A control method, device and control system for a lower limb rehabilitation training device

Abstract

This application relates to a control method, device, and control system for a lower limb rehabilitation training device. The method includes: acquiring training subject parameters; determining a first control strategy based on first training parameters and the training subject parameters; controlling the lower limb training component of the lower limb rehabilitation training device to provide lower limb rehabilitation training to the training subject according to the first control strategy; receiving second training parameters input by a user; determining a second control strategy based on the second training parameters and the training subject parameters; determining a third control strategy based on the second training parameters or the second control strategy; controlling the lower limb training component according to the third control strategy, causing the lower limb training component to transition from satisfying the first training parameters to satisfying the second training parameters; and controlling the lower limb rehabilitation training device to provide lower limb rehabilitation training to the training subject according to the second control strategy. This method can improve training efficiency.

Description

Technical Field

[0001] This application relates to the field of gait rehabilitation technology, and in particular to a control method, device and control system for a lower limb rehabilitation training device, a lower limb rehabilitation training device, and a computer device. Background Technology

[0002] When using lower limb rehabilitation training equipment to provide gait training for patients with lower limb motor dysfunction, it is necessary to consider the trainee's condition and set different training needs for different conditions. Existing lower limb rehabilitation training equipment allows for the configuration of training parameters for the trainee, but these parameters can only be entered during the device's standby or setup phase. If adjustments are desired during training, the training must be paused, reset, and then the walking training restarted. This lack of online or real-time parameter adjustment during rehabilitation training affects the continuity of gait training and reduces training efficiency. Summary of the Invention

[0003] Therefore, it is necessary to provide a control method, device, and control system for lower limb rehabilitation training equipment to address the aforementioned technical problems. This system can configure parameters before training begins and modify training parameters online during training, enabling the setting and continuous online adjustment of training parameters. The system will then respond quickly, adjust gait, and smoothly and continuously switch between modes, thereby improving training efficiency.

[0004] A first aspect of the present invention provides a control method for a lower limb rehabilitation training device, the method comprising:

[0005] Obtain the parameters of the training object;

[0006] A first control strategy is determined based on the first training parameters and the training object parameters, and the lower limb training component of the lower limb rehabilitation training device is controlled to provide lower limb rehabilitation training to the training object according to the first control strategy.

[0007] Receive the second training parameter input by the user;

[0008] A second control strategy is determined based on the second training parameters and the training object parameters;

[0009] A third control strategy is determined based on the second training parameters or the second control strategy, and the lower limb training component is controlled according to the third control strategy to transition the lower limb training component from satisfying the first training parameters to satisfying the second training parameters.

[0010] The lower limb training component is controlled according to the second control strategy to provide lower limb rehabilitation training to the trainee.

[0011] Furthermore, the training object parameters are at least used to describe the lower limb size of the training object, and the first training parameter and the second training parameter include one or more parameter information that can cause changes in the training state of each joint motion component in the lower limb training component, such as joint angle range, walking stride, walking speed, and walking cadence.

[0012] Furthermore, the step of determining the third control strategy based on the second training parameters includes: determining the third control strategy based on the motion state of the lower limb training component and the second training parameters.

[0013] Furthermore, the step of determining the third control strategy based on the second control strategy includes: determining the third control strategy based on the first control strategy and the second control strategy.

[0014] Furthermore, the method further includes: obtaining transition parameters; determining the third control strategy based on the second training parameters or the second control strategy includes:

[0015] Based on the obtained transition parameters, a third control strategy is determined according to the second training parameters or the second control strategy.

[0016] Furthermore, after receiving the second training parameters input by the user, the method further includes: determining that the received second training parameters do not meet the preset adjustment rules, and outputting a prompt message reminding users of the training parameter settings.

[0017] Furthermore, the method further includes providing a training parameter switching entry point.

[0018] A second aspect of the present invention provides a lower limb rehabilitation training device, the device comprising:

[0019] Lower limb training component, connected to the lower limbs of the training subject;

[0020] Input / output components; and,

[0021] A controller, connected to the lower limb training component, is used to execute any of the control methods for the lower limb rehabilitation training equipment described above.

[0022] A third aspect of the present invention provides a control system for a lower limb rehabilitation training device, the device comprising:

[0023] The training object parameter acquisition module is used to acquire the training object parameters;

[0024] The first control strategy determination module is used to determine a first control strategy based on the first training parameters and the training object parameters, and to control the lower limb training component of the lower limb rehabilitation training device to provide lower limb rehabilitation training to the training object according to the first control strategy.

