Gait training device

Abstract

The embodiment of the present application discloses a gait training device, comprising an input unit, a limb training unit, an auxiliary support unit and a processor, the input unit is used for acquiring training object parameters and / or gait training device parameters; the limb training unit is used for providing lower limb gait training for the training object, the limb training unit comprises a hip joint, a knee joint and an ankle joint; the processor is used for determining a gait timing relationship according to the training object parameters and / or the gait training device parameters; controlling the hip joint, the knee joint and the ankle joint of the limb training unit of the gait training device according to the gait timing relationship; determining the movement parameters of the auxiliary support unit of the gait training device according to the movement parameters of the limb training unit, and controlling the auxiliary support unit to drive the limb training unit to move on the support surface according to the movement parameters of the auxiliary support unit. The technical scheme provided by the embodiment of the present application can provide the training object with the training of walking on the support surface.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more particularly to a gait training device. Background Technology

[0002] Patients suffering from spinal cord injuries, strokes, and other central nervous system diseases often experience motor impairments, resulting in varying degrees of loss of daily living and work abilities, which seriously endangers their health. Modern medicine believes that by repeatedly providing a certain intensity of stimulation to the central nervous system, it is possible to restore the functional walking ability of patients after central nervous system injury.

[0003] Currently, traditional lower limb rehabilitation training involves professional physical therapists repeatedly tractioning the patient's affected limb in accordance with the gait of a normal human to stimulate the motor central nervous system and assist in gaining the ability to walk, or using assistive training devices to enable the patient to train independently.

[0004] Moreover, most of the existing assistive training devices are fixed, using a strap to suspend the patient and provide vertical support to the patient's upper limbs to ensure that the patient can train on the treadmill, but it is difficult to provide training for normal walking on the ground, which affects the effect of rehabilitation training and may even cause harm to the patient.

[0005] Therefore, there is an urgent need for a gait training device and its control method to solve the problems mentioned above. Summary of the Invention

[0006] This invention provides a gait training device to enable walking on the ground, thereby improving the effectiveness and safety of exercise.

[0007] In a first aspect, embodiments of the present invention provide a control method for a gait training device, used to control the gait training device to provide lower limb gait training to a training subject, the control method for the gait training device comprising:

[0008] Obtain training object parameters and / or gait training device parameters;

[0009] The gait timing relationship is determined based on the training object parameters and / or gait training device parameters;

[0010] The movement of the hip, knee, and ankle joints of the limb training unit of the gait training device is controlled according to the gait timing relationship.

[0011] The movement parameters of the auxiliary support unit of the gait training device are determined based on the movement parameters of the limb training unit, and the auxiliary support unit is controlled to move the limb training unit on the support surface based on the movement parameters of the auxiliary support unit.

[0012] Optionally,

[0013] The movement parameters of the limb training unit are obtained based on the gait timing relationship, or by detecting the movement of the limb training unit or the training object.

[0014] Optionally, the step of determining the gait temporal relationship based on the training object parameters and / or gait training device parameters includes:

[0015] The gait motion parameters of the limb training unit are obtained based on the parameters of the training object and / or the parameters of the gait training device.

[0016] The gait timing relationship is determined based on the obtained gait motion parameters.

[0017] Secondly, embodiments of the present invention also provide a control method for a gait training device, used to control the gait training device to provide lower limb gait training to a training subject, the control method for the gait training device including:

[0018] Obtain training object parameters and / or gait training device parameters;

[0019] Obtain the preset movement parameters of the gait training device;

[0020] Based on the preset movement parameters, the gait timing relationship is determined according to the training object parameters and / or gait training device parameters;

[0021] The movement of the hip, knee, and ankle joints of the limb training unit of the gait training device is controlled according to the gait timing relationship.

[0022] According to the preset movement parameters, the auxiliary support unit of the gait training device is controlled to move the limb training unit of the gait training device on the support surface.

[0023] Optionally, the preset movement parameters include one or more of the speed, acceleration, or movement trajectory of the gait training device.

[0024] Optionally, the step of determining the gait temporal relationship based on the training object parameters and / or gait training device parameters, in conjunction with the preset movement parameters, includes:

[0025] Combining the preset movement parameters, and based on the training object parameters and / or gait training device parameters, the gait movement parameters of the limb training unit are obtained; and

[0026] The gait timing relationship is determined based on the obtained gait motion parameters.

[0027] Optionally, the gait timing relationship is as follows:

[0028] The movement relationships of the hip, knee, and ankle joints of the limb training unit at different times; or,

[0029] The kinematic relationships of the hip, knee, and ankle joints in the limb training units described in different phases; or,

[0030] The relative motion relationships of the hip, knee, and ankle joints in the limb training units described in different phases.

[0031] Optionally, before the step of determining the gait timing relationship based on the training object parameters and / or gait training device parameters, the control method of the gait training device further includes:

[0032] Obtain training motion parameters; and

[0033] The gait target is determined based on the received training motion parameters;

[0034] The step of determining the gait temporal relationship based on the training object parameters and / or gait training device parameters specifically includes:

[0035] Based on the determined gait target, the gait temporal relationship is determined according to the training object parameters and / or gait training device parameters.

[0036] Optionally, the control method for the gait training device further includes:

[0037] If a steering signal is detected, the steering signal is used to control the limb training unit and / or the auxiliary support unit to turn.

[0038] Thirdly, embodiments of the present invention also provide a gait training device for providing lower limb gait training to a training subject, including an input unit, a limb training unit, an auxiliary support unit connected to the limb training unit, and a processor; the processor is used to execute the above-described control method.

[0039] The control method for the gait training device provided in this invention can obtain parameters of the training object and / or parameters of the gait training device, determine the gait timing relationship based on the obtained parameters, control the movement of the hip, knee, and ankle joints of the limb training unit according to the obtained gait timing relationship, determine the movement parameters of the auxiliary support unit of the gait training device based on the movement parameters of the limb training unit, and control the auxiliary support unit to drive the limb training unit to move on the support surface according to the obtained movement parameters of the auxiliary support unit. The technical solution provided in this invention can, for a training object, use a gait training device composed of an auxiliary support unit and a limb training unit, and control the movement of the auxiliary support unit on a support surface (e.g., the ground) to drive the limb training unit to move on the support surface. In other words, the auxiliary support unit provides driving force to the gait training device and, in conjunction with the movement of the limb training unit, drives the training object to perform lower limb rehabilitation training on the support surface. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the structure of a gait training device according to an embodiment of the present invention;

[0041] Figure 2 A flowchart of a gait training device control method provided in an embodiment of the present invention;

[0042] Figure 3 A flowchart illustrating another gait training device control method provided in an embodiment of the present invention;

[0043] Figure 4 A flowchart illustrating another gait training device control method provided in an embodiment of the present invention;

[0044] Figure 5 A flowchart illustrating another gait training device control method provided in an embodiment of the present invention;

[0045] Figure 6 A flowchart illustrating another gait training device control method provided in an embodiment of the present invention;

[0046] Figure 7 A flowchart illustrating another gait training device control method provided in an embodiment of the present invention;

[0047] Figure 8 A flowchart illustrating another gait training device control method provided in an embodiment of the present invention;

[0048] Figure 9 A flowchart illustrating another gait training device control method provided in an embodiment of the present invention;

[0049] Figure 10A flowchart illustrating another gait training device control method provided in an embodiment of the present invention;

[0050] Figure 11 A flowchart illustrating another gait training device control method provided in an embodiment of the present invention;

[0051] Figure 12 A flowchart of an auxiliary support unit control method provided in an embodiment of the present invention;

[0052] Figure 13 A flowchart of a joint movement control method provided in an embodiment of the present invention;

