CN113476274B - A kind of household portable elbow joint function auxiliary device and control method - Google Patents

A kind of household portable elbow joint function auxiliary device and control method Download PDF

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Publication number
CN113476274B
CN113476274B CN202110908302.9A CN202110908302A CN113476274B CN 113476274 B CN113476274 B CN 113476274B CN 202110908302 A CN202110908302 A CN 202110908302A CN 113476274 B CN113476274 B CN 113476274B
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central controller
pressure
forearm
data
real
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CN113476274A (en
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贺晨
程铭
何艳
罗胜利
贺婉莹
杜妍辰
张健
李建谕
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China Assistive Devices And Technology Centre For Persons With Disabilities
University of Shanghai for Science and Technology
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China Assistive Devices And Technology Centre For Persons With Disabilities
University of Shanghai for Science and Technology
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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
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0277—Elbow
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5084—Acceleration sensors

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

本发明提供了一种家用便携型肘关节功能辅助器具，包括：动力传送机构，包括壳体以及设置在壳体内的同步带；驱动机构，包括驱动电机以及电流传感器；肘部托盘，与驱动电机固定连接；肘部运动执行机构，包括从动轴、前臂连杆、异形轴、卷簧、机盖以及透盖；前臂托盘，与前臂连杆固定连接；以及中央控制模块，用于进行控制，包括操作界面、中央控制器以及电机驱动器，其中，从动轴处还设有加速度传感器，异形轴的两端分别设有平切面和矩形凸台，该平切面连接有角速度传感器，前臂托盘处还设有压力传感器点阵。本发明还提供了一种家用便携型肘关节功能辅助器具的控制方法来对家用便携型肘关节功能辅助器具进行控制。

The present invention provides a household portable elbow joint function assistive device, comprising: a power transmission mechanism, including a shell and a synchronous belt arranged in the shell; a driving mechanism, including a driving motor and a current sensor; an elbow tray, fixedly connected to the driving motor; an elbow motion actuator, including a driven shaft, a forearm connecting rod, a special-shaped shaft, a coil spring, a machine cover and a transparent cover; a forearm tray, fixedly connected to the forearm connecting rod; and a central control module for control, including an operation interface, a central controller and a motor driver, wherein an acceleration sensor is also provided at the driven shaft, and a plane section and a rectangular boss are respectively provided at both ends of the special-shaped shaft, the plane section is connected to an angular velocity sensor, and a pressure sensor dot matrix is also provided at the forearm tray. The present invention also provides a control method for a household portable elbow joint function assistive device to control the household portable elbow joint function assistive device.

Description

Household portable elbow joint function auxiliary appliance and control method
Technical Field
The invention belongs to the technical field of rehabilitation engineering, and particularly relates to a household portable elbow joint function auxiliary appliance and a control method.
Background
The rehabilitation robot is used as an automatic and intelligent rehabilitation medical device, and can effectively make up the defect of influence of subjective factors such as experience, emotion, physical strength and the like of a physical therapist in the traditional rehabilitation therapy, so that a patient can independently realize active rehabilitation training. The active training mode is suitable for the middle and later periods of patient rehabilitation, and aims to guide the patient to actively move so as to realize interactive control between the robot and the patient. The rehabilitation function auxiliary device assists the patient to complete corresponding rehabilitation training actions by giving certain assistance to the patient, so that secondary damage to the patient is avoided. But among the prior art, rehabilitation function auxiliary instrument's volume is all great, and can not adjust the helping hand that provides in real time according to different situations of different patients, and practicality and convenience are relatively poor.
Disclosure of Invention
The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a household portable elbow function auxiliary device and a control method.
The invention provides a household portable elbow joint function auxiliary appliance which is characterized by comprising a power transmission mechanism, a driving mechanism, an elbow tray, an elbow motion executing mechanism, a pressure lattice tray, a front arm tray and a central control module, wherein the power transmission mechanism comprises a shell and a synchronous belt arranged in the shell, the driving mechanism comprises a driving motor connected with the synchronous belt and a current sensor connected with the driving motor and used for collecting real-time current data, the elbow tray is fixedly connected with the driving motor and used for placing an elbow, the elbow motion executing mechanism comprises a driven shaft arranged in the shell, a front arm connecting rod connected with the driven shaft, a special-shaped shaft connected with the driven shaft, a coil spring connected with the driven shaft, a cover arranged outside the coil spring and a through cover matched with the cover, the front arm connecting rod is fixedly connected with the front arm connecting rod and used for placing a front arm, the central control module is used for controlling the operation interface, the central control module comprises a central controller and a motor driver, two ends of the special-shaped shaft are respectively provided with a plane section and a rectangular boss, the plane section is connected with the angle sensor and used for monitoring a real-time rotation angle, the front arm tray is also provided with the pressure sensor, the pressure sensor is used for acquiring the target pressure position and the pressure sensor, the pressure sensor is used for acquiring the pressure information, and the pressure sensor is used for acquiring the data, and the data of the data is in communication with the central control interface, and is used for controlling the data communication and is used for carrying control.
The household portable elbow joint function auxiliary appliance provided by the invention can be further characterized in that six uniformly distributed rectangular grooves are further formed in the transparent cover, six uniformly distributed bosses are further arranged on the machine cover, the transparent cover and the machine cover are connected in a matched mode through the rectangular grooves and the bosses, the pretightening force of the coil spring is quantitatively adjusted through rotation of the transparent cover through the matched change of the rectangular grooves and the bosses, and the single rotation angle of the transparent cover is 60 degrees.
