CN119074416A - A care and rehabilitation integrated robot and control method - Google Patents
A care and rehabilitation integrated robot and control method Download PDFInfo
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- CN119074416A CN119074416A CN202411145221.8A CN202411145221A CN119074416A CN 119074416 A CN119074416 A CN 119074416A CN 202411145221 A CN202411145221 A CN 202411145221A CN 119074416 A CN119074416 A CN 119074416A
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- A—HUMAN NECESSITIES
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- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/015—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame divided into different adjustable sections, e.g. for Gatch position
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- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/001—Beds specially adapted for nursing; Devices for lifting patients or disabled persons with means for turning-over the patient
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- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
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- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/05—Parts, details or accessories of beds
- A61G7/065—Rests specially adapted therefor
- A61G7/07—Rests specially adapted therefor for the head or torso, e.g. special back-rests
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- A—HUMAN NECESSITIES
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- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/05—Parts, details or accessories of beds
- A61G7/065—Rests specially adapted therefor
- A61G7/075—Rests specially adapted therefor for the limbs
- A61G7/0755—Rests specially adapted therefor for the limbs for the legs or feet
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- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/16—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto converting a lying surface into a chair
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- 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
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Abstract
The embodiment of the application provides a care and rehabilitation integrated robot and a control method, wherein the robot comprises a support frame, a support frame and a support frame, wherein the support frame is provided with a pose adjusting mechanism for adjusting pose; the support bed is connected with the support frame through the pose adjusting mechanism, and is provided with a rehabilitation training mechanism and a weight reducing mechanism, the control unit is used for controlling the pose adjusting mechanism to enable the support bed to be in different poses, and is used for controlling the rehabilitation training mechanism to perform rehabilitation training on a user and controlling the weight reducing mechanism to provide weight reducing force for the user in the rehabilitation training process. The robot can provide multi-posture care function and rehabilitation training function at different stages, and reduces the load of a user and improves the rehabilitation training effect by dynamically adjusting and reducing the gravity in the rehabilitation training process.
Description
Technical Field
The embodiment of the application relates to the technical field of rehabilitation aids, in particular to a care and rehabilitation integrated robot and a control method.
Background
Cerebral apoplexy is an acute cerebrovascular disease, and the brain tissue is damaged due to sudden rupture of blood vessels in the brain or blockage of blood vessels of a patient. Based on the motor nerve rehabilitation theory, a cerebral apoplexy patient can recover the control of the cerebral cortex motor nerve on the related muscle through continuous joint rehabilitation training, thereby realizing the improvement and expansion of the joint activity degree.
The rehabilitation aid assists the patient to perform moderate, safe and scientific care and limb exercise rehabilitation by providing an interactive, personalized and quantifiable mode, and plays an important role in disease recovery. Currently, most care robots and rehabilitation robots are based on fixed structure designs, and can only complete care or rehabilitation training in a single posture. How to provide a care and rehabilitation integrated robot with multi-pose care and rehabilitation cooperation functions is a problem to be solved.
Disclosure of Invention
Therefore, the purpose of the embodiment of the application is to provide a care and rehabilitation integrated robot and a control method, which can provide multi-pose care and auxiliary rehabilitation training functions.
Based on the above object, an embodiment of the present application provides a care and rehabilitation integrated robot, including:
the support frame is provided with a pose adjusting mechanism for adjusting the pose;
The support frame is connected with the support frame through the pose adjusting mechanism, and the support frame is provided with a rehabilitation training mechanism and a weight reducing mechanism;
The control unit is used for controlling the pose adjusting mechanism to enable the care bed to be in different poses, controlling the rehabilitation training mechanism to perform rehabilitation training on a user, and controlling the weight reducing mechanism to provide weight reduction force for the user in the rehabilitation training process.
Optionally, the weight-reducing mechanism comprises a T-shaped support member, a suspension ring, a weight-reducing sling rope, a wearable weight-reducing protector and a weight-reducing driving unit, wherein a first end of the T-shaped support member is connected with a driving end of the weight-reducing driving unit, a rotating connection part of the T-shaped support member is pivoted with the top end of the care bed, a second end of the T-shaped support member is connected with the weight-reducing protector through the suspension ring and the weight-reducing sling rope, and the weight-reducing driving unit acts to drive the T-shaped support member to rotate relative to the care bed, and drives a user wearing the weight-reducing protector to lift and drag through the suspension ring and the weight-reducing sling rope.
Optionally, the weight-reducing mechanism further includes a tension sensor disposed on the weight-reducing sling rope, in the rehabilitation training process, the tension sensor collects a tension signal, and when the control unit determines that the weight-reducing force corresponding to the tension signal is greater than a preset weight-reducing force, the control unit controls the weight-reducing driving unit to act, and adjusts the tension applied to the user.
Optionally, the gravity reduction threshold is a corresponding tension value when the mass center of the human body reaches the highest position in the rehabilitation training process.
Optionally, the weight-reducing protective device is provided with a gesture sensor, in the rehabilitation training process, the gesture sensor collects gesture signals, the control unit determines the gravity center position of the user based on the gesture signals, and the weight-reducing force required to be provided by the weight-reducing mechanism is determined according to the gravity center position and the change trend of the preset human body mass center.
