CN114504769A - Planar two-dimensional upper limb rehabilitation training robot and training method - Google Patents

Abstract

The invention belongs to the field of medical rehabilitation robots, relates to the field of stroke rehabilitation robots, and particularly relates to a planar two-dimensional upper limb rehabilitation training robot which comprises a liftable table body assembly, wherein a quick-change tail end platform is arranged on the liftable table body assembly and is connected with a driving system; the invention provides a planar two-dimensional upper limb rehabilitation training robot which is wide in application range, simple in structure and quick in response.

Description

A plane two-dimensional upper limb rehabilitation training robot and training method

technical field

The invention belongs to the field of medical rehabilitation robots, relates to the field of stroke rehabilitation robots, and in particular relates to a plane two-dimensional upper limb rehabilitation training robot.

Background technique

Stroke is a frequently-occurring disease in clinic, which seriously affects the health status and quality of life of patients. According to the survey, with the change of people's living habits in recent years, stroke has become the first cause of death in my country and the leading cause of disability in Chinese adults. Stroke has the characteristics of high morbidity, mortality and disability. Literature statistics show that the relevant rehabilitation treatment for patients within three months after the onset of stroke can significantly restore the patient's cognitive and motor abilities, and the treatment training within one year also has a significant recovery effect. Normal levels still require long-term treatment.

However, the manual interaction of nursing physicians to assist rehabilitation is time-consuming and labor-intensive, and takes up a lot of medical resources. Therefore, it is very necessary to develop suitable medical rehabilitation equipment for the motor dysfunction of stroke patients. Most of the existing upper limb rehabilitation training equipment on the market is in the form of exoskeleton. Although this kind of rehabilitation training equipment is low in price, it is only suitable for patients with certain active exercise ability, and it is difficult for such products to collect patients in rehabilitation training. The real-time motion information in the middle-of-the-road is used to cooperate well with patients; although other upper limb rehabilitation robots are fully functional, they cannot be promoted due to their high manufacturing costs.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a plane two-dimensional upper limb rehabilitation training robot with wide application range, simple structure and fast response, and also provide a plane two-dimensional upper limb rehabilitation training method.

Based on the above object, the present invention adopts the following technical solutions:

A plane two-dimensional upper limb rehabilitation training robot includes a liftable table body assembly, a quick-change end platform is arranged on the liftable table body assembly, and the quick-change end platform is connected with a drive system.

Further, the liftable table body assembly includes an upper table body, and the quick-change end platform and the driving system are both arranged on the upper table body; The table body and the lower table body are both plate-like structures; an angle adjustment mechanism is arranged between the upper table body and the lower table body;

Further, the angle adjustment mechanism includes a long slot opened at the top of the lower table body, the front part of the long slot is hinged with a telescopic cylinder, the end of the telescopic cylinder away from the long slot is hinged with a first connecting rod and a second connecting rod, the first connecting rod is hinged. One end away from the telescopic cylinder is hinged with the rear of the upper table body, and one end of the second connecting rod away from the telescopic cylinder is hinged with the rear of the long slot; the angle adjustment mechanism also includes an inclinometer set in the upper table body.

Further, the quick-change end platform includes a transverse guide rod perpendicular to the long groove, the transverse guide rod is slidably connected with a mobile platform, a speed sensor is integrated in the mobile platform, and an end motor is hinged on the mobile platform, and the end motor is connected with the transverse guide. The rods are perpendicular to each other; the shaft of the end motor is connected with an arm support that is perpendicular to it, and a two-dimensional force sensor is connected on the arm support; a hand piece is connected above the arm support.

Further, there is a quick-change connection structure between the hand piece and the arm support; the hand piece includes three types of hand grips, two-hand grips and spherical grips.

Further, each handpiece is provided with a thin film pressure sensor.

Further, one end of the arm support is connected with the end motor, and the other end is provided with a limb fixing piece, and the limb fixing piece is an arc-shaped plate structure.

