WO2021068542A1 - 基于力反馈技术的上肢主被动康复训练机器人*** - Google Patents

基于力反馈技术的上肢主被动康复训练机器人*** Download PDF

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Publication number
WO2021068542A1
WO2021068542A1 PCT/CN2020/095733 CN2020095733W WO2021068542A1 WO 2021068542 A1 WO2021068542 A1 WO 2021068542A1 CN 2020095733 W CN2020095733 W CN 2020095733W WO 2021068542 A1 WO2021068542 A1 WO 2021068542A1
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Prior art keywords
rehabilitation training
patient
active
passive
training
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PCT/CN2020/095733
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English (en)
French (fr)
Inventor
宋爱国
莫依婷
秦欢欢
李会军
徐宝国
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东南大学
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Priority to US16/970,631 priority Critical patent/US11771613B2/en
Publication of WO2021068542A1 publication Critical patent/WO2021068542A1/zh

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    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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Definitions

  • the invention relates to a rehabilitation robot, in particular to an upper limb active and passive rehabilitation training robot system based on force feedback technology.
  • An active and passive upper limb rehabilitation training robot system based on force feedback technology uses an integrated structural design, does not require other somatosensory devices, can provide active and passive rehabilitation training modes, and can play its role in the entire rehabilitation stage of the patient. Passive training actions can be customized according to the actual situation of the patient, and the vivid and rich active training mode can also reduce the psychological burden of the patient during the training process. In the process of interacting with the game scene, the system can also provide accurate force feedback , To enhance the sense of immersion and realism, and enhance the training effect.
  • the purpose of the present invention is to provide an upper limb active and passive rehabilitation training robot system based on force feedback technology, which provides repetitive passive rehabilitation training stimulation and active rehabilitation training with force feedback for patients who need upper limb rehabilitation.
  • An active and passive upper limb rehabilitation training robot system based on force feedback technology which is characterized in that it includes:
  • the robot body includes two multi-degree-of-freedom manipulator arms and motor units for placing the patient's hands, and the end of the manipulator arm is equipped with a force/torque sensor;
  • the active and passive training host computer system is used for active rehabilitation training and/or passive rehabilitation training; when the system provides passive rehabilitation training, the patient's hand is supported by the end of the robotic arm, and the system will track the expected end position of the robotic arm according to the rehabilitation training actions Calculate as the motor's motion angle, and control the robotic arm to pull the upper limbs to complete the training tasks set by the system; when the system provides active rehabilitation training, the robotic arm acts as a human-computer interaction interface, and the human-computer interaction interface and force/torque sensor provide vision Feedback and force feedback to complete tasks in virtual rehabilitation training scenarios.
  • the robot body is worn on the human body through a detachable part.
  • the detachable part is preferably a waist belt, and two multi-degree-of-freedom mechanical arms are respectively installed on both sides of the waist belt.
  • the passive rehabilitation training specifically includes the following content:
  • the system calculates the expected end position trajectory into the motion angle of the six motors and stores it through the inverse kinematics calculation formula of the robotic arm;
  • Both upper limbs are driven by mechanical arms and are trained in accordance with the set rehabilitation actions until the specified number of training sessions is reached;
  • the standard degree of the upper limb movement of the patient is analyzed, and the rehabilitation effect is scored; after multiple rehabilitation effect scoring, the passive rehabilitation effect curve diagram of the patient is obtained.
  • the feedback information of the motor includes angle and/or current.
  • the active rehabilitation training includes visual feedback rehabilitation training and force feedback rehabilitation training:
  • the human-computer interaction interface of the system displays the scene of the rehabilitation training task and the patient's virtual hand.
  • the position of the virtual hand changes with the position of the patient's hand.
  • the position of the virtual hand is determined by the system.
  • the angle information of the six motors is calculated by the positive kinematics calculation formula of the robotic arm.
  • the human-computer interaction interface continuously updates the position of the patient's hand to provide the patient with visual feedback information;
  • Force feedback rehabilitation training The patient's hand manipulates the virtual hand in the human-computer interaction interface to collide with the virtual object through the end of the robotic arm.
  • the system calculates the force/torque information generated by the collision according to the algorithm and analyzes the statics of the robotic arm.
  • the force/moment is distributed to each motor, and the mechanical arm presents force on the patient's upper limbs, allowing the patient to feel the force during the active rehabilitation training process.
  • the active and passive upper limb rehabilitation training robot system of the present invention based on force feedback technology does not require additional somatosensory devices, and the robot system performs two-way interaction between the patient and the rehabilitation training scene.
  • the media can gradually enhance the flexibility of the patient’s upper limbs through active and passive rehabilitation training.
  • the system provides real-time force feedback for the upper limbs through the robotic arm according to the interaction between the patient and the rehabilitation system, and enhances the rehabilitation training effect through the dual stimulation of visual information and force information.
  • the robot has a compact structure, is light and easy to wear, and has low cost. Compared with traditional methods, the training process is more efficient and patients are more motivated to participate. It has important research significance and practical value for improving the effect of upper limb rehabilitation training.
  • Figure 1 is a schematic diagram of a three-degree-of-freedom upper limb active and passive rehabilitation training robot system structure of the present invention
  • Figure 2 is a flow chart of the passive rehabilitation training method of the present invention
  • Figure 3 is a flow chart of the active rehabilitation training method of the present invention.
  • Figure 4 is a control diagram for the system to achieve precise force feedback.
