A Flexible Rehabilitation Training Control Method, System, Device and Medium

Abstract

The present application discloses a flexible rehabilitation training control method, system, device and medium, which are applied to the field of intelligent control technology to solve the problems of high complexity and low recognition efficiency of the existing spasm recognition methods. Specifically: in response to a rehabilitation training trigger operation performed by a target patient, based on the rehabilitation training plan information of the target patient, control a rehabilitation training component to stimulate a target part of the target patient to perform a rehabilitation training action; during the rehabilitation training process, monitor the set parameters of a target component configured as a monitoring node in the rehabilitation training component, and based on the monitoring result, detect whether spasm occurs in the target part of the target patient; if so, control the rehabilitation training component to stop stimulating the target part of the target patient; if not, control the rehabilitation training component to continue stimulating the target part of the target patient, thereby simplifying the spasm recognition operation in the rehabilitation training process and improving the spasm recognition efficiency.

Description

Technical Field

[0001] This application relates to the field of medical device control technology, and particularly to a flexible rehabilitation training control method, system, device, and medium. Background Art

[0002] Stroke is an acute cerebrovascular disease caused by sudden blockage or rupture of blood vessels in the brain, resulting in brain tissue damage. Most patients will have varying degrees of limb dysfunction. During the process of using rehabilitation training equipment to help patients recover basic motor functions, patients may experience spasticity due to abnormal increase in muscle tone after central nervous system damage, and the occurrence of spasticity usually affects the effect of rehabilitation training, thus affecting the recovery of limb function. Therefore, it is particularly important to identify whether a patient has spasticity during the rehabilitation training process using rehabilitation training equipment.

[0003] Currently, during the process of a patient using rehabilitation training equipment for rehabilitation training, it is usually based on the surface electromyographic signals of the patient's training site collected by electrode patches in the rehabilitation training components of the rehabilitation training equipment to identify whether spasticity occurs in the patient's training site. This method of spasticity identification requires complex data processing of the surface electromyographic signals, thereby increasing the complexity of spasticity identification and further affecting the efficiency of spasticity identification. Summary of the Invention

[0004] Embodiments of this application provide a flexible rehabilitation training control method, system, device, and medium to solve the problems of high complexity and low identification efficiency of the existing spasticity identification method.

[0005] The technical solutions provided by the embodiments of this application are as follows:

[0006] On the one hand, embodiments of this application provide a flexible rehabilitation training control method, including:

[0007] In response to a rehabilitation training trigger operation performed by a target patient, based on the rehabilitation training plan information of the target patient, control the rehabilitation training component to stimulate the target site of the target patient to perform a rehabilitation training action;

[0008] During the process of the rehabilitation training component stimulating the target site of the target patient to perform a rehabilitation training action, monitor the set parameters of the target component configured as a monitoring node in the rehabilitation training component, and based on the monitoring results of the set parameters of the target component, detect whether spasticity occurs in the target site of the target patient;

[0009] If so, control the rehabilitation training component to stop stimulating the target site of the target patient to perform a rehabilitation training action;

[0010] Otherwise, control the rehabilitation training component to continue stimulating the target part of the target patient to perform rehabilitation training actions.

[0011] On the other hand, an embodiment of the present application provides a flexible rehabilitation training control system, including:

[0012] A first control unit, configured to, in response to a rehabilitation training trigger operation performed by a target patient, based on the rehabilitation training plan information of the target patient, control the rehabilitation training component to stimulate the target part of the target patient to perform rehabilitation training actions;

[0013] A spasm detection unit, configured to, during the process that the rehabilitation training component stimulates the target part of the target patient to perform rehabilitation training actions, monitor set parameters of a target component configured as a monitoring node in the rehabilitation training component, and detect whether spasm occurs in the target part of the target patient based on the monitoring result of the set parameters of the target component;

[0014] A second control unit, configured to, if the spasm detection unit detects that spasm occurs in the target part of the target patient, control the rehabilitation training component to stop stimulating the target part of the target patient to perform rehabilitation training actions; otherwise, if the spasm detection unit detects that no spasm occurs in the target part of the target patient, control the rehabilitation training component to continue stimulating the target part of the target patient to perform rehabilitation training actions.

[0015] On the other hand, an embodiment of the present application provides a flexible rehabilitation training device, including: a rehabilitation training component, a memory, and a processor; the rehabilitation training component stimulates the target part of the target patient to perform rehabilitation training actions under the control of the processor, the memory stores a computer program that can run on the processor, and when the processor executes the computer program, the flexible rehabilitation training control method provided by the embodiment of the present application is implemented.

[0016] On the other hand, an embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions, and when the computer instructions are executed by a processor, the flexible rehabilitation training control method provided by the embodiment of the present application is implemented.

[0017] The beneficial effects of the embodiments of the present application are as follows:

[0018] In the embodiments of the present application, during the process that the rehabilitation training component stimulates the target part of the target patient to perform rehabilitation training actions, it is only necessary to monitor the set parameters of the target component, and it can be determined whether spasm occurs in the target part of the target patient according to the monitoring result of the set parameters of the target component, thereby simplifying the spasm recognition operation in the rehabilitation training process and improving the efficiency of spasm recognition.

[0019] Other features and advantages of the present application will be described in the following specification. Moreover, some of them may be apparent from the specification or understood by implementing the present application. The objectives and other advantages of the present application can be achieved and obtained through the structures specifically pointed out in the written specification, claims, and drawings. Description of the Drawings

[0020] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0021] Figure 1 It is a schematic diagram of the overall framework of the flexible rehabilitation training control method in the embodiment of the present application;

[0022] Figure 2 It is a schematic diagram of the learning process of the target air pressure change rate in the embodiment of the present application;

[0023] Figure 3 It is a schematic diagram of the specific process of the flexible rehabilitation training control method in the embodiment of the present application;

[0024] Figure 4 It is a schematic diagram of the functional structure of the flexible rehabilitation training control system in the embodiment of the present application;

[0025] Figure 5 It is a schematic diagram of the hardware structure of the flexible rehabilitation training device in the embodiment of the present application. Detailed Embodiments

[0026] In order to make the objectives, technical solutions, and beneficial effects of the present application clearer and more understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0027] To facilitate better understanding of the present application by those skilled in the art, the technical terms involved in the present application will be briefly introduced below.