Further, the driving system includes a sliding pulley platform fixedly connected with both ends of the transverse guide rod, and also includes a pair of fixed pulley platforms fixedly connected to the left and right rear ends of the upper table body; each sliding pulley platform Linear guide rails are slidably connected to each other, each linear guide rail is perpendicular to the lateral guide rod, both the linear guide rail and the lateral guide rod are parallel to the upper table body, and each linear guide rail is fixedly connected with the upper table body; the drive system includes a left drive It also includes a right-side drive mechanism whose projection is symmetrical with the left-side drive mechanism, and the left-side drive mechanism includes a first tensioning pulley connected on each sliding pulley platform; it also includes a set on each fixed pulley platform the first small pulley; the left drive system also includes a first servo motor fixedly connected to the left front end of the upper table body, and the first servo motor is connected with a first driving pulley; the left drive system includes a The first synchronous belt, one end of the first synchronous belt is fixedly connected with the left front end of the mobile platform, and the other end of the first synchronous belt is sequentially wound around the first tensioning wheel on the left side of the upper table body, the first driving pulley, and the left side of the upper table body. The first small pulley at the rear end, the first small pulley at the right rear end of the upper table body, and the first tensioning wheel on the right side of the upper table body are fixedly connected with the right rear end of the mobile platform.

Further, the right side drive system includes a second tensioning pulley connected on each sliding pulley platform; also includes a second small pulley set on each fixed pulley platform; the same sliding pulley platform The first tensioning pulley and the second tensioning pulley are arranged in the front and rear, and the first small pulley and the second small pulley on the same fixed pulley platform are arranged in the front and rear; the right drive system also includes a right front end of the upper table body The second servo motor is fixedly connected, and the second servo motor is connected with a second driving pulley; the right drive system includes a second synchronous belt connected on the mobile platform, and one end of the second synchronous belt is fixedly connected with the right front end of the mobile platform , the other end is wound around the second tensioning pulley on the right side of the upper table body, the second active pulley, the second small pulley at the right rear end of the upper table body, the second small pulley at the left rear end of the upper table body, and the upper table body. The second tensioning wheel on the left is fixedly connected with the left rear end of the mobile platform.

The training method of the above-mentioned plane two-dimensional upper limb rehabilitation training robot includes the following steps:

Step 1: Power on the planar two-dimensional upper limb rehabilitation training robot, and adjust the height of the upper table body through the lifting rod. The patient ties the corresponding affected limb to the arm rest with a strap, and the patient holds the handhold; adjust the telescopic cylinder of the telescopic cylinder. Length, select the inclination angle between the upper table body and the lower table body, the inclinometer measures the inclination angle and sends it to the control system; then select the appropriate rehabilitation training mode according to the patient's physical condition to start training;

Step 2, select active mode training, and the patient actively drives the mobile platform to perform two-dimensional horizontal movement in the upper table body according to the training plan: when the patient drives the mobile platform to move to the left, the two-dimensional force sensor inputs the force and position information to the controller. System, the first servo motor and the second servo motor on the left and right sides rotate clockwise, so that the first synchronous belt and the second synchronous belt connected on the left side of the mobile platform are tightened and generate tension, and the mobile platform is pulled to follow the movement to the left; At the same time, the first synchronous belt and the second synchronous belt connected to the right side of the mobile platform are extended; when the patient drives the mobile platform to move to the right, the first servo motor and the second servo motor on the left and right sides rotate counterclockwise to make the mobile platform right The first synchronous belt and the second synchronous belt connected to the side are tightened to generate tension, and the mobile platform is pulled to follow the movement to the right side of the patient; at the same time, the first synchronous belt and the second synchronous belt connected to the left side of the mobile platform are lengthened; when the patient drives the end When the mobile platform moves forward, the lateral guide rod of the end mobile platform drives the left and right sliding pulley platforms to move forward; at this time, the first servo motor rotates counterclockwise, and the second servo motor rotates clockwise, so that the front side of the mobile platform is connected The first synchronous belt and the second synchronous belt are tightened to generate tension, and the quick-change end platform is pulled to move forward with the patient; at the same time, the first synchronous belt and the second synchronous belt connected to the rear of the mobile platform are lengthened; when the patient drives the end to move When the platform moves backwards, the first servo motor rotates clockwise, and the second servo motor rotates counterclockwise, so that the first and second synchronous belts connected to the back of the mobile platform are tightened to generate tension, and pull the quick-change end platform to follow the patient. At the same time, the first synchronous belt and the second synchronous belt connected to the front side of the mobile platform are extended; when the patient drives the terminal mobile platform to move in any trajectory in the horizontal plane; the first servo motor and the second servo motor are coupled Rotate to make the moving platform follow the movement.

Compared with the prior art, the present invention has the following beneficial effects:

The plane two-dimensional upper limb rehabilitation training robot of the present invention provides a new type of plane training robot for the training of stroke rehabilitation patients. It can form an inclination angle of any angle between 0°-90°, which is convenient to adjust the training angle, and makes up for the shortcomings of similar products that can only be trained on the horizontal or vertical plane.

