CN111166615A - Operation protection system for rehabilitation mechanism - Google Patents
Operation protection system for rehabilitation mechanism Download PDFInfo
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- CN111166615A CN111166615A CN202010069458.8A CN202010069458A CN111166615A CN 111166615 A CN111166615 A CN 111166615A CN 202010069458 A CN202010069458 A CN 202010069458A CN 111166615 A CN111166615 A CN 111166615A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 44
- 230000003993 interaction Effects 0.000 claims abstract description 20
- 230000000875 corresponding effect Effects 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 238000006073 displacement reaction Methods 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 16
- 230000008569 process Effects 0.000 abstract description 15
- 238000012937 correction Methods 0.000 abstract description 4
- 230000006872 improvement Effects 0.000 description 7
- 238000011084 recovery Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000012549 training Methods 0.000 description 4
- 230000006378 damage Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 206010061225 Limb injury Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
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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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/224—Measuring muscular strength
- A61B5/225—Measuring muscular strength of the fingers, e.g. by monitoring hand-grip force
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
-
- 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
- A61H2201/5061—Force sensors
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physical Education & Sports Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an operation protection system for a rehabilitation mechanism, which comprises a controller, a force measuring unit, a position measuring unit, terminal equipment, a touch interaction unit and a force feedback unit, wherein the force measuring unit, the position measuring unit, the terminal equipment, the touch interaction unit and the force feedback unit are connected with the controller; the force measuring unit collects a grip strength signal of an operator; the position measuring unit measures a position signal of the movement of a manual control device in the rehabilitation mechanism; the terminal equipment receives a grip strength signal of an operator and a position signal of the movement of the manual control device, which are sent by the controller, and generates a control signal based on the received signals; the tactile interaction unit is arranged on a holding handle at a hand control device of the rehabilitation mechanism, receives a control signal sent by the terminal equipment and executes corresponding action; the force feedback unit is mounted at the transmission mechanism at the hand control of the rehabilitation facility. The invention can monitor the using process in real time during the using process of an operator, and can generate an alarm signal and a correction signal in time when misoperation occurs, thereby greatly improving the using safety and prolonging the service life of the device.
Description
Technical Field
The invention belongs to the technical field of rehabilitation robots, and particularly relates to an operation protection system for a rehabilitation mechanism.
Background
In order to help the recovery of the stroke patient or the limb injury patient, the most common method is rehabilitation training, and especially the coordinated rehabilitation action of the limbs is needed in the later period of the recovery, so that the patient can obtain systematic and effective multi-limb rehabilitation training in the recovery process.
In rehabilitation training, rehabilitation facilities are indispensable. The large recovery mechanism in the prior art has the advantages of simple structure, single function and no real-time monitoring and alarming function, so that the damage of the recovery mechanism is easily caused due to improper operation of an operator in the use process.
Disclosure of Invention
In order to solve the problems, the invention provides an operation protection system for a rehabilitation mechanism, which can monitor the use process in real time during the use process of an operator, can generate an alarm signal and a correction signal in time when misoperation occurs, greatly improves the use safety and prolongs the service life of the device.
In order to achieve the technical purpose and achieve the technical effects, the invention is realized by the following technical scheme:
an operation protection system for a rehabilitation mechanism comprises a controller, and a force measuring unit, a position measuring unit, a terminal device, a touch interaction unit and a force feedback unit which are connected with the controller;
the force measuring unit is used for acquiring a grip strength signal of an operator and sending the grip strength signal to the controller;
the position measuring unit is used for measuring a position signal of the movement of a manual control device in the rehabilitation mechanism and sending the position signal to the controller;
the terminal equipment receives a grip strength signal of an operator and a position signal of the movement of the manual control device, which are sent by the controller, and generates a control signal based on the received signals;
the touch interaction unit is arranged on a holding handle at a hand control device of the rehabilitation mechanism, receives a control signal sent by the terminal equipment and executes corresponding action;
the force feedback unit is intended to be mounted at a transmission mechanism at a hand control of a rehabilitation facility to provide a force in the opposite direction to the movement trajectory of the hand control.