Optionally, the position appearance guiding mechanism includes backplate connecting plate, connecting rod and eighth drive unit, the backplate connecting plate with care bed fixed connection, one side of backplate connecting plate is articulated mutually with the one end of connecting rod, eighth drive unit's drive end with the opposite side of backplate connecting plate is connected, eighth drive unit action promotes the backplate connecting plate rotates for the connecting rod, drives care bed rotates, makes care bed carries out the gesture conversion between prone position and standing appearance.
Optionally, the robot still includes height adjustment mechanism, height adjustment mechanism includes lifting element, lifting link and height adjustment drive unit, the tip of lifting element with the base of support frame articulates mutually, the tip of lifting link articulates mutually with the tip of lifting element, the tip of lifting element with the connecting rod portion of connecting rod articulates mutually, height adjustment drive unit's drive end is connected with the lifting element, height adjustment drive unit action, the drive lifting element rotates, adjusts the height of illumination bed.
Optionally, the care bed comprises a back support plate, a seat support plate, a leg support plate and a foot support plate, wherein the back support plate is pivoted with the seat support plate, the seat support plate is pivoted with the leg support plate, and the leg support plate is pivoted with the foot support plate;
The position and posture adjusting mechanism comprises a first driving unit, a second driving unit and a third driving unit, wherein the first driving unit acts and drives the back support plate to rotate relative to the seat support plate through a first transmission piece, the second driving unit acts and drives the leg support plate to rotate relative to the seat support plate through a second transmission piece, and the third driving unit acts and drives the leg support plate to rotate relative to the leg support plate through a third transmission piece, so that the posture of the light bed is converted between sitting postures and prone postures.
The embodiment of the application also provides a control method of the care and rehabilitation integrated robot, which is realized based on the care and rehabilitation integrated robot, and comprises the following steps:
the control unit controls the pose adjusting mechanism to enable the nursing bed to be in different poses, controls the rehabilitation training mechanism to perform rehabilitation training on a user, and controls the weight reducing mechanism to provide weight reduction force for the user in the rehabilitation training process.
Optionally, the control unit inputs the basic information input by the input module and the physiological information acquired by the physiological state detection unit into a pre-trained mode recommendation model, outputs a target care and recovery mode by using the mode recommendation model, determines corresponding control signals according to the target care and recovery mode, and controls the pose adjusting mechanism, the recovery training mechanism and the weight reducing mechanism according to the control signals.
It can be seen from the above that the care and rehabilitation integrated robot and the control method provided by the embodiment of the application comprise a support frame and a care bed, wherein the support frame is provided with a pose adjusting mechanism for adjusting the pose, the care bed is connected with the support frame through the pose adjusting mechanism, the care bed is provided with a rehabilitation training mechanism and a weight reducing mechanism, and the control unit is used for controlling the pose adjusting mechanism so that the care bed is in different poses and controlling the rehabilitation training mechanism to perform rehabilitation training on a user, and controlling the weight reducing mechanism to provide weight reducing force for the user in the rehabilitation training process. The robot can provide multi-posture care function and rehabilitation training function at different stages, and in the rehabilitation training process, the weight reduction mechanism is used for adjusting the weight reduction force applied to a user, so that the load of the user is reduced, and the rehabilitation training effect is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a robot in use according to an embodiment of the present application;
fig. 2A and 2B are schematic views of a robot in a prone position according to an embodiment of the present application;
FIG. 3 is a schematic view of pose adjustment and gravity center adjustment according to an embodiment of the present application;
fig. 4 is a schematic view of a robot in a sitting posture according to an embodiment of the present application;
FIG. 5 is a schematic structural view of a leg lifting adjusting mechanism according to an embodiment of the present application;
FIG. 6 is a schematic view of a turnover adjusting mechanism according to an embodiment of the present application;
FIG. 7 is a schematic view of a part of a pose adjusting mechanism according to an embodiment of the present application;
fig. 8A and 8B are schematic views illustrating a height adjusting mechanism according to an embodiment of the application;
FIG. 9 is a schematic view of a part of the gravity center adjusting mechanism according to an embodiment of the present application;
FIG. 10 is a schematic view of a weight reduction mechanism according to an embodiment of the present application;
FIG. 11 is a block diagram of a control unit according to an embodiment of the present application;
fig. 12 is a schematic diagram of a control method of caretaking rehabilitation according to an embodiment of the present application.
Detailed Description
For the purposes of promoting an understanding of the principles and advantages of the disclosure, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same.
It should be noted that unless otherwise defined, technical or scientific terms used in the embodiments of the present application should be given the ordinary meaning as understood by one of ordinary skill in the art to which the present disclosure pertains. The terms "first," "second," and the like, as used in embodiments of the present application, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
As described in the background section, the rehabilitation aid is an effective device for promoting rehabilitation of a cerebral apoplexy patient, and the rehabilitation aid with a single structural design is difficult to meet the requirements of nursing and rehabilitation training of the patient at different stages, so that the nursing difficulty is high. In view of the above, the embodiment of the application provides a care and rehabilitation integrated robot, which can provide multi-gesture care functions and rehabilitation training functions at different stages, and in the rehabilitation training process, the weight reduction mechanism is utilized to adjust the weight reduction force applied to a user, so that the user load can be reduced, and the training effect can be improved.
The technical scheme of the application is further described in detail through specific examples.
As shown in fig. 1, an embodiment of the present application provides a care and rehabilitation integrated robot, including:
a support 21 on which a pose adjusting mechanism for adjusting the pose is provided;
the nursing bed 11 is connected with the support frame through a pose adjusting mechanism, and is provided with a rehabilitation training mechanism 122 and a weight reducing mechanism;
The control unit is used for controlling the pose adjusting mechanism to enable the nursing bed to be in different poses, controlling the rehabilitation training mechanism to perform rehabilitation training on a user and controlling the weight reducing mechanism to provide weight reduction force for the user in the rehabilitation training process.
