CN201505138U - Wearable human arm tremor detection and suppression robot - Google Patents

Abstract

The utility model discloses a wearable human arm tremor detection and suppression robot, which is a robot device for tremor detection and suppression of the arm tremor motion of patients with tremors, which includes a wearable exoskeleton system, a tremor excitation system, a tremor motion detection system, a signal processing and control systems. The wearable exoskeleton system is worn on the human arm through a flexible connection device; the tremor excitation system includes components for realizing the flexion/extension of the elbow joint, the internal/external rotation of the elbow joint and the flexion/extension motion of the wrist joint. The DC motor system; the tremor motion detection system includes various types of sensors, which are respectively installed on the upper arm, forearm, elbow, wrist of the robot and the hand of the patient; the signal processing and control system is centrally fixed on the forearm of the human body through a flexible connection device. The utility model better solves the inconvenience problems brought by tremors to patients in daily life such as writing and catering, and improves the quality of life of patients.

Description

Wearable human arm tremor detection and suppression robot

technical field

The utility model belongs to the field of medical robots and exoskeleton robots, and specifically refers to a wearable human arm tremor detection and suppression robot.

Background technique

Tremor is an involuntary, rhythmic, approximately sinusoidal to-and-fro swinging limb movement. 5% of middle-aged and elderly people over the age of 40 suffer from tremor disease, especially Parkinson's disease, which is a common disease with an increasing trend in the incidence rate in the past ten or twenty years. Tremor is common in human limbs, especially arms, affecting fine movements, writing and eating, and in severe cases, it can bring a lot of inconvenience to patients' daily life, work, and social interactions. Although many research institutions at home and abroad have studied tremor for many years, in general, there are the following problems: 1. Since the mechanism and origin of tremor are not yet clear, most of the treatment of tremor is exploratory, and it is impossible to fundamentally 2. Although various therapeutic drugs can improve the clinical symptoms of tremor patients to a certain extent within a certain period of time, they cannot prevent the natural progression of the disease, and various drugs have side effects in different degrees, thus limiting 3. At present, some more advanced therapies are still in the research stage. Although experiments have proved that they can significantly improve the clinical remission rate of the disease and reduce side effects, they are also expensive and long-term. Curative effect is still difficult to determine and other issues.

The advantages of using robotic technology to suppress the tremor movement of patients are self-evident. First of all, the robot can suppress or weaken the tremor of the patient's arm, solve the inconvenience of daily life such as fine movements, such as writing and eating, and improve the quality of life of the patient; secondly, the robot can help the patient exercise the muscles of the upper limbs, improve and promote The blood circulation of the upper limbs can enhance the control ability of the nervous system to the motor function, and achieve the purpose of improving or restoring the patient's motor function; moreover, the blindness of subjective medication is ruled out in the absence of a thorough understanding of the mechanism of tremor. Therefore, to develop a light-weight, easy-to-wear, safe and reliable robotic device for suppressing tremor movement of patients, so as to ease or treat the condition of tremor patients, has become a work with great application value and market prospects.

Contents of the invention

The purpose of this utility model is to provide a wearable human arm tremor detection and suppression robot, which can suppress, alleviate or treat the tremor movement of the patient without interfering with the normal movement of the patient, and solve the fine movements caused by the tremor to the patient, such as Inconvenient problems in daily life such as writing and eating, and improve the quality of life of tremor patients.

The technical scheme of the utility model is: the wearable human arm tremor detection and suppression robot includes a wearable exoskeleton system, a tremor excitation system, a tremor motion detection system, and a signal processing and control system. The wearable exoskeleton system includes an upper arm arm, an elbow joint mechanism, a forearm arm arm, a wrist joint mechanism, and a hand mechanism, which are worn on the human arm through a flexible connection mechanism; DC motor system, DC motor system used to realize the internal/external rotation of the elbow joint, DC motor system used to realize the flexion/extension motion of the wrist joint; the tremor motion detection system includes various types of sensors, which are respectively installed on the upper arm of the robot , forearm, elbow, wrist, hand and patient's hand; the signal processing and control system is centrally fixed on the forearm of the human body through a flexible connection device.