[0028] A flexible rehabilitation training device refers to an electronic device that conducts rehabilitation training on the target part of a patient. The airbag in the training component included in this electronic device is driven based on air pressure changes, that is, it is flexible. In the embodiments of the present application, the flexible rehabilitation training device can be, but is not limited to, a hand flexible rehabilitation training device. Among them, the hand flexible rehabilitation training device can include a hand rehabilitation training component, a memory, and a processor. The hand rehabilitation training component includes an air pump, a training glove, a plurality of ventilation pipelines, and a plurality of air pressure sensors. A plurality of airbags are arranged in the training glove, and the ends of the plurality of airbags are respectively connected to the plurality of ventilation pipelines in one-to-one correspondence. The plurality of ventilation pipelines are respectively connected to the air pump, and the plurality of air pressure sensors are in one-to-one correspondence with the plurality of ventilation pipelines and are respectively arranged on the plurality of ventilation pipelines.

[0029] Rehabilitation training plan information refers to the daily rehabilitation training arrangement information of a target patient during a complete rehabilitation training cycle, specifically including information such as the daily training mode, training duration, training intensity, and training frequency. Among them, the training mode includes the rehabilitation training actions of the target patient, and the training duration includes the total training duration of the target patient, the duration of each training mode of the target patient, and the duration of the target patient performing the corresponding rehabilitation training actions in each training mode.

[0030] The first time range refers to the time required for the target part of the target patient to perform a rehabilitation training action once.

[0031] The second time range refers to the time required for the target part of the target patient to perform at least two rehabilitation training actions.

[0032] It should be noted that the "first", "second", etc. mentioned in the present application are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances so that the embodiments described here can be implemented in an order other than that illustrated or described here.

[0033] After introducing the technical terms involved in the present application, the technical solutions provided by the embodiments of the present application will be described in detail below.

[0034] The embodiments of the present application provide a flexible rehabilitation training control method, which is applied to the processor in a flexible rehabilitation training device. Refer to Figure 1 As shown, the general process of the flexible rehabilitation training control method provided by the embodiments of the present application is as follows:

[0035] Step 101: In response to the rehabilitation training trigger operation performed by the target patient, based on the rehabilitation training plan information of the target patient, control the rehabilitation training component to stimulate the target part of the target patient to perform a rehabilitation training action.

[0036] In practical applications, the target patient can trigger the rehabilitation training by clicking the start rehabilitation training option in the function menu of the touch control screen of the flexible rehabilitation training device, clicking the navigation button for rehabilitation training, or by speaking the specified voice command for starting rehabilitation training. In response to the rehabilitation training trigger operation of the target patient, the processor of the flexible rehabilitation training device controls the rehabilitation training component to stimulate the target part of the target patient to perform rehabilitation training actions according to the training mode, training duration, training intensity, training frequency, etc. of the target patient in the rehabilitation training plan information of the target patient. Among them, the rehabilitation training information of the target patient can be pre-stored in the memory of the flexible rehabilitation training device, or can be obtained by the processor of the flexible rehabilitation training device through the network after power-on, without limitation here.

[0037] In specific implementation, the processor of the flexible rehabilitation training device can perform rehabilitation training on the hand of the target patient, and the rehabilitation training component can include a training glove. The training modes in the rehabilitation training plan information of the target patient mainly include training modes such as passive training, follow-up training, voice control training, and game training, and the target air pressure change rate learning mode. The passive mode is to control the training glove to perform flexion and extension actions through the processor of the flexible rehabilitation training device, thereby stimulating and driving the finger joints to perform rehabilitation training; the follow-up training is based on passive movement. The processor of the flexible rehabilitation training device collects data of the healthy hand of the patient based on the data glove and controls the training glove to perform flexion and extension actions; the voice control training is based on passive movement. After the processor of the flexible rehabilitation training device recognizes the relatively standard Mandarin speech content information spoken by the patient, it controls the flexion and extension of the training glove. It can also, after the flexible rehabilitation training device issues a voice prompt, recognize that the target patient speaks content consistent with the voice prompt content in relatively standard Mandarin to control the flexion and extension of the training glove to achieve the purpose of rehabilitation training. The game training is based on passive movement. The healthy hand of the target patient wears a data glove, and the flexion and extension of the data glove are used to control the scene in the game. The processor of the flexible rehabilitation training device controls the flexion and extension of the training glove based on the collected data glove information to achieve the purpose of rehabilitation training, which can specifically include but is not limited to games such as rock-paper-scissors, whack-a-mole, and panda eating bamboo and throwing balls.

[0038] Step 102: During the process of the rehabilitation training component stimulating the target part of the target patient to perform rehabilitation training actions, monitor the set parameters of the target component configured as a monitoring node in the rehabilitation training component, and detect whether the target part of the target patient has spasm based on the monitoring results of the set parameters of the target component.

[0039] In practical applications, during the process of the rehabilitation training component stimulating the target part of the target patient to perform rehabilitation training actions, monitoring nodes can be configured in the rehabilitation training component. The processor of the flexible rehabilitation training device determines whether the target patient has spasm by comparing the set parameters of the target component configured as the monitoring node with the monitoring results.

[0040] In specific implementation, the rehabilitation training component includes an air pump, a plurality of air bags, and a plurality of ventilation pipelines. The ends of the plurality of air bags are respectively connected to the plurality of ventilation pipelines in a one-to-one correspondence, and the plurality of ventilation pipelines are respectively connected to the air pump. The rehabilitation training component performs rehabilitation training actions by pumping air into and out of the plurality of air bags to stimulate the target part of the target patient. Moreover, the rehabilitation training component may further include a plurality of air pressure sensors, and the plurality of air pressure sensors are respectively arranged on the plurality of ventilation pipelines in a one-to-one correspondence. In this way, by arranging the air pressure sensors on the ventilation pipelines without directly contacting the target part of the target patient, the comfort of the target patient using the flexible rehabilitation training device can be improved.

