TWI821135B - Upper limb rehabilitation device - Google Patents
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Abstract
Description
本發明係提供一種上肢復健機，尤指一種可供患者握持並朝水平面方向施力時，可帶動本體進行於一水平面之全向運動，藉以達致對患者之肩、肘的屈曲與伸展之復健或訓練者。 The present invention provides an upper limb rehabilitation machine, particularly one that can be held by a patient and when force is applied in a horizontal plane, the machine can drive the body to perform omnidirectional movement on a horizontal plane, thereby achieving flexion and flexion of the patient's shoulders and elbows. Stretching for rehabilitation or training.
按，現今社會正邁入超高齡化，肌力衰退的長者或是因中風導致神經受損的患者，若要恢復肢體靈活度或使身體不再惡化，復健訓練是極為重要的一環；目前普遍的復健是患者在家屬陪同下進行較簡易的運動，或配合物理治療師指導進行訓練，然而，前述的兩種方案都存在不同程度的缺點：前者缺乏有系統的治療，訓練時間和強度依主觀意識來決定，後者的治療成效則取決於物理治療師的能力與經驗。此外，在漫長且繁瑣的復健過程中，患者也容易因為單調乏味的訓練產生無聊、煩悶等意願低落的心理狀況，進而影響復健成效，連帶影響醫師陷入消極的工作態度，使得復健進程落後，康復變得更加艱鉅。 Press, today's society is entering a super-aging era. For the elderly with declining muscle strength or patients with nerve damage caused by stroke, rehabilitation training is an extremely important part if they want to restore limb flexibility or prevent the body from deteriorating; currently, rehabilitation training is an extremely important step. Common rehabilitation is for patients to perform simple exercises accompanied by their family members, or to train under the guidance of a physical therapist. However, both of the aforementioned options have shortcomings to varying degrees: the former lacks systematic treatment, training time and intensity. It is determined by subjective consciousness, and the therapeutic effect of the latter depends on the ability and experience of the physical therapist. In addition, during the long and tedious rehabilitation process, patients can easily develop psychological states such as boredom and depression due to the monotonous training, which in turn affects the effectiveness of rehabilitation, and also affects the negative working attitude of doctors, which makes the rehabilitation process Fall behind and recovery becomes more arduous.
機器有著能代替人們執行長時間且反覆的工作之特性，並能有效減少因人為操作而造成的誤差，因此使用機器替代人力協助患者訓練是未來的趨勢，除了能提高復健成效，亦可縮短訓練週期；此外，遊戲易使人獲得成 就感，能提高參與意願，也容易獲得數據以量化恢復程度，融合VR之性質更能增添遊戲之趣味性，而為能夠與其進行結合，並於居家或中小型復健中心作使用，對於上肢訓練機構之體積將具有一定之要求，而傳統上肢訓練機構之體積皆較為龐大，且訓練內容多為機械式之作動，故訓練相對單調，致使影響患者復健訓練之成效。 Machines have the ability to replace people in performing long and repetitive tasks, and can effectively reduce errors caused by human operations. Therefore, using machines to replace human labor to assist patient training is a future trend. In addition to improving the effectiveness of rehabilitation, it can also shorten the training time. training cycle; in addition, games make it easy for people to achieve success It can increase the willingness to participate, and it is easy to obtain data to quantify the degree of recovery. The nature of integrating VR can make the game more interesting, and it can be combined with it and used at home or in small and medium-sized rehabilitation centers. For the upper limbs The size of training institutions will have certain requirements, and traditional upper limb training institutions are relatively large in size, and most of the training content consists of mechanical movements, so the training is relatively monotonous, which affects the effectiveness of patient rehabilitation training.
而從20世紀80年代起，美國、英國等發達國家的科學家將機器人技術應用到復健醫學領域中，開始對上肢復健機的研究，直到20世紀90年代，由於電腦技術的迅猛發展，上肢復健機進入了全面發展時期；1991年，美國麻省理工學院研發出全球第一台上肢復健機MIT-MANUS，其主要透過五連桿結構帶動患者上肢進行肩、肘部的復健訓練；藉由安裝位置和力感測器，實現患者的肩、肘部在平面上的運動，並結合阻抗控制和重力補償，確保訓練過程的柔順性和安全性；此外，在人機介面上顯示訓練過程的即時參數，結合2D遊戲，提高患者參與訓練的意願，提高復健治療效果；英國Reading大學研發出一款6-DOF的上肢復健機GENTLE/S，其可提供患者肩關節與肘關節三個主動和三個被動自由度的復健訓練，並在上、下位機交互系統中引入虛擬實境技術，提高患者參與訓練的意願；瑞士Zurich大學研發出一款外骨骼式上肢復健機ARMin，為達到更好的復健效果，逐步優化並開發出三代機具，ARMin I有四個主動和兩個被動的自由度，可實現一些基礎訓練動作；ARMin II在前臂處添加了兩個自由度，在肩部添加一個自由度，擴大了上肢活動範圍；ARMin III則具有六個自由度，肩部為三個自由度、肘部為單自由度、手部訓練模組提供下臂和腕部共兩個自由度，實現肩、肘和腕部的上肢全範圍訓練，且其關節採取伺服電機結 合諧振減速器的驅動模式，透過皮帶傳輸動力；機電控制策略選擇更為安全的被動模式搭配抗阻模式，採用輪椅結構固定患者，透過控制轉矩訓練患肢肩關節及腕關節，並採用位置和力感測器即時監控患者上肢的運動情況，保證訓練的安全性。 Since the 1980s, scientists from developed countries such as the United States and the United Kingdom have applied robotic technology to the field of rehabilitation medicine and begun research on upper limb rehabilitation machines. Until the 1990s, due to the rapid development of computer technology, upper limb rehabilitation Rehabilitation machines have entered a period of comprehensive development; in 1991, the Massachusetts Institute of Technology in the United States developed the world's first upper limb rehabilitation machine, MIT-MANUS, which mainly uses a five-link structure to drive patients' upper limbs to perform shoulder and elbow rehabilitation training. ; By installing position and force sensors, the patient's shoulders and elbows can move on a plane, combined with impedance control and gravity compensation to ensure the flexibility and safety of the training process; in addition, the display on the human-machine interface The real-time parameters of the training process, combined with 2D games, improve patients' willingness to participate in training and improve the effect of rehabilitation treatment; the University of Reading in the UK has developed a 6-DOF upper limb rehabilitation machine GENTLE/S, which can provide patients with shoulder joint and elbow Rehabilitation training with three active and three passive degrees of freedom for joints, and the introduction of virtual reality technology into the upper and lower computer interactive systems to increase patients' willingness to participate in training; Zurich University in Switzerland has developed an exoskeleton-based upper limb rehabilitation Machine ARMin. In order to achieve better rehabilitation effects, three generations of machines have been gradually optimized and developed. ARMin I has four active and two passive degrees of freedom, which can realize some basic training movements; ARMin II adds two more to the forearm. Degrees of freedom, adding one degree of freedom to the shoulder, expanding the range of upper limb movement; ARMin III has six degrees of freedom, three degrees of freedom for the shoulder, and one degree of freedom for the elbow. The hand training module provides lower arm and The wrist has two degrees of freedom, enabling full range training of the upper limbs of shoulders, elbows and wrists, and its joints adopt a servo motor structure. The drive mode of the resonant reducer is used to transmit power through the belt; the electromechanical control strategy selects a safer passive mode with resistance mode, uses a wheelchair structure to fix the patient, and controls the torque to train the shoulder joint and wrist joint of the affected limb, and uses the position The force sensor monitors the movement of the patient's upper limbs in real time to ensure the safety of training.
