A control system of upper and lower limbs rehabilitation training device

Abstract

The application is applied to the medical rehabilitation field, and particularly relates to a control system of an upper and lower limb rehabilitation training device. The system comprises an integrated controller, an upper computer and upper limb motors and lower limb motors. The integrated controller comprises CPU1, CPU2, RAM and related interfaces, and the CPU1 and the CPU2 are connected with the same dual-port RAM. After the CPU1 receives the control signal of the upper computer, the control signal is transmitted to the CPU2 after being processed. The CPU2 drives the upper limb and lower limb motors to move according to the received control information. Meanwhile, the CPU2 collects the current and rotating speed of the upper limb and lower limb motors through the encoder and the current sensor, so as to obtain the real-time torque and rotating speed of the motors and send them to the CPU1.

Description

Technical Field

[0001] This invention is applied in the field of medical rehabilitation, specifically relating to a control device and system for an active and passive rehabilitation training device for the upper and lower limbs. Background Technology

[0002] Upper and lower limb rehabilitation trainers use motors to drive pedals, assisting patients in performing coordinated rehabilitation exercises for both the upper and lower limbs simultaneously. They can also be used for rehabilitation exercises of either the upper or lower limbs individually. Since these trainers are primarily intended for the elderly, the frail, and those with illnesses, the following issues must be considered: user safety, ease of operation, and long-term operational stability.

[0003] Most current upper and lower limb rehabilitation training device control systems adopt a distributed bus structure, such as the attached... Figure 1 The system shown consists of a main controller and two servo drives. The main controller performs kinematic, dynamic, and motion interpolation control algorithms, while the servo drives act as actuators to control the speed and torque of the motor. This distributed bus structure has complex wiring and high cost, which increases the overall cost and also limits its overall performance to some extent. Summary of the Invention

[0004] The purpose of this invention is to propose a novel control system device that integrates a main controller and a servo driver into one unit, thereby solving the problem of complex structures in existing systems, reducing product costs, and improving product performance. The control system structures of existing products on the market are shown in the attached figure. Figure 1 As shown, the existing system uses three independent boards: an upper and lower limb main controller, an upper limb motor driver, and a lower limb motor driver. Each board requires at least one CPU processor, so a control system requires at least three CPU processors. This invention changes the existing structure to an integrated upper and lower limb main controller and driver. By integrating the upper and lower limb drivers into one unit, only one CPU is needed as the processor. Integrating the main controller and driver onto a single board not only saves a control chip but also facilitates electrical wiring and reduces product costs.

[0005] A control system for an upper and lower limb rehabilitation training device includes CPU1, CPU2 and dual-port RAM;

[0006] CPU1 is used to obtain control signals from the host computer and store the control signals in the dual-port RAM, which is then read by CPU2 according to the control requirements.

[0007] CPU2 is used to perform motion control on the upper limb motor and the lower limb motor. After receiving the control signal sent by CPU1, it controls the upper limb motor and the lower limb motor through the motor drive module according to the control signal. It also collects the current and encoder information of the upper limb motor and the lower limb motor, calculates the real-time torque and speed of the upper limb motor and the lower limb motor, and stores them in the high-speed RAM. CPU1 reads them according to the control requirements.

[0008] The dual-port RAM is connected to CPU1 and CPU2 respectively.

[0009] CPU1 contains an IO interface, a parallel port, a CAN communication interface, and two external RS232 communication interfaces. The two external RS232 communication interfaces are connected to the host computer and the encoder, respectively. One external RS232 communication interface is used to exchange information with the host computer, and the other external RS232 communication interface receives information from the photoelectric encoder.

[0010] The I / O interface is connected to a button for starting and stopping;

[0011] The parallel port and dual-port RAM are connected to output control signals and read the real-time speed and torque sent by CPU2;

[0012] The CAN communication interface connects to the host computer for information transmission.

[0013] CPU2 contains a parallel port, a motor drive interface, an encoder interface, a current sensor interface, an I / O interface, and a CAN communication interface. The parallel port is connected to the dual-port RAM to receive control signals and send real-time speed and torque.

[0014] The I / O interface connects to the button for starting and stopping.

[0015] The CAN communication interface is used by the host computer to send debugging signals of the upper and lower limb motors to the CPU2 via the CAN communication interface.

[0016] The encoder interface connects to the motor encoder, enabling CPU2 to receive encoder information from the upper limb motor and the lower limb motor.

[0017] The motor drive interface is connected to the motor drive module, enabling CPU2 to send control signals to drive the upper limb motor and the lower limb motor;

[0018] The current sensor interface is connected to the current sensor, enabling CPU2 to receive the current from the upper limb motor and the lower limb motor.

[0019] After receiving the control signal, CPU1 transmits the control signal to CPU2 based on the control signal containing the speed and torque settings of the upper limb motor and the lower limb motor. After obtaining the control signal, CPU2 outputs the motor drive signal through speed / torque closed-loop control, which acts on the motor drive module to control the movement of the upper limb circuit and the lower limb motor.