[0053] Figure 14 A schematic diagram of a joint motion control principle provided in an embodiment of the present invention;

[0054] Figure 15 A flowchart illustrating another method for controlling joint movement according to an embodiment of the present invention;

[0055] Figure 16 A schematic diagram illustrating another joint motion control principle provided in an embodiment of the present invention;

[0056] Figure 17 A flowchart illustrating another gait training device control method provided in an embodiment of the present invention;

[0057] Figure 18 A flowchart illustrating another gait training device control method provided in an embodiment of the present invention;

[0058] Figure 19 A flowchart illustrating another gait training device control method provided in an embodiment of the present invention;

[0059] Figure 20 A flowchart of another gait training device control method provided in an embodiment of the present invention. Detailed Implementation

[0060] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0061] This invention provides a control method for a gait training device, used to control the gait training device to provide lower limb gait training to a training subject. The control method provided by this invention can be applied to all auxiliary training devices that can provide gait training to patients with lower limb motor dysfunction or training subjects with walking training needs. Figure 1This is a schematic diagram of a gait training device according to an embodiment of the present invention, with reference to... Figure 1 The gait training device provided in this embodiment of the invention includes an input unit 3, an auxiliary support unit 1, a limb training unit 2 connected to the auxiliary support unit 1, and a processor; the processor is used to execute the control method of the gait training device provided in this embodiment of the invention.

[0062] The processor is configured as follows:

[0063] Obtain training object parameters and / or gait training device parameters;

[0064] Determine the gait timing relationship based on the parameters of the training object and / or the parameters of the gait training device;

[0065] The movement of the hip joint 201, knee joint 203 and ankle joint 205 of the limb training unit 2 of the gait training device is controlled according to the gait timing relationship.

[0066] The movement parameters of the auxiliary support unit 1 of the gait training device are determined based on the movement parameters of the limb training unit 2, and the auxiliary support unit 1 is controlled to move the limb training unit 2 on the support surface based on the movement parameters of the auxiliary support unit 1.

[0067] Alternatively, the processor is configured as follows:

[0068] Obtain training object parameters and / or gait training device parameters;

[0069] Obtain the preset movement parameters of the gait training device;

[0070] Based on the preset movement parameters, the gait timing relationship is determined according to the training object parameters and / or gait training device parameters;

[0071] The movement of the hip joint 201, knee joint 203 and ankle joint 205 of the limb training unit 2 is controlled according to the gait timing relationship;

[0072] According to preset movement parameters, the auxiliary support unit 1 of the gait training device is controlled to drive the limb training unit 2 of the gait training device to move on the support surface.

[0073] Specifically, the auxiliary support unit 1 includes a base 11, a main frame 12 mounted on the base 11, an adjustment component 14 mounted on the main frame 12 or the base 11, a support component 13 connected to the adjustment component 14 or the main frame 12, and a moving component mounted on the base 11. The auxiliary support unit 1 may also include a steering drive component 16 for driving the moving component to turn. The limb training unit 2 is connected to the support component 13. The limb training unit 2 includes a trunk support and fixation component 21, a left leg training component 22, and a right leg training component 23. The trunk support and fixation component 21 is used to stabilize the upper body of the training subject and maintain the posture of the upper body. The left leg training component 22 and the right leg training component 23 are symmetrically arranged and each includes a hip joint 201, a thigh bar 202, a knee joint 203, a calf bar 204, an ankle joint 205, and a foot support component 206 connected in sequence. The hip joint 201 is connected between the trunk support and fixation assembly 21 and the thigh bar 202. One end of the knee joint 203 is connected to the thigh bar 202, and the other end is connected to the lower leg bar 204. One end of the ankle joint 205 is connected to the lower leg bar 204, and the other end is connected to the foot support assembly 206. Fixtures 207 for fixing the thigh and lower leg are respectively provided on the thigh bar 202 and the lower leg bar 204.

[0074] In this embodiment, the limb training unit 2 further includes a drive component 208, which may include a motor driver and a joint motor. The motor driver is connected to the processor and controls the joint motor to operate according to the processor's control signals, driving the hip joint 201, knee joint 203, and ankle joint 205 to rotate. It is understood that when the joint motor drives the hip joint 201 to rotate, it can cause the thigh bar 202, calf bar 204, and foot support component 206 to rotate relative to the support component 13. When the joint motor drives the knee joint 203 to rotate, it can cause the calf bar 204 and foot support component 206 to rotate relative to the thigh bar 202. When the ankle joint 205 rotates, it can cause the foot support component 206 to rotate relative to the calf bar 204. The limb training unit 2 also includes a sensor 209 connected to the drive component 208. The sensor 209 may include a joint motion sensor and a joint force sensor, both connected to the processor. The joint motion sensor can collect motion parameters such as the joint's rotation angle, angular velocity, and angular acceleration, thereby obtaining the joint's motion state based on at least one of the aforementioned types of data.

[0075] During the control of the gait training device, the processor acquires the training object parameters and / or gait training device parameters through the input unit 3, and determines the gait timing relationship based on the training object parameters and / or gait training device parameters. Then, the processor generates joint trajectory control signals corresponding to each joint based on the obtained gait timing relationship, and controls the drive components 208 connected to the hip joint 201, knee joint 203, and ankle joint 205 to generate driving force according to the joint trajectory control signals, thereby driving the joint motors to move, so as to control the movement of the hip joint 201, knee joint 203, and ankle joint 205 of the limb training unit 2. The processor determines the movement parameters of the auxiliary support unit 1 of the gait training device according to the movement parameters of the limb training unit 2, and controls the auxiliary support unit 1 to drive the limb training unit 2 to move on the support surface according to the determined movement parameters of the auxiliary support unit 1. The movement parameters of the auxiliary support unit 1 can be calculated based on the established gait timing relationship, or the movement parameters of the limb training unit 2 can be directly detected. Alternatively, the movement of the hip joint 201, knee joint 203, and ankle joint 205 can be detected. The movement parameters of the limb training unit 2 can be calculated based on the movement of each joint, and then the movement parameters of the auxiliary support unit 1 can be calculated based on the movement parameters of the limb training unit 2.

[0076] In this embodiment, joint motion sensors and / or joint force sensors collect the motion state of the joints and feed the collected motion state back to the processor. The processor calculates the actual joint timing relationship based on the data output by sensor 209 and dynamically adjusts the joint trajectory control signal based on the calculated actual joint timing relationship. The movement parameters of the limb training unit 2 or the training object can be calculated through the joint motion state. Based on the movement parameters of the limb training unit 2 or the training object, the movement parameters of the auxiliary support unit 1 can be determined. The auxiliary support unit 1 drives the limb training unit 2 to move on the support surface according to its movement parameters. The movement of the hip joint 201, knee joint 203 and ankle joint 205 of the limb training unit 2 is determined by the gait timing relationship. Therefore, the auxiliary support unit 1 can provide driving force for the gait training device and drive the limb training unit 2 to move on the support surface. The movement between the auxiliary support unit 1 and the limb training unit 2 is a following relationship.

[0077] Of course, in other embodiments, in addition to acquiring training object parameters and / or gait training device parameters, the processor can also acquire preset movement parameters of the gait training device, and then control the auxiliary support unit 1 of the gait training device to move the limb training unit 2 on the support surface according to the acquired preset movement parameters. Simultaneously, the processor can determine the gait timing relationship based on the training object parameters and / or gait training device parameters, as well as the preset movement parameters, and control the movement of the hip joint 201, knee joint 203, and ankle joint 205 of the limb training unit 2 according to the gait timing relationship. That is, the processor dynamically adjusts the movement relationship of the hip joint 201, knee joint 203, and ankle joint 205 in the limb training unit 2 according to the preset movement parameters of the gait training device, so that the limb training unit 2 moves on the support surface under the drive of the auxiliary support unit 1. When controlling the auxiliary support unit 1 to move the limb training unit 2 on the support surface, the training object parameters and / or gait training device parameters can also be combined to improve the control effect on the auxiliary support unit 2.