美國Idaho大學及加州大學亦研發出一款7-DOF的外骨骼式上肢復健機CADEN-7，其具有肩部外展/內收和收屈/伸展、肩關節內外旋和肘關節的收屈/伸展、前臂內外旋轉、腕部曲張和橈尺偏斜七個自由度，實現上肢的多關節複合復健訓練，硬體方面，採用伺服電機搭配行星減速器驅動機構，並以電纜驅動系統進行動力傳輸，並配置六維力感測器和光電編碼器測定關節運動和電機位置；控制方式則採用被動模式及阻抗模式。 The University of Idaho and the University of California in the United States have also developed a 7-DOF exoskeleton-type upper limb rehabilitation machine CADEN-7, which has shoulder abduction/adduction and adduction flexion/extension, shoulder joint internal and external rotation, and elbow joint adduction. It has seven degrees of freedom including flexion/extension, forearm internal and external rotation, wrist varicose and radial ulnar deflection, to achieve multi-joint compound rehabilitation training of the upper limbs. In terms of hardware, a servo motor is used with a planetary reducer drive mechanism, and a cable drive system Power transmission is carried out, and a six-dimensional force sensor and a photoelectric encoder are configured to measure joint motion and motor position; the control method adopts passive mode and impedance mode.
惟，前述之配置，因外骨骼式上肢復健機因結構較為複雜導致生產成本較高、復健舒適性較差，且若沒有專業人員在旁協助的話，患者在操作上安全性較低，且該種機型主要提供給軟癱、痙攣兩期患者在大型醫療機構中使用，因此很難普及至一般家庭。 However, with the aforementioned configuration, the exoskeleton-type upper limb rehabilitation machine has a more complex structure, resulting in higher production costs and poorer rehabilitation comfort. Moreover, without professional assistance, the patient's operation safety is low, and This type of machine is mainly used by patients with two stages of paralysis and spasticity in large medical institutions, so it is difficult to spread it to ordinary families.
此外，S.Hesse等人研發出一款2-DOF的末端引導式上肢復健機Reha-Slide，其係於平板上方配置兩根滑軌，滑軌連接著一個兩端有手把的橫桿，患者可以抓著手把作前後的往復運動，達成主動式的復健訓練。它的機構較簡易，患者自主操作之安全性和舒適度皆較高，目前已用於恢復期患者的臨床復健治療，缺點是活動自由度有限，且復健方式較為單一，肩膀缺乏內外旋和外展之運動，導致肩部及胸部無法有效訓練。 In addition, S. Hesse et al. developed a 2-DOF end-guided upper limb rehabilitation machine Reha-Slide, which is equipped with two slide rails above the flat plate. The slide rails are connected to a crossbar with handles at both ends. , the patient can hold the handle and perform forward and backward reciprocating movements to achieve active rehabilitation training. Its mechanism is relatively simple, and it is safe and comfortable for patients to operate independently. It is currently used for clinical rehabilitation treatment of patients in the recovery period. Its disadvantages are limited freedom of movement, and the rehabilitation method is relatively simple, and the shoulder lacks internal and external rotation. and abduction movements, resulting in the inability to effectively train the shoulders and chest.
Liaovuan Li等人研發出一款3-DOF的末端引導式上肢復健機，其具有二個水平運動自由度和一個垂直運動自由度，其活動機構小，能夠節省復 健訓練空間；機體靈活性高，可實現更加多元的復健訓練，其主要用於訓練上肢的肩、肘部關節，前方的兩個旋轉接頭由交流伺服電機驅動，棱柱關節由一個單作用氣缸驅動，該氣缸能增加復健機的被動順應性；惟透過測試，該裝置已證明能夠滿足被動和主動上肢復健的需求，但其缺點是整體機台體積仍過於龐大，因此不適合在家中使用。 Liaovuan Li et al. developed a 3-DOF end-guided upper limb rehabilitation machine, which has two horizontal degrees of freedom and one vertical degree of freedom. Its moving mechanism is small and can save complex movements. It has a healthy training space; the body is highly flexible and can achieve more diverse rehabilitation training. It is mainly used to train the shoulder and elbow joints of the upper limbs. The two rotating joints in the front are driven by AC servo motors, and the prismatic joints are driven by a single-acting cylinder. Driven, the cylinder can increase the passive compliance of the rehabilitation machine; however, through testing, the device has proven to be able to meet the needs of passive and active upper limb rehabilitation. However, its disadvantage is that the overall machine volume is still too large, so it is not suitable for use at home. .
而相關研究指出，若相關復健機構可與遊戲進行結合，則可有助於追蹤患者復健進度，幫助患者評估運動狀況，使得治療難度能夠因人而異，並可提高患者參與訓練的主動性和積極性；然而現有的復健訓練卻有模式單調及缺乏互動樂趣等缺點，無法達成與人體的協調互動，若可透過在VR環境中進行復健訓練，提升訓練的趣味性，則能增加患者對復健訓練的主動意願，更有研究表明，在訓練中結合VR技術可以提升患者在訓練中的表現，具有良好的復健治療效果。 Relevant research points out that if relevant rehabilitation institutions can be combined with games, it can help track patients' rehabilitation progress, help patients evaluate their exercise status, allow the difficulty of treatment to vary from person to person, and improve patients' initiative to participate in training. sex and enthusiasm; however, existing rehabilitation training has shortcomings such as monotonous patterns and lack of interactive fun, and cannot achieve coordinated interaction with the human body. If rehabilitation training can be carried out in a VR environment to increase the fun of training, it can increase Patients’ active willingness for rehabilitation training, and some studies have shown that incorporating VR technology in training can improve patients’ performance in training and have good rehabilitation treatment effects.
綜上所述，可觀察到外骨骼式雖具有多自由度復健的優勢，但所費不貲且機體龐大、機構較複雜、生產成本較高且舒適性較差，若沒有專業人員在旁協助，患者在操作上安全性較低，該種機型主要提供給軟癱、痙攣兩期患者在大型醫療機構中使用，因此很難普及至一般家庭或中小型復健中心；而目前居家上肢復健機的研究趨勢是兼顧安全與舒適度並縮小機構體積且實現人機互動性，同時設法提高患者復健意願，進而提升訓練成效和縮短週期，期許居家上肢復健機未來被廣泛應用在臨床治療、居家復健、遠距醫療及學術研究中。 To sum up, it can be observed that although the exoskeleton type has the advantage of multi-degree-of-freedom rehabilitation, it is expensive, has a large body, a complicated mechanism, high production costs and poor comfort. Without professional assistance, The operation safety for patients is low. This type of machine is mainly provided for patients with two stages of paralysis and spasticity and is used in large medical institutions. Therefore, it is difficult to spread to ordinary families or small and medium-sized rehabilitation centers; currently, home-based upper limb rehabilitation The research trend of machines is to take into account safety and comfort, reduce the size of the mechanism and realize human-computer interaction. At the same time, we try to improve patients' willingness to rehabilitate, thereby improving training effectiveness and shortening the cycle. It is expected that home upper limb rehabilitation machines will be widely used in clinical treatment in the future. , home rehabilitation, telemedicine and academic research.
有鑑於此，吾等發明人乃潛心進一步研究上肢之復健訓練，並著手進行研發及改良，期以一較佳發明以解決上述問題，且在經過不斷試驗及修改後而有本發明之問世。 In view of this, our inventors devoted themselves to further research on the rehabilitation training of the upper limbs, and began to carry out research and development and improvement, hoping to solve the above problems with a better invention, and after continuous testing and modification, the present invention was born .