  • an active and passive upper limb rehabilitation training robot system based on force feedback technology includes a robot body 2 and an active and passive training upper computer system.
  • the robot body 2 includes two three-degree-of-freedom robot arms and six motor units for driving the robot arms.
  • the patient 1 wears the robot body 2 on the waist through a hard belt.
  • the hard belt can be adjusted by Velcro The degree of tightness. Human hands hold the ends of the two robotic arms that extend from both sides of the waist belt, and force/torque sensors are installed at the ends of the robotic arms.
  • the active and passive training host computer system includes an active rehabilitation training host computer 3 and a passive rehabilitation training host computer 4.
  • the host computer transmits the control instructions of the six motors to the robot body; the motor data (such as angle, current) of the robot body 2 is fed back to the host computer.
  • the robot body 2 transfers the data of the six motors and force/torque sensors to the upper computer; the upper computer transfers the data of the control motors to the robot body.
  • the human-machine integrated design makes the system without additional installation of somatosensory equipment.
  • the upper limb active and passive rehabilitation training robot system uses two robotic arms extending from the waist as the human-computer interaction interface, helping patients to perform a large number of active and passive Rehabilitation training has important application value for upper limb rehabilitation training.
  • Fig. 2 shows a flow chart of the passive rehabilitation using method of the upper limb active and passive rehabilitation training robot system based on the force feedback technology.
  • the patient's muscle group function is insufficient, and the collaboration between the joints is insufficient.
  • a lot of repetitive passive rehabilitation training is required first.
  • medical staff conduct a basic examination of the patient to determine whether the patient’s upper limbs have basic autonomous motor functions. If not, evaluate the upper limb functions such as shoulder joint adduction and abduction, shoulder joint extension and flexion, and elbow joint flexion and extension. Rehabilitation needs, and customize training actions and training times for them.
  • the passive rehabilitation training upper computer software calculates the angles of the joints of the two mechanical arms, and sends instructions to the motors through the bus.
  • the patient wears the robot body on the waist and adjusts it with Velcro, holds the end of the robot arm with both hands, and the robot arm drives the upper limbs to move until the number of training is reached.
  • the feedback information of the motor during the training process analyze the movement of the patient's upper limbs. The standard degree is used to score the rehabilitation effect. After multiple rehabilitation effect scores, the passive rehabilitation effect curve diagram of the patient can be obtained. The state of the motor is monitored throughout the process. If there is any abnormality (such as excessive feedback current), it will automatically perform power-off processing to ensure the safety of the patient.
  • Fig. 3 shows a flow chart of the active rehabilitation using method of the active and passive upper limb rehabilitation training robot system based on force feedback technology.
  • the patient After the patient has undergone long-term passive rehabilitation training, his muscle group ability and joint function have been greatly restored, and he has regained basic athletic ability. At this time, the patient needs scientific active rehabilitation training to improve the flexibility of the upper limbs. .
  • the medical staff judges the patient's upper limb flexibility and coordination through simple tests. If rehabilitation is required, appropriate rehabilitation training tasks are designed according to their specific conditions. For example, the training tasks can be carried out in the form of game interaction. In the active rehabilitation training process, no additional somatosensory device is needed.
  • the robotic arm is the human-computer interaction interface between the patient and the rehabilitation game.
  • the patient holds the end of the robotic arm, and the active rehabilitation training host computer is in the human-computer interaction interface (computer screen ) Shows the game scene of rehabilitation training.
  • Two small balls can be used as the proxy of the hands on the scene screen, and the position of the small balls changes according to the position of the hands.
  • the position of the ball is the result calculated by the system based on the angle information of the six motors through the positive kinematics calculation formula of the three-degree-of-freedom manipulator.
  • the patient controls the movement of the robotic arm, and the angle information of the robotic arm joint is transmitted to the active rehabilitation training host computer.
  • the position of the terminal agent ball in the game scene is solved through kinematic equations.
  • the position of the ball is constantly updated to provide vision for the patient information.
  • Fig. 4 shows the control diagram of the active and passive upper limb rehabilitation training robot system of the present invention for realizing accurate force feedback.
  • the system if the system detects a collision between the end agent and the virtual object, the system will calculate the force/torque according to the collision algorithm, and solve the expected force/torque to each joint of the robotic arm through the statics equation. At the same time, the corresponding control command is sent to the motor.
  • the detection signal of the force/torque sensor at the end of the manipulator is used as the feedback signal to adjust the working state of the motor in real time, so as to provide patients with a more accurate and true force feedback feeling.
  • the patient's active rehabilitation effect curve can be obtained.
  • the present invention designs an active and passive upper limb rehabilitation training robot system based on force feedback technology.
  • the robot system is directly worn on the waist of the person, and the person holds the two protruding from the waist.
  • some active and passive rehabilitation training for both upper limbs is completed for shoulder joint adduction and abduction, shoulder joint extension and flexion, and elbow joint flexion and extension.
  • the flexibility of the patient's upper limbs can be gradually enhanced through active and passive rehabilitation training.
  • the system provides real-time force feedback for the upper limbs through the robotic arm according to the interaction between the patient and the rehabilitation game, and enhances the effect of rehabilitation training through the dual stimulation of visual information and force information.
  • the specific training content can be modified and customized according to the actual situation of the patient, such as the angle of the joints during passive rehabilitation, and the form and difficulty of tasks during active training.