[0020] The encoder and current sensor collect the current and encoder information of the upper limb motor and lower limb motor. The CPU2 calculates the real-time speed and torque of the upper limb motor and lower limb motor and transmits the calculation results to the CPU1 for storage.

[0021] The torque satisfies the following relationship:

[0022] T M +T L =T f

[0023] T M T represents the motor output torque sent from CPU1 to CPU2. L T represents the real-time torque of the upper or lower limb motor in the upper or lower limb rehabilitation trainer. f The mechanical friction force of the upper or lower limb training device is a constant value.

[0024] If T L <0 indicates that the user's muscle strength is too low, then T M In addition, the user's actions are passively completed by the trainer;

[0025] If T L >0 indicates that the user has greater muscle strength, then T M The user's movements are reduced, and they rely on muscle strength to actively complete the actions.

[0026] If T is obtained based on the feedback current signal of the upper or lower limb motor L If the set limit is exceeded, it is determined that the user has spasticity. At this time, the operating terminal of the upper and lower limb trainer decelerates along the original direction of movement until the speed of the operating terminal is 0. Then, according to the preset trajectory, the upper limb motor and lower limb motor are controlled to move, so that the user's movement is passively completed by the trainer.

[0027] After receiving the speed and torque command signals from CPU1, CPU2 uses a PID controller to control the upper limb motor and the lower limb motor.

[0028] The present invention has the following beneficial effects and advantages:

[0029] 1. This invention integrates the main controller and servo driver into a single unit, adopting a dual-CPU structure to save costs, improve performance, and optimize product performance;

[0030] 2. This invention can accurately determine the motion state by collecting sensor information, intelligently switch motion modes, and improve the user experience. Attached Figure Description

[0031] Figure 1 A schematic diagram of the control device system of a common distributed upper and lower limb rehabilitation training device;

[0032] Figure 2 Schematic diagram of the integrated control system for upper and lower limb rehabilitation training devices;

[0033] Figure 3 Block diagram of the control device system for upper and lower limb rehabilitation training devices. Detailed Implementation

[0034] To enable those skilled in the art to better understand the present invention, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the purpose of the present invention, but are not intended to limit the scope of the invention.

[0035] Figure 2 This is a schematic diagram of an integrated control device system for an upper and lower limb rehabilitation training device. The integrated controller is the core of the upper and lower limb rehabilitation training device. This control device is responsible for controlling the working mode of the upper and lower limb rehabilitation training device and driving the upper and lower limb motors to run according to different working modes.

[0036] Figure 3 The diagram shows the system structure of the control device for the upper and lower limb rehabilitation training device. The control system is mainly divided into two parts: one part is the application control algorithm part handled by CPU_1, and the other part is the upper and lower limb motor drive part handled by CPU_2. CPU_1 and CPU_2 are connected by a dual-port data exchange unit.

[0037] Optionally, CPU_1 uses an ARM processor to perform trajectory planning, motion interpolation calculation, and data interaction with the host computer or display screen; it also exchanges instruction information data with CPU_2.

[0038] Optionally, CPU_2 uses a DSP processor to be responsible for the motor control algorithm, drive the two motors of the upper and lower limbs to move, and interact with the ARM processor of CPU_1 to exchange instruction information.

[0039] Optionally, an RS232 circuit is added to the periphery of the ARM processor to read photoelectric signals. These signals, combined with the current transmitted by the DSP and the encoder signal, are used to determine the working status of the upper and lower limbs.

[0040] The second RS232 circuit and CAN interface circuit extended by the ARM processor are used for data interaction with the human-machine interface display. The human-machine interface display can select the training mode: master control mode / passive mode, set the training intensity, etc.; it can also display the current training status.

[0041] The ARM processor I / O module is used for indicator lights and buttons, for emergency stop and start, etc.

[0042] The data exchange unit between the ARM processor and the DSP processor is a register or random access memory (RAM). Dual-port RAM is used for data exchange. The ARM transmits commands such as speed and torque to the DSP, while the DSP transmits information such as current, encoder values ​​and motor operating status to the ARM.

[0043] The ARM processor calculates the user's muscle strength in real time based on the rotational speed and current signals transmitted by the DSP processor. To ensure that the rotational speed does not change abruptly, it should meet the T... M +T L =Tf;

[0044] T M The torque T is transmitted from CPU_1 to CPU_2 to control the motor output torque; L The torque provided to the user, Tf, is the system's mechanical friction force, which is a constant. When the user's muscle strength is very low and insufficient to support limb movement, the pedal drives the user's movement; this is called passive mode, and in this case, T... L If the value is less than 0, it is necessary to control and increase the motor output torque T. M When the user's muscle strength is strong enough to support limb movement, the person drives the pedal movement, and the user provides assistance to the pedal movement. L >0 The controller correspondingly reduces the motor output torque T M Until T M <0.

[0045] When the feedback current signal is calculated as T L If the speed exceeds the set limit, it is judged as a spasm. When a spasm occurs, the device remains in place and decelerates in the opposite direction of the original forward movement according to the predetermined time. When the speed reaches zero, it performs passive movement according to the preset movement trajectory.