爰是，本發明之目的係為解決前述問題，為達致以上目的，吾等發明人提供一種上肢復健機，其包含：一本體，其中央垂直配置有一轉動單元，該轉動單元樞設有一曲柄，且該曲柄相對於該轉動單元之末端設置有一轉把，藉以令該轉把平行且偏心於該轉動單元；以及一平台，其係配置於該本體底端，且該平台設置有複數可凸伸於該平台底端之驅動輪組。 Therefore, the purpose of the present invention is to solve the above problems. To achieve the above purpose, our inventors provide an upper limb rehabilitation machine, which includes: a body with a rotating unit vertically arranged in the center, and the rotating unit is pivoted with a A crank, and the crank is provided with a handle relative to the end of the rotating unit, so that the handle is parallel and eccentric to the rotating unit; and a platform is arranged at the bottom of the body, and the platform is provided with a plurality of removable A driving wheel set protruding from the bottom of the platform.
據上所述之上肢復健機，其中，該本體更包含一承接座及至少一殼體，所述殼體係對應組接於該平台，該轉動單元係穿固定位於該承接座；且該承接座側緣設有至少一定位部，所述殼體係對應拼接並設置於該承接座側緣，並對應至少部分的罩附於該承接座之側緣及頂緣，而所述殼體係於該承接座頂端對應於該轉動單元處形成一缺口，該曲柄係位於所述殼體外，並藉由該缺口對應樞設於該轉動單元。 According to the above-mentioned upper limb rehabilitation machine, the main body further includes a receiving seat and at least one shell. The housing system is correspondingly assembled on the platform, and the rotating unit is fixed on the receiving seat; and the receiving seat The side edge of the seat is provided with at least one positioning portion, the shell system is spliced correspondingly and arranged on the side edge of the socket, and at least part of the corresponding cover is attached to the side edge and top edge of the socket, and the shell system is attached to the side edge of the socket. A notch is formed on the top of the receiving seat corresponding to the rotating unit. The crank is located outside the housing and is pivoted to the rotating unit through the notch.
據上所述之上肢復健機，其中，該本體係呈六邊形之柱狀設置，藉以令該本體之橫截面形成三個短邊及三個長邊，且所述短邊及所述長邊係交互排列設置；而該平台係具有對應於所述長邊之乘載部，所述殼體係對應組接於該平台之所述乘載部處，且該平台於對應於所述短邊處係形成一鏤空部，而所述驅動輪組係透過該鏤空部以凸伸於該平台底端，且所述驅動輪組之傳動方向係平行於其對應之所述短邊者。 According to the above-mentioned upper limb rehabilitation machine, the main system is arranged in a hexagonal column, so that the cross section of the main body forms three short sides and three long sides, and the short sides and the The long sides are alternately arranged; and the platform has a carrying part corresponding to the long side, the shell system is correspondingly assembled at the carrying part of the platform, and the platform is corresponding to the short side. A hollow portion is formed at the edge, and the driving wheel set protrudes from the bottom end of the platform through the hollow portion, and the transmission direction of the driving wheel set is parallel to its corresponding short side.
據上所述之上肢復健機，其中，所述驅動輪組更分別包含一輪體及一驅動馬達，所述驅動馬達係對應驅動於所述輪體者。 According to the above upper limb rehabilitation machine, the driving wheel set further includes a wheel body and a driving motor, and the driving motor drives the wheel body correspondingly.
據上所述之上肢復健機，更包含一控制系統，其係對應耦接於所述驅動馬達，用以透過所述驅動馬達對應控制或偵測所述輪體之轉速者。 According to the above-mentioned upper limb rehabilitation machine, it further includes a control system, which is correspondingly coupled to the driving motor and used to correspondingly control or detect the rotation speed of the wheel body through the driving motor.
據上所述之上肢復健機，其中，該平台更設有對應於所述驅動輪組之支撐架，每一所述支撐架係樞設有一伸縮裝置，所述伸縮裝置係耦接於該控制系統，所述伸縮裝置於相對所述支撐架一端設有一起落架，所述起落架係對應乘載其一所述驅動輪組，且所述起落架一端係樞設於所述支撐架，用以於控制系統控制所述伸縮裝置於一伸展狀態時，所述驅動輪組係可至少部分的凸伸於該平台底端，並於控制所述伸縮裝置於一收合狀態時，係令所述驅動輪組收合至該平台頂端者。 According to the above-mentioned upper limb rehabilitation machine, the platform is further provided with a support frame corresponding to the driving wheel set, each of the support frames is pivotally provided with a telescopic device, and the telescopic device is coupled to the Control system, the telescopic device is provided with a landing gear at one end opposite to the support frame, the landing gear is corresponding to one of the driving wheel sets, and one end of the landing gear is pivoted to the support frame, When the control system controls the telescopic device in an extended state, the driving wheel set can at least partially protrude from the bottom of the platform, and when the telescopic device is controlled in a retracted state, the driving wheel set is configured to The driving wheel set is retracted to the top of the platform.
據上所述之上肢復健機，更包含一姿態感測裝置，其係耦接於該控制系統，該姿態感測裝置係用以感測該本體之位移量及旋轉量，並對應回傳至該控制系統者。 According to the above-mentioned upper limb rehabilitation machine, it further includes an attitude sensing device, which is coupled to the control system. The attitude sensing device is used to sense the displacement and rotation of the body and send back the corresponding information. to the control system.
據上所述之上肢復健機，更包含一互動式裝置，其係對應連接於該控制系統，且該互動式裝置係依據所述位移量及旋轉量，藉以對應呈現一互動狀態者。 According to the above-mentioned upper limb rehabilitation machine, it further includes an interactive device, which is connected to the control system, and the interactive device presents an interactive state according to the displacement and rotation.
據上所述之上肢復健機，更包含至少一位置感測器，其係耦接於該控制系統，並對應配置於該本體，所述位置感測器係用以感測其與所述驅動輪組所在之一平面之邊界，並於偵測到該邊界時，該控制系統將透過該驅動馬達停止所述輪體者。 According to the above-mentioned upper limb rehabilitation machine, it further includes at least one position sensor, which is coupled to the control system and correspondingly configured on the body. The position sensor is used to sense the relationship between the position sensor and the position sensor. The boundary of a plane where the driving wheel set is located, and when the boundary is detected, the control system will stop the wheel body through the driving motor.
據上所述之上肢復健機，更包含一操作單元，其係對應配置於該本體側緣，且該操作單元係對應耦接於該控制系統，該操作單元係用以於受操作時，該控制系統將透過該驅動馬達停止所述輪體者。 According to the above-mentioned upper limb rehabilitation machine, it further includes an operating unit, which is correspondingly arranged on the side edge of the body, and the operating unit is correspondingly coupled to the control system, and the operating unit is used when being operated, The control system will stop the wheel through the drive motor.
是由上述說明及設置，顯見本發明主要具有下列數項優點及功效，茲逐一詳述如下： From the above description and settings, it is obvious that the present invention mainly has the following advantages and effects, which are described in detail below:
1.本發明透過轉動單元、曲柄及轉把之配置，藉可令轉把可進行繞於本體之旋轉運動，配合本體底部驅動輪組之設置，藉使患者可透過握持於轉把並予於一水平面之方向施力時，除前述之旋轉運動外，亦可同時帶動本體移動，此外，且本發明係透過三角佈局法以進行驅動輪組之配置，藉使本體係可沿一平面上進行全向移動，並可大幅減少其體積，且可保持具有穩固之乘載能力及穩定性，並藉此活動配置設置，令患者之上肢可受本體、曲柄及轉把之引導或推動其移動，進而可完成肩、肘的屈曲與伸展之復健或訓練，而本發明整體之配置簡易，且可大幅降低整體之體積，亦可利於攜帶，故可適用於居家或中小型復健中心使用，以供患者可進行日常之上肢復健，使有助於提升復健訓練之成效者。 1. Through the configuration of the rotating unit, the crank and the rotating handle, the present invention allows the rotating handle to rotate around the main body, and cooperates with the setting of the driving wheel set at the bottom of the main body, so that the patient can hold the rotating handle and perform When force is applied in the direction of a horizontal plane, in addition to the aforementioned rotational motion, it can also drive the body to move at the same time. In addition, the present invention uses a triangular layout method to configure the driving wheel set, so that the system can move along a plane. It can move in all directions, greatly reduce its size, and maintain stable loading capacity and stability. With this movable configuration, the patient's upper limbs can be guided or pushed to move by the body, cranks and handles. , and then can complete the rehabilitation or training of shoulder and elbow flexion and extension. The overall configuration of the present invention is simple, can greatly reduce the overall volume, and is also convenient for portability, so it can be used at home or in small and medium-sized rehabilitation centers. , so that patients can perform daily upper limb rehabilitation and help improve the effectiveness of rehabilitation training.