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Abstract

一种基于力反馈技术的上肢主被动康复训练机器人***，包括机器人本体（2）以及主被动训练上位机***（3，4）构成，可根据患者病情，开展对患者左、右肩关节内收/外展、前屈/后伸以及左、右肘关节前屈/后伸这些自由度的主、被动康复训练。在被动康复训练模式下，由机器人本体（2）带动患者上肢按照上位机设定的轨迹运动，逐步恢复上肢的基本运动功能；在主动康复训练模式下，患者双手握住机器人本体（2）的末端，与康复训练场景进行交互，并能感受到真实、精确的力反馈，而且支持实时训练数据记录，实现对康复训练效果科学、定量评估，提升康复治疗的效果。

Description

基于力反馈技术的上肢主被动康复训练机器人*** 技术领域
本发明涉及康复机器人，尤其涉及一种基于力反馈技术的上肢主被动康复训练机器人***。
背景技术
随着社会的发展与老龄化的加剧，由于心脑血管或神经***引发的偏瘫人数也逐年增多，康复医学逐渐受到社会的重视。有研究表明，脑卒中患者经过长期的康复训练，获得充分的运动与感知刺激，可以慢慢恢复运动功能。然而目前多为医护人员一对一辅助患者进行康复训练，不仅对患者的经济情况有要求，枯燥无味的长时间训练也让患者产生一定的心理负担。此外，康复训练效果主要依靠医护人员的主观判断，没有数据进行评估。近些年来，出现了一些能够代替医护人员进行重复性被动康复训练的装置，能够大大减轻医护人员的体力负担，让他们把更多的精力放在为患者定制个性化康复训练方案中。然而缺失主动康复训练功能的装置，与日常生活相脱节,影响患者独立生活能力。
一种基于力反馈技术的上肢主被动康复训练机器人***使用一体化式的结构设计，不需要其他体感装置，能够提供主动、被动康复训练模式，在患者的整个康复阶段都能发挥其作用。被动训练动作可以根据患者的实际情况进行定制，并且，生动丰富的主动训练模式还能减轻患者在训练过程中的心理负担，在同游戏场景进行交互的过程中，***还能提供精确的力反馈，增强沉浸感和真实感，提升训练效果。
发明内容
本发明的目的是提供一种基于力反馈技术的上肢主被动康复训练机器人***，针对需要进行上肢康复的患者，为其提供重复性的被动康复训练刺激与带有力反馈的主动康复训练。
技术方案：一种基于力反馈技术的上肢主被动康复训练机器人***，其特征在于，包括：
机器人本体，包括两个用于放置患者手部的多自由度机械臂及电机单元，机械臂末端安装有力/力矩传感器；
主被动训练上位机***，用于主动康复训练和/或被动康复训练；当***提供被动康复训练时，患者手部由机械臂末端支撑，***根据康复训练动作，将机械臂的预期末端位置轨迹解算为电机的运动角度，控制机械臂牵引双上肢完成***设定的训练任务；当***提供主动康复训练时，机械臂作为人机交互接口，由人机交互界面、力/力矩传感器提供视觉反馈和力觉反馈，完成虚拟康复训练场景中的任务。
进一步的，所述机器人本体通过可拆卸部件穿戴于人体。所述可拆卸部件优选为腰带，两个多自由度机械臂分别安装在腰带的两侧。
进一步的，所述被动康复训练具体包括如下内容：
***根据康复训练动作，通过机械臂的逆运动学解算公式，将预期的末端位置轨 迹解算为六个电机的运动角度并进行存储；
双上肢由机械臂驱动，按照设定的康复动作进行训练，直至达到规定的训练次数；
