Prostrate four-limb linkage crawler and control method thereof

Abstract

The invention belongs to the field of rehabilitation training equipment, and discloses a prone four-limb linkage crawler and a control method thereof. The crawler comprises a main body support, and a hand movement mechanism, a transmission mechanism, an abdomen flexible supporting device, a foot movement mechanism, a man-machine interaction module, a power module, a sensing module and a control module which are respectively fixed on the main body support. The transmission mechanism comprises a transmission piece which is connected with the hand movement mechanism and the foot movement mechanism and enables the end executors on the same side to move synchronously. Opposite-side end actuators on the hand movement mechanism and the foot movement mechanism are fixed in opposite directions and perform circular motion; the abdomen flexible supporting device can achieve small-amplitude springing or / and twisting or / and swinging of the abdomen and the waist of the user along with movement of the four limbs in the training process. According to the crawler, the movement of four limbs of a user during training is closer to the multi-axis movement of an animal during crawling, an intelligent control method is introduced, and the self-adaptive and personalized rehabilitation requirements of the user are met.

Description

Technical Field

[0001] The present invention belongs to the field of rehabilitation training equipment, and particularly relates to a prone four-limbed linkage crawler and a control method thereof. Background Art

[0002] Chronic low back pain is a common musculoskeletal problem and has become one of the main causes of disability worldwide. Especially "non-specific low back pain", which refers to low back pain without clear organic lesions or imaging evidence, accounts for more than 85% of all low back pain cases. For non-specific chronic low back pain, traditional treatment methods (such as drugs, surgery) mainly focus on symptom management rather than etiological treatment. Moreover, these means are often accompanied by side effects or the risk of postoperative recurrence, and it is difficult to maintain the curative effect for a long time. Therefore, more and more clinical studies and treatments have begun to turn to biomechanical therapies, aiming to achieve non-invasive long-term low back pain management by improving the load distribution of the lumbar spine and enhancing the strength of the core muscles. Whether it is the four-point kneeling training method proposed by the North American Spine Society or the hand-foot position training method based on the deer play in the Five-Animal Exercises proposed by the Niu Wenxin team, they are both a kind of prone four-limbed linkage movement derived from bionics, and they have significant effects in the application of relieving low back pain. Due to the increasing number of such low back pain users, it is becoming increasingly important to provide a home-based prone training device and training strategy based on biomechanical therapy for such users.

[0003] There are relatively few publicly disclosed prone four-limbed linkage crawlers in the prior art. Chinese invention patent CN201410114014.6, a damping type crawling fitness device, discloses a crawling fitness device with adjustable training intensity and double-direction reciprocating damping; Chinese invention patent CN201310011725.6, a prone crawling exercise machine, discloses a four-limbed linkage crawling device based on the prone position. The above two technical solutions are both arranged in the way of two pedals and two handles. The two handles are connected by a rope and combined with a fixed pulley to achieve transmission. The left handle and the right pedal, as well as the right handle and the left pedal, are also connected by a rope and combined with a fixed pulley to achieve the effect of contralateral four-limbed linkage, aiming to simulate the natural crawling state of animals. However, since such devices provide one-dimensional linear trajectory movement in a plane, they will cause certain pressure and damage to the user's wrist joints and shoulder joints. And without the introduction of an intelligent control method, it cannot meet the self-adaptive and personalized rehabilitation needs.

[0004] Therefore, designing a prone four-limbed linkage crawler with intelligent control and capable of realizing multi-dimensional movement in space has certain theoretical and practical application significance for the personalized rehabilitation of users with non-specific low back pain and the research on the prone four-limbed linkage movement for relieving low back pain. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention provides a prone quadruple-linked crawler and its control method. The movement mechanism of the crawler enables the user's four limbs to move closer to the multi-axis movement during animal crawling during training. Moreover, the crawler control system can automatically adjust the training intensity and speed, and also supports two training modes, active / passive, and cloud interaction, meeting the personalized rehabilitation needs of each user and ensuring the comfort and safety of the user during the training process.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A prone quadruple-linked crawler, comprising: a main body bracket and a hand movement mechanism, a transmission mechanism, an abdominal flexible support device, a foot movement mechanism, a human-machine interaction module, a power module, a sensing module, and a control module respectively fixed thereon. It is characterized in that the output end of the power module is connected to the transmission mechanism to provide power for the hand movement mechanism and the foot movement mechanism; the transmission mechanism includes transmission parts that connect and synchronize the same-side end effectors of the hand movement mechanism and the foot movement mechanism; the opposite-side end effectors on the hand movement mechanism and the foot movement mechanism are fixedly installed in reverse; the end effector can perform circular motion; the abdominal flexible support device can realize small-amplitude bouncing or / and twisting or / and swinging of the user's abdomen and waist along with the movement of the four limbs during the training process; the sensing module is used to detect the user's status data in real time, and the status data includes physiological status data and motion status data; the human-machine interaction module is connected to the control module, and is used for the user to input requirements or feedback data and provide data visualization.

[0008] Preferably, the human-machine interaction module includes an intelligent connection interaction unit, and the intelligent connection interaction unit includes a wireless communication module, an authentication module, and a user interaction program; the wireless communication module is used for information transmission between the crawler and the user's mobile device or / and the cloud server; the authentication module is a two-dimensional code or / and an NFC tag, which is used to identify the wireless communication module and for the user to obtain the connection authorization of the wireless communication module. The two-dimensional code and the NFC tag are loaded with the ID information of the wireless communication module; the user interaction program is an APP or / and a small program, which is used for information interaction and information display between the user's mobile device and the crawler or / and the cloud server.

[0009] Preferably, the main body bracket includes a front bracket, a front base, a rear base, a rear bracket, and an arched support plate; the front base and the rear base are respectively composed of a plurality of cross beams and a plurality of vertical beams fixedly connected, and respectively fix and support the hand movement mechanism and the foot movement mechanism through the front bracket and the rear bracket; the left and right ends of the arched support plate are respectively fixedly connected to the front base and the rear base, and its upper end fixes and supports the power module.