The wearable exoskeleton system adopts a series mechanism in the form of "two linkages", including an upper arm arm, an elbow joint mechanism, a forearm arm, a wrist joint mechanism, and a hand mechanism; the arm mechanism adopts an anthropomorphic design, and the upper arm arm The size is short, and the length is about 2/3 of the upper arm of the human body; the forearm arm imitates the ulna structure of the arm, the length is equivalent to the forearm, and can be adjusted; the upper arm arm is connected with the upper arm of the human body through a flexible connection mechanism; the elbow joint mechanism includes the elbow Joint flexion/extension motion DC motor system, rigid connection mechanism, elbow joint internal/external DC motor system, rigid connection mechanism; the elbow joint mechanism is connected with the wrist joint mechanism through the forearm arm and rigid connection mechanism; the wrist joint mechanism includes the wrist Flexion/extension motion DC motor system and rigid connection mechanism, connected with the wrist joint of the arm through a flexible connection mechanism; the arm mechanism includes a flexible connection mechanism for connecting the palm, a flexible connection mechanism for connecting the index finger, and a flexible connection for connecting the middle finger mechanism.

The tremor excitation unit includes: a DC motor drive system for realizing the flexion/extension of the elbow joint, a DC motor drive system for realizing the internal/external rotation of the elbow joint, and a DC motor for realizing the flexion/extension motion of the wrist joint Drive System.

The tremor motion detection system includes: three inertial sensor units, mainly composed of inclinometers, gyroscopes, and accelerometers, which are used to obtain information on inclination angles such as pitch angles and roll angles of the upper arm, forearm, and hand, and elbow joints and wrists. The three-dimensional angular velocity information of the joint, and the three-dimensional angular acceleration information of the elbow joint and the wrist joint; three three-dimensional force sensors, used to detect the DC motor of the elbow joint flexion/extension, the elbow joint internal/external DC motor, and the wrist joint flexion/extension The three-dimensional output torque information of the extension motion DC motor; the elbow joint flexion/extension motion DC motor encoder, the elbow joint internal/external motion DC motor encoder and the wrist joint flexion/extension motion DC motor encoder are used to measure the elbow joint The actual rotation position of the flexion/extension motor system, the elbow joint internal/external motion motor system, and the wrist joint flexion/extension motor system; in addition, the index finger and middle finger of the human hand are respectively equipped with a three-dimensional acceleration sensor for measuring index finger , the three-dimensional acceleration value of the middle finger.

The signal processing and control system includes: a signal processing system, a signal control system and a tremor excitation system; the signal processing system is a 16-bit DSP signal processing system with TMS320VC5402 as the core, and collects elbow joints, wrist joints and hand joints in real time through the GPIO port. Motion information; the signal control system is a 32-bit ARM10 microprocessor signal control system with Intel PXA270 as the core; the tremor excitation system is an execution system, which is used to execute the motor control commands generated by the signal control system, using the CAN communication card of SOFTING company Communicate with the MAXON EPOS motor driver to control the elbow joint flexion/extension DC motor, the elbow joint internal/external rotation DC motor, and the wrist flexion/extension DC motor.

Advantages and positive effects of the utility model:

First, the structure is simple, easy to wear, and highly anthropomorphic. The utility model adopts a "sleeve-through" structure, which is convenient to wear; the wearable exoskeleton can realize three degrees of freedom movements of elbow joint flexion/extension, elbow rotation inward/external rotation, and wrist joint flexion/extension. The degree of anthropomorphism is high.

Second, the tremor excitation system adopts MAXON’s disc-type DC motor EC45 with small size, light weight and excellent performance and a new speed reduction device CSD-14-100-2UH. The overall system meets the "portable" requirements.