2.本發明係可透過控制系統之配置，藉可透過驅動馬達之控制，而可進行主動負載或連續被動式之訓練，並可透過配置之姿態感測裝置，感測該本體之位移量及旋轉量，藉以令互動式裝置可依據所述位移量及旋轉量，藉以對應呈現一互動狀態，而互動式裝置在一實施例中係可為VR，並可藉由前述者，透過遊戲等互動方式，以如前述者進行復健或訓練，以提高患者之復健意願與專注度，並可增加於訓練時之遊戲性及趣味性，使有助於提升上肢復健訓練之成效者。 2. The present invention can carry out active load or continuous passive training through the configuration of the control system and the control of the drive motor, and can sense the displacement and rotation of the body through the configured attitude sensing device. Quantity, so that the interactive device can correspondingly present an interactive state according to the displacement and rotation. In one embodiment, the interactive device can be VR, and can use the foregoing to interact through games and other interactive methods. , carry out rehabilitation or training as mentioned above to improve the patient's willingness and concentration for rehabilitation, and to increase the gameplay and fun during training, so as to help improve the effectiveness of upper limb rehabilitation training.
3.本發明係可更進一步配置位置感測器，藉可感測其與所述驅動輪組所在之一平面(如：桌面)之邊界，並於偵測到該邊界時，該控制系統將透過該驅動馬達停止所述輪體，藉可避免本發明由桌面掉落而對患者造成傷害；此外，本發明亦配置有操作單元，並可於遇突發狀況時可操作之，使本發明可緊急停止運作，藉以達致本發明於使用時之安全性者。 3. The present invention can be further configured with a position sensor, which can sense the boundary between it and a plane where the driving wheel set is located (such as a tabletop), and when the boundary is detected, the control system will By stopping the wheel body through the driving motor, the invention can be prevented from falling from the table and causing harm to the patient; in addition, the invention is also equipped with an operating unit, which can be operated in the event of an emergency, making the invention The operation can be stopped in an emergency to ensure the safety of the invention during use.
1:本體 1: Ontology
11:承接座 11: receiving seat
111:承接孔 111: Accepting hole
112:定位部 112: Positioning Department
12:殼體 12: Shell
121:缺口 121: Gap
2:轉動單元 2: Rotating unit
21:曲柄 21:Crank
22:轉把 22:Turn the handle
23:墊體 23: Pad body
3:平台 3: Platform
31:驅動輪組 31:Driving wheel set
311:輪體 311: Wheel body
312:驅動馬達 312: Drive motor
32:乘載部 32: Passenger section
33:鏤空部 33: Hollow part
34:扣件 34:Fasteners
4:控制系統 4:Control system
41:傳輸模組 41:Transmission module
5:支撐架 5: Support frame
51:伸縮裝置 51:Telescopic device
52:起落架 52:Landing gear
6:位置感測器 6: Position sensor
7:操作單元 7: Operating unit
8:姿態感測裝置 8: Attitude sensing device
9:互動式裝置 9:Interactive device
S1:短邊 S1: short side
S2:長邊 S2: long side
第1圖係本發明之立體示意圖。 Figure 1 is a schematic three-dimensional view of the present invention.
第2圖係本發明之立體分解示意圖。 Figure 2 is a three-dimensional exploded schematic diagram of the present invention.
第3圖係本發明之仰視示意圖。 Figure 3 is a schematic bottom view of the present invention.
第4圖係本發明配置墊體時之立體示意圖。 Figure 4 is a three-dimensional schematic diagram of the present invention when configuring the cushion body.
第5圖係本發明於使用時之俯視暨使用狀態示意圖。 Figure 5 is a top view and a schematic diagram of the use state of the present invention in use.
第6圖係本發明驅動輪組於伸展狀態時之側視示意圖。 Figure 6 is a schematic side view of the driving wheel assembly of the present invention in an extended state.
第7圖係本發明驅動輪組於收合狀態時之側視示意圖。 Figure 7 is a schematic side view of the driving wheel assembly of the present invention in a folded state.
第8圖係本發明之系統架構圖。 Figure 8 is a system architecture diagram of the present invention.
第9圖係本發明使用MATLAB定義運動軌跡之軌跡圖。 Figure 9 is a trajectory diagram of the present invention using MATLAB to define motion trajectories.
第10圖係本發明使用PID控制器追蹤第9圖運動軌跡之結果圖。 Figure 10 is the result of using the PID controller to track the motion trajectory of Figure 9 according to the present invention.
第11圖係本發明驅動馬達於第9圖運動軌跡所需提供轉速之訊號圖。 Figure 11 is a signal diagram showing the rotational speed required by the drive motor of the present invention in the movement path of Figure 9.
第12圖係本發明追蹤第9圖運動軌跡之訊號圖。 Figure 12 is a signal diagram for tracking the motion trajectory of Figure 9 according to the present invention.
第13圖係本發明使用PID控制器追蹤第9圖運動軌跡之訊號圖。 Figure 13 is a signal diagram of the present invention using a PID controller to track the motion trajectory of Figure 9.
第14圖係本發明應用於互動式裝置之使用狀態示意圖。 Figure 14 is a schematic diagram of the use state of the present invention applied to the interactive device.
關於吾等發明人之技術手段，茲舉數種較佳實施例配合圖式於下文進行詳細說明，俾供 鈞上深入了解並認同本發明。 Regarding the technical means of our inventors, several preferred embodiments are described in detail below along with the drawings, so as to provide readers with a thorough understanding and recognition of the present invention.
請先參閱第1圖至第3圖所示，本發明係以患者安全、舒適及穩定為前提，並儘可能簡化機構與減輕重量，故採用上肢末端引導之方式進行其結構配置，而為令本發明可於一平面上最大可能的涵蓋肩、肘的可活動範圍，故本發明係採用三個自由度之全向移動配置，是以，本發明係一種上肢復健機，其包含：一本體1，其中央垂直配置有一轉動單元2，該轉動單元2樞設有一曲柄21，且該曲柄21相對於該轉動單元2之末端設置有一轉把22，藉以令該轉把22平行且偏心於該轉動單元2，使轉把22可藉由曲柄21及轉動單元2而繞該本體1旋轉運動；一平台3，其係配置於該本體1底端，且該平台3設置有複數可凸伸於該平台3底端之驅動輪組31，令本體1可藉由驅動輪組31而可於平面方向移動。 Please refer to Figures 1 to 3 first. The present invention is based on the premise of patient safety, comfort and stability, and simplifies the mechanism and reduces the weight as much as possible. Therefore, the upper limb end guidance method is used for its structural configuration. The present invention can cover the maximum possible movable range of the shoulder and elbow on a plane, so the present invention adopts an omnidirectional movement configuration with three degrees of freedom. Therefore, the present invention is an upper limb rehabilitation machine, which includes: a The main body 1 has a rotating unit 2 arranged vertically in the center. The rotating unit 2 is pivotally provided with a crank 21, and the crank 21 is provided with a rotating handle 22 relative to the end of the rotating unit 2, so that the rotating handle 22 is parallel and eccentric to The rotating unit 2 enables the handle 22 to rotate around the body 1 through the crank 21 and the rotating unit 2; a platform 3 is arranged at the bottom of the body 1, and the platform 3 is provided with a plurality of protruding The driving wheel set 31 at the bottom of the platform 3 allows the body 1 to move in the plane direction by the driving wheel set 31 .
