A four-limb linkage control method, system, rehabilitation robot and storage medium

Abstract

The present invention discloses a four-limb linkage control method, system, rehabilitation robot, and storage medium. The method includes the following steps: presetting the target assistance, first target resistance, first target speed, and minimum speed of the rehabilitation robot; collecting the angles of the upper limb motor and lower limb motor of the rehabilitation robot in real time; calculating the angle difference between the upper limb motor angle and the lower limb motor angle, and comparing the angle difference with a preset angle threshold; when the angle difference is not equal to the angle threshold, adjusting the first target resistance to a second target resistance according to the angle difference and the angle threshold; controlling the leading motor to run at the minimum speed according to the second target resistance; adjusting the first target speed to the second target speed through a motion controller; and controlling the lagging motor to run at the second target speed according to the target assistance until the angle difference is equal to the angle threshold. The present invention can avoid the impact of excessive correction force on user experience and improve the rehabilitation training effect of the upper and lower limb rehabilitation robot.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation training medical equipment, and in particular to a four-limb linkage control method, system, rehabilitation robot and storage medium. Background Art

[0002] Currently, in the postoperative rehabilitation treatment of hemiplegic patients after stroke, upper and lower limb rehabilitation robots are usually used to assist users in rehabilitation training. Currently, upper and lower limb rehabilitation robots mainly connect the user's upper and lower limbs at the same time through auxiliary accessories, and can simultaneously limit the user's upper and lower limb ends to perform circular motion.

[0003] Existing robotic limb-coordinated training for upper and lower limb rehabilitation utilizes the principle of one limb driving the other three. As long as the user can autonomously exercise one limb, they can activate the other three, achieving autonomously controlled "passive limb movement." This increases the range of motion of the user's hip, knee, and ankle joints, and has a certain corrective effect on limb dysfunction such as knee hyperextension and foot drop. However, the actual patient experience with current robotic limb-coordinated training programs is often suboptimal. For example, the upper and lower limb rehabilitation robots may exert excessive force, and the training intensity may be too high, which may be detrimental to the patient's recovery.

[0004] Therefore, a four-limb linkage control method is currently needed to avoid the problem of excessive correction force affecting the rehabilitation training effect during four-limb linkage rehabilitation training, and to improve the user product experience. Summary of the Invention

[0005] In order to solve the technical problem that excessive correction force affects the rehabilitation training effect during four-limb linkage rehabilitation training according to the existing rehabilitation training robot control method, the present invention provides a four-limb linkage control method, system, rehabilitation robot and storage medium. The specific technical solutions are as follows:

[0006] The present invention provides a four-limb linkage control method, comprising the steps of:

[0007] Preset the target assistance, first target resistance, first target speed and minimum speed of the rehabilitation robot;

[0008] collecting the upper limb motor angle and the lower limb motor angle of the rehabilitation robot in real time;

[0009] Calculating an angle difference between the upper limb motor angle and the lower limb motor angle, and comparing the angle difference with a preset angle threshold;

[0010] When the angle difference is equal to the angle threshold, controlling the upper limb motor and the lower limb motor to operate at the first target speed according to the target assist force and the first target resistance;

[0011] When the angle difference is not equal to the angle threshold, distinguishing between a leading motor and a lagging motor in the upper limb motor and the lower limb motor according to the angle difference and the angle threshold;

[0012] adjusting the first target resistance to a second target resistance according to the angle difference and the angle threshold;

[0013] controlling the leading motor to operate at the minimum speed according to the second target resistance;

[0014] adjusting the first target speed to a second target speed by a motion controller;

[0015] The hysteresis motor is controlled to operate at the second target speed according to the target assist force until the angle difference is equal to the angle threshold.

[0016] The four-limb linkage control method provided by the present invention detects the angle difference between the upper limb motor angle and the lower limb motor angle of the rehabilitation robot, and determines whether there is advance and lag in the upper and lower limb motors during operation. When advance and lag exist, the upper and lower limb motors are linked to control the motors, so as to avoid excessive correction force during rehabilitation training that affects the user's rehabilitation training effect and improve user experience.

