Mechanism capable of synchronously detecting the force of the user's left and right limbs, device and application thereof

Abstract

The present invention discloses a mechanism capable of synchronously detecting the force applied to a user's left and right limbs. The mechanism comprises a centrally symmetrical handle assembly capable of rotational and / or reciprocating motion, comprising: a limb actuator; a connecting rod connected to the corresponding end-side limb actuator; and a force sensor disposed within the connecting rod, thereby enabling synchronous detection of the force applied to the left and right limbs. The present invention also discloses a limb rehabilitation device and rehabilitation system based on the aforementioned mechanism, as well as a method for assessing, compensating, and training limb muscle strength based on the detected force. This allows for more precise and targeted strengthening training of the affected joint or muscle, improving training effectiveness.

Description

Technical Field

[0001] The present invention relates to a limb rehabilitation device and a corresponding interactive control method, belonging to the technical field of medical devices. Background Art

[0002] Diseases such as stroke often cause patients to suffer from upper and lower limb movement disorders, impairing limb movement and coordination functions. Limb rehabilitation training equipment can help restore their limb movement ability, coordination ability and stability.

[0003] Existing limb rehabilitation training devices generally consist of upper and lower limb movement components, which can help patients complete reciprocating upper and lower limb movements actively, passively, or with assistance, thereby achieving repetitive rehabilitation training and therapeutic effects. Currently, during training, traditional limb rehabilitation training devices typically use flexible components to form a grip with a confined space, and then detect the pressure in the confined space caused by the grip to measure limb force, such as hand grip strength. These devices can only detect one side, such as the "grip force detection mechanism, exercise device with the same, and method of using the same" disclosed in patent CN 109152560 A. This device cannot achieve simultaneous detection of both limbs, resulting in low detection accuracy and efficiency. In particular, during interactive exercise or training, it cannot provide reasonable feedback or compensation, and cannot configure adaptive difficulty levels. Summary of the Invention

[0004] The purpose of the present invention is to provide a mechanism that can synchronously detect the force of the left and right limbs of a user, thereby realizing synchronous detection of the left and right limbs and effectively improving the detection accuracy and efficiency.

[0005] The specific technical solutions adopted are:

[0006] A mechanism capable of synchronously detecting the force of the user's left and right limbs, the handle assembly being centrally symmetrical and capable of rotational and / or reciprocating motion, comprises:

[0007] Limb actuators distributed symmetrically on the left and right sides of the center, used to support and / or fix the patient's limbs, where the limbs can be upper limbs or lower limbs;

[0008] A connecting rod connected to the limb actuator on the corresponding end side (the connecting rod forms a lever arm on which the limb actuator is subjected to force), wherein a force sensor for measuring the force applied to the limb actuator on the corresponding end side is provided in the connecting rod;

[0009] The two ends are respectively connected to the power output shaft of the connecting rod, and are driven by a power mechanism such as a motor.

[0010] In order to further enhance the detection accuracy, the above-mentioned connecting rod is designed as a split structure, including an upper connecting rod and a lower connecting rod, that is, the upper connecting rod is connected to the power output shaft, and the lower connecting rod is connected to the limb actuator at the corresponding end, and the upper connecting rod and the lower connecting rod are connected through a force sensor as an intermediate part.

[0011] Specifically, the connecting ends of the upper connecting rod and the lower connecting rod are both formed with grooves, which, after being aligned with each other, form a space that can accommodate the force sensor and provide it with sufficient deformation clearance. The two force-measuring ends of the force sensor are fixedly connected to the upper connecting rod and the lower connecting rod respectively.

[0012] The present invention also aims to provide a bilateral limb rehabilitation device, comprising the above-mentioned mechanism capable of synchronously detecting the force of the user's left and right limbs, and

[0013] Sensor signal acquisition board: associated with the force sensor, collects the force signal detected by the force sensor and converts it into a digital signal for output;

[0014] Control terminal: receives the limb force information output by the sensor signal acquisition board and performs analysis and processing.

[0015] In order to prevent the output wire of the force sensor from getting tangled when the limb actuator rotates or reciprocates, each force sensor is equipped with a conductive slip ring that can smoothly output the force signal when the force sensor rotates or reciprocates.

[0016] Specifically, the conductive slip ring is sleeved on the power output shaft at the corresponding end and is close to the connecting rod at the corresponding end. The inner ring of the conductive slip ring is wired and rotates or reciprocates synchronously with the power output shaft, limb actuator, and force sensor. The outer ring of the conductive slip ring associated with the inner ring is relatively fixed, and the outgoing line of the outer ring is connected to the sensor signal acquisition board. The force sensor converts the detected force into an electrical signal and then inputs it into the sensor signal acquisition board.

[0017] Furthermore, the present invention also aims to provide a bilateral limb rehabilitation system for patients to perform limb rehabilitation training, which comprises: the above-mentioned limb rehabilitation device; and

[0018] Interactive system: The interactive system presents contextualized interactive tasks or games to the user of the limb rehabilitation device on a display. The user can interact with the tasks or games presented by the interactive system by using the limb rehabilitation device.

[0019] The interaction between the limb rehabilitation device and the task or game presented by the interactive system is manifested in the form of: the content displayed on the display changes in at least one dimension of speed, path, and direction.

[0020] According to the user's limb status, the interactive system controls the interaction between the user and the limb rehabilitation device to work in three modes:

[0021] Passive mode: wherein the limb rehabilitation device guides the user's limb to move along a predetermined path;

[0022] Active mode: the limb rehabilitation device does not provide stimulation to the user, but only controls the movements performed by the user;

[0023] Active form of passive mode: the limb rehabilitation device assists the user's limb movements according to the user's motor skills.

[0024] The present invention also aims to provide a method for evaluating bilateral limb muscle strength, based on the above-mentioned bilateral limb rehabilitation system, so that the control terminal performs the following steps:

[0025] S1: Receives the muscle strength of the user's left and right limbs detected synchronously by the force sensor;

[0026] S2: Evaluate the muscle strength of the user's limbs on both sides and obtain the average muscle strength of the left and right limbs and .