[0041] In specific implementation, during the process of the rehabilitation training component stimulating the target part of the target patient to perform rehabilitation training actions, the air pressure value in the plurality of ventilation pipelines changes in real time along with the movement of the target part of the target patient. The plurality of ventilation pipelines in the rehabilitation training component can be used as the target components of the monitoring nodes, and the air pressure values of the plurality of ventilation pipelines can be used as the set parameters of the target components, so that the processor of the flexible rehabilitation training device determines whether the target patient has spasm according to the monitored air pressure values of the plurality of ventilation pipelines. Specifically, the processor of the flexible rehabilitation training device detects whether the rehabilitation training part of the target patient has spasm based on the monitoring results of the set parameters of the target components, and the following methods can be adopted but are not limited to:

[0042] Step 1, for each of the plurality of ventilation pipelines in the rehabilitation training component, the processor of the flexible rehabilitation training device determines the current air pressure change rate of the ventilation pipeline based on the air pressure value of the ventilation pipeline collected by the air pressure sensor arranged on the ventilation pipeline within the first time range, and detects the rate difference between the current air pressure change rate of the ventilation pipeline and the target air pressure change rate of the target patient.

[0043] In practical applications, the first time range can be the time required for the target part of the target patient to perform a rehabilitation training action. Based on this, for each of the plurality of ventilation pipelines, the current air pressure change rate of the ventilation pipeline can be determined according to the air pressure value collected by the air pressure sensor arranged on the ventilation pipeline. Specifically, the following methods can be adopted but are not limited to to determine the current air pressure change rate of the ventilation pipeline based on the air pressure value of the ventilation pipeline collected by the air pressure sensor arranged on the ventilation pipeline within the first time range:

[0044] First, the processor of the flexible rehabilitation training device obtains the air pressure values of the ventilation pipeline collected by the air pressure sensor arranged on the ventilation pipeline at at least two sampling time points; wherein, different sampling time points correspond to different action amplitudes of the rehabilitation training action.

[0045] In specific implementation, when performing a rehabilitation training action on the target part of the target patient, the processor of the flexible rehabilitation training device will collect the air pressure values detected by the air pressure sensor on each pipeline according to the sampling time point and the sampling time interval. The sampling time and the sampling interval are preset in the processor of the flexible rehabilitation training device. Different sampling time points correspond to different action amplitudes of the rehabilitation training action, and different sampling time intervals affect the accuracy of the current air pressure change rate.

[0046] Then, the processor of the flexible rehabilitation training device determines every two consecutive sampling time points as a time group, obtains at least one time group, and for each time group in the at least one time group, based on the two air pressure values included in the time group and the sampling time interval corresponding to the time group, determines the current air pressure change rate of the time group.

[0047] In specific implementation, the processor of the flexible rehabilitation training device determines the air pressure values corresponding to every two consecutive sampling time points among the collected air pressure values as a time group. Each time group includes a first air pressure value and a second air pressure value. The first air pressure value and the second air pressure value are determined based on the order of the sampling time points. The difference between the first air pressure value and the second air pressure value is determined as the air pressure difference of the time group, and the ratio of the air pressure difference of the time group to the sampling time interval corresponding to the time group is determined as the current air pressure change rate of the time group. For example: the air pressure values of the first ventilation pipeline collected by the processor of the flexible rehabilitation training device in the first time range are A, B, and C in sequence. Among them, the sampling time points of A, B, and C are consecutive, and the sampling time intervals are all t. Two time groups can be obtained. The first time group includes the air pressure values A and B, and the second time group includes the air pressure values B and C. The air pressure difference of the first time group is B - A. Thus, the current air pressure change rate of the first time group can be determined as (B - A) / t. Similarly, the current air pressure change rate of the second time group can be obtained as (C - B) / t.

[0048] Finally, the current air pressure change rate of at least one time group is determined as the current air pressure change rate of the ventilation pipeline.

[0049] In specific implementation, based on the current air pressure change rate of at least one time group, the current air pressure change rate of the time group including the sampling time point closest to the current moment can be determined as the current change rate of this ventilation pipeline.

[0050] In practical applications, after determining the current air pressure change rate of each ventilation pipe, the rate difference between the current air pressure change rate of each ventilation pipe and the target air pressure change rate of the target patient needs to be determined. Here, the rate difference refers to the absolute value corresponding to the difference between the current air pressure change rate and the target air pressure change rate of the target patient for the same time group.

[0051] Step 2: If the rate differences of multiple ventilation pipes are all not greater than the rate difference threshold, it is determined that the target part of the target patient has not had a spasm; otherwise, it is determined that the target part of the target patient has had a spasm.

[0052] In practical applications, the airbags connected to multiple ventilation pipes correspond to different positions of the target part of the target patient. The processor of the flexible rehabilitation training device compares the rate differences of multiple ventilation pipes with the rate difference threshold. If there is a situation where the rate difference of multiple ventilation pipes is greater than the rate difference threshold, it is determined that the target part of the target patient has had a spasm.

[0053] Furthermore, after determining that the target part of the target patient has had a spasm, the processor of the flexible rehabilitation training device can also determine the spasm position on the target part of the target patient, which can be specifically achieved through the following steps:

[0054] First, determine the ventilation pipes with rate differences greater than the rate difference threshold from multiple ventilation pipes as the target ventilation pipes.

[0055] Then, based on the position of the airbag connected to the target ventilation pipe in the rehabilitation training component, determine and display the spasm position on the target part of the target patient.

[0056] In practical applications, the processor of the flexible rehabilitation training device can further determine the spasm position on the target part of the target patient based on the airbag connected to the ventilation pipe by determining the target pipe in multiple ventilation pipes. After determining the spasm position of the target patient, the spasm position can be displayed in ways such as but not limited to displaying the number of the airbag connected to the target ventilation pipe on the touch display screen of the flexible rehabilitation training device and displaying an image marking the spasm position of the target part of the target patient, so that the target patient can understand the spasm position of his target part, providing timely and effective information for dealing with the spasm symptoms of the target patient.

[0057] Step 103: If the target part of the target patient has had a spasm, control the rehabilitation training component to stop stimulating the target part of the target patient to perform rehabilitation training actions; if the target part of the target patient has not had a spasm, control the rehabilitation training component to continue stimulating the target part of the target patient to perform rehabilitation training actions.

[0058] In specific implementation, when it is determined that the target patient has spasm, the processor of the flexible rehabilitation training device will control the air pump to stop working, so that the rehabilitation training component stops stimulating the target part of the target patient to perform the rehabilitation training action. In the case of a failure of the processor of the flexible rehabilitation training device, the emergency stop button can also be pressed to open the pressure relief valve of the rehabilitation training component, so that the rehabilitation training component is in a relaxed state and stops stimulating the target part of the target patient to perform the rehabilitation training action.

