CN102631277A - Rocker type upper limb rehabilitation device and method for performing rehabilitation training by aid of rocker type upper limb rehabilitation device - Google Patents
Rocker type upper limb rehabilitation device and method for performing rehabilitation training by aid of rocker type upper limb rehabilitation device Download PDFInfo
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Abstract
The invention discloses a rocker type upper limb rehabilitation device, which mainly consists of a mechanical portion and a control portion. The mechanical portion mainly comprises a base, a retractable rocker, an outer arc-shaped track and an inner arc-shaped track, the retractable rocker consists of a linear motor, and the outer arc-shaped track and the inner arc-shaped track are connected with a servo motor. The control portion mainly comprises a position sensor, a photoelectric encoder, a movement control card, a display and a computer, and the movement control card controls voltage and current of a servo motor driver and a linear motor driver. The mechanical portion is organically combined with the control portion, the retractable rocker can move in a three-dimensional space along an optional trace, three training modes including a passive training mode, an active training mode and an assisted training mode can be provided for patients losing motion abilities in different degrees, and accordingly the rocker type upper limb rehabilitation device is simple and compact in structure, diversified in training modes and low in cost, is applicable to extensive patients, and has a fine application prospect.
Description
Technical field
The present invention relates to a kind of handicapped device for healing and training of upper extremity exercise that is directed against, be specifically related to a kind of rocker-type upper limb healing device and utilize this device to carry out the method for rehabilitation training.
Background technology
The research of healing robot starts from the eighties in last century.Before nineteen ninety, mainly be the American-European and Japanese research in this respect of being engaged in.The research of healing robot enters into all-round developing period after nineteen ninety.In the world, more and more automatization and intellectuality of the research and development of healing robot.
At home; The research of healing robot has the trend of cumulative year after year; People such as the prince legendary ruler of great antiquity, the first of the Three August Ones of Tsing-Hua University application in 2008; Publication number is to disclose a kind of upper limb rehabilitation robot device in the one Chinese patent application " a kind of upper limb hemiplegia rehabilitation robot device with adjustable training plan " of CN101347380A, and this device comprises seat, training plan, training plan adjusting device, and is installed in mechanical arm on the training plan etc.; Through regulating the height and the angle of training plan, to satisfy different patients accomplish rehabilitation training in many planes needs.This apparatus structure is simple; Can satisfy the demand of the multiple training of patient, but it is a kind of plane training devices in essence, thereby the refining of the standard of the rehabilitation in three dimensions is subject to each plane; Can't realize the motion of track arbitrarily in the three dimensions; And this device makes the patient in rehabilitation, possibly produce sense of discomfort because structural limitations does not possess compliance when driving patient's rehabilitation training of upper limbs.
Summary of the invention
Technical purpose of the present invention provides a kind of rocker-type upper limb healing device, utilizes this device can be implemented in the edge rehabilitation training of track arbitrarily in the three dimensions in the device.
The present invention realizes that the technical scheme that above-mentioned technical purpose adopts is:
A kind of rocker-type upper limb healing device comprises mechanical part and control section,
Described mechanical part comprises base, flexible rocking bar, outer arcuate track and arc track;
Described outer arcuate track is fixed on the base through bearing block, and the one of which end connects first servomotor through first reductor; Described arc track is fixed on the base through bearing block, and the one of which end connects second servomotor through second reductor; Described outer arcuate track, its radius is slightly larger than the radius of arc track, strides to stand in arc track top, and forms an angle with the arc orbit-shaped;
Described flexible rocking bar comprises the rocking bar shell that linear electric motors are outside with being arranged on linear electric motors;
Described linear electric motors comprise stator and are socketed in the mover on the stator; Described mover is fixedly connected with the rocking bar shell, the relative mover moving linearly of described stator; Described stator one end is connected with handle through six-axis force sensor, and six-axis force sensor will convert voltage number from the force signal of handle into;
Described flexible rocking bar vertically passes the outer arcuate track and the outer arcuate track is inner, and its rocking bar shell bottom is connected with the base fixed position through multi-directional ball; With the axis that vertically passes the base fixed position is central shaft, and described flexible rocking bar can carry out the plane along outer arcuate track and arc track and detour and move;
Described control section comprises position sensor, first photoelectric encoder, second photoelectric encoder, signal conditioner, driver, motion control card, computer and the display that is connected with computer;
Described position sensor is connected, is used to write down the change in location of the relative mover of stator with stator;
Described first photoelectric encoder is connected with the other end of outer arcuate track, is used to write down the angle value of outer arcuate track off-center axle; Described second photoelectric encoder is connected with the other end of arc track, is used to write down the angle value of arc track off-center axle;
Described signal conditioner is connected with six-axis force sensor, is used for the voltage signal of six-axis force sensor output is enlarged into the voltage signal that is fit to sampling.
