CN207506748U - For the equipment of the autonomous rehabilitation training of upper limb unilateral side hemiplegic patient - Google Patents

Abstract

The utility model provides a device for autonomous rehabilitation training of patients with unilateral hemiplegia of upper limbs, which includes a fixed platform, a computer and a display. The device for autonomous rehabilitation training also includes a console and a mechanical arm. The computer, display and control The platforms are all fixed on a fixed platform, the computer is respectively connected to the monitor and the console through wires, the mechanical arm is fixedly connected to the console, and the console includes a master/slave robotic arm selection button and a start/stop button , the mechanical arm includes a rotating disc, a telescopic mechanical arm and a handle with a ball joint. The device of the utility model enables the patient to carry out rehabilitation training independently without relying on a rehabilitation therapist, and the patient can operate the active robot arm of the device through a healthy arm, driving the slave robot arm to perform follow-up motion or symmetrical motion , so that the arm with dyskinesia follows the movement of the healthy arm.

Description

Equipment for autonomous rehabilitation training of patients with upper limb unilateral hemiplegia

technical field

The utility model relates to the technical field of medical devices, in particular to a device for assisting patients with unilateral hemiplegia of upper limbs to perform autonomous rehabilitation training.

Background technique

Hemiplegia refers to a common disability that is mainly manifested by motor dysfunction of one side of the limbs due to pathological reasons such as traumatic brain injury. Common hemiplegic disorders include motor dysfunction, sensory impairment, speech impairment, and cognitive impairment.

Through planned and regular active training for hemiplegic patients, the remaining functions and abilities of patients can be maximized, so that they can overcome hemiplegic obstacles as much as possible and improve their chances of recovery. According to scientific investigations, through active and correct rehabilitation treatment, 80% of patients' functions have been significantly improved, and only 10% to 20% of patients have severe or moderate disabilities.

For rehabilitation equipment for hemiplegia, traditional rehabilitation equipment includes orthotics, electrical stimulation therapy equipment, and electric acupuncture equipment, and new rehabilitation equipment includes composite multifunctional rehabilitation equipment and rehabilitation robots. Among them, the rehabilitation robot enables hemiplegic patients to carry out rehabilitation training alone without the assistance of doctors or others. On the other hand, it can formulate appropriate training plans according to the severity of the patient's condition, and can record the patient's rehabilitation information and training data through the computer. , greatly improving the quality of patient rehabilitation.

At present, most of the existing hemiplegia rehabilitation training devices in China have simple structures, single functions, and no intelligence, which is not conducive to the scientific rehabilitation of hemiplegia patients.

Chinese published patent number: CN204863888U, title: a kind of upper limb rehabilitation trainer for hemiplegic patients. This utility model designs a kind of upper limb rehabilitation trainer of hemiplegia patient, mainly is made of parts such as base, seat, electric lifting column, fork-shaped cantilever beam. The beneficial effect of the utility model is that the left and right upper limbs swing synchronously from side to side through the belt transmission, so that the autonomously moving upper limb on one side drives the paralyzed upper limb on the other side, without external power, simple structure and high safety. However, although this utility model realizes that the patient can carry out training independently, the patient's driving of the arm with dyskinesia is only realized by the power provided by the healthy arm, and can only move back and forth and swing left and right, and there is no data record of the patient's rehabilitation training, etc. , not intelligent.

Chinese published patent number: CN103519966A, title: portable hemiplegia upper limb hemiplegia rehabilitation training robot. The utility model provides a portable hemiplegic upper limb hemiplegia rehabilitation training robot, which is mainly composed of a servo drive system, a mechanical linkage system, a bracket vest, a controller and a power supply. The beneficial effects of this utility model are: the bracket vest is set, so that patients can freely perform rehabilitation training without being limited by time and place; three training methods, active training, driven training and resistance training are provided, and can Collect patient information through sensors. However, this utility model requires the patient to wear a bracket vest during use, which increases the burden of the patient's long-term training and increases the boringness of the patient's rehabilitation training.

Utility model content

In order to overcome the shortcomings and deficiencies of the prior art, the utility model provides a device for autonomous rehabilitation training for patients with unilateral hemiplegia of the upper limbs, so that patients can independently perform rehabilitation training. The design of the device is humanized and can be well Improve the motor function of the patient's limbs.

