild cognitive Impairment Patients | |
| CN106714685B (en) | System for rehabilitation using haptic devices and brain-computer interface | |
| Lin et al. | An Adaptive Interface Design (AID) for enhanced computer accessibility and rehabilitation | |
| US20220019284A1 (en) | Feedback from neuromuscular activation within various types of virtual and/or augmented reality environments | |
| KR20160027516A (en) | Exercise device of finger for rehabilitation | |
| Park et al. | A rehabilitation device to improve the hand grasp function of stroke patients using a patient-driven approach | |
| KR20180072264A (en) | Grip power measuring apparatus for hand rehabilitation | |
| WO2021090870A1 (en) | Instrument-to-be-used estimation device and method, and surgery assistance robot | |
| Gauthier et al. | Human movement quantification using Kinect for in-home physical exercise monitoring | |
| KR102048551B1 (en) | System and Method for Virtual reality rehabilitation training using Smart device | |
| JP2023011771A (en) | Method of analyzing performance of surgical robotic system | |
| KR20170140705A (en) | Cognitive ability rehabilitation system using association card game and method thereof | |
| TWI577365B (en) | Rehabilitation robot system | |
| JP7308987B2 (en) | Auxiliary device for finger exercise practice and method for assisting finger exercise practice | |
| TWI468198B (en) | Motion system with feedback display function | |
| WO2011113101A1 (en) | An improved palpation monitor | |
| JP2001321458A (en) | Function restoration training system | |
| KR20190055517A (en) | Hand Rehabilitation System Based On Virtual Reality and Method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MM4A | Annulment or lapse of patent due to non-payment of fees |