藉由前述配置，透過轉把22可繞本體1轉動，以及本體1可於平面上任意移動之配置，使患者可透過握持於轉把22並予於一水平面之方向施力時，除前述之旋轉運動外，亦可同時帶動本體1移動，藉此活動配置設置，令患者之上肢可受本體1、曲柄21及轉把22之引導或推動其移動，進而可完成肩、肘的屈曲與伸展之復健或訓練。 With the above configuration, the handle 22 can rotate around the body 1, and the body 1 can move arbitrarily on a plane, so that the patient can hold the handle 22 and apply force in the direction of a horizontal plane. In addition to the above-mentioned In addition to the rotational movement, it can also drive the body 1 to move at the same time. With this movable configuration, the patient's upper limbs can be guided or pushed to move by the body 1, the crank 21 and the handle 22, thereby completing the flexion and flexion of the shoulder and elbow. Stretching for rehabilitation or training.
而就本體1、轉動單元2及平台3間之定位配置而言，在一具體之實施例中，本體1係包含一承接座11及至少一殼體12，而較佳者，為利於殼體12之設置及組裝，殼體12係可配置為複數個，惟其僅係舉例說明，並不以此作為限定；而所述殼體12之底端係對應組接於該平台3，具體而言，平台3係可於其側緣配置有至少一扣件34，而殼體12底端係可對應組設於所述扣件34，藉以完成殼體12與平台3間之定位；而該轉動單元2係穿固定位於該承接座11，在一實施例中，承接座11係可配置有一承接孔111，而轉動單元2係可對應配置於該承接座11之底端，並對應位於承接孔111處，使曲柄21可藉由承接孔111以對應樞接於該轉動單元2；而承接座11側緣設有至少一定位部112，所述殼體12係對應拼接並設置於該承接座11側緣，並對應至少部分的罩附於該承接座11之側緣及頂緣，所述殼體12係於該承接座11頂端對應於該轉動單元2處形成一缺口121，該曲柄21係位於所述殼體12外，並藉由該缺口121對應樞設於該轉動單元2。 As for the positioning arrangement between the main body 1, the rotating unit 2 and the platform 3, in a specific embodiment, the main body 1 includes a receiving seat 11 and at least one shell 12, and preferably, it is convenient for the shell to be 12, the housing 12 can be configured as a plurality, but this is only an example and not a limitation; and the bottom end of the housing 12 is correspondingly assembled to the platform 3, specifically , the platform 3 can be equipped with at least one fastener 34 on its side edge, and the bottom end of the housing 12 can be correspondingly assembled on the fastener 34 to complete the positioning between the housing 12 and the platform 3; and the rotation The unit 2 is fixed on the receiving base 11. In one embodiment, the receiving base 11 can be configured with a receiving hole 111, and the rotating unit 2 can be correspondingly disposed at the bottom of the receiving base 11 and correspondingly located in the receiving hole. At 111, the crank 21 can be pivotally connected to the rotating unit 2 through the receiving hole 111; and the side edge of the receiving seat 11 is provided with at least one positioning portion 112, and the housing 12 is correspondingly spliced and arranged on the receiving seat. 11 side edge, and corresponding at least part of the cover is attached to the side edge and top edge of the socket 11, the housing 12 forms a gap 121 at the top of the socket 11 corresponding to the rotating unit 2, the crank 21 It is located outside the housing 12 and is correspondingly pivoted to the rotating unit 2 through the notch 121 .
而由於在使用時，使用者係主要係握持於轉把22進行操作，而為提升於使用及操作時之舒適性，並可利於患者之上肢可靠置於本體1以降低其上肢之負擔，故較佳者，如第4圖及第5圖所示，該轉把22與曲柄21之連接處，係可對應樞設一墊體23，其在一實施例中，係可為一對應於患者上肢輪廓之軟墊，藉以提升上肢關節活動之舒適性者。 Since during use, the user mainly holds the handle 22 for operation, in order to improve the comfort during use and operation, and to facilitate the patient's upper limbs to be reliably placed on the body 1 to reduce the burden on the upper limbs, Therefore, preferably, as shown in Figures 4 and 5, the connection point between the handle 22 and the crank 21 can be provided with a pad body 23 corresponding to the pivot. In one embodiment, it can be a pad body 23 corresponding to the pivot. Soft cushions are placed on the contours of the patient's upper limbs to improve the comfort of upper limb joint movements.
而為利於本發明對於使用者上肢之乘載及可穩定進行移動，並可降低其體積之配置，故較佳者，本發明係透過三角佈局法以配置驅動輪組31，是知，如第1圖至第3圖所示者，本發明係配置三組驅動輪組31，而本體1係呈六邊形之柱狀設置，藉以令該本體1之橫截面形成三個短邊S1及三個長邊 S2，且所述短邊S1及所述長邊S2係交互排列設置；而該平台3係具有對應於所述長邊S2之乘載部32，所述殼體12係對應組接於該平台3之所述乘載部32處，且該平台3於對應於所述短邊S1處係形成一鏤空部33，故該平台3將於其側緣形成有三鏤空部33，而所述驅動輪組31係分別透過該鏤空部33以凸伸於該平台3底端，且所述驅動輪組31之傳動方向係平行於其對應之所述短邊S1，藉以完成其配置。 In order to facilitate the present invention to carry the user's upper limbs and move them stably, and to reduce its volume, preferably, the present invention uses a triangular layout method to configure the driving wheel set 31. It is known that, as shown in the second As shown in Figures 1 to 3, the present invention is configured with three sets of driving wheels 31, and the body 1 is arranged in a hexagonal column, so that the cross section of the body 1 forms three short sides S1 and three a long side S2, and the short side S1 and the long side S2 are arranged alternately; and the platform 3 has a carrying portion 32 corresponding to the long side S2, and the housing 12 is correspondingly assembled to the platform 3, and the platform 3 forms a hollow portion 33 at the position corresponding to the short side S1, so the platform 3 will have three hollow portions 33 formed on its side edges, and the driving wheel The groups 31 respectively protrude from the bottom end of the platform 3 through the hollow portion 33, and the transmission direction of the driving wheel group 31 is parallel to the corresponding short side S1, thereby completing the configuration.
而對於驅動輪組31之配置而言，為利於本發明可進行主動負載式及連續被動式之模式配置，以及利於與其他互動系統進行結合，故所述驅動輪組31更分別包含一輪體311及一驅動馬達312，而所述驅動馬達312係可對應驅動於所述輪體311；而對於其模式之切換及控制而言，本發明係更包含一控制系統4，其係對應耦接於所述驅動馬達312，用以透過所述驅動馬達312對應控制或偵測所述輪體311之轉速；而控制系統4在一實施例中，係可配置於該平台3之乘載部32上。 As for the configuration of the driving wheel set 31, in order to facilitate the present invention to be configured in active load mode and continuous passive mode, and to facilitate combination with other interactive systems, the driving wheel set 31 further includes a wheel body 311 and a wheel body 311 respectively. A driving motor 312, and the driving motor 312 can correspondingly drive the wheel 311; and for the switching and control of its mode, the present invention further includes a control system 4, which is correspondingly coupled to the wheel body 311. The driving motor 312 is used to correspondingly control or detect the rotation speed of the wheel 311 through the driving motor 312; and in one embodiment, the control system 4 can be configured on the riding part 32 of the platform 3.