The invention has simple structure and low cost. The desktop training module adopts a servo motor driven synchronous belt drive scheme, which has a simple structure and avoids the complex structure and wiring of the exoskeleton device. The coupling drive of the first servo motor and the second servo motor can drive the quick-change end platform to generate different moving routes such as front, back, left and rear movements, and provide four different training modes for rehabilitation training: active, passive, mirroring and on-demand, which are applicable It has a wide range of applications for patients at different stages of rehabilitation.

The present invention has the advantages of fast response, safe operation and low price. The three types of quick-change connected handpieces not only adapt to patients with different rehabilitation conditions, but also provide a hardware basis for the diversification of training programs. The servo motor transmits the power to the mobile platform through the synchronous belt. By applying even force to the left front, left rear, right front and right rear of the mobile platform, the accuracy of movement and the safety of patients can be taken into account. Fast motion response and relatively low cost also facilitate the popularization and use of the present invention.

Description of drawings

1 is a schematic diagram of Embodiment 1 of the present invention;

2 is a front view of Embodiment 1 of the present invention;

3 is a side view of Embodiment 1 of the present invention;

4 is a top view of Embodiment 1 of the present invention;

5 is a schematic diagram of a driving mechanism system according to Embodiment 1 of the present invention;

6 is a schematic diagram of the angle adjustment mechanism of Embodiment 1 of the present invention;

7 is a schematic diagram of a quick-change terminal platform according to Embodiment 1 of the present invention;

8 is a schematic diagram of the handpiece according to Embodiment 1 of the present invention;

FIG. 9 is a schematic diagram of a two-hand grip according to Embodiment 1 of the present invention.

In the figure: the liftable table body assembly 100, the upper table body 101, the lower table body 102, the first connecting rod 103, the telescopic cylinder 104, the fixed bracket 105, the sliding pulley platform 106, the fixed pulley platform 107, the linear guide rail 108 , the second link 109, the quick-change end platform 200, the mobile platform 201, the lateral guide rod 202, the end motor 203, the hand piece 204, the arm rest 205, the two-dimensional force sensor 206, the connecting rod 207, the handle 208, the left side The drive system 300, the first servo motor 301, the first driving pulley 302, the first tension pulley 303, the first small pulley 304, the first timing belt 305, the right side drive system 400, the second servo motor 401, the first Two driving pulleys 402 , a second tensioning pulley 403 , a second small pulley 404 , and a second timing belt 405 .

Detailed ways

Example 1

A plane two-dimensional upper limb rehabilitation training robot, as shown in Figures 1-9, includes a liftable table body assembly 100, a quick-change end platform 200 is arranged on the liftable table body assembly 100, and the quick-change end platform 200 is connected with a A drive system; the plane two-dimensional upper limb rehabilitation training robot also includes a control system.

As shown in FIG. 1 , the liftable table body assembly 100 includes an upper table body 101, and both the quick-change end platform 200 and the drive system are arranged on the upper table body 101; 101 and the front end of the lower table body 102 are hinged through hinges; the lower table body 102 is arranged horizontally below the upper table body 101, and the upper table body 101 and the lower table body 102 are both plate-like structures; An angle adjustment mechanism is provided; the bottom end of the lower table body 102 is connected with a lift rod, and the bottom end of the lift rod is connected with a support seat.

As shown in FIG. 6 , the angle adjustment mechanism includes a long slot opened at the top of the lower table body 102 , the front part of the long slot is hinged with a telescopic cylinder 104 , the rear end of the telescopic cylinder 104 and the inner front of the long slot of the lower table body 102 are supported by hinges The base is hinged; the end of the telescopic cylinder 104 away from the long groove is hinged with a first connecting rod 103 and a second connecting rod 109, and the end of the first connecting rod 103 away from the telescopic cylinder 104 is hinged with the rear of the upper table body 101; the second connecting rod One end of 109 away from the telescopic cylinder 104 is hinged with the rear of the long slot; the angle adjustment mechanism also includes an inclinometer set in the upper table body 101 . The rear part of the upper table body 101 is fixedly connected with a hinge support hinged with the first connecting rod 103 , and the rear part of the lower table body 102 is fixedly connected with a hinge support hinged with the second connecting rod 109