[0010] Preferably, the abdominal flexible support device includes an abdominal support plate, a spring, a support bottom plate, and a pre-tightening device; the support bottom plate is fixed above the middle of the crawler; the upper end of the spring is fixedly connected to the abdominal support plate through the pre-tightening device, and its lower end is fixedly connected to the support bottom plate.

[0011] Preferably, the hand movement mechanism includes a right grip shaft, a right front transmission shaft, a right front flywheel, a first differential, a left front transmission shaft, a left front flywheel, and a left grip shaft; the left and right half shafts of the first differential are respectively fixedly connected to the input shafts of the left front flywheel and the right front flywheel; the output shafts of the left front flywheel and the right front flywheel are respectively fixedly connected to the front ends of the left grip shaft and the right grip shaft through the left front transmission shaft and the right front transmission shaft; both the left grip shaft and the right grip shaft are of a "Z" type structure and are symmetrically arranged about the center of the power input shaft during installation; the foot movement mechanism includes a right foot pedal, a right pedal shaft, a right rear flywheel, a right rear transmission shaft, a second differential, a left rear transmission shaft, a left rear flywheel, a left pedal shaft, and a left foot pedal; the left and right half shafts of the second differential are respectively fixedly connected to the input shafts of the left rear flywheel and the right rear flywheel; the output shafts of the left rear flywheel and the right rear flywheel are respectively fixedly connected to the front ends of the right pedal shaft and the left pedal shaft through the left rear transmission shaft and the right rear transmission shaft; both the right pedal shaft and the left pedal shaft are of a "Z" type structure, and the left foot pedal and the right foot pedal are respectively installed at their rear ends, and the two pedal shafts are symmetrically arranged about the center of the power input shaft during installation.

[0012] Further preferably, the transmission mechanism includes two synchronous belts, a coupling, and a main transmission shaft; the front end of the main transmission shaft is fixedly connected to the output shaft of the power module through the coupling, and its rear end is connected to the second differential; the two synchronous belts are respectively connected to the left rear transmission shaft and the left front transmission shaft, and the right front transmission shaft and the right rear transmission shaft.

[0013] Further preferably, left and right grips are respectively installed at the rear ends of the left grip shaft and the right grip shaft; the grip includes a sleeve and a telescopic mechanism for flexibly adjusting the length of the grip; the telescopic mechanism is a sliding sleeve type piston structure, the piston rod at the front end of the piston is nested into the sleeve, and the outer edge of its rear end is connected to the sleeve through a plurality of elastic columns.

[0014] Still further preferably, the sensor module includes a heart rate sensor and a pressure sensor installed on the sleeve, pressure sensors installed on the left foot pedal and the right foot pedal, and acceleration sensors installed on the left rear flywheel, the right rear flywheel, the left front flywheel, and the right front flywheel.

[0015] Preferably, the power module includes a servo motor; the control module includes an MCU and a motor driver; the MCU is respectively connected to the sensor module and the motor driver; the MCU includes a fuzzy control module that stores and can execute a fuzzy control algorithm; the fuzzy control algorithm is used to regulate the output of the servo motor according to the sensor feedback data, and includes the following steps: Step 1: Normalize the data collected by each sensor in real time to the sensor standard value X; Step 2: Set the first membership function μA (X)Fuzzify the sensor standard value X into the input fuzzy set A; Step 3: Establish fuzzy rules. According to the fuzzy rules and the input fuzzy set A, use the min-max method to calculate the output fuzzy set B of "motor output Y" and its membership function μ B (Y); Step 4: Defuzzify by the centroid method (center point method), calculate the "centroid" ΔS of the output fuzzy set B, and use it as the control signal for adjusting the PWM duty cycle of the motor driver to achieve the regulation of the motor output torque and / or speed.

[0016] Preferably, the control method of the above-mentioned prone four-limb linkage crawler is characterized by including the following steps: (1) System initialization and standby state detection, including sensor module initialization, power module standby detection, and control module standby detection; if the state is normal, proceed to the next step; if the state is abnormal, return to this step and re-detect; (2) Read the current physiological state data transmitted by the sensor module and determine whether the current physiological state data is abnormal; if it is abnormal, recommend that the user give up and pause the exercise and rest; if it is normal, proceed to the next step; (3) Prompt the user to select an exercise mode through the human-machine interaction module, including an active mode and a passive mode; if the user selects the active mode, set the target intensity and training duration through the human-machine interaction module, and at the same time drive the motor to output at a fixed torque corresponding to the target intensity; if the user selects the passive mode, set the target speed and training duration through the human-machine interaction module, and at the same time drive the motor to output at a fixed speed corresponding to the target speed; (4) After the mode is selected, the crawler enters the training state: periodically read the state data fed back by the sensor module and compare it with the normal state interval corresponding to the current training mode set by the system to determine whether it exceeds the interval range; if it does not exceed the interval range, maintain the current motor output; if it exceeds the interval range, start the fuzzy control module to adjust the motor output; among them, in the active mode, the fuzzy control module adjusts the motor output torque; in the passive mode, the fuzzy control module adjusts the motor output speed. (5) Determine whether the state data transmitted by the sensor module has returned to the state interval range corresponding to the current training mode; if so, jump out of the fuzzy control module and return to step (4); if not, start the fuzzy control module again to adjust the motor output.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. Since the present invention is provided with a hand movement mechanism and a foot movement mechanism that enable synchronous movement of the same side of the human body's limbs and opposite-phase movement of the opposite side during training, and an abdominal flexible support device that enables small-amplitude bouncing or / and twisting or / and swinging of the abdomen and waist, mimicking the three-dimensional movement pattern of the limbs, waist, and abdomen of quadruped reptiles during crawling, it greatly enhances the rehabilitation effect after rehabilitation training for patients with non-specific low back pain, and avoids the joint pressure and monotonous movement problems caused by the single linear training trajectory of traditional equipment.

