CN104666054B - Omnidirectional Mobile Suspension Assisted Rehabilitation Robot with Force Feedback - Google Patents

Abstract

The present invention provides the all-around mobile suspension recovering aid robot of a kind of band force feedback, this robot is constituted by assisting trunk motion, lifting regulating mechanism and Omni-mobile chassis, the all-around mobile suspension lower limbs rehabilitation training robot that the present invention proposes carries out while rehabilitation training provides a kind of safe and reliable, the intelligent and equipment of hommization, also delaying walking ability decline to provide exercise platform for weak old people patient.

Description

Omnidirectional Mobile Suspension Assisted Rehabilitation Robot with Force Feedback

technical field

The invention belongs to the field of rehabilitation medical equipment, and discloses an omnidirectional mobile suspension type lower limb rehabilitation training robot, specifically an omnidirectional mobile suspension type auxiliary rehabilitation robot with force feedback.

Background technique

As the global aging problem becomes more and more severe, the number of trainees who suffer from lower limb motor dysfunction and injury caused by factors such as brain diseases, sports injuries and traffic accidents has increased significantly. In addition to timely surgical treatment and necessary drug treatment for such patients, correct and scientific rehabilitation training plays an important role in the functional recovery of patients. Weight-loss rehabilitation training for critically ill patients and frail elderly can assist them in walking training and has a certain rehabilitation effect. However, at present, training can only be performed on a treadmill, and the walking range and walking method have certain limitations. At present, relevant research and literature at home and abroad include: the robot Kine assist developed by the Chicago Rehabilitation Institute in the United States can complete the gait and balance training of the trainee, and can bear a certain weight and provide the torque of the trunk posture. The rear wheels of this type of robot are used as drive control wheels, and the front wheels are steering wheels. When patients receive mobile training, the upper body is fixed on the robot by safety equipment to prevent secondary injuries caused by falls. According to the exercise treatment plan, the walking path of the robot is preset, and the trainee follows the robot to complete the corresponding actions under the guidance of the doctor. For the purpose of sports rehabilitation. However, this kind of rehabilitation robot is a non-omnidirectional mobile robot, and the patient can only move in a fixed direction. Fang Dingguo of Shanghai Jiaotong University, etc. disclosed that the patent number is 201310370758 and the patent name is "lower limb rehabilitation training robot". . The invention patent with patent No. 201010203502.6 titled "Rope Traction Lower Limb Gait Rehabilitation Robot" and patent No. 201110027352.2 with the patent title "A Robot for Lower Limb Rehabilitation Training" both use the rope traction system. The invention patent with the patent number 201410154885.0 and the patent name "lower limb rehabilitation training robot and its training method" discloses a rehabilitation robot with a walking vehicle structure with a waist fixing device. This kind of rehabilitation robot cannot realize omnidirectional movement. Analyzing the above rehabilitation robots, it is found that the existing patents either have the problem of not protecting the patient from secondary injury, or the mechanical device itself is not flexible enough to perform omnidirectional mobile auxiliary training.

Contents of the invention

Purpose of the invention: The present invention provides an all-round mobile suspension auxiliary rehabilitation robot with force feedback, which solves the problems of poor safety, poor reliability, lack of intelligence and lack of humanization existing in previous devices, and provides rehabilitation training for patients. A safe, reliable, intelligent and user-friendly device.

Technical solution: the present invention is achieved through the following technical solutions:

A omnidirectional mobile suspension auxiliary rehabilitation robot with force feedback, characterized in that: the robot is composed of an auxiliary trunk movement mechanism, a lifting adjustment mechanism and an omnidirectional mobile chassis, and the omnidirectional mobile chassis is installed at the bottom of the entire robot. The lifting adjustment mechanism is fixed on the omnidirectional mobile chassis, the auxiliary trunk movement mechanism is fixed on the lifting adjustment mechanism, and the patient connection mechanism is fixed below the auxiliary trunk movement mechanism.

The main body of the omnidirectional mobile chassis is a mechanical frame body. Four servo motors are installed at the lower end of the mechanical frame body. At the bottom of the mechanical frame body.

