CN110269775A - A kind of rehabilitation training schema control system - Google Patents
A kind of rehabilitation training schema control system Download PDFInfo
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- CN110269775A CN110269775A CN201810214977.1A CN201810214977A CN110269775A CN 110269775 A CN110269775 A CN 110269775A CN 201810214977 A CN201810214977 A CN 201810214977A CN 110269775 A CN110269775 A CN 110269775A
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- 238000012549 training Methods 0.000 claims abstract description 40
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 238000000034 method Methods 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims abstract description 8
- 230000009023 proprioceptive sensation Effects 0.000 claims abstract description 7
- 238000011156 evaluation Methods 0.000 claims abstract description 6
- 230000009471 action Effects 0.000 claims description 9
- 238000011897 real-time detection Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 3
- 230000035876 healing Effects 0.000 abstract description 3
- 230000000272 proprioceptive effect Effects 0.000 abstract description 2
- 210000000697 sensory organ Anatomy 0.000 abstract description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 4
- 208000006011 Stroke Diseases 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 210000004556 brain Anatomy 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 210000005036 nerve Anatomy 0.000 description 2
- 208000022306 Cerebral injury Diseases 0.000 description 1
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001684 chronic effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000000302 ischemic effect Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000011328 necessary treatment Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/14—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for wrist joints
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B2071/0655—Tactile feedback
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B2071/0694—Visual indication, e.g. Indicia
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Epidemiology (AREA)
- Human Computer Interaction (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of rehabilitation training schema control systems, including passive rehabilitation training mode and intelligent initiative rehabilitation training mode and proprioception evaluation profile, the passive rehabilitation training mode includes permanent torque mode and permanent revolving speed mode, wherein permanent revolving speed mode includes PID controller, its control method are as follows: setting target position-detection physical location and the error-of target position pass through scale operation, it integral operation and differentiates, determine that the physical location of controlled device is moved to target position by increased torque-servo motor driving equipment needed for servo motor, in control process, realize error feedback.PID controller of the invention can allow entire motion process steady and safety；Intelligent initiative rehabilitation training mode can allow healing robot to be given when patient wants help and assist；Proprioceptive assessment can be used to check sense organ to the sensing capability of body position and to the compensation ability of passive movement or interference.
Description
Technical field
The present invention relates to rehabilitation training intelligent control equipment technology fields, especially a kind of rehabilitation training scheme control system
System.
Background technique
Headstroke, also known as cerebral apoplexy or cerebrovascular accident are that a kind of brain ischemic and heamorrhagic lesions occurs and causes
The situation that anoxic, cerebral injury and function are lost.
Rehabilitation training is to restore that motor function defect caused by apoplexy is most effective and necessary treatment method.According to nerve
Plasticity is theoretical, by long-term intensive and constantly duplicate rehabilitation mechanism (as repeatedly provided passive fortune to patients wrist
It is dynamic), it can make to establish new nerve connection between brain and muscle to repair damage.Except apoplexy disables in addition to patient, China's mesh
It is preceding also to have stepped into aging society and the radix of chronic is very big, and the two big groups are also rehabilitation training machine
The big demand end of other the two of people.
The therapeutic process of rehabilitation training is quite very long, this is also that technological layer leads to the rehabilitation resources main original that supply falls short of demand
Cause.Therefore, under the future huge development prospect of rehabilitation medical, how rehabilitation medical and increasingly mature biology electromechanics to be handed over
Mutually, intelligent control, robot technology and technology of Internet of things combine and meet the needs of industry, have great market economy valence
Value and social development meaning.
Summary of the invention
The purpose of the present invention is being improved and being innovated for disadvantage present in background technique and problem, providing one kind can
For minimizing the rehabilitation training schema control system of family device for healing and training.
The technical scheme is that construct a kind of rehabilitation training schema control system, including passive rehabilitation training mode and
Intelligent initiative rehabilitation training mode and proprioception evaluation profile, the passive rehabilitation training mode include permanent torque mode and
Permanent revolving speed mode, control servo motor is respectively with permanent torque and permanent revolving speed operation, wherein permanent revolving speed mode includes PID controller,
Its control method are as follows:
The error-for setting target position-detection physical location and target position passes through scale operation, integral operation and differential
Operation determines that the physical location of controlled device is moved to mesh by increased torque-servo motor driving equipment needed for servo motor
Cursor position, in control process, the physical location of real-time detection controlled device and the error of target position realize error feedback.
The intelligent initiative rehabilitation training mode includes pilot controller in one of the embodiments, the auxiliary
Controller includes deviation control part, i.e., one is arranged centered on destination path and allows to deviate range, real-time detection controlled device
Whether beyond deviation range is allowed, if controlled device exceeds allowable deviation range, target is applied towards destination path and is drawn
Lead power.