The household portable elbow joint function auxiliary appliance provided by the invention can be further characterized in that the synchronous belt is arranged around the rotating shaft and the driven shaft of the driving motor, and the driving motor drives the driven shaft to rotate through the synchronous belt so as to drive the forearm connecting rod to move.
The household portable elbow joint function auxiliary appliance provided by the invention can be further characterized in that the center of the transparent cover is also provided with the transparent cover through hole, the special-shaped shaft is also provided with the special-shaped shaft flange, the transparent cover through hole is matched with the special-shaped shaft for use, and the aperture of the transparent cover through hole is slightly larger than the diameter of the special-shaped shaft flange.
The household portable elbow joint function auxiliary appliance provided by the invention can be further characterized in that the driven shaft is further provided with a large rectangular notch, the rectangular boss is matched with the large rectangular notch for use, the driven shaft drives the special-shaped shaft to move through the large rectangular notch, so that the movement characteristics of the driven shaft and the special-shaped shaft are consistent, the angle sensor is further driven to move to measure the rotation angle, and the thickness of the rectangular boss is smaller than 1% of the opening width of the large rectangular notch.
The household portable elbow joint function auxiliary appliance can be characterized in that a groove is further formed in the penetrating cover to accommodate the coil spring, the groove is provided with a side edge bulge, one end of the coil spring is fixedly connected with the driven shaft, the other end of the coil spring is fixedly connected with the penetrating cover in the side edge bulge, the penetrating cover is rotated to adjust pretightening force of the coil spring, and different boosting effects are provided.
The household portable elbow joint function auxiliary appliance provided by the invention can be further characterized in that the pressure sensor lattice is 8 x 8 lattice, the size is 7cm x 5cm, the pressure acquisition range is 0.01N-100N, and the pressure distribution information comprises the distribution coordinate value of the pressure data acquired by the pressure sensor lattice on the arm of the patient and is used for detecting the placement position of the arm.
The invention also provides a control method of the household portable elbow joint function auxiliary appliance, which has the characteristics that:
step1, after a patient correspondingly places an arm and an elbow on an arm tray and an elbow tray, acquiring two limit movement positions of the arm during movement as safety position data through an angle sensor;
Step 2, transmitting the safety position data communication to a central controller, and carrying out safety limit by the central controller according to the limit movement position to limit the movement range of the forearm connecting rod;
Step 3, a passive teaching mode or an active power assisting mode is selected through an operation panel to perform rehabilitation training, data of a current sensor, an acceleration sensor, an angular velocity sensor and a pressure sensor lattice are collected in real time in the training process, a central controller performs fuzzy reasoning according to a given fuzzy rule based on the collected data, finally deblurs fuzzy parameters, outputs cascade PID control parameters, and the central controller sends out a control instruction to control a driving motor through a motor driver so that an elbow motion executing mechanism performs corresponding rehabilitation motion;
step 4, after the training period is finished, the driving motor stops running,
In step 2, the central controller performs safety limit according to the limit movement position, and in the rehabilitation training process, the movement position of the forearm connecting rod cannot exceed the limit movement position, and the formula of the movement range of the forearm connecting rod is as follows:
θhigh＞θreal＞θlow (1)
In the formula (3), θ real is the movement angle of the forearm link, θ high is the highest movement position of the forearm link, and θ low is the lowest movement position of the forearm link.
The control method of the household portable elbow joint function auxiliary appliance provided by the invention can be characterized in that the method comprises the following steps after a passive teaching mode is selected in the step 3:
A1, when a passive teaching mode is selected, a central controller enters state data acquisition, and a driving motor is in a standby state;
a2, a rehabilitation doctor brings a patient to complete a set of rehabilitation training exercise, and in the rehabilitation training exercise process, the exercise process state data of the driving motor is sampled and recorded in real time through the acceleration sensor and the angular velocity sensor and is transmitted to the central controller for storage;
A3, after the rehabilitation training exercise of the patient is finished, the rehabilitation doctor takes the patient, the record is selected to stop through the operation panel, the central controller stops the state data acquisition, and the central controller correspondingly controls the driving motor to reproduce the rehabilitation training exercise through the motor driver according to the stored exercise process state data;
And step A4, the central controller adjusts fuzzy PID parameters according to the motion process state data and outputs corresponding motor control signals, and the motor driver transmits the motor control signals to the driving motor through the Modbus to reproduce rehabilitation training motions.
The control method of the household portable elbow joint function auxiliary appliance provided by the invention can be characterized in that in the step 3, after the active assistance mode is selected, the control method specifically comprises the following steps:
step B1, when an active power assisting mode is selected, the central controller sets a preset power assisting value, the preset power assisting value is determined through an operation panel, power assisting directions are set according to different conditions of muscle tension of a patient, buckling power assisting and stretching power assisting are respectively carried out on the patient, elbow joint buckling or stretching movement is assisted, and a driving motor is in a standby state;
Step B2, after the preset assistance value is set, the central controller generates a control signal according to the preset assistance value and controls a driving motor to provide corresponding assistance through a motor driver, the driving motor drives a forearm connecting rod to move to provide corresponding assistance for rehabilitation training movement of a patient, and in the rehabilitation training movement process, a pressure sensor lattice, a current sensor, an angle sensor and an acceleration sensor start to acquire movement state data of the device in real time and transmit the movement state data to the central controller;
step B3, the central controller calculates the current assisting moment of the driving motor according to the current data acquired by the current sensor, adjusts and determines the assisting position coordinate point according to the target position pressure information and the movement range of the forearm connecting rod, calculates the pulse frequency sent by the assisting moment of the driving motor, adjusts the fuzzy PID parameter in real time by adopting a fuzzy PID control algorithm to adjust the pulse frequency, outputs a corresponding control signal to correspondingly adjust the assisting moment of the driving motor, stabilizes the assisting force provided by the driving motor to approach to a preset assisting value by stabilizing the size of the pressure data,
In step B3, when determining the coordinate point of the assistance position, determining the coordinate position, the pressure data size and the variation trend of the pressure main action point according to the pressure information of the target position, specifically including:
According to the target position pressure information, selecting a maximum pressure action point as a main pressure action point, and according to the coordinate information and the numerical information of the main pressure action point, adjusting the movement position of the forearm connecting rod to enable the main pressure action point to meet the following conditions:
In the formula (2), F is the magnitude of the pressure value, G is the coordinate position of the main pressure action point,
The output formula of the pulse frequency is as follows:
OUTPUT＝Kp1*Freal+Kd*(Preal-Pbias)'-Kp1*[Kp2*(Vreal-Vbias)+Ki*∑(Vreal-Vbias)] (3).