[0078] Furthermore, the main frame 12 is also provided with movable members 15 distributed circumferentially along the base 11. In one embodiment, the movable members 15 can be wheels, including drive wheels for driving the movement of the auxiliary support unit 1 and directional wheels for controlling steering. By setting the movable members 15, rolling or sliding contact between the auxiliary support unit 1 and the support surface can be achieved, thereby reducing the impact of friction between the auxiliary support unit 1 and the support surface on the walking gait of the limb training unit 2, which is beneficial to reducing the output of joint torque. During training, when the processor receives the steering signal output by the steering control component, it can output a steering control signal to the steering drive component 16, which drives the wheels to turn.

[0079] Figure 2 A flowchart of a gait training device control method provided in an embodiment of the present invention is shown below. Figure 1 and Figure 2 The control method for the gait training device provided in this embodiment of the invention includes:

[0080] S110. Obtain training object parameters and / or gait training device parameters;

[0081] Specifically, the gait training device may include a limb training unit 2, which can be a lower limb training unit used to provide lower limb gait training for the trainee. During the control of the gait training device, it is necessary to acquire the trainee's parameters to ensure that the gait training device can train the trainee according to their physical condition. Of course, even without trainee parameters, the gait training device can still perform relevant training based on acquired gait training device parameters. For example, in this embodiment, the trainee parameters may include the trainee's limb length, and the gait training device parameters may include the limb length of the limb training unit 2.

[0082] S120. Determine the gait timing relationship based on the training object parameters and / or gait training device parameters;

[0083] Specifically, the limb training unit 2 is equipped with movable joints, including a hip joint 201, a knee joint 203, and an ankle joint 205. The gait timing relationship can represent the temporal or phase relationship between the hip joint 201, knee joint 203, and ankle joint 205 in the limb training unit 2, and the relationship between the ankle joint 205. In this embodiment, the gait timing relationship can be determined based solely on the parameters of the training object, or solely on the parameters of the gait training device, or simultaneously based on both the parameters of the training object and the parameters of the gait training device. For example, the positional relationship of the hip joint 201, knee joint 203, and ankle joint 205 on the limb training unit 2 can be determined based on the limb length of the training object or the limb length of the limb training unit. After determining the positional relationship of the hip joint 201, knee joint 203, and ankle joint 205 on the limb training unit 2, the gait timing relationship can be obtained based on a preset database or gait model, wherein the gait model may include one or more of a kinematic model, a dynamic model, or a contact model. For example, while obtaining the limb length of the training object, the limb length of the limb training unit can be obtained. The limb length of the training object is matched with the limb length of the limb training unit so that the limb length of the limb training unit meets the limb length requirement of the training object. Then, the positional relationship of the hip joint 201, knee joint 203 and ankle joint 205 on the limb training unit 2 can be determined. Then, the gait temporal relationship can be obtained according to the preset database or gait model.

[0084] S130. Control the movement of the hip, knee and ankle joints of the limb training unit of the gait training device according to the gait timing relationship;

[0085] Specifically, after determining the gait timing relationship, the movement of the hip joint 201, knee joint 203 and ankle joint 205 on the limb training unit 2 can be controlled according to the obtained gait timing relationship. The movement of the hip joint 201, knee joint 203 and ankle joint 205 can drive the lower limb movement of the training object.

[0086] It should be noted that, in this embodiment, under the control of gait timing, the limb training unit 2 can move independently or move together with the training object.

[0087] S140. Determine the movement parameters of the auxiliary support unit of the gait training device based on the movement parameters of the limb training unit, and control the auxiliary support unit to drive the limb training unit to move on the support surface based on the movement parameters of the auxiliary support unit.

[0088] Specifically, the movement parameters of limb training unit 2 can be determined through gait timing relationships. Therefore, after determining the gait timing relationships, the movement parameters of auxiliary support unit 1 can be determined based on the movement parameters of limb training unit 2. Based on the movement parameters of auxiliary support unit 1, it can be controlled to generate driving force, causing auxiliary support unit 1 to move, thereby driving limb training unit 2 to move on the support surface. In other words, by coordinating auxiliary support unit 1 with the determined gait timing relationships, it is controlled to move according to the calculated movement parameters, driving limb training unit 2 to move on the support surface, resulting in a following motion between auxiliary support unit 1 and limb training unit 2. The support surface can be the ground, enabling the gait training device to achieve ground walking and effectively train the limbs of the trainee.

[0089] Furthermore, to ensure training safety, an auxiliary support force can be set for the auxiliary support unit 1 before it moves the limb training unit 2, so that the auxiliary support unit 1 can provide necessary support for the training object and / or the limb training unit 2. In this embodiment, the limb training unit 2 is set within a stable support polygonal area formed by multiple support points of the auxiliary support unit 1, ensuring that the system remains balanced and has sufficient stability margin. The auxiliary support force can be obtained first, and then the auxiliary support unit 1 can be controlled to provide support for the limb training unit 2 and / or the training object based on the obtained auxiliary support force. Of course, the auxiliary support force can also be determined in conjunction with the parameters of the training object and / or the gait training device. In addition, by setting the auxiliary support force, different levels of contact force on the support surface can be provided to adapt to training objects with different motor abilities, ensuring training effectiveness.

[0090] The control method for the gait training device provided in this invention can obtain parameters of the training object and / or parameters of the gait training device, determine the gait timing relationship based on the obtained parameters, control the movement of the hip, knee, and ankle joints of the limb training unit according to the obtained gait timing relationship, determine the movement parameters of the auxiliary support unit of the gait training device based on the movement parameters of the limb training unit, and control the auxiliary support unit to drive the limb training unit to move on the support surface according to the obtained movement parameters of the auxiliary support unit. The technical solution provided in this invention can, for a specific training object, combine a gait training device consisting of an auxiliary support unit and a limb training unit, and control the movement of the auxiliary support unit on a support surface (e.g., the ground) to drive the limb training unit to move on the support surface. In other words, the auxiliary support unit provides driving force to the gait training device and, in conjunction with the movement of the limb training unit, drives the training object to perform lower limb rehabilitation training on the support surface.

[0091] In this embodiment, the limb length of the training subject may include the thigh length, calf length, and ankle height; the limb length of the limb training unit includes the thigh length, calf length, and ankle height of the limb training unit. Obtaining the lengths of the thigh bar 202, calf bar 204, and foot support component 206 of the training subject and / or limb training unit is primarily to determine the relative positional relationships of the hip joint 201, knee joint 203, and ankle joint 205 on the limb training unit 2, in order to determine the gait sequence relationship in conjunction with a preset database or gait model. The thigh length, calf length, and ankle height of the training subject and / or limb training unit 2 can be obtained through measurement to reduce dimensional errors and better match the positions of the hip joint 201, knee joint 203, and ankle joint 205 on the limb training unit, thereby improving the training effect of the training subject using the gait training device and accelerating rehabilitation efficiency.

[0092] Of course, in other embodiments, the training object parameters may also include one or more of the following: thigh width and circumference, calf width and circumference, foot length and width, height, or waist width. The gait training device parameters may also include one or more of the following: the width of the foot support component 206 of the limb training unit 2, the width between the two thigh bars 202 corresponding to the left leg training component 22 and the right leg training component 23, or the width of the torso support and fixation component 21. By adding data information in different dimensions, it is beneficial to obtain a better gait timing relationship between the hip joint 201, knee joint 203, and ankle joint 205, improving the control effect of the gait training device, making the operation of the gait training device more stable, and also improving the comfort of the training object.