根据训练过程中电机的反馈信息，分析患者上肢动作的标准程度，并进行康复效果评分；经过多次康复效果评分之后，得出患者的被动康复效果曲线图。所述电机的反馈信息包括角度和/或电流。
进一步的，所述主动康复训练包括视觉反馈康复训练和力觉反馈康复训练：
视觉反馈康复训练：***的人机交互界面上显示有康复训练任务的场景以及患者的虚拟手部，该虚拟手部的位置随患者手部的位置变化而变化，虚拟手部的位置由***根据六个电机的角度信息，通过机械臂的正运动学解算公式计算得到，人机交互界面对患者的手部位置进行不断更新，为患者提供视觉反馈信息；
力觉反馈康复训练：患者手部通过机械臂末端操纵人机交互界面中的虚拟手部与虚拟物体发生碰撞，***根据算法计算碰撞产生的力/力矩信息，并通过机械臂的静力学分析，将力/力矩分配到每个电机上，机械臂在患者上肢呈现作用力，让患者在主动康复训练过程中产生力的感觉。
和现有技术相比，本发明具有如下显著优点：1、本发明的基于力反馈技术的上肢主被动康复训练机器人***，无需额外的体感装置，机器人***即为患者与康复训练场景进行双向交互的媒介，可通过主被动康复训练逐步增强患者上肢的灵活性。2、在主动训练过程中，***根据患者与康复***的交互情况，通过机械臂为上肢提供实时的力反馈，通过视觉信息和力觉信息的双重刺激，提升康复训练效果。3、机器人结构紧凑，轻便易穿戴，成本低，与传统方式相比，训练过程效率更高，患者的参与积极性更高，对于提升上肢康复训练效果具有重要的研究意义与实用价值。
附图说明
图1是本发明的一种三自由度上肢主被动康复训练机器人***结构示意图；
图2是本发明的被动康复训练使用方法流程图；
图3是本发明的主动康复训练使用方法流程图；
图4是***实现精确力反馈的控制图。
具体实施方式
下面结合附图和具体实施方式，对本发明的技术方案做详细的说明。
如图1所示，一种基于力反馈技术的上肢主被动康复训练机器人***，包括机器人本体2以及主被动训练上位机***。其中，机器人本体2包括两个三自由度机械臂及六个用于驱动机械臂的电机单元，患者1通过硬质腰带将机器人本体2穿戴在腰部，优选的，硬质腰带可通过魔术贴调节松紧程度。人手握住从腰带两侧伸出的两只机械臂的末端，机械臂末端安装有力/力矩传感器。主被动训练上位机***包括主动康复训练上位机3和被动康复训练上位机4。
机器人本体2与被动康复训练上位机4之间具有双向的数据传递：上位机将六个电机的控制指令传递给机器人本体；机器人本体2的电机数据(比如角度、电流)反馈给上位机。在机器人本体2与主动康复训练游戏3之间有双向的数据传递：机器人本体2将六个电机 以及力/力矩传感器的数据传递给上位机；上位机将控制电机的数据传递给机器人本体。当***提供被动康复训练时，患者双手握住机械臂末端，通过机械臂牵引双上肢，完成长时间、高重复性的训练任务，此时机械臂起到支撑被动康复训练的作用。当***提供主动康复训练时，患者双手握住机械臂末端，在拥有视觉反馈和力觉反馈的情况下，完成虚拟康复训练场景中的一些任务。人机一体化的设计使得***在不需要额外安装体感设备的情况下，上肢主被动康复训练机器人***使用从腰部伸出的两只机械臂作为人机交互的接口，帮助患者进行大量主动、被动康复训练，对于上肢康复训练具有重要应用价值。