Effects and effects of the invention
According to the household portable elbow joint function auxiliary appliance and the control method, different preset assistance values can be set according to different patients in an active assistance mode to guide the patients to actively conduct elbow joint bending and stretching movements, elbow joint states of the patients are monitored in real time in the assistance process, the movement states of the elbow movement actuating mechanism are adjusted in real time by adjusting control parameters of the driving motor in real time, the household portable elbow joint function auxiliary appliance can be suitable for different patients and disturbance changes under different conditions, corresponding assistance is stably provided to assist rehabilitation movements of the patients, and the household portable elbow joint function auxiliary appliance is small in size, light in weight, capable of being popularized to family use, effectively improving practicality and portability of rehabilitation equipment, convenient for rehabilitation training of the patients in different scenes, and beneficial to market popularization and use.
Drawings
FIG. 1 is a schematic view of a household portable elbow function auxiliary appliance according to an embodiment of the present invention;
FIG. 2 is a schematic view of the structure of a power transmission mechanism in an embodiment of the invention;
FIG. 3 is a schematic illustration of the construction of an elbow motion actuator in accordance with an embodiment of the present invention;
FIG. 4 is a schematic view of the structure of the through cover and the cover in the embodiment of the invention;
FIG. 5 is a schematic view of the structure of a transparent cover in an embodiment of the invention;
FIG. 6 is a schematic view of a connection structure between a driven shaft and a special-shaped shaft in an embodiment of the present invention;
FIG. 7 is a schematic diagram of a pressure sensor array in an embodiment of the invention;
FIG. 8 is a control block diagram of a central controller in an embodiment of the invention;
FIG. 9 is a block diagram of fuzzy PID control in an embodiment of the invention;
FIG. 10 is a block diagram of a tandem PID control in an embodiment of the invention.
Detailed Description
In order to make the technical means and effects of the present invention easy to understand, the present invention will be specifically described with reference to the following examples and the accompanying drawings.
< Example >
Fig. 1 is a schematic view showing a structure of a household portable elbow joint function auxiliary appliance according to an embodiment of the present invention.
As shown in fig. 1, a household portable elbow joint function auxiliary appliance 100 of the present embodiment includes a power transmission mechanism 10, a driving mechanism 20, an elbow tray 30, an elbow movement executing mechanism 40, a forearm tray 50, and a central control module (not shown).
Fig. 2 is a schematic structural view of a power transmission mechanism in an embodiment of the invention.
As shown in fig. 2, the power transmission mechanism 10 includes a housing 11 and a timing belt 12 provided in the housing.
The drive mechanism 20 includes a drive motor 21 connected to the timing belt 12 and a current sensor 22 connected to the drive motor 21 for acquiring real-time current data.
The elbow tray 30 is fixedly connected with the driving motor 21 and is used for placing an elbow.
Fig. 3 is a schematic structural view of an elbow motion actuator according to an embodiment of the present invention, fig. 4 is a schematic structural view of a perspective cover mated with a cover according to an embodiment of the present invention, fig. 5 is a schematic structural view of a perspective cover according to an embodiment of the present invention, and fig. 6 is a schematic structural view of a connection structure of a driven shaft and a contoured shaft according to an embodiment of the present invention.
As shown in fig. 3 to 6, the elbow motion actuator 40 includes a driven shaft 41 provided in the housing 11, a forearm link 42 connected to the driven shaft 41, a shaped shaft 43 connected to the driven shaft 41, a coil spring 44 connected to the driven shaft 43, a cover 45 provided outside the coil spring 44, and a through cover 46 cooperatively connected to the cover 45.
Six rectangular grooves 461 which are uniformly distributed are also arranged on the transparent cover 46, six bosses 451 which are uniformly distributed are also arranged on the machine cover 45, the transparent cover 46 and the machine cover 45 are connected in a matched way through the rectangular grooves 461 and the bosses 451,
The penetrating cover 46 is rotated by the cooperation of the rectangular slot 461 and the boss 451 to quantitatively adjust the pretightening force of the coil spring 44, and the single rotation angle of the penetrating cover 46 is 60 °.
The center of the through cover 46 is also provided with a through cover through hole 462, the shaped shaft 43 is also provided with a shaped shaft flange 431,
The through-cover through hole 462 is matched with the special-shaped shaft 43, and the aperture of the through-cover through hole 462 is slightly larger than the diameter of the special-shaped shaft flange 431.
