REHABILITATION AND TRAINING APPARATUS AND METHOD OF CONTROLLING THE SAME
First Claim
1. A rehabilitation and training apparatus, comprising:
- a multi-axis robotic arm provided with;
a plurality of potentiometers for detecting different positions of the multi-axis robotic arm;
a plurality of force sensors for detecting forces applied to the multi-axis robotic arm; and
a plurality of actuators for driving the multi-axis robotic arm to move a patient'"'"'s limbs and rotate the patient'"'"'s joints;
a position adjustment mechanism being connected at one end to the multi-axis robotic arm for moving the multi-axis robotic arm to a desired operating position;
a movable base being connected to the other end of the position adjustment mechanism to enable convenient moving of the whole rehabilitation and training apparatus to a desired location; and
a control system being electrically connected to the potentiometers and the force sensors for receiving and computing information detected and sent by the potentiometers and force sensors, and driving the actuators based on the computed information to control the multi-axis robotic arm; and
the control system being able to record and analyze the patient'"'"'s rehabilitation data.
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Accused Products
Abstract
A rehabilitation and training apparatus is built based on the empirical law by introducing physical therapists'"'"' experiences into the apparatus to simulate the therapy with hands in the course of rehabilitation. The apparatus includes a multi-axis robotic arm, and a high-precision control system. The control system provides three operating modes, including an active, a passive, and an auxiliary mode; receives and computes information about a patient'"'"'s movements and produced force detected by potentiometers and force sensors provided in the multi-axis robotic arm; and accordingly, drives actuators to apply an aiding force or a resisting force to assist the patient in completing and repeating rehabilitation exercises. The apparatus also includes a humanized operating interface, via which a doctor or a physical therapist may obtain related rehabilitation data for assessment and adjustment of rehabilitation therapeutic courses. A method of controlling the apparatus is also provided.
16 Citations
16 Claims
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1. A rehabilitation and training apparatus, comprising:
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a multi-axis robotic arm provided with; a plurality of potentiometers for detecting different positions of the multi-axis robotic arm; a plurality of force sensors for detecting forces applied to the multi-axis robotic arm; and a plurality of actuators for driving the multi-axis robotic arm to move a patient'"'"'s limbs and rotate the patient'"'"'s joints; a position adjustment mechanism being connected at one end to the multi-axis robotic arm for moving the multi-axis robotic arm to a desired operating position; a movable base being connected to the other end of the position adjustment mechanism to enable convenient moving of the whole rehabilitation and training apparatus to a desired location; and a control system being electrically connected to the potentiometers and the force sensors for receiving and computing information detected and sent by the potentiometers and force sensors, and driving the actuators based on the computed information to control the multi-axis robotic arm; and
the control system being able to record and analyze the patient'"'"'s rehabilitation data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method of controlling a rehabilitation and training apparatus, comprising the following steps:
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providing a rehabilitation and training apparatus having a multi-axis robotic arm, a position adjustment mechanism, a movable base, and a control system; and
the multi-axis robotic being provided with a plurality of potentiometers, force sensors, and actuators electrically connected to the control system;selecting one of an active mode, a passive mode, and an auxiliary mode from the control system; selecting a magnitude of resisting force to be applied by the multi-axis robotic arm when the active mode is selected; the control system receiving information detected and sent by the potentiometers and determining a direction in which a patient moves a limb; and the control system driving the actuators to apply a reverse resisting force to train the patient'"'"'s muscular strength. - View Dependent Claims (14, 15, 16)
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Specification