[0019] 2. Since the control system of the present invention introduces a fuzzy control algorithm, it can adaptively adjust the training intensity, speed, and movement mode according to the user's heart rate, fatigue level, muscle state, etc., avoiding overtraining and injuries, and ensuring the comfort and safety of the user during the training process.

[0020] 3. Since the control system of the present invention supports the selection of both active and passive training modes, the device can adapt to patients at different rehabilitation stages.

[0021] 4. Since the human-computer interaction module of the present invention can be configured with an intelligent connection interaction module, all the user's movement data, training history, and physiological state parameters will be automatically uploaded to the cloud. The user and rehabilitation experts (such as doctors) can view and analyze the rehabilitation progress at any time and place, and can automatically or remotely adjust the training plan and mode according to the suggestions of experts (such as doctors) and user feedback, so that the crawler meets the rehabilitation needs of each user. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic structural diagram of a prone four-limbed linkage crawler according to an embodiment of the present invention;

[0023] Figure 2 It is a schematic structural diagram of the main body bracket of a prone four-limbed linkage crawler according to an embodiment of the present invention;

[0024] Figure 3 It is a schematic structural diagram of the hand movement mechanism of a prone four-limbed linkage crawler according to an embodiment of the present invention;

[0025] Figure 4 It is a schematic structural diagram of the foot mechanism of a prone four-limbed linkage crawler according to an embodiment of the present invention;

[0026] Figure 5 It is a schematic structural diagram of the transmission mechanism of a prone four-limbed linkage crawler according to an embodiment of the present invention;

[0027] Figure 6 It is a schematic structural diagram of the grip of a prone four-limbed linkage crawler according to an embodiment of the present invention;

[0028] Figure 7Schematic structural diagram of the abdominal flexible support device of a prone four - limb linkage crawler according to an embodiment of the present invention;

[0029] Figure 8 Schematic structural diagram of the control system of a prone four - limb linkage crawler according to an embodiment of the present invention;

[0030] Figure 9 Control flow chart of a prone four - limb linkage crawler according to an embodiment of the present invention;

[0031] Among them, 1 - main body bracket, 2 - hand movement mechanism, 4 - abdominal flexible support device, 5 - human - machine interaction interface, 6 - foot movement mechanism, 7 - housing, 11 - front bracket, 12 - front base, 13 - motor box, 14 - rear bracket, 15 - arched support plate, 16 - rear base, 21 - right grip shaft, 211 - sleeve, 212 - elastic column, 213 - piston, 22 - right front flywheel, 23 - first differential, 24 - left front flywheel, 25 - left front drive shaft, 26 - right front drive shaft, 27 - left grip shaft, 31 - synchronous belt, 32 - motor drive shaft, 33 - driving gear, 34 - motor output shaft, 41 - abdominal support plate, 42 - spring, 43 - support bottom plate, 44 - pre - tightening device, 61 - right foot pedal, 62 - right pedal shaft, 63 - right rear flywheel, 64 - right rear drive shaft, 65 - second differential, 66 - left rear drive shaft, 67 - left rear flywheel, 68 - left pedal shaft, 69 - left foot pedal. Detailed implementation manners

[0032] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the following embodiments are described in detail in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation to the present invention.

[0033] It should be noted that in the description of the present invention, the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to the present invention; the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. In addition, unless otherwise clearly defined and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements. When two elements are "fixedly connected" or "rotationally connected", the two elements can be directly connected or there can also be an intermediate element. On the contrary, when an element is referred to as being "directly on" another element, there is no intermediate element. The fixed connection or fixed connection method can be screwed or welded or riveted or inserted or connected through a third component. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this invention belongs. The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0035] As Figure 1 shown, a prone four-limbed linkage crawler of the present invention includes a main body bracket 1, a hand movement mechanism 2, a transmission mechanism, an abdominal flexible support device 4, a foot movement mechanism 6, a housing 7, a human-computer interaction module 5, a power module (motor box 13), a sensing module and a control module.

[0036] Among them, the hand movement mechanism 2, the transmission mechanism and the foot movement mechanism 6 are sequentially arranged on the main body bracket 1 in the front-middle-back order for realizing the coordinated movement of the hands and feet;

[0037] The abdominal flexible support device 4 is arranged above the rear of the main body bracket to assist the hand movement mechanism 2 and the foot movement mechanism 6 to simulate the natural crawling state of animals;

[0038] The housing 7 wraps up the above-mentioned various mechanisms to ensure the stability, comfort and safety of the device, and at the same time plays a role in support and pressure bearing; the housing wraps up the above-mentioned various mechanisms.

[0039] The human-machine interaction module 5 is arranged on the outer shell above the front end of the main body bracket 1 and is connected to the control module. It is used to interact with the user through the screen or voice assistant, facilitating the user to set training goals according to personal needs and providing data visualization, such as real-time display of operating states such as the rotational speed and torque of the device, physiological state data such as the user's heart rate and fatigue degree, motion state data such as motion speed and intensity, and motion suggestions. According to requirements, the human-machine interaction module 5 can also be configured with an intelligent connection interaction unit, enabling the crawler to support remote operation through a mobile phone APP or voice assistant, achieving higher control flexibility; through cloud data synchronization, users and rehabilitation experts (such as doctors) can view training data at any time and conduct remote monitoring and analysis to ensure precise and personalized adjustment of the rehabilitation process. As an embodiment, the intelligent connection interaction unit includes a wireless communication module, an authentication module, and a user interaction program; the wireless communication module is used for information transmission between the crawler and the user's mobile device or / and the cloud server; the authentication module is a two-dimensional code or / and NFC tag, which is used to identify the wireless communication module and for the user to obtain the connection authorization of the wireless communication module. The two-dimensional code and NFC tag carry the ID information of the wireless communication module; the user interaction program is an APP or / and a mini-program, which is used for information interaction and display between the user's mobile device and the crawler or / and the cloud server.

