CN-122005264-A - Shoulder joint rehabilitation robot and control method thereof

CN122005264ACN 122005264 ACN122005264 ACN 122005264ACN-122005264-A

Abstract

The present disclosure provides a shoulder joint rehabilitation robot and a control method thereof, the shoulder joint rehabilitation robot including a shoulder component having a plurality of shoulder anchor points, an upper arm component having a plurality of upper arm anchor points in one-to-one correspondence with the plurality of shoulder anchor points, a plurality of electric mechanisms, each shoulder anchor point and the corresponding upper arm anchor point moving relative to each other through the corresponding electric mechanism, wherein each upper arm anchor point is connected to the upper arm component through a planar rotary bearing and a distal end of each upper arm anchor point, which is remote from the upper arm component, is connected to the corresponding electric mechanism, each shoulder anchor point is connected to the shoulder component through a planar rotary bearing, and a distal end of each shoulder anchor point, which is remote from the shoulder component, is connected to the corresponding electric mechanism through a ball bearing and a wire sleeve connected to the ball bearing. The shoulder joint rehabilitation robot enables rehabilitation training of the shoulder joint to be safer, more comfortable and more efficient.

Inventors

WANG WEIQUN
LIU JUNZHE
HOU ZENGGUANG

Assignees

中国科学院自动化研究所

Dates

Publication Date: 20260512
Application Date: 20260324

Claims (10)

1. A shoulder rehabilitation robot, characterized in that the shoulder rehabilitation robot comprises: A shoulder component having a plurality of shoulder anchor points; an upper arm component having a plurality of upper arm anchor points in one-to-one correspondence with the plurality of shoulder anchor points; a plurality of motorized mechanisms, each shoulder anchor point and corresponding upper arm anchor point being moved relative to each other by the corresponding motorized mechanism, Wherein each upper arm anchor point is connected to the upper arm component by a planar swivel bearing and a distal end of each upper arm anchor point remote from the upper arm component is connected to a corresponding motor mechanism, each shoulder anchor point is connected to the shoulder component by a planar swivel bearing and a distal end of each shoulder anchor point remote from the shoulder component is connected to a corresponding motor mechanism by a ball bearing.
2. The shoulder rehabilitation robot according to claim 1, wherein each electric mechanism comprises a rope, a sheath provided outside the rope, and an electric capstan, each upper arm anchor point is connected to one end of the rope, each shoulder anchor point is fixed to an end of the sheath by a ball bearing, such that the upper arm anchor point is pulled by the rope by rotation of the electric capstan to perform a relative movement with the corresponding shoulder anchor point.
3. The shoulder rehabilitation robot of claim 1, wherein each motorized mechanism comprises a motorized push rod, each upper arm anchor point is connected to one end of the push rod, and each shoulder anchor point is secured to the other end of the push rod by a ball bearing such that the corresponding shoulder anchor point and upper arm anchor point are relatively moved by telescoping of the motorized push rod.
4. The shoulder rehabilitation robot of claim 1, further comprising a first brace and a second brace, The first support comprises a cylindrical part extending along the thoracolumbar vertebra direction and Y-shaped supports extending from the shoulder parts to two sides of the cylindrical part, The second brace includes a bar-shaped bracket extending from the upper arm member in an elbow direction.
5. The shoulder joint rehabilitation robot according to claim 1, wherein the plurality of shoulder anchor points and the plurality of upper arm anchor points are each five or more, and the shoulder component and upper arm component are provided with an array-type anchor point mounting hole for adjusting anchor point positions.
6. A control method of a shoulder joint rehabilitation robot, characterized in that the shoulder joint rehabilitation robot comprises: A shoulder component having a plurality of shoulder anchor points; an upper arm component having a plurality of upper arm anchor points in one-to-one correspondence with the plurality of shoulder anchor points; A plurality of motorized mechanisms, wherein each shoulder anchor point and a corresponding upper arm anchor point are moved relative to each other by the corresponding motorized mechanism; a first inertial measurement unit and a second inertial measurement unit disposed on the shoulder member and the upper arm member, respectively, The control method comprises the following steps: Acquiring original coordinates of the plurality of shoulder anchor points based on a shoulder coordinate system, original coordinates of the plurality of upper arm anchor points based on an upper arm coordinate system, original postures of a first inertial measurement unit based on the shoulder coordinate system and original postures of a second inertial measurement unit based on the upper arm coordinate system; Based on the distances between corresponding anchor points at a plurality of different body positions of the upper arm relative to the shoulder and the attitudes between the first inertial measurement unit and the second inertial measurement unit relative to the ground, respectively calculating a relative attitude difference and a translational difference between the shoulder coordinate system and the upper arm coordinate system; converting the upper arm coordinate system into a shoulder coordinate system based on the relative attitude difference and the translational difference; Calculating a shoulder joint rotation center based on positions of a plurality of feature points on the upper arm member in a shoulder coordinate system at a plurality of different body positions; Calculating the length track and the speed track of the rope or the push rod of each electric mechanism between the corresponding shoulder anchor point and the upper arm anchor point based on the target track of the upper arm rotating the sphere center around the shoulder joint, and And controlling the plurality of electric mechanisms to drive the relative movement of each shoulder anchor point and the corresponding upper arm anchor point according to the length track and the speed track.
7. The control method according to claim 6, wherein calculating the shoulder joint rotation center based on the positions of the plurality of feature points on the upper arm member in the shoulder coordinate system at the plurality of different positions includes, for one of the plurality of feature points on the upper arm member, obtaining a plurality of sets of coordinates of the feature point in the shoulder coordinate system at the corresponding position based on the pose differences of the upper arm and the shoulder coordinate system at the five or more sets of positions, and fitting one shoulder joint center position based on the plurality of sets of coordinates, wherein at least one set of data having the largest degree of deviation of the coordinate values from the spherical surface among the five or more sets of shoulder joint pose data is removed before fitting.
8. The control method according to claim 7, wherein the calculated plurality of shoulder joint rotation centers are averaged to obtain the shoulder joint rotation center after the error term is removed.
9. The control method according to claim 6, further comprising calibrating and updating the shoulder joint rotation center based on the distance between the corresponding anchor points acquired at predetermined time intervals and the relative posture relationship of the shoulder member and the upper arm member.
10. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the control method of the shoulder joint rehabilitation robot according to any one of claims 6 to 9.