The penetrating cover 46 is also internally provided with a groove 463 for accommodating the coil spring 44, the groove 463 is provided with a side edge bulge, one end of the coil spring 44 is fixedly connected with the driven shaft 43, the other end of the coil spring 44 is fixedly connected with the penetrating cover 46 in the side edge bulge, and the pretightening force of the coil spring 44 is regulated by rotating the penetrating cover 46, so that the boosting effect with different sizes is provided.
An acceleration sensor 60 is also provided at the driven shaft 41 for acquiring rotational speed.
Both ends of the irregular shaft 43 are respectively provided with a flat cut surface 432 and a rectangular boss 433, and the flat cut surface 432 is connected with an angular velocity sensor 70 for monitoring the rotation angle in real time.
The driven shaft 41 is also provided with a large rectangular notch 411, the rectangular lug 433 is matched with the large rectangular notch 411, the driven shaft 41 drives the special-shaped shaft 43 to move through the large rectangular notch 411, so that the movement characteristics of the driven shaft 41 and the special-shaped shaft 43 are consistent, and the angle sensor 70 is further driven to move to measure the rotation angle,
The thickness of the rectangular boss 433 is smaller than 1% of the opening width of the large rectangular cutout 411, so that the rectangular boss 433 is more smoothly fitted with the large rectangular cutout 411.
The forearm tray 50 is fixedly connected to the forearm link 42 for positioning the forearm.
The forearm tray 50 is further provided with a pressure sensor lattice 80 for acquiring pressure information of a target position, including pressure distribution information of the contact surface of the arm and the arm tray of the patient, and the size and pressure data change trend of the pressure data.
The timing belt 12 is disposed around the rotation shaft 211 and the driven shaft 41 of the driving motor 21, and the driving motor 21 drives the driven shaft 41 to rotate through the timing belt 12 to drive the forearm link 42 to move.
And the central control module is used for controlling and comprises an operation interface, a central controller and a motor driver.
The current sensor 22, the acceleration sensor 60, the angular velocity sensor 70 and the pressure sensor array 80 are all communicatively connected to the central controller to transmit the collected data to the central controller for data processing, and the data is displayed on an operation interface,
The motor driver is connected to the drive motor 21 via a Modbus bus for controlling the drive motor 21.
FIG. 7 is a schematic diagram of a pressure sensor array in an embodiment of the invention.
As shown in fig. 7, the pressure sensor lattice 80 is an 8 x 8 lattice, the size is 7cm x 5cm, the pressure acquisition range is 0.01 n-100 n,
The pressure distribution information comprises distribution coordinate values of pressure data acquired by the pressure sensor lattice on the arm of the patient, and the distribution coordinate values are used for detecting whether the placement position of the arm is correct or not.
The control method of the household portable elbow joint function auxiliary appliance of the embodiment comprises the following steps:
in step 1, after the patient places the arm and the elbow in the arm tray 50 and the elbow tray 30, two limit movement positions when the arm moves are acquired as the safety position data by the angle sensor 70.
And step 2, transmitting the safety position data to a central controller, and carrying out safety limit according to the limit movement position by the central controller to limit the movement range of the forearm connecting rod 42.
In step 2, the central controller performs safety limit according to the limit movement position, and in the rehabilitation training process, the movement position of the forearm connecting rod cannot exceed the limit movement position, and the formula of the movement range of the forearm connecting rod is as follows:
θhigh＞θreal＞θlow (1)
In the formula (3), θ real is the movement angle of the forearm link, θ high is the highest movement position of the forearm link, and θ low is the lowest movement position of the forearm link.
And 3, selecting a passive teaching mode or an active power assisting mode through an operation panel to perform rehabilitation training, collecting data of the current sensor 22, the acceleration sensor 60, the angular velocity sensor 70 and the pressure sensor lattice 80 in real time in the training process, performing fuzzy reasoning according to a given fuzzy rule by a central controller based on the collected data, defuzzifying fuzzy parameters finally, outputting cascade PID control parameters, and sending a control instruction by the central controller, wherein the central controller controls the driving motor 21 to enable the elbow motion executing mechanism 40 to perform corresponding rehabilitation actions.
Fig. 8 is a control block diagram of the central controller in the embodiment of the present invention.
As shown in fig. 8, the central controller is provided with a CPU to perform operation and send a corresponding control instruction, and controls the driving motor 21 to perform movement through the motor driver, so as to control the elbow movement executing mechanism 40 to perform corresponding rehabilitation actions, and based on the data collected in real time by the current sensor 22, the acceleration sensor 60, the angular velocity sensor 70 and the pressure sensor lattice 80 in the rehabilitation training process, performs fuzzy reasoning according to a given fuzzy rule, and finally deblurs the fuzzy parameters, and outputs cascade PID control parameters to control the driving motor 21 to perform corresponding actions.
Fig. 9 is a block diagram of fuzzy PID control in an embodiment of the present invention, and fig. 10 is a block diagram of cascade PID control in an embodiment of the present invention.
As shown in fig. 9 and 10, the central controller is further provided with a fuzzy controller and a cascade PID controller to perform fuzzy PID control, the central controller performs fuzzy reasoning according to a given fuzzy rule through the fuzzy controller based on data collected in real time by a rehabilitation training data monitoring device formed by the current sensor 22, the acceleration sensor 60, the angular velocity sensor 70 and the pressure sensor lattice 80, and finally deblurs fuzzy parameters to output cascade PID control parameters to the cascade PID controller, in the cascade PID control, the outer ring is a velocity PI controller, the inner ring is a pressure PD controller, and the elbow motion executing mechanism 40 is ensured to execute corresponding actions according to control instructions through the cascade PID control.