[0040] As Figure 2 shown, the main body bracket 1 includes a front bracket 11, a front base 12, a rear base 16, a rear bracket 14, and an arched support plate 15, which are respectively composed of a plurality of cross beams and a plurality of vertical beams fixedly connected.

[0041] The arched support plate 15 is fixedly connected to the front base 12 and the rear base 16 and is used to fix the motor box 13 (power module). Its arched plate structure has the effect of reducing the influence of motor noise on each human body support mechanism and improving the user experience. In this embodiment, both ends of the arched support plate 15 are respectively fixed on the rear cross beam of the front base 12 and the front cross beam of the rear base 16.

[0042] The front bracket 11 is symmetrically fixed on the front base 12 on the left and right and is used to fix and support the hand movement mechanism 2. In this embodiment, the front bracket 11 is composed of two "U"-shaped columns, which are respectively vertically fixed on the vertical beams of the front bracket 11.

[0043] The rear bracket 14 is symmetrically fixed on the rear base 16 on the left and right and is used to fix and support the foot movement mechanism 6. In this embodiment, the rear bracket 14 is composed of two "U"-shaped columns, which are respectively vertically fixed on the vertical beams of the rear bracket 14.

[0044] As Figure 3As shown in the figure, the hand movement mechanism 2 includes a right grip shaft 21, a right front transmission shaft 26, a right front flywheel 22, a first differential 23, a left front transmission shaft 25, a left front flywheel 24, and a left grip shaft 27. The left and right half shafts of the first differential 23 are respectively fixedly connected to the input shafts of the left front flywheel 24 and the right front flywheel 22; the output shafts of the left front flywheel 24 and the right front flywheel 22 are respectively fixedly connected to the front ends of the left grip shaft 27 and the right grip shaft 21 through the left front transmission shaft 25 and the right front transmission shaft 26; both the left grip shaft 27 and the right grip shaft 21 are of a "Z" - shaped structure and are symmetrically arranged about the center of the power input shaft during installation, that is, the phase difference between the two grips is adjusted to 180 degrees, so that the hands on both sides move in opposite phases. The left front flywheel 24 and the right front flywheel 22 are commercially available parts and are respectively fixed on the front bracket 11, driving the grips to make circular motions. Based on the storage and release of mechanical energy by the moment of inertia, the movements of the left grip 27 and the right grip 21 are made more stable.

[0045] As Figure 4 shown, the foot movement mechanism 6 is similar in structure to the hand movement mechanism 2 and includes a right foot pedal 61, a right pedal shaft 62, a right rear flywheel 63, a right rear transmission shaft 64, a second differential 65, a left rear transmission shaft 66, a left rear flywheel 67, a left pedal shaft 68, and a left foot pedal 69. The left and right half shafts of the second differential 65 are respectively fixedly connected to the input shafts of the left rear flywheel 67 and the right rear flywheel 63; the output shafts of the left rear flywheel 67 and the right rear flywheel 63 are respectively fixedly connected to the front ends of the right pedal shaft 62 and the left pedal shaft 68 through the left rear transmission shaft 66 and the right rear transmission shaft 64; both the right pedal shaft 62 and the left pedal shaft 68 are of a "Z" - shaped structure, and their rear ends are respectively installed with the left foot pedal 69 and the right foot pedal 61. The two pedal shafts are symmetrically arranged about the center of the power input shaft during installation, that is, the phase difference between the two foot pedals (end - effectors) is adjusted to 180 degrees, so that the feet on both sides move in opposite phases. The left rear flywheel 67 and the right rear flywheel 63 are commercially available parts and are respectively fixed on the rear bracket 14, driving the foot pedals to make circular motions. Based on the storage and release of mechanical energy by the moment of inertia, the movements of the left foot pedal 69 and the right foot pedal 61 are made more stable.

[0046] As Figure 5 shown, the transmission mechanism 3 includes two synchronous belts 31, a coupling 32, a main transmission shaft 33, and a power module output shaft (motor output shaft 34). The front end of the main transmission shaft 33 is fixedly connected to the output shaft 34 of the motor box (with structures such as an internal motor and a reducer) through the coupling 32; the rear end of the main transmission shaft 33 is connected to the second differential 65 for driving the left rear transmission shaft 66 and the right rear transmission shaft 64 to move; the two synchronous belts 31 are respectively connected to the left rear transmission shaft 66 and the left front transmission shaft 25, and the right front transmission shaft 26 and the right rear transmission shaft 64, enabling the left and right hands and the left and right feet to achieve ipsilateral synchronous movement and contralateral opposite - phase movement, ensuring the four - limb linkage and simulating the natural crawling state of animals.

[0047] The left grip shaft 27 and the rear ends of the right grip shafts 21 are respectively installed with left and right grips; as Figure 6 shown, the grip includes a sleeve 211 and a telescopic mechanism for realizing flexible adjustment of the grip length. In this embodiment, the telescopic mechanism is a sliding sleeve piston structure. The piston rod at the front end of the piston 213 is nested into the sleeve 211, and the outer edge of its rear end is connected to the sleeve 211 through a plurality of elastic columns 212; the flexible change of the grip length is realized by the axial sliding of the piston 213, so as to adapt to users with different body characteristics. In this embodiment, the maximum length change of the grip is set to 3 cm.

[0048] Heart rate sensors and pressure sensors are installed on the sleeve 211. Pressure sensors are installed on the left foot pedal 69 and the right foot pedal 61. Acceleration sensors are installed on the left rear flywheel 67, the right rear flywheel 63, the left front flywheel 24, and the right front flywheel 22. In addition, electromyography sensors attached to the human skin, rotary encoders and torque sensors for detecting the motor speed and torque can also be set. These sensors constitute the sensing module of the crawler, which is used to monitor the physiological state of the user and the operating state of the crawler.