[0017] In some embodiments, adjusting the first target resistance to the second target resistance according to the angle difference and the angle threshold specifically includes:

[0018] A unit angle difference is preset, and the second target resistance is calculated according to the difference between the angle difference value and the angle threshold, the unit angle difference, and the first target resistance, using the following formula:

[0019]

[0020] in, is the second target resistance, Δθ is the angle difference, Δθ pre is the angle threshold, Δθ unit is the unit angle difference, is the first target resistance.

[0021] The four-limb linkage control method provided by the present invention discloses a scheme for linkage control of the upper limb motor and the lower limb motor when the angle difference is not equal to the angle threshold. The first target resistance is adjusted to the second target resistance according to the preset unit angle difference, and the angle difference between the upper limb motor and the lower limb motor is gradually adjusted to avoid excessive or insufficient increase in resistance, which affects the patient's rehabilitation training effect and improves the comfort of product use.

[0022] In some embodiments, adjusting the first target speed to the second target speed by the motion controller specifically includes:

[0023] Presetting the proportional coefficient and the integral coefficient in the motion controller, and obtaining the angle difference in the previous control cycle of the motion controller;

[0024] The second target speed is calculated according to the first target speed, the proportional coefficient, the integral coefficient, the angle difference in the previous control cycle of the motion controller, and the angle difference in the current control cycle of the motion controller, using the following formula:

[0025]

[0026] Wherein P is the proportional coefficient, I is the integral coefficient, is the second target speed, ω pre is the first target speed, Δθ last is the angle difference in the previous control cycle.

[0027] In some embodiments, controlling the upper limb motor and the lower limb motor to operate at the first target speed based on the target assist force and the first target resistance specifically includes:

[0028] If the current operating speeds of the upper limb motor and the lower limb motor are greater than the first target speed, controlling the upper limb motor and the lower limb motor to operate according to the first target resistance;

[0029] If the current operating speeds of the upper limb motor and the lower limb motor are lower than the first target speed, the upper limb motor and the lower limb motor are controlled to operate according to the target assist force.

[0030] The four-limb linkage control method provided by the present invention discloses a scheme for linkage control of the upper limb motor and the lower limb motor when the angle difference is equal to the angle threshold. The upper limb motor and the lower limb motor are linked and controlled with preset assist and resistance, so that the user can complete rehabilitation training in an environment with balanced force, thereby improving the training effect and user experience.

[0031] In some embodiments, after the target force, first target resistance, first target speed, and minimum speed of the rehabilitation robot are preset, and before the real-time acquisition of the upper limb motor angle and the lower limb motor angle of the rehabilitation robot, the method further includes:

[0032] The training target is converted into a prompt signal to guide the user's training, the training target includes the target assistance, the first target resistance, the first target speed and the minimum speed, and the prompt signal includes a visual signal, an auditory signal and a tactile signal.

[0033] The four-limb linkage control method provided by the present invention guides users in training by converting training goals into prompt signals, and intuitively displays various parameters of the rehabilitation robot to users during training, making it easy for users to understand their own training status based on various parameters.

[0034] In some embodiments, according to another aspect of the present invention, the present invention further provides a four-limb linkage control system, comprising:

[0035] A training target design module is used to preset the target force, first target resistance, first target speed, and minimum speed of the rehabilitation robot;

[0036] A signal acquisition module, used for acquiring the upper limb motor angle and the lower limb motor angle of the rehabilitation robot in real time;

[0037] An upper and lower limb control module, connected to the signal acquisition module, for calculating the angle difference between the upper limb motor angle and the lower limb motor angle, and comparing the angle difference with a preset angle threshold;

[0038] a planning module, connected to the upper and lower limb control modules and the training target design module, respectively, for sending the target force, the first target resistance, and the first target speed to the upper and lower limb control modules when the angle difference is equal to the angle threshold;

[0039] When the angle difference is not equal to the angle threshold, the planning module distinguishes the leading motor and the lagging motor in the upper limb motor and the lower limb motor according to the angle difference and the angle threshold, adjusts the first target resistance to the second target resistance according to the angle difference and the angle threshold, adjusts the first target speed to the second target speed through the motion controller, and sends the target force, the second target resistance, the second target speed and the minimum speed to the upper and lower limb control modules;

[0040] When the angle difference is equal to the angle threshold, the upper and lower limb control module controls the upper limb motor and the lower limb motor to operate at the first target speed according to the target assist force and the first target resistance;

[0041] When the angle difference is not equal to the angle threshold, the upper and lower limb control module controls the leading motor to run at the minimum speed according to the second target resistance, and controls the lagging motor to run at the second target speed according to the target assist until the angle difference is equal to the angle threshold.

