Control method of upper and lower limb rehabilitation training device

Abstract

The invention relates to a control method of an upper and lower limb rehabilitation trainer, which comprises the following steps: a controller calculates muscle strength of a user in real time according to motor current fed back by the rehabilitation trainer, judges behavior states of the user and outputs motor torques under different behavior states to a motor; and the rehabilitation training device is controlled to operate, so that limb rehabilitation training of the user is realized. According to the control method of the upper and lower limb rehabilitation training device, the thrust of a patient on the pedal can be detected in real time, the output torque of the motor is changed in real time accordingly, and an active or passive working mode can be intelligently switched. In the working process of the upper and lower limb rehabilitation training device, the controller smoothly adjusts the output torque of the motor in real time, sudden change of the speed and the torque of the motor is avoided, and pedal vibration felt by a patient is reduced. Due to the fact that the controller can intelligently judge the thrust state of the patient and automatically switch the working modes to adapt to the muscle strength of the user, the patient can obtain the most comfortable use experience under the condition that other people do not need to assist from the side.

Description

technical field [0001] The invention relates to the field of medical rehabilitation, in particular to a method for controlling the output torque of a motor in an active and passive rehabilitation trainer for upper and lower limbs. Background technique [0002] The upper and lower extremity rehabilitation trainer drives the pedals through the motor to assist the patient's movement. It is suitable for patients who have movement disorders due to various reasons and are in the process of recovering their own mobility. [0003] Some patients have very low muscle residual strength, and the muscle strength of such patients is not enough to support them to do simple exercises such as standing, raising legs, walking, etc., which will cause the patients' muscles to not be fully and effectively exercised through usual exercises, and You may mistakenly believe that your muscle strength has been completely lost. For such patients, the upper and lower extremity rehabilitation trainer ass...

AI Technical Summary

Problems solved by technology

[0006] Although the existing upper and lower limb rehabilitation trainers can switch between these two modes, manual operation is required. Patients with upper limb movement disorders often need to fix their upper limbs on the trainer during the training process and cannot operate the trainer by themselves. Need help from another person to switch between power and resistance on the trainer

And during the switching process, the change of the motor motion mode may cause the motor to vibrate or the speed changes suddenly, which will affect the patient's experience

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