[0027] In order to better reflect the user's limb explosiveness, the specific process of step S2 may be as follows:

[0028] (1) The motor used to drive the power output shaft at a lower speed Rotate, the 10~30rpm;

[0029] (2) The user pushes the limb actuator with his or her maximum force;

[0030] (3) Sampling rate Collect the strength values ​​of the left and right sides of the limbs, ;

[0031] (4) The acquisition time is t, t≥30s, and the acquired data are and , N represents the number of samples in time t;

[0032] (5) Yes and Sort them separately and take the first The large value of The data obtained is and ;

[0033] (6) Yes and Take the average value respectively and get and .

[0034] Of course, in order to better reflect the overall muscle strength level of the user's limbs, the specific process of step S2 can also be as follows:

[0035] 1) The motor used to drive the power output shaft at a lower speed Rotate, the 10~30rpm;

[0036] 2) The user pushes the limb actuator with their maximum strength;

[0037] 3) Based on sampling rate Collect the strength values ​​of the left and right sides of the limbs, ;

[0038] 4) The acquisition time is t, t≥30s, and the acquired data are and , N represents the number of samples in time t;

[0039] 5) Yes and Divide into segments according to time T0, where m is an integer, 0.5s≤T0≤3s, and take the maximum value in each segment to obtain and ;

[0040] 6) Yes and Take the average value respectively and get and .

[0041] In addition, the present invention also aims to provide a bilateral limb muscle strength compensation method, which is also based on the above-mentioned bilateral limb rehabilitation system, so that the control terminal performs the following steps:

[0042] S1: Receives the muscle strength of the user's left and right limbs detected synchronously by the force sensor;

[0043] S2: Evaluate the muscle strength of the user's limbs on both sides and obtain the average muscle strength of the left and right limbs and ;

[0044] S3: Compare the muscle strength of the left and right limbs, and compensate for the weaker limb.

[0045] After compensating the force of the limb on the side with less strength, the process may also include controlling the presentation of the task or game based on the compensated data, thereby visually stimulating the user and reducing the difficulty of the user controlling the task or game.

[0046] More specifically, step S2 of the bilateral limb muscle strength compensation method may adopt step S2 of the above-mentioned bilateral limb muscle strength assessment method, or other methods, as long as the average value of the bilateral limb muscle strength can be obtained.

[0047] The specific process of step S3 can be as follows:

[0048] a: During the user's bilateral limb training based on the bilateral limb rehabilitation system, the sampling rate The strength values ​​of the left and right limbs are collected. and , N represents the number of samples in time t, ; The acquisition time is t, t≥30s;

[0049] b: If , then To make compensation, Otherwise To make compensation, .

[0050] The present invention also aims to provide a method for training limb muscle strength, based on the above-mentioned bilateral limb rehabilitation system, so that the control terminal performs the following steps:

[0051] A: Receives the muscle strength of the user's left and right limbs detected synchronously by the force sensor;

[0052] B: Automatically adjusting at least one of the speed, path, and direction of a task or game presented on a display by an interactive system to a user of the limb rehabilitation device based on the muscle strength of the user's bilateral limbs.

[0053] Of course, before step B, the doctor also includes a step of inputting whether the affected side is the left or right side. Based on the unilateral limb muscle strength of the affected side, step B is executed to achieve unilateral exercise of the affected side.

[0054] In the above-mentioned limb muscle training method, the method for automatically adjusting the speed of the task or game in step B may be:

[0055] (1) The motor used to drive the power output shaft at a lower speed Rotate, the 10~30rpm;

[0056] (2) The user pushes the limb actuator;

[0057] (3) Sampling rate Collect the strength values ​​of the left and right sides of the limbs, ;

[0058] (4) Control the motor speed based on the force values ​​on the left and right sides of the limbs: Assume that the force values ​​on the left and right sides of the limbs collected each time are and , the speed of the motor ,like ,but ,like ,but ,in , is the maximum speed output by the motor, which is a constant. It is the difficulty coefficient corresponding to each difficulty level, which is a constant.

[0059] The method for automatically adjusting the speed of the task or game in step B can also be:

[0060] (1) The motor used to drive the power output shaft at a lower speed Rotate, the 10~30rpm;

[0061] (2) The user pushes the limb actuator;

[0062] (3) Sampling rate Collect the strength values ​​of the left and right sides of the limbs, ;

[0063] (4) Control the motor speed based on the strength value of the affected limb: Assume that the strength values ​​of the left and right sides of the limbs collected each time are and , when the affected side is the right side, then , and when the affected side is the left side,

[0064] , and, for the affected side, if , ,like , ,in , is the maximum speed output by the motor, which is a constant. is the difficulty coefficient corresponding to each difficulty level, which is a constant.

[0065] The method for automatically adjusting the direction of the task or game in step B can be:

[0066] (1) Sampling rate Collect the strength values ​​of the left and right sides of the limbs, ;

[0067] (2) Assume that the power value obtained each time is and ;

[0068] (3) When , Is a constant, then the control task or the bicycle-like driving prop in the game turns left. If , then turn right.

[0069] Alternatively, the method for automatically adjusting the direction of the task or game in step B is as follows:

[0070] (1) Sampling rate Collect the strength values ​​of the left and right sides of the limbs, ;

[0071] (2) Assume that the power value obtained each time is and ;

[0072] (3) When the strength value of the affected side is less than 80% of the strength value of the healthy side, calculate the relative strength value of the left and right sides of the limb , , , ,like , then turn left, if , then make a right turn, , are constants, and .

[0073] In the method of adjusting the direction of a task or game, and It can be a fixed value. and It can also be the average of the muscle strength of the left and right limbs and .

[0074] Furthermore, the method for automatically adjusting the path of the task or game in step B of the limb muscle training method may be:

[0075] On the basis of direction control, we further control the turning angle to achieve path control. The specific steps are as follows:

[0076] Take the front of the bicycle-like driving prop in the task or game as 0°, the left deflection as a positive angle, and the right deflection as a negative angle. Indicates that the unit is the angle system;

[0077] When the left turn conditions are met, ;

[0078] When the right turn conditions are met, ,

[0079] in, is a constant, ranging from 0.1 to 1. is a constant, ranging from 10° to 80°.

