CN104983546A - Stewart type wearable wrist rehabilitation robot - Google Patents
Stewart type wearable wrist rehabilitation robot Download PDFInfo
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- CN104983546A CN104983546A CN201510405042.8A CN201510405042A CN104983546A CN 104983546 A CN104983546 A CN 104983546A CN 201510405042 A CN201510405042 A CN 201510405042A CN 104983546 A CN104983546 A CN 104983546A
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Abstract
The invention discloses a Stewart type wearable wrist rehabilitation robot. The Stewart type wearable wrist rehabilitation robot comprises a front end motion platform, a training handle, six-dimensional force sensors, spherical hinge connecting devices, connecting rods, piston rods, cylinders, a rear end fixing and supporting platform and a control system. The front end motion platform can be driven through telescopic displacement of the piston rods. The Stewart type wearable wrist rehabilitation robot is used for rehabilitation therapy of postoperation of wrist joint diseases, postoperation of sports injuries and wrist postoperation, and bending and stretching motion, folding and unfolding motion and annular rotating motion of wrist joints can be achieved. The Stewart type wearable wrist rehabilitation robot has a passive working mode and an active working mode, and motion function rehabilitation and wrist strength training of the wrist joints can be achieved.
Description
Technical field
The present invention relates to a kind of novel wearable wrist recovering therapeutic device, belong to technical field of medical instruments.
Background technology
Carpal joint is the important joint connecting hand and forearm, because hand often captures object frequently, is engaged in all kinds of operation, when unexpected dorsiflexion, fall time palm land, wrist fracture often can be caused to damage.Wrist fractures Therapeutic Method has expectant treatment and operative treatment two kinds.Expectant treatment mainly takes manual reduction, plintlet or plaster slab extenal fixation.The internal fixtion such as operative treatment mainly takes open reduction, parallel steel plate.Open reduction can do strong internal fixtion.When the basic healing of fracture, can start to carry out carpal joint and bend, stretch initiatively exercise, the resistance exercise of carpal joint flexing.In convalescent period, patient should increase some hand application Exercises, as played with building blocks, braiding etc.At present, wrist rehabilitation training mainly instructs patient to carry out wrist stretching, extension, the functional recovery training such as bending by doctor.Rehabilitation training for patients wrist's strength adopts flexible rod mostly, and allow patient practise using, but the elasticity of flexible rod is immutable, universality is bad.Along with the development of medical machinery, Many researchers utilizes the achievement in research of the subjects such as mechanics, mechanics, electromagnetism, robotics, the recovery training method that integrative medicine Design Theory makes new advances.Rehabilitation medical robot can help patient to carry out science and effective rehabilitation training to recover the motion function of its damage location as a kind of automatization rehabilitation medicine equipment.Wrist robots for rehabilitation therapy is mainly used in the rehabilitation of wrist or ankle joint injury.At present, mostly human body carpal joint recovering therapeutic device, be function singleness, only can realize recovery and the exercise of patient's carpal joint partial function, and driving control system is simple, and make the compliance of carpal joint device for rehabilitation bad, practicality is not strong.
Summary of the invention
The object of the invention is to design a kind of for after human body wrist articular fracture (or damage) healing, carrying out the multiple degrees of freedom wrist recovering therapeutic device of rehabilitation training for recovering wrist joint function.For achieving the above object, the technical solution used in the present invention is: the wearable wrist healing robot of this Stewart type is primarily of compositions such as nose motion platform and training handle, six-dimension force sensor, ball pivot connection, connecting rod, cylinder and piston rod, rear end fixed support platform and control system.Rear end fixed support platform can be fixed on human body forearm, cylinder and piston rod standing part and support platform are connected, piston rod is connected with connecting rod ball pivot, piston is provided with displacement transducer to detect stroke, connecting rod is connected by ball pivot with nose motion platform, training handle is connected on nose motion platform, and at two ends and contact with platform place, six-dimension force sensor is housed.
This wearable wrist healing robot take parallel institution as primary structure form, compact conformation, and cylinder drive system can be air pressure, hydraulic pressure or electronic, has six-freedom degree, can realize carpal flexion and extension, take down the exhibits and move and circumduction.
The invention has the beneficial effects as follows: 1. compact structure, is easy to carry.The present invention adopts LSS parallel institution structural configuration mode, by 6 cover cylinders and piston rod as driving, namely less stroke can realize the grand movement of nose motion platform, makes this apparatus structure little, is convenient to carry with.2. can realize passive and Active Compliance Control motion.When the present invention is operated in passive compliance control mode, may be used for patient's initial stage rehabilitation; When being operated in Active Compliance Control, may be used for movement of patient function obtain certain rehabilitation degree after strength building.3. submissive performance is good.Cylinder of the present invention and the built-in high accuracy displacement sensor of piston rod, can realize the Accurate Position Control of nose motion platform.
Accompanying drawing explanation
Fig. 1: principle of the invention figure.
Fig. 2: the present invention's practicality figure.