As shown in FIG. 7 , the quick-change end platform 200 includes a lateral guide rod 202 that is perpendicular to the long groove. The lateral guide rod 202 is slidably connected to a mobile platform 201 , a speed sensor is integrated in the mobile platform 201 , and the mobile platform 201 is also hinged. There is a terminal motor 203, the rear end of the terminal motor 203 is hinged with the moving platform 201, its hinge axis is parallel to the lateral guide rod 202, and the terminal motor 203 is perpendicular to the lateral guide rod 202; The arm support 205 is connected with a two-dimensional force sensor 206; the arm support 205 is connected with a hand piece 204 above. The two-dimensional force sensor 206 is mounted on the lower plane of the arm rest 205 by bolts, and the hand piece 204 is fixed on the upper plane of the arm rest 205 by bolts and clamps the arm rest 205 together with the two-dimensional force sensor 206 . The lateral guide rod 202 is a horizontally arranged cylindrical structure, the moving platform 201 is provided with a linear bearing hole perpendicular to the long groove, and the moving platform 201 is connected with the lateral guide rod 202 through the linear bearing hole; It can be slid up and cannot be rotated around the transverse guide rod 202 .

As shown in FIG. 8 , a quick-change connection structure is used between the hand piece 204 and the arm rest 205 ; the hand piece 204 includes three types of hand grips, two-hand grips and spherical grips. type grip or two-hand grip. Each handpiece 204 has a thin-film pressure sensor disposed within it. As shown in FIG. 9 , the two-hand grip includes a connecting rod 207, and both ends of the connecting rod 207 are connected with a grip 208 perpendicular to it. When the two-hand grip is used, the middle position of the connecting rod 207 is connected with the arm rest 205, and the two grips 208 is centrally symmetric with respect to the middle position of the connecting rod 207 .

One end of the arm support 205 is fixedly connected with the shaft of the end motor 203, and the other end is provided with a limb fixing piece, and the limb fixing piece is an arc-shaped plate structure.

As shown in FIGS. 2-5 , the drive system includes a sliding pulley platform 106 fixedly connected with both ends of the lateral guide rod 202 , and also includes a pair of fixed pulleys fixed at the left and right rear ends of the upper table body 101 . Platform 107; each sliding pulley platform 106 is slidably connected with linear guide rails 108, each linear guide rail 108 is perpendicular to the lateral guide rod 202, and the linear guide rail 108 and the lateral guide rod 202 are both parallel to the upper table body 101, each The linear guide rails 108 are fixedly connected with the upper table body 101, and the two linear guide rails 108 are respectively fixed on the left and right sides of the upper table body 101 by bolts; on the left and right sides of the upper table body 101 . The two fixed pulley platforms 107 are respectively fixed on the left and right sides behind the upper table body 101 by bolts; the driving system also includes two fixing brackets 105 respectively fixed on the left and right sides in front of the upper table body 101 by bolts.

The drive system includes a left drive mechanism, and also includes a right drive mechanism whose projection is symmetrical with the left drive mechanism. The orthographic projection of the left drive system 300 and the right drive system 400 on the upper tabletop is connected to the midpoints of the front and rear sides of the upper tabletop. Line symmetry setting. The left drive mechanism includes a first tensioning pulley 303 connected to each sliding pulley platform 106; also includes a first small pulley 304 provided on each fixed pulley platform 107; the left drive system 300 also includes The first servo motor 301 is fixedly connected to the left front end of the upper table body 101 , and the shaft of the first servo motor 301 is connected with a first driving pulley 302 through a flat key; The timing belt 305, one end of the first timing belt 305 is fixedly connected with the left front end of the mobile platform 201, and the other end of the first timing belt 305 is wound around the first tensioning pulley 303 and the first driving pulley 302 on the left side of the table body 101 in turn. , the first small pulley 304 at the left rear end of the upper table body 101 , the first small pulley 304 at the right rear end of the upper table body 101 , and the first tensioning wheel 303 on the right side of the upper table body 101 are fixed to the right rear end of the mobile platform 201 . even.