Described three drivers are: first motor servo driver that is connected with first servomotor, with second motor servo driver that the second clothes motor is connected, the linear motor driver that is connected with linear electric motors;
Described motion control card is connected with computer through pci interface, is used to control the output voltage and the electric current of three drivers;
In order to eliminate the gap between flexible rocking bar and the outer arcuate track, and the frictional force that produces when reducing the rocking bar that stretches along the outer arcuate orbital motion, preferably the gap between rocking bar shell and outer arcuate track is provided with sliding bearing.
In like manner, in order to eliminate the gap between flexible rocking bar and the arc track, and the frictional force that produces when reducing the rocking bar that stretches along the arc orbital motion, preferably the gap between rocking bar shell and arc track is provided with sliding bearing.
In order to limit stator, the location bearing that is fixedly connected, is used to limit relative position between stator and the mover with the rocking bar shell is set in mover upper and lower position preferably in the inner amplitude of fluctuation of rocking bar shell.
In order to improve the work efficiency of linear electric motors, preferably spring 18 is set in stator bottom, be used to offset the weight of stator 17 self.
Described position sensor can adopt but be not limited to the grating chi.
Described outer arcuate track can adopt to stride with the contacted mode of arc track and stand in the arc track, also can adopt to exist the mode of a determining deviation to stride with the arc track to stand in the arc track.As preferably, the angle of described outer arcuate rail and arc track is 90 °.
As preferably, described base fixed position is in the geometric center of base.
The control procedure of a kind of rocker-type upper limb healing of the present invention device is: computer is through the output voltage and the output current of motion control card adjusted in concert linear motor driver, first motor servo driver and second motor servo driver; The current location of flexible rocking bar constitutes closed loop control by first photoelectric encoder, second photoelectric encoder and position sensor feedback swivel motion control card.The signal of telecommunication that six-axis force sensor produces is sent into computer after regulating through signal conditioner, after the position signalling and the signal of telecommunication are sent into computer, is presented on the display.
Utilize rocker-type upper limb healing device of the present invention can carry out three kinds of rehabilitation training patterns, be respectively passive exercise, initiatively training and power-assist training.
Wherein, the passive exercise pattern is particularly useful for completely losing the patient of motor capacity, comprises the steps:
Step 1: create a target location, patient's upper limb buttresses handle, and display shows the current location and the target location of flexible rocking bar;
Step 2: output voltage and the output current of in motion control card, setting first motor servo driver, second motor servo driver and linear motor driver; Start this rocker-type upper limb healing device; Make flexible rocking bar motion, to drive patient's upper extremity exercise;
Step 3: according to the target location and the current location of flexible rocking bar; Motion control card is adjusted the output voltage and the output current of first motor servo driver, second motor servo driver and linear motor driver; When making the current location of flexible rocking bar reach the target location, accomplish one time the rehabilitation training task.
The patient that the active training mode is particularly useful for that the componental movement ability is arranged, can accomplishes the rehabilitation training task comprises the steps:
Step 1: create a target location, patient's upper limb buttresses handle, and display shows the current location and the target location of flexible rocking bar;
Step 2: the patient applies power to handle, makes flexible rocking bar motion;
Step 3: according to the target location and the current location of flexible rocking bar, the patient adjusts applied force, when making the current location of flexible rocking bar reach the target location, accomplishes one time the rehabilitation training task.