[0080] The present invention further aims to provide a method for adjusting the difficulty level of limb muscle strength training, based on the above-mentioned bilateral limb rehabilitation system, so that the control terminal performs the following steps:

[0081] ① The motor used to drive the power output shaft at a lower speed Rotate, the 10~30rpm;

[0082] ②The user pushes the limb actuator;

[0083] ③ Based on sampling rate Collect the real-time speed of the motor, and each collection meets the time After that, the collected real-time speed data of the motor is obtained. ;

[0084] ④Yes Sort and take the first The large value of , and the data is ,right Taking the average value, we get ,like , is a constant, ranging from 40 to 80 rpm, the difficulty level of training increases by one level; if , If the speed is a constant of 10~30rpm, the difficulty level of training will be reduced by one level.

[0085] Beneficial effects: Compared with the prior art, the present invention has the following advantages:

[0086] (1) By placing the force sensor in the connecting rod instead of directly in the limb actuator, the torque is used to detect the force applied by the user to the limb actuator, which has high accuracy. The limb actuator has a simple structure, strong versatility, and is easy to replace, which also greatly reduces the product cost.

[0087] (2) It achieves synchronous and reliable detection of the left and right limbs with strong real-time performance and high precision, providing a good data foundation for efficient interaction between subsequent patients and interactive systems;

[0088] (3) The intelligent control of the interactive system is realized, which can timely and effectively judge the strength of the affected side and limbs; by compensating for the side with less strength and automatically adjusting the difficulty of tasks or games, it can effectively encourage patients to use the affected side more for exercise, increase the patient's participation in the affected side, improve the accuracy of training, and achieve better training results. BRIEF DESCRIPTION OF THE DRAWINGS

[0089] Figure 1 A schematic diagram of the structure of the mechanism capable of synchronously detecting the forces of the left and right limbs of a user according to the present invention;

[0090] Figure 2 This is a schematic structural diagram of the force sensor used in the present invention;

[0091] Figure 3 Schematic diagram of the structure of the connecting rod of the present invention;

[0092] Figure 4 This is a schematic diagram of the exploded structure of the connecting rod of the present invention;

[0093] Figure 5 It is a structural diagram of the grip under stress;

[0094] Figure 6 The schematic diagram focuses on showing the conductive slip ring structure;

[0095] Figure 7 Schematic diagram of the process of the limb muscle strength assessment method of the present invention;

[0096] Figure 8 This is a flow chart of an embodiment of the limb muscle strength compensation method of the present invention;

[0097] Figure 9 This is a flow chart of another embodiment of the limb muscle strength compensation method of the present invention;

[0098] Figure 10 Schematic diagram of the process of the limb muscle strength training method of the present invention;

[0099] Figure 11 The figure is a flow chart of the method for adjusting the difficulty level of limb muscle strength training according to the present invention.

[0100] The main reference numerals in the figure mean:

[0101] 1. Rack

[0102] 2. Motor

[0103] 3. Limb Actuators

[0104] 4. Sensor signal acquisition board

[0105] 5. Conductive slip ring

[0106] 6. Upper connecting rod

[0107] 7. Force sensor

[0108] 71. Matrix

[0109] 72. Measuring end a

[0110] 73. Measuring end b

[0111] 74. Gap

[0112] 8. Lower link

[0113] 9. Grip

[0114] 10. Screws

[0115] 11. Washer

[0116] 12. Upper connecting rod force sensor slot

[0117] 13. Lower link force sensor slot

[0118] 14. Force sensor leads

[0119] 15. Force sensor threaded hole

[0120] 16. Grip shaft

[0121] 17. Slip ring outer ring

[0122] 18. Inner ring of slip ring

[0123] 19. Slip ring inlet

[0124] 20. Slip ring outlet. DETAILED DESCRIPTION

[0125] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0126] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0127] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0128] In the description of the present invention, it should be noted that the terms "left," "right," "left side," "right side," "both sides," "both ends," "upper," "lower," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the inventive product is typically placed when in use. These terms are intended solely to facilitate the description of the present invention and to simplify the description, and are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0129] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed" and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, or electrical connections; direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0130] In the present invention, unless otherwise expressly specified or limited, a first feature being above or below a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being above, above, and above the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being below, below, and below the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0131] In this embodiment, since it involves a left-right centrally symmetrical structure, a method of having the left and right sides have the same structure is usually adopted. Therefore, in the following embodiments, some structures are only exemplified on one side, and the other side is not repeated.

[0132] Figure 1 This is a schematic diagram of the structure of the mechanism capable of synchronously detecting the forces of the left and right limbs of a user according to the present invention.

[0133] like Figure 1As shown: the mechanism that can synchronously detect the force of the user's left and right limbs includes a power output shaft. In this embodiment, the power output shaft is driven by a motor 2. Of course, it can also be driven by other power mechanisms, such as a cylinder, an oil cylinder, a screw, etc., and the driving mechanism such as the motor 2 can be arranged on a relatively fixed frame 1. The frame 1 provides a support point and / or supporting force for the entire mechanism. Of course, the frame 1 can be permanently installed to another supporting structure or surface (such as a wall, a ground or a table or the like).

[0134] The two ends of the power output shaft are respectively connected to a connecting rod with the same or different structure. In this embodiment, the connecting rods have the same structure and are defined as the left connecting rod and the right connecting rod respectively. The center of the power output shaft is used as the center of symmetry, and the left connecting rod and the right connecting rod are centrally symmetrical, that is, they are arranged 180° symmetrically.

[0135] The device also includes limb actuators 3, which are primarily used to support and / or secure the user's (patient's) limbs. These actuators are located on either side of the symmetrical center and are fixedly connected to connecting rods at opposite ends (on the same side). "Limb" here refers to any of the four limbs, which can be either upper or lower limbs. In this embodiment, the upper limbs are used as examples; the lower limbs share the same principles and are not described in detail. However, this does not mean that the lower limbs are unsuitable for the mechanisms, devices, or systems described herein. The limb actuators 3 employed in this invention are grips 9. Of course, they can also be other hand or upper limb fixtures with similar functions (securing the hand and receiving hand force) in different shapes and forms. In this embodiment, both left and right grips 9 have a generally upright or vertical orientation, and their longitudinal axes are parallel to each other. In alternative embodiments, the left and right grips 9 need not be parallel components and can extend toward or away from each other at an angle, or they can be coaxially aligned, with their longitudinal axes extending along a common axis. Furthermore, in this embodiment, the left and right grips 9 are substantially cylindrical. However, it should be understood that in alternative embodiments, the left and right handles may have uneven cross-sectional shapes over their lengths, and the cross-sectional shapes may not necessarily be circular. In use, the left and right handles are configured to be grasped by the thumbs and / or palms of the user's left and right hands.