[0059] In an alternative implementation, after the processor of the flexible rehabilitation training device controls the rehabilitation training component to stop stimulating the target part of the target patient to perform the rehabilitation training action, the target patient can resume the rehabilitation training. Specifically, it can be achieved in the following ways:

[0060] The processor of the flexible rehabilitation training device responds to the resume training trigger operation of the target patient, determines the information of the unfinished rehabilitation training plan of the target patient based on the time information when the rehabilitation training component stops stimulating the target part of the target patient to perform the rehabilitation training action, and controls the rehabilitation training component to continue to stimulate the target part of the target patient to perform the rehabilitation training action based on the information of the unfinished rehabilitation training plan of the target patient.

[0061] In practical applications, after the spasm condition of the target patient is relieved or eliminated, the target patient can resume the rehabilitation training of the target part by clicking the resume training option in the function menu of the touch control screen of the flexible rehabilitation training device, clicking the navigation button for resume training, or by speaking the voice command for resume training. The processor of the flexible rehabilitation training device can determine the information of the completed rehabilitation training plan and the information of the unfinished rehabilitation training plan of the target patient according to the time information when the rehabilitation training component stops stimulating the target part of the target patient, and determine the training mode, training duration, training intensity, and training frequency of the rehabilitation training that the target patient should perform after resuming training according to the information of the unfinished rehabilitation training plan of the target patient, and control the rehabilitation training component to start and continue to stimulate the target part of the target patient to perform the rehabilitation training action in a gradually accelerating manner.

[0062] The processor of the flexible rehabilitation training device determines whether the target part of the target patient has spasm based on the rate difference between the air pressure change rate of the ventilation pipeline and the target air pressure change rate. Different patients and different rehabilitation training components will affect the target air pressure change rate, and the target air pressure change rate of the same patient will also change at different stages of rehabilitation. Therefore, before the processor of the flexible rehabilitation training device responds to the rehabilitation training trigger operation performed by the target patient, it is also necessary to perform target air pressure change rate learning on the target part of the target patient. Refer to Figure 2 As shown, the target air pressure change rate learning process provided by the embodiment of the present application is as follows:

[0063] Step 201: The processor of the flexible rehabilitation training device responds to the parameter learning trigger operation performed by the target patient, and based on the rehabilitation training plan information of the target patient, controls the rehabilitation training component to stimulate the target part of the target patient to perform rehabilitation training actions.

[0064] In practical applications, the target patient can trigger the flexible rehabilitation training device to perform target air pressure change rate learning by clicking the parameter learning option in the function menu of the touch control screen of the flexible rehabilitation training device, clicking the navigation button for parameter learning, or by speaking the parameter learning voice command, etc. The information corresponding to the target air pressure change rate learning in the rehabilitation training plan information of the target patient is set according to the condition of the target part of the target patient, which can prevent the damage caused by overtraining to the target part of the target patient. For example: If the target part of the target patient is the hand, it is necessary to pre-select the number of times the target part performs rehabilitation training actions, the selection of the fist clenching time, the straightening time, the selection of the affected side hand (left or right hand), the training intensity selection, the selection of the maximum bending angle of each finger of the training glove, etc. according to the condition of the target patient's hand.

[0065] Step 202: During the process of the rehabilitation training component stimulating the target part of the target patient to perform rehabilitation training actions, the processor of the flexible rehabilitation training device determines the target air pressure change rate of each ventilation pipeline among the multiple ventilation pipelines of the rehabilitation training component based on the air pressure values of the ventilation pipeline collected by the air pressure sensor set on the ventilation pipeline within the second time range.

[0066] In practical applications, the processor of the flexible rehabilitation training device can obtain the air pressure values of each ventilation pipeline among the multiple ventilation pipelines of the rehabilitation training component within the second time range and store them in the flexible rehabilitation training device. Among them, the second time range is the time required for the target part of the target patient to perform at least two rehabilitation training actions. Based on this, the processor of the flexible rehabilitation training device can determine the target air pressure change rate of the ventilation pipeline based on the air pressure values of the ventilation pipeline collected by the air pressure sensor set on the ventilation pipeline within the second time range. Specifically, it can be achieved through the following steps:

[0067] Step 1: When the target part of the target patient performs each rehabilitation training action, obtain the air pressure values of the ventilation pipeline collected by the air pressure sensor set on the ventilation pipeline at at least two sampling time points; among them, different sampling time points correspond to different action amplitudes of the rehabilitation training action.

[0068] In practical applications, the target part of the target patient performs at least two rehabilitation training actions within the second time range. The processor of the flexible rehabilitation training device collects the air pressure values detected by the air pressure sensors on each ventilation pipeline every time the target part of the target patient performs a rehabilitation training action according to the preset sampling time points and sampling time intervals. Among them, the sampling time points and sampling time intervals in the target air pressure change rate learning process are consistent with those in the rehabilitation training process. For example: The target part of the target patient performs three rehabilitation training actions within the second time range. The processor of the flexible rehabilitation training device collects three groups of air pressure values of the first ventilation pipeline within the second time range. The air pressure values collected in the first group are A1, B1, and C1 in sequence, the air pressure values collected in the second group are A2, B2, and C2 in sequence, and the air pressure values collected in the third group are A3, B3, and C3 in sequence.

[0069] Step 2: Calculate the mean value of the air pressure values of at least two ventilation pipelines collected at the same sampling time point to obtain the air pressure means corresponding to at least two sampling time points.

[0070] In practical applications, the air pressure values of the ventilation pipelines collected by the processor of the flexible rehabilitation training device at the same sampling time point are equivalent to the air pressure values of the ventilation pipelines when the target part of the target patient performs rehabilitation training actions with the same movement amplitude. By determining the mean value of the air pressure values of the ventilation pipelines when the target part of the target patient performs rehabilitation training actions with the same movement amplitude, the sampling error can be reduced and the accuracy can be improved. For example: Based on the air pressure values A1, B1, and C1 collected in the first group, the air pressure values A2, B2, and C2 collected in the second group, and the air pressure values A3, B3, and C3 collected in the third group, the air pressure means A4, B4, and C4 can be determined. Among them, A4 = (A1 + A2 + A3) / 3, B4 = (B1 + B2 + B3) / 3, and C4 = (C1 + C2 + C3) / 3. After determining the air pressure means, the processor of the flexible rehabilitation training device can also choose to perform Kalman filtering on the air pressure means.