Third, various types of sensors are installed, and the tremor motion detection function is powerful. The tremor motion detection system can not only detect the pitch angle, roll angle, offset and other inclination information of the robot arm and the three-dimensional angular acceleration information of the elbow joint and wrist joint, but also detect the three-dimensional acceleration information of the tremor motion of the human arm. Tremor motor suppression provides sufficient information.

Fourth, the operation is simple, safe and reliable. The wearable human arm tremor suppression robot is easy to operate and does not require complex operating devices such as operating handles and keyboards. In addition, in terms of mechanical design, the exoskeleton mechanism is strictly limited beyond the maximum range of human arm activities, and a "safety warning system" is designed in terms of control to ensure the safety and reliability of tremor motion suppression.

Fifth, it has rich functions and broad application prospects. The wearable human arm tremor suppression robot can not only suppress the tremor movement of patients, but also help patients solve the inconvenience of daily life such as fine movements, writing and dining, and improve the quality of life of patients; in addition, the robot can help patients exercise upper limb muscles, improve And promote the blood circulation of the upper limbs, enhance the nervous system's ability to control motor functions, and exclude the blindness of subjective medication in the absence of a thorough understanding of the tremor mechanism.

Description of drawings

The utility model is described in further detail below in conjunction with accompanying drawing and specific embodiment.

Fig. 1 is the overall assembly structure schematic diagram of the present utility model;

Fig. 2 is a schematic diagram of a tremor motion detection system of the present invention;

Fig. 3 is a schematic diagram of signal processing and control system of the present utility model;

Fig. 4 is the system operation flowchart of the utility model.

In the figure, 100 is a human arm, 101 is a flexible connecting device, 102 is a rigid connecting device, 103 is an upper arm mechanism, 104 is a rigid connecting device, 105 is a flange, 106 is a cantilever mechanism, 107 is a rigid fixing device, 108 is a rigid Connecting device, 109 is a forearm mechanism, 110 is a rigid fixing device, 111 is a rigid connecting device, 112 is a flexible connecting device, 113 is a flexible connecting device, 114 is a flexible connecting device, 115 is a flexible connecting device, and 116 is a flexible connecting device. 201 is the elbow flexion/extension motor, 202 is the elbow flexion/extension motor deceleration system, 203 is the elbow rotation internal/external motion motor, 204 is the elbow rotation internal/external motion motor deceleration system, 205 is the wrist joint Flexion/extension motion motor, 206 is the deceleration system of the wrist joint flexion/extension motion motor. 301 is the elbow joint inertial sensor unit, 302 is the hand inertial sensor unit, 303 is the wrist joint inertial sensor unit; 311 is the elbow joint flexion/extension motion DC motor encoder, 312 is the elbow joint rotation internal/external motion DC motor encoder , 313 is the wrist joint flexion/extension motion DC motor encoder; 321 is the elbow joint flexion/extension motion force sensor, 322 is the elbow joint rotation internal/external motion force sensor, 323 is the wrist joint flexion/extension motion force sensor; 331 is The index finger three-dimensional acceleration sensor, 332 is the middle finger three-dimensional acceleration sensor. 400 is a signal processing and control system, 401 is a signal processing system, 402 is a signal control system, 403 is a tremor excitation system.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is described in further detail.

As shown in Figure 1 and Figure 2, the wearable human arm tremor detection and suppression robot in the utility model includes a wearable exoskeleton system, a tremor motion excitation system, a tremor motion detection system, and a signal processing and control system.