[0093] Furthermore, in this embodiment, the gait timing relationship is the movement timing relationship of the hip joint 201, knee joint 203, and ankle joint 205. This can represent the mutual movement between the three joints, or the independent movement of each joint. Specifically, it can be represented as: the movement relationship of the hip joint 201, knee joint 203, and ankle joint 205 of the limb training unit 2 at different times; or, the movement relationship of the hip joint 201, knee joint 203, and ankle joint 205 of the limb training unit 2 at different phases; or, the mutual movement relationship of the hip joint 201, knee joint 203, and ankle joint 205 of the limb training unit 2 at different phases. By controlling the movement of the hip joint 201, knee joint 203, and ankle joint 205 on the limb training unit 2 through the gait timing relationship, the limb training unit 2 can drive the training object to perform gait training on the support surface according to a preset gait.

[0094] Based on the above technical solutions, the gait timing relationship can be obtained from the kinematic model. Figure 3 A flowchart of another gait training device control method provided in an embodiment of the present invention is shown below. Figure 3 As shown, the above S120 step includes:

[0095] S1201. Obtain the gait motion parameters of the limb training unit based on the parameters of the training object and / or the parameters of the gait training device.

[0096] To improve gait control and ensure that the obtained gait timing relationship meets the corresponding gait movement requirements, a kinematic model can be constructed. Based on this model, the gait movement parameters of limb training unit 2 can be obtained. In this embodiment, the gait movement parameters may include one or more of the following: stride length, joint motion angle range, gait frequency, or gait phase pattern. The joint motion angle range may include the motion angle range of one or more of the hip joint 201, knee joint 203, or ankle joint 205.

[0097] S1202. Determine the gait timing relationship based on the obtained gait motion parameters.

[0098] Specifically, based on the obtained gait motion parameters, a gait model is constructed, and through nonlinear optimization methods, the gait temporal relationship that meets the motion parameter requirements can be obtained.

[0099] Furthermore, in order to meet the constraints of joint torque and improve the gait training effect when determining the gait timing relationship, a gait model can be constructed by combining kinematic and dynamic models to determine the gait timing relationship. Figure 4 A flowchart of another gait training device control method provided in an embodiment of the present invention is shown below. Figure 4 The above S120 step includes:

[0100] S1201. Obtain the gait motion parameters of the limb training unit based on the parameters of the training object and / or the parameters of the gait training device.

[0101] S1203. Obtain the joint torque of the limb training unit based on the parameters of the training object and / or the parameters of the gait training device;

[0102] S1212. Determine the gait timing relationship based on the obtained gait motion parameters and joint torques.

[0103] Specifically, the joint torque of the limb training unit 2 can be obtained simultaneously with the gait motion parameters in step S1201, or it can be obtained before or after obtaining the gait motion parameters. This embodiment does not limit this. Figure 4 The flowchart shown is only an example of obtaining the joint torque of limb training unit 2 after acquiring gait motion parameters.

[0104] Based on the aforementioned training object parameters, the dynamic parameters of the training object can be calculated using anthropometric principles. Based on the aforementioned gait training device parameters, the dynamic parameters of the gait training device can be obtained through estimation or parameter identification methods. The dynamic parameters of the training object can include the mass, center of mass, and moment of inertia of each limb. To obtain these parameters, the required parameters include the limb length and weight of the training object. The dynamic parameters of the gait training device can include the dynamic parameters of auxiliary support unit 1 and / or limb training unit 2. The dynamic parameters of limb training unit 2 include the mass, center of mass, and moment of inertia of each limb, while the dynamic parameters of auxiliary support unit 1 include mass, center of mass, and moment of inertia. A dynamic model is constructed based on the obtained dynamic parameters of the training object and / or gait training device. This model allows for the calculation of the joint torques corresponding to the hip joint 201, knee joint 203, or ankle joint 205.

[0105] After obtaining gait motion parameters and joint torques based on the training object parameters and / or gait training device parameters, a gait model can be constructed based on the obtained gait motion parameters and joint torques. Through methods such as nonlinear optimization, a gait time sequence relationship that meets the requirements of the motion parameters and torque conditions can be generated. In this embodiment, by increasing the joint torque, the range of joint torques required to achieve gait training can be limited, which can reduce the joint torque output of the limb training unit 2 and is beneficial to enhancing the control effect of the limb training unit 2.

[0106] Optionally, based on the above technical solution, for example, the movement parameters of the auxiliary support unit 1 can be calculated based on the determined gait timing relationship. Figure 5A flowchart of another gait training device control method provided in an embodiment of the present invention is shown below. Figure 5 As shown, the above step S140 specifically includes:

[0107] S1401. Obtain the movement parameters of the limb training unit based on the gait time sequence relationship, and calculate the movement parameters of the auxiliary support unit based on the movement parameters of the limb training unit.

[0108] The movement parameters of the limb training unit 2 may include movement speed or movement position. The processor can control the movement of the hip joint 201, knee joint 203 and ankle joint 205 in the limb training unit 2 according to the calculated gait timing relationship. Through the movement of the hip joint 201, knee joint 203 and ankle joint 205, the movement speed or movement position (trajectory) of the limb training unit 2 can be obtained.

[0109] In this embodiment, taking movement speed as an example, the gait timing relationship can be specifically represented as the timing or phase relationship of the hip joint 201, knee joint 203, and ankle joint 205 in the limb training unit 2. The movement parameters of the limb training unit 2, such as walking speed, can be obtained through the gait timing relationship, i.e., the movement speed of the limb training unit 2. The movement speed of the auxiliary support unit 1 is calculated based on the movement speed of the limb training unit 2, so that the movement speed of the auxiliary support unit 1 matches the movement speed of the limb training unit 2.

[0110] S1402. Control the driving force or position of the auxiliary support unit according to the calculated movement parameters of the auxiliary support unit, so as to drive the limb training unit to move on the support surface.

[0111] Specifically, after calculating the moving speed of the auxiliary support unit 1, the processor can control the driving force of the auxiliary support unit 1 according to the calculated moving speed, so as to drive the auxiliary support unit 1 to move the limb training unit 2 on the support surface at the calculated moving speed. Alternatively, the processor can control the movement trajectory of the auxiliary support unit 1 on the support surface according to the calculated moving speed, and the auxiliary support unit 1 can drive the limb training unit 2 to move on the support surface according to the corresponding movement trajectory. For example, the processor can control the driving force or position of the drive wheel in the auxiliary support unit 1 according to the moving speed of the auxiliary support unit 1, for example, the drive wheel can be the rear wheel, so that the auxiliary support unit 1 can drive the limb training unit 2 to move on the support surface.

[0112] The movement parameters of limb training unit 2 can also be obtained by detecting the movement of limb training unit 2 or the training object. Figure 6 A flowchart of another gait training device control method provided in an embodiment of the present invention is shown below. Figure 6 As shown, the above step S140 specifically includes:

[0113] S1411. Detect the movement parameters of the limb training unit or the training object, and calculate the movement parameters of the auxiliary support unit based on the movement parameters of the limb training unit.

