Lower limb rehabilitation training system with signal feedback and control method thereof

Abstract

The invention discloses a lower limb rehabilitation training system with signal feedback and a control method thereof, and the system comprises a control module, a pressure sensor, an angle sensor, a myoelectricity sensor, a display terminal, an electrical stimulation module and an execution module. The control module is connected with the pressure sensor, the angle sensor, the myoelectricity sensor, the display terminal, the electrical stimulation module and the execution module. One end of the pressure sensor is fixedly connected with the knee joint mechanism, the other end of the pressure sensor is connected with the executing mechanism through the transmission mechanism, the angle sensor is arranged at the turning point position of the knee joint mechanism, and the myoelectricity sensor is arranged on the surface of a lower limb body. The signal intensity of the myoelectricity sensor and the signal intensity of the pressure sensor are monitored and compared with set safety values, an ideal lower limb rehabilitation training state is achieved, the rehabilitation training effect of a patient can be guaranteed, and the training safety of the patient can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation medical equipment, and particularly to a lower limb rehabilitation training system with signal feedback and its control method. Background Art

[0002] With the aggravation of population aging and the increasing incidence of neurological diseases such as stroke and spinal cord injury, the number of patients with lower limb motor dysfunction has been increasing year by year. Traditional rehabilitation training mainly relies on the manual assistance of physical therapists, with limited training intensity, accuracy and personalization level, and the labor intensity of therapists is high, making it difficult to guarantee the rehabilitation efficiency. Therefore, lower limb rehabilitation training systems have become a research hotspot in the field of rehabilitation engineering in recent years.

[0003] Existing lower limb rehabilitation training systems cannot accurately obtain the muscle tension of patients' lower limbs, thus unable to ensure the safe progress of rehabilitation training for patients. Summary of the Invention

[0004] In view of the problem that existing lower limb rehabilitation training systems cannot accurately obtain the muscle tension of patients' lower limbs, thus unable to ensure the safe progress of rehabilitation training for patients, in order to ensure the safety of patients, the present invention provides a lower limb rehabilitation training system with signal feedback and its control method. By monitoring the signal intensities of electromyography sensors and pressure sensors and comparing them with the set safety values, an ideal lower limb rehabilitation training state is achieved, which can not only ensure the rehabilitation training effect of patients but also improve the safety of patients' training. At the same time, when the muscle tension of the patient's lower limbs is too high, the muscle tension can be relieved through electrical stimulation to ensure the continuity of lower limb rehabilitation training.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] On one hand, the present invention provides a lower limb rehabilitation training system with signal feedback, including: a control module, a pressure sensor, an angle sensor, an electromyography sensor, a display terminal, an electrical stimulation module and an execution module, wherein the control module is respectively connected to the pressure sensor, the angle sensor, the electromyography sensor, the display terminal, the electrical stimulation module and the execution module; one end of the pressure sensor is fixedly connected to the knee joint mechanism, and the other end is connected to the execution mechanism through a transmission mechanism, the angle sensor is arranged at the turning point position of the knee joint mechanism, and the electromyography sensor is arranged on the surface of the lower limb muscle.

[0007] Further, the system further includes: a voice module, a game interaction module and an emergency stop device, and the voice module, the game interaction module and the emergency stop device are all connected to the control module.

[0008] Further, the execution mechanism is a lower limb knee joint drive motor.

[0009] Further, the control module includes a storage, and relevant data including a lower limb drive database and an electromyogram detection database are stored in the storage.

[0010] Further, the electrical stimulation module is connected with electrode pads, and the electrode pads are arranged on the surface of the lower limb muscles.

[0011] Further, a human-machine interaction interface is displayed on the display terminal; the human-machine interaction interface is used for displaying the detected pressures, angles and electromyogram intensities of the left and right knee joints, and for setting pressures, operating angle ranges, training speeds, training times and the operating time of the electrical stimulation module, and is also used for collecting personal information.