The projection of the right drive system 400 and the left drive system 300 is a mirror design. To ensure that the first timing belt 305 and the second timing belt 405 do not interfere with each other when working, the installation plane of the right drive system 400 is lower than the left drive system. System 300 is mounted flat. The right side drive system 400 includes a second tensioning pulley 403 connected to each sliding pulley platform 106; also includes a second small pulley 404 provided on each fixed pulley platform 107; the same sliding pulley platform The first tensioning pulley 303 and the second tensioning pulley 403 on the 106 are arranged front and rear, the first tensioning pulley 303 on the left is in front of the second tensioning pulley 403, and the first tensioning pulley 303 on the right is in the first tensioning pulley 403 on the right. The rear of the two tensioning pulleys 403 . The first small pulley 304 and the second small pulley 404 on the same fixed pulley platform 107 are arranged in front and back, the first small pulley 304 on the left is in front of the second small pulley 404, and the first small pulley 404 on the right is in front of the second small pulley 404. The small pulley 304 is behind the second small pulley 404; the right drive system 400 also includes a second servo motor 401 fixedly connected to the right front end of the upper table body 101, and the shaft of the second servo motor 401 is connected with a second servo motor through a flat key. Two driving pulleys 402; the right drive system 400 includes a second timing belt 405 connected to the mobile platform 201, one end of the second timing belt 405 is fixedly connected to the right front end of the mobile platform 201, and the other end is wound around the right side of the table body 101 in turn The second tension pulley 403 on the side, the second driving pulley 402, the second small pulley 404 at the right rear end of the upper table body 101, the second small pulley 404 at the left rear end of the upper table body 101, and the left side of the upper table body 101 The second tensioning wheel 403 is fixedly connected with the left rear end of the mobile platform 201 .

Example 2

The present embodiment is a plane two-dimensional upper limb rehabilitation training robot using the following method, including the following steps:

Step 1: Power on the planar two-dimensional upper limb rehabilitation training robot, and adjust the height of the upper table body 101 to suit the height of the patient through the lifting rod. The patient binds the corresponding affected limb to the arm support 205 through a strap, and the patient holds the handle 204. Adjust the telescopic length of the telescopic cylinder 104, select the inclination angle between the upper table body 101 and the lower table body 102, and determine the training plane. science and dynamic control. Then select the appropriate rehabilitation training mode to start training according to the patient's physical condition.

Step 2, when the active mode is selected for training, the patient actively drives the mobile platform 201 to perform two-dimensional movement on the horizontal plane in the upper table body 101 according to the training plan: when the patient drives the mobile platform 201 to move to the left, the two-dimensional force sensor 206 will force With the position information input to the control system, the first servo motor 301 and the second servo motor 401 on the left and right sides rotate clockwise, so that the first synchronous belt 305 and the first synchronous belt 305 connected to the left side (left front end and left rear end) of the mobile platform 201 are connected clockwise. The two synchronous belts 405 are tightened to generate tension, pulling the mobile platform 201 to move to the left; at the same time, the first synchronous belt 305 and the second synchronous belt 405 connected to the right side of the mobile platform 201 (right front end and right rear end) are elongated.

Similarly, when the patient drives the mobile platform 201 to move to the right, the first servo motor 301 and the second servo motor 401 on the left and right sides rotate counterclockwise, so that the right side of the mobile platform 201 (right front end and right rear end) is connected to the first servo motor 301. A synchronous belt 305 and the second synchronous belt 405 are tightened to generate tension, which pulls the mobile platform 201 to follow the movement to the right side of the patient; at the same time, the first synchronous belt 305 and the second synchronous belt 305 and the second synchronous belt 305 and the second mobile platform 201 are connected to the left side (left front end and left rear end) of the mobile platform 201 at the same time. The timing belt 405 is extended.

When the patient drives the terminal moving platform 201 to move forward, the lateral guide rod 202 of the terminal moving platform 201 drives the left and right sliding pulley platforms 106 to move forward; at this time, the first servo motor 301 rotates counterclockwise, and the second servo motor 401 Rotate clockwise to tighten the first synchronous belt 305 and the second synchronous belt 405 connected to the front side (left front end and right front end) of the mobile platform 201 to generate tension, and pull the quick-change end platform 200 to move forward with the patient; at the same time, move the platform The first timing belt 305 and the second timing belt 405 connected to the rear side (left rear end and right rear end) of 201 are elongated.

When the patient drives the end moving platform 201 to move backward, the first servo motor 301 rotates clockwise, and the second servo motor 401 rotates counterclockwise, so that the first synchronization of the connection between the rear side (left rear end and right rear end) of the moving platform 201 The belt 305 and the second synchronous belt 405 are tightened to generate tension, and the quick-change end platform 200 is pulled to move backwards with the patient's affected limb; at the same time, the first synchronous belt 305 and the first synchronous belt 305 and the first synchronous belt 305 connected to the front side of the platform 201 (left front end and right front end) are moved. The second timing belt 405 is extended.