The care and rehabilitation integrated robot provided by the embodiment comprises a support frame 21, a care bed 11 and a control unit, wherein a pose adjusting mechanism is arranged on the support frame 21, the support frame 21 is connected with the care bed 11 through the pose adjusting mechanism, the control unit can adjust the care bed 11 to a prone position, a sitting position or a standing position through controlling the pose adjusting mechanism, a user on the care bed can be conveniently cared under the prone position and the sitting position, the rehabilitation training mechanism 122 can be controlled to assist the user under the standing position, and in the rehabilitation training process, the weight reduction mechanism can be used for controlling the weight reduction force applied to the user, so that the user load is reduced. The care and rehabilitation integrated robot can realize safe care and auxiliary rehabilitation training of users, reduce the care intensity and improve the rehabilitation effect.
As shown in fig. 2A, 2B, 3, and 4, in some embodiments, the support bed 11 includes a back support plate 1111, a seat support plate 1112, a leg support plate 1113, and a foot support plate 1114, wherein the back support plate 1111 is pivotally connected to the seat support plate 1112, the back support plate 1111 is rotatable relative to the seat support plate 1112, the seat support plate 1112 is pivotally connected to the leg support plate 1113, the leg support plate 1113 is rotatable relative to the seat support plate 1112, and the leg support plate 1113 is pivotally connected to the foot support plate 1114, and the foot support plate 1114 is rotatable relative to the leg support plate 1113.
The pose adjusting mechanism comprises a first driving unit, a second driving unit and a third driving unit, wherein the first driving unit acts, the back supporting plate 1111 can be driven to rotate relative to the seat supporting plate 1112 through a first transmission piece, the second driving unit acts, the leg supporting plate 1113 can be driven to rotate relative to the seat supporting plate 1112 through a second transmission piece, the third driving unit acts, the foot supporting plate 1114 can be driven to rotate relative to the leg supporting plate 1113 through a third transmission piece, especially for the usual symptoms of cerebral apoplexy such as foot drop, the foot supporting plate 1114 can be adjusted to be parallel to the plane of the leg supporting plate 1113 or form a certain angle, and the rehabilitation of physiological functions is promoted. Thus, the nursing bed 11 can be adjusted to a prone position, a semi-prone position, and a basic sitting position at different angles by adjusting the relative positions of the back support plate 1111, the seat support plate 1112, the leg support plate 1113, and/or the foot support plate 1114 by the pose adjustment mechanism.
As shown in fig. 2B, 4 and 5, in some embodiments, the seat support plate 1112 includes a fixed support plate 1124 and two leg-lifting support plates 1121 located at both sides of the fixed support plate and corresponding to positions of the two legs, respectively, the two leg-lifting support plates 1121 are pivotally connected to the back support plate 1111, and the two leg-lifting support plates 1121 are rotatable relative to the back support plate 1111.
The pose adjusting mechanism further comprises a fourth driving unit 1123 and a fifth driving unit, the fourth driving unit 1123 acts to drive one leg lifting support plate 1121 to rotate relative to the back support plate 1111 through a fourth transmission member 1122, and the fifth driving unit acts to drive the other leg lifting support plate to rotate relative to the back support plate 1111 through a fifth transmission member, so that the function of assisting in lifting or lowering the legs is realized. Therefore, on the basis of integrally adjusting the prone position and the sitting position, the auxiliary leg lifting can be realized by simulating the hands of a person, so that the problems that a user cannot lift the legs to put on and take off the trousers and the part of the position is difficult to care in the care process are solved, the care intensity is reduced, and the safety in the care process is improved.
As shown in fig. 6, in some embodiments, two sides of the back support plate 1111 are respectively provided with a turn-over support plate 1131, and the two turn-over support plates 1131 are pivoted with the back support plate 1111, and the two turn-over support plates 1131 can rotate relative to the back support plate 1111.
The pose adjusting mechanism further comprises a sixth driving unit and a seventh driving unit, wherein the sixth driving unit acts, one of the turning support plates 1131 is driven to rotate relative to the back support plate 1111 by a sixth transmission piece, the seventh driving unit acts, and the other turning support plate is driven to rotate relative to the back support plate 1111 by a seventh transmission piece, so that the function of assisting turning to the left side or the right side is realized, the problems of pressure sores and the like caused by long-time bedridden cerebral apoplexy are solved, and the safety and comfort of a user in the care process are improved.
As shown in fig. 4, in some embodiments, in order to prevent a user from sliding off the care bed 11, adjustable guard rails 1141 are provided on two sides of the seat support plate 1112, and the control unit controls the guard driving unit 1142 to act to adjust the guard rails 1141 to retract or open, so as to facilitate the user to transfer from the care bed 11, prevent the user from turning over and getting out of the bed, and ensure safety.
In some embodiments, the surfaces of the back support plate 1111, the seat support plate 1112, the leg support plate 1113, the foot support plate 1114, the leg lifting support plate 1121, the body turning support plate 1131 and other parts contacting the body of the user are made of flexible materials, so that damage to the user is avoided, and comfort is improved. In some modes, according to biomechanical principle, different areas of the surface of the component contacted with the body can be designed into porous structures with different forms and shape parameters, so that different areas of the component have different rigidities, thereby meeting the supporting mechanical requirements of different parts of the human body and avoiding the problems of pressure sores, skin abrasion and the like caused by cerebral apoplexy users. Alternatively, manufacturing methods such as 3D printing can be used to realize the manufacturing of complex components.