[0012] Further, there are multiple control modes in this system. The control module controls the operation and stop of the lower limb knee joint mechanism under different control modes according to the signal values collected by the angle sensor, the electromyogram sensor and the pressure sensor.

[0013] On the other hand, the present invention proposes a control method for a lower limb rehabilitation training system with signal feedback, including:

[0014] Step 1: The control module automatically calculates the corresponding maximum angle sensor signal value, maximum pressure sensor signal value and maximum electromyogram sensor signal value according to the parameter values set on the human-machine interaction interface;

[0015] Step 2: The control module monitors the angle sensor signal value, electromyogram sensor signal value and pressure sensor signal value in real time;

[0016] Step 3: The control module controls the operation and stop of the system according to the angle sensor signal value, pressure sensor signal value and electromyogram sensor signal value monitored in real time, and the maximum angle sensor signal value, maximum pressure sensor signal value and maximum electromyogram sensor signal value.

[0017] Further, the Step 3 includes:

[0018] Step 3.1: Taking that the angle sensor signal value reaches the maximum angle sensor signal value as a cycle, within one cycle, it is judged whether the collected electromyogram sensor signal value reaches the maximum electromyogram sensor signal value. If so, go to Step 3.2; if not, go to Step 3.3;

[0019] Step 3.2: The control module sends a stop command to the actuator, and at the same time records the real-time electromyogram sensor signal, and starts to operate the electrical stimulation module until the collected electromyogram sensor signal value is less than the maximum electromyogram sensor signal value or reaches the operating time of the electrical stimulation module;

[0020] Step 3.3: Determine whether the pressure sensor signal value has reached the maximum pressure sensor signal value. If so, go to Step 3.4; if not, go to Step 3.6.

[0021] Step 3.4: The control module controls to reduce the set running angle and training speed in the next cycle, and records the number of times N of reduction.

[0022] Step 3.5: Determine whether N is less than 3. If so, go to Step 3.6; if not, the control module sends a stop command to the actuator, starts running the electrical stimulation module, and ends the training process.

[0023] Step 3.6: The control module controls the actuator to run.

[0024] Step 3.7: Determine whether the set training time has been reached. If so, end the training; if not, go to Step 3.1.

[0025] Furthermore, the control method further includes:

[0026] Within one cycle, when the pressure sensor signal value has not reached the maximum pressure sensor signal value, the control module sends a continue running command to the actuator. When one cycle ends, the system returns to the initial angle, and then the training for the next cycle is carried out until the time reaches the set training time and the system stops running.

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] The present invention overcomes the safety problems existing in the current lower limb rehabilitation training equipment on the market. By monitoring the myoelectric sensor signal intensity and pressure sensor signal intensity and comparing them with the set safety values, an ideal lower limb rehabilitation training state is achieved, which can not only ensure the rehabilitation training effect of patients but also improve the safety of patient training. At the same time, when the lower limb muscle tension of the patient is too high, the muscle tension can be relieved through electrical stimulation to ensure the continuity of lower limb rehabilitation training. Description of the Drawings

[0029] Figure 1 It is one of the schematic diagrams of the architecture of a lower limb rehabilitation training system with signal feedback according to an embodiment of the present invention;

[0030] Figure 2 It is another schematic diagram of the architecture of a lower limb rehabilitation training system with signal feedback according to an embodiment of the present invention;

[0031] Figure 3 It is one of the flowcharts of the control method of a lower limb rehabilitation training system with signal feedback according to an embodiment of the present invention;

[0032] Figure 4This is the second flowchart of the control method for a lower limb rehabilitation training system with signal feedback according to an embodiment of the present invention. Detailed implementation manners

[0033] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments:

[0034] As Figure 1 shown, a lower limb rehabilitation training system with signal feedback includes a control module, and a pressure sensor (left and right knee joints), an angle sensor (left and right knee joints), an electromyography sensor, a display terminal, an electrical stimulation module, and an actuator are connected to the control module.