When the patient drives the terminal mobile platform 201 to move in any trajectory in the horizontal plane, that is, compound motion in four directions: front, back, left, right, and rotation; the mobile platform 201 follows the movement according to the coupled rotation of the first servo motor 301 and the second servo motor 401 . In this mode, adjustable resistance can be provided for the affected limb by controlling the output torque of the first servo motor 301 and the second servo motor 401 .

Step 3: When the passive mode is selected for training, the quick-change terminal platform 200 actively moves the patient's affected limb. The trajectory of the movement and the assist value provided for the affected limb are set by the training plan. Different modes of rotation of the two servo motors 401 are realized: when the mobile platform 201 drives the patient to move to the left, the two-dimensional force sensor 206 inputs the force and position information to the control system, and the first servo motor 301 and the second servo motor on the left and right sides 401 rotates clockwise to tighten the first synchronous belt 305 and the second synchronous belt 405 connected to the left side of the fast-moving platform 201 to generate tension, pull the mobile platform 201 to move to the left, and the patient's affected limb follows this movement; at the same time, the mobile platform 201 The first timing belt 305 and the second timing belt 405 connected to the right side (right front end and right rear end) are elongated.

Similarly, when the mobile platform 201 drives the patient to move to the right, the first servo motor 301 and the second servo motor 401 rotate counterclockwise to tighten the first synchronous belt 305 and the second synchronous belt 405 connected to the right side of the mobile platform 201 A pulling force is generated to pull the mobile platform 201 to the right, and the patient's affected limb follows this movement; at the same time, the first synchronous belt 305 and the second synchronous belt 405 connected to the left side of the mobile platform 201 (left front end and left rear end) are lengthened.

When the terminal moving platform 201 drives the patient to move forward, the first servo motor 301 rotates counterclockwise, and the second servo motor 401 rotates clockwise, so that the synchronous belt on the front side of the moving platform 201 is tightened to generate tension, and the quick-change terminal platform 200 is pulled toward Moving forward, the sliding pulley platform 106 moves forward along the linear guide rail 108, and the patient's affected limb follows this movement. When the mobile platform 201 drives the patient to move backward, the first servo motor 301 rotates clockwise, and the second servo motor 401 rotates counterclockwise, so that the first synchronous belt 305 and the second synchronous belt 405 connected to the rear side of the mobile platform 201 are tightened A pulling force is generated, and the quick-change end platform 200 is pulled to move backward, and the patient's affected limb follows this movement.

When the mobile platform 201 moves in any trajectory in the horizontal plane, that is, compound motion in four directions, front, back, left, right, and left, the affected limb can follow the mobile platform 201 according to the above-mentioned coupling rotation of the first servo motor 301 and the second servo motor 401 . In this mode, adjustable power assistance can be provided for the affected limb through the output torque control of the first servo motor 301 and the second servo motor 401 .

Step 4, when the on-demand mode training is selected, the patient is driven by the relatively fixed speed of the mobile platform 201 to perform exercise training according to the set trajectory of the training content, the difference between the rotation mode of the first servo motor 301 and the second servo motor 401 and the passive mode That is: in the on-demand mode, the movement speed of the mobile platform 201 is maintained at a certain fixed speed, and the speed is adjustable in stages.

Step 5, in the three-mode training process in steps 2-4, if the two-dimensional force sensor 206 detects that the resultant external force of the interaction between the mobile platform 201 and the patient is greater than a certain set value, the force overload protection mechanism is automatically triggered, Prevent patients from injury due to spasticity or limited range of motion.

Step 6, in the three-mode training process in steps 2-4, the end motor 203 cooperates with the first servo motor 301 and the second servo motor 401, and when the two-hand grip is used together, shoulder and elbow joint training can be performed. At the same time, it assists the training movement of the wrist joint. When using the two-hand grip, the middle position of the connecting rod 207 is connected with the arm rest, at this time the arm rest does not participate in the fixation of the wrist joint; the rotation of the end motor drives the two grips 208 to rotate around the middle position of the connecting rod 207, thereby driving the patient's wrist. Joint and shoulder, elbow joint activities.