In step 3, after the passive teaching mode is selected, the method specifically comprises the following steps:
step A1, when a passive teaching mode is selected, the central controller enters state data acquisition, and the driving motor 21 is in a standby state;
Step A2, a rehabilitation doctor takes a patient to complete a set of rehabilitation training exercise, and in the rehabilitation training exercise process, the exercise process state data of the driving motor 21 are sampled and recorded in real time through the acceleration sensor 60 and the angular velocity sensor 70 and are transmitted to the central controller for storage;
Step A3, after the rehabilitation training exercise of the patient is finished, the rehabilitation doctor takes the patient to select to stop recording through the operation panel, the central controller stops collecting state data, and the central controller correspondingly controls the driving motor 21 through the motor driver according to the stored exercise process state data to reproduce the rehabilitation training exercise;
and step A4, the central controller adjusts fuzzy PID parameters according to the motion process state data and outputs corresponding motor control signals, and the motor driver transmits the motor control signals to the driving motor 21 through a Modbus bus to reproduce rehabilitation training motions.
In step 3, after the active power assisting mode is selected, the method specifically comprises the following steps:
Step B1, when the active power assisting mode is selected, the central controller sets a preset power assisting value, determines the preset power assisting value through the operation panel, sets power assisting directions according to different conditions of muscle tension of a patient, respectively assisting the patient in elbow joint buckling or stretching, and drives the motor 21 to be in a standby state;
Step B2, after the preset assistance value is set, the central controller generates a control signal according to the preset assistance value and controls the driving motor 21 to provide corresponding assistance through the motor driver, the driving motor 21 drives the forearm connecting rod 42 to move to provide corresponding assistance for rehabilitation training movement of a patient, and in the rehabilitation training movement process, the pressure sensor lattice 80, the current sensor 22, the angle sensor 70 and the acceleration sensor 60 start to acquire device movement state data in real time and transmit the device movement state data to the central controller;
Step B3, the central controller calculates the current assisting moment of the driving motor 21 according to the current data acquired by the current sensor 22, adjusts and determines the assisting position coordinate point and calculates the pulse frequency sent by the assisting moment of the driving motor 21 according to the target position pressure information and the movement range of the forearm connecting rod 42, the central controller adjusts the fuzzy PID parameter in real time by adopting a fuzzy PID control algorithm to adjust the pulse frequency and outputs a corresponding control signal to correspondingly adjust the assisting moment of the driving motor 21, the assisting force provided by the driving motor 21 is stabilized to approach to a preset assisting value by stabilizing the size of the pressure data,
In step B3, when determining the coordinate point of the assistance position, determining the coordinate position, the pressure data size and the variation trend of the pressure main action point according to the pressure information of the target position, specifically including:
As shown in fig. 7, according to the target position pressure information, the maximum pressure action point is selected as the main pressure action point, and according to the coordinate information and the numerical information of the main pressure action point, the movement position of the forearm link is adjusted so that the main pressure action point satisfies:
In the formula (2), F is the magnitude of the pressure value, G is the coordinate position of the main pressure action point,
The output formula of the pulse frequency is as follows:
OUTPUT＝Kp1*Freal+Kd*(Preal-Pbias)'-Kp1*[Kp2*(Vreal-Vbias)+Ki*∑(Vreal-Vbias)] (3).
And 4, after the training period is finished, the driving motor 21 stops running.
Effects and effects of the examples
According to the household portable elbow joint function auxiliary appliance and the control method, different preset assistance values can be set according to different patients in an active assistance mode to guide the patients to actively conduct elbow joint bending and stretching movements, elbow joint states of the patients are monitored in real time in the assistance process, the movement states of the elbow movement executing mechanism are adjusted in real time by adjusting control parameters of the driving motor in real time, the household portable elbow joint function auxiliary appliance can be suitable for different patients and disturbance changes under different conditions, corresponding assistance is stably provided to assist rehabilitation movements of the patients, and the household portable elbow joint function auxiliary appliance is small in size, light in weight, capable of being popularized to families, effectively improving practicality and portability of rehabilitation equipment, convenient for rehabilitation training of the patients in different scenes, and beneficial to market popularization and use.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.