[0042] In some embodiments, the four-limb linkage control system provided by the present invention further includes:

[0043] A guidance module is connected to the training target design module and is used to convert the training target into a prompt signal to guide the user training, the training target includes the target force, the first target resistance, the first target speed and the minimum speed, and the prompt signal includes a visual signal, an auditory signal and a tactile signal.

[0044] In some embodiments, the four-limb linkage control system provided by the present invention further includes:

[0045] The signal processing module is connected to the signal acquisition module and the upper and lower limb control modules respectively, and is used to perform signal processing on the upper limb motor angle and the lower limb motor angle collected by the signal acquisition module, and then send the upper limb motor angle and the lower limb motor angle to the upper and lower limb control modules. The signal processing includes noise reduction, filtering and signal quantization.

[0046] In some embodiments, according to another aspect of the present invention, the present invention also provides a rehabilitation robot, comprising a processor, a memory, and a computer program stored in the memory and runnable on the processor, wherein the processor is configured to execute the computer program stored in the memory to implement the operations performed by the above-mentioned four-limb linkage control method.

[0047] In some embodiments, according to another aspect of the present invention, the present invention further provides a storage medium, wherein the storage medium stores at least one instruction, and the instruction is loaded and executed by a processor to implement the operations performed by the above-mentioned rehabilitation training robot control method.

[0048] The limb linkage control method, system, rehabilitation robot, and storage medium provided by the present invention have at least one of the following technical effects:

[0049] (1) The limb linkage control method provided by the present invention detects the angle difference between the upper limb motor angle and the lower limb motor angle of the rehabilitation robot to determine whether there is advance or lag in the operation of the upper and lower limb motors. When advance or lag exists, the upper and lower limb motors are linked to each other to avoid excessive correction force affecting the user's rehabilitation training effect during rehabilitation training, thereby improving user experience.

[0050] (2) Disclose a scheme for controlling the upper limb motor and the lower limb motor in a linkage manner when the angle difference is not equal to the angle threshold, adjust the first target resistance to the second target resistance according to the preset unit angle difference, and gradually adjust the angle difference between the upper limb motor and the lower limb motor to avoid excessive or insufficient increase in resistance that affects the patient's rehabilitation training effect, thereby improving the comfort of product use;

[0051] (3) Disclose a scheme for controlling the upper limb motor and the lower limb motor in a linkage manner when the angle difference is equal to the angle threshold, and control the upper limb motor and the lower limb motor in a linkage manner with a preset assist force and resistance, so that the user can complete rehabilitation training in a force-balanced environment, thereby improving the training effect and user experience;

[0052] (4) By converting training goals into prompt signals to guide users in training, the various parameters of the rehabilitation robot during training are intuitively displayed to users, making it easier for users to understand their own training status based on the various parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0054] Figure 1 This is a flow chart of a four-limb linkage control method of the present invention;

[0055] Figure 2 Another flow chart of a four-limb linkage control method of the present invention;

[0056] Figure 3 This is an example diagram of a four-limb linkage control system of the present invention;

[0057] Figure 4 This is another example diagram of a four-limb linkage control system of the present invention;

[0058] Figure 5 This is an example diagram of a rehabilitation robot according to the present invention.

[0059] Numbers in the figure: training target design module-10, signal acquisition module-20, upper and lower limb control module-30, planning module-40, upper limb control unit-31, lower limb control unit-32, motion execution module-50, upper limb execution unit-51, lower limb execution unit-52, guidance module-60, signal processing module-70, rehabilitation robot-100, processor-110, memory-120 and computer program-121. DETAILED DESCRIPTION

[0060] In the following description, specific details such as specific system structures and technologies are provided for illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obstructing the description of the present application with unnecessary details.