The power-assist training mode is particularly useful for the componental movement ability is arranged but the patient that is not enough to accomplish the rehabilitation training task, comprises the steps:
Step 1: create a target location, patient's upper limb buttresses handle, and display shows the current location and the target location of flexible rocking bar;
Step 2: the patient applies power to handle, and the output voltage and the output current of extra setting first motor servo driver, second motor servo driver and linear motor driver in motion control card make flexible rocking bar motion simultaneously;
Step 3: according to the target location and the current location of flexible rocking bar; The patient adjusts applied force; Motion control card is adjusted the output voltage and the output current of first motor servo driver, second motor servo driver and linear motor driver simultaneously; When making the current location of flexible rocking bar reach the target location, accomplish one time the rehabilitation training task.
In sum; A kind of rocker-type upper limb healing of the present invention device mainly is made up of mechanical part and control section; Mechanical part mainly comprises base, comprises the flexible rocking bar of linear electric motors, and the outer arcuate track and the arc track that connect servomotor, and wherein flexible rocking bar vertically passes the outer arcuate track and the outer arcuate track is inner; Realize the axially-movable of flexible rocking bar through linear electric motors; Realize the motion of outer arcuate track and arc track off-center axis through servomotor, detour and move from making flexible rocking bar carry out the plane along outer arcuate track and arc track, thus among the present invention flexible rocking bar can be in convalescence device any orbiting motion in edge in the three dimensions; Compare with existing convalescence device, have following advantage:
(1) broken through the restriction that train on the plane, can provide in the three-dimensional space along the rehabilitation training of track arbitrarily;
(2) design is ingenious; Combination through mechanical part and control section; Can comprise passive exercise pattern, three kinds of training modes of training mode and power-assist training mode initiatively for the patient of LOM in various degree provides, it is extensive therefore to be suitable for patient crowd, the training mode variation;
(3) cost is low, simple and compact for structure, is convenient to move, and is applicable in varying environment and uses.
Description of drawings
Fig. 1 is the structural representation of rocker-type upper limb healing device of the present invention;
Fig. 2 is the cross-sectional view of flexible rocking bar among Fig. 1;
Fig. 3 is the cross-sectional view of Fig. 2 cathetus motor;
Fig. 4 is the control flow chart of rocker-type upper limb healing device of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail, it is pointed out that the following stated embodiment is intended to be convenient to understanding of the present invention, and it is not played any qualification effect.
Label among Fig. 1 to Fig. 4 is: base 1, flexible rocking bar 2, outer arcuate track 3, arc track 4, first servomotor 51, second servomotor 52, bearing block (61; 62), first reductor 71, second reductor 72, first photoelectric encoder 81, second photoelectric encoder 82, six-axis force sensor 9, handle 10, multi-directional ball 11, rocking bar shell 12, position sensor 13, sliding bearing (141; 142), location bearing (151,152), mover 16, stator 17, spring 18, computer 19, first motor servo driver 21, second motor servo driver 22, linear motor driver 23, signal conditioner 24, motion control card 25, display 26.
As shown in Figure 1, rocker-type upper limb healing device comprises base 1, flexible rocking bar 2, outer arcuate track 3 and arc track 4.Outer arcuate track 3 is fixed on the base 1 through bearing block 61.Arc track 4 is fixed on the base 1 through bearing block 62.Wherein, the radius of outer arcuate track 3 is slightly larger than the radius of arc track 4, and outer arcuate track 3 is striden and stood in arc track 4 tops, and forms 90 ° angle with arc track 4.Outer arcuate track 3 one ends are equipped with first photoelectric encoder 81, and the other end is connected with first reductor 71, and first reductor, 71 inputs are connected with first servomotor, 51, the first servomotors 51 and are connected with first motor servo driver 21.Arc track 4 has being connected of same size with outer arcuate track 3; Be that arc track 4 one ends are equipped with second photoelectric encoder 82; The other end is connected with second reductor 72; Second reductor, 72 inputs are connected with second servomotor, 52, the second servomotors 52 and are connected with second motor servo driver 22.