Detailed description of the invention
As shown in drawings, wrist healing robot of the present invention comprises the compositions such as nose motion platform 1, training handle 2, six-dimension force sensor 3, upper ball pivot connection 4, connecting rod 5, lower ball pivot connection 6, piston rod 7, cylinder 8, rear end fixed support platform 9.Nose motion platform and rear end fixed support platform are all in the form of a ring, training handle two ends are connected to nose motion platform, and at two ends and contact with platform place, six-dimension force sensor is housed, for detecting the power between training handle and nose motion platform, 6 connecting rods 5 are connected on nose motion platform by upper ball pivot, and be connected respectively to 6 piston rods 7 by lower ball pivot, every root piston rod 7 is all socketed on a cylinder 8, each cylinder is fixed on the fixed support platform of rear end, piston rod can in cylinder stretching motion, thus drive piston rod successively, connecting rod and nose motion platform, piston rod is provided with high accuracy displacement sensor, to detect piston rod stroke, the Accurate Position Control of nose motion platform can be realized.During use, the hands of patient is through rear end fixed support platform, and hold training handle, rear end fixed support platform is enclosed within the forearm of patient.
Wrist healing robot of the present invention also comprises a control system (not shown), and this control system can obtain power detected by six-dimension force sensor and displacement transducer and displacement, and can the telescopic displacement of control piston bar.
Operation principle of the present invention is as follows:
When the present invention is operated in passive compliance control model, patient holds training handle 2, under control system controls, according to the rehabilitation scheme preset, drive system cylinder 8 and piston rod 7 stretch, moved by lower ball pivot 6 drivening rod 5, and then realize the pose change of nose motion platform 1, realize the motion of handle 2, help patient to recover carpal motor function, wherein detected the telescopic displacement of piston rod 7 by displacement transducer, feed back to the monitoring that control system realizes pose.When being operated in Active Control Mode, patient holds training handle 2, firmly rotary handle 2, the six-dimension force sensor 3 being arranged on handle two ends detects force signal, feeds back to control system, then control system produces drive singal, drive system cylinder 8 and piston rod 7 stretch, and moved, and then the pose of nose motion platform 1 is changed by ball pivot 6 drivening rod 5, realize following training handle 2, make the wrist of patient obtain strength building.By adjustment force feedback parameter to reach the object changing control force and export, the Drazin inverse of different power can be realized, makes patient's wrist obtain the training of different strength.
Claims (6)
1. the wearable wrist healing robot of Stewart type, it is characterized in that: this robot comprises nose motion platform, training handle, six-dimension force sensor, upper ball pivot, connecting rod, lower ball pivot, piston rod, cylinder, rear end fixed support platform and control system, wherein
In the form of a ring, training handle two ends are connected to nose motion platform to nose motion platform, and at two ends and nose motion contact with platform place, six-dimension force sensor are housed;
Described connecting rod has 6, and one end of every root connecting rod is connected to nose motion platform respectively by upper ball pivot, and the other end is connected to a piston rod respectively by lower ball pivot;
Piston rod also has 6, and every root piston rod is socketed on a cylinder, and each cylinder is fixed on the fixed support platform of rear end, piston rod can in cylinder stretching motion, piston is provided with displacement transducer, and institute's displacement sensors can detect the stroke of piston rod.
Rear end fixed support platform in the form of a ring, can be enclosed within the forearm of patient, and the hands of patient, through rear end fixed support platform, is held training handle, carried out wrist rehabilitation training;
Control system can obtain power detected by six-dimension force sensor and displacement transducer and displacement, and can the telescopic displacement of control piston bar.
2. the wearable wrist healing robot of Stewart type according to claim 1, is characterized in that: the drive system of described cylinder is hydraulic system, baric systerm or power driven system.
3. the wearable wrist healing robot of the Stewart type according to any one of claim 1-2, is characterized in that: this robot has Passive Control pattern and Active Control Mode two kinds of patterns.
4. the wearable wrist healing robot of the Stewart type according to any one of claim 1-3, it is characterized in that: under described Passive Control pattern, patient holds training handle, control system is according to the rehabilitation scheme preset, control piston bar stretches, by lower ball pivot drivening rod motion, and then realize the pose change of nose motion platform, drive the motion of training handle and patient's hands, wherein detected the telescopic displacement of piston rod by displacement transducer, feed back to the monitoring that control system realizes pose.
5. the wearable wrist healing robot of the Stewart type according to any one of claim 1-3, it is characterized in that: under described Active Control Mode, patient holds training handle, initiatively firmly rotate training handle, the six-dimension force sensor being arranged on handle two ends detects force signal, feed back to control system, then control system produces drive singal, control piston bar stretches, and then the pose of nose motion platform is changed, realize following training handle, make the wrist of patient obtain strength building.