而由於本發明轉動單元2、曲柄21及轉把22之配置，係可單獨構成手輪復建機構，為利於可進行模式切換，進而於一手輪模式下，令輪體311不予因受力而帶動本體1移動，故在一實施例中，如第2圖及第6圖所示，該平台3更設有對應於所述驅動輪組31之支撐架5，每一所述支撐架5係樞設有一伸縮裝置51，所述伸縮裝置51係耦接於該控制系統4，所述伸縮裝置51於相對所述支撐架5一端設有一起落架52，所述起落架52係對應乘載其一所述驅動輪組31，且所述起落架52一端係樞設於所述支撐架5，用以於控制系統4控制所述伸縮裝置51於一伸展狀態時，如第6圖所示，所述驅動輪組31係可至少部分的透過鏤空部33凸伸於該平台3底端，藉以如前述者，可帶動本體1進行全向移動； 並於切換至手輪模式時，控制系統4將可控制所述伸縮裝置51於一收合狀態，藉以如第7圖所示者，係令所述驅動輪組31收合至該平台3頂端，藉以令輪體311無法接觸於平台3下方之平面，故無法對本體1進行移動，藉以令本體1整體可固定於平面，而僅透過轉動單元2、曲柄21及轉把22進行復健者；而在一實施例中，轉動單元2亦可配置為伺服馬達，並對應耦接於控制系統4，藉以進行手輪復建機構之主動負載或連續被動式之模式切換。 Due to the configuration of the rotating unit 2, the crank 21 and the handle 22 of the present invention, the handwheel reconstruction mechanism can be independently formed, which facilitates mode switching and prevents the wheel body 311 from being stressed in a handwheel mode. And drive the body 1 to move, so in one embodiment, as shown in Figures 2 and 6, the platform 3 is further provided with a support frame 5 corresponding to the driving wheel set 31, and each of the support frames 5 The tether is provided with a telescopic device 51. The telescopic device 51 is coupled to the control system 4. The telescopic device 51 is provided with a landing gear 52 at one end opposite to the support frame 5. The landing gear 52 is corresponding to the passenger load. One of the driving wheels 31, and one end of the landing gear 52 is pivotally mounted on the support frame 5, for when the control system 4 controls the telescopic device 51 in an extended state, as shown in Figure 6 , the driving wheel set 31 can at least partially protrude from the bottom of the platform 3 through the hollow portion 33, so as to drive the body 1 to move in all directions as mentioned above; And when switching to the handwheel mode, the control system 4 will control the telescopic device 51 in a retracted state, thereby causing the driving wheel set 31 to retract to the top of the platform 3 as shown in Figure 7 , so that the wheel body 311 cannot contact the plane below the platform 3, so the body 1 cannot be moved, so that the entire body 1 can be fixed on the plane, and rehabilitation can only be performed through the rotating unit 2, the crank 21 and the handle 22 ; In one embodiment, the rotating unit 2 can also be configured as a servo motor and correspondingly coupled to the control system 4 to perform active load or continuous passive mode switching of the handwheel reconstruction mechanism.
就本發明之透過三角佈局法配置驅動輪組31之運動分析而言，其座標系分成本體1局部坐標系及全坐標系，其中，本體1局部坐標系以輪體311之半徑及轉速得出三個輪體311之線速度，再以三角函數算出本體1局部坐標系之X軸速度及Y軸速度，而α i 為輪體311線速度與本體1局部座標X軸之夾角；此外，再以輪體311之線速度除以本體1中心到輪體311之半徑，求出本體1旋轉角，將局部坐標系之X軸速度、Y軸速度及本體1旋轉角度化作Γ r 矩陣，即局部坐標系矩陣。 As far as the motion analysis of the driving wheel set 31 is configured through the triangular layout method of the present invention is concerned, the coordinate system is divided into a local coordinate system of the main body 1 and a full coordinate system. Among them, the local coordinate system of the main body 1 is obtained by the radius and rotation speed of the wheel body 311. Calculate the linear velocity of the three wheel bodies 311, and then use trigonometric functions to calculate the X-axis speed and Y-axis speed of the local coordinate system of body 1, and α i is the angle between the linear speed of the wheel body 311 and the X-axis of the local coordinate system of body 1; in addition, Then divide the linear speed of the wheel body 311 by the radius from the center of the body 1 to the wheel body 311 to find the rotation angle of the body 1, and convert the X-axis speed, Y-axis speed and rotation angle of the body 1 of the local coordinate system into a Γ r matrix, That is, the local coordinate system matrix.
單一輪體311之矩陣係如下數學式1所示：
而將三顆輪體311之矩陣整理後，可得下數學式2：
其中，β i 為輪體311線速度與本體1局部座標系X軸之夾角；r為輪體311半徑；R為本體1中心到輪體311之距離；γ i 為輪體311之副輪與主輪法向量之夾角；y i 為輪體311之本體1局部座標系y座標；x i 為輪體311之本體1局部座標系x座標。 Among them, β i is the angle between the linear velocity of the wheel body 311 and the X-axis of the local coordinate system of the body 1; r is the radius of the wheel body 311; R is the distance from the center of the body 1 to the wheel body 311; γ i is the auxiliary wheel of the wheel body 311 and The angle between the main wheel normal vectors; y i is the y coordinate of the main body 1 local coordinate system of the wheel body 311; x i is the x coordinate of the main body 1 local coordinate system of the wheel body 311.
而其全坐標系，係將全座標系與本體1局部座標系之夾角a作為參數，透過三角函數將本體1局部坐標系轉換成全坐標系Γ Y ，如下數學式3所示，最後將Γ r 及Γ Y 合併得出Γ(t)，如下數學式4，為逆運動學轉換矩陣。 As for its full coordinate system, the angle a between the full coordinate system and the local coordinate system of body 1 is used as a parameter, and the local coordinate system of body 1 is converted into the full coordinate system Γ Y through trigonometric functions, as shown in the following mathematical formula 3, and finally Γ r and Γ Y are combined to obtain Γ( t ), as shown in the following mathematical formula 4, which is the inverse kinematics transformation matrix.
其中，v x 為局部座標X軸速度；v y 為局部座標Y軸速度；a為本體1旋轉角；ω i 為各輪體311轉速。 Among them, v x is the local coordinate X-axis speed; v y is the local coordinate Y-axis speed; a is the rotation angle of the body 1; ω i is the rotation speed of each wheel body 311.
而就本發明之正運動學而言，當系統的運動學雅可比矩陣為滿秩，則可驗證其系統可實現全方位運動，而本發明之正運動學矩陣Γ-1(t)係如下數學式5所示，經運算為滿秩之雅可比矩陣，故驗證本發明驅動輪組31之配置確實可實現全向之運動。 As far as the forward kinematics of the present invention is concerned, when the kinematic Jacobian matrix of the system is full rank, it can be verified that the system can achieve omnidirectional motion, and the forward kinematics matrix Γ -1 (t) of the present invention is as follows As shown in Mathematical Expression 5, it is calculated as a Jacobian matrix of full rank, so it is verified that the configuration of the driving wheel set 31 of the present invention can indeed achieve omnidirectional movement.
【數學式5】
就本發明之系統配置而言，係如第8圖所示者，其中，控制系統4在一實施例中係為一嵌入式控制器，本實施例中係採用myRIO-1900，並可據以進行驅動馬達312之控制，使於連續被動模式下，可令輪體311帶動本體1沿其預定之軌跡移動；而同樣的，其係如前述者，亦可透過驅動伺服馬達，使帶動手輪復建機構(即轉動單元2、曲柄21及轉把22)進行旋轉，以進行連續被動式之復健訓練。 As for the system configuration of the present invention, it is as shown in Figure 8, in which the control system 4 is an embedded controller in one embodiment. In this embodiment, myRIO-1900 is used, and can be The driving motor 312 is controlled so that in the continuous passive mode, the wheel body 311 can drive the body 1 to move along its predetermined trajectory; similarly, as mentioned above, the hand wheel can also be driven by driving the servo motor. The rehabilitation mechanism (ie, the rotating unit 2, the crank 21 and the rotating handle 22) rotates to perform continuous passive rehabilitation training.