[0114] Specifically, after the processor controls the movement of the hip joint 201, knee joint 203, and ankle joint 205 of the limb training unit 2 according to the determined gait timing relationship, it can directly detect the movement parameters of the limb training unit 2, or it can detect the movement of the hip joint 201, knee joint 203, and ankle joint 205, and calculate the movement parameters of the limb training unit 2 based on the movement of each joint. Here, the movement parameters may include walking speed, that is, the movement speed of the limb training unit 2. The movement speed of the auxiliary support unit 1 is calculated based on the movement speed of the limb training unit 2, so that the movement speed of the auxiliary support unit 1 matches the movement speed of the limb training unit 2.

[0115] S1402. Control the driving force or position of the auxiliary support unit according to the calculated movement parameters of the auxiliary support unit, so as to drive the limb training unit to move on the support surface.

[0116] Optionally, in order to further improve the control effect on the hip joint 201, knee joint 203 and ankle joint 205 of the limb training unit 2, training motion parameters can be acquired before step S120 to determine the gait target of the training object. Combined with the gait target, the gait timing relationship that satisfies the gait target can be determined. Figure 7 This is a flowchart of another gait training device control method provided in an embodiment of the present invention, based on the above technical solutions, with reference to... Figure 7 Prior to step S120, the control method for the gait training device further includes:

[0117] S210, Obtain training motion parameters;

[0118] S220. Determine the gait target based on the received training motion parameters.

[0119] At this point, step S120 is as follows:

[0120] S1222. Based on the determined gait target, determine the gait timing relationship according to the parameters of the training object and / or the parameters of the gait training device.

[0121] Specifically, the training motion parameters may include one or more of the following: the range of motion angles of at least one joint, stride length, walking speed, cadence, or walking phase pattern. Here, the range of motion angles of at least one joint refers to the range of motion angles of at least one of the hip joint 201, knee joint 203, or ankle joint 205. Further, the training motion parameters may also include foot lift height. Here, foot lift height can also be expressed as the height of the leg or foot after lifting off the support surface. A gait target can be determined based on the received training motion parameters, and then, combined with the generated gait target, the gait timing relationship is determined according to the training object parameters and / or gait training device parameters. The gait target may include one or more of the following: stride length, cadence, gait cycle, walking speed, or walking phase pattern.

[0122] When determining gait targets, if the types of training motion parameters and gait motion parameters are inconsistent, the training motion parameters can be converted to match the types of gait motion parameters to obtain the gait target. When the types of training motion parameters match the types of gait motion parameters, the obtained training motion parameters are the gait target. Of course, if no training motion parameters are obtained, the gait target can use default values ​​or preset values.

[0123] Optionally, the technical solution provided in the above embodiments involves, after determining the gait timing relationship, controlling the movement of the hip joint 201, knee joint 203, and ankle joint 205 of the limb training unit 2 according to the determined gait timing relationship, and determining the movement parameters of the auxiliary support unit 1 according to the movement parameters of the limb training unit 2. The auxiliary support unit 1 is then controlled to move on the support surface according to the movement parameters of the auxiliary support unit 1, thereby driving the limb training unit 2 to move on the support surface. Alternatively, the auxiliary support unit 1 can also move according to preset movement parameters and calculate the gait timing relationship in conjunction with the preset movement parameters to train the training object according to the desired gait target. Figure 8 A flowchart of another gait training device control method provided in an embodiment of the present invention is shown below. Figure 8 The control method for the gait training device provided in this embodiment of the invention includes:

[0124] S110. Obtain training object parameters and / or gait training device parameters;

[0125] S310, Obtain the preset movement parameters of the gait training device;

[0126] Specifically, the motion parameters can reflect the motion state of the gait training device. For example, the motion state can be the moving speed or position of the gait training device. In this embodiment, the preset motion parameters include one or more of the gait training device's speed, acceleration, or movement trajectory.

[0127] S320. Combine preset movement parameters and determine the gait timing relationship based on the training object parameters and / or gait training device parameters;

[0128] Specifically, the gait timing relationship can be determined based solely on the parameters of the training subject, or solely on the parameters of the gait training device, or simultaneously based on both the training subject parameters and the gait training device parameters. However, since the movement of the auxiliary support unit 1 is limited by preset movement parameters, when calculating the gait timing relationship, in order to ensure that the limb training unit 2 can generate synchronous movement with the auxiliary support unit 1 to maintain the balance of the gait training device, the acquired preset movement parameters also need to be considered. For example, the positional relationship of the hip joint 201, knee joint 203, and ankle joint 205 on the limb training unit 2 can be determined based on the limb length of the training subject and / or the limb length of the limb training unit. After determining the positional relationship of the hip joint 201, knee joint 203, and ankle joint 205 on the limb training unit 2, the gait timing relationship can be obtained from a preset database or gait model by combining the acquired preset movement parameters. The gait model may include one or more of a kinematic model, a dynamic model, or a contact model.

[0129] S130. Control the movement of the hip, knee and ankle joints of the limb training unit of the gait training device according to the gait timing relationship;

[0130] S330. According to the preset movement parameters, control the auxiliary support unit of the gait training device to drive the limb training unit of the gait training device to move on the support surface;

[0131] Specifically, since the limb training unit 2 is located within a stable support polygon area formed by multiple support points of the auxiliary support unit 1, the auxiliary support unit 1 can move the limb training unit 2 together. The processor can control the auxiliary support unit 1 to generate driving force according to the acquired preset movement parameters, so as to move the limb training unit 2 on the support surface through the movement of the auxiliary support unit 1.

[0132] Of course, in other embodiments, the processor can also control the auxiliary support unit 1 to generate driving force according to the training object parameters and / or gait training device parameters, and in combination with the obtained preset movement parameters, so as to improve the control effect on the auxiliary support unit 1.

[0133] Similarly, to ensure training safety, the level of support provided by the auxiliary support unit 1 to the training object and / or the limb training unit 2 can be adjusted by setting the auxiliary support force of the auxiliary support unit 1 before the auxiliary support unit 1 moves the limb training unit 2.

[0134] The control method for the gait training device provided in this invention can acquire training object parameters and / or gait training device parameters, as well as preset movement parameters of the gait training device. Based on the acquired preset movement parameters, training object parameters, and / or gait training device parameters, the method controls an auxiliary support unit to move a limb training unit on a support surface. Furthermore, when calculating the gait timing relationship, the method combines the preset movement parameters to obtain a gait timing relationship that matches the movement of the auxiliary support unit. Then, based on the calculated gait timing relationship, the method controls the movement of the hip, knee, and ankle joints of the limb training unit, thereby enabling the training object to perform walking training on a support surface (e.g., the ground).

[0135] Based on the above technical solutions, the gait timing relationship can be obtained from the kinematic model. Figure 9 A flowchart of another gait training device control method provided in an embodiment of the present invention is shown below. Figure 9 As shown, the above S320 step specifically includes:

[0136] S3201. Combine preset movement parameters and obtain gait motion parameters of the limb training unit according to the training object parameters and / or gait training device parameters.

[0137] Specifically, to improve gait control and ensure that the obtained gait timing relationship meets the corresponding gait movement requirements, a kinematic model can be constructed. Combined with preset movement parameters, the gait movement parameters of the limb training unit 2 can be obtained based on the constructed kinematic model. In this embodiment, the gait movement parameters may include one or more of the following: stride length, joint motion angle range, gait frequency, or gait phase pattern. The joint motion angle range may include the motion angle range of one or more of the hip joint 201, knee joint 203, or ankle joint 205.

[0138] The obtained gait motion parameters are associated with preset movement parameters. For example, if the gait motion parameter is the walking stride, then the size of the walking stride satisfies the limitations of the preset movement parameters.

[0139] S3202. Determine the gait timing relationship based on the obtained gait motion parameters.

[0140] Specifically, based on the obtained gait motion parameters, a gait model is constructed. Through nonlinear optimization methods, the gait temporal relationship that meets the motion parameter requirements can be obtained. The specific implementation is as described above and will not be repeated here.