In order to solve the above technical problems, the utility model provides the following technical solutions: a device for autonomous rehabilitation training of patients with unilateral hemiplegia of upper limbs, including a fixed platform, a computer for controlling the user's training intensity adjustment mode, and a computer for displaying hemiplegia rehabilitation training A display for standardizing actions, the device for autonomous rehabilitation training also includes a console for transmitting control information and transmitting the motion data of the mechanical arm to the computer and a mechanical arm for direct training operations of the patient, the computer The computer, the monitor and the console are all fixed on the fixed platform, the computer is respectively connected to the monitor and the console through wires, and the mechanical arm is fixedly connected to the console.

Further, the console includes: a master/slave robot arm selection button for selecting which robot arm is the master robot arm or a slave robot arm and a start/stop button for controlling the start and stop of the rehabilitation training equipment system button.

Further, the mechanical arm includes a rotating disk, a telescopic mechanical arm and a handle with a ball joint, one end of the telescopic mechanical arm is fixedly connected to the rotating disk, and the other end is fixedly connected to the handle with a ball joint, the The rotating disc is fixed on the console.

Further, the robotic arms are divided into active robotic arms and passive robotic arms.

Further, the fixed platform includes 4 universal wheels and 4 small brackets.

Further, the self-rehabilitation training equipment further includes a support plate, and the support plate is fixed on the fixed platform.

Further, the device for autonomous rehabilitation training also includes a bracelet device connected to the computer.

After adopting the above technical solution, the utility model has at least the following beneficial effects:

1. The utility model realizes the self-rehabilitation training of patients with unilateral hemiplegia of the upper limbs, so that the patient can drive the arm with dyskinesia through the healthy arm, and repeatedly and scientifically trains it to restore its motor ability; therefore, the utility model enables the patient to Conduct self-rehabilitation exercises without relying on a rehabilitation therapist or others;

2. The utility model provides two control methods in the method of driving the driven robot arm by the active robot arm: the intensity user adjustment mode and the intensity self-adaptive adjustment mode; the first mode enables the patient to pass through the natural way Choose the intensity of training, and the naturalness of its adjustment method provides a good user experience; the second mode can enable the patient to reduce the training intensity adaptively when the patient is seriously ill, allowing the patient's arm to follow the slave arm more easily Exercise; when the arm recovers a certain motor function, the training intensity is adaptively increased; therefore, these two control methods make the device intelligent and enable patients to carry out scientific rehabilitation training;

3. The computer of the rehabilitation training equipment of the present utility model itself can store training plan information and record relevant data of patient training, which realizes individualized formulation and execution of corresponding rehabilitation according to the severity of the patient's condition and limb function training items, and records the relevant data of patients during rehabilitation training; in addition, the introduction of monitors not only provides scientific and standardized training actions, but also provides the possibility for patients to train through computer animation games. This kind of human-computer interaction The method makes the original long and boring training process easy to be accepted by patients.

Description of drawings

Fig. 1 is the whole schematic diagram of the equipment for the autonomous rehabilitation training of patients with unilateral hemiplegia of upper limbs according to the present invention;

Fig. 2 is the overall front view of the utility model for the equipment for autonomous rehabilitation training of patients with unilateral hemiplegia of upper limbs;

Fig. 3 is the schematic diagram of the degree of freedom of the robotic arm of the device for autonomous rehabilitation training of patients with unilateral hemiplegia of the upper limbs of the present invention;

Fig. 4 is the schematic diagram of the wristband of the utility model for the equipment for autonomous rehabilitation training of patients with unilateral hemiplegia of upper limbs;

Fig. 5 is a schematic diagram of an admittance model composed of mass-spring-damping between the active arm and the slave arm of the device for autonomous rehabilitation training of patients with unilateral upper limb hemiplegia of the present invention.

Detailed ways

It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be further described in detail below in conjunction with the drawings and specific embodiments.

As shown in Figures 1 and 2, a robot for upper limb hemiplegia rehabilitation training mainly consists of a computer 1, a fixed platform 2, a display 6, a console 4, a robotic arm 7 and a support plate 9 and the like. The support plate is used to support the patient's arms during autonomous rehabilitation training, reducing the burden on the arm with movement impairment.

The mobile/fixed structure of the robot is mainly realized by the alternate use of wheels 5 and brackets 10, wherein the height of the wheels 5 is fixed, and the position of the brackets 10 can be moved up and down through the adjustment of nuts.

The height-adjustable platform is mainly realized by fixing the cylindrical sleeve of the platform 2 . When needing to fix the height of console or computer and monitor, then need to tighten the nut of cylindrical sleeve; When needing to move their height, then adjust the nut of cylindrical sleeve, tighten again when moving to suitable height.

The described real-time display/record tracking system mainly consists of a computer 1 and a display 6 . Among them, the computer is used to store the patient's training plan, and at the same time, it can record the patient's exercise state in real time and save relevant data; the display is used to display the standardized actions of hemiplegia rehabilitation training and provide scientific guidance for the patient.