The pilot controller further includes speed control part in one of the embodiments, i.e. detection controlled device
Movement velocity and pre-set velocity deviation, if deviation be more than threshold value, to controlled device apply along the direction of motion directed force.
The pilot controller further includes undulated control part in one of the embodiments, i.e. detection controlled device
Motion profile whether fluctuate, if fluctuating, to controlled device apply damping action power.
The pilot controller further includes visual feedback means, visual feedback means packet in one of the embodiments,
Include moving direction instruction device.
In one of the embodiments, the proprioception mode evaluation mode include assessment controller, training handle,
Action prompt device and sight radical occlusion device, the assessment controller control sight radical occlusion device block the sight of user
Firmly, and by action prompt device indicate that user holds handle and makes required movement, assessment controller does specified dynamic in user
As when make interference, and detect actual motion track and the error of desired trajectory of user, and record, analyze.
The interference includes permanent direction interference or interference of changing direction in one of the embodiments,.
The advantages of the present invention:
The present invention is provided with the PID controller used suitable for rehabilitation passive exercise, and entire motion process can be allowed steady
And safety；
The present invention is provided with intelligent initiative rehabilitation training mode, and healing robot can be allowed to have observation as therapist
And judgement, give and assist when patient wants help, Rehabilitation movement execute not clock synchronization give and guide, in patient
Can complete independently when without intervene；
Proprioceptive assessment of the invention can be used to check sense organ to the sensing capability of body position and to passive fortune
Dynamic or interference compensation ability.
Specific embodiment
To facilitate the understanding of the present invention, below in conjunction with following preferred embodiment to invention is more fully described.
But the invention can be realized in many different forms, however it is not limited to embodiment described herein.On the contrary, providing
The purpose of these embodiments be make it is more thorough and comprehensive to the disclosure.
It should be noted that when element be considered as " setting " on the other element, it can be directly setting or company
Connect on the other element or may be simultaneously present centering elements.
Unless otherwise defined, the skill of all technical and scientific terms and technical field of the invention used herein
The normally understood meaning of art personnel is identical.Term used in the description is intended merely to describe specifically to implement purpose, is not
It is intended to limit the present invention.
Embodiment
By taking carpal rehabilitation training as an example.
One kind being used for carpal rehabilitation training schema control system, including passive rehabilitation training mode and intelligent active health
Multiple training mode and proprioception evaluation profile, the passive rehabilitation training mode to the wrist situation of patient carry out detection and
Assessment, including permanent torque mode and permanent revolving speed mode, control servo motor is respectively with permanent torque and permanent revolving speed operation, wherein permanent turn
Fast mode includes PID controller, control method are as follows:
The error-for setting target position-detection physical location and target position passes through scale operation, integral operation and differential
Operation determines that the physical location of controlled device is moved to mesh by increased torque-servo motor driving equipment needed for servo motor
Cursor position, in control process, the physical location of real-time detection controlled device and the error of target position realize error feedback.
Passive rehabilitation training mode accurately can carry out control to dynamics and speed.
Permanent torque control is easier to realize, because torque will not be influenced by each patient's particular situation.For servo
For motor, no matter the size of external loading, it is constant to be maintained at setting torque, therefore does not need feedback system.In perseverance
Under velocity mode, though be provided with servo motor speed be it is constant, due to the stiff journey in position different in rehabilitation action process
Degree can change, and the different stiff degree of patients wrist is also different, will have no idea that the movement of rehabilitation training is directly allowed also to keep
Constant speed.Therefore it needs the speed acted to rehabilitation to be monitored and changes the revolving speed of servo motor in real time.It is passive suitable for rehabilitation
The PID controller that training uses makes entire motion process steady and safety.
In the above-described embodiments, the intelligent initiative rehabilitation training mode includes pilot controller, the auxiliary control
Device includes deviation control part, i.e., one is arranged centered on destination path and allows to deviate range, whether real-time detection controlled device
Beyond deviation range is allowed, if controlled device exceeds allowable deviation range, the directed force towards destination path is applied to target,
An interference-free space is devised around track, in this way when the deviation of patient is smaller, rehabilitation movement will not
It is interfered, just as through a pipeline.The pilot controller further includes speed control part, i.e. controlled pair of detection
The movement velocity of elephant and the deviation of pre-set velocity apply the guidance along the direction of motion to controlled device if deviation is more than threshold value
Power.The pilot controller further includes undulated control part, i.e. whether the motion profile of detection controlled device fluctuates, if
It fluctuates, then it represents that patient has felt painstaking, it will rehabilitation movement is stablized, the effect of a damping is played.