[0035] One end of the pressure sensor is fixedly connected to the knee joint mechanism (left and right knee joints), and the other end is connected to the actuator through a transmission mechanism (specifically a link mechanism) (left and right knee joints); the angle sensor is arranged at the pivot point position of the knee joint mechanism (left and right knee joints); the electromyography sensor is arranged on the surface of the patient's lower limb muscles (left and right lower limbs).

[0036] A human-machine interaction interface is displayed on the display terminal. The human-machine interaction interface is used to display the detected pressure, angle, electromyography intensity, etc. of the left and right knee joints, and is used to set the pressure, operating angle range, training speed, training time, electrical stimulation mode, operating time of the electrical stimulation module, etc., and is also used to collect the patient's personal information.

[0037] The control module includes a memory, a single-chip microcomputer, and a data processor. The memory stores a lower limb drive database and an electromyography detection database. There are multiple control modes in the lower limb rehabilitation training system. The data collected by the electromyography sensor and the pressure sensor are processed through signal filtering. After being transmitted to the control module, the operation and stop of the lower limb knee joint mechanism are controlled according to the signal values collected by the angle sensor, electromyography sensor, and pressure sensor in different system control modes.

[0038] Further, as Figure 2 shown, the system further includes: a voice module, a game interaction module, and an emergency stop device, and the voice module, game interaction module, and emergency stop device are all connected to the control module.

[0039] Further, when controlling the lower limb knee joint mechanism to stop, the control module controls the electrical stimulation module to start to relieve the lower limb muscle tension of the patient.

[0040] Further, the actuator is a lower limb knee joint drive motor, and the lower limb knee joint drive motor adopts a servo motor, which can control the operation of the system in different modes.

[0041] Further, the electrical stimulation module is connected with electrode patches, and the electrode patches are arranged on the surface of the lower limb muscles.

[0042] Further, the emergency stop device is an emergency stop switch.

[0043] Based on the above embodiments, as Figure 3 shown, the present invention also proposes a control method for a lower limb rehabilitation training system with signal feedback, including:

[0044] S101: The data processor of the control module automatically calculates the corresponding maximum angle sensor signal value, maximum pressure sensor signal value, and maximum electromyography sensor signal value according to the parameter values set on the human-machine interaction interface;

[0045] S102: The control module monitors the angle sensor signal value, electromyography sensor signal value, and pressure sensor signal value in real time; specifically, its monitoring frequency is not lower than the change frequencies of the angle sensor signal, electromyography sensor signal, and pressure sensor signal;

[0046] S103: The control module controls the operation and stop of the system according to the angle sensor signal value, pressure sensor signal value, and electromyography sensor signal value monitored in real time, as well as the maximum angle sensor signal value, maximum pressure sensor signal value, and maximum electromyography sensor signal value.

[0047] Specifically, before the above process is executed, the following preparations are required:

[0048] Arrange the electrode patches connected to the electrical stimulation module on the body surfaces of the patient's left and right lower limbs; set the electromyography sensors on the body surfaces of the patient's left and right lower limbs;

[0049] Set parameter values on the human-machine interaction interface. The parameter values include pressure, operating angle range, training speed, training time, electrical stimulation mode, electrical stimulation module operation time, etc. The data processor of the control module automatically calculates the maximum pressure sensor signal value and maximum electromyography sensor signal value corresponding to the set parameter values.