Claims (8)

1.一种家用便携型肘关节功能辅助器具，其特征在于，包括：1. A portable elbow joint function assistive device for home use, comprising: 动力传送机构，包括壳体以及设置在所述壳体内的同步带；A power transmission mechanism, comprising a housing and a synchronous belt arranged in the housing; 驱动机构，包括与所述同步带连接的驱动电机以及与所述驱动电机连接的用于采集实时电流数据的电流传感器；A driving mechanism, comprising a driving motor connected to the synchronous belt and a current sensor connected to the driving motor for collecting real-time current data; 肘部托盘，与所述驱动电机固定连接，用于放置肘部；An elbow tray, fixedly connected to the drive motor and used for placing the elbow; 肘部运动执行机构，包括设置在所述壳体内的从动轴、与所述从动轴连接的前臂连杆、与所述从动轴连接的异形轴、与所述从动轴连接的卷簧、设置在所述卷簧外部的机盖以及与所述机盖配合连接的透盖；The elbow motion actuator comprises a driven shaft arranged in the housing, a forearm connecting rod connected to the driven shaft, a special-shaped shaft connected to the driven shaft, a coil spring connected to the driven shaft, a machine cover arranged outside the coil spring, and a transparent cover cooperatively connected to the machine cover; 前臂托盘，与所述前臂连杆固定连接，用于放置前臂；以及a forearm tray, fixedly connected to the forearm connecting rod and used for placing the forearm; and 中央控制模块，用于进行控制，包括操作界面、中央控制器以及电机驱动器，Central control module, used for control, including operation interface, central controller and motor driver, 其中，所述从动轴处还设有加速度传感器，用于采集转动速度，The driven shaft is also provided with an acceleration sensor for collecting the rotation speed. 所述异形轴的两端分别设有平切面和矩形凸台，该平切面连接有角速度传感器，用于实时监测转动角度，The two ends of the special-shaped shaft are respectively provided with a flat section and a rectangular boss, and the flat section is connected to an angular velocity sensor for real-time monitoring of the rotation angle. 所述前臂托盘处还设有压力传感器点阵，用于获取目标位置压力信息，包括获取患者手臂与所述前臂托盘的接触面的压力分布信息以及压力数据的大小、压力数据变化趋势，The forearm tray is also provided with a pressure sensor array for obtaining target position pressure information, including obtaining pressure distribution information of the contact surface between the patient's arm and the forearm tray, as well as the size of the pressure data and the pressure data change trend. 所述电流传感器、所述加速度传感器、所述角速度传感器以及所述压力传感器点阵均与所述中央控制器通信连接来将采集的数据传输给所述中央控制器进行数据处理，并将数据在所述操作界面进行显示，The current sensor, the acceleration sensor, the angular velocity sensor and the pressure sensor array are all connected to the central controller to transmit the collected data to the central controller for data processing, and display the data on the operation interface. 所述中央控制器基于采集的数据，根据给定的模糊规则进行模糊推理，最后对模糊参数进行解模糊，输出串级PID控制参数，所述中央控制器发出控制指令，通过所述电机驱动器控制所述驱动电机来使所述肘部运动执行机构做出相应的康复动作，The central controller performs fuzzy reasoning based on the collected data and given fuzzy rules, and finally defuzzifies the fuzzy parameters and outputs cascade PID control parameters. The central controller issues a control instruction and controls the drive motor through the motor driver to make the elbow motion actuator perform corresponding rehabilitation movements. 所述同步带围绕所述驱动电机的转轴和所述从动轴进行设置，所述驱动电机通过所述同步带驱动所述从动轴进行转动来带动所述前臂连杆进行运动，The synchronous belt is arranged around the rotating shaft of the driving motor and the driven shaft, and the driving motor drives the driven shaft to rotate through the synchronous belt to drive the forearm connecting rod to move. 所述透盖内还设有凹槽来容纳所述卷簧，该凹槽设有一个侧边凸起，所述卷簧的一端与所述从动轴固定连接，另一端固定在所述侧边凸起内与所述透盖进行固定连接，通过转动所述透盖来调节所述卷簧的预紧力，提供大小不同的助力效果。The transparent cover is also provided with a groove to accommodate the coil spring, and the groove is provided with a side protrusion. One end of the coil spring is fixedly connected to the driven shaft, and the other end is fixed in the side protrusion and fixedly connected to the transparent cover. The preload force of the coil spring is adjusted by rotating the transparent cover to provide assisting effects of different sizes. 2.根据权利要求1所述的家用便携型肘关节功能辅助器具，其特征在于：2. The portable elbow joint function assistive device for home use according to claim 1, characterized in that: 其中，所述透盖上还设有六个均匀分布的矩形槽，所述机盖上还设有六个均匀分布的凸台，所述透盖和所述机盖通过所述矩形槽和所述凸台进行配合连接，The transparent cover is provided with six evenly distributed rectangular grooves, and the machine cover is provided with six evenly distributed bosses. The transparent cover and the machine cover are connected by the rectangular grooves and the bosses. 所述透盖通过所述矩形槽和所述凸台的配合变动进行转动来定量调节所述卷簧的预紧力，所述透盖单次转动角度为60°。The transparent cover is rotated by the matching change of the rectangular groove and the boss to quantitatively adjust the preload force of the coil spring, and the single rotation angle of the transparent cover is 60°. 3.根据权利要求1所述的家用便携型肘关节功能辅助器具，其特征在于：3. The portable elbow joint function assistive device for home use according to claim 1, characterized in that: 其中，所述透盖的中心还设有透盖通孔，所述异形轴还设有异形轴法兰，The center of the transparent cover is also provided with a transparent cover through hole, and the special-shaped shaft is also provided with a special-shaped shaft flange. 所述透盖通孔与所述异形轴配合使用，所述透盖通孔的孔径略大于所述异形轴法兰的直径。The through hole in the cover is used in conjunction with the special-shaped shaft, and the diameter of the through hole in the cover is slightly larger than the diameter of the flange of the special-shaped shaft. 4.