[0071] Step 3: Determine every two consecutive sampling time points as a time group to obtain at least one time group, and for each time group in the at least one time group, based on the two air pressure means included in the time group and the sampling time interval corresponding to the time group, determine the target air pressure change rate of the time group.

[0072] In practical applications, the processor of the flexible rehabilitation training device determines every two consecutive sampling time points of the air pressure mean value as a time group. Each time group includes a first air pressure mean value and a second air pressure mean value. Among them, the first air pressure mean value and the second air pressure mean value are determined based on the order of the sampling time points. The difference between the first air pressure mean value and the second air pressure mean value is determined as the air pressure mean difference of this time group. The ratio of the air pressure mean difference of this time group to the sampling time interval corresponding to this time group is determined as the target air pressure change rate of this time group. For example, when determining the air pressure mean values A4, B4, and C4, two time groups can be obtained. The first time group includes the air pressure mean values A4 and B4, and the second time group includes the air pressure mean values B4 and C4. The air pressure mean difference of the first time group is B4 - A4. Thus, the target air pressure change rate of the first time group can be determined as (B4 - A4) / t. Similarly, the target air pressure change rate of the second time group can be obtained as (C4 - B4) / t.

[0073] Step 4: Determine the target air pressure change rate of at least one time group as the target air pressure change rate of the ventilation pipeline.

[0074] In practical applications, the target air pressure change rate of the ventilation pipeline includes the target air pressure change rates of all time groups.

[0075] In specific implementation, when the processor of the flexible rehabilitation training device obtains the air pressure value of each ventilation pipeline among multiple ventilation pipelines of the rehabilitation training component, it will compare the air pressure value with the system parameters. When the air pressure value exceeds the system parameter range, it is determined that the rehabilitation training component of the flexible rehabilitation training device is damaged or there is air leakage. At this time, a prompt of device damage will be displayed on the touch control screen of the flexible rehabilitation training device, and the processor of the flexible rehabilitation training device controls the rehabilitation training component to stop stimulating the target part of the target patient. Among them, the system parameter range is the range between the maximum air pressure value and the minimum air pressure value detected when the flexible rehabilitation training device is running normally. In this way, by comparing the air pressure value of each ventilation pipeline among multiple ventilation pipelines of the rehabilitation training component obtained by the processor of the flexible rehabilitation training device with the system parameters, the situation of inaccurate air pressure detection can be effectively avoided, providing accurate data for the detection of spasm, so as to provide effective and safe rehabilitation training for the target patient.

[0076] Next, taking "patient hand function rehabilitation training" as a specific application scenario, the flexible rehabilitation training control method provided by the embodiments of the present application will be further described in detail. Refer to Figure 3 As shown, the specific process of the flexible rehabilitation training control method provided by the embodiments of the present application is as follows:

[0077] Step 301: The processor of the hand flexible rehabilitation training device responds to the parameter learning trigger operation performed by the target patient, and based on the rehabilitation training plan information of the target patient, controls the hand rehabilitation training component to stimulate the hand of the target patient to perform fist clenching and straightening.

[0078] Step 302: During the process that the hand rehabilitation training component stimulates the hand of the target patient to perform fist clenching and straightening, for each of the multiple ventilation pipelines of the hand rehabilitation training component, the processor of the hand flexible rehabilitation training device determines the target air pressure change rate of the ventilation pipeline based on the air pressure values of the ventilation pipeline collected by the air pressure sensor arranged on the ventilation pipeline within the time required to perform at least two times of fist clenching and straightening.

[0079] Step 303: The processor of the hand flexible rehabilitation training device responds to the rehabilitation training trigger operation performed by the target patient, and based on the rehabilitation training plan information of the target patient, controls the hand rehabilitation training component to stimulate the hand of the target patient to perform fist clenching and straightening.

[0080] Step 304: During the process that the hand rehabilitation training component stimulates the hand of the target patient to perform fist clenching and straightening, the processor of the hand flexible rehabilitation training device monitors the air pressure value of the gas pipeline of the training glove in the hand rehabilitation training component.

[0081] Step 305: For each of the multiple ventilation pipelines of the hand rehabilitation training component, the processor of the hand flexible rehabilitation training device determines the current air pressure change rate of the ventilation pipeline based on the air pressure values of the ventilation pipeline collected by the air pressure sensor arranged on the ventilation pipeline within the time required to perform one time of fist clenching and straightening.

[0082] Step 306: The processor of the hand flexible rehabilitation training device detects the rate difference between the current air pressure change rate of the ventilation pipeline and the target air pressure change rate of the target patient. If the rate differences of all the multiple ventilation pipelines are not greater than the rate difference threshold, the processor of the hand flexible rehabilitation training device determines that the hand of the target patient has not had a spasm, and then executes Step S307; otherwise, the processor of the hand flexible rehabilitation training device determines that the hand of the target patient has had a spasm, and then executes Steps S308 - S311.

[0083] Step 307: The processor of the hand flexible rehabilitation training device controls the hand rehabilitation training component to continue to stimulate the hand of the target patient to perform fist clenching and straightening.

[0084] Step 308: The processor of the hand flexible rehabilitation training device controls the hand rehabilitation training component to stop stimulating the hand of the target patient to perform fist clenching and straightening.

[0085] Step 309: The processor of the hand flexible rehabilitation training device determines the ventilation pipeline with a rate difference greater than the rate difference threshold among multiple ventilation pipelines as the target ventilation pipeline.

[0086] Step 310: The processor of the hand flexible rehabilitation training device determines the spasm position of the target patient's hand based on the position of the airbag connected to the target ventilation pipeline in the hand rehabilitation training component and displays it.

[0087] Step 311: In response to the recovery training trigger operation of the target patient, the processor of the hand flexible rehabilitation training device determines the information of the incomplete rehabilitation training plan of the target patient based on the time information when the hand rehabilitation training component stops stimulating the target part of the target patient to perform fist clenching and straightening. Based on the information of the incomplete rehabilitation training plan of the target patient, the processor controls the hand rehabilitation training component to continue stimulating the hand of the target patient to perform fist clenching and straightening.