[0050] Further, as Figure 4 shown, the S103 includes:

[0051] S103.1: Taking the angle sensor signal value reaching the maximum angle sensor signal value as a cycle, within one cycle, determine whether the collected electromyography sensor signal value reaches the maximum electromyography sensor signal value. If so, go to S103.2; if not, go to S103.3;

[0052] S103.2: The control module sends a stop command to the actuator, and at the same time records the real-time electromyography sensor signal, starts running the electrical stimulation module until the collected electromyography sensor signal value is less than the maximum electromyography sensor signal value or reaches the electrical stimulation module operation time;

[0053] S103.3: Determine whether the signal value of the pressure sensor reaches the maximum pressure sensor signal value. If yes, go to S103.4; if not, go to S103.6;

[0054] S103.4: The control module controls to reduce the set running angle and training speed in the next cycle, and records the number of reductions N;

[0055] S103.5: Determine whether N is less than 3. If yes, go to S103.6; if not, the control module sends a stop command to the actuator, starts the operation of the electrical stimulation module, and ends the training process;

[0056] S103.6: The control module controls the operation of the actuator;

[0057] S103.7: Determine whether the set training time is reached. If yes, end the training; if not, go to S103.1.

[0058] Furthermore, the control method specifically includes:

[0059] 1) During the system operation, when the signal value of the pressure sensor reaches the maximum pressure sensor signal value corresponding to the set parameters, while the signal value of the electromyogram sensor does not reach the maximum electromyogram sensor value corresponding to the set parameters, the control module sends a stop command to the actuator, records the signal of the electromyogram sensor at this time, and the electrical stimulation module starts to operate;

[0060] 2) During the system operation, when the signal value of the electromyogram sensor reaches the maximum electromyogram sensor parameter value corresponding to the set parameters, even if the signal value of the pressure sensor does not reach the maximum pressure sensor value corresponding to the set parameters, the control module still sends a stop command to the actuator, and the electrical stimulation module starts to operate at the same time;

[0061] 3) The system operation time is mainly based on the set training time, and the running angle runs periodically according to the set running angle cycle. Taking the signal value of the angle sensor reaching the set maximum angle sensor value as a cycle, that is, the first running cycle after the system starts to operate is counted as the first running cycle. If the signal value of the pressure sensor does not reach the maximum pressure sensor value corresponding to the set parameters in the first running cycle, the control module sends a continue running command to the actuator. After the first running cycle ends, the system returns to the initial angle, and then the second operation is performed, that is, the second running cycle, until the time reaches the set training time, and the system stops running.

[0062] 4) If the pressure sensor signal value in the first operation cycle reaches the maximum pressure sensor signal value corresponding to the set parameters, while the electromyogram sensor signal value does not reach the maximum electromyogram sensor signal value corresponding to the set parameters, in the second operation cycle, the control module automatically reduces the set operation angle value and speed parameter value;

[0063] 5) In the second operation cycle, after the control module reduces the set operation angle and speed parameter values, when the pressure sensor signal value reaches the maximum pressure sensor signal value corresponding to the set parameters while the electromyogram sensor signal value does not reach the maximum electromyogram sensor value corresponding to the set parameters after the set parameters, in the next cycle, the control module continues to reduce the set operation angle and speed parameter values until the continuous reduction times reach 3, then the control module sends a stop command to the actuator, and the electrostimulation module starts to operate;

[0064] 6) In the second operation cycle, after the control module reduces the set operation angle and speed parameter values, when the pressure sensor signal value does not reach the maximum pressure sensor signal value corresponding to the set parameters while the electromyogram sensor signal value reaches the maximum electromyogram sensor signal value corresponding to the set parameters, the control module sends a stop command to the actuator, and the electrostimulation module starts to operate.

[0065] 7) During the system operation, the control module monitors the control signal of the emergency stop switch in real time. When it detects that the emergency stop switch is pressed, the control module controls the actuator to immediately return to the initial state and stop operating.

[0066] 8) During the system operation, the control module operates with voice prompts.

[0067] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A lower limb rehabilitation training system with signal feedback, characterized in that, Including: A control module, a pressure sensor, an angle sensor, an electromyogram sensor, a display terminal, an electrical stimulation module, and an execution module. The control module is respectively connected to the pressure sensor, the angle sensor, the electromyogram sensor, the display terminal, the electrical stimulation module, and the execution module. One end of the pressure sensor is fixedly connected to the knee joint mechanism, and the other end is connected to the execution mechanism through a transmission mechanism. The angle sensor is arranged at the turning point of the knee joint mechanism, and the electromyogram sensor is arranged on the surface of the lower limb muscle.