[0136] In order to synchronously and more accurately collect the strength of the left and right limbs, a force sensor 7 for measuring the force applied to the limb actuator 3 at the corresponding end is further provided in the connecting rod. Figure 2 This is a schematic diagram of the structure of the force sensor used in the present invention. Figure 2As shown: The force sensor 7 used in this embodiment is a common sensor in the prior art, which has a base 71, and measuring ends on both sides, namely measuring end a72 and measuring end b73. There is a small gap 74 between the corresponding measuring ends and the base. When the measuring ends are acted upon by a force, they will deform upward or downward. Within the measuring range of the force sensor 7, the amplitude of the deformation does not exceed the width of the gap 74.

[0137] The limb actuator 3, power output shaft, connecting rod, and force sensor 7 together constitute a handle assembly that can realize rotation and / or reciprocating motion, and the overall structure is a centrally symmetrical structure (the structure only needs to be roughly symmetrical, and the main purpose is to facilitate operation and operation for the user (patient) during exercise).

[0138] In order to further enhance the detection accuracy and provide sufficient deformation space for the force sensor 7, the connecting rod is designed as a split structure. Figure 3 Schematic diagram of the structure of the connecting rod of the present invention, Figure 4 Schematic diagram of the explosion structure of the connecting rod of the present invention. Figure 3 and Figure 4As shown, the connecting rod comprises an upper connecting rod 6 and a lower connecting rod 8. Specifically, the upper connecting rod 7 is connected to the power output shaft, while the lower connecting rod 8 is connected to the limb actuator 3 at the corresponding end. The upper and lower connecting rods 6 and 8 are connected via a force sensor 7 as an intermediate component. Specifically, the connecting ends of the upper and lower connecting rods 6 and 8 are each formed with a groove. When aligned with each other, they form a space that can accommodate the force sensor 7 with sufficient clearance for deformation. The two force-measuring ends of the force sensor 7 are fixedly connected to the upper and lower connecting rods 6 and 8, respectively. Specifically, the upper connecting rod 6 is slotted inwardly along its length from one end surface, forming a fork-like structure at its end. A through-hole is formed through the thickness of the upper connecting rod 6, through which the power output shaft is inserted. The fork-like structure of the upper connecting rod 6 is then clamped with bolts or the like, achieving the connection between the upper connecting rod 6 and the power output shaft. Of course, the upper connecting rod 6 can also be connected to the power output shaft in other ways, achieving a nearly perpendicular connection and synchronous rotation or reciprocating motion. An upper connecting rod force sensor slot 12 is formed on the inner side of the distal power output shaft end of the upper connecting rod 6 opposite the lower connecting rod 8. The outer edge of the upper connecting rod force sensor slot 12 extends forward to form an upper connecting arm connected to the force sensor 7. A force sensor threaded hole 15 is formed in the upper connecting arm. The upper connecting arm is connected to the measuring end a72 of the force sensor 7 by locking a screw 10 or the like into the force sensor threaded hole 15. A washer 11 is also provided on the side where the screw 10 is locked into the upper connecting arm. For force measurement, the hole corresponding to the sensor threaded hole of the upper connecting arm is generally selected near the center of the measuring end a72. Similarly, one end of the lower link 8 forms a sleeve-like structure, which is sleeved on the grasping shaft 16 of the connecting end of the handle 9, and the lower link 8 also forms a lower link force sensor groove 13 at the end far from the handle 9, and the direction in which the outer edge of the lower link force sensor groove 13 extends forward is exactly opposite to the direction in which the outer edge of the upper link force sensor groove 12 extends forward, forming a centrally symmetrical structure as a whole. The lower connecting arm formed by the outer edge of the lower link force sensor groove 13 is connected to the measuring end b73 of the force sensor 7 by screws or the like, that is, the upper link 6 and the lower link 8 are distributed on both sides of the force sensor, and the force sensor 7 is embedded in the groove formed by the upper link 6 and the lower link 8. The upper link 6 and the lower link 8 are connected by the force sensor 7, and the upper link 6 and the lower link 8 have no direct fixed relationship, so that the force sensor 7 can fully deform and produce displacement, thereby accurately measuring the force applied by the hand.

[0139] When the above-mentioned mechanism is applied to a bilateral limb rehabilitation device, its operation mode is as follows: the patient holds the left and right handles with his left and right hands respectively, and rotates both hands at the same time to achieve synchronous detection of the strength values ​​of the patient's left and right hands, which is convenient for subsequent judgment and analysis of the patient's affected side and promotion intervention of exercise.

[0140] Figure 5 It is a structural diagram of the handle under stress.

[0141] like Figure 5 As shown in the figure, when the user's hand grasps handle 9 and applies force, the force is defined as F, which acts at the center of the handle shaft. According to the equivalence principle of rigid body forces, this force is equivalent to the force acting at the center of the force sensor threaded hole 15. Therefore, the torque M = F × L, where L is the distance between the center of the handle shaft and the center of the force sensor threaded hole 15. Because force sensor 7 can only measure force, the torque M can be ignored, so the force measured by force sensor 7 can be considered as F. During actual detection, the power output shaft runs at a relatively low speed, which may cause some interference to the force F detected by force sensor 7. This problem can be solved through noise removal preprocessing.

[0142] When applied to a bilateral limb rehabilitation device, the aforementioned mechanism, in addition to the aforementioned mechanism capable of simultaneously detecting the forces acting on the user's left and right limbs, also includes a sensor signal acquisition board 4 and a control terminal (not shown). The sensor signal acquisition board 4 is associated with the force sensor 7 within the mechanism, for example, via a cable connection. Alternatively, the connection can be wireless, such as providing a wireless signal transmitting terminal at the force sensor and a wireless signal receiving terminal on the sensor signal acquisition board. The control terminal is primarily used to receive the limb force information output by the sensor signal acquisition board 4 and analyze and process it, providing a basis for improving motion control. In this embodiment, the force sensor 7 converts the detected force into an electrical signal, which is then output via a cable to the sensor signal acquisition board 4 for signal processing. After filtering and amplification, the resulting value is input to the control terminal (host computer) to control the bilateral limb rehabilitation device. For example, this can determine the affected side, when the left hand is exerting force, when the right hand is exerting force, the magnitude of the force, and whether force compensation is applied to the affected side with less force. Furthermore, it can control the difficulty level of the interactive system. Specific applications will be described in detail later.