[0049] As Figure 7 shown, the abdominal flexible support device 4 is arranged in the middle of the crawler, and includes an abdominal support plate 41, a spring 42, a support bottom plate 43, and a pre-tightening device 44. The support bottom plate 43 is fixed above the housing 7; the upper end of the spring 42 is fixedly connected to the abdominal support plate 41 through the pre-tightening device 44, and its lower end is fixedly connected to the support bottom plate 43. The abdominal flexible support device 4 enables the abdomen, waist and spine of the user to slightly bounce or / and twist or / and swing along with the movement of the hands and feet during training, making the human movement during training closer to the natural crawling state of animals.

[0050] The control module includes a central control unit (MCU) and a motor driver; the MCU is respectively connected to the sensor and the motor driver; the MCU includes a fuzzy control module, which stores and can execute fuzzy control algorithms, and can adjust the output of the power module (motor box 13) according to the sensor data, so as to adjust the training intensity (torque, power) and speed in real time, ensure that the user trains within a safe intensity, and enable the crawler to have the function of customizing personalized training modes.

[0051] The sensing module, the power module, and the control module constitute the control system of this embodiment, as Figure 8 shown. The control method is briefly described as follows: The system collects physiological and motion state data through heart rate sensors, pressure sensors, acceleration sensors, etc., monitors the physiological state of the user in real time, and transmits these data to the MCU; the MCU performs fuzzy processing on these data, and based on fuzzy control rules and inference mechanisms, converts the physiological and motion state data of the user into control signals for the motor driver to adjust the speed or / and torque or / and power of the motor.

[0052] The control flow is as follows Figure 9 shown in the figure, including the following steps:

[0053] (1) System initialization and standby state detection, including sensor module initialization, power module standby detection, and control module standby detection; if the state is normal, proceed to the next step; if the state is abnormal, return to this step and re-detect; among them, sensor module initialization includes reset and zero calibration.

[0054] (2) Read the current physiological state data transmitted by the sensor module (such as heart rate detected by the heart rate sensor, muscle fatigue detected by the electromyography sensor, etc.), and determine whether the current physiological state data is abnormal (to avoid physical damage and danger caused by the physiological state not meeting the training standard); if abnormal, it is recommended that the user give up or pause the exercise and rest; if normal, proceed to the next step.

[0055] (3) Prompt the user to select an exercise mode through the human-computer interaction module, including the active mode and the passive mode.

[0056] Among them, in the active mode, the exercise is mainly powered by the user himself, and the motor outputs in a fixed torque manner (the exercise speed is regulated by the user himself) to provide a fixed resistance (i.e., fixed intensity) for the user to train. In this mode, when the user's physiological state data is abnormal, or the acceleration sensor / speed sensor detects that the exercise is unstable, or the exercise speed is too large or too small, the fuzzy control module is started to adjust the current output of the motor (motor output torque). In the passive mode, the exercise is mainly driven by the device, and the user is in a passive receiving state. The motor outputs at a fixed speed to provide a uniform motion for the user. The system has preset training parameters, and the motor realizes stable motion output through servo control and closed-loop regulation; in this mode, when the user's physiological state data is abnormal, or the acceleration sensor detects that the exercise is unstable, or the pressure sensor detects that the user has left the grip or footrest, the fuzzy control module is started to adjust the current output of the motor (motor output speed); and the control system is allowed to adjust the training curve in real time according to the expert advice from the cloud.

[0057] If the user selects the active mode, set the target intensity and training duration through the human-computer interaction module, and at the same time drive the motor to output at the fixed torque corresponding to the target intensity ((the motor torque is a linear function of the target intensity, and the linear coefficient is determined by the parameters of the crawler transmission mechanism)); if the user selects the passive mode, set the target speed and training duration through the human-computer interaction module, and at the same time drive the motor to output at the fixed speed corresponding to the target speed (the motor speed is a linear function of the target speed, and the linear coefficient is determined by the movement radius of the grip / footrest and the transmission coefficient).

[0058] (4) After the mode is selected, the crawler enters the training state: periodically reads the status data transmitted by the sensor module (including physiological status data such as heart rate and muscle fatigue, and motion status data such as acceleration, speed, pressure, and torque), and compares it with the normal status range corresponding to the current training mode set by the system to determine whether it exceeds the range; if it does not exceed the range, maintain the current output state of the motor; if it exceeds the range, start the fuzzy control module to adjust the output; among them, in the active mode, the fuzzy control module adjusts the motor torque; in the passive mode, the fuzzy control module adjusts the motor speed.

[0059] (5) Determine whether the status data transmitted by the sensor module has returned to the currently set range; if so, jump out of the fuzzy control module and return to step (4); if not, start the fuzzy control module again to adjust the motor output state.

[0060] The fuzzy control module uses the Mamdani model to implement fuzzy control. The brief description of the fuzzy inference process of this model is as follows:

[0061] ① Fuzzification: Convert the precise input value into a fuzzy set, which is the first step of fuzzy control. The Mamdani model realizes this process through the membership function.

[0062] ② Fuzzy rule base: Fuzzy control depends on a set of fuzzy rules to describe the relationship between input and output. The Mamdani model expresses these relationships in the form of "if... then..." rules.

[0063] ③ Fuzzy inference: Calculate the output fuzzy set according to the fuzzy rules and the input fuzzy set. The Mamdani model uses a fuzzy inference mechanism (selecting the min-max method) to realize this process.

[0064] ④ Defuzzification: Convert the fuzzy output set into a precise control signal. The Mamdani model realizes this step through the defuzzification method (selecting the centroid method).