[0046] CPU_2 uses a DSP processor to implement a closed-loop control algorithm for speed and torque. It receives the speed and torque given signals from CPU_1 and uses a PID controller to control the upper limb motor and lower limb motor.

[0047] The DSP samples the current of the upper limb motor and the lower limb motor through an A / D sampling circuit.

[0048] The DSP reads the photoelectric encoder information of the upper limb motor and lower limb motor through the encoder circuit and calculates the motor speed of the upper and lower limb motors.

[0049] The DSP performs closed-loop control by collecting current and encoder information to execute speed and torque commands transmitted from the ARM processor.

[0050] The DSP's CAN interface can be used for separate debugging of motors;

[0051] The innovations of this invention are: 1) Integrating the main controller and the upper and lower limb controllers together facilitates system wiring, improves the transmission speed between the two cores, and enhances system control performance; 2) The upper and lower limb motor drivers are centrally controlled by a single CPU, saving costs; 3) By adding the acquisition of photoelectric sensor signals and motor speed signals, it is possible to intelligently identify the muscle strength of the exerciser, which helps to assist patients in developing better rehabilitation training.

[0052] The above description describes the embodiments of the present invention. It should be noted that, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the embodiments of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A control system for an upper and lower limb rehabilitation training device, characterized in that... This includes CPU1, CPU2, and dual-port RAM; CPU1 is used to obtain control signals from the host computer and store the control signals in the dual-port RAM, which is then read by CPU2 according to the control requirements. CPU2 is used to perform motion control on the upper limb motor and the lower limb motor. After receiving the control signal sent by CPU1, it controls the upper limb motor and the lower limb motor through the motor drive module according to the control signal. It also collects the current and encoder information of the upper limb motor and the lower limb motor, calculates the real-time torque and speed of the upper limb motor and the lower limb motor, and stores them in the high-speed RAM. CPU1 reads them according to the control requirements. The dual-port RAM is connected to CPU1 and CPU2 respectively; After receiving the control signal, CPU1 transmits the control signal to CPU2 based on the control signal containing the speed and torque settings of the upper limb motor and the lower limb motor. After obtaining the control signal, CPU2 outputs the motor drive signal through speed / torque closed-loop control, which acts on the motor drive module to control the movement of the upper limb circuit and the lower limb motor. The encoder and current sensor collect the current and encoder information of the upper limb motor and lower limb motor. The CPU2 calculates the real-time speed and torque of the upper limb motor and lower limb motor and transmits the calculation results to the CPU1 for storage. The torque satisfies the following relationship: T M +T L =T f T M T represents the motor output torque sent from CPU1 to CPU2. L T represents the real-time torque of the upper or lower limb motor in the upper or lower limb rehabilitation trainer. f The mechanical friction force of the upper or lower limb training device is a constant value. If T L <0 indicates that the user's muscle strength is too low, then T M In addition, the user's actions are passively completed by the trainer; If T L >0 indicates that the user has greater muscle strength, then T M The user's movements are reduced, and they rely on muscle strength to actively complete the actions. If T is obtained based on the feedback current signal of the upper or lower limb motor L If the set limit is exceeded, it is determined that the user has spasticity. At this time, the operating terminal of the upper and lower limb trainer decelerates along the original direction of movement until the speed of the operating terminal is 0. Then, according to the preset trajectory, the upper limb motor and lower limb motor are controlled to move, so that the user's movement is passively completed by the trainer.

2. The control system of the upper and lower limb rehabilitation training device according to claim 1, characterized in that: CPU1 contains an IO interface, a parallel port, a CAN communication interface, and two external RS232 communication interfaces. The two external RS232 communication interfaces are connected to the host computer and the encoder, respectively. One external RS232 communication interface is used to exchange information with the host computer, and the other external RS232 communication interface receives information from the photoelectric encoder. The I / O interface is connected to a button for starting and stopping; The parallel port and dual-port RAM are connected to output control signals and read the real-time speed and torque sent by CPU2; The CAN communication interface connects to the host computer for information transmission.

3. The control system of the upper and lower limb rehabilitation training device according to claim 1, characterized in that: CPU2 contains a parallel port, a motor drive interface, an encoder interface, a current sensor interface, an I / O interface, and a CAN communication interface. The parallel port is connected to the dual-port RAM to receive control signals and send real-time speed and torque. The I / O interface connects to the button for starting and stopping. The CAN communication interface is used by the host computer to send debugging signals of the upper and lower limb motors to the CPU2 via the CAN communication interface. The encoder interface connects to the motor encoder, enabling CPU2 to receive encoder information from the upper limb motor and the lower limb motor. The motor drive interface is connected to the motor drive module, enabling CPU2 to send control signals to drive the upper limb motor and the lower limb motor; The current sensor interface is connected to the current sensor, enabling CPU2 to receive the current from the upper limb motor and the lower limb motor.

4. The control system of the upper and lower limb rehabilitation training device according to claim 1, characterized in that: After receiving the speed and torque command signals from CPU1, CPU2 uses a PID controller to control the upper limb motor and the lower limb motor.

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