而對於連續被動式之訓練下，為令輪體311可依預定軌跡帶動本體1沿其預定之方向移動，故係需進行其軌跡規劃，其在一實施例中，係可使用MATLAB或LabVIEW計算出預定運動軌跡及座標點位，並透過輸入患者之前臂長度、身高及訓練之時間，藉以調整路徑大小及運行時間；而於本實施例中，係將預定軌跡設定為第9、10圖所示之雙紐線軌跡舉例說明，惟並不以此作為限定，在其他實施例中，預定軌跡亦可依需求而設定為幾何或非幾何之路徑；而對於軌跡之追蹤，係將軌跡方程式以50Hz的頻率取樣座標點，計算出各點間所需速度，套入前述之逆運動學，得出輪體311個別所需之轉速，如第11圖所示，而後再透過控制系統4輸出PWM訊號予驅動馬達312，如第12圖所示，藉以實現對軌跡追蹤之結果；而在一實施例中，係可透過PID控制器(比例- 積分-微分控制器)，以將驅動馬達312追蹤誤差控制在正負3rpm之間，其結果如第10圖及第13圖所示，藉以提升其追蹤之精度。 For continuous passive training, in order for the wheel body 311 to drive the body 1 to move in the predetermined direction according to the predetermined trajectory, the trajectory planning is required. In one embodiment, MATLAB or LabVIEW can be used to calculate the trajectory. Predetermine the motion trajectory and coordinate points, and adjust the path size and running time by inputting the patient's forearm length, height and training time; in this embodiment, the predetermined trajectory is set as shown in Figures 9 and 10 The lemniscate trajectory is given as an example, but it is not limited to this. In other embodiments, the predetermined trajectory can also be set as a geometric or non-geometric path according to the needs; and for the tracking of the trajectory, the trajectory equation is used as 50Hz. The coordinate points are sampled at the frequency, the required speed between each point is calculated, and the aforementioned inverse kinematics is applied to obtain the individual required rotation speed of the wheel body 311, as shown in Figure 11, and then the PWM signal is output through the control system 4 The pre-driven motor 312, as shown in Figure 12, is used to achieve the result of trajectory tracking; and in one embodiment, it can be achieved through a PID controller (proportional- Integral-derivative controller) to control the tracking error of the driving motor 312 within plus or minus 3 rpm. The results are shown in Figures 10 and 13, thereby improving the tracking accuracy.
而對於模式之切換而言，在一實施例中，係可透過控制，以令控制系統4輸出一高電位或低電位之訊號，以傳輸至二路繼電器，藉以如前所述，實現主動負載式或連續被動式之模式切換，或如第6、7圖所示者之驅動輪組31之起落切換控制者。 As for the mode switching, in one embodiment, the control system 4 can be controlled to output a high potential or low potential signal to transmit to the two-way relay, thereby realizing the active load as mentioned above. mode switching or continuous passive mode switching, or the up and down switching control of the driving wheel set 31 as shown in Figures 6 and 7.
續就本發明之安全性機制配置而言，本發明在一實施例中，係更包含至少一位置感測器6，其係耦接於該控制系統4，並對應配置於該本體1，所述位置感測器6係用以感測其與所述驅動輪組31所在之一平面之邊界，並於偵測到該邊界時，該控制系統4將透過該驅動馬達312停止所述輪體311；而在一較佳之實施例中，該位置感測器6係配置於殼體12內緣，且對應於本體1之短邊S1位置處，藉以令位置感測器6之位置可位於輪體311之外側，藉以於偵測至邊界時，輪體311仍係位於平面，而不致因輪體311超出邊界而有掉落之疑慮者；此外，本發明亦可於本體1側緣對應配置有一操作單元7，且該操作單元7係對應耦接於該控制系統4，該操作單元7在一實施例中係可配置為按鈕，藉以於發生緊急情況時，患者或他人可藉由操作該操作單元7，以令控制系統4將透過該驅動馬達312停止所述輪體311，亦可如前述者停止對於手輪復建機構之驅動，藉以確保本發明於使用時之安全性者。 Continuing with regard to the configuration of the safety mechanism of the present invention, in one embodiment, the present invention further includes at least one position sensor 6, which is coupled to the control system 4 and correspondingly configured on the body 1, so The position sensor 6 is used to sense the boundary between it and the plane where the driving wheel set 31 is located, and when the boundary is detected, the control system 4 will stop the wheel body through the driving motor 312 311; In a preferred embodiment, the position sensor 6 is arranged on the inner edge of the housing 12 and corresponds to the position of the short side S1 of the body 1, so that the position of the position sensor 6 can be located on the wheel. outside the body 311, so that when the boundary is detected, the wheel body 311 is still on the plane, and there is no doubt that the wheel body 311 will fall out of the boundary; in addition, the present invention can also be configured correspondingly on the side edge of the body 1 There is an operating unit 7, and the operating unit 7 is correspondingly coupled to the control system 4. In one embodiment, the operating unit 7 can be configured as a button, so that in an emergency, the patient or others can operate the The operating unit 7 allows the control system 4 to stop the wheel body 311 through the driving motor 312, and can also stop driving the handwheel reconstruction mechanism as mentioned above, so as to ensure the safety of the present invention during use.
而本發明係可透過與一互動式裝置9，如虛擬實境(virtual reality,VR)進行互動式訓練，如第14圖所示，於本實施例中，係將互動式裝置9配置為電腦，並可配合VR系統進行互動訓練，而為利於與互動式裝置9進行互動配置，故在一實施例中，本發明係更包含一姿態感測裝置8，其係耦接於 該控制系統4，該姿態感測裝置8係用以感測該本體1之位移量及旋轉量，並對應回傳至該控制系統4，故可知悉者，姿態感測裝置8在一實施例中係可為位移感測器及加速度計之複合式配置，其中，位移感測器係可為光電感測器，其係可配置於平台3之底端，藉以感測本體1之位移量，而加速度計係可為陀螺儀，藉以進行角度之感知，藉可感測本體1之旋轉量，而控制系統4即可據以進行本體1之定位，並作為其對應之控制參數，使可與該互動式裝置9進行互動，使互動式裝置9可基此呈現一對應之互動狀態；而互動式裝置9與控制系統4間之連接配置而言，在一實施例中，該控制系統4係可設置有一傳輸模組41，如：藍芽，藉以與互動式裝置9進行連結及資料傳輸。 The present invention can perform interactive training through an interactive device 9, such as virtual reality (VR). As shown in Figure 14, in this embodiment, the interactive device 9 is configured as a computer. , and can cooperate with the VR system for interactive training. In order to facilitate the interactive configuration with the interactive device 9, in one embodiment, the present invention further includes a posture sensing device 8, which is coupled to The control system 4 and the attitude sensing device 8 are used to sense the displacement and rotation of the body 1 and transmit the corresponding information back to the control system 4. Therefore, it can be seen that the attitude sensing device 8 is an embodiment of The middle system can be a composite configuration of a displacement sensor and an accelerometer. The displacement sensor can be a photoelectric sensor, which can be disposed at the bottom of the platform 3 to sense the displacement of the body 1. The accelerometer can be a gyroscope to sense the angle and the rotation amount of the body 1, and the control system 4 can position the body 1 accordingly and use it as its corresponding control parameter, so that it can be used with The interactive device 9 interacts, so that the interactive device 9 can present a corresponding interactive state; and in terms of the connection configuration between the interactive device 9 and the control system 4, in one embodiment, the control system 4 is A transmission module 41, such as Bluetooth, can be provided to connect and transmit data with the interactive device 9.