2. The lower limb rehabilitation training system with signal feedback according to claim 1, wherein The system further includes: a voice module, a game interaction module, and an emergency stop device. The voice module, the game interaction module, and the emergency stop device are all connected to the control module.

3. A lower limb rehabilitation training system with signal feedback according to claim 1, characterized in that, The execution mechanism is a lower limb knee joint drive motor.

4. A lower limb rehabilitation training system with signal feedback according to claim 1, characterized in that, The control module includes a memory, and relevant data including a lower limb drive database and an electromyogram detection database are stored in the memory.

5. A lower limb rehabilitation training system with signal feedback according to claim 1, wherein The electrical stimulation module is connected with electrode patches, and the electrode patches are arranged on the surface of the lower limb muscle.

6. The lower limb rehabilitation training system with signal feedback according to claim 1, wherein A human-computer interaction interface is displayed on the display terminal. The human-computer interaction interface is used to display the pressure, angle, and electromyogram intensity of the detected left and right knee joints, and is used to set the pressure, operating angle range, training speed, training time, and the operating time of the electrical stimulation module, and is also used to collect personal information.

7. A lower limb rehabilitation training system with signal feedback according to claim 1, characterized in that, There are multiple control modes in this system. The control module controls the operation and stop of the lower limb knee joint mechanism in different control modes according to the signal values collected by the angle sensor, the electromyogram sensor, and the pressure sensor.

8. A control method for a lower limb rehabilitation training system with signal feedback, characterized in that, Including: Step 1: The control module automatically calculates the corresponding maximum angle sensor signal value, maximum pressure sensor signal value, and maximum electromyogram sensor signal value according to the parameter values set on the human-computer interaction interface. Step 2: The control module monitors the angle sensor signal value, electromyogram sensor signal value, and pressure sensor signal value in real time. Step 3: The control module controls the operation and stop of the system according to the angle sensor signal value, pressure sensor signal value, and electromyogram sensor signal value monitored in real time, and the maximum angle sensor signal value, maximum pressure sensor signal value, and maximum electromyogram sensor signal value.

9. The control method of a lower limb rehabilitation training system with signal feedback according to claim 8, characterized in that, The said Step 3 includes: Step 3.1: Taking the angle sensor signal value reaching the maximum angle sensor signal value as a cycle, within one cycle, judge whether the collected electromyogram sensor signal value reaches the maximum electromyogram sensor signal value. If so, go to Step 3.2; if not, go to Step 3.

3. Step 3.2: The control module sends a stop command to the execution mechanism, and at the same time records the real-time electromyogram sensor signal, and starts to operate the electrical stimulation module until the collected electromyogram sensor signal value is less than the maximum electromyogram sensor signal value or reaches the operating time of the electrical stimulation module. Step 3.3: Judge whether the pressure sensor signal value reaches the maximum pressure sensor signal value. If so, go to Step 3.4; if not, go to Step 3.

6. Step 3.4: The control module controls to reduce the set operating angle and training speed in the next cycle, and records the reduction times N. Step 3.5: Determine whether N is less than 3. If so, proceed to Step 3.6; otherwise, the control module sends a stop command to the actuator, starts running the electrical stimulation module, and ends the training process. Step 3.6: The control module controls the operation of the actuator. Step 3.7: Determine whether the set training time has been reached. If so, end the training; otherwise, proceed to Step 3.

1.

10. The control method of a lower limb rehabilitation training system with signal feedback according to claim 9, characterized in that, This control method further includes: Within one cycle, when the pressure sensor signal value does not reach the maximum pressure sensor signal value, the control module sends a continue running command to the actuator. When one cycle ends, the system returns to the initial angle, and then the training for the next cycle is carried out until the time reaches the set training time and the system stops running.

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