As a further improvement of the invention, the terminal equipment comprises a hand control mechanism moving position calculating module and a hand grip force calculating module;
the manual control mechanism moving position calculating module is used for calculating the actual moving position of the manual control mechanism based on the output signal of the position measuring unit to obtain the displacement change condition of the manual control mechanism;
and the hand grip resolving module identifies the hand grip of the operator based on the output signal of the force measuring unit and the set grip lower limit threshold.
As a further improvement of the invention, the haptic interaction unit is a linear resonance actuator or a haptic actuator, and when the manual control device is judged to be out of the set operation range or the grip strength of the operator is lower than the set threshold, the terminal device sends a control instruction to start the haptic interaction unit so as to provide corresponding reminding feedback.
As a further improvement of the present invention, the force feedback unit includes a servo motor and a force feedback control driver connected to each other, and when it is determined that the manual control device is beyond the preset movement range, the terminal device sends a control command to make the force feedback unit generate a force opposite to the movement track of the manual control mechanism, so as to prevent the manual control device from continuing to move outward.
As a further improvement of the present invention, the terminal device further includes a data display module for displaying the related data in the operation protection system for the rehabilitation institution.
As a further improvement of the present invention, the terminal device and the controller are provided with a wireless data communication unit.
As a further improvement of the present invention, the wireless data communication unit is bluetooth.
As a further improvement of the invention, the position measuring unit comprises a linear displacement sensor and an angular displacement sensor, and the output ends of the linear displacement sensor and the angular displacement sensor are respectively connected with the controller.
Compared with the prior art, the invention has the beneficial effects that:
the operation protection system for the rehabilitation mechanism provided by the invention can monitor the use process in real time during the use process of an operator, and can generate an alarm signal and a correction signal in time when misoperation occurs, thereby greatly improving the use safety and prolonging the service life of the device.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the present disclosure taken in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic diagram of an operation protection system for a rehabilitation facility according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention.
The following detailed description of the principles of the invention is provided in connection with the accompanying drawings.
In order to solve the problem that most of rehabilitation mechanisms in the prior art are simple in structure and single in function, and have no real-time monitoring and alarming functions, so that the rehabilitation mechanisms are easily damaged due to improper operation of operators in the using process. The invention provides an operation protection system for a rehabilitation mechanism, which can monitor the use process in real time during the use process of an operator, can generate an alarm signal and a correction signal in time when misoperation occurs, greatly improves the use safety and prolongs the service life of the device.
As shown in fig. 1, the operation protection system for a rehabilitation facility in the present invention comprises a controller, and a force measuring unit, a position measuring unit, a terminal device, a tactile interaction unit and a force feedback unit connected to the controller;
the force measuring unit is used for collecting a grip strength signal of an operator and sending the grip strength signal to the controller, and in the practical application process, the force measuring unit is arranged on a grip handle of a manual control device in the rehabilitation mechanism; the force measuring unit is a force sensor;
the position measuring unit is used for measuring a position signal of the movement of a manual control device in the rehabilitation mechanism and sending the position signal to the controller; in the practical application process, the position measuring unit is arranged in the moving range of a manual control device in the resetting mechanism; in a specific embodiment of the present invention, the position measuring unit includes a linear displacement sensor and an angular displacement sensor, the output terminals of which are respectively connected to the controller, and output a linear displacement signal and an angular displacement signal to the controller;
the terminal equipment receives a grip strength signal of an operator and a position signal of the movement of the manual control device, which are sent by the controller, and generates a control signal based on the received signals;
the touch interaction unit is arranged on a holding handle at a hand control device of the rehabilitation mechanism, receives a control signal sent by the terminal equipment and executes corresponding action;
the force feedback unit is intended to be mounted at a transmission mechanism at a hand control of a rehabilitation facility to provide a force in the opposite direction to the movement trajectory of the hand control.
In a specific embodiment of the present invention, the terminal device includes a hand-controlled mechanism moving position calculating module and a hand grip calculating module;
the manual control mechanism moving position calculating module is used for calculating the actual moving position of the manual control mechanism based on the output signal of the position measuring unit to obtain the displacement change condition of the manual control mechanism;
and the hand grip resolving module identifies the hand grip of the operator based on the output signal of the force measuring unit and the set grip lower limit threshold. Namely, the hand grip force resolving module carries out calculation and identification through signals collected by the force sensor, judges the state of palm grip force change of an operator according to the value fed back by grip force data, and uses the state to control the moving speed of the manual control device in the passive mode of the rehabilitation mechanism.