[0061] It will be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections.

[0062] To simplify the drawings, only the parts relevant to the present invention are schematically depicted in each figure; they do not represent the actual structure of the product. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only one component with the same structure or function is schematically depicted or labeled. As used herein, "one" refers not only to "only one" but also to "more than one."

[0063] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0064] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0065] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without inventive work.

[0066] One embodiment of the present invention, as Figure 1 As shown, the present invention provides a four-limb linkage control method, comprising the steps of:

[0067] S100 presets the target assistance, first target resistance, first target speed and minimum speed of the rehabilitation robot.

[0068] Specifically, the rehabilitation robot includes an input port, and the user can set the target assistance, first target resistance, first target speed and minimum speed of the rehabilitation robot during the training process through the input port before conducting rehabilitation training.

[0069] S300 collects the upper limb motor angles and lower limb motor angles of the rehabilitation robot in real time.

[0070] Specifically, the upper limb training part of the rehabilitation robot includes upper limb armrests, and the lower limb training part includes lower limb pedals. The upper limb motor angle refers to the angle between the upper limb armrests and the upper limb motor axis during motor operation, and the lower limb motor angle refers to the angle between the lower limb pedals and the lower limb motor axis.

[0071] S400 calculates the angle difference between the upper limb motor angle and the lower limb motor angle, and compares the angle difference with a preset angle threshold.

[0072] S510 When the angle difference is equal to the angle threshold, the upper limb motor and the lower limb motor are controlled to operate at the first target speed according to the target assistance and the first target resistance.

[0073] S521 distinguishes the leading motor and the lagging motor in the upper limb motor and the lower limb motor according to the angle difference and the angle threshold when the angle difference is not equal to the angle threshold.

[0074] Specifically, when the angle difference is greater than the angle threshold, it is determined that the upper limb motor is ahead and the lower limb motor is behind. When the angle difference is less than the angle threshold, it is determined that the lower limb motor is ahead and the upper limb motor is behind.

[0075] S522 adjusts the first target resistance to the second target resistance according to the angle difference and the angle threshold.

[0076] S523 controls the leading motor to run at the lowest speed according to the second target resistance.

[0077] S524 adjusts the first target speed to the second target speed through the motion controller.

[0078] Specifically, the motion controller includes a PID controller.

[0079] S525 controls the hysteresis motor to run at a second target speed according to the target power assist until the angle difference is equal to the angle threshold.

[0080] Exemplarily, when the angle difference is greater than the angle threshold, the upper limb motor runs ahead of the lower limb motor. During the linkage control process, the running speed of the lower limb motor is adjusted from the first target speed to the second target speed, and the running speed of the upper limb motor is reduced from the first target speed to the minimum speed, gradually making the angle difference the same as the angle threshold. In this process, the lower limb motor is given target assistance without adding additional assistance to assist the patient's lower limb movement. The upper limb motor is adjusted from the first target resistance to the second target resistance, and additional resistance is added on the basis of the first target resistance. While avoiding additional assistance to damage the user's motor tissue, the user's upper and lower limbs can achieve effective training effects according to different rehabilitation states, improve the user's balance function and abnormal gait, and use the autonomous passive training process of one limb leading three limbs to improve the user's training enthusiasm and participation.

[0081] The four-limb linkage control method provided in this embodiment detects the angle difference between the upper limb motor angle and the lower limb motor angle of the rehabilitation robot to determine whether there is advance and lag in the operation of the upper and lower limb motors. When advance and lag exist, the upper and lower limb motors are linked and controlled to avoid excessive correction force during rehabilitation training that affects the user's rehabilitation training effect, thereby improving user experience.

[0082] In one embodiment, step S522 adjusts the first target resistance to the second target resistance according to the angle difference and the angle threshold, specifically including:

[0083] The unit angle difference is preset, and the second target resistance is calculated based on the difference between the angle difference value and the angle threshold, the unit angle difference, and the first target resistance. The formula is as follows:

[0084]

[0085] in, is the second target resistance, Δθ is the angle difference, Δθ pre is the angle threshold, Δθ unit is the unit angle difference, The first target resistance.