The wearable exoskeleton in the utility model comprises upper arm lever (103), elbow joint mechanism (11), forearm arm lever (109), wrist mechanism (12), hand mechanism (13); The rod (103) is connected with the upper arm of the human body through a rigid connection device (102) and a flexible connection device (101); Mechanism (104), flange (105), cantilever mechanism (106), elbow joint internal/external DC motor system (203, 204), rigid fixture (107); elbow joint flexion/extension motion DC motor system (201 , 202) are connected with the elbow joint internal/external DC motor through the cantilever mechanism (106) and rigid fixture (107); the forearm arm bar (109) adopts a telescopic structure to facilitate length adjustment; Including wrist flexion/extension motion DC motor system (205, 206) and rigid connection mechanism (111), connected with arm wrist joint through flexible connection mechanism (115); arm mechanism (13) includes flexible connection mechanism for connecting palm (114), the flexible connection mechanism (112) for connecting the index finger, and the flexible connection mechanism (113) for connecting the middle finger.

Tremor excitation system in the utility model: elbow joint flexion/extension motion DC motor 201, elbow joint rotation internal/external motion DC motor system 203, and wrist joint flexion/extension motion DC motor system 205, all adopt MAXON's EC- 45 disc motors; the DC motor deceleration system for elbow joint flexion/extension movement, the DC motor deceleration system for elbow joint rotation/external movement, and the wrist joint flexion/extension movement DC motor deceleration system all use Harmonic reducer CSD-14- 100-2UH.

The tremor motion detection system in the utility model: the elbow joint inertial sensor unit (301) is composed of an inclinometer, a gyroscope, and an acceleration sensor, and is fixed on the upper arm of the human body through a flexible connection device (101) to obtain pitch angle and roll angle , three-dimensional angular velocity, and three-dimensional angular acceleration information; the wrist joint inertial sensor unit (303), consisting of an inclinometer, a gyroscope, and an acceleration sensor, is fixed on the human forearm (near the wrist joint) through a flexible connection device (116), and is used to obtain Pitch angle, roll angle, three-dimensional angular velocity, three-dimensional angular acceleration information; the hand inertial sensor unit (302), composed of an inclinometer, a gyroscope, and an acceleration sensor, is fixed on the human hand through a flexible connection device (115), and is used to obtain Pitch angle, roll angle, three-dimensional angular velocity, three-dimensional angular acceleration information; elbow joint flexion/extension motion DC motor encoder (311), elbow joint rotation internal/external motion DC motor encoder (312) and wrist joint flexion/extension motion DC The motor encoder (313) is used to measure the actual rotational position of the elbow joint flexion/extension motion motor 201, the elbow joint rotation internal/external motion motor system 203 and the wrist joint flexion/extension motion motor system 205 respectively; The motion force sensor (321), the elbow joint rotation internal/external motion force sensor (322) and the wrist joint flexion/extension motion force sensor (323), are respectively used to measure the elbow joint flexion/extension motion and the elbow joint internal/external rotation motion And the three-dimensional output torque of the wrist joint flexion/extension movement; the index finger three-dimensional acceleration sensor (331) and the middle finger three-dimensional acceleration sensor (332) of the human hand are used to measure the three-dimensional acceleration values of the index finger and middle finger respectively;

Fig. 3 is a schematic diagram of the signal processing and control system of the present invention. The signal processing and control system in the present invention mainly includes a signal processing system 401 , a signal control system 402 , and an execution system 403 . The signal processing system 401 is a 16-bit DSP signal processing system with TMS320VC5402 as the core, which collects elbow joint, wrist joint and hand motion information in real time through the GPIO (general purpose I/O) port; the "two-stage" tremor signal processing algorithm is a data processing And filtering algorithm, used to obtain arm tremor movement information; signal control system 402 is a 32-bit ARM10 microprocessor signal control system with IntelPXA270 as the core; "three closed-loop" tremor suppression strategy is a tremor suppression control algorithm, used to generate and suppress tremors control command; the tremor excitation system 403 is used to execute the motor control command generated by the signal control system 402, and uses the CAN communication card of SOFTING Company to communicate with the MAXONEPOS motor driver to control the elbow joint flexion/extension motion DC motor and elbow joint rotation respectively. The internal/external movement DC motor and the wrist joint flexion/extension movement DC motor, thereby causing the entire robot system to produce "tremors", offsetting or weakening the tremors of the human arm.