In a specific embodiment of the present invention, the haptic interaction unit is a linear resonance actuator or a haptic actuator, and when it is determined that the manual control device is out of the set operation range or the grip strength of the operator is lower than the set threshold, the terminal device sends a control instruction to start the haptic interaction unit to provide corresponding reminding feedback, that is, the haptic interaction unit performs haptic interaction with the operator to provide an operation prompt for the operator, and provides a corresponding haptic interaction prompt at the moment when the operator reaches the limit operation range and releases the handle of the manual control mechanism in the passive training mode.
In summary, the working process of the operation protection system for the rehabilitation facility in the present invention specifically includes:
and after the whole system is powered on, all the modules perform initialization work.
In the initialization process, the controller starts to carry out AD conversion on signals of the force measuring unit, reads position signals from the linear displacement sensor and the angular displacement sensor, and sends grip strength data subjected to AD conversion and the position signals of the displacement sensor to the terminal equipment by using the serial interface after the wireless data communication unit completes signal connection and matching; meanwhile, each module of the terminal equipment enters a preparation state.
And after the terminal equipment starts to process the data signals transmitted by the sensor after conversion through the wireless data communication unit, the data signals are displayed on the data display module after the grip strength calculation and the hand control device position calculation are completed.
When the resolving module of the terminal equipment fails to resolve, namely the movement range of the manual control device of an operator exceeds the resolving range or the hand holding power of the operator is lower than the preset threshold range, an instruction is sent to the touch interaction unit of the handle of the manual control device through the wireless data communication unit to carry out hand reminding, and an instruction is sent to the force feedback control driver at the same time, so that the transmission linear servo motor of the controlled mechanism generates a reaction force to prevent the manual control device from continuously moving outwards.
In a specific embodiment of the present invention, the force feedback unit includes a servo motor and a force feedback control driver connected to each other, and when it is determined that the manual control device is out of the preset movement range, the terminal device sends a control command to enable the force feedback unit to generate a force opposite to the movement trajectory of the manual control mechanism, so as to prevent the manual control device from continuing to move outward, limit the movement of the manual control device out of the preset range, protect the mechanical structure of the manual control device, and avoid mechanical damage. The structure and the working principle of the hand control device mentioned in the invention are the prior art, namely the device used for realizing manual control in the rehabilitation institution.
In a specific embodiment of the present invention, the terminal device further includes a data display module, configured to display related data in the operation protection system for the rehabilitation facility.
In an embodiment of the present invention, the terminal device and the controller are provided with a wireless data communication unit for receiving data output by the controller and transmitting the data to the terminal device, and during the implementation, the wireless data communication unit may be bluetooth.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. An operation protection system for a rehabilitation facility is characterized by comprising a controller, a force measuring unit, a position measuring unit, terminal equipment, a touch interaction unit and a force feedback unit, wherein the force measuring unit, the position measuring unit, the terminal equipment, the touch interaction unit and the force feedback unit are connected with the controller;
the force measuring unit is used for acquiring a grip strength signal of an operator and sending the grip strength signal to the controller;
the position measuring unit is used for measuring a position signal of the movement of a manual control device in the rehabilitation mechanism and sending the position signal to the controller;
the terminal equipment receives a grip strength signal of an operator and a position signal of the movement of the manual control device, which are sent by the controller, and generates a control signal based on the received signals;
the touch interaction unit is arranged on a holding handle at a hand control device of the rehabilitation mechanism, receives a control signal sent by the terminal equipment and executes corresponding action;
the force feedback unit is intended to be mounted at a transmission mechanism at a hand control of a rehabilitation facility to provide a force in the opposite direction to the movement trajectory of the hand control.
2. The operation protection system for a rehabilitation facility according to claim 1, characterized in that: the terminal equipment comprises a hand control mechanism moving position resolving module and a hand grip resolving module;
the manual control mechanism moving position calculating module is used for calculating the actual moving position of the manual control mechanism based on the output signal of the position measuring unit to obtain the displacement change condition of the manual control mechanism;
and the hand grip resolving module identifies the hand grip of the operator based on the output signal of the force measuring unit and the set grip lower limit threshold.