Like Fig. 2 and shown in Figure 3, flexible rocking bar 2 comprises linear electric motors, the linear motor driver 23 that is connected with linear electric motors and the rocking bar shell 12 that is arranged on the linear electric motors outside.Linear electric motors comprise stator 17 and mover 16.Mover 16 is socketed on the stator 17, and is fixedly connected with rocking bar shell 12.Stator 17 relative mover 16 moving linearlies are equipped with position sensor 13 on the stator 17, be used to write down stator 17 relative mover 16 change in location.Position sensor 13 is chosen as the grating chi in the present embodiment.Stator 17 1 ends are connected with handle 10 through six-axis force sensor 9, and six-axis force sensor 9 will convert voltage number from the force signal of handle 10 into.Signal conditioner 24 is connected with six-axis force sensor 9, the voltage signal of six-axis force sensor 9 outputs is enlarged into the voltage signal of suitable sampling.
As shown in Figure 1, flexible rocking bar 2 vertically passes the inside of outer arcuate track 3 and outer arcuate track 4, and its rocking bar shell 12 bottoms are connected with base geometric center position through multi-directional ball 11.Should flexible rocking bar 2 can with the axis that vertically passes base geometric center position central shaft; Carrying out the plane along outer arcuate track 3 and arc track 4 detours and moves; First photoelectric encoder 81 is used to write down the angle value of outer arcuate track 3 off-center axles, and second photoelectric encoder 82 is used to write down the angle value of arc track 4 off-center axles.
As shown in Figure 4, the control flow of this rocker-type upper limb healing device is: computer 19 and control sequence thereof are through the output voltage and the output current of motion control card 25 adjusted in concert first motor servo driver 21, second motor servo driver 22 and linear motor driver 23; The current location of flexible rocking bar 2 is gathered by first photoelectric encoder 81, second photoelectric encoder 82 and position sensor 13, and the position signalling that obtains feeds back to motion control card 25, thereby constitutes closed loop control.The signal of telecommunication that six-axis force sensor 9 produces is regulated back input computer 19 through signal conditioner 24, is presented on the display 26.Behind the position signalling input computer 19 of flexible rocking bar 2, be presented on the display 26.
When adopting above-mentioned rocker-type upper limb healing device to carry out rehabilitation training; This rocker-type upper limb healing is placed on ground; The patient is sitting on the adjacent seat (according to needs of patients, can adopt the trunk of constraint chair immobilized patients), and patient's upper limb buttresses the handle 10 of this rehabilitation; Perhaps according to needs of patients, patient's upper limb is fixed on the handle 10.Personal considerations according to the patient; Movement velocity is set in display 26, tempers parameters such as number of times, moving region, training mode, can demonstrate concrete rehabilitation training task in the display 26 and wait to train the performance of end back feedback patient the rehabilitation training task.
Below be three kinds of rehabilitation training patterns that adopt this rocker-type upper limb healing device to carry out:
(1) passive exercise:
This rehabilitation training pattern is particularly useful for completely losing the patient of motor capacity.Concrete training method is following:
Step 1: create a target location, patient's upper limb is buttressed handle 10, display 26 shows the current location and the target location of flexible rocking bar 2;
Step 2: according to the hands-on parameter; For example movement velocity, temper number of times and moving region etc.; In motion control card 25, set the output voltage and the output current of first motor servo driver 21, second motor servo driver 22 and linear motor driver 23; Start this rocker-type upper limb healing device, make flexible rocking bar 2 motions, to drive patient's upper extremity exercise;
Step 3: according to the target location and the current location of flexible rocking bar 2; The output voltage and the output current of motion control card 25 adjustment first motor servo driver 21, second motor servo driver 22 and linear motor driver 23; When making the current location of flexible rocking bar 2 reach the target location, accomplish one time the rehabilitation training task.