[0088] Based on the above embodiments, the embodiment of the present application provides a flexible rehabilitation training control system, which is applied to the processor in the flexible rehabilitation training device. Refer to Figure 4 As shown, the flexible rehabilitation training control system 400 provided by the embodiment of the present application at least includes:

[0089] The first control unit 401 is configured to, in response to the rehabilitation training trigger operation performed by the target patient, control the rehabilitation training component to stimulate the target part of the target patient to perform rehabilitation training actions based on the rehabilitation training plan information of the target patient;

[0090] The spasm detection unit 402 is configured to monitor the set parameters of the target component configured as a monitoring node in the rehabilitation training component during the process that the rehabilitation training component stimulates the target part of the target patient to perform rehabilitation training actions, and detect whether the target part of the target patient has spasmed based on the monitoring result of the set parameters of the target component;

[0091] The second control unit 403 is configured to, if the spasm detection unit 402 detects that the target part of the target patient has spasmed, control the rehabilitation training component to stop stimulating the target part of the target patient to perform rehabilitation training actions; if the spasm detection unit 402 detects that the target part of the target patient has not spasmed, control the rehabilitation training component to continue stimulating the target part of the target patient to perform rehabilitation training actions.

[0092] In a possible implementation manner, the rehabilitation training component includes an air pump, a plurality of air bags, and a plurality of ventilation pipelines. The ends of the plurality of air bags are respectively and correspondingly connected to the plurality of ventilation pipelines, and the plurality of ventilation pipelines are respectively connected to the air pump. The rehabilitation training component performs rehabilitation training actions on the target part of the target patient by pumping air into and inflating the plurality of air bags; the target component configured as a monitoring node in the rehabilitation training component is the plurality of ventilation pipelines, and the set parameter of the target component is the air pressure value of the plurality of ventilation pipelines; the spasm detection unit 402 is specifically used for:

[0093] For each ventilation pipeline among the plurality of ventilation pipelines of the rehabilitation training component, based on the air pressure value of the ventilation pipeline collected by the air pressure sensor arranged on the ventilation pipeline within the first time range, determine the current air pressure change rate of the ventilation pipeline, and detect the rate difference between the current air pressure change rate of the ventilation pipeline and the target air pressure change rate of the target patient;

[0094] If the rate differences of the plurality of ventilation pipelines are all not greater than the rate difference threshold, it is determined that the target part of the target patient does not have spasm; otherwise, it is determined that the target part of the target patient has spasm.

[0095] In a possible implementation manner, the first time range is the time required for the target part of the target patient to perform a rehabilitation training action once, and the spasm detection unit 402 is specifically used for:

[0096] Obtain the air pressure values of the ventilation pipeline collected at at least two sampling time points; wherein, different sampling time points correspond to different action amplitudes of the rehabilitation training action;

[0097] Determine every two consecutive sampling time points as a time group, obtain at least one time group, and for each time group in the at least one time group, based on the two air pressure values included in the time group and the sampling time interval corresponding to the time group, determine the current air pressure change rate of the time group;

[0098] Determine the current air pressure change rate of at least one time group as the current air pressure change rate of the ventilation pipeline.

[0099] In a possible implementation manner, the flexible rehabilitation training control system 400 provided in the embodiments of the present application further includes:

[0100] A target ventilation pipeline determination unit 404, configured to determine the ventilation pipeline with a rate difference greater than the rate difference threshold from the plurality of ventilation pipelines as the target ventilation pipeline;

[0101] A spasm position determination unit 405, configured to determine and display the spasm position on the target part of the target patient based on the position of the air bag connected to the target ventilation pipeline in the rehabilitation training component.

[0102] In a possible implementation, the flexible rehabilitation training control system 400 provided by the embodiments of the present application further includes:

[0103] A third control unit 406, configured to, in response to a parameter learning trigger operation performed by a target patient, based on the rehabilitation training plan information of the target patient, control a rehabilitation training component to stimulate a target part of the target patient to perform a rehabilitation training action;

[0104] A parameter learning unit 407, configured to, during the process that the rehabilitation training component stimulates a target part of the target patient to perform a rehabilitation training action, for each of a plurality of ventilation pipelines of the rehabilitation training component, determine a target air pressure change rate of the ventilation pipeline based on air pressure values of the ventilation pipeline collected by a pressure sensor provided on the ventilation pipeline within a second time range.

[0105] In a possible implementation, the second time range is the time required for the target part of the target patient to perform at least two rehabilitation training actions, and the parameter learning unit 407 is specifically configured to:

[0106] When the target part of the target patient performs a rehabilitation training action each time, obtain air pressure values of the ventilation pipeline collected at at least two sampling time points; wherein, different sampling time points correspond to different action amplitudes of the rehabilitation training action;

[0107] Calculate the average value of air pressure values of at least two ventilation pipelines collected at the same sampling time point to obtain air pressure averages corresponding to at least two sampling time points;

[0108] Determine every two consecutive sampling time points as a time group to obtain at least one time group, and for each time group in the at least one time group, based on two air pressure averages included in the time group and the sampling time interval corresponding to the time group, determine the target air pressure change rate of the time group;

[0109] Determine the target air pressure change rate of at least one time group as the target air pressure change rate of the ventilation pipeline.

[0110] In a possible implementation, the flexible rehabilitation training control system 400 provided by the embodiments of the present application further includes:

[0111] A fourth control unit 408, configured to, in response to a recovery training trigger operation of the target patient, based on the time information when the rehabilitation training component stops stimulating the target part of the target patient to perform a rehabilitation training action, determine the rehabilitation training plan information that the target patient has not completed, and based on the rehabilitation training plan information that the target patient has not completed, control the rehabilitation training component to continue to stimulate the target part of the target patient to perform a rehabilitation training action.

[0112] It should be noted that the principle of the flexible rehabilitation training control system 400 provided in the embodiments of the present application for solving technical problems is similar to that of the flexible rehabilitation training control method provided in the embodiments of the present application. Therefore, for the implementation of the flexible rehabilitation training control system 400 provided in the embodiments of the present application, reference can be made to the implementation of the flexible rehabilitation training control method provided in the embodiments of the present application, and repeated parts will not be elaborated.

[0113] After introducing the flexible rehabilitation training control method and system provided in the embodiments of the present application, next, a brief introduction to the flexible rehabilitation training device provided in the embodiments of the present application will be given.