[0141] Furthermore, in order to meet the constraints of joint torque and improve the gait walking effect when determining the gait timing relationship, a gait model can be constructed by combining kinematic and dynamic models to determine the gait timing relationship. Figure 10A flowchart of another gait training device control method provided in an embodiment of the present invention is shown below. Figure 10 The above S320 steps include:

[0142] S3201. Combine preset movement parameters and obtain gait motion parameters of the limb training unit according to the training object parameters and / or gait training device parameters.

[0143] S1203. Obtain the joint torque of the limb training unit based on the parameters of the training object and / or the parameters of the gait training device;

[0144] S1212. Determine the gait timing relationship based on the obtained gait motion parameters and joint torques.

[0145] Furthermore, the energy expenditure during walking can be calculated using joint torque as an evaluation indicator to optimize the gait timing relationship in the above technical solution. The specific implementation is as described above and will not be repeated here.

[0146] Optionally, in order to further improve the control effect on the hip joint 201, knee joint 203 and ankle joint 205 of the limb training unit 2, training motion parameters can be acquired before step S320 to determine the gait target of the training object. Combined with the gait target, the gait timing relationship that satisfies the gait target can be determined. Figure 11 This is a flowchart of another gait training device control method provided in an embodiment of the present invention, based on the above technical solutions, with reference to... Figure 11 Prior to step S320, the control method for the gait training device further includes:

[0147] S210, Obtain training motion parameters;

[0148] S220. Determine the gait target based on the received training motion parameters.

[0149] At this point, step S320 is as follows:

[0150] S3211. Combining the determined gait target and preset movement parameters, determine the gait timing relationship based on the training object parameters and / or gait training device parameters.

[0151] Optionally, during the process of controlling the auxiliary support unit 1 to move the limb training unit 2 on the support surface, the auxiliary support unit 1 can be controlled through closed-loop feedback. Of course, in other embodiments, open-loop control can also be used. Figure 12 A flowchart of an auxiliary support unit control method provided in an embodiment of the present invention is shown below. Figure 12 Taking closed-loop control as an example, the control strategy of auxiliary support unit 1 will be explained in detail:

[0152] S510, Obtain movement parameters;

[0153] Specifically, the movement parameters here can be the movement parameters of the auxiliary support unit calculated based on the determined gait timing relationship or the movement of the detected limb training unit or training object, or they can be preset movement parameters, wherein the preset movement parameters are obtained before determining the gait timing relationship. In this embodiment, the movement parameters may include parameters such as movement speed or movement position. The specific acquisition process can be referred to the relevant description of movement parameters in the above embodiments, and will not be repeated here.

[0154] S520. Calculate the drive control signal of the auxiliary support unit based on the obtained movement parameters, and drive the auxiliary support unit to move according to the obtained drive control signal.

[0155] In this embodiment, the movement of the auxiliary support unit 1 on the support surface can be controlled by sending a drive control signal to the drive motor corresponding to the movable component 15 (e.g., the drive wheel) on the auxiliary support unit 1, thereby driving the movable component 15 to move. The drive control signal can be calculated by the processor based on the acquired movement parameters.

[0156] S530 detects the motion state of the auxiliary support unit and adjusts the drive control signal based on the movement parameters.

[0157] The drive control signal is dynamically adjusted based on the motion state of the auxiliary support unit 1 obtained from feedback, so that the motion of the auxiliary support unit 1 can meet the requirements of preset movement parameters or gait timing relationships. In specific implementation, the motion state of the drive motor corresponding to the moving part 15 can be collected by a sensor, the actual moving speed or moving position can be calculated, and the calculated moving speed or moving position can be compared with the acquired movement parameters to generate a drive control signal to dynamically adjust the movement of the auxiliary support unit 1.

[0158] Optionally, the movement of the hip joint 201, knee joint 203, and ankle joint 205 of the limb training unit 2 can be controlled according to the gait timing relationship. This can be achieved through closed-loop feedback to dynamically adjust the movement timing of the hip joint 201, knee joint 203, and ankle joint 205, thereby improving the control effect on each joint. Of course, in other embodiments, open-loop control can also be used.

[0159] Figure 13 This is a flowchart of a joint movement control method according to an embodiment of the present invention, with reference to... Figure 13 Regarding step S130 above, after determining the gait timing relationship, the specific steps for controlling the movement of the hip joint 201, knee joint 203, and ankle joint 205 of the limb training unit 2 according to the gait timing relationship include:

[0160] S1301. Obtain the motion status of the hip, knee and ankle joints of the limb training unit;

[0161] S1302. Determine the actual joint timing relationship of the limb training unit based on the obtained motion states of the hip, knee and ankle joints.

[0162] S1303. Generate joint drive signals based on the determined gait timing relationship and the actual joint timing relationship;

[0163] S1304. Control the hip, knee and ankle joint movements of the limb training unit based on the generated joint drive signals and the acquired joint motion states.

[0164] In a specific implementation, the sensors 209 connected to the hip joint 201, knee joint 203 and ankle joint 205 respectively can be joint motion sensors and / or joint force sensors, etc., for collecting joint data; the drive component 208 may include a motor driver 281 and a joint motor 282. Figure 14 This is a schematic diagram of a joint motion control principle provided in an embodiment of the present invention. Based on the above-described technical solutions, and with reference to... Figure 14 According to the functions implemented, the processor 4 of the gait training device may include three control modules: a target joint timing relationship calculation unit 801, a joint trajectory control signal generation unit 802, and an actual joint timing relationship calculation unit 803. The target joint timing relationship calculation unit 801 can calculate the target joint timing relationship, wherein the target joint timing relationship is the gait timing relationship determined in the above technical solution. The joint trajectory control signal generation unit 802 can generate joint trajectory control signals corresponding to each joint according to the target joint timing relationship, and then control the motor driver 281 connected to the hip joint 201, knee joint 203, and ankle joint 205 to generate driving force, thereby driving the corresponding joint motor 282 to move, so as to drive the movement of each joint of the limb training unit 2. In this way, the motion state of each joint motor 282 is collected by the sensor 209 (including joint motion sensor and / or joint force sensor), the actual joint timing relationship is calculated, and the calculated actual joint timing relationship is compared with the target joint timing relationship to generate joint drive signal to dynamically adjust the motion trajectory of each joint. This is beneficial to improve the control effect of hip joint 201, knee joint 203 and ankle joint 205, so that the trainee can get a better gait training effect.

[0165] Furthermore, in order to better achieve the coupling and linkage of the hip joint 201, knee joint 203 and ankle joint 205 and continuous and natural walking, the above control method can be optimized to achieve phase synchronization of the hip joint 201, knee joint 203 and ankle joint 205. Figure 15A flowchart of another joint motion control method provided in an embodiment of the present invention is shown below. Figure 15 At this point, after determining the gait timing relationship, the specific steps for controlling the movement of the hip joint 201, knee joint 203, and ankle joint 205 of limb training unit 2 according to the gait timing relationship include:

[0166] S1301. Obtain the motion status of the hip, knee and ankle joints of the limb training unit;

[0167] S1302' Determine the actual gait phase of the limb training unit based on the joint motion states of the hip, knee and ankle joints obtained;

[0168] S13031' Generates a gait phase control signal based on the target walking speed, target gait phase, and actual gait phase;

[0169] Here, the target walking speed can be preset or input by the user, and the target gait phase can be calculated based on the target walking speed.

[0170] S13032' Generate joint drive signals based on the determined gait timing relationship and the generated gait phase control signals;

[0171] S1304. Control the hip, knee and ankle joint movements of the limb training unit based on the generated joint drive signals and the acquired joint motion states.