图2表示根据上述基于力反馈技术的上肢主被动康复训练机器人***的被动康复使用方法的流程图。在康复训练初期，患者肌群功能不足，关节之间的协作性不足，需要先进行大量重复的被动康复训练。首先，医护人员对患者进行基本的检查，判断患者上肢是否具有基本的自主运动功能，若无，则评估其在肩关节内收外展、肩关节伸展屈曲、肘关节前屈后伸等上肢功能的康复需求，并为其定制训练动作与训练次数。根据训练动作的轨迹，被动康复训练上位机软件解算出两只机械臂关节的角度，通过总线向电机发送指令。患者将机器人本体穿戴在腰上，并用魔术贴进行调节，双手握住机械臂的末端，由机械臂驱动上肢进行运动，直至达到训练次数，根据训练过程中电机的反馈信息，分析患者上肢动作的标准程度，进行康复效果评分。经过多次康复效果评分之后，可以得出患者的被动康复效果曲线图。全程监控电机的状态，若有任何异常(如反馈电流过大)，自动进行掉电处理，以确保患者的安全。
图3表示上述基于力反馈技术的上肢主被动康复训练机器人***的主动康复使用方法的流程图。当患者进行了长期被动康复训练之后，其肌群能力、关节功能都得到了较大的恢复，重新拥有了基本的运动能力，此时，患者需要科学的主动康复训练，以提高上肢的灵活性。首先，医护人员通过简单的测试判断患者的上肢灵活性与协调性，若需要进行康复治疗，则根据其具体情况设计合适的康复训练任务，例如，可以以游戏互动的形式展开训练任务。在主动康复训练过程中，不需要额外的体感装置，机械臂即是患者与康复游戏之间的人机交互接口，患者握住机械臂末端，主动康复训练上位机在人机交互界面(计算机屏幕)上显示康复训练的游戏场景，场景画面上可采用两个小球作为双手的代理，小球的位置根据手的位置变化而变化。小球的位置是***根据六个电机的角度信息，通过三自由度机械臂的正运动学解算公式，计算出来的结果。患者控制机械臂运动，机械臂关节的角度信息被传递到主动康复训练上位机中，通过运动学方程解算出末端代理小球在游戏场景中的位置，小球的位置不断更新，为患者提供视觉信息。
并且，在主动康复训练过程中，***还能为患者提供精确力反馈，使得患者在握住机械臂训练时产生力的感受，通过视觉信息和力觉信息的双重刺激，让康复游戏更加生动、真实，从而提高患者训练的积极性。图4展示了本发明上肢主被动康复训练机器人***实现精确力反馈的控制图。在主动训练过程中，若***检测到末端代理与虚拟物体之间发生碰撞，***会根据碰撞算法计算力/力矩，并通过静力学方程将预期力/力矩解算到机械臂的各个关节上，同时，将对应的控制指令发送给电机。为了确保机械臂末端力反馈的精确性，将机械臂末端的力/力矩传感器的检测信号作为反馈信号，对电机工作状态进行一个实时调整，从而为患者提供一个更精确、真实的力反馈感觉。
根据训练过程中记录的信息(比如任务完成时长)，分析患者的上肢灵活性和协调 性，进行康复效果评分。经过多次康复效果评分之后，可以得出患者的主动康复效果曲线图。
综上，本发明所设计一种基于力反馈技术的上肢主被动康复训练机器人***，通过人机一体化设计，将机器人***直接穿戴于人的腰部，人握住从腰间伸出的两只机械臂的末端，完成一些针对肩关节内收外展、肩关节伸展屈曲、肘关节前屈后伸的双上肢主被动康复训练。其次，无需额外的体感装置，即可通过主被动康复训练逐步增强患者上肢的灵活性。不仅如此，在主动训练过程中，***根据患者与康复游戏的交互情况，通过机械臂为上肢提供实时的力反馈，通过视觉信息和力觉信息的双重刺激，提升康复训练效果。具体训练内容均可根据患者的实际情况进行修改、定制，比如被动康复时运动关节的角度、主动训练时任务的形式和难度等。