Below be control procedure concrete in this rehabilitation training:
(1) according to the output voltage and the output current of first motor servo driver 21, second motor servo driver 22 and the linear motor driver 23 set in the motion control card 25; Control first servomotor 51, second servomotor 52 and linear electric motors work; Move to drive outer arcuate track 3, arc track 4 and linear motor stator electric 17, thereby drive patient's upper extremity exercise;
(2) current position signal of gathering flexible rocking bar 2 through first photoelectric encoder 81, second photoelectric encoder 82 and position sensor 13 feeds back to motion control card 25, and is presented on the display 26; Six-axis force sensor 9 is gathered this and is executed to the force signal of handle 10 and be converted into the signal of telecommunication, feeds back to computer 19 after amplifying through signal conditioner 24, and is presented on the display 26;
(3) according to set target location and the current position signal that feeds back to motion control card 25; The output voltage and the output current of motion control card 25 adjustment first motor servo driver 21, second motor servo driver 22 and linear motor driver 23; Repeat (2) and make flexible rocking bar 2 reach the target location, accomplish training mission.
(2) initiatively training:
This rehabilitation training pattern is particularly useful for having the patient of componental movement ability.Concrete training method is following:
Step 1: create a target location, patient's upper limb buttresses handle 10, and display 26 shows the current location and the target location of flexible rocking bar 2;
Step 2: the patient applies power to handle 10, makes flexible rocking bar 2 motions;
Step 3: according to the target location and the current location of flexible rocking bar 2, the patient adjusts applied force, makes the current location of flexible rocking bar 2 reach the target location, accomplishes one time the rehabilitation training task.
Below be control procedure concrete in this rehabilitation training:
(1) patient applies power to handle 10; Six-axis force sensor 9 collects this force signal; Be converted into the signal of telecommunication, feed back to computer 19 through signal conditioner 24, computer 19 is through the computing based on kinetics equation; Obtain movement locus, realize this track through motion control card 25 control first servomotor 51, second servomotor 52 and linear electric motors;
(2) current location information of gathering flexible rocking bar 2 through first photoelectric encoder 81, second photoelectric encoder 82 and position sensor 13 feeds back to motion control card 25, and is presented on the display 26; Six-axis force sensor 9 is gathered from the force signal of handle and is converted into the signal of telecommunication, feeds back to computer 19 after amplifying through signal conditioner 24, and is presented on the display 26;
(3) according to set target location and current location, the patient adjusts applied force, repeats (2) and makes flexible rocking bar 2 reach the target location, accomplishes training mission.
(3) power-assist training:
This rehabilitation training pattern is particularly useful for the componental movement ability is arranged but the patient that is not enough to accomplish the rehabilitation training task.Concrete training method is following:
Step 1: create a target location, patient's upper limb is buttressed handle 10, display 26 shows the current location and the target location of flexible rocking bar 2;
Step 2: the patient applies power to handle 10, and the output voltage and the output current of first motor servo driver 21 of the extra setting of motion control card 25 simultaneously, second motor servo driver 22 and linear motor driver 23 make flexible rocking bar 2 motions;
Step 3: according to target location and current location; The patient adjusts applied force; The output voltage and the output current of first motor servo driver 21 of motion control card 25 adjustment simultaneously, second motor servo driver 22 and linear motor driver 23; When making the current location of flexible rocking bar 2 reach the target location, accomplish one time the rehabilitation training task.
Below be control procedure concrete in this rehabilitation training:
(1) patient applies power to handle 10; Six-axis force sensor 9 collects this force signal; Be converted into the signal of telecommunication, feed back to computer 19 through signal conditioner 24, computer 19 is through the computing based on kinetics equation; Draw movement locus, in motion control card, set the output voltage and the output current of corresponding first motor servo driver 21, second motor servo driver 22 and linear motor driver 23 then; Simultaneously; Superimposed with the output voltage and the output current of first motor servo driver 21, second motor servo driver 22 and the linear motor driver 23 of extra setting in the motor control 25; Common control first servomotor 51, second servomotor 52 and linear electric motors work are to drive outer arcuate track 3, arc track 4 and linear motor stator electric 17 motions;
(2) current position signal of gathering flexible rocking bar 2 through first photoelectric encoder 81, second photoelectric encoder 82 and position sensor 13 feeds back to motion control card 25, and is presented on the display 26; Six-axis force sensor 9 is gathered this from the signal of telecommunication of handle 10 and be converted into the signal of telecommunication, feeds back to computer 19 after amplifying through signal conditioner 24, and is presented on the display 26;
(3) according to target location and current location; The patient adjusts applied force; The extra output voltage and the output current of first motor servo driver 21, second motor servo driver 22 and the linear motor driver 23 of the extra setting of motion control card 25 adjustment; Repeat (2) and make flexible rocking bar 2 reach the target location, accomplish training mission.