6. the wearable wrist healing robot of Stewart type according to claim 5, wherein control system can adjustment force feedback parameter, makes patient's wrist obtain the training of different strength.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510405042.8A CN104983546B (en) | 2015-07-10 | 2015-07-10 | A kind of wearable wrist healing robot of Stewart types |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510405042.8A CN104983546B (en) | 2015-07-10 | 2015-07-10 | A kind of wearable wrist healing robot of Stewart types |
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| CN104983546A true CN104983546A (en) | 2015-10-21 |
| CN104983546B CN104983546B (en) | 2017-10-10 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105748259A (en) * | 2016-04-25 | 2016-07-13 | 四川乐彤科技有限公司 | Multi-freedom-degree joint intelligent traction robot |
| CN108143402A (en) * | 2017-12-22 | 2018-06-12 | 芜湖牧云电子科技有限公司 | Suitable for the monitor of fracture fixation treatment |
| CN108939449A (en) * | 2018-06-01 | 2018-12-07 | 马诗瑜 | Wrist rehabilitation physiotherapy instrument |
| CN110124273A (en) * | 2019-06-21 | 2019-08-16 | 云南增材佳唯科技有限公司 | A kind of 3D printing wrist recovery instrument |
| CN111054032A (en) * | 2019-12-30 | 2020-04-24 | 潘仲民 | Wearable wrist rehabilitation nursing exercise device |
| CN113476270A (en) * | 2021-06-24 | 2021-10-08 | 燕山大学 | Foldable wrist joint parallel rehabilitation device |
| IT202000012682A1 (en) | 2020-05-28 | 2021-11-28 | Marco Ceccarelli | WRIST REHABILITATION EXERCISE DEVICE |
| CN113713317A (en) * | 2021-08-27 | 2021-11-30 | 上海机器人产业技术研究院有限公司 | Six-degree-of-freedom platform for upper limb rehabilitation |
| CN114145964A (en) * | 2021-12-01 | 2022-03-08 | 复旦大学 | Man-machine compatible two-stage parallel type wrist exoskeleton rehabilitation robot |
| CN114191256A (en) * | 2021-12-23 | 2022-03-18 | 燕山大学 | Wearable double-ball hinge wrist rehabilitation training robot |
| CN115554091A (en) * | 2022-09-01 | 2023-01-03 | 燕山大学 | Elbow and wrist joint rehabilitation robot for joint dislocation compensation and compensation method thereof |
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| CN103932871A (en) * | 2014-05-05 | 2014-07-23 | 浙江大学 | Elbow joint active-passive combined rehabilitation training system |
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| CN101292935A (en) * | 2008-02-02 | 2008-10-29 | 河北工业大学 | Robot for rehabilitation of anklebone |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105748259A (en) * | 2016-04-25 | 2016-07-13 | 四川乐彤科技有限公司 | Multi-freedom-degree joint intelligent traction robot |
| CN108143402A (en) * | 2017-12-22 | 2018-06-12 | 芜湖牧云电子科技有限公司 | Suitable for the monitor of fracture fixation treatment |
| CN108939449A (en) * | 2018-06-01 | 2018-12-07 | 马诗瑜 | Wrist rehabilitation physiotherapy instrument |
| CN108939449B (en) * | 2018-06-01 | 2020-04-10 | 马诗瑜 | Wrist rehabilitation physiotherapy instrument |
| CN110124273B (en) * | 2019-06-21 | 2024-02-27 | 云南增材佳唯科技有限公司 | Wrist rehabilitation instrument is printed to 3D |
| CN110124273A (en) * | 2019-06-21 | 2019-08-16 | 云南增材佳唯科技有限公司 | A kind of 3D printing wrist recovery instrument |
| CN111054032A (en) * | 2019-12-30 | 2020-04-24 | 潘仲民 | Wearable wrist rehabilitation nursing exercise device |
| IT202000012682A1 (en) | 2020-05-28 | 2021-11-28 | Marco Ceccarelli | WRIST REHABILITATION EXERCISE DEVICE |
| CN113476270A (en) * | 2021-06-24 | 2021-10-08 | 燕山大学 | Foldable wrist joint parallel rehabilitation device |
| CN113713317A (en) * | 2021-08-27 | 2021-11-30 | 上海机器人产业技术研究院有限公司 | Six-degree-of-freedom platform for upper limb rehabilitation |
| CN114145964A (en) * | 2021-12-01 | 2022-03-08 | 复旦大学 | Man-machine compatible two-stage parallel type wrist exoskeleton rehabilitation robot |
| CN114191256A (en) * | 2021-12-23 | 2022-03-18 | 燕山大学 | Wearable double-ball hinge wrist rehabilitation training robot |
| CN115554091A (en) * | 2022-09-01 | 2023-01-03 | 燕山大学 | Elbow and wrist joint rehabilitation robot for joint dislocation compensation and compensation method thereof |
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Effective date of registration: 20180329 Address after: 528400 Guangdong city of Zhongshan province Tsuiheng Ma An Cun intersection of "three five" project workshop of A building in the first layer, second layer, third layer, fourth layer Patentee after: Kazakhstan Tian Yu (Zhongshan) robotics Co., Ltd. Address before: 150000 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Patentee before: HARBIN TIANYU REHABILITATION MEDICAL ROBOT CO., LTD. |
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