根据权利要求1所述的家用便携型肘关节功能辅助器具，其特征在于：4. The portable elbow joint function assistive device for home use according to claim 1, characterized in that: 其中，所述从动轴还设有大矩形切口，所述矩形凸台与所述大矩形切口配合使用，所述从动轴通过所述大矩形切口带动所述异形轴运动，使得所述从动轴和所述异形轴的运动特征一致，并进一步带动所述角速度传感器运动来测量旋转角度，The driven shaft is also provided with a large rectangular cutout, and the rectangular boss is used in conjunction with the large rectangular cutout. The driven shaft drives the special-shaped shaft to move through the large rectangular cutout, so that the movement characteristics of the driven shaft and the special-shaped shaft are consistent, and further drives the angular velocity sensor to move to measure the rotation angle. 所述矩形凸台的厚度小于所述大矩形切口的开口宽度的1％。The thickness of the rectangular boss is less than 1% of the opening width of the large rectangular cutout. 5.根据权利要求1所述的家用便携型肘关节功能辅助器具，其特征在于：5. The portable elbow joint function assistive device for home use according to claim 1, characterized in that: 其中，所述压力传感器点阵为8*8点阵，大小为7cm*5cm，压力采集范围在0.01N～100N，The pressure sensor array is 8*8, with a size of 7cm*5cm, and a pressure acquisition range of 0.01N to 100N. 所述压力分布信息包括所述压力传感器点阵所采集的压力数据在患者手臂的分布坐标值，用于检测手臂的放置位置。The pressure distribution information includes the distribution coordinate values of the pressure data collected by the pressure sensor array on the patient's arm, which is used to detect the placement position of the arm. 6.根据权利要求1所述的家用便携型肘关节功能辅助器具，其特征在于：6. The portable elbow joint function assistive device for home use according to claim 1, characterized in that: 其中，所述家用便携型肘关节功能辅助器具的控制方法包括以下步骤：The control method of the portable elbow joint function assistive device for home use comprises the following steps: 步骤1，在患者将手臂与肘部对应放置于所述前臂托盘和所述肘部托盘后，通过所述角速度传感器采集手臂进行运动时的两个极限运动位置作为安全位置数据；Step 1, after the patient places the arm and elbow on the forearm tray and the elbow tray respectively, two extreme movement positions of the arm during movement are collected by the angular velocity sensor as safety position data; 步骤2，将所述安全位置数据通信传入所述中央控制器，所述中央控制器根据所述极限运动位置进行安全限位，限制所述前臂连杆的运动范围；Step 2, communicating the safety position data to the central controller, and the central controller performs safety limiting according to the extreme motion position to limit the motion range of the forearm connecting rod; 步骤3，通过操作面板选择被动示教模式或主动助力模式来进行康复训练，并在训练过程中实时采集所述电流传感器、所述加速度传感器、所述角速度传感器以及所述压力传感器点阵的数据，所述中央控制器基于采集的数据，根据给定的模糊规则进行模糊推理，最后对模糊参数进行解模糊，输出串级PID控制参数，所述中央控制器发出控制指令，通过所述电机驱动器控制所述驱动电机来使所述肘部运动执行机构做出相应的康复动作；Step 3, selecting a passive teaching mode or an active power-assisting mode through the operation panel to perform rehabilitation training, and collecting data of the current sensor, the acceleration sensor, the angular velocity sensor, and the pressure sensor dot matrix in real time during the training process, the central controller performs fuzzy reasoning based on the collected data and according to given fuzzy rules, and finally defuzzifies the fuzzy parameters and outputs cascade PID control parameters, and the central controller issues a control instruction to control the drive motor through the motor driver to make the elbow motion actuator perform corresponding rehabilitation movements; 步骤4，训练周期结束后，所述驱动电机停止运行，Step 4: After the training cycle is over, the drive motor stops running. 其中，所述步骤2中，所述中央控制器根据所述极限运动位置进行安全限位，在康复训练过程中，所述前臂连杆的运动位置不能超过所述极限运动位置，所述前臂连杆的运动范围的公式如下：Wherein, in step 2, the central controller performs safety limiting according to the extreme motion position. During the rehabilitation training process, the motion position of the forearm connecting rod cannot exceed the extreme motion position. The formula for the motion range of the forearm connecting rod is as follows: θhigh>θreal>θlow (1)θ high >θ real >θ low (1) 公式(3)中，θreal为所述前臂连杆的运动角度，θhigh为所述前臂连杆的最高运动位置，θlow为所述前臂连杆的最低运动位置。In formula (3), θ real is the movement angle of the forearm link, θ high is the highest movement position of the forearm link, and θ low is the lowest movement position of the forearm link. 7.根据权利要求6所述的家用便携型肘关节功能辅助器具，其特征在于：7. The portable elbow joint function assistive device for home use according to claim 6, characterized in that: 其中，所述步骤3中，选择所述被动示教模式后，具体包括如下步骤：Wherein, in said step 3, after selecting said passive teaching mode, the following steps are specifically included: 步骤A1，当选择为所述被动示教模式时，所述中央控制器进入状态数据采集，所述驱动电机处于待机状态；Step A1, when the passive teaching mode is selected, the central controller enters state data collection, and the drive motor is in a standby state; 步骤A2，由康复医师带领患者完成一套康复训练运动，在康复训练运动过程中通过所述加速度传感器和所述角速度传感器实时采样记录所述驱动电机的运动过程状态数据，并将所述运动过程状态数据传入所述中央控制器进行存储；Step A2, a rehabilitation physician leads the patient to complete a set of rehabilitation training exercises, during which the acceleration sensor and the angular velocity sensor are used to sample and record the motion process state data of the drive motor in real time, and the motion process state data is transmitted to the central controller for storage; 步骤A3，康复医师带领患者的康复训练运动结束后，通过所述操作面板选择停止记录，所述中央控制器停止状态数据采集，所述中央控制器根据存储的所述运动过程状态数据通过所述电机驱动器对所述驱动电机进行对应控制来进行康复训练运动的复现；Step A3, after the rehabilitation training exercise led by the rehabilitation physician is finished, the operation panel is used to select to stop recording, and the central controller stops collecting status data. The central controller controls the drive motor through the motor driver according to the stored state data of the exercise process to reproduce the rehabilitation training exercise; 步骤A4，所述中央控制器根据所述运动过程状态数据调整模糊PID参数，并输出对应的电机控制信号，所述电机驱动器通过Modbus总线将所述电机控制信号传输至所述驱动电机来进行康复训练运动的复现。