Above-described embodiment specifies technical scheme of the present invention; Be understood that the above is merely specific embodiment of the present invention; Be not limited to the present invention; All any modifications of in principle scope of the present invention, being made, replenish or similar fashion substitutes etc., all should be included within protection scope of the present invention.
Claims (10)
1. rocker-type upper limb healing device is characterized in that: comprise mechanical part and control section, described mechanical part comprises base (1), flexible rocking bar (2), outer arcuate track (3) and arc track (4);
Described outer arcuate track (3) is fixed on the base (1) through bearing block (61), and the one of which end connects first servomotor (51) through first reductor (71); Described arc track (4) is fixed on the base (1) through bearing block (62), and the one of which end connects second servomotor (52) through second reductor (72); Described outer arcuate track (3), its radius is slightly larger than the radius of arc track (4), strides to stand in arc track (4) top, and forms certain angle with arc track (4);
Described flexible rocking bar (2) comprises the rocking bar shell (12) that linear electric motors are outside with being arranged on linear electric motors;
Described linear electric motors comprise stator (17), and are socketed in the mover (16) on the stator (17); Described mover (16) is fixedly connected with rocking bar shell (12), and described stator (17) is mover (16) moving linearly relatively; Described stator (17) one ends are connected with handle (10) through six-axis force sensor (9), and described six-axis force sensor (9) will convert voltage number from the force signal of handle (10) into;
Described flexible rocking bar (2) vertically passes outer arcuate track (3) and outer arcuate track (4) inside, and its rocking bar shell (12) bottom is connected with the base fixed position through multi-directional ball (11); With the axis that vertically passes the base fixed position is central shaft, and described flexible rocking bar (2) can carry out the plane motion of detouring along outer arcuate track (3) and arc track (4);
Described control section comprises position sensor (13), first photoelectric encoder (81), second photoelectric encoder (82), signal conditioner (24), driver (21,22,23), motion control card (25), computer (9) and the display (26) that is connected with computer (9);
Described position sensor (13) is connected, is used to write down stator (17) change in location of mover (16) relatively with stator (17);
Described first photoelectric encoder (81) is connected with the other end of outer arcuate track (3), is used to write down the angle value of outer arcuate track (3) off-center axle; Described second photoelectric encoder (82) is connected with the other end of arc track (4), is used to write down the angle value of arc track (4) off-center axle;
Described signal conditioner (24) is connected with six-axis force sensor (9), is used for the voltage signal of six-axis force sensor (9) output is enlarged into the voltage signal that is fit to sampling;
Described three drivers are: first motor servo driver (21) that is connected with first servomotor (51), with second motor servo driver (22) that the second clothes motors (52) are connected, the linear motor driver that is connected with linear electric motors (23);
Described motion control card (25) is connected with computer (19) through pci interface, is used to control the output voltage and the electric current of three drivers (21,22,23).
2. rocker-type upper limb healing device according to claim 1 is characterized in that: the gap between described rocking bar shell (12) and the outer arcuate track (3) is provided with sliding bearing (141).
3. rocker-type upper limb healing device according to claim 1 is characterized in that: the gap between described rocking bar shell (12) and the arc track (4) is provided with sliding bearing (142).
4. rocker-type upper limb healing device according to claim 1 is characterized in that: the top of described mover (16), below respectively are provided with that be fixedly connected with rocking bar shell (12), as to be used to limit relative position between stator (17) and the mover (a 16) location bearing (151,152).
5. rocker-type upper limb healing device according to claim 1 is characterized in that: described stator (17) bottom is provided with spring (18).