[0172] Figure 16 This is a schematic diagram of another joint motion control principle provided in an embodiment of the present invention. Based on the above technical solutions, and with reference to... Figure 16According to the functions implemented, the processor of the gait training device may include four control modules: a target joint timing relationship calculation unit 801, a joint trajectory control signal generation unit 802, a gait phase control signal generation unit 804, and an actual gait phase calculation unit 805. Taking the target walking speed as the user input as an example, the target walking speed is input through the input unit 3, and the target gait phase is calculated based on the target walking speed. The gait phase control signal generation unit 804 can generate a gait phase control signal based on the target walking speed, the target gait phase, and the calculated actual gait phase; then, the joint trajectory control signal generation unit 802 can generate joint trajectory control signals (i.e., joint drive signals) corresponding to each joint based on the target joint timing relationship and the gait phase control signal, and control the motor driver 281 connected to the hip joint 201, knee joint 203, and ankle joint 205 to generate driving force, thereby driving the corresponding joint motor 282 to move, so as to drive the movement of each joint of the limb training unit 2. In other words, by collecting the motion state of each joint motor 282 through sensor 209, the actual gait phase is calculated. Based on the target walking speed, the target gait phase, and the calculated actual gait phase, a gait phase control signal is generated. The gait phase control signal is then compared with the timing relationship of the target joints to generate joint drive signals, thereby dynamically adjusting the motion trajectory of each joint. This achieves phase synchronization of the hip joint 201, knee joint 203, and ankle joint 205, which can better realize the coupling and linkage of the hip joint 201, knee joint 203, and ankle joint 205 and continuous and natural walking, thus improving the training effect for the training subjects.

[0173] In the process of collecting data from the joint motors 282 corresponding to the hip joint 201, knee joint 203 and ankle joint 205, in order to improve the control effect of the joints, torque sensors, angular velocity sensors and angular acceleration sensors can be added to obtain the actual gait timing relationship of the limb training unit 2 from multiple dimensions.

[0174] It should be noted that the above-mentioned method for controlling joint movement can be applied to controlling the movement of the auxiliary support unit 1 according to a determined gait sequence relationship to drive the movement of the limb training unit, and can also be applied to controlling the movement of the auxiliary support unit 1 to drive the movement of the limb training unit according to preset movement parameters.

[0175] Furthermore, during gait training, the trainee can turn based on the acquired turning signals. The gait training device may also include a turning control component for the trainee to operate and achieve the turning objective. The turning control component can be located on the auxiliary support unit, for example, on the handle of the auxiliary support unit for the trainee to grip, or in other easily accessible locations. Of course, the turning control component can also be located on the limb training unit, or it can be set up independently.

[0176] The turn signal can be triggered at any time. Figure 17 A flowchart of another gait training device control method provided in an embodiment of the present invention is shown below. Figure 17 Based on the above technical solutions, the control method of the gait training device also includes:

[0177] S410. If a steering signal is detected, the steering signal is used to control the limb training unit or auxiliary support unit to turn.

[0178] Here, the steering signal can be either steering speed or steering angle. When a steering signal is acquired, the auxiliary support unit 1 can be controlled to steer, thereby driving the limb training unit 2 to walk and steer.

[0179] Specifically, upon receiving a turning signal, the auxiliary support unit 1 can be controlled to turn based on the acquired turning signal, and the limb training unit 2 will follow the turning of the auxiliary support unit 1. Alternatively, the gait timing relationship can be recalculated based on the acquired turning signal, combined with the training object parameters and / or gait training device parameters. The updated gait timing relationship can then be used to control the movement of the hip joint 201, knee joint 203, and ankle joint 205 of the limb training unit 2 to achieve turning, with the auxiliary support unit 1 following the turning of the limb training unit 2. Alternatively, the auxiliary support unit 1 can be controlled to turn based on the acquired turning signal; simultaneously, the gait timing relationship can be recalculated based on the acquired turning signal, combined with the training object parameters and / or gait training device parameters. The updated gait timing relationship can then be used to control the movement of the hip joint 201, knee joint 203, and ankle joint 205 of the limb training unit 2 to achieve turning.

[0180] Furthermore, to achieve better steering control, the gait timing relationship can be calculated by combining the waist width of the training subject and / or the limb training unit 2, so as to better adapt the control effect and comfort of the training subject during the turning process. At this time, the training subject parameters may also include the waist width of the training subject, and the gait training device parameters may also include the width of the torso support fixing component 21 on the limb training unit 2, or the width between the two thigh bars 202 corresponding to the left leg training component 22 and the right leg training component 23.

[0181] Figure 18 A flowchart of another gait training device control method provided in an embodiment of the present invention is shown below. Figure 18 For cases where control is based on preset movement parameters, the control method of this gait training device further includes:

[0182] S410' If a turning signal is acquired, the limb training unit or auxiliary support unit is controlled to turn according to the turning signal and preset movement parameters. That is, based on the above, the auxiliary support unit 1 and / or limb training unit 2 are controlled to turn according to the acquired turning signal and preset movement parameters.

[0183] The specific implementation details are as described above and will not be repeated here.

[0184] Figure 19 A flowchart of another gait training device control method provided in an embodiment of the present invention is shown below. Figure 19 The specific working principle of the control method for the gait training device provided in this embodiment of the invention is as follows:

[0185] S110. Obtain training object parameters and / or gait training device parameters;

[0186] S210, Obtain training motion parameters;

[0187] S220. Determine the gait target based on the received training motion parameters;

[0188] S1201. Obtain the gait motion parameters of the limb training unit based on the parameters of the training object and / or the parameters of the gait training device.

[0189] S1223. Based on the determined gait target, determine the gait temporal relationship according to the obtained gait motion parameters; or

[0190] S1201. Obtain the gait motion parameters of the limb training unit based on the parameters of the training object and / or the parameters of the gait training device.

[0191] S1203. Obtain the joint torque of the limb training unit based on the parameters of the training object and / or the parameters of the gait training device;

[0192] S1224. Based on the determined gait target, determine the gait timing relationship according to the obtained gait motion parameters and joint torques;

[0193] S130. Control the movement of the hip, knee and ankle joints of the limb training unit of the gait training device according to the gait timing relationship;

[0194] S140. Determine the movement parameters of the auxiliary support unit of the gait training device based on the movement parameters of the limb training unit, and control the auxiliary support unit to drive the limb training unit to move on the support surface based on the movement parameters of the auxiliary support unit.

[0195] S410. If a steering signal is detected, the steering signal is used to control the limb training unit or auxiliary support unit to turn.

[0196] Figure 20 A flowchart of another gait training device control method provided in an embodiment of the present invention is shown below. Figure 20 The specific working principle of another control method for a gait training device provided in this embodiment of the invention is as follows:

[0197] S110. Obtain training object parameters and / or gait training device parameters;

[0198] S310, Obtain the preset movement parameters of the gait training device;

[0199] S210, Obtain training motion parameters;

[0200] S220. Determine the gait target based on the received training motion parameters;

[0201] S3201. Combine preset movement parameters and obtain gait motion parameters of the limb training unit according to the training object parameters and / or gait training device parameters.

[0202] S3221. Based on the determined gait target, determine the gait timing relationship according to the obtained gait motion parameters; or

[0203] S3201. Combine preset movement parameters and obtain gait motion parameters of the limb training unit according to the training object parameters and / or gait training device parameters.