對於VR系統之建置，在一實施例中，係使用Unity3D遊戲引擎設計與本發明之各復健訓練模式配合之遊戲，並使用blender軟體建立3D虛擬人體模型、設計視覺外型，使其具有與本發明相互匹配之三個自由度；並如前述者，透過姿態感測裝置8感測位移量(移動距離與方向)及旋轉量(旋轉角度)，藉以回傳至互動式裝置9，使其可做為輸入參數控制遊戲角色，使其在虛擬場景內進行各式互動，以達成遊戲中對應之各式任務。 For the construction of the VR system, in one embodiment, the Unity3D game engine is used to design a game that matches each rehabilitation training mode of the present invention, and the blender software is used to create a 3D virtual human body model and design the visual appearance to make it have Three degrees of freedom that match the present invention; and as mentioned above, the displacement (moving distance and direction) and the rotation (rotation angle) are sensed through the attitude sensing device 8, thereby transmitting them back to the interactive device 9, so that It can be used as an input parameter to control the game character, allowing it to interact in various ways in the virtual scene to achieve various corresponding tasks in the game.
在一實施例中，患者係可透過登入介面輸入個入之資料，如：姓名、身高、性別、前臂長度及所需復健之手，並可根據自身需求安排適合的復健內容及調整其強度。 In one embodiment, the patient can enter personal information through the login interface, such as name, height, gender, forearm length, and hand required for rehabilitation, and can arrange suitable rehabilitation content and adjust it according to his or her own needs. intensity.
在手輪旋轉模式的連續被動訓練中，如前述者，本發明之手輪復建機構將帶動患者上肢作畫圓之運動，在一實施例中，遊戲係可配置為模擬煮咖哩的情境，如：咖哩製作之順序，並依據顏色配置，調整轉把22之轉速，不同顏色對應到不同速度，且速度可由慢至快分為四個區間；而在主動負載訓 練中，患者需自行轉動轉把22進行畫圓運動，而互動式裝置9同樣根據安排之訓練，引導患者旋轉病患至對應的速度區間，當訓練完成後將產生一個對應顏色的咖哩。 In the continuous passive training in the handwheel rotation mode, as mentioned above, the handwheel reconstruction mechanism of the present invention will drive the patient's upper limbs to draw circular movements. In one embodiment, the game system can be configured to simulate the situation of cooking curry. For example: the order of curry making, and according to the color configuration, adjust the rotation speed of the handle 22, different colors correspond to different speeds, and the speed can be divided into four intervals from slow to fast; and in active load training During the training, the patient needs to turn the handle 22 on his own to perform circular motions, and the interactive device 9 also guides the patient to rotate to the corresponding speed range according to the arranged training. When the training is completed, a curry of the corresponding color will be produced.
在全向移動模式的連續被動訓練中，本發明將藉由輪體311之移動帶動本體1整體，進而會帶動患者上肢沿規劃軌跡移動；此遊戲係可配置為模擬日常烹飪的情境進行訓練，並根據安排之訓練，進行如：圓形、三角形、雙紐線圖形等形狀進行軌跡調整，舉例而言，三角形之軌跡，可對應到食材削皮之動作；此外，患者可以根據需求更改軌跡追蹤的方向，也可以安排不同軌跡，並可對應到相應之互動場景。 In the continuous passive training in the omnidirectional movement mode, the present invention will drive the entire body 1 through the movement of the wheel body 311, and then drive the patient's upper limbs to move along the planned trajectory; this game system can be configured to simulate daily cooking situations for training. And according to the arranged training, the trajectory can be adjusted in shapes such as circles, triangles, lemniscates, etc. For example, the trajectory of a triangle can correspond to the action of peeling ingredients; in addition, patients can change the trajectory tracking according to their needs. Different trajectories can also be arranged in the direction and correspond to corresponding interactive scenes.
在全向移動模式的主動負載訓練中，患者需自行移動本發明，遊戲係可配置為模擬魔法學院之教學課程，並可根據安排的訓練調整軌跡的種類，不同軌跡將對應到不同的情境，患者會沿軌跡移動本體1，當訓練完成後會生成對應之特效；在一具體之實施例中，係可引導患者移動互動裝置介面上呈現之物品，移動本體1至指定位置後可觸發拖動物品的能力。 In the active load training in the omnidirectional movement mode, the patient needs to move the invention by himself. The game system can be configured to simulate the teaching courses of the magic academy, and the types of trajectories can be adjusted according to the arranged training. Different trajectories will correspond to different situations. The patient will move the body 1 along the trajectory, and when the training is completed, corresponding special effects will be generated; in a specific embodiment, the patient can be guided to move objects presented on the interactive device interface, and dragging can be triggered after moving the body 1 to a designated position. Item abilities.
據此，本發明主要具有手輪復建機構之手輪復健功能，並具有可平面全向移動之全向移動復健功能，藉此，可針對不同復健進程(如：痙攣期及恢復期)之患者設計各種復健模式，如：轉把22旋轉與全向移動，且皆提供主動負載及連續被動式復健訓練之功能，可予對患者之上肢進行有效之復健，並配合互動式裝置9之設計，藉可提升於復健訓練時之趣味性，進而可有助於提高患者之復健意願與專注度，進而可提升上肢復健訓練之成效者。 According to this, the present invention mainly has the handwheel rehabilitation function of the handwheel reconstruction mechanism, and has the omnidirectional movable rehabilitation function that can move in all directions in the plane, whereby it can be used for different rehabilitation processes (such as spasticity and recovery). Various rehabilitation modes are designed for patients in the period), such as: rotation of the handle 22 and omnidirectional movement, and both provide active load and continuous passive rehabilitation training functions, which can effectively rehabilitate the upper limbs of patients and cooperate with interaction The design of the device 9 can also increase the fun during rehabilitation training, thereby helping to improve the patient's willingness and concentration for rehabilitation, thereby improving the effectiveness of upper limb rehabilitation training.
綜上所述，本發明所揭露之技術手段確能有效解決習知等問題，並達致預期之目的與功效，且申請前未見諸於刊物、未曾公開使用且具長 遠進步性，誠屬專利法所稱之發明無誤，爰依法提出申請，懇祈 鈞上惠予詳審並賜准發明專利，至感德馨。 To sum up, the technical means disclosed in the present invention can indeed effectively solve the conventional problems and achieve the expected purpose and effect, and have not been published in publications, have not been publicly used and have long-term effect before application. It is a far-reaching progress and it is truly an invention as defined by the Patent Law. I submit the application in accordance with the law. I sincerely pray that I will review it carefully and grant an invention patent. I am most grateful.
惟以上所述者，僅為本發明之數種較佳實施例，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發明說明書內容所作之等效變化與修飾，皆應仍屬本發明專利涵蓋之範圍內。 However, the above are only several preferred embodiments of the present invention, and should not be used to limit the scope of the present invention. That is, all equivalent changes and modifications made based on the patent scope of the present invention and the content of the invention specification are It should still fall within the scope of the patent of this invention.
1:本體 1: Ontology
11:承接座 11: receiving seat
12:殼體 12: Shell
121:缺口 121: Gap
21:曲柄 21:Crank
22:轉把 22:Turn the handle
34:扣件 34:Fasteners
S1:短邊 S1: short side
S2:長邊 S2: long side
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| CN204898357U (en) * | 2015-08-06 | 2015-12-23 | 广东工业大学 | Hand recovered drier of taking exercise |
| TWI532519B (en) * | 2012-07-18 | 2016-05-11 | 國立成功大學 | Portable rehabilitation equipment |
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| TWI435745B (en) * | 2010-11-05 | 2014-05-01 | Univ Nat Yunlin Sci & Tech | Rehabilitation machine |
| TWI532519B (en) * | 2012-07-18 | 2016-05-11 | 國立成功大學 | Portable rehabilitation equipment |
| CN204898357U (en) * | 2015-08-06 | 2015-12-23 | 广东工业大学 | Hand recovered drier of taking exercise |
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