6. rocker-type upper limb healing device according to claim 4 is characterized in that: described stator (17) bottom is provided with spring (18), and described location bearing (152) is arranged on the tip position of spring (18).
7. rocker-type upper limb healing device according to claim 1 is characterized in that: described position sensor (13) is the grating chi.
8. according to the described rocker-type upper limb healing of arbitrary claim device in the claim 1 to 7, it is characterized in that: described outer arcuate track (3) is 90 ° with the angle of arc track (4).
9. according to the described rocker-type upper limb healing of arbitrary claim device in the claim 1 to 7, it is characterized in that: described base fixed position is in the geometric center position of base (1).
10. the method for utilizing the described rocker-type upper limb healing of claim 1 device to carry out rehabilitation training is characterized in that: comprise passive exercise pattern, active training mode and power-assist training mode, each training mode comprises the steps: respectively
The passive exercise pattern:
Step 1: create a target location, patient's upper limb is buttressed handle (10), display (26) shows the current location and the target location of flexible rocking bar (2);
Step 2: according to the hands-on parameter; In motion control card (25), set the output voltage and the output current of first motor servo driver (21), second motor servo driver (22) and linear motor driver (23); Start this rocker-type upper limb healing device; Make flexible rocking bar (2) motion, to drive patient's upper extremity exercise;
Step 3: according to the target location and the current location of flexible rocking bar (2); The output voltage and the output current of motion control card (25) adjustment first motor servo driver (21), second motor servo driver (22) and linear motor driver (23); Make current location reach the target location, accomplish one time the rehabilitation training task when flexible rocking bar (2);
The active training mode:
Step 1: create a target location, patient's upper limb buttresses handle (10), and display (26) shows the current location and the target location of flexible rocking bar (2);
Step 2: the patient applies power to handle (10), makes flexible rocking bar (2) motion;
Step 3: according to the target location and the current location of flexible rocking bar (2), the patient adjusts applied force, makes the current location of flexible rocking bar (2) reach the target location, accomplishes one time the rehabilitation training task;
The power-assist training mode:
Step 1: create a target location, patient's upper limb is buttressed handle (10), display (26) shows the current location and the target location of flexible rocking bar (2);
Step 2: the patient applies power to handle (10); The output voltage and the output current of motion control card (25) extra setting first motor servo drivers (21), second motor servo driver (22) and linear motor driver (23) make flexible rocking bar (2) motion simultaneously;
Step 3: according to target location and current location; The patient adjusts applied force; The output voltage and the output current of motion control card (25) adjustment simultaneously first motor servo driver (21), second motor servo driver (22) and linear motor driver (23); Make the current location of flexible rocking bar (2) reach the target location, accomplish one time the rehabilitation training task.
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| CN105138060A (en) * | 2015-07-27 | 2015-12-09 | 中国科学院光电技术研究所 | Rocking bar utilizing grating sensor |
| CN105832491A (en) * | 2015-01-12 | 2016-08-10 | 上银科技股份有限公司 | Upper limb rehabilitation device |
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| CN106176135A (en) * | 2016-07-12 | 2016-12-07 | 宁波瑞泽西医疗科技有限公司 | A kind of flexible rocker-type limb motion mechanism |
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| CN109568099A (en) * | 2018-12-21 | 2019-04-05 | 奥佳华智能健康科技集团股份有限公司 | Shoulder massager |
| CN110354458A (en) * | 2019-08-19 | 2019-10-22 | 金陵科技学院 | A kind of Three Degree Of Freedom passive type power interaction rehabilitation training of upper limbs instrument |
| CN111166615A (en) * | 2020-01-21 | 2020-05-19 | 苏州爱宝利恩康复科技有限公司 | Operation protection system for rehabilitation mechanism |
| CN113181602A (en) * | 2021-06-08 | 2021-07-30 | 重庆理工大学 | Upper limb rehabilitation training mechanism |
| CN113181602B (en) * | 2021-06-08 | 2022-06-03 | 重庆理工大学 | Upper limb rehabilitation training mechanism |
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