[0143] In this embodiment, the sensor signal acquisition board 4 and the force sensor 7 in the mechanism are connected by wire. Therefore, in order to avoid the problem of the output line of the force sensor 7 getting entangled when the limb actuator (grip) rotates or reciprocates, each force sensor (left force sensor and right force sensor) is equipped with a conductive slip ring that can smoothly output the force signal when the force sensor 7 rotates or reciprocates.

[0144] Figure 6 The schematic diagram focuses on showing the conductive slip ring structure.

[0145] like Figure 6As shown: the conductive slip ring is sleeved on the power output shaft at the corresponding end and is close to the connecting rod at the corresponding end. It includes a slip ring inner ring 18, a slip ring outer ring 17, a slip ring inlet line 19 and a slip ring outlet line 20. The slip ring outer ring 17 is sleeved on the slip ring inner ring 18. The slip ring inlet line 19 is connected to the slip ring inner ring 18. Correspondingly, the slip ring outlet line 20 is connected to the slip ring outer ring 17. During operation, the slip ring inlet line 19 and the slip ring inner ring 18 rotate or reciprocate synchronously with the power output shaft, the limb actuator, and the force sensor 7. The inner ring 18 of the slip ring is relatively fixed, and the slip ring output line 20 is connected to the circuit board 4, and the force detected by the force sensor 7 is input to the sensor signal acquisition board 4, which filters and amplifies the force, and inputs the numerical value into the control terminal (host computer). The setting of the conductive slip ring structure can effectively ensure that during the continuous rotation of the force sensor 7 and the limb actuator 3, the connection with the sensor signal acquisition board 4 is not interrupted and the connecting line is not entangled, thereby reliably measuring the force acting on the limb actuator 3.

[0146] On the basis of the above-mentioned bilateral limb rehabilitation device, interactive training and limb rehabilitation can also be carried out, such as: providing a bilateral limb rehabilitation system, which adds an interactive system on the basis of the above-mentioned bilateral limb rehabilitation device.

[0147] The interactive system presents a situational interactive task or game to a user of the limb rehabilitation device on a display, and the user can interact with the task or game presented by the interactive system by using the limb rehabilitation device.

[0148] Specifically, the interaction between the limb rehabilitation device and the task or game presented by the interactive system is manifested by changes in the content displayed on the display in at least one dimension: speed, path, or direction. The present invention will describe changes in these three dimensions in detail in the following embodiments.

[0149] In addition, the present invention can also operate in three modes according to the user's limb status by utilizing an interactive system to control the interaction between the user and the limb rehabilitation device.

[0150] For example: Passive mode: the limb rehabilitation device guides the user's limbs to move along a predetermined path, such as the control terminal in the interactive system controls the speed of the motor to realize the rotation of the power output shaft, thereby driving the user's hands restricted on the handle to rotate; Active mode: the limb rehabilitation device does not provide incentives to the user, but only controls the movements performed by the user. Both sides of the user's limbs can provide effective force to cause the power output shaft to rotate, thereby realizing interaction between the user and the interactive system and completing tasks or games; Active form of passive mode: the limb rehabilitation device assists the user's limb movements according to the user's motor skills. When it is detected that the force provided by the user is between passive and active, the user's rehabilitation training is achieved with the cooperation of the user's own force and the force actively provided by the power device.

[0151] In some embodiments, the interactive system may also include prompts / reminders instructing the patient to perform specific actions using the rehabilitation system. These prompts / reminders may include one or more visual, auditory, and / or tactile elements. For example, a display device may show the patient moving their left hand (e.g., opening, closing, rotating, moving, etc.), or a voice prompt may be provided via a speaker.

[0152] For stroke patients with impaired limb motor control, the first thing that may need to be done is a strength assessment to determine whether the patient is a good candidate for treatment based on a bilateral limb rehabilitation system.

[0153] The following assessment, compensation, and training of limb muscle strength are all based on the above-mentioned bilateral limb rehabilitation system and will not be cited again in the specific description.

[0154] Figure 7 Schematic diagram of the process of the limb muscle strength assessment method of the present invention.

[0155] like Figure 7 As shown in Figure 1, the following steps are typically taken during a strength assessment of a patient's left and right upper limbs:

[0156] S1: Receives the muscle strength of the user's left and right limbs detected synchronously by the force sensor;

[0157] S2: Evaluate the muscle strength of the user's limbs on both sides and obtain the average muscle strength of the left and right limbs and :

[0158] (1) The motor used to drive the power output shaft at a lower speed Rotate, the 10~30rpm;

[0159] (2) The user pushes the limb actuator with his or her maximum force;

[0160] (3) Sampling rate Collect the strength values ​​of the left and right sides of the limbs, In this embodiment Hz;

[0161] (4) The acquisition time is t, t≥30s, in this embodiment t=60s, and the acquired data are and , N represents the number of samples in time t;

[0162] (5) Yes and Sort them separately and take the first The large value of The data obtained is and ;

[0163] (6) Yes and Take the average value respectively and get and .

[0164] In the above embodiment, the main purpose is to better reflect the user's level of limb explosiveness.

[0165] Of course, if the main purpose is to better reflect the overall muscle strength level of the user's limbs, then step (5) in step S2 in the above embodiment can be changed to step 5). and Segmentation is performed, and the time T0 is divided into m segments, where m is an integer, 0.5s≤T0≤3s, and in this embodiment, T0=1s. The maximum value of each segment is obtained. and , the other steps remain the same, thus obtaining another embodiment of upper limb strength assessment.

[0166] Figure 8 This is a flow chart of an embodiment of the limb muscle strength compensation method of the present invention.