Step A4, the central controller adjusts the fuzzy PID parameters according to the motion process state data, and outputs corresponding motor control signals, and the motor driver transmits the motor control signals to the drive motor via the Modbus bus to reproduce the rehabilitation training motion. 8.根据权利要求6所述的家用便携型肘关节功能辅助器具，其特征在于：8. The portable elbow joint function assistive device for home use according to claim 6, characterized in that: 其中，所述步骤3中，选择所述主动助力模式后，具体包括如下步骤：Wherein, in said step 3, after selecting said active power-assisting mode, the following steps are specifically included: 步骤B1，当选择为所述主动助力模式时，所述中央控制器进行预设助力值设置，通过所述操作面板来确定所述预设助力值，并根据患者肌肉张力的不同情况设置助力方向，分别为屈曲助力和伸展助力，辅助患者进行肘关节屈曲或者伸展运动，所述驱动电机处于待机状态；Step B1, when the active power-assist mode is selected, the central controller sets a preset power-assist value, determines the preset power-assist value through the operation panel, and sets the power-assist direction according to different muscle tensions of the patient, which are flexion power-assist and extension power-assist, respectively, to assist the patient in flexion or extension of the elbow joint, and the drive motor is in a standby state; 步骤B2，所述预设助力值设置完成后，所述中央控制器根据所述预设助力值生成控制信号并通过所述电机驱动器控制所述驱动电机提供对应助力，所述驱动电机通过驱动所述前臂连杆进行运动来为患者进行康复训练运动提供对应助力，康复训练运动过程中，所述压力传感器点阵、所述电流传感器、所述角速度传感器、所述加速度传感器开始实时采集装置运动状态数据并传入所述中央控制器；Step B2, after the preset power assist value is set, the central controller generates a control signal according to the preset power assist value and controls the drive motor to provide corresponding power assist through the motor driver, and the drive motor drives the forearm connecting rod to move to provide corresponding power assist for the patient to perform rehabilitation training. During the rehabilitation training, the pressure sensor matrix, the current sensor, the angular velocity sensor, and the acceleration sensor begin to collect device motion state data in real time and transmit it to the central controller; 步骤B3，所述中央控制器根据所述电流传感器采集的电流数据来计算所述驱动电机当前的助力矩，并根据所述目标位置压力信息以及所述前臂连杆的运动范围，调整并确定助力位置坐标点并计算出所述驱动电机的助力矩发送的脉冲频率，所述中央控制器采用模糊PID控制算法实时调整模糊PID参数来对所述脉冲频率进行调节，并输出对应的控制信号，来对应调节所述驱动电机的助力矩，通过稳定所述压力数据的大小来使得所述驱动电机提供的助力稳定趋近于所述预设助力值，Step B3, the central controller calculates the current assist torque of the drive motor according to the current data collected by the current sensor, and adjusts and determines the assist position coordinate point and calculates the pulse frequency sent by the assist torque of the drive motor according to the target position pressure information and the motion range of the forearm connecting rod. The central controller uses a fuzzy PID control algorithm to adjust the fuzzy PID parameters in real time to adjust the pulse frequency, and outputs a corresponding control signal to adjust the assist torque of the drive motor accordingly, and stabilizes the size of the pressure data so that the assist provided by the drive motor is stably close to the preset assist value. 所述步骤B3中，确定助力位置坐标点时，根据所述目标位置压力信息确定压力主作用点的坐标位置、压力数据大小以及变化趋势，具体包括：In the step B3, when determining the assisting position coordinate point, the coordinate position of the pressure main action point, the pressure data size and the change trend are determined according to the target position pressure information, specifically including: 根据所述目标位置压力信息，选取最大值的压力作用点为主压力作用点，根据所述主压力作用点的坐标信息和数值信息，调整所述前臂连杆的运动位置使所述主压力作用点满足：According to the target position pressure information, the pressure action point with the maximum value is selected as the main pressure action point, and according to the coordinate information and value information of the main pressure action point, the movement position of the forearm connecting rod is adjusted so that the main pressure action point satisfies: 公式(2)中，Freal为真实压力测量值，Fset为目标压力值，Greal为真实运动位置，G(x,y)effctive为患者可执行运动范围，x和y为前臂末端位置坐标，In formula (2), F real is the actual pressure measurement value, F set is the target pressure value, G real is the actual movement position, G(x,y) effctive is the patient's executable range of motion, x and y are the coordinates of the forearm end position, 所述脉冲频率的输出公式如下：The output formula of the pulse frequency is as follows: OUTPUT＝Kp1*Freal+Kd*(Preal-Pset)'-Kp1*[Kp2*(Vreal-Vset)+Ki*∑(Vreal-Vset)] (3)，OUTPUT＝K p1 *F real +K d *(P real -P set )'-K p1 *[K p2 *(V real -V set )+K i *∑(V real -V set )] (3), 公式(3)中，OUTPUT为脉冲频率输出，Kp1和Kp2为比例系数，Kd为微分系数，Preal为真实位置测量的量，Pset为目标位置控制量，Vreal为真实速度测量值，Vset为目标速度控制量，Ki为积分系数。In formula (3), OUTPUT is the pulse frequency output, Kp1 and Kp2 are proportional coefficients, Kd is the differential coefficient, P real is the real position measurement, P set is the target position control value, V real is the real speed measurement value, V set is the target speed control value, and Ki is the integral coefficient.
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