[0204] S1203. Obtain the joint torque of the limb training unit based on the parameters of the training object and / or the parameters of the gait training device;

[0205] S3231. Based on the determined gait target, determine the gait timing relationship according to the obtained gait motion parameters and joint twists;

[0206] S130. Control the movement of the hip, knee and ankle joints of the limb training unit of the gait training device according to the gait timing relationship;

[0207] S330. Based on the parameters of the training object and / or the parameters of the gait training device, as well as the preset movement parameters, control the auxiliary support unit of the gait training device to drive the limb training unit of the gait training device to move on the support surface.

[0208] S410' If a steering signal is acquired, the limb training unit or auxiliary support unit is controlled to turn according to the acquired steering signal and preset movement parameters.

[0209] The gait training device may include a limb training unit 2 and an auxiliary support unit 1. The auxiliary support unit 1 provides support for the limb training unit 2 and / or the training subject, and moves the limb training unit 2 on the support surface. The limb training unit 2 provides lower limb gait training for the training subject. The control method mainly includes the following stages:

[0210] Parameter acquisition stage A:

[0211] 1) Obtain training object parameters and / or gait training device parameters, wherein the training object parameters may include the limb length of the training object, and the gait training device parameters may include the limb length of the limb training unit 2. For example, the limb length of the training object may include the thigh length, calf length, and ankle height of the training object; the limb length of the limb training unit 2 may include the length of the thigh bar 202, the length of the calf bar 204, and the height of the foot support component 206 of the limb training unit.

[0212] 2) Obtain training motion parameters, which may include one or more of the following: the range of motion angles of at least one joint, stride length, walking speed, cadence, or walking phase pattern and foot lift height. Here, the range of motion angles of at least one joint refers to the range of motion angles of at least one of the hip, knee, or ankle joints. Further, training motion parameters may also include foot lift height. Here, foot lift height can also be expressed as the height of the leg or foot after lifting off the support surface. A zonal target can be determined based on the received training motion parameters.

[0213] 3) Calculate the gait parameters and / or joint torques of limb training unit 2 by constructing a kinematic model and / or a dynamic model. Gait parameters may include one or more of the following: stride length, joint motion angle range, gait frequency, or gait phase pattern. The joint motion angle range may include the motion angle range of one or more of the hip, knee, or ankle joints.

[0214] 4) For cases where the movement of the auxiliary support unit 1 is controlled according to preset movement parameters, preset movement parameters of the gait training device can also be determined. The preset movement parameters include one or more of the speed, acceleration, or movement trajectory of the gait training device.

[0215] Phase B of gait timing relationship calculation:

[0216] For the first control method (controlling the movement of the auxiliary support unit 1 according to the determined gait timing relationship), the gait motion parameters of the limb training unit 2 are obtained according to the training object parameters and / or gait training device parameters; then, combined with the gait target, the gait timing relationship that satisfies the current torque condition, joint motion angle range or walking stride is generated according to the obtained gait motion parameters and / or joint torque.

[0217] For the second control method (controlling the movement of the auxiliary support unit 1 according to preset movement parameters), the gait timing relationship is calculated in the first control method, taking into account the preset movement parameters.

[0218] Joint-driven phase C:

[0219] The movement of the hip joint 201, knee joint 203 and ankle joint 205 in the limb training unit 2 is controlled according to the determined gait timing relationship. The specific control method of joint drive can be referred to the relevant description in the above embodiment, and will not be repeated here.

[0220] Auxiliary support unit driving stage D:

[0221] For the first control method, the auxiliary support unit 1 is controlled to move the limb training unit on the support surface according to the gait timing relationship determined in stage B of gait timing relationship calculation.

[0222] For the second control method, the auxiliary support unit 1 is controlled to move the limb training unit on the support surface according to the preset movement parameters.

[0223] Upon receiving a turning signal, the limb training unit 2 or the auxiliary support unit 1 is controlled to turn, thus achieving the turning operation. It should be noted that the stages in the above control method do not restrict the control sequence, and those skilled in the art should not interpret the above control method as controlling the gait training device in the order of stages A, B, C, and D. Similarly, stages 1), 2), 3), and 4) in stage A do not restrict the order in which the parameters are acquired.

[0224] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A gait training device, characterized in that, include: Input unit, the input unit being used to acquire training object parameters and / or gait training device parameters; A limb training unit, which is used to provide lower limb gait training for the trainee, includes a hip joint, a knee joint, and an ankle joint; An auxiliary support unit, which is connected to the limb training unit; The processor is configured to determine gait timing relationships based on the parameters of the training object and / or the parameters of the gait training device; determine the movement parameters of the auxiliary support unit of the gait training device based on the movement parameters of the limb training unit; and control the auxiliary support unit to move the limb training unit on the support surface based on the movement parameters of the auxiliary support unit; wherein the gait timing relationships are used to control the hip, knee, and ankle joint movements of the limb training unit; and the movement parameters of the limb training unit are obtained based on the gait timing relationships or by detecting the movement of the limb training unit or the training object.

2. The gait training device according to claim 1, characterized in that, The processor is specifically used for: The gait motion parameters of the limb training unit are obtained based on the parameters of the training object and / or the parameters of the gait training device. The gait timing relationship is determined based on the obtained gait motion parameters.

3. The gait training device according to claim 1, characterized in that, The input unit is further configured to acquire training motion parameters, and the processor is further configured to determine a gait target based on the received training motion parameters, and, in conjunction with the determined gait target, determine a gait temporal relationship based on the training object parameters and / or gait training device parameters.

4. The gait training device according to claim 1, characterized in that, The limb training unit also includes sensors and drive components. The sensors are connected to the hip joint, knee joint and ankle joint of the limb training unit respectively. The sensors are used to collect joint data to obtain the motion state of the hip joint, knee joint and ankle joint of the limb training unit. The drive assembly includes a motor driver and a joint motor. The motor driver is connected to the processor, and the joint motor is connected to the hip, knee, and ankle joints of the limb training unit. The motor driver is used to control the joint motor to drive the hip, knee, and ankle joints of the limb training unit to rotate according to the joint drive signal output by the processor.

5. The gait training device according to claim 4, characterized in that, The processor includes: A target joint temporal relationship calculation unit is used to calculate the gait temporal relationship; An actual joint timing relationship calculation unit is connected to the sensor. The actual joint timing relationship calculation unit is used to determine the actual joint timing relationship of the limb training unit based on the acquired motion state of the hip joint, knee joint and ankle joint. A joint trajectory control signal generation unit is connected to the target joint timing relationship calculation unit, the actual joint timing relationship calculation unit, and the motor driver, respectively. The joint trajectory control signal generation unit is used to compare the actual joint timing relationship with the gait timing relationship to generate the joint drive signal.

6. The gait training device according to claim 4, characterized in that, The processor includes: A target joint temporal relationship calculation unit is used to calculate the gait temporal relationship; An actual gait phase calculation unit is connected to the sensor and is used to determine the actual gait phase of the limb training unit based on the acquired motion states of the hip, knee and ankle joints. A gait phase control signal generation unit is connected to the input unit and the actual gait phase calculation unit. The gait phase control signal generation unit is used to generate a gait phase control signal based on the target walking speed, the target gait phase, and the actual gait phase. A joint trajectory control signal generation unit is connected to the gait phase control signal generation unit, the target joint timing relationship calculation unit, and the motor driver, respectively. The joint trajectory control signal generation unit is used to compare the gait phase control signal and the gait timing relationship to generate the joint drive signal.

7. The gait training device according to claim 1, characterized in that, The auxiliary support unit also includes a steering drive and a drive wheel. The processor is further configured to, if a steering signal is acquired, combine the steering signal to control the steering drive to drive the drive wheel to turn, thereby controlling the limb training unit and / or the auxiliary support unit to turn.

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