[0086] In one embodiment, step S524 adjusts the first target speed to the second target speed through the motion controller, specifically including:

[0087] Preset the proportional coefficient and integral coefficient in the motion controller, and obtain the angle difference in the previous control cycle of the motion controller. Calculate the second target speed based on the first target speed, the proportional coefficient, the integral coefficient, the angle difference in the previous control cycle of the motion controller, and the angle difference in the current control cycle of the motion controller. The formula is as follows:

[0088]

[0089] Where P is the proportional coefficient, I is the integral coefficient, is the second target speed, ω pre is the first target speed, Δθ last is the angle difference in the previous control cycle.

[0090] In one embodiment, when the angle difference is equal to the angle threshold, step S510 controls the upper limb motor and the lower limb motor to operate at the first target speed according to the target assist force and the first target resistance, specifically including:

[0091] If the current operating speed of the upper limb motor and the lower limb motor is greater than the first target speed, the upper limb motor and the lower limb motor are controlled to operate according to the first target resistance; if the current operating speed of the upper limb motor and the lower limb motor is less than the first target speed, the upper limb motor and the lower limb motor are controlled to operate according to the target assistance.

[0092] In one embodiment, Figure 2 As shown, after step S100 presets the target force, first target resistance, first target speed, and minimum speed of the rehabilitation robot, and before step S300 acquires the upper limb motor angle and lower limb motor angle of the rehabilitation robot in real time, the method further includes:

[0093] S200 converts the training target into a prompt signal to guide the user in training.

[0094] Specifically, the training targets include target assistance, first target resistance, first target speed and minimum speed, and the prompt signals include visual signals, auditory signals and tactile signals.

[0095] In one embodiment, Figure 3 As shown, the present invention also provides a four-limb linkage control system, including a training target design module 10, a signal acquisition module 20, an upper and lower limb control module 30 and a planning module 40.

[0096] The training target design module 10 is used to preset the target assistance, first target resistance, first target speed and minimum speed of the rehabilitation robot.

[0097] The signal acquisition module 20 is used to acquire the upper limb motor angle and the lower limb motor angle of the rehabilitation robot in real time.

[0098] The upper and lower limb control module 30 is connected to the signal acquisition module 20 and is used to calculate the angle difference between the upper limb motor angle and the lower limb motor angle, and compare the angle difference with a preset angle threshold.

[0099] The planning module 40 is connected to the upper and lower limb control module 30 and the training target design module 10 respectively, and is used to send the target force, the first target resistance and the first target speed to the upper and lower limb control module 30 when the angle difference is equal to the angle threshold.

[0100] When the angle difference is not equal to the angle threshold, the planning module 40 distinguishes the leading motor and the lagging motor in the upper limb motor and the lower limb motor according to the angle difference and the angle threshold, adjusts the first target resistance to the second target resistance according to the angle difference and the angle threshold, and adjusts the first target speed to the second target speed through the motion controller, and sends the target force, second target resistance, second target speed and minimum speed to the upper and lower limb control module 30.

[0101] When the angle difference is equal to the angle threshold, the upper and lower limb control module 30 controls the upper limb motor and the lower limb motor to run at the first target speed according to the target assist force and the first target resistance.

[0102] When the angle difference is not equal to the angle threshold, the upper and lower limb control module 30 controls the leading motor to run at the lowest speed according to the second target resistance, and controls the lagging motor to run at the second target speed according to the target assistance until the angle difference is equal to the angle threshold.

[0103] Specifically, the four-limb linkage control system provided in this embodiment also includes a motion execution module 50, which includes an upper limb motor, a lower limb motor and its corresponding drive controller. The motion execution module 50 is respectively connected to the upper and lower limb control modules 30 and the signal acquisition module 20.

[0104] In one embodiment, Figure 4 As shown, the upper and lower limb control module 30 includes an upper limb control unit 31 and a lower limb control unit 32 , and the motion execution module 50 is divided into an upper limb execution unit 51 and a lower limb execution unit 52 .