The lifting adjustment mechanism includes 4 support rods, the 4 support rods are installed on the omnidirectional mobile chassis, and the upper end between the 4 support rods is installed with an auxiliary trunk movement mechanism.

The auxiliary trunk movement mechanism includes a horizontal execution unit in the X, Y, and Z directions, a rotation execution unit, and an elastic actuator located below the horizontal execution unit. The lower end of the horizontal execution unit in the X, Y, and Z directions is connected to the rotation execution unit. The rotary execution unit is connected to the elastic actuator through the rotary axial execution unit; the X-axis execution unit is installed on the front beam at the upper end of the auxiliary trunk movement mechanism, the Y-axis execution unit is installed on the top of the auxiliary trunk movement mechanism perpendicular to the X axis, and the Z-axis The execution unit is installed perpendicular to the Y-axis execution unit and the X-axis execution unit to form a three-dimensional structure; the rotation execution unit is installed under the Y-axis execution unit, and its lower end is connected to the elastic actuator through the rotation axis execution unit. The actuator is composed of a spring mechanism, a Delta parallel mechanism and a detection mechanism. The spring mechanism includes a linear spring for measuring the force in the X, Y, and Z axes, the lower end of the Delta parallel mechanism, and a hole column. The hole column is set outside the lower end of the Delta parallel mechanism. , 8 linear springs connect the lower end of the Delta parallel mechanism and the outer hole column; the lower end of the Delta parallel mechanism connects the upper end of the Delta parallel mechanism through a connecting rod, the detection mechanism is installed on the connecting rod, the rotary encoder and the rotary spring are located on the lower end of the Delta parallel mechanism; The lower end of the axial actuator unit is connected to the upper end of the Delta parallel mechanism.

The auxiliary trunk movement mechanism is connected with the patient connecting mechanism, and a device for fixing the patient's trunk with straps is installed on the patient connecting mechanism.

The lower end of the Delta parallel mechanism that assists the trunk movement mechanism is connected with the patient through a spring that measures the rotational torque.

The Delta parallel mechanism is composed of 5 magnetic encoders, of which 4 linear magnetic encoders are installed at the sleeve type linear motion mechanism at the lower end of the parallel mechanism. There is also a rotary magnetic encoder mounted on the rotating shaft at the center.

Advantages and effects: the present invention provides an omnidirectional mobile suspension auxiliary rehabilitation robot with force feedback. In order to meet the above requirements, the present invention designs an omnidirectional mobile chassis that assists human body movement according to the analyzed human body movement data, and assists trunk movement Mechanism and auxiliary force flexible decoupling mechanism. According to the analyzed parameters of human body motion range, ergonomics research is carried out to optimize the mechanical parameters of the mobile chassis and connection mechanism model. On the basis of establishing a virtual prototype simulation platform, through the analysis of human body movement speed parameters, torso position and speed parameters, the virtual prototype simulation test is carried out to optimize the mechanical parameters of the model. According to the consulted body weight data, the contact force decoupling device was tested on the virtual prototype platform to optimize the elasticity and mechanical parameters of the auxiliary force decoupling mechanism. Finalize the institutional parameters of each part. The all-round mobile suspension lower limb rehabilitation training robot provided by the present invention adopts a unique suspension system, which can not only assist movement, but also ensure the safety of patients, and provide protection for preventing secondary injuries of patients. It adopts an omnidirectional mobile chassis, The lower limb rehabilitation training robot disclosed in the present invention can meet the requirement of setting any walking training path.

The all-round mobile suspension lower limb rehabilitation training robot proposed by the present invention provides a safe, reliable, intelligent and humanized equipment for patients to perform rehabilitation training, and also provides an exercise platform for the weak elderly to delay the decline of walking ability.

In summary, the present invention improves the comfort of different users by rationally optimizing the design of the robot's degree of freedom, structure, mechanical parameters, etc. due to the consideration of biological parameters such as the height, weight, and range of limbs of the target population. The unique suspension system can not only assist the exercise, but also ensure the safety during the training process. The omnidirectional mobile chassis can provide the weak people with a rehabilitation research platform with high training track repeatability. At the same time, it also provides an exercise platform for the elderly to delay the decline of walking ability.