The console has a start/stop button and a master/slave mechanical arm selection button 3 . On the one hand, the console is used to track the motion state of the active robot arm in real time, and on the other hand, it transmits control signals for the movement of the slave robot arm in real time, so that the slave robot arm follows the movement of the active robot arm, and the console also accepts the movement of the active robot arm. And the movement data of the driven mechanical arm, and transmit the data to the computer for recording.

Described active mechanical arm or slave mechanical arm, as shown in accompanying drawing 3, they are made up of rotating disc, telescopic mechanical arm and handle 8 with ball joint, so these two mechanical arms have 4 degrees of freedom. When rehabilitative training is started, select the switch to specify active and passive affiliation.

The algorithm design of driving the driven mechanical arm to move by controlling the active mechanical arm is the core part of the utility model, which provides two control modes, the intensity user adjustment mode and the intensity self-adaptive adjustment mode. In these two modes, there are two types of motion between the active robot arm and the slave robot arm, following motion and symmetrical motion, that is, the slave robot arm performs the same motion or symmetrical motion as the active robot arm. Use a model to describe the relationship between them, as shown in Figure 5, a model composed of mass-spring-damper.

How the intensity user adjustment mode works:

First of all, when the patient is performing rehabilitation training, he needs to wear a bracelet device as shown in Figure 4 on the upper arm and the forearm of his healthy arm. During rehabilitation training, the wristband device collects the surface electromyographic signals of the active arm muscles of the human body, and through related signal analysis and linear transformation, the muscle strength of the healthy arm is extracted.

The relevant conversion formula is:

Among them, both F and K are three-dimensional vectors, which are respectively the projection of the force and stiffness at the end of the human arm in Cartesian space. Both F ₀ and K ₀ are three-dimensional vectors, which are the inherent force and stiffness of the human arm when maintaining a fixed posture, and are constants; P is the muscle activity vector extracted from the surface electromyographic signals of the agonist muscle/antagonist muscle pair, and is An n-dimensional vector, where n represents the number of muscles involved; T _F and T _K are transformation matrices, which transform the muscle activity vector into force and stiffness, respectively.

Next, the control of the slave robotic arm will be realized using an impedance controller with force feedback. In the model shown in Figure 5, when the active robot arm drives the slave robot arm to move, the slave robot arm also provides a feedback force F _f to the active robot arm. When the slave robot arm cannot keep up with the movement of the active robot arm, the feedback force F _f will increase, so that the active robot arm will generate greater force to drive the slave robot arm. At this time, the patient's healthy arm uses a large force, which increases the surface electromyographic signal of the arm muscle, thereby exerting greater force on the slave mechanical arm through the active arm, so that it can keep up with the movement of the active mechanical arm.

When the rigid body model of the robot arm interacts with the patient's arm, it can be described by the following formula:

Among them, M(q) is the mass matrix of the mechanical arm, is the joint torque vector, which is related to centrifugal force, Coriolis force, gravity and friction, _τu is the joint torque vector, which is generated by the torque driver of the mechanical arm, That is, F _q is the force generated when the robot arm interacts with the patient's arm, and v is the output change of the motor or the agitation of the system itself.

Now discuss the movement of the active and slave arms on a certain degree of freedom: suppose the rotation angle of the active arm is q _m , and the rotation angle of the slave arm is q _f , when the active arm and the slave When the mechanical arms are following the movement, the relative rotation angle between the two is:

Δq＝ _qm - _qf (3)

When there is a symmetrical movement between the slave robot arm and the active robot arm, the relative rotation angle between the two is:

Δq＝|q _m |-|q _f | (4)

In the model in Figure 5, the feedback torque acting on the active manipulator is τ _f , and its relationship with the relative rotation angle Δq is:

Among them, M _f , D _f , and K _f are the virtual inertia, damping, and stiffness of the model, respectively, which can be adjusted by the patient's healthy arm, are the first and second derivatives of the relative rotational displacement Δq, respectively.

The controllers of the active robotic arm and the healthy human arm are superimposed by the feedback torque τ _f and the gravity compensation term τ _g , which is:

τ _m =τ _f +τ _g (6)

Define K as the coupling stiffness coefficient of the master-slave arm, that is, K is the coupling stiffness coefficient between the master arm and the slave arm. In the strength user adjustment mode, it is equivalent to the muscle stiffness of the patient's healthy arm obtained through the conversion of muscle surface electromyographic signals. D is the coupling damping coefficient between the active manipulator and the slave manipulator, which is directly proportional to K, and the ratio is fixed.