As shown in fig. 7, in some embodiments, the pose adjustment mechanism includes a back plate 1311, a connecting rod 1312, and an eighth drive unit 1313. The back plate connecting plate 1311 is fixedly connected with the support plate 1112 (for example, is fixedly connected with the seat support plate 1112), one side of the back plate connecting plate 1311 is pivoted with one end of the connecting rod 1312, the back plate connecting plate 1311 can rotate relative to the connecting rod 1312, the driving end of the eighth driving unit 1313 is connected with the other side of the back plate connecting plate 1311, the eighth driving unit acts to push the back plate connecting plate 1311 to rotate relative to the connecting rod 1312, and the rotation of the back plate connecting plate 1311 can drive the seat support plate 1112 to rotate, so that the support plate 11 is driven to integrally perform posture conversion between the prone position and the standing position.
As shown in fig. 9, in some embodiments, during the posture adjustment of the prone position and the standing position, the center of gravity of the user changes, and the front and rear of the center of gravity of the user may be unstable. The gravity center adjusting mechanism comprises an attitude sensor, a gravity center adjusting driving unit 212, an anti-tilting component 211 and the like, wherein the attitude sensor is arranged on a care bed (for example, on a back supporting plate 1111), the attitude sensor collects attitude signals of the care bed 11 and transmits the attitude signals to the control unit, the control unit calculates the current gravity center position of the care bed 11 according to the attitude signals, judges whether the gravity center position is in a preset safety range or not, if the gravity center position is in the safety range, the gravity center adjustment is not performed, if the gravity center position is not in the safety range, the gravity center adjusting driving unit is controlled to act to drive the anti-tilting component to act, the whole length of the supporting frame 21 is adjusted, and the gravity center position of the care bed 11 is adjusted to be in the safety range.
As shown in fig. 7 and 9, in some embodiments, the anti-tilt member 211 includes an anti-tilt rod 2112 and an anti-tilt wheel 2111, the anti-tilt rod 2112 is slidably connected to the base 1321 of the support frame 21 by an anti-tilt connector, and the anti-tilt rod 2112 and the anti-tilt wheel 2111 are slidably movable relative to the base 1321 to adjust the overall length of the support frame 21 by sliding. In the process of adjusting the position of the anti-tilt rod 2112 relative to the base 1321, the gravity center position of the care bed 11 changes, that is, the gravity center position changes back and forth along with the change of the length of the anti-tilt rod 2112 relative to the base 1321, and the gravity center can be adjusted to be within a safe range by adjusting the back and forth position of the gravity center, so that the use safety is ensured.
As shown in fig. 3, in some embodiments, in the process of converting the care and rehabilitation integrated robot from the prone position to the standing position, the center of gravity of the care bed and the user thereon moves forward, the gesture sensor collects gesture signals of the care bed 11, the control unit determines the center of gravity position of the user on the care bed according to the gesture signals, when judging that the current center of gravity position exceeds a preset positive threshold, the control unit controls the center of gravity adjustment driving unit 212 to act, drives the anti-tilting rod 2112 to extend forward relative to the base 1321, and adjusts the relative position between the anti-tilting rod 2112 and the base 1321 to return the center of gravity position in the negative direction, so as to prevent the care and rehabilitation integrated robot from tilting forward, namely tilting towards the user surface.
In the process of converting the care and rehabilitation integrated robot from the standing position to the prone position, the care bed and the gravity center of the user on the care bed move towards the negative direction, the gesture sensor acquires gesture signals of the care bed 11, the control unit determines the gravity center position of the user on the care bed according to the gesture signals, when judging that the current gravity center position exceeds a preset negative threshold value, the control unit controls the gravity center adjusting driving unit 212 to act so as to drive the anti-tilting rod 2112 to extend towards the negative direction relative to the base 1321, and the gravity center position is adjusted towards the positive direction by adjusting the relative position between the anti-tilting rod 2112 and the base 1321, so that the care and rehabilitation integrated robot is prevented from tilting towards the negative direction, namely towards the back direction of the user. The positive threshold and the negative threshold may be determined according to a positive boundary value and a negative boundary value of a preset safety range, respectively, for example, the positive threshold is smaller than the positive boundary value, and the negative threshold is smaller than the negative boundary value, i.e. when the gravity center position is close to the boundary value of the safety range, the gravity center position is recalled in time.
In some aspects, if the current center of gravity position exceeds a positive or negative threshold, the amount of extension of the anti-roll bar 2112 relative to the base 1321 in the positive or negative direction may be determined further based on the deviation between the current center of gravity position and the positive or negative threshold. For example, the greater the deviation between the current center of gravity position and the forward threshold, the greater the amount of extension of the anti roll bar 2112 in the forward direction relative to the base 1321.
In consideration of possible drift or errors of the measurement result of the attitude sensor, after the control unit acquires the attitude signal, data calibration and filtering processing are performed on the attitude signal to obtain a processed attitude signal, and then the gravity center position is calculated based on the processed attitude signal, so that accuracy can be improved. Optionally, the control unit processes the acquired gesture signal by using a kalman filtering algorithm to reduce noise, the gesture sensor may be an MEMS accelerometer, a gyroscope, a gesture sensor, or the like, and the gravity center position may be determined based on the acquired gesture signal by using a method in the related art, which is not described in detail in this embodiment.