Description of drawings:

Fig. 1 is the overall structural diagram of the all-round mobile suspension auxiliary rehabilitation robot;

Fig. 2 is a schematic diagram of an auxiliary trunk movement mechanism;

Figure 3 is a schematic structural diagram of the omnidirectional mobile chassis;

Fig. 4 is a schematic diagram of the horizontal execution unit of the auxiliary trunk movement mechanism.

The specific embodiment: the present invention will be further described below in conjunction with accompanying drawing:

As shown in Figure 1, the present invention relates to an omnidirectional mobile suspension auxiliary rehabilitation robot with force feedback. The robot consists of an auxiliary trunk movement mechanism 1, a lifting adjustment mechanism 2 and an omnidirectional mobile chassis 3. 3 is installed at the bottom of the entire robot, the lifting adjustment mechanism 2 is fixed on the omnidirectional mobile chassis 3, the auxiliary trunk movement mechanism 1 is fixed on the lifting adjustment mechanism 2, and the patient connection mechanism 10 is fixed below the auxiliary trunk movement mechanism 1.

The main body of the omnidirectional mobile chassis 3 is a mechanical frame body 11, and four servo motors 41 are installed at the lower end of the mechanical frame body. Two omnidirectional moving wheels 12 are arranged on the bottom of the mechanical frame body 11 .

Described lifting adjustment mechanism 2 comprises 4 support rods, and 4 support rods are installed on the omnidirectional mobile chassis 3, play the effect of fixed support and height adjustment, and the upper end between 4 support rods is installed auxiliary trunk movement mechanism 1.

The auxiliary trunk movement mechanism 1 includes a horizontal execution unit 90 in the X, Y, and Z directions, a rotation execution unit 40 and an elastic actuator 60 located below the horizontal execution unit, and the lower end of the horizontal execution unit 90 in the X, Y, and Z directions Connect the rotation execution unit 40, the rotation execution unit 40 is connected to the elastic actuator 60 through the rotation axis execution unit 4; the X-axis execution unit 16 is installed on the front crossbeam at the upper end of the auxiliary trunk movement mechanism, and the Y-axis execution unit 15 is perpendicular to the X The shaft is installed on the top of the auxiliary trunk movement mechanism, and the Z-axis actuator unit 14 is installed perpendicular to the Y-axis actuator unit and the X-axis actuator unit to form a three-dimensional structure; the rotation actuator unit is installed under the Y-axis actuator unit, and its lower end is rotated The axial execution unit 4 is connected with an elastic actuator, and the elastic actuator is composed of a spring mechanism, a Delta parallel mechanism and a detection mechanism, and is used to detect the force exerted by the patient on the robot in the X, Y, and Z directions. The spring mechanism consists of a linear spring 8 for measuring the force in the X, Y, and Z directions, a lower end 62 of the Delta parallel mechanism, and a hole column 7. The hole column 7 is arranged outside the lower end 62 of the Delta parallel mechanism, and 8 linear springs 8 are connected to the Delta parallel mechanism. The lower end 62 and the outer hole column 7, 8 linear springs each set of 2; the Delta parallel mechanism is used to eliminate redundant degrees of freedom in space, and constrain the space movement to X, Y, and Z directions. The lower end 62 of the delta parallel mechanism is connected to the upper end 61 of the delta parallel mechanism through a connecting rod 63, and the detection mechanism is installed on the connecting rod 63 for detecting the displacement of the lower connecting rod of the delta parallel mechanism. The rotary encoder 51 and the rotary spring are located on the lower end 62 of the delta parallel mechanism for detecting horizontal torque; the lower end of the rotary shaft actuator 4 is connected to the upper end 61 of the delta parallel mechanism. Five magnetic encoders are arranged on the Delta parallel mechanism, among which four linear magnetic encoders 5 are installed at the sleeve type linear motion mechanism at the lower end of the parallel mechanism. There is also a rotary magnetic encoder 51 installed on the rotating shaft at the center, and the rotation is constrained by the Delta parallel mechanism (only three degrees of freedom in the X, Y, and Z directions are left), and the elastic suspension system constructed, the parallel mechanism and the detection Mechanism to realize the decoupling of the force on the patient.

The auxiliary trunk movement mechanism is connected with the patient connecting mechanism 10, and the device for fixing the patient's trunk with straps is installed on the patient connecting mechanism 10.