More preferably, upper pilot controller further includes visual feedback means, and visual feedback means include moving direction instruction dress
It sets, patient can sense from vision and tactile and has had deviated from track and has known how this moves.
Proprioception mode evaluation mode described in above-described embodiment includes assessment controller, training handle, action prompt
Device and sight radical occlusion device, the assessment controller control sight radical occlusion device shelters from the sight of user, and passes through
Action prompt device instruction user holds handle and makes required movement, and assessment controller is made dry when user does required movement
(permanent direction interference or interference of changing direction) is disturbed, and detects actual motion track and the error of desired trajectory of user, and record,
Analysis, to assess whether participant can perceive and compensate interference.
Embodiment of the present invention is only the description carried out to the preferred embodiment of the present invention, not to the present invention
Conception and scope is defined, and under the premise of not departing from design philosophy of the present invention, engineers and technicians are to this hair in this field
The all variations and modifications that bright technical solution is made should all fall into protection scope of the present invention, the claimed skill of the present invention
Art content, is all described in the claims.
Claims (6)
1. a kind of rehabilitation training schema control system, it is characterised in that: including passive rehabilitation training mode and intelligent initiative rehabilitation
Training mode and proprioception evaluation profile, the passive rehabilitation training mode include permanent torque mode and permanent revolving speed mode,
Servo motor is controlled respectively with permanent torque and permanent revolving speed operation, wherein permanent revolving speed mode includes PID controller, control method
Are as follows:
The error-for setting target position-detection physical location and target position is transported by scale operation, integral operation and differential
It calculates, determines that the physical location of controlled device is moved to target by increased torque-servo motor driving equipment needed for servo motor
Position, in control process, the physical location of real-time detection controlled device and the error of target position realize error feedback.
2. rehabilitation training schema control system according to claim 1, it is characterised in that: the intelligent initiative rehabilitation instruction
Practicing mode includes pilot controller, and the pilot controller includes deviation control part, i.e., one is arranged centered on destination path
Allow to deviate range, whether real-time detection controlled device, which exceeds, is allowed to deviate range, if controlled device exceeds allowable deviation range,
Then apply the directed force towards destination path to target.
3. rehabilitation training schema control system according to claim 2, it is characterised in that: the pilot controller also wraps
Speed control part, the i.e. deviation of the movement velocity of detection controlled device and pre-set velocity are included, if deviation is more than threshold value, to quilt
Object application is controlled along the directed force of the direction of motion.
4. rehabilitation training schema control system according to claim 2, it is characterised in that: the pilot controller also wraps
Undulated control part is included, i.e. whether the motion profile of detection controlled device fluctuates, if fluctuating, apply to controlled device
Add damping action power.
5. rehabilitation training schema control system according to claim 2, it is characterised in that: the pilot controller also wraps
Visual feedback means are included, visual feedback means include moving direction instruction device.
6. rehabilitation training schema control system according to claim 1, it is characterised in that: the proprioception mode is commented
Estimating mode includes that assessment controller, training handle, action prompt device and sight radical occlusion device, the assessment controller control view
Line radical occlusion device shelters from the sight of user, and indicates that user holds handle and makes specified move by action prompt device
Make, assessment controller interference is made when user does required movement, and detect user actual motion track and pre- orbit determination
The error of mark, and record, analyze.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810214977.1A CN110269775A (en) | 2018-03-15 | 2018-03-15 | A kind of rehabilitation training schema control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810214977.1A CN110269775A (en) | 2018-03-15 | 2018-03-15 | A kind of rehabilitation training schema control system |
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| Publication Number | Publication Date |
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| CN110269775A true CN110269775A (en) | 2019-09-24 |
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ID=67957678
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810214977.1A Pending CN110269775A (en) | 2018-03-15 | 2018-03-15 | A kind of rehabilitation training schema control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112698567A (en) * | 2020-12-29 | 2021-04-23 | 上海电气集团股份有限公司 | Rehabilitation equipment control method, device, equipment and medium |
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| CN105640740A (en) * | 2016-03-24 | 2016-06-08 | 常州市建本医疗康复器材有限公司 | Intelligent rehabilitation method and system |
| CN205459686U (en) * | 2016-01-14 | 2016-08-17 | 清华大学 | Rehabilitation training device |
| CN107224669A (en) * | 2017-05-24 | 2017-10-03 | 上海理工大学 | The control system of the submissive exoskeleton rehabilitation manipulator of adaptive Wearable |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112698567A (en) * | 2020-12-29 | 2021-04-23 | 上海电气集团股份有限公司 | Rehabilitation equipment control method, device, equipment and medium |
| CN112698567B (en) * | 2020-12-29 | 2024-05-31 | 上海电气集团股份有限公司 | Rehabilitation equipment control method, device, equipment and medium |
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