As shown in fig. 2A, 7, 8A, 8B, in some embodiments, the care rehabilitation integrated robot further comprises a height adjustment mechanism 132 for adjusting the overall height of the care bed 11. The support frame 21 is connected to the connecting rod 1312 by a height adjusting mechanism, and the height adjusting mechanism 132 includes a lifter 1322, a lifter link 1323, and a height adjusting drive unit 1324. The end of the lifting member 1322 is hinged to the base 1321, the end of the lifting link 1323 is hinged to the end of the lifting member 1322, the end of the lifting member 1322 is hinged to the link portion of the connecting member 1312, the lifting member 1322 can rotate relative to the connecting member 1312 and the base 1321, and the lifting link 1323 is pivoted to the lifting member 1322 for increasing the rigidity of the mechanism. The driving end of the height adjustment driving unit 1324 is connected with the lifting member 1322, the height adjustment driving unit 1324 acts to drive the lifting member 1322 to rotate, the lifting member 1322 rotates to adjust the overall height of the height adjustment mechanism, and then the height of the seat support plate 1112 and the overall nursing bed along the vertical direction is adjusted, so that the overall height adjustment of the nursing bed is realized.
As shown in fig. 1, in some embodiments, a rehabilitation training mechanism 122 for lower limb training is disposed at a position on the support bed 11 corresponding to a leg, where the rehabilitation training mechanism 122 includes a thigh movement assembly, a shank movement assembly and an ankle movement assembly, and the positions of the assemblies are in one-to-one correspondence with joints of lower limbs of a human body, so as to assist a user in completing rehabilitation exercises such as standing, leg lifting, walking, and the like, and improve the exercise ability and rehabilitation effect of the user.
In some embodiments, in order to smoothly realize the auxiliary training of the lower limbs, in the adjustment process from the prone position to the standing position of the care and rehabilitation integrated robot, the leg support plate 1113 and the foot support plate 1114 are turned back by controlling the action of the pose adjustment mechanism, that is, the leg support plate 1113 and the foot support plate 1114 are integrally adjusted to the rear part of the seat support plate 1112, so that the structure of the care bed is prevented from affecting the rehabilitation training mechanism 122 to perform normal training, and the use safety in the rehabilitation training process is ensured.
As shown in fig. 1 and 10, in some embodiments, to improve the rehabilitation training effect, a weight-reducing mechanism 121 for assisting rehabilitation training is further provided on the care bed 11. The weight-reduction mechanism 121 is disposed on the back support plate 1111, and the weight-reduction mechanism 121 includes a T-shaped support 1211, a suspension loop 1212, a weight-reduction sling cord 1213, a wearable weight-reduction brace 1214, and a weight-reduction drive unit 1215. The first end of the T-shaped support 1211 is connected to the driving end of the weight-reduction driving unit 1215, the rotation connection portion of the T-shaped support 1211 is pivoted to the top end of the back support plate 1111, the T-shaped support 1211 is rotatable relative to the back support plate 1111, and the second end of the T-shaped support 1211 is connected to the weight-reduction protector 1214 through the suspension loop 1212 and the weight-reduction sling rope 1213. The weight-reducing driving unit 1215 acts to drive the T-shaped supporting member 1211 to rotate relative to the back supporting plate 1111, in the rotation process, the T-shaped supporting member 1211 ascends or descends, the user wearing the weight-reducing protector 1214 is driven to lift and drag through the suspension ring 1212 and the weight-reducing hanging belt rope 1213, the relative position of the user and the back supporting plate 1111 is adjusted, the height of the user is adjusted, and then the auxiliary hanging function in the standing position lower limb rehabilitation process is achieved. Wherein, the weight-reducing protector 1214 is in flexible contact with the upper body of the user, so that the load of the joints of the lower limbs of the user can be reduced, and the comfort is improved.
In some embodiments, the weight-reducing mechanism 121 further includes a tension sensor disposed on the weight-reducing sling rope 1213, and during rehabilitation training, the tension sensor collects a tension signal and transmits the tension signal to the control unit, and the control unit controls the driving force provided by the weight-reducing driving unit 1215 according to the relationship between the weight-reducing force corresponding to the tension signal and a preset weight-reducing threshold, that is, the control unit compares the current weight-reducing force with the weight-reducing threshold, and if the current weight-reducing force is greater than the weight-reducing threshold, the control unit controls the weight-reducing driving unit to act to drive the T-shaped support 1211 to rise, thereby increasing the applied tension and reducing the load of the user during training.
The human body centroid position can change along with the change of the lower limb posture in the gait rehabilitation training process of a user, when the two feet are grounded simultaneously, the centroid is lowest, when the single foot reaches the maximum height, the centroid reaches the maximum position, namely the centroid position shows a sine-wave-like change trend along with the change of the lower limb posture. Therefore, the tension value measured by the tension sensor when the center of mass is at the highest position can be used as a gravity reduction threshold, and when the measured current tension value is greater than the gravity reduction threshold in the process of lower limb training, the tension is increased by lifting the gravity reduction mechanism 121 upwards, so that the contact force between the sole of the patient and the ground is reduced.