The lower end 62 of the Delta parallel mechanism of the auxiliary trunk movement mechanism is connected to the patient connection mechanism 10 through the spring 9 for measuring the rotational torque.

As shown in Figure 2, the rotation is constrained by the Delta parallel mechanism (only the three degrees of freedom in the X, Y, and Z directions are left), and the decoupling of the auxiliary force for the patient is realized through the constructed elastic suspension system and the parallel mechanism. The patient's force on the robot is decoupled from the X, Y, and Z axis forces and rotational torque through the flexible bio-force decoupling device, and acts on the four-degree-of-freedom robot execution unit. The spring tension is the product of the elastic coefficient and the deformation length, and the spring displacement is detected by the magnetic encoder to obtain the spring tension. Five non-contact angular magnetic encoders are located at the joints and center of the parallel mechanism. It lays a technical foundation for the further optimized design of the present invention.

The omni-directional mobile chassis structure is shown in Figure 3, including a mechanical frame body 11, omni-directional mobile wheels 12, and servo motors 13, which can provide a rehabilitation research platform with high repetition of training tracks for the weak.

When carrying out rehabilitation training, the patient stands in the all-round mobile chassis 3, and adjusts the lifting height of the lifting adjustment mechanism 2, so that the rehabilitation training robot can adapt to different groups of people, so as to ensure the comfort of the patient. At the same time, the patient's shoulders and the lower end of the auxiliary trunk movement mechanism 1 are fixed by wearing the connecting mechanism, which can ensure the safety of the patient during training.

The specific training steps are as follows:

Consider the biological parameters such as the patient's height, weight, range of limbs, patient's movement speed, and trunk position, and formulate corresponding rehabilitation strategies for the patient, that is, set the trajectory and movement speed of the omnidirectional mobile chassis.

When the patient is training, stand in the middle of the rehabilitation robot, adjust the lifting adjustment mechanism 2 to adapt to the patient's height, and fix the patient's shoulder and the lower end of the auxiliary trunk movement mechanism by wearing the connecting mechanism.

Turn on the power supply, and the rehabilitation robot starts to help patients with rehabilitation training. During the training process, the contact between the human and the robot produces time-varying and unpredictable forces that interfere with the trajectory control. The interference becomes a known and measurable interference for processing, and sends it to the compensation device to suppress and control the man-made interference. The process is: when the patient performs rehabilitation training with the rehabilitation robot, the auxiliary trunk movement mechanism will be affected by the force of the patient's body, and the performance It is: when the patient moves, the X, Y, and Z axes on the executive unit will have displacements, and the rotation axis will generate torque due to the rotation angle. At this time, the measuring spring in the Delta parallel mechanism will deform, and the spring tension will be equal to the elastic coefficient The product of the deformation length is used to detect the spring deformation by decoupling the non-contact angular magnetic encoder located at the joint and center of the parallel mechanism to obtain the spring tension in the X, Y, and Z directions, and then to obtain the human-to-robot X, Y, and Z directions. .

After obtaining the human force feedback information, the directional force compensation can be performed by adjusting the auxiliary trunk movement mechanism, and the patient's dependence on the robot can be obtained. When the assisting force gradually becomes smaller, it means that the patient is gradually recovering. In this way, the rehabilitation strategy can be adjusted, and the trajectory and speed of the all-round mobile chassis can be reset to meet the patient's dependence on the rehabilitation robot in different rehabilitation periods. To achieve the purpose of gradually recovering patients.

At the same time, the auxiliary trunk movement mechanism provides good protection for the rehabilitation patients to prevent secondary injuries of the patients during the training process.

The patient's force on the robot, through the elastic actuator system, decouples the X, Y, Z axis direction force and rotational torque. The spring tension is the product of the elastic coefficient and the deformation length, and the spring displacement is detected by the magnetic encoder to obtain the spring tension. Five non-contact angular magnetic encoders are located at the joints and center of the parallel mechanism.

The patient is connected to the wearing mechanism at the lower end of the auxiliary trunk movement mechanism, and the suspension system is used to ensure the effect of rehabilitation training and also provide guarantee for the safety of the patient during the training process.