Example:

The wearable human arm tremor detection and suppression robot disclosed in the utility model is put on the upper arm, elbow joint, forearm, wrist joint and hand of the human arm through the flexible connection mechanism (101, 115, 116, 114), and the signal processing and The control system 400 is fixed on the forearm of the human body. As shown in Figure 5, in real life, when the patient wears the wearable human arm tremor detection and suppression robot in the utility model to carry out daily activities such as writing and raising the arm, the robot system is turned on (step 500); signal processing Start with control system 400 (step 501), system self-inspection (step 502); if self-inspection finds abnormality (step 503)? , then the motor is powered off (step 514), and stops working (step 515); if the self-check is normal (step 503)? , then the tremor motion detection system 300 starts (step 504), while the tremor excitation system 200 starts (step 508), and the motor system initialization (step 509); if the stop instruction (step 511), then the motor is powered off (step 514), and the work End (step 515); if the instruction is not stopped, according to the control instruction, control the motor to change speed and direction (step 512), and then realize the flexion/extension motion of the robot elbow, the internal/external rotation of the elbow joint and the flexion/extension of the wrist joint Stretch motion; robot and patient's arm constantly changes self state (step 513) along with these motions, and the various sensor systems that are installed in hand, forearm and upper arm obtain arm motion information (step 504, step 505); Take TMS320VC5402 as The core 16-bit DSP signal processing system 401 obtains these information, and through the "two-stage" adaptive predictive filter algorithm processing, separates the high-frequency tremor motion signal from the low-frequency normal motion signal, and transmits these two signals to the In the 32-bit ARM10 microprocessor signal control system 402 with Intel PXA270 as the core, real-time storage and acquisition (step 506); (step 507); the execution system 403 is used to execute the motor control command (step 510) that the signal control system 402 produces, communicates with the MAXONEPOS motor driver through the CAN communication card of SOFTING company, and controls the elbow joint flexion/extension motion DC motor respectively , DC motor for internal/external rotation of the elbow joint, DC motor for flexion/extension of the wrist joint, so that each joint of the robot can move (step 512), and then change the impedance characteristics of the patient's arm to achieve the purpose of suppressing the tremor of the patient's arm; such a tremor The motion detection and suppression process is over, and the next tremor motion suppression is ready.

Claims (5)

1. a wearable type human arm tremor detects and suppresses robot, it is characterized in that: this robot comprises the wearable type exoskeleton system, the motion-activated of trembling system, the movement detection systems that trembles, signal processing and control system; Described wearable type exoskeleton system comprises upper arm armed lever (103), elbow joint mechanism (11), forearm armed lever (109), carpal joint mechanism (12), hand organization (13); The described motion-activated system of trembling comprises the direct current motor system (201 that is used to realize the motion of elbow joint flexion/extension, 202), be used to realize elbow joint medial rotation/outer motion direct current motor system (203,204), be used to realize carpal joint flexion/extension motion direct current motor system (205,206); The movement detection systems that trembles comprises the upper arm, forearm, ancon, wrist and the hand that are installed in robot respectively and patient's hand sensor unit; Signal processing and control system (400) are fixed on the human body forearm by flexible connecting device (116).

2. wearable type human arm tremor according to claim 1 detects and suppresses robot, and it is characterized in that: described upper arm armed lever (103) is connected with the human body upper arm with flexible connecting device (101) by the device that is rigidly connected (102); Described elbow joint mechanism (11) comprises elbow joint flexion/extension motion direct current motor system (201,202), the mechanism that is rigidly connected (104), flange (105), cantilever mechanism (106), elbow joint revolves inside/outside direct current motor system (203,204), rigid fixation means (107); Described elbow joint flexion/extension motion direct current motor system (201,202) revolves inside/outside direct current generator (203,204) by cantilever mechanism (106) and rigid fixation means (107) with described elbow joint and is connected; Described forearm armed lever (109) adopts Collapsible structure, so that regulate length; Described carpal joint mechanism (12) comprises carpal joint flexion/extension motion direct current motor system (205,206) and the mechanism that is rigidly connected (111), links to each other with the arm carpal joint by flexible linking device (115); Hand organization (13) comprises the flexible linking device (114) that is used to connect palm, is used to connect the flexible linking device (112) and the flexible linking device that is used to be connected middle finger (113) of forefinger.