[0065] The specific description of the fuzzy control algorithm in the fuzzy control module is as follows:

[0066] First, normalize the data collected by each sensor in real time: the heart rate sensor collects heart rate data (unit: bpm), and its collection value range is set to 40 - 120 bpm; the pressure sensor detects the pressure of the user at the support part, and after the output value is calibrated, it is set to 0 - 100 kPa; the acceleration sensor collects motion speed and acceleration information. Before these signals enter the central control unit (MCU), they will go through filtering and normalization processing to convert the output values of each sensor into normalized values X between 0 and 1.

[0067] Secondly, the Mamdani model is used to convert the sensor data X into the motor output control signal Y:

[0068] (1) Set the first membership function μ A (X) to fuzzify the standardized value X of the above normalized sensor data into the input fuzzy set A. Taking heart rate as an example, the normalized value is fuzzified into three fuzzy sets of "low", "normal", and "high" according to the preset membership function; the membership function of "low" heart rate is usually designed to decrease linearly from 1 to 0 as the input value increases within the range of 0 to 0.3; the "normal" heart rate adopts a triangular (or trapezoidal) function, which first linearly rises to 1 and then linearly drops back to 0 within the interval of 0.2 to 0.7; the "high" heart rate is within the range of 0.6 to 1, and its membership degree linearly rises from 0 to 1 as the input value increases. Similarly, for pressure signals, electromyogram signals, speed signals, etc., the corresponding "low", "medium / normal", and "high" membership functions are established respectively to obtain fuzzy sets, ensuring that all input data can be processed under the same fuzzy logic framework.

[0069] (2) Establish fuzzy rules. According to the fuzzy rules and the input fuzzy set A, use the min-max method to calculate the output fuzzy set B of "motor output Y" and its membership function μ B (Y).

[0070] The fuzzy rule base preset in the fuzzy control module contains the following rules, for example: Rule 1: If the heart rate is "high", the electromyogram is "high", the pressure is "low", and the speed is "high", then the output adjustment signal is "significantly reduce the motor output"; Rule 2: If the heart rate is "high", the electromyogram is "high", the pressure is "low", and the speed is "normal", then the output adjustment signal is "moderately reduce the motor output"; Rule 3: If the heart rate is "high", the electromyogram is "high", the pressure is "low", and the speed is "low", then the output adjustment signal is "slightly reduce the motor output"; Rule 4: If the heart rate is "high", the electromyogram is "high", the pressure is "normal" or "high", regardless of the speed, then the output adjustment signal is "slightly reduce the motor output"; Rule 5: If the heart rate is "normal", the electromyogram is "medium", the pressure is "normal", and the speed is "normal", then the output adjustment signal is "maintain the motor output"; Rule 6: If the heart rate is "low", the electromyogram is "low", the pressure is "high", and the speed is "low", then the output adjustment signal is "moderately increase the motor output"; Rule 7: If the heart rate is "normal", the electromyogram is "low", the pressure is "low", and the speed is "low", then the output adjustment signal is "slightly increase the motor output"; Rule 8: If the heart rate is "normal", the electromyogram is "medium", the pressure is "high", and the speed is "high", then the output adjustment signal is "slightly reduce the motor output"; Rule 9: If the speed alone is in the "high" state and the other parameters (heart rate, electromyogram, pressure) are all "normal", then the output adjustment signal is "moderately reduce the motor output"; Rule 10: If the speed alone is in the "low" state and the other parameters are all "normal", then the output adjustment signal is "moderately increase the motor output"; Rule 11: If the pressure sensor continuously shows "low" (below the contact lower limit), regardless of other indicators, the system forcibly outputs an adjustment signal of "rapidly reduce the motor output"; Rule 12: If the heart rate is "low", the electromyogram is "low", the pressure is "high", and the speed is "low", then the output adjustment signal is "significantly increase the motor output".

[0071] For each rule, the activation degree of the rule is determined by taking the minimum value of the membership degrees of the input conditions (to achieve the logical "AND" operation).

[0072] Aggregation of output fuzzy sets: The output fuzzy sets corresponding to each rule (such as "slightly reduce", "moderately reduce", "significantly reduce", "rapidly reduce", "maintain", "slightly increase", "moderately increase") are trimmed (truncated) at their respective activation degrees, and then all the trimmed results of the rules are aggregated into an overall output fuzzy set through a logical "OR" operation (usually taking the maximum value of the membership degrees at each point).

[0073] (3) Defuzzification by the centroid method (center point method), calculating the "centroid" ΔS of the output fuzzy set B.

[0074] To obtain an accurate control signal, the system uses the centroid method for defuzzification. The specific process is as follows: First, set the domain of the output variable Y as [Y min , Y max . Then, calculate the "centroid" of the output fuzzy set B through the formula

[0075]

[0076] The obtained value ΔS is the "motor output" control signal obtained after defuzzification. This signal is used to adjust the PWM duty cycle of the motor driver, thereby achieving the regulation of the motor output power or / and speed or / and torque.

[0077] In the entire closed-loop system, the real-time feedback data of the sensor enters the MCU through the ADC. The fuzzy control module runs inside the MCU, fuzzifies, infers, and defuzzifies the data and then outputs a specific control signal, which is then transmitted to the motor driver by the PWM modulator. The motor achieves precise speed regulation through servo closed-loop control, and transmits the output of the motor to the foot movement mechanism 6 and the hand movement mechanism 2 through the transmission system. At the same time, the rotary encoder and torque sensor installed in the motor box feedback the actual motion state of the motor to the MCU, forming a continuous closed-loop adjustment to ensure that each training can be dynamically optimized according to the user's physiological source data and motion state, thereby achieving safe and personalized rehabilitation training.

[0078] The system uses a fuzzy control algorithm to adjust the power output of the crawler, which not only solves the problem of the uncertainty of human physiological data, but also ensures that the device can automatically adjust according to real-time feedback at each training stage, significantly improving the training effect and safety. The design of the power module is based on a servo motor, using closed-loop control to adjust the speed and torque of the motor in real time, ensuring the accuracy and smoothness of the motion trajectory, and being able to make adaptive adjustments during motion according to the changes feedback by the sensor, avoiding the phenomenon of excessive or uneven motion.