Claims (7)

1. An omnidirectional mobile suspension auxiliary rehabilitation robot with force feedback, including an omnidirectional mobile chassis (3), which is installed at the bottom of the entire robot, and is characterized in that: the robot also includes The auxiliary trunk movement mechanism (1) and the lifting adjustment mechanism (2), the lifting adjustment mechanism (2) is fixed on the omnidirectional mobile chassis (3), the auxiliary trunk movement mechanism (1) is fixed on the lifting adjustment mechanism (2), the auxiliary The lower part of the trunk movement mechanism (1) is fixed to the patient connection mechanism (10). 2. The omnidirectional mobile suspension-assisted rehabilitation robot with force feedback according to claim 1, characterized in that: the main body of the omnidirectional mobile chassis (3) is a mechanical frame body (11), at the lower end of the mechanical frame body Four servo motors (41) are installed, and the output shaft of the servo motor (41) is connected with a reduction device (13), and the reduction device is connected with the omnidirectional moving wheel (12), and the 4 omnidirectional moving wheels (12) are arranged on the machine the bottom of the frame body (11). 3. The omnidirectional mobile suspension auxiliary rehabilitation robot with force feedback according to claim 1, characterized in that: the lifting adjustment mechanism (2) includes 4 support rods, and the 4 support rods are installed on the omnidirectional mobile On the chassis (3), an auxiliary trunk movement mechanism (1) is installed at the upper end between the four support rods. 4. The omnidirectional mobile suspension auxiliary rehabilitation robot with force feedback according to claim 1, characterized in that: the auxiliary trunk movement mechanism (1) includes horizontal execution units (90) in X, Y, and Z directions , the rotary actuator unit (40) and the elastic actuator (60) located below the horizontal actuator unit, the lower end of the horizontal actuator unit (90) in the X, Y, and Z directions is connected to the rotary actuator unit (40), and the rotary actuator unit (40 ) is connected to the elastic actuator (60) by rotating the axial execution unit (4); the X-axis execution unit (16) is installed on the front beam at the upper end of the auxiliary trunk movement mechanism, and the Y-axis execution unit (15) is perpendicular to the X-axis Installed on the top of the auxiliary trunk movement mechanism, the Z-axis actuator unit (14) is installed perpendicular to the Y-axis actuator unit and the X-axis actuator unit to form a three-dimensional structure; the rotary actuator unit is installed under the Y-axis actuator unit, and its lower end passes through The rotating axial execution unit (4) is connected with the elastic actuator. The elastic actuator is composed of a spring mechanism, a Delta parallel mechanism and a detection mechanism. The lower end (62) of the Delta parallel mechanism and the hole post (7) are formed. The hole post (7) is set outside the lower end (62) of the Delta parallel mechanism, and 8 linear springs (8) are connected to the lower end (62) of the Delta parallel mechanism and the outer hole. Column (7); the lower end (62) of the Delta parallel mechanism is connected to the upper end (61) of the Delta parallel mechanism through the connecting rod (63), the detection mechanism is installed on the connecting rod (63), and the rotary encoder (51) and the rotary spring are located on the The lower end (62) of the mechanism is on; the lower end of the rotating axial execution unit (4) is connected to the upper end (61) of the Delta parallel mechanism. 5. The omnidirectional mobile suspension auxiliary rehabilitation robot with force feedback according to claim 4, characterized in that: the auxiliary trunk movement mechanism is connected with the patient connection mechanism (10), and the patient connection mechanism (10) is equipped with A device for securing the patient's torso with a harness. 6. The omnidirectional mobile suspension auxiliary rehabilitation robot with force feedback according to claim 5, characterized in that: the lower end (62) of the Delta parallel mechanism of the auxiliary trunk movement mechanism is connected with the spring (9) for measuring the rotational torque Patient connection mechanism (10). 7. The omnidirectional mobile suspension auxiliary rehabilitation robot with force feedback according to claim 4, characterized in that: 5 magnetic encoders are set on the Delta parallel mechanism, of which 4 linear magnetic encoders (5) are installed on At the sleeve type linear motion mechanism at the lower end of the parallel mechanism, there is also a rotary magnetic encoder (51) installed on the rotating shaft at the center.