3. The operation protection system for a rehabilitation facility according to claim 2, characterized in that: the haptic interaction unit is a linear resonance actuator or a haptic actuator, and when the fact that the manual control device exceeds a set operation range or the grip strength of an operator is lower than a set threshold value is judged, the terminal equipment sends a control instruction to start the haptic interaction unit so as to provide corresponding reminding feedback.
4. The operation protection system for a rehabilitation facility according to claim 2, characterized in that: and the force feedback unit comprises a servo motor and a force feedback control driver which are connected, and when the situation that the manual control device exceeds a preset movement range is judged, the terminal equipment sends a control instruction to enable the force feedback unit to generate a force opposite to the movement track of the manual control mechanism so as to prevent the manual control device from continuously moving outwards.
5. The operation protection system for a rehabilitation facility according to claim 2, characterized in that: the terminal equipment also comprises a data display module which is used for displaying the related data in the operation protection system for the rehabilitation institution.
6. The operation protection system for a rehabilitation facility according to claim 1, characterized in that: the terminal equipment and the controller are provided with wireless data communication units.
7. A functioning protection system for a rehabilitation facility according to claim 3, characterized in that: the wireless data communication unit is Bluetooth.
8. The operation protection system for a rehabilitation facility according to claim 1, characterized in that: the position measuring unit comprises a linear displacement sensor and an angular displacement sensor, and the output ends of the linear displacement sensor and the angular displacement sensor are respectively connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010069458.8A CN111166615A (en) | 2020-01-21 | 2020-01-21 | Operation protection system for rehabilitation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010069458.8A CN111166615A (en) | 2020-01-21 | 2020-01-21 | Operation protection system for rehabilitation mechanism |
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| Publication Number | Publication Date |
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| CN111166615A true CN111166615A (en) | 2020-05-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010069458.8A Pending CN111166615A (en) | 2020-01-21 | 2020-01-21 | Operation protection system for rehabilitation mechanism |
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| CN (1) | CN111166615A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111938675A (en) * | 2020-06-18 | 2020-11-17 | 宁波芯路通讯科技有限公司 | A medical controller for rehabilitation assistance therapy |
| CN118274922A (en) * | 2024-06-03 | 2024-07-02 | 大庆市大展科技有限公司 | Water level measuring device for hydraulic engineering detection |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102631277A (en) * | 2012-03-31 | 2012-08-15 | 中国科学院宁波材料技术与工程研究所 | Rocker type upper limb rehabilitation device and method for performing rehabilitation training by aid of rocker type upper limb rehabilitation device |
| US20150045186A1 (en) * | 2012-03-23 | 2015-02-12 | Northeasern University | Apparatus With Rolling Contact Handle |
| CN105213154A (en) * | 2015-10-26 | 2016-01-06 | 清华大学 | Interactive upper limb rehabilitation robot and control method |
| CN208852340U (en) * | 2018-08-15 | 2019-05-14 | 佛山市第一人民医院（中山大学附属佛山医院） | Pressure-controllable upper limb training instrument |
-
2020
- 2020-01-21 CN CN202010069458.8A patent/CN111166615A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150045186A1 (en) * | 2012-03-23 | 2015-02-12 | Northeasern University | Apparatus With Rolling Contact Handle |
| CN102631277A (en) * | 2012-03-31 | 2012-08-15 | 中国科学院宁波材料技术与工程研究所 | Rocker type upper limb rehabilitation device and method for performing rehabilitation training by aid of rocker type upper limb rehabilitation device |
| CN105213154A (en) * | 2015-10-26 | 2016-01-06 | 清华大学 | Interactive upper limb rehabilitation robot and control method |
| CN208852340U (en) * | 2018-08-15 | 2019-05-14 | 佛山市第一人民医院（中山大学附属佛山医院） | Pressure-controllable upper limb training instrument |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111938675A (en) * | 2020-06-18 | 2020-11-17 | 宁波芯路通讯科技有限公司 | A medical controller for rehabilitation assistance therapy |
| CN118274922A (en) * | 2024-06-03 | 2024-07-02 | 大庆市大展科技有限公司 | Water level measuring device for hydraulic engineering detection |
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Application publication date: 20200519 |