Description

Shoulder joint rehabilitation robot and control method thereof Technical Field The disclosure relates to the technical field of shoulder injury exercise rehabilitation, in particular to a parallel-drive wearable shoulder joint rehabilitation robot and a control method thereof. Background Currently, the rehabilitation requirements for the movement function of the shoulder joint are increasing year by year because the movement function of the upper limb is affected due to cerebral apoplexy, spinal injuries and the like. The shoulder of the upper limb of the human body is a joint with higher motion complexity and freedom degree, so that the complexity of rehabilitation training is increased. Under the condition of limited medical resources, a rehabilitation robot can be selected to replace a physiotherapist when performing sports rehabilitation therapy and muscle energy rehabilitation training. The existing shoulder joint and upper limb rehabilitation robot is mostly trained in a terminal traction form or an exoskeleton form bound to a similar mechanical arm formed by connecting rods and joints. The end traction form is difficult to ensure that the upper limb joints, particularly the shoulder joints, heal in accordance with a predetermined movement law, and the exoskeleton form causes problems of man-machine incompatibility when the wearing position deviates from the predetermined position, and even presents a potential risk of injury to the user, which is unacceptable in rehabilitation applications. Disclosure of Invention Aiming at the technical problems, the present disclosure provides a structural design of a steel rope driven parallel wearable shoulder joint rehabilitation robot, and improves a configuration design, a driving and a control method of the shoulder joint rehabilitation robot. In one general aspect, a shoulder rehabilitation robot is provided, the shoulder rehabilitation robot comprising a shoulder component having a plurality of shoulder anchors, an upper arm component having a plurality of upper arm anchors in one-to-one correspondence with the plurality of shoulder anchors, a plurality of motorized mechanisms, each shoulder anchor and corresponding upper arm anchor being moved relative to each other by a corresponding motorized mechanism, wherein each upper arm anchor is connected to the upper arm component by a planar rotary bearing and a distal end of each upper arm anchor remote from the upper arm component is connected to a corresponding motorized mechanism, each shoulder anchor is connected to the shoulder component by a planar rotary bearing, and a distal end of each shoulder anchor remote from the shoulder component is connected to a corresponding motorized mechanism by a ball bearing. According to an embodiment, each electric mechanism comprises a rope, a sheath arranged outside the rope and an electric winch, each upper arm anchor point is connected to one end of the rope, and each shoulder anchor point is fixed to the end of the sheath through a ball bearing, so that the upper arm anchor point is pulled by the rope through rotation of the electric winch to perform relative movement with the corresponding shoulder anchor point. According to an embodiment, each electric mechanism comprises an electric push rod, each upper arm anchor point is connected to one end of the push rod, and each shoulder anchor point is fixed to the other end of the push rod through a ball bearing, so that the corresponding shoulder anchor point and upper arm anchor point move relative to each other through the expansion and contraction of the electric push rod. According to an embodiment, the shoulder joint rehabilitation robot further comprises a first brace including a cylindrical portion extending in the thoracolumbar direction and Y-shaped brackets extending from the shoulder member to both sides of the cylindrical portion, and a second brace including a bar-shaped bracket extending from the upper arm member in the elbow direction. According to an embodiment, the plurality of shoulder anchors and the plurality of upper arm anchors are each five or more, and the shoulder component and the upper arm component are provided with an array of anchor mounting holes for adjusting anchor positions. In another general aspect, a control method of a shoulder joint rehabilitation robot is provided, the shoulder joint rehabilitation robot comprises a shoulder component, an upper arm component, a plurality of electric mechanisms, a first inertia measurement unit and a second inertia measurement unit, wherein the shoulder component is provided with a plurality of shoulder anchor points, the upper arm component is provided with a plurality of upper arm anchor points which are in one-to-one correspondence with the plurality of shoulder anchor points, the plurality of electric mechanisms are used for moving relative to each other through the corresponding electric mechanisms, the first inertia measurement unit and the s