In other embodiments, an attitude sensor may be added to the weight-reducing brace 1214, and during the lower limb training process, the attitude sensor is used to collect an attitude signal of the user, and the control unit determines the position of the center of gravity of the user based on the attitude signal, and determines the tension value required to be provided by the weight-reducing mechanism 121 according to the change trend of the position of the center of gravity and the center of mass. The method comprises the steps of determining a required tension value according to a certain point of a change trend of a sine wave corresponding to a current gravity center position detected by an attitude sensor, controlling a weight reduction mechanism to act according to the tension value, providing corresponding weight reduction force for a user, realizing active maintenance of the weight reduction force constant by dynamically adjusting the weight reduction force, and improving rehabilitation training effect.
In some embodiments, the suspended weight reduction mechanism 121 is of a single point suspension design that moves with 1-10cm of fluctuation in the center of gravity above and below during user gait training, thereby ensuring relatively constant weight reduction and allowing the user to lean and rotate the pelvis to a small extent while walking. The weight-reducing sling cord 1213 with the wearable weight-reducing brace 1214 gives the user a stable support surface and weight-reducing support of muscles, including inactive muscle groups to be rehabilitated and external motor muscles that may be trained. While ensuring comfort and safety of the user, the caregiver can be made to conveniently observe and correct the gait of the user.
In some versions, as shown in fig. 9, the base 1321 is further provided with a universal wheel 222 with a locking device 221 to facilitate moving or braking the locking support 21 when appropriate.
As shown in fig. 11, the control unit provided in this embodiment includes:
The input module is used for inputting basic information of a user;
The physiological state detection unit is used for collecting physiological information of a user;
The system comprises a mode recommendation module, a target nursing and rehabilitation mode, a mode control module and a control module, wherein the mode recommendation module is used for inputting basic information and physiological information into a pre-trained mode recommendation model, outputting a target nursing and rehabilitation mode by utilizing the mode recommendation model, and determining corresponding control signals according to the target nursing and rehabilitation mode, wherein the control signals comprise pose control signals, weight reduction control signals, rehabilitation control signals and the like;
The first control unit is arranged on the protection bed 11 and is used for controlling the protection bed 11 to carry out flexible adjustment according to the received pose control signals so that the robot is in different poses. For example, the control pose adjusting mechanism is adjusted to a basic sitting pose which is in a lying pose, a semi-lying pose and different angles, and aims at the problems that a cerebral apoplexy user is not suitable for lifting legs, putting on and taking off clothes and the nursing process, and part of the parts are difficult to care, and the like, the leg lifting support plate 1121 and the turning support plate 1131 are controlled to simulate the lifting action of hands of the user to assist in lifting the legs and turning, so that nursing strength of nursing staff is reduced, and safety of the nursing process is improved. In some modes, the first control unit controls the pose adjusting mechanism to adjust the robot to a standing pose, and then controls the rehabilitation training mechanism to assist a user to finish rehabilitation motions such as standing, leg lifting and walking according to the rehabilitation control signals, so that the motion capability and rehabilitation effect of the user are improved;
the second control unit is disposed on the weight-reducing mechanism 121, and is configured to control the weight-reducing mechanism 121 according to the received weight-reducing control signal, and to implement dynamic weight reduction under constant weight reduction when the user exercises on walking or standing. The actual weight reduction force is detected by using the tension sensor, and the weight reduction mechanism 121 is controlled to carry out flexible conditions on lifting traction in the vertical direction of the user according to the comparison result between the actual weight reduction force and the weight reduction force threshold value, so that the dynamic weight reduction is realized by constant weight reduction force when the user walks or stands for training.
In this embodiment, the care and rehabilitation integrated robot may determine, according to basic information and physiological information of the user, a target care and rehabilitation mode for the user by using a mode recommendation model constructed in advance, so as to control the robot according to the target care and rehabilitation mode, so that the robot performs care or rehabilitation training on the user according to the target care and rehabilitation mode. When the robot is used for assisting in nursing a user, the position and posture adjusting mechanism can be used for adjusting the robot to a prone position and a sitting position, so that different parts of the body of the user can be conveniently nursed, the robot can assist in lifting legs and turning over according to the use requirements of the user, comprehensive nursing is realized by adjusting the position and posture of the user, nursing intensity is reduced, and nursing effect is improved. When rehabilitation training is carried out, the robot can be adjusted to a standing posture by using the pose adjusting mechanism, the overall height of a user can be adjusted by using the height adjusting mechanism, and in the adjusting process, the front and rear gravity centers of the user can be dynamically adjusted by using the gravity center adjusting mechanism, so that the use safety is ensured. After the lower limb rehabilitation training device is adjusted to the standing position, the rehabilitation training mechanism is controlled to assist the user in performing the lower limb rehabilitation training, and in the training process, the weight reduction mechanism can be utilized to adjust and reduce the weight, so that the load of the joints of the lower limb of the user is reduced, and the training effect is improved.
As shown in fig. 12, in some embodiments, the robot uses a mode recommendation model to recommend a target care and rehabilitation mode according to input basic information and acquired physiological information, determines corresponding control signals, generates smooth track planning and tracking control target parameters, and realizes multi-body-position care rehabilitation flexible control closed loop I, that is, uses the mode recommendation model to recommend a care mode or rehabilitation mode currently most suitable for a user according to basic information and physiological information acquired in real time in the process of using the robot.