[0105] In one embodiment, Figure 4 As shown, the limb linkage control system provided in this embodiment also includes a guidance module 60, which is connected to the training target design module 10 and is used to convert the training target into a prompt signal to guide the user's training.

[0106] Specifically, the training targets include target assistance, first target resistance, first target speed and minimum speed, and the prompt signals include visual signals, auditory signals and tactile signals.

[0107] In one embodiment, Figure 4As shown, the four-limb linkage control system provided in this embodiment also includes a signal processing module 70, which is connected to the signal acquisition module 20 and the upper and lower limb control modules 30 respectively, and is used to process the upper limb motor angle and lower limb motor angle collected by the signal acquisition module 20, and then send the upper limb motor angle and lower limb motor angle to the upper and lower limb control module 30.

[0108] Specifically, the signal processing includes noise reduction, filtering and signal quantization. The signal processing module 70 performs noise reduction, filtering and signal quantization on the signal collected by the signal collection module 20 to obtain the actual movement speed and movement angle of the motor.

[0109] In one embodiment, Figure 5 As shown, the present invention also provides a rehabilitation robot 100, including a processor 110 and a memory 120, wherein the memory 120 is used to store a computer program 121; the processor 110 is used to execute the computer program 121 stored in the memory 120 to implement the four-limb linkage control method in the above-mentioned corresponding method embodiment.

[0110] In one embodiment, the present invention also provides a storage medium, which stores at least one instruction. The instruction is loaded and executed by a processor to implement the operations performed in the above-mentioned four-limb linkage control method embodiment. For example, the storage medium can be a read-only memory (ROM), a random access memory (RAM), a read-only compact disc (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device.

[0111] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0112] Those skilled in the art will appreciate that the units and steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0113] In the embodiments provided in the present application, it should be understood that the disclosed four-limb linkage control method, system, rehabilitation robot and storage medium can be implemented in other ways. For example, the above-described four-limb linkage control method, system, rehabilitation robot and storage medium embodiment is merely schematic. For example, the division of the modules or units is merely a logical function division. There may be other division methods in actual implementation. For example, multiple units or modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the communication connection between each other shown or discussed can be through some interfaces, communication connections of devices or units or integrated circuits, which can be electrical, mechanical or other forms.

[0114] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0115] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0116] It should be noted that the above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A four-limb linkage control method, characterized in that: Including steps: Preset the target assistance, first target resistance, first target speed and minimum speed of the rehabilitation robot; collecting the upper limb motor angle and the lower limb motor angle of the rehabilitation robot in real time; Calculating an angle difference between the upper limb motor angle and the lower limb motor angle, and comparing the angle difference with a preset angle threshold; When the angle difference is equal to the angle threshold, controlling the upper limb motor and the lower limb motor to operate at the first target speed according to the target assist force and the first target resistance; When the angle difference is not equal to the angle threshold, distinguishing between a leading motor and a lagging motor in the upper limb motor and the lower limb motor according to the angle difference and the angle threshold; Adjusting the first target resistance to a second target resistance according to the angle difference and the angle threshold includes: presetting a unit angle difference, and calculating the second target resistance according to the difference between the angle difference and the angle threshold, the unit angle difference, and the first target resistance, using the following formula: in, is the second target resistance, Δθ is the angle difference, Δθ pre is the angle threshold, Δθ unit is the unit angle difference, is the first target resistance; controlling the leading motor to operate at the minimum speed according to the second target resistance; adjusting the first target speed to a second target speed by a motion controller; The hysteresis motor is controlled to operate at the second target speed according to the target assist force until the angle difference is equal to the angle threshold.

2. A four-limb linkage control method according to claim 1, characterized in that: The step of adjusting the first target speed to the second target speed by the motion controller specifically includes: Presetting the proportional coefficient and the integral coefficient in the motion controller, and obtaining the angle difference in the previous control cycle of the motion controller; The second target speed is calculated according to the first target speed, the proportional coefficient, the integral coefficient, the angle difference in the previous control cycle of the motion controller, and the angle difference in the current control cycle of the motion controller, using the following formula: Wherein P is the proportional coefficient, I is the integral coefficient, is the second target speed, ω pre is the first target speed, Δθ last is the angle difference in the previous control cycle.