The derivation formula of the kinematics and dynamic control strategy of the control system is as follows:

First define the space coordinate system as follows: face the device, and the front is the positive direction of the Y axis. The right side is the positive direction of the X-axis, and the right side is the positive direction of the Z-axis.

a) Kinematics:

v(sinα-cosα)=2πRω _l (1)

v(sinα+cosα)=2πRω _r (2)

Wherein: v is the movement speed of the mobile platform 201, measured by the speed sensor;

α is the angle between the movement direction of the mobile platform 201 and the positive direction of the Y-axis, ranging from -90° to 90°;

R is the radius of the first driving pulley 302 and the second driving pulley 402;

ω _l and ω _r are the rotational speeds of the first servo motor 301 and the second servo motor 401 respectively, clockwise is positive, and counterclockwise is negative.

b) Kinetics:

2T _l =F(sinθ′-cosθ′)R (3)

2T _r =F(sinθ′+cosθ′)R (4)

Among them: T _l and _Tr are the output torques of the left and right servo motors, respectively;

F is the need to set the assist/resistance value, the assist value is positive, and the resistance value is negative;

θ is the angle between the projection of F in the horizontal plane and the positive direction of Y, ranging from -90° to 90°;

为桌面(上桌体101)倾角，运动平面(上桌体101)与水平面夹角，范围为0°到90°；

is the inclination angle of the desktop (upper table body 101), the included angle between the motion plane (upper table body 101) and the horizontal plane, ranging from 0° to 90°;

θ′ is the angle between F and the YoZ plane, ranging from -90° to 90°

R is the radius of the first driving pulley 302 and the second driving pulley 402 .

Claims (10)

1. The planar two-dimensional upper limb rehabilitation training robot is characterized by comprising a liftable table body assembly, wherein a quick-change tail end platform is arranged on the liftable table body assembly and is connected with a driving system.

2. The planar two-dimensional upper limb rehabilitation training robot of claim 1, wherein the liftable table assembly comprises an upper table body, and the quick-change end platform and the driving system are both arranged on the upper table body; the upper table body is hinged with a lower table body, the lower table body is horizontally arranged below the upper table body, and the upper table body and the lower table body are both of a plate-shaped structure; an angle adjusting mechanism is arranged between the upper table body and the lower table body; the bottom of the lower table body is connected with a lifting rod, and the bottom of the lifting rod is connected with a supporting seat.

3. The planar two-dimensional upper limb rehabilitation training robot as claimed in claim 2, wherein the angle adjusting mechanism comprises a long groove formed at the top end of the lower table body, a telescopic cylinder is hinged to the front portion of the long groove, a first connecting rod and a second connecting rod are hinged to one end, away from the long groove, of the telescopic cylinder, one end, away from the telescopic cylinder, of the first connecting rod is hinged to the rear portion of the upper table body, and one end, away from the telescopic cylinder, of the second connecting rod is hinged to the rear portion of the long groove; the angle adjusting mechanism further comprises an inclinometer arranged in the upper table body.

4. The planar two-dimensional upper limb rehabilitation training robot according to claim 3, wherein the quick-change end platform comprises a transverse guide rod perpendicular to an elongated slot, a moving platform is connected to the transverse guide rod in a sliding manner, a speed sensor is integrated in the moving platform, and an end motor is hinged to the moving platform and perpendicular to the transverse guide rod; the shaft of the tail end motor is connected with an arm support perpendicular to the shaft, and the arm support is connected with a two-dimensional force sensor; and a hand-held piece is connected above the arm support.

5. The planar two-dimensional upper limb rehabilitation training robot according to claim 4, wherein one end of the arm support is connected with the tail end motor, and the other end of the arm support is provided with a limb fixing piece which is of an arc-shaped plate-shaped structure.

6. The planar two-dimensional upper limb rehabilitation training robot according to claim 4, wherein the hand piece and the arm support are in a quick-change connection structure; the hand-held piece comprises three types of hand-held grips, two-hand grips and a spherical grip.

7. The planar two-dimensional upper extremity rehabilitation training robot of claim 6, wherein each said hand piece has a thin film pressure sensor disposed therein.