Aiming at the difficult problem of complex dynamic characteristics of nonlinear, rigid and flexible multistage coupling of a robot system, a method for planning and tracking a flexible care track is researched, firstly, a recursive least square variable state nonlinear coupling function is designed based on physical constraint conditions (such as torque limitation, joint position and speed limitation and the like) generated by a man-machine coupling kinematics and a dynamics model and a motion space feasible domain, the physical constraint conditions are equivalently converted into a mathematical model related to the nonlinear coupling function, secondly, a multi-objective optimization model with optimal time energy Pareto is provided, a non-dominant neighbor immune algorithm is used for solving, so that the optimal flexible care track with the time energy is generated, then a time-varying tangent type barrier Lyapunov function is constructed, system errors are constrained in an exponentially decaying time-varying boundary, the safety of care control (such as a turnover angle is always in a safety threshold), and finally, a nonlinear tracking controller is designed based on the constructed barrier Lyapunov function, so that smaller overshoot, faster tracking speed and higher steady state are ensured, and the high efficiency and the flexibility of the care control are realized. The method comprises the steps of constructing a closed loop II consisting of time/energy optimal smooth track planning and nonlinear tracking control, researching an on-line optimization method of a controller parameter based on reinforcement learning aiming at the problem of insufficient control accuracy of a robot, firstly designing a dynamic performance index of the robot to calculate a reward function, taking the nonlinear tracking controller parameter as an action of an intelligent agent, taking a response result of a care control system as a state to construct an integral reinforcement learning model, then providing the reinforcement learning training method based on an experience playback technology and a random mechanism, eliminating the relevance and the anisotropy of experience data, increasing the accuracy and the convergence speed of an optimization process, and finally designing a gradient updating method of the reinforcement learning parameter based on periodic step response data to realize self-setting and optimization of the controller parameter and improve the accuracy of care control. And constructing a closed loop III based on integral reinforcement learning control parameter optimization, and realizing a multi-closed loop care rehabilitation control method.
In some approaches, the user's basic information includes, but is not limited to, name, age, health, etc. The physiological information which can be collected by the physiological state detection unit comprises but is not limited to physiological indexes such as blood pressure, blood sugar and heart rate, the physiological state detection unit can be wearable equipment such as a bracelet and a blood sugar meter, and the specific form is not limited. When the integrated robot for nursing and rehabilitation is used for the first time, the mode recommendation model is used for recommending the target nursing and rehabilitation mode according to the input basic information and the acquired physiological information to acquire a preliminary nursing and rehabilitation scheme, and subsequently, when the same user uses the integrated robot for nursing and rehabilitation, the corresponding target nursing and rehabilitation mode can be directly determined according to the basic information, the use efficiency is improved, the existing target nursing and rehabilitation mode can be not selected, and the model can output the nursing and rehabilitation mode suitable for the current state according to the current physiological information, so that the integrated robot for nursing and rehabilitation is flexible and convenient to use.
In some modes, a mode recommendation model can be constructed based on Xgboost classification models, and the mode recommendation model capable of outputting corresponding care and rehabilitation modes according to basic information and physiological information is obtained by inputting basic information samples and physiological information samples of different users for training the mode. Firstly, the physiological state detection unit is used for collecting electromyographic signals of the main trunk of the user, such as arms, waist, back and legs, collecting the electromyographic signals in the body position conversion process of the user, and collecting other physiological information of the user, such as blood pressure, heart rate, blood oxygen and the like. The method comprises the steps of collecting data, carrying out characteristic extraction and signal processing on the collected data, carrying out muscle strength and muscle fatigue evaluation algorithm processing on the electromyographic signals to determine real-time muscle evaluation values of bedridden nursing and standing rehabilitation of a user, using signal filtering and denoising algorithm to process the obtained electroencephalogram signal data, carrying out model training on the processed data as input of a convolutional neural network, realizing overall process real-time emotion recognition in a nursing mode and a rehabilitation mode, and recommending a nursing or rehabilitation mode suitable for the user according to emotion change conditions and/or physiological information of the patient.
For example, if the muscle state of the user is poor, the care mode is started so that the user is in bed rest, the muscle state can be recovered in an auxiliary way through turning over and lifting legs for a certain frequency, if the muscle state of the user is improved, the rehabilitation mode is started, the rehabilitation training mechanism is used for assisting the user in rehabilitation training, if the muscle of the user is not active or tired in the rehabilitation training, the care mode is converted, if the user is in the care mode, the emotion such as resistance, boredom, loss and the like, can be converted, and if the user is in the emotion such as fear or worry, the current action execution speed is slowed down. The physiological state detection unit can be used for real-time monitoring of the physical state of the user by combining a multi-sensor fusion algorithm with brain electricity and myoelectricity data, and if various physiological indexes are beyond the normal range of the human body or severe emotion fluctuation and the like occur, protective measures such as alarming, scram and the like are timely made, and the emergency safety protection mode is shifted. The present embodiment does not describe and define the structure of the model, the training method, and the like in detail.
It will be appreciated by persons skilled in the art that the foregoing discussion of any embodiment is merely exemplary and is not intended to imply that the scope of the disclosure, including the claims, is limited to these examples, that technical features in the above embodiments or in different embodiments may be combined, that steps may be performed in any order, and that many other variations of the different aspects of the embodiments of the application described above are present, which are not provided in detail for clarity.
Additionally, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures, in order to simplify the illustration and discussion, and so as not to obscure the embodiments of the present application. Furthermore, the devices may be shown in block diagram form in order to avoid obscuring the embodiments of the present application, and also in view of the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the embodiments of the present application are to be implemented (i.e., such specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that embodiments of the application can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative in nature and not as restrictive.