[0167] like Figure 8 As shown: The present invention also provides the following embodiment of a method for compensating bilateral limb muscle strength (based on the explosive power level of the user's upper limbs), the main process of which is: the control terminal executes the following steps:

[0168] S1: Receives the muscle strength of the user's left and right limbs detected synchronously by the force sensor;

[0169] S2: Evaluate the muscle strength of the user's limbs on both sides and obtain the average muscle strength of the left and right limbs and :

[0170] (1) The motor used to drive the power output shaft at a lower speed Rotate, the is 10~30rpm, in this embodiment =10rpm;

[0171] (2) The user pushes the limb actuator with his or her maximum force;

[0172] (3) Sampling rate Collect the strength values ​​of the left and right sides of the limbs, In this embodiment Hz;

[0173] (4) The acquisition time is t, t≥30s, t=60s, and the acquired data are and , N represents the number of samples in time t;

[0174] (5) Yes and Sort them separately and take the first The large value of The data obtained is and ;

[0175] (6) Yes and Take the average value respectively and get and ;

[0176] S3: Compare the muscle strength of the left and right limbs, and compensate for the weaker limb:

[0177] a: During the user's bilateral limb training based on the bilateral limb rehabilitation system, the sampling rate The strength values ​​of the left and right limbs are collected. and , N represents the number of samples in time t, In this embodiment Hz; the acquisition time is t, t≥30s, in this embodiment t=60s;

[0178] b: If , then To make compensation, Otherwise To make compensation, .

[0179] Figure 9 This is a flow chart of another embodiment of the limb muscle strength compensation method of the present invention.

[0180] like Figure 9 As shown, another embodiment of compensation for bilateral limb muscle strength is (based on the overall muscle strength level of the upper limbs), and the specific compensation method is:

[0181] S1: Receives the muscle strength of the user's left and right limbs detected synchronously by the force sensor;

[0182] S2: Evaluate the muscle strength of the user's limbs on both sides and obtain the average muscle strength of the left and right limbs and :

[0183] 1) The motor used to drive the power output shaft at a lower speed Rotate, the is 10~30rpm, in this embodiment =10rpm;

[0184] 2) The user pushes the limb actuator with their maximum strength;

[0185] 3) Based on sampling rate Collect the strength values ​​of the left and right sides of the limbs, In this embodiment Hz;

[0186] 4) The acquisition time is t, t≥30s, in this embodiment t=60s, the acquired data are and , N represents the number of samples in time t;

[0187] 5) Yes and Divide into segments according to time T0, where m is an integer, 0.5s≤T0≤3s, T0=1s, and take the maximum value in each segment to obtain and ;

[0188] 6) Yes and Take the average value respectively and get and ;

[0189] S3: Compare the muscle strength of the left and right limbs, and compensate for the weaker limb:

[0190] a: During the user's bilateral limb training based on the bilateral limb rehabilitation system, the sampling rate The strength values ​​of the left and right limbs are collected. and , N represents the number of samples in time t, In this embodiment Hz; the acquisition time is t, t≥30s, in this embodiment t=60s;

[0191] b: If , then To make compensation, Otherwise To make compensation, .

[0192] After compensating the force of the limb on the side with less strength, the process may also include controlling the presentation of the task or game based on the compensated data, thereby visually stimulating the user and reducing the difficulty of the user controlling the task or game.

[0193] Figure 10 The figure is a flow chart of the limb muscle strength training method of the present invention.

[0194] like Figure 10 As shown: The present invention further provides an embodiment of a method for training limb muscle strength (focusing on speed), specifically: the control terminal executes the following steps:

[0195] A: Receives the muscle strength of the user's left and right limbs detected synchronously by the force sensor;

[0196] B: Automatically adjust the speed of the task or game presented by the interactive system on the display to the user of the limb rehabilitation device based on the muscle strength of the user's two limbs:

[0197] (1) The motor used to drive the power output shaft at a lower speed Rotate, the is 10~30rpm, in this embodiment =10rpm;

[0198] (2) The user pushes the limb actuator;

[0199] (3) Sampling rate Collect the strength values ​​of the left and right sides of the limbs, In this embodiment Hz;

[0200] (4) Control the motor speed based on the force values ​​on the left and right sides of the limbs: Assume that the force values ​​on the left and right sides of the limbs collected each time are and , the speed of the motor ,like ,but ,like ,but ,in , is the maximum speed output by the motor, which is a constant. is the difficulty coefficient corresponding to each difficulty level, which is a constant. In the specific embodiment, when training the upper limbs, =100rpm, during lower limb training =120rpm, =10rpm, Depends on the difficulty level, 10 00, changes according to the difficulty level, divided into 20 difficulty levels, the first 10 levels, 10 , linear value in the middle, 20 in the last 10 levels 00, intermediate linear value.

[0201] Regarding the speed adjustment, if the doctor inputs the affected side as the left or right side in advance, unilateral exercise on the affected side can also be achieved. The present invention also provides steps for exercising the unilateral limb of the affected side separately:

[0202] A: Receives the muscle strength of the user's left and right limbs detected synchronously by the force sensor;

[0203] B: Automatically adjust the speed of the task or game presented by the interactive system on the display to the user of the limb rehabilitation device based on the muscle strength of the user's two limbs:

[0204] (1) The motor used to drive the power output shaft at a lower speed Rotate, the is 10~30rpm, in this embodiment =10rpm;

[0205] (2) The user pushes the limb actuator;

[0206] (3) Sampling rate Collect the strength values ​​of the left and right sides of the limbs, In this embodiment Hz;

[0207] (4) Control the motor speed based on the strength value of the affected limb: Assume that the strength values ​​of the left and right sides of the limbs collected each time are and , when the affected side is the right side, then , and when the affected side is the left side, , and, for the affected side, if , ,like , ,in , is the maximum speed output by the motor, which is a constant. is the difficulty coefficient corresponding to each difficulty level, which is a constant. In the specific embodiment, when training the upper limbs, =100rpm, during lower limb training =120rpm, =10rpm, Depends on the difficulty level, 10 00, changes according to the difficulty level, divided into 20 difficulty levels, the first 10 levels, 10 , linear value in the middle, 20 in the last 10 levels 00, intermediate linear value.

[0208] The present invention also provides an embodiment of a method for training limb muscle strength (direction-oriented), specifically comprising: controlling a terminal to execute the following steps:

[0209] A: Receives the muscle strength of the user's left and right limbs detected synchronously by the force sensor;

[0210] B: Automatically adjust the direction of the task or game presented by the interactive system on the display to the user of the limb rehabilitation device based on the muscle strength of the user's two limbs:

[0211] (1) Sampling rate Collect the strength values ​​of the left and right sides of the limbs, In this embodiment Hz;

[0212] (2) Assume that the power value obtained each time is and ;

[0213] (3) When , is a constant, in this embodiment = 30N, then the control task or the bicycle-like driving prop in the game turns left. If , then turn right.