3. A four-limb linkage control method according to claim 1, characterized in that: The controlling the upper limb motor and the lower limb motor to operate at the first target speed according to the target assist force and the first target resistance specifically includes: If the current operating speeds of the upper limb motor and the lower limb motor are greater than the first target speed, controlling the upper limb motor and the lower limb motor to operate according to the first target resistance; If the current operating speeds of the upper limb motor and the lower limb motor are lower than the first target speed, the upper limb motor and the lower limb motor are controlled to operate according to the target assist force.

4. A four-limb linkage control method according to any one of claims 1 to 3, characterized in that: After the target assistance, first target resistance, first target speed, and minimum speed of the rehabilitation robot are preset, and before the real-time acquisition of the upper limb motor angle and the lower limb motor angle of the rehabilitation robot, the method further includes: The training target is converted into a prompt signal to guide the user's training, the training target includes the target assistance, the first target resistance, the first target speed and the minimum speed, and the prompt signal includes a visual signal, an auditory signal and a tactile signal.

5. A limb linkage control system, characterized in that: include: A training target design module is used to preset the target force, first target resistance, first target speed, and minimum speed of the rehabilitation robot; A signal acquisition module, used for acquiring the angles of the upper limb motors and lower limb motors of the rehabilitation robot in real time; An upper and lower limb control module, connected to the signal acquisition module, for calculating the angle difference between the upper limb motor angle and the lower limb motor angle, and comparing the angle difference with a preset angle threshold; a planning module, connected to the upper and lower limb control modules and the training target design module, respectively, for sending the target force, the first target resistance, and the first target speed to the upper and lower limb control modules when the angle difference is equal to the angle threshold; When the angle difference is not equal to the angle threshold, the planning module distinguishes between the leading motor and the lagging motor in the upper limb motor and the lower limb motor according to the angle difference and the angle threshold, and adjusts the first target resistance to the second target resistance according to the angle difference and the angle threshold, including: presetting a unit angle difference, and calculating the second target resistance according to the difference between the angle difference and the angle threshold, the unit angle difference, and the first target resistance, using the following formula: in, is the second target resistance, Δθ is the angle difference, Δθ pre is the angle threshold, Δθ unit is the unit angle difference, is the first target resistance; and adjusting the first target speed to a second target speed through a motion controller, and sending the target force, the second target resistance, the second target speed, and the minimum speed to the upper and lower limb control modules; When the angle difference is equal to the angle threshold, the upper and lower limb control module controls the upper limb motor and the lower limb motor to operate at the first target speed according to the target assist force and the first target resistance; When the angle difference is not equal to the angle threshold, the upper and lower limb control module controls the leading motor to run at the minimum speed according to the second target resistance, and controls the lagging motor to run at the second target speed according to the target assist until the angle difference is equal to the angle threshold.

6. A limb linkage control system according to claim 5, characterized in that: Also includes: A guidance module is connected to the training target design module and is used to convert the training target into a prompt signal to guide the user training, the training target includes the target force, the first target resistance, the first target speed and the minimum speed, and the prompt signal includes a visual signal, an auditory signal and a tactile signal.

7. A four-limb linkage control system according to claim 5, characterized in that: Also includes: The signal processing module is connected to the signal acquisition module and the upper and lower limb control modules respectively, and is used to perform signal processing on the upper limb motor angle and the lower limb motor angle collected by the signal acquisition module, and then send the upper limb motor angle and the lower limb motor angle to the upper and lower limb control modules. The signal processing includes noise reduction, filtering and signal quantization.

8. A rehabilitation robot, characterized in that: It includes a processor, a memory, and a computer program stored in the memory and runnable on the processor, wherein the processor is configured to execute the computer program stored in the memory to implement the operations performed by the four-limb linkage control method as described in any one of claims 1 to 4.

9. A storage medium, characterized in that: The storage medium stores at least one instruction, which is loaded and executed by the processor to implement the operation performed by the rehabilitation robot control method according to any one of claims 1 to 4.

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