[0114] Refer to Figure 5 As shown, the flexible rehabilitation training device 500 provided in the embodiments of the present application at least includes: a rehabilitation training component 501, a memory 502, and a processor 503. The rehabilitation training component 501 stimulates a target part of a target patient to perform rehabilitation training actions under the control of the processor. The memory 502 stores a computer program that can run on the processor 503, and when the processor 503 executes the computer program, it implements the flexible rehabilitation training control method provided in the embodiments of the present application.

[0115] The rehabilitation training component 501 may include an air pump, a plurality of airbags, and a plurality of ventilation pipelines. The ends of the plurality of airbags are respectively connected to the plurality of ventilation pipelines in a one-to-one correspondence, and the plurality of ventilation pipelines are respectively connected to the air pump. The rehabilitation training component stimulates a target part of a target patient to perform rehabilitation training actions based on the air suction and inflation of the plurality of airbags by the air pump. Moreover, the rehabilitation training component may further include a plurality of pressure sensors. The plurality of pressure sensors are in one-to-one correspondence with the plurality of ventilation pipelines and are respectively arranged on the plurality of ventilation pipelines, and the plurality of pressure sensors can collect the air pressure values of the ventilation pipelines corresponding to them.

[0116] The flexible rehabilitation training device 500 provided in the embodiments of the present application may further include a bus 504 connecting different components (including the memory 502 and the processor 503). Among them, the bus 504 represents one or more of several types of bus structures, including a memory bus, a peripheral bus, a local bus, etc.

[0117] The memory 502 may include a readable medium in the form of a volatile memory, such as a random access memory (RAM) 5021 and / or a cache memory 5022, and may further include a read only memory (ROM) 5023.

[0118] The memory 502 may also include a program tool 5025 having a set (at least one) of program modules 5024, and the program modules 5024 include, but are not limited to: an operating subsystem, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment.

[0119] The flexible rehabilitation training device 500 may also communicate with one or more external devices 505 (such as a keyboard, a remote control, etc.), and may also communicate with one or more devices that enable a user to interact with the flexible rehabilitation training device 500 (such as a mobile phone, a computer, etc.), and / or communicate with any device that enables the flexible rehabilitation training device 500 to communicate with one or more other flexible rehabilitation training devices 500 (such as a router, a modem, etc.). Such communication may be performed through an input / output (I / O) interface 506. Also, the flexible rehabilitation training device 500 may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 507. As Figure 5 shown, the network adapter 507 communicates with other modules of the flexible rehabilitation training device 500 through a bus 504. It should be understood that although Figure 5 not shown in the figure, other hardware and / or software modules may be used in conjunction with the flexible rehabilitation training device 500, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, redundant arrays of independent disks (RAID) subsystems, tape drives, and data backup storage subsystems, etc.

[0120] It should be noted that Figure 5 the flexible rehabilitation training device 500 shown is only an example, and should not impose any limitations on the functions and usage scope of the embodiments of the present application.

[0121] Next, the computer-readable storage medium provided by the embodiments of the present application will be introduced. The computer-readable storage medium provided by the embodiments of the present application stores computer instructions, and when the computer instructions are executed by a processor, the flexible rehabilitation training control method provided by the embodiments of the present application is implemented. Specifically, the computer instructions may be built-in or installed in the processor, so that the processor can implement the flexible rehabilitation training control method provided by the embodiments of the present application by executing the built-in or installed computer instructions.

[0122] In addition, the flexible rehabilitation training control method provided by the embodiments of the present application can also be implemented as a program product. The program product includes program code, and when the program product can run on a processor, the program code implements the flexible rehabilitation training control method provided by the embodiments of the present application when running on the processor.

[0123] The computer program product provided by the embodiments of the present application can adopt any combination of one or more readable media. Among them, the readable media can be a readable signal medium or a readable storage medium, and the readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination of the above. Specifically, more specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a RAM, a ROM, an erasable programmable read-only memory (EPROM), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0124] The computer program product provided by the embodiments of the present application can adopt a CD-ROM and include program code, and can also run on a computing device. However, the computer program product provided by the embodiments of the present application is not limited to this. In the embodiments of the present application, the readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, device, or component.

[0125] It should be noted that although several units or subunits of the system are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of the two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units.

[0126] In addition, although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, some steps can be omitted, multiple steps can be combined into one step for execution, and / or one step can be decomposed into multiple steps for execution.

[0127] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the present application.

[0128] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present application without departing from the spirit and scope of the embodiments of the present application. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. A flexible rehabilitation training control method, characterized in that, it includes: In response to a rehabilitation training trigger operation performed by a target patient, based on the rehabilitation training plan information of the target patient, controlling a rehabilitation training component to stimulate a target part of the target patient to perform a rehabilitation training action; During the process of the rehabilitation training component stimulating the target part of the target patient to perform a rehabilitation training action, monitoring set parameters of a target component configured as a monitoring node in the rehabilitation training component, and based on the monitoring result of the set parameters of the target component, detecting whether the target part of the target patient has spasm; If so, controlling the rehabilitation training component to stop stimulating the target part of the target patient to perform a rehabilitation training action; If not, controlling the rehabilitation training component to continue stimulating the target part of the target patient to perform a rehabilitation training action; The rehabilitation training component includes an air pump, a plurality of air bags and a plurality of ventilation pipelines, the ends of the plurality of air bags are respectively connected to the plurality of ventilation pipelines in one-to-one correspondence, and the plurality of ventilation pipelines are respectively connected to the air pump; The target component configured as a monitoring node in the rehabilitation training component is the plurality of ventilation pipelines, and the set parameter of the target component is the air pressure value of the plurality of ventilation pipelines; Based on the monitoring result of the set parameters of the target component, detecting whether the rehabilitation training part of the target patient has spasm includes: For each ventilation pipeline of the plurality of ventilation pipelines of the rehabilitation training component, based on the air pressure value of the ventilation pipeline collected by a pressure sensor arranged on the ventilation pipeline within a first time range, determining the current air pressure change rate of the ventilation pipeline, and detecting the rate difference between the current air pressure change rate of the ventilation pipeline and the target air pressure change rate of the target patient; If the rate differences of the plurality of ventilation pipelines are all not greater than a rate difference threshold, it is determined that the target part of the target patient has not had spasm; otherwise, it is determined that the target part of the target patient has had spasm.