Also considering the gravity compensation, the input torque τ _u of the slave arm by using the PD controller is:

Therefore, the intensity user adjustment mode extracts and analyzes the muscle surface EMG signals of the patient's healthy arm during rehabilitation training, and transforms the signal change into the change of the coupling stiffness coefficient of the master-slave robot arm, thereby changing the active mechanical arm. The arm drives the stiffness of the driven mechanical arm, so that the patient can naturally and intuitively adjust according to the motion state of the arm with dyskinesia.

How the Intensity Adaptive Mode works:

This control method is a motion model derived from the principles of human arm interaction with the environment. This model of motion considers that the motion commands used by the muscles of the human arm to interact with the environment consist of feedforward and feedback. The utility model patent applies this calculation model to the controller of the robot, that is, the controller of the slave robot arm, so that the coupling stiffness between the slave robot arm and the active robot arm achieves an adaptive effect.

In the strength adaptive adjustment mode, the torque τ _u input to the control of the slave manipulator is:

τ _u (t)＝-(k ₀ (t)+k(t))ε(t)-τ(t) (8)

Among them, -k ₀ ε is the minimum feedback, τ is the learned feedforward, and -kε is the feedback obtained from the interaction between the robot arm and the patient's arm. ε is tracking error, related to position error, e(t) and velocity error related:

According to the above definition, the coupling stiffness coefficient between the active manipulator and the slave manipulator is K. Through formulas (8) and (9), the adaptive algorithm of the coupling stiffness coefficient can be obtained as:

K ⁱ⁺¹ (t)=K ⁱ (t)+Q _K (ε ⁱ (t)e ^iT (t)-y ⁱ (t)K ⁱ (t)), i=0,1,2... (10 )

in,

The algorithm of formula (10) realizes the self-adaptation of the coupling stiffness coefficient. Therefore, in this mode of strength adaptive adjustment, the motion model of the interaction between the human arm and the environment is used for reference, and through the learning algorithm, the coupling stiffness coefficient of the slave robot arm has the motion state of the motion-impaired arm. When the degree of motion impairment is large, the coupling stiffness between the active robot arm and the slave robot arm is larger; when the degree of motion obstacle is small, the coupling stiffness between the active robot arm and the slave robot arm becomes larger. Small, so that the torque applied by the robot arm to the hemiplegic arm will adaptively assist the hemiplegic arm joints to follow the track of the healthy arm joints according to the motion state of the hemiplegic arm.

Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various modifications can be made to these embodiments without departing from the principle and spirit of the present invention. For equivalent changes, modifications, substitutions and variations, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (7)

1. The utility model provides an equipment that is used for upper limbs unilateral hemiplegia patient to independently rehabilitation training, includes fixed platform, computer and is used for showing the display of hemiplegia rehabilitation training standard action, a serial communication port, equipment of independently rehabilitation training is still including being used for transmitting control information and will robotic arm's motion data transmits the control cabinet of computer and the robotic arm that is used for the direct training operation of patient, computer, display and control cabinet all are fixed in on the fixed platform, the computer passes through the wire with display, control cabinet respectively and is connected, robotic arm fixed connection the control cabinet.

2. The device for the autonomous rehabilitation training of patients with unilateral hemiplegia of the upper limbs according to claim 1, characterized in that said console comprises: a master/slave robotic arm selection button for selecting which robotic arm to use as a master robotic arm or a slave robotic arm, and a start/stop button for controlling the start and stop of the rehabilitation training device system.

3. The device for the autonomous rehabilitation training of the unilateral hemiplegic patient of the upper limb according to claim 1, wherein the mechanical arm comprises a rotating disc, a telescopic mechanical arm and a handle with a ball joint, one end of the telescopic mechanical arm is fixedly connected with the rotating disc, the other end of the telescopic mechanical arm is fixedly connected with the handle with the ball joint, and the rotating disc is fixed on the console.

4. The device for the autonomous rehabilitation training of patients with unilateral hemiplegia of the upper limbs according to claim 1 or 3, characterized in that the robotic arms are divided into active and passive robotic arms.

5. The apparatus for autonomous rehabilitation training of hemiplegic patients with upper limbs according to claim 1, characterized in that said fixed platform comprises 4 universal wheels and 4 small supports.

6. The apparatus for the autonomous rehabilitation training of the unilateral hemiplegic patient of the upper limb according to claim 1, further comprising a support plate fixed to the fixed platform.

7. The apparatus for autonomic rehabilitation training of hemiplegic patients with upper limbs unilateral according to claim 1, wherein said apparatus further comprises a bracelet device connected with said computer.