[0214] Regarding the direction, the present invention also provides another embodiment, specifically:

[0215] A: Receives the muscle strength of the user's left and right limbs detected synchronously by the force sensor;

[0216] B: Automatically adjust the direction of the task or game presented by the interactive system on the display to the user of the limb rehabilitation device based on the muscle strength of the user's two limbs:

[0217] (1) Sampling rate Collect the strength values ​​of the left and right sides of the limbs, In this embodiment Hz;

[0218] (2) Assume that the power value obtained each time is and ;

[0219] (3) When the strength value of the affected side is less than 80% of the strength value of the healthy side, calculate the relative strength value of the left and right sides of the limb , , , ,like , then turn left, if , then make a right turn, , are constants, and In this embodiment, 2.

[0220] In the method of adjusting the direction of a task or game, and It can be a fixed value. and It can also be the average of the muscle strength of the left and right limbs and In this embodiment, the average value of the muscle strength of the left and right limbs is selected. and .

[0221] Similarly, the present invention also provides an embodiment of a limb muscle strength training method (focusing on a path), specifically, the control terminal executes the following steps:

[0222] A: Receives the muscle strength of the user's left and right limbs detected synchronously by the force sensor;

[0223] B: Automatically adjust the path of the task or game presented by the interactive system to the user of the limb rehabilitation device on the display based on the muscle strength of the user's two limbs (based on direction control, further control the turning angle to achieve path control):

[0224] Take the front of the bicycle-like driving prop in the task or game as 0°, the left deflection as a positive angle, and the right deflection as a negative angle. Indicates that the unit is the angle system;

[0225] When the left turn conditions are met, ;

[0226] When the right turn conditions are met, ,

[0227] in, is a constant, ranging from 0.1 to 1. In this embodiment, , is a constant, ranging from 10° to 80°. In this embodiment, .

[0228] Figure 11 The figure is a flow chart of the method for adjusting the difficulty level of limb muscle strength training according to the present invention.

[0229] like Figure 11 As shown: By controlling the speed, direction, and path of the tasks or games described in the above embodiments, the present invention also provides an embodiment of a method for adjusting the difficulty level of limb muscle training, specifically: controlling the terminal to execute the following steps:

[0230] ① The motor used to drive the power output shaft at a lower speed Rotate, the is 10~30rpm. In this embodiment, ;

[0231] ②The user pushes the limb actuator;

[0232] ③ Based on sampling rate Collect the real-time speed of the motor, and each collection meets the time In this embodiment, after T(s)=60s, the collected real-time speed data of the motor is obtained. ;

[0233] ④Yes Sort and take the first The large value of In this embodiment, r=5, and the data is ,right Taking the average value, we get ,like , is a constant, which is 40~80rpm. , the difficulty level of the training increases by one level; if , is a constant, which is 10~30rpm. In this embodiment , the difficulty level of training decreases.

[0234] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the above embodiments do not limit the present invention in any form, and any technical solutions obtained by equivalent replacement or equivalent transformation fall within the scope of protection of the present invention.

Claims

1. A mechanism capable of synchronously detecting the force of the user's left and right limbs, characterized in that: The handle assembly is centrally symmetrical and can realize rotation and / or reciprocating motion, including: Limb actuators distributed symmetrically on the left and right sides of the center and used for supporting and / or fixing the patient's limbs; A connecting rod connected to the limb actuator on the corresponding end side, wherein a force sensor for measuring the force applied to the limb actuator on the corresponding end side is provided in the connecting rod; A power output shaft having two ends respectively connected to the connecting rod; The connecting rod is a split structure, including an upper connecting rod and a lower connecting rod, and the upper connecting rod and the lower connecting rod are connected through a force sensor as an intermediate piece. The connecting ends of the upper connecting rod and the lower connecting rod are both formed with grooves, which form a space that can accommodate the force sensor and have sufficient deformation clearance after being matched with each other. The method for assessing bilateral limb muscle strength is: (1) The motor used to drive the power output shaft at a lower speed Rotate, the 10~30rpm; (2) The user pushes the limb actuator with his or her maximum force; (3) Sampling rate Collect the strength values ​​of the left and right sides of the limbs, ; (4) The acquisition time is t, t≥30s, and the acquired data are and , N represents the number of samples in time t; (5) Yes and Sort or segment them separately, When sorting: take the first The large value of The data obtained is and , When segmenting: divide the time into m segments according to T0, where m is an integer, 0.5s≤T0≤3s, and take the maximum value of each segment to obtain and ; (6) Yes and Take the average value respectively and get and .

2. The mechanism capable of synchronously detecting the force of the user's left and right limbs according to claim 1, characterized in that: The two force measuring ends of the force sensor are fixedly connected to the upper connecting rod and the lower connecting rod respectively.

3. Bilateral limb rehabilitation device, characterized in that: comprising the mechanism according to claim 1 or 2, and Sensor signal acquisition board: associated with the force sensor, collects the force signal detected by the force sensor and converts it into a digital signal for output; Control terminal: receives the limb force information output by the sensor signal acquisition board and performs analysis and processing.

4. The bilateral limb rehabilitation device according to claim 3, characterized in that: Each force sensor is equipped with a conductive slip ring that can smoothly output force signals when the force sensor rotates or reciprocates.

5. The bilateral limb rehabilitation device according to claim 4, characterized in that: The conductive slip ring is sleeved on the power output shaft at the corresponding end and is close to the connecting rod at the corresponding end. The inner ring of the conductive slip ring is connected to the power output shaft, the limb actuator, and the force sensor. The outer ring of the conductive slip ring associated with the inner ring is relatively fixed, and the outgoing line of the outer ring is connected to the sensor signal acquisition board. The force sensor converts the detected force into an electrical signal and then inputs it into the sensor signal acquisition board.

6. Bilateral limb rehabilitation system, characterized in that: include: The limb rehabilitation device according to any one of claims 3 to 5; as well as Interactive system: The interactive system presents contextualized interactive tasks or games to the user of the limb rehabilitation device on a display. The user can interact with the tasks or games presented by the interactive system by using the limb rehabilitation device.