[0079] The control system can not only adaptively adjust the motor output power, but also dynamically optimize the motion trajectory and motion mode. The control system can combine sensor data to analyze the rationality of the motion trajectory, and optimize the motion effect of the four-limb linkage by adjusting the motor speed, acceleration and load distribution. For example, when the system detects through the acceleration sensor on the flywheel that the user's motion speed is slow or there is unnatural motion, the motor will automatically adjust the output intensity to compensate for the deficiencies in the user's motion amplitude and intensity, ensure that each training action conforms to the optimal motion trajectory, and avoid excessive load on joints or muscles. This adaptive control enables the crawler to be personalized adjusted at different stages of the user's rehabilitation. For example, it provides a low-intensity passive motion mode for users who cannot bear a high exercise intensity in the initial stage, and gradually increases the exercise intensity and speed after the user adapts to help them achieve the best rehabilitation effect.

[0080] In addition, the control system and the intelligent connection interaction module configured in the human-machine interaction module 5 have cloud data synchronization and remote control functions, allowing experts (such as doctors) to monitor the user's training progress in real time and remotely adjust the training intensity, mode and speed according to the user's physiological data and motion performance. This cloud synchronization not only facilitates experts (such as doctors) to make fine adjustments to the training anytime and anywhere, but also provides a personalized rehabilitation plan for users.

[0081] The system can also integrate a safety warning module. When abnormal heart rate, muscle fatigue or improper posture (indicated by pressure sensors and acceleration sensors) is detected, the system will automatically issue an alarm and adjust the training intensity to ensure safety during the training process. Through the intelligent feedback mechanism, the system can respond to the user's physiological changes in real time, optimize the training plan, improve the rehabilitation effect, and thus provide the user with a more personalized, dynamic and safe rehabilitation training experience.

[0082] In summary, a prone four-limb linkage crawler of the present invention enables the left and right hands and the left and right feet to achieve ipsilateral synchronous movement and contralateral reverse movement, ensuring the linkage of the four limbs. The movement trajectory of the human limbs during training is no longer limited to the traditional one-way movement, but a three-dimensional movement mode is introduced, simulating the multi-axis movement during animal crawling. The combination of the linkage of the hands and feet, the slight movement of the abdomen, and the torsion (small amplitude) of the spine can effectively disperse the burden on the spine, enhance the training of the abdominal core muscles, and ensure the naturalness and diversity of the movement. Secondly, the present invention not only supports two modes: active training with the user's independent exertion of force and passive training driven by the device; but also configures a fuzzy control module to support automatically adjusting the training intensity, speed, and movement mode according to the user's physiological and movement state data collected in real time by the sensor module. Moreover, the crawler can also be configured with an intelligent connection and interaction module, and all the user's movement data, training history, and physiological parameters will be automatically uploaded to the cloud. The user and rehabilitation experts (such as doctors) can view and analyze the rehabilitation progress at any time and place, and can automatically or remotely adjust the training plan and mode according to the suggestions of the experts (such as doctors) and the user's feedback. Therefore, the crawler meets the rehabilitation needs of each user and ensures the comfort and safety of the user during the training process.

[0083] The above embodiments are preferred cases of the present invention and are not used to limit the protection scope of the present invention. Various deformations or modifications that can be made by those of ordinary skill in the art without creative labor within the scope of the appended claims still fall within the protection scope of this patent.

Claims

1. A prone quadruple linkage crawler, comprising: The main body bracket (1), the hand motion mechanism (2), the transmission mechanism, the abdominal flexible support device (4), the foot motion mechanism (6), the human-computer interaction module (5), the power module, the sensing module, and the control module respectively fixed thereon, characterized in that, The output end of the power module is connected to the transmission mechanism to provide power for the hand motion mechanism (2) and the foot motion mechanism (6); The transmission mechanism includes transmission parts that are connected and enable the same-side end effectors on the hand motion mechanism (2) and the foot motion mechanism (6) to move synchronously; the opposite-side end effectors on the hand motion mechanism (2) and the foot motion mechanism (6) are both fixedly installed in reverse; the end effector can perform circular motion; The abdominal flexible support device (4) can realize small-amplitude bouncing or / and twisting or / and swinging of the user's abdomen and waist during the training process along with the movement of the limbs; The sensing module is used to detect the status data of the user and transmit it to the control module; the status data includes physiological status data and motion status data; The human-computer interaction module (5) is connected to the control module and is used for the user to input requirements or feedback data and provide data visualization.

2. The prone quadruple-linked crawler according to claim 1, wherein, The power module includes a servo motor; the control module includes an MCU and a motor driver; the MCU is respectively connected to the sensor module and the motor driver; the MCU includes a fuzzy control module that stores and can execute the fuzzy control algorithm; the fuzzy control algorithm is used to regulate the output of the servo motor according to the sensor feedback data, and includes the following steps: Step 1: Normalize the data collected by each sensor in real time to the sensor standard value X; Step 2: Set the first membership function μ A (X) to fuzzify the sensor standard value X into the input fuzzy set A; Step 3: Establish fuzzy rules. According to the fuzzy rules and the input fuzzy set A, use the min-max method to calculate the output fuzzy set B for "motor output Y" and its membership function μ B (Y); Step 4: Defuzzify by the centroid method (center point method), calculate the "centroid" ΔS of the output fuzzy set B, and use it as the control signal for adjusting the PWM duty cycle of the motor driver to realize the regulation of the motor output torque or / and speed.

3. The prone four-limb linkage crawler according to claim 1, characterized in that, The human-computer interaction module (5) includes an intelligent connection interaction unit, and the intelligent connection interaction unit includes a wireless communication module, an authentication module, and a user interaction program; the wireless communication module is used for information transmission between the crawler and the user mobile device or / and the cloud server; the authentication module is a two-dimensional code or / and an NFC tag, which is used to identify the wireless communication module and for the user to obtain the connection authorization of the wireless communication module. The two-dimensional code and the NFC tag are loaded with the wireless communication module ID information; the user interaction program is an APP or / and a small program, which is used for information interaction and information display between the user mobile device and the crawler or / and the cloud server.