8. The planar two-dimensional upper limb rehabilitation training robot according to any one of claims 4-7, wherein the driving system comprises a sliding belt wheel platform fixedly connected with two ends of a transverse guide rod, and further comprises a pair of fixed belt wheel platforms fixedly connected with the left rear end and the right rear end of the upper table body; each sliding belt wheel platform is connected with a linear guide rail in a sliding manner, each linear guide rail is perpendicular to the transverse guide rod, and each linear guide rail is fixedly connected with the upper table body; the driving system comprises a left driving mechanism and a right driving mechanism, wherein the projection of the right driving mechanism is symmetrical to that of the left driving mechanism, and the left driving mechanism comprises first tensioning wheels connected to each sliding belt wheel platform; the first small belt wheel is arranged on each fixed belt wheel platform; the left driving system further comprises a first servo motor fixedly connected to the left front end of the upper table body, and a first driving belt wheel is connected to the first servo motor; the left driving system comprises a first synchronous belt connected to the moving platform, one end of the first synchronous belt is fixedly connected with the left front end of the moving platform, and the other end of the first synchronous belt is fixedly connected with the right rear end of the moving platform through a first tensioning wheel on the left side of the upper table body, a first driving belt wheel, a first small belt wheel on the left rear end of the upper table body, a first small belt wheel on the right rear end of the upper table body and a first tensioning wheel on the right side of the upper table body.

9. The planar two-dimensional upper extremity rehabilitation training robot of claim 8, wherein said right side drive system includes a second tension pulley connected on each sliding pulley platform; the second small belt wheel is arranged on each fixed belt wheel platform; the first tensioning wheel and the second tensioning wheel on the same sliding belt wheel platform are arranged in the front-back direction, and the first small belt wheel and the second small belt wheel on the same fixed belt wheel platform are arranged in the front-back direction; the right side driving system further comprises a second servo motor fixedly connected to the right front end of the upper table body, and a second driving belt wheel is connected to the second servo motor; the right side actuating system includes the second hold-in range of connecting on moving platform, second hold-in range one end links firmly with moving platform's right front end, and the other end links firmly with moving platform left rear end around the second take-up pulley on upper table body right side, second driving pulley, the second belt pulley of upper table body right rear end, the second belt pulley of upper table body left rear end and the second take-up pulley of upper table body left rear end in proper order.

10. A training method of a planar two-dimensional upper limb rehabilitation training robot according to claim 9, comprising the steps of:

step 1, electrifying a planar two-dimensional upper limb rehabilitation training robot, adjusting the height of an upper table body through a lifting rod, tying a corresponding affected limb to an arm support by a patient through a binding band, and holding a hand piece by the patient; adjusting the telescopic length of a telescopic cylinder, selecting an inclination angle between an upper table body and a lower table body, measuring the inclination angle by an inclinometer and sending the inclination angle to a control system; then selecting a proper rehabilitation training mode to start training according to the physical condition of the patient;

step 2, selecting an active mode for training, and actively driving the mobile platform to perform horizontal plane two-dimensional motion in the upper table body according to a training plan by the patient: when a patient drives the mobile platform to move leftwards, the two-dimensional force sensor inputs force and position information to the control system, the first servo motor and the second servo motor on the left side and the right side rotate clockwise, the first synchronous belt and the second synchronous belt connected to the left side of the mobile platform are tightened and generate pulling force, and the mobile platform is pulled to move leftwards; simultaneously, a first synchronous belt and a second synchronous belt connected to the right side of the mobile platform are lengthened; when a patient drives the moving platform to move rightwards, the first servo motor and the second servo motor on the left side and the right side rotate anticlockwise, so that the first synchronous belt and the second synchronous belt connected to the right side of the moving platform are tightened to generate tension, and the moving platform is pulled to move towards the right side of the patient; simultaneously lengthening a first synchronous belt and a second synchronous belt connected to the left side of the mobile platform; when the patient drives the tail end moving platform to move forwards, the transverse guide rod of the tail end moving platform drives the left sliding belt wheel platform and the right sliding belt wheel platform to move forwards; at the moment, the first servo motor rotates anticlockwise, the second servo motor rotates clockwise, the first synchronous belt and the second synchronous belt connected to the front side of the moving platform are tightened to generate pulling force, and the quick-change tail end platform is pulled to move forwards along with the patient; simultaneously, a first synchronous belt and a second synchronous belt connected to the rear side of the mobile platform are lengthened; when the patient drives the tail end moving platform to move backwards, the first servo motor rotates clockwise, the second servo motor rotates anticlockwise, the first synchronous belt and the second synchronous belt connected to the rear side of the moving platform are tightened to generate tension, and the quick-change tail end platform is pulled to move backwards along with the affected limb of the patient; simultaneously, a first synchronous belt and a second synchronous belt connected to the front side of the mobile platform are lengthened; when the patient drives the tail end moving platform to move in any track in the horizontal plane; the first servo motor and the second servo motor are coupled to rotate, so that the mobile platform moves along with the mobile platform.

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