2. The flexible rehabilitation training control method according to claim 1, characterized in that, The rehabilitation training component stimulates the target part of the target patient to perform a rehabilitation training action based on the air pump's pumping air and inflating the plurality of air bags.

3. The flexible rehabilitation training control method according to claim 2, characterized in that, The first time range is the time required for the target part of the target patient to perform a rehabilitation training action once; based on the air pressure value of the ventilation pipeline collected by a pressure sensor arranged on the ventilation pipeline within the first time range, determining the current air pressure change rate of the ventilation pipeline includes: Obtaining the air pressure values of the ventilation pipeline collected by the pressure sensor arranged on the ventilation pipeline at at least two sampling time points; wherein, different sampling time points correspond to different action amplitudes of the rehabilitation training action. Determine every two consecutive sampling time points as a time group to obtain at least one time group, and for each time group in the at least one time group, determine the current air pressure change rate of the time group based on the two air pressure values included in the time group and the sampling time interval corresponding to the time group; Determine the current air pressure change rate of the at least one time group as the current air pressure change rate of the ventilation pipeline.

4. The flexible rehabilitation training control method according to claim 2, characterized in that, after determining that a spasm occurs in the target part of the target patient, it further includes: Determine the ventilation pipelines with a rate difference greater than the rate difference threshold among the multiple ventilation pipelines as the target ventilation pipelines; Based on the position of the airbag connected to the target ventilation pipeline in the rehabilitation training component, determine and display the spasm position on the target part of the target patient.

5. The flexible rehabilitation training control method according to any one of claims 2-4, characterized in that, before responding to the rehabilitation training trigger operation performed by the target patient, it further includes: In response to the parameter learning trigger operation performed by the target patient, based on the rehabilitation training plan information of the target patient, control the rehabilitation training component to stimulate the target part of the target patient to perform rehabilitation training actions; During the process that the rehabilitation training component stimulates the target part of the target patient to perform rehabilitation training actions, for each ventilation pipeline among the multiple ventilation pipelines of the rehabilitation training component, based on the air pressure values of the ventilation pipeline collected by the air pressure sensor arranged on the ventilation pipeline within the second time range, determine the target air pressure change rate of the ventilation pipeline.

6. The flexible rehabilitation training control method according to claim 5, characterized in that, the second time range is the time required for the target part of the target patient to perform at least two rehabilitation training actions; Based on the air pressure values of the ventilation pipeline collected by the air pressure sensor arranged on the ventilation pipeline within the second time range, determining the target air pressure change rate of the ventilation pipeline includes: When the target part of the target patient performs each rehabilitation training action, obtain the air pressure values of the ventilation pipeline collected by the air pressure sensor arranged on the ventilation pipeline at at least two sampling time points; wherein, different sampling time points correspond to different action amplitudes of the rehabilitation training action; Take the average of the air pressure values of at least two ventilation pipelines collected at the same sampling time point to obtain the air pressure means corresponding to at least two sampling time points; Determine every two consecutive sampling time points as a time group to obtain at least one time group, and for each time group in the at least one time group, based on the two air pressure means included in the time group and the sampling time interval corresponding to the time group, determine the target air pressure change rate of the time group; Determine the target air pressure change rate of the at least one time group as the target air pressure change rate of the ventilation pipeline.

7. The flexible rehabilitation training control method according to any one of claims 1-4, characterized in that, After controlling the rehabilitation training component to stop stimulating the target part of the target patient from performing the rehabilitation training action, it further includes: In response to the recovery training trigger operation of the target patient, based on the time information when the rehabilitation training component stops stimulating the target part of the target patient from performing the rehabilitation training action, determine the information of the unfinished rehabilitation training plan of the target patient, and based on the information of the unfinished rehabilitation training plan of the target patient, control the rehabilitation training component to continue stimulating The target part of the target patient to perform the rehabilitation training action.

8. A flexible rehabilitation training control system, Characterized in that, It includes: A first control unit, configured to respond to the rehabilitation training trigger operation performed by the target patient, and based on the rehabilitation training plan information of the target patient, control the rehabilitation training component to stimulate the target part of the target patient to perform the rehabilitation training action; A spasm detection unit, configured to monitor the set parameters of the target component configured as a monitoring node in the rehabilitation training component during the process of the rehabilitation training component stimulating the target part of the target patient to perform the rehabilitation training action, and based on the monitoring result of the set parameters of the target component, detect whether the target part of the target patient has a spasm; A second control unit, configured to, if the spasm detection unit detects that the target part of the target patient has a spasm, control the rehabilitation training component to stop stimulating the target part of the target patient from performing the rehabilitation training action; otherwise, if the spasm detection unit detects that the target part of the target patient does not have a spasm, control the rehabilitation training component to continue stimulating the target part of the target patient to perform the rehabilitation training action; The rehabilitation training component includes an air pump, a plurality of air bags and a plurality of ventilation pipelines, the ends of the plurality of air bags are respectively connected to the plurality of ventilation pipelines in one-to-one correspondence, and the plurality of ventilation pipelines are respectively connected to the air pump; The target component configured as a monitoring node in the rehabilitation training component is the plurality of ventilation pipelines, and the set parameter of the target component is the air pressure value of the plurality of ventilation pipelines; Based on the monitoring result of the set parameters of the target component, detecting whether the rehabilitation training part of the target patient has a spasm includes: For each ventilation pipeline of the plurality of ventilation pipelines of the rehabilitation training component, based on the air pressure value of the ventilation pipeline collected by the air pressure sensor arranged on the ventilation pipeline within the first time range, determine the current air pressure change rate of the ventilation pipeline, and detect the rate difference between the current air pressure change rate of the ventilation pipeline and the target air pressure change rate of the target patient; If the rate differences of the plurality of ventilation pipelines are not greater than the rate difference threshold, it is determined that the target part of the target patient does not have a spasm; otherwise, it is determined that the target part of the target patient has a spasm.

9. A flexible rehabilitation training device, Characterized in that, It includes: A rehabilitation training component, a memory and a processor; The rehabilitation training component stimulates a target part of a target patient to perform rehabilitation training actions under the control of the processor, the memory stores a computer program that can run on the processor, and when the processor executes the computer program, it implements the flexible rehabilitation training control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, the computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a processor, they implement the flexible rehabilitation training control method according to any one of claims 1-7.

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