4. A prone quadruple linkage crawler according to claim 1, characterized in that, The described hand movement mechanism (2) includes a right grip shaft (21), a right front transmission shaft (26), a right front flywheel (22), a first differential (23), a left front transmission shaft (25), a left front flywheel (24), and a left grip shaft (27); the left and right half shafts of the first differential (23) are respectively fixedly connected to the input shafts of the left front flywheel (24) and the right front flywheel (22); the output shafts of the left front flywheel (24) and the right front flywheel (22) are respectively fixedly connected to the front ends of the left grip shaft (27) and the right grip shaft (21) through the left front transmission shaft (25) and the right front transmission shaft (26); both the left grip shaft (27) and the right grip shaft (21) are of a "Z" - shaped structure and are arranged symmetrically about the center of the power input shaft during installation; The described foot movement mechanism (6) includes a right foot pedal (61), a right pedal shaft (62), a right rear flywheel (63), a right rear transmission shaft (64), a second differential (65), a left rear transmission shaft (66), a left rear flywheel (67), a left pedal shaft (68), and a left foot pedal (69); the left and right half shafts of the second differential (65) are respectively fixedly connected to the input shafts of the left rear flywheel (67) and the right rear flywheel (63); the output shafts of the left rear flywheel (67) and the right rear flywheel (63) are respectively fixedly connected to the front ends of the right pedal shaft (62) and the left pedal shaft (68) through the left rear transmission shaft (66) and the right rear transmission shaft (64); Both the right pedal shaft (62) and the left pedal shaft (68) are of a "Z" - shaped structure, and their rear ends are respectively installed with a left foot pedal (69) and a right foot pedal (61), and the two pedal shafts are arranged symmetrically about the center of the power input shaft during installation.

5. The prone four - limb linked crawler according to claim 4, characterized in that, The described transmission mechanism (3) includes two synchronous belts (31), a coupling (32), and a main transmission shaft (33); the front end of the main transmission shaft (33) is fixedly connected to the output shaft of the power module through the coupling (32), and its rear end is connected to the second differential (65); the two synchronous belts (31) are respectively connected to the left rear transmission shaft (66) and the left front transmission shaft (25), and the right front transmission shaft (26) and the right rear transmission shaft (64).

6. According to the prone four - limb linkage crawler described in claim 4, characterized in that Left and right grips are respectively installed at the rear ends of the left grip shaft (27) and the right grip shaft (21); the grip includes a sleeve (211) and a telescopic mechanism for flexibly adjusting the length of the grip; the telescopic mechanism is a sliding sleeve - type piston structure, the piston rod at the front end of the piston (213) is nested into the sleeve (211), and the outer edge of its rear end is connected to the sleeve (211) through a number of elastic columns (212).

7. The prone four-limb linked crawler according to claim 6, characterized in that, The described sensor module includes a heart rate sensor and a pressure sensor installed on the sleeve (211), pressure sensors installed on the left foot pedal (69) and the right foot pedal (61), and acceleration sensors installed on the left rear flywheel (67), the right rear flywheel (63), the left front flywheel (24), and the right front flywheel (22).

8. According to the prone four - limb linkage crawler described in claim 1, characterized in that The main body support (1) includes a front support (11), a front base (12), a rear base (16), a rear support (14), and an arched support plate (15); the front base (12) and the rear base (16) are each composed of a plurality of cross beams and a plurality of vertical beams fixedly connected, and respectively fix and support the hand movement mechanism (2) and the foot movement mechanism (6) through the front support (11) and the rear support (14); the left and right ends of the arched support plate (15) are respectively fixedly connected to the front base (12) and the rear base (16), and its upper end fixes and supports the power module.

9. The prone four - limb linkage crawler according to claim 1, wherein the abdominal flexible support device (4) includes an abdominal support plate (41), a spring (42), a support bottom plate (43), and a pre - tightening device (44); the support bottom plate (43) is fixed above the middle of the crawler; the upper end of the spring (42) is fixedly connected to the abdominal support plate (41) through the pre - tightening device (44), and its lower end is fixedly connected to the support bottom plate (43).

10. The control method of a prone four-limbed linkage crawler according to claim 2, characterized in that, It includes the following steps: (1) System initialization and standby state detection, including sensor module initialization, power module standby detection, and control module standby detection; if the state is normal, then execute the next step; If the state is abnormal, return to this step and re - detect; (2) Read the current physiological state data transmitted by the sensor module and determine whether the current physiological state data is abnormal; if it is abnormal, it is recommended that the user give up and pause the exercise and rest; If it is normal, then execute the next step; (3) Prompt the user to select an exercise mode through the human - machine interaction module, including an active mode and a passive mode; if the user selects the active mode, set the target intensity and training duration through the human - machine interaction module, and at the same time drive the motor to output at a fixed torque corresponding to the target intensity; If the user selects the passive mode, set the target speed and training duration through the human - machine interaction module, and at the same time drive the motor to output at a fixed speed corresponding to the target speed; (4) After the mode is selected, the crawler enters the training state: periodically read the state data fed back by the sensor module and compare it with the normal state range corresponding to the current training mode set by the system to determine whether it exceeds the range; if it does not exceed the range, maintain the current output of the motor; if it exceeds the range, start the fuzzy control module to adjust the motor output; among them, in the active mode, the fuzzy control module adjusts the output torque of the motor; in the passive mode, the fuzzy control module adjusts the output speed of the motor; (5) Determine whether the state data transmitted by the sensor module has returned to the state range corresponding to the current training mode; if so, jump out of the fuzzy control module and return to step (4); if not, start the fuzzy control module again to adjust the motor output.

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