3. wearable type human arm tremor according to claim 1 detects and suppresses robot, it is characterized in that described sensor unit comprises:

A, elbow joint inertial sensor unit (301) are become by inclinator, gyroscope, groups of acceleration sensors, are fixed on the human body upper arm by flexible connecting device (101), are used for obtaining the angle of pitch, roll angle, three dimensional angular speed, three dimensional angular acceleration information;

B, carpal joint inertial sensor unit (303), become by inclinator, gyroscope, groups of acceleration sensors, be fixed on the human body forearm near the carpal joint place by flexible connecting device (116), be used for obtaining the angle of pitch, roll angle, three dimensional angular speed, three dimensional angular acceleration information;

C, hand inertial sensor unit (302) are become by inclinator, gyroscope, groups of acceleration sensors, are fixed on human hands by flexible connecting device (115), are used for obtaining the angle of pitch, roll angle, three dimensional angular speed, three dimensional angular acceleration information;

D, elbow joint flexion/extension motion direct current generator encoder (311), elbow joint medial rotation/outer motion direct current generator encoder (312) and carpal joint flexion/extension motion direct current generator encoder (313) are respectively applied for the actual rotary position of measuring elbow joint flexion/extension motion motor (201), elbow joint medial rotation/outward transport galvanic electricity machine (203) and carpal joint flexion/extension motion motor (205);

E, elbow joint flexion/extension motoricity pick off (321), elbow joint medial rotation/outward transport dynamic pickup (322) and carpal joint flexion/extension motoricity pick off (323) are respectively applied for the three-dimensional output torque of measuring the motion of elbow joint flexion/extension, elbow joint medial rotation/motion outward and the motion of carpal joint flexion/extension;

The forefinger three dimension acceleration sensor (331) of f, human hands, middle finger three dimension acceleration sensor (332) are respectively applied for the three-dimensional acceleration value of measuring forefinger, middle finger.

4. wearable type human arm tremor according to claim 1 detects and suppresses robot, and it is characterized in that: described signal processing and control system comprise signal processing system (401), whistle control system (402) and the excitation system of trembling (403); Signal processing system (401) is to be 16 bit DSP signal processing systems of core with TMS320VC5402, gathers elbow joint, carpal joint and hand exercise information during by the GPIO cause for gossip; Whistle control system (402) is to be 32 ARM10 microprocessor signals control system of core with IntelPXA270; The excitation system of trembling (403) is used to carry out the Electric Machine Control order that whistle control system (402) is produced, utilize the CAN communication card and the MAXON EPOS motor driver of SOFTING company to communicate, control elbow joint flexion/extension motion direct current generator, elbow joint medial rotation/outer motion direct current generator, carpal joint flexion/extension motion direct current generator respectively.

5. wearable type human arm tremor according to claim 1 detects and suppresses robot, it is characterized in that: described elbow joint flexion/extension motion direct current motor system (201), elbow joint medial rotation/outer motion direct current motor system (203), with carpal joint flexion/extension motion direct current motor system (205), all adopt the EC-45 disc type electric machine of MAXON company; Described elbow joint flexion/extension motion direct current generator deceleration system (202), elbow joint medial rotation/outer motion direct current generator deceleration system (204), carpal joint flexion/extension motion direct current generator deceleration system (206) all adopts Harmonic decelerator CSD-14-100-2UH.

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