7. The bilateral limb rehabilitation system according to claim 6, characterized in that: The interaction between the limb rehabilitation device and the task or game presented by the interactive system is manifested in the form of: the content displayed on the display changes in at least one dimension of speed, path, and direction.

8. The bilateral limb rehabilitation system according to claim 6 or 7, characterized in that: The interactive system controls the interaction between the user and the limb rehabilitation device and operates in three modes: Passive mode: wherein the limb rehabilitation device guides the user's limb to move along a predetermined path; Active mode: the limb rehabilitation device does not provide stimulation to the user, but only controls the movements performed by the user; Active form of passive mode: the limb rehabilitation device assists the user's limb movements according to the user's motor skills.

9. A method for evaluating bilateral limb muscle strength, characterized in that: Based on the bilateral limb rehabilitation system described in claims 6-8, the control terminal executes the following steps: S1: Receives the muscle strength of the user's left and right limbs detected synchronously by the force sensor; S2: Evaluate the muscle strength of the user's limbs on both sides.

10. A method for compensating bilateral limb muscle strength, characterized in that: Based on the bilateral limb rehabilitation system described in claims 6-8, the control terminal executes the following steps: S1: Receives the muscle strength of the user's left and right limbs detected synchronously by the force sensor; S2: Evaluate the muscle strength of the user's limbs on both sides and obtain the average muscle strength of the left and right limbs and ; S3: Compare the muscle strength of the left and right limbs, and compensate for the weaker limb.

11. A method for compensating bilateral limb muscle strength according to claim 10, characterized in that: The method also includes controlling the presentation content of the task or game based on the compensated data, thereby visually stimulating the user and reducing the difficulty of the user controlling the task or game.

12. A method for compensating bilateral limb muscle strength according to claim 10 or 11, characterized in that: The specific process of step S3 is as follows: a: During the user's bilateral limb training based on the bilateral limb rehabilitation system, the sampling rate The strength values ​​of the left and right limbs are collected. and , N represents the number of samples in time t, ; The acquisition time is t, t≥30s; b: If , then To make compensation, Otherwise To make compensation, .

13. A method for training limb muscle strength, characterized in that: Based on the bilateral limb rehabilitation system described in claims 6-8, the control terminal executes the following steps: A: Receives the muscle strength of the user's left and right limbs detected synchronously by the force sensor; B: Automatically adjusting at least one of the speed, path, and direction of a task or game presented on a display by an interactive system to a user of the limb rehabilitation device based on the muscle strength of the user's bilateral limbs.

14. A method for training limb muscle strength according to claim 13, characterized in that: Before step B, the method further includes a step in which the doctor inputs whether the affected side is the left or right side, and step B is executed based on the unilateral limb muscle strength of the affected side.

15. The method for training limb muscle strength according to claim 13, characterized in that: The method for automatically adjusting the speed of the task or game in step B is: (1) The motor used to drive the power output shaft at a lower speed Rotate, the 10~30rpm; (2) The user pushes the limb actuator; (3) Sampling rate Collect the strength values ​​of the left and right sides of the limbs, ; (4) Control the motor speed based on the force values ​​on the left and right sides of the limbs: Assume that the force values ​​on the left and right sides of the limbs collected each time are and , the speed of the motor ,like ,but ,like ,but ,in , is the maximum speed output by the motor, which is a constant. It is the difficulty coefficient corresponding to each difficulty level, which is a constant.

16. A method for training limb muscle strength according to claim 14, characterized in that: The method for automatically adjusting the speed of the task or game in step B is: (1) The motor used to drive the power output shaft at a lower speed Rotate, the 10~30rpm; (2) The user pushes the limb actuator; (3) Sampling rate Collect the strength values ​​of the left and right sides of the limbs, ; (4) Control the motor speed based on the strength value of the affected limb: Assume that the strength values ​​of the left and right sides of the limbs collected each time are and , when the affected side is the right side, then , and when the affected side is the left side, , and, for the affected side, if , ,like , ,in , is the maximum speed output by the motor, which is a constant. is the difficulty coefficient corresponding to each difficulty level, which is a constant.

17. The method for training limb muscle strength according to claim 13, characterized in that: The method for automatically adjusting the direction of the task or game in step B is: (1) Sampling rate Collect the strength values ​​of the left and right sides of the limbs, ; (2) Assume that the power value obtained each time is and ; (3) When , is a constant, then the bicycle-type driving prop in the control task or game turns left. If , then turn right.

18. The method for training limb muscle strength according to claim 13, characterized in that: The method for automatically adjusting the direction of the task or game in step B is: (1) Sampling rate Collect the strength values ​​of the left and right sides of the limbs, ; (2) Assume that the power value obtained each time is and ; (3) When the strength value of the affected side is less than 80% of the strength value of the healthy side, calculate the relative strength value of the left and right sides of the limb , , , ,like , then turn left, if , then make a right turn, , are constants, and .

19. A method for training limb muscle strength according to claim 18, characterized in that: The and is a fixed value.

20. The method for training limb muscle strength according to claim 18, characterized in that: The and The average muscle strength of the left and right limbs and .

21. A method for training limb muscle strength according to any one of claims 18 to 20, characterized in that: The method for automatically adjusting the path of the task or game in step B is: On the basis of direction control, we further control the turning angle to achieve path control. The specific steps are as follows: Take the front of the bicycle-like driving prop in the task or game as 0°, the left deflection as a positive angle, and the right deflection as a negative angle. Indicates that the unit is the angle system; When the left turn conditions are met, ; When the right turn conditions are met, , in, is a constant, ranging from 0.1 to 1. is a constant, ranging from 10° to 80°.

22. A method for adjusting the difficulty level of limb muscle training, characterized in that: Based on the bilateral limb rehabilitation system according to any one of claims 6 to 8, the control terminal executes the following steps: ① The motor used to drive the power output shaft at a lower speed Rotate, the 10~30rpm; ②The user pushes the limb actuator; ③ Based on sampling rate Collect the real-time speed of the motor, and each collection meets the time After that, the collected real-time speed data of the motor is obtained. ; ④Yes Sort and take the first The large value of , and the data is ,right Taking the average value, we get ,like , is a constant, ranging from 40 to 80 rpm, the difficulty level of training increases by one level; if , If the speed is a constant of 10~30rpm, the difficulty level of training will be reduced by one level.

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