Claims (6)

  1. 一种基于力反馈技术的上肢主被动康复训练机器人***，其特征在于，包括：
    机器人本体，包括两个用于放置患者手部的多自由度机械臂及电机单元，机械臂末端安装有力/力矩传感器；
    主被动训练上位机***，用于主动康复训练和/或被动康复训练；当***提供被动康复训练时，患者手部由机械臂末端支撑，***根据康复训练动作，将机械臂的预期末端位置轨迹解算为电机的运动角度，控制机械臂牵引双上肢完成***设定的训练任务；当***提供主动康复训练时，由人机交互界面提供虚拟康复训练场景，机械臂作为人机交互接口，患者手部控制机械臂末端动作，***通过视觉反馈和力觉反馈，使患者与康复训练场景进行交互，完成虚拟康复训练场景中的任务。
  2. 根据权利要求1所述的上肢主被动康复训练机器人***，其特征在于：所述机器人本体通过可拆卸部件穿戴于人体。
  3. 根据权利要求2所述的上肢主被动康复训练机器人***，其特征在于：所述可拆卸部件为腰带，两个多自由度机械臂分别安装在腰带的两侧。
  4. 根据权利要求1所述的上肢主被动康复训练机器人***，其特征在于：所述被动康复训练具体包括如下内容：
    ***根据康复训练动作，通过机械臂的逆运动学解算公式，将预期的末端位置轨迹解算为六个电机的运动角度并进行存储；
    双上肢由机械臂驱动，按照设定的康复动作进行训练，直至达到规定的训练次数；
    根据训练过程中电机的反馈信息，分析患者上肢动作的标准程度，并进行康复效果评分；经过多次康复效果评分之后，得出患者的被动康复效果曲线图。
  5. 根据权利要求3所述的上肢主被动康复训练机器人***，其特征在于：所述电机的反馈信息包括角度和/或电流。
  6. 根据权利要求1所述的上肢主被动康复训练机器人***，其特征在于，所述主动康复训练包括视觉反馈信息和力觉反馈信息；
    所述视觉反馈信息的呈现方式为：***的人机交互界面上显示有康复训练任务的场景以及患者的虚拟手部，该虚拟手部的位置随患者手部的位置变化而变化，虚拟手部的位置由***根据六个电机的角度信息，通过机械臂的正运动学解算公式计算得到，人机交互界面对患者的手部位置进行不断更新，为患者提供视觉反馈信息；
    所述力觉反馈信息的呈现方式为：患者手部通过机械臂末端操纵人机交互界面中的虚拟手部与虚拟物体发生碰撞，***根据算法计算碰撞产生的力/力矩信息，并通过机械臂的静力学分析，将力/力矩分配到每个电机上，机械臂在患者上肢呈现作用力，让患者在主动康复训练过程中产生力的感觉。
PCT/CN2020/095733 2019-10-12 2020-06-12 基于力反馈技术的上肢主被动康复训练机器人*** WO2021068542A1 (zh)

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