While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of those embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.
The present embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Accordingly, any omissions, modifications, equivalents, improvements, and the like, which are within the spirit and principles of the embodiments of the application, are intended to be included within the scope of the present disclosure.
Claims (10)
1. A care and rehabilitation integrated robot, comprising:
the support frame is provided with a pose adjusting mechanism for adjusting the pose;
The support frame is connected with the support frame through the pose adjusting mechanism, and the support frame is provided with a rehabilitation training mechanism and a weight reducing mechanism;
The control unit is used for controlling the pose adjusting mechanism to enable the care bed to be in different poses, controlling the rehabilitation training mechanism to perform rehabilitation training on a user, and controlling the weight reducing mechanism to provide weight reduction force for the user in the rehabilitation training process.
2. The robot of claim 1, wherein the weight-reducing mechanism comprises a T-shaped support, a hanging ring, a weight-reducing hanging belt rope, a wearable weight-reducing protector and a weight-reducing driving unit, a first end of the T-shaped support is connected with a driving end of the weight-reducing driving unit, a rotating connecting part of the T-shaped support is pivoted with the top end of the care bed, a second end of the T-shaped support is connected with the weight-reducing protector through the hanging ring and the weight-reducing hanging belt rope, and the weight-reducing driving unit acts to drive the T-shaped support to rotate relative to the care bed, and a user wearing the weight-reducing protector is driven to lift and drag through the hanging ring and the weight-reducing hanging belt rope.
3. The robot of claim 2, wherein the weight-reducing mechanism further comprises a tension sensor arranged on the weight-reducing sling rope, the tension sensor collects a tension signal in the rehabilitation training process, and the control unit controls the weight-reducing driving unit to act when judging that the weight reduction corresponding to the tension signal is greater than the preset weight reduction, and adjusts the tension applied to the user.
4. A robot according to claim 3, wherein the gravity reduction threshold is a tension value corresponding to a time when the centroid of the human body reaches a highest position during rehabilitation training.
5. The robot according to claim 2, wherein the weight-reducing protective gear is provided with a posture sensor, the posture sensor collects a posture signal during rehabilitation training, the control unit determines a gravity center position of the user based on the posture signal, and determines the weight-reducing force required to be provided by the weight-reducing mechanism according to the gravity center position and a preset change trend of the mass center of the human body.
6. The robot of claim 1, wherein the pose adjusting mechanism comprises a back plate connecting plate, a connecting rod and an eighth driving unit, the back plate connecting plate is fixedly connected with the care bed, one side of the back plate connecting plate is pivoted with one end of the connecting rod, the driving end of the eighth driving unit is connected with the other side of the back plate connecting plate, and the eighth driving unit acts to push the back plate connecting plate to rotate relative to the connecting rod so as to drive the care bed to rotate, so that the pose of the care bed is converted between a prone pose and a standing pose.
7. The robot of claim 6, further comprising a height adjustment mechanism, wherein the height adjustment mechanism comprises a lifting member, a lifting link, and a height adjustment driving unit, wherein an end of the lifting member is hinged to the base of the support frame, an end of the lifting link is hinged to an end of the lifting member, an end of the lifting member is hinged to a link portion of the connecting rod, a driving end of the height adjustment driving unit is connected to the lifting member, and the height adjustment driving unit acts to drive the lifting member to rotate to adjust the height of the irradiation bed.
8. The robot of claim 1, wherein the care bed comprises a back support plate, a seat support plate, a leg support plate, and a foot support plate, the back support plate being pivotally connected to the seat support plate, the seat support plate being pivotally connected to the leg support plate, the leg support plate being pivotally connected to the foot support plate;
The position and posture adjusting mechanism comprises a first driving unit, a second driving unit and a third driving unit, wherein the first driving unit acts and drives the back support plate to rotate relative to the seat support plate through a first transmission piece, the second driving unit acts and drives the leg support plate to rotate relative to the seat support plate through a second transmission piece, and the third driving unit acts and drives the leg support plate to rotate relative to the leg support plate through a third transmission piece, so that the posture of the light bed is converted between sitting postures and prone postures.
9. A method of controlling a care and rehabilitation integrated robot, characterized in that it is implemented based on a care and rehabilitation integrated robot as claimed in any one of claims 1-8, the method comprising:
the control unit controls the pose adjusting mechanism to enable the nursing bed to be in different poses, controls the rehabilitation training mechanism to perform rehabilitation training on a user, and controls the weight reducing mechanism to provide weight reduction force for the user in the rehabilitation training process.
10. The control method according to claim 9, wherein,
The control unit inputs the basic information input by the input module and the physiological information acquired by the physiological state detection unit into a pre-trained mode recommendation model, outputs a target care and rehabilitation mode by using the mode recommendation model, determines corresponding control signals according to the target care and rehabilitation mode, and controls the pose adjusting mechanism, the rehabilitation training mechanism and the weight reducing mechanism according to the control signals.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118986653A (en) * | 2024-10-25 | 2024-11-22 | 天津日康康复器械有限公司 | Intelligent electric standing bed control system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118986653A (en) * | 2024-10-25 | 2024-11-22 | 天津日康康复器械有限公司 | Intelligent electric standing bed control system and method |
| CN118986653B (en) * | 2024-10-25 | 2025-01-24 | 天津日康康复器械有限公司 | A control system and method for an intelligent electric standing bed |
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