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工程设计学报
Chin J Eng Design  2022, Vol. 29 Issue (2): 143-152    DOI: 10.3785/j.issn.1006-754X.2022.00.027
Innovative Design     
Somatosensory interactive upper-limb mirror rehabilitation training robot system
Qing-xiang LIU1(),Bing-jing GUO1,2(),Jian-hai HAN1,2,3,Xiang-pan LI1,2,Ming-xiang HUANG1
1.College of Mechanical and Electrical Engineering，Henan University of Science and Technology，Luoyang 471003，China
2.Henan Key Laboratory of Robotics and Intelligent Systems，Luoyang 471003，China
3.Henan Collaborative Innovation Center for Advanced Manufacturing of Mechanical Equipment，Luoyang 471003，China
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Abstract  

Aiming at the loss of upper limb motor function caused by brain nerve injury in stroke patients, the robot assisted training combined with mirror therapy can effectively promote the remodeling of brain neurons by promoting the coordinated movement of bilateral limbs, so as to realize the recovery of motor function. Therefore, a somatosensory interactive upper-limb mirror rehabilitation training robot system was proposed by effectively combining the mirror rehabilitation theory, virtual reality technology and robot technology. The pose information of human healthy limb was collected by the motion capture equipment, and the motion trajectory of upper-limb rehabilitation training robot was mapped by designing a human-machine mirror motion mapping algorithm. Considering the flexibility of rehabilitation treatment, the robot joints were driven by oscillating cylinders based on proportional pressure control; at the same time, according to the characteristics of pneumatic system, the trajectory tracking control strategy of PD (proportional differential) + speed feedforward compensation was designed to realize the mirror rehabilitation training of coordinated movement of bilateral limbs. The feasibility and effectiveness of robot system in the mirror rehabilitation treatment were verified by the composite motion trajectory planning test and the mirror mirror rehabilitation training test for the robot system prototype. The designed robot system provides a design idea and implementation method for the clinical needs of rehabilitation training for the cooperative movement of human bilateral limbs.

Key words： upper-limb rehabilitation training robot      mirror therapy      somatosensory interaction      proportional pressure control      motion mapping     
Received: 11 May 2021      Published: 06 May 2022
CLC:  TP 242.6  
Corresponding Authors: Bing-jing GUO     E-mail: 1627049654@qq.com;bingjing@haust.edu.cn
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Qing-xiang LIU
Bing-jing GUO
Jian-hai HAN
Xiang-pan LI
Ming-xiang HUANG
Cite this article:

Qing-xiang LIU,Bing-jing GUO,Jian-hai HAN,Xiang-pan LI,Ming-xiang HUANG. Somatosensory interactive upper-limb mirror rehabilitation training robot system. Chin J Eng Design, 2022, 29(2): 143-152.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2022.00.027     OR     https://www.zjujournals.com/gcsjxb/Y2022/V29/I2/143


体感交互式上肢镜像康复训练机器人系统

针对脑卒中患者因大脑神经损伤而造成的上肢运动功能缺失，结合镜像疗法的机器人辅助训练可通过促使双侧肢协同运动来有效地促进大脑神经元重塑，从而实现运动功能恢复。为此，将镜像康复理论、虚拟现实技术和机器人技术有效结合，提出一种体感交互式上肢镜像康复训练机器人系统。使用动作捕捉设备采集患者健肢的位姿信息，通过设计人机镜像运动映射算法来映射上肢康复训练机器人的运动轨迹。考虑到康复治疗的柔性需要，该机器人的关节采用基于比例压力控制的摆动气缸来驱动；同时，针对气动系统的特性，设计了PD（proportional differential，比例微分）+速度前馈补偿的轨迹跟踪控制策略，实现了双侧肢协同运动的镜像康复训练。通过对机器人系统样机进行复合运动轨迹规划试验和镜像康复训练试验，验证了该系统在镜像康复治疗中的可行性和有效性。所设计的机器人系统为人体双侧肢协同运动的康复训练临床需求提供了设计思路和实现方法。


关键词： 上肢康复训练机器人,  镜像治疗,  体感交互,  比例压力控制,  运动映射 
Fig.1 Overall layout of somatosensory interactive upper-limb mirror rehabilitation training robot system
Fig.2 Control system block diagram of somatosensory interactive upper-limb mirror rehabilitation training robot
Fig.3 Block diagram of PD + speed feedforward compensation control strategy of pneumatic manipulator
Fig.4 Human-machine mirror motion mapping algorithm based on workspace
Fig.5 Structure diagram of two-degree-of-freedom pneumatic manipulator and coordinate system construction
Fig.6 Workspace of the end of pneumatic manipulator
Fig.7 Mirror mapping relationship of workspace between healthy limb end and pneumatic manipulator end
Fig.8 Somatosensory interactive upper limb mirror rehabilitation training robot system prototype test platform
关节KPKDKV
大臂关节0.240.0220.012
小臂关节0.400.0140.030
Table 1 PD + speed feedforward compensation control parameters of pneumatic manipulator
Fig.9 Trajectory comparison of pneumatic manipulator joints
Fig.10 Trajectory comparison of pneumatic manipulator end during drawing a circle
Fig.11 Comparison of X and Y directional trajectories of end and joint trajectories of pneumatic manipulator during drawing a circle
测试者末端位置误差/mm关节转动角度误差/(°)
平均误差均方根误差平均误差均方根误差
X向Y向X向Y向大臂小臂大臂小臂
11.54.31.65.40.81.50.781.3
21.13.51.42.20.71.20.60.9
Table 2 Trajectory tracking error of pneumatic manipulator during drawing a circle
Fig.12 Trajectory comparison of pneumatic manipulator end during rehabilitation training
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