Wearable and convertible passive and active movement training robot: apparatus and method
Abstract
In respects of limitations and problems of motor function training devices, the present invention provides a wearable and convertible device and a method for controlling combined motor function training. This device integrates the functions of both passive stretching function in the existing CPM devices and additional active assistive training function. Without a force/torque sensor element in the device, the present passive stretching control can still be adapted to hypertonia (high muscle tone or stiffness of joints) of the limb, and the present active assistive control can still be implemented for enhancing voluntary active movement from patients. With such present method, much more applications of active assistive training are supported at substantially no additional cost. On the other hand, the safety of such stretching devices without using force/torque sensor is improved, which assists in increasing the efficiency of the device of the present invention.
Claims
exact text as granted — not AI-modified1 - 5 . (canceled)
6 . The training device according to claim 1 , wherein the control portion, without using a force sensor or a torque sensor components, includes one or more of the following means:
7 . The training device according to claim 6 , wherein the movement portion, driven by the gearing means and the motor driving portion, can generate a rotating torque greater than or equal to 15 Nm.
8 . The training device according to claim 6 , wherein the precision of the position sensor is greater than or equal to 500 pulses/rotation.
9 . The training device according to claim 6 , wherein the training device is wearable, the securing portion comprises a securing plate and a first retainer, the first retainer is secured to the securing plate and is used for securing the training device to a human body part.
10 - 15 . (canceled)
16 . The training device according to claim 6 , wherein the training device is a standing device, the securing portion comprises a securing base, a first securing plate for securing the motor driving portion, and a height adjusting mechanism, the height of the first securing plate can be adjusted via the height adjusting mechanism so as to suit different heights of the joints.
17 - 18 . (canceled)
19 . The training device according to claim 6 , wherein the training device further comprises a displayer, which displays data and outcome of limb training.
20 - 25 . (canceled)
26 . The method according to claim 25 , wherein
in which I friction — A stands for a
I
bk
=
{
I
friction
_
A
+
G
_
A
*
Δ
P
,
if
Δ
P
>=
P
0
G
start
*
sin
(
t
)
,
if
Δ
P
<
P
0
I
friction
_
B
+
G
_
B
*
Δ
P
,
if
Δ
P
=
<
-
P
0
component of the driving current for compensating the mechanical inherent resistance when
I
bk
=
{
I
friction
_
A
+
G
_
A
*
Δ
P
,
if
Δ
P
>=
P
0
G
start
*
sin
(
t
)
,
if
Δ
P
<
P
0
I
friction
_
B
+
G
_
B
*
Δ
P
,
if
Δ
P
=
<
P
0
the limb is moving along the defined positive direction, I friction — B stands for a component of the driving current for compensating the mechanical inherent resistance when the limb is moving along the defined negative direction, G A ,G B represent the proportional gain coefficient of the position change per unite time ΔP, G start is a predetermined amplitude, P 0 is a predetermined threshold.
27 . (canceled)
28 . The method according to claim 27 , wherein
V
adjust
=
V
max
*
(
1
-
Filtered
(
I
stretching
)
I
max
_
stretching
)
V
adjust
=
V
max
(
1
-
Filtered
(
I
stretching
)
I
max
_
stretching
)
I max — stretching represents the maximum current allowed in the motor, namely, the allowed maximum output torqued, V max represents the allowed maximum stretching speed, and Filtered (I stretching ) stands for the smooth value of the detected change of current obtained through low-pass filtering.
29 - 30 . (canceled)Join the waitlist — get patent alerts
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