[0025] The second training parameter receiving module is used to receive the second training parameters input by the user.

[0026] The second control strategy determination module is used to determine the second control strategy based on the second training parameters and the training object parameters;

[0027] The third control strategy determination module is used to determine a third control strategy based on the second training parameters or the second control strategy, and control the lower limb training component according to the third control strategy, so that the lower limb training component can transition from the first training parameters to the second training parameters.

[0028] The training control module is used to control the lower limb rehabilitation training device to provide lower limb rehabilitation training to the training subject according to the second control strategy.

[0029] A fourth aspect of the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the steps of the aforementioned control method for a lower limb rehabilitation training device.

[0030] The control method, device, system, and computer equipment of the aforementioned lower limb rehabilitation training device acquire training object parameters, determine a first control strategy based on first training parameters and training object parameters, control the lower limb training component of the lower limb rehabilitation training device to provide lower limb rehabilitation training for the training object in the current gait according to the first control strategy, receive second training parameters input by the user, determine a second control strategy for the target gait based on the second training parameters and the training object parameters, determine a third control strategy based on the second training parameters or the second control strategy, control the lower limb training component according to the third control strategy, so that the lower limb training component transitions from satisfying the first training parameters to satisfying the second training parameters, and automatically calculates the realization of the intermediate gait using the third control strategy, thereby ensuring a smooth transition from the current gait to the target gait and enabling online direct gait switching.

[0031] Therefore, when providing lower limb rehabilitation training, the training parameters of the lower limb rehabilitation training equipment can be modified online and in real time. The equipment receives training parameters input by the user during exercise on the equipment and responds quickly, automatically formulating a transition strategy for gait control to adjust the current training, ensuring a smooth and continuous transition of training parameters. Online adjustments can be made during training without pausing and resetting or restarting, ensuring training continuity and improving efficiency. Furthermore, after online parameter modifications, the system responds quickly, adjusting the training and smoothly transitioning. Moreover, throughout the entire gait control process, the training subject's parameters are consistently used as the primary input or calculation reference. Different training subjects have different parameters; therefore, gait switching can be personalized based on the characteristics of the training subject during real-time online switching, ensuring both continuity and safety during gait transitions. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the structure of a lower limb rehabilitation training device in one embodiment;

[0033] Figure 2 This is a schematic diagram of the structure of the lower limb training component in a lower limb rehabilitation training device in one embodiment;

[0034] Figure 3 A flowchart of a control method for a lower limb rehabilitation training device in one embodiment;

[0035] Figure 4 This is a schematic diagram of the interface for switching training parameters in one embodiment;

[0036] Figure 5 This is a schematic diagram of the training parameter configuration interface in one embodiment;

[0037] Figure 6 This is a structural block diagram of a lower limb rehabilitation training device in one embodiment;

[0038] Figure 7 This is a structural block diagram of the control device of a lower limb rehabilitation training device in one embodiment;

[0039] Figure 8 This is an internal structural diagram of a computer device in one embodiment;

[0040] Figure 9 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0042] The control method for the lower limb rehabilitation training device provided in this application can be applied to, for example... Figure 1 and Figure 2 In the application environment shown, the lower limb rehabilitation training device 100 includes: a controller 102, a lower limb training component 104, and an input / output component 106, etc.

[0043] The controller 102 (i.e., the main control device or host) communicates with the lower limb training component 104 and the input / output component 106. The controller 102 controls the movement of the lower limb training component 104 to drive the trainee in gait training. The controller may generally include a microprocessor, integrated on the control motherboard, and installed inside the lower limb rehabilitation training device 100. The controller 102 may contain the peripheral circuitry of a single controller chip; that is, the controller 102 may be the main control module or main control board containing the controller.

[0044] The lower limb rehabilitation training device 100 also includes an input / output component 106. The input / output component 106 is used to receive input signals from the user and to display or prompt output signals. For example, the input / output component 106 can be a touch screen with integrated soft-button control, a keyboard or operation control panel composed of physical buttons, or a combination of a keyboard or operation control panel and a touch screen, etc., and can be used to receive user commands and obtain user input information. Furthermore, the input / output component 106 may also include a display, which can be a common LED display panel, an OLED display panel, an LCD display, a TFT display, or a touch screen, used to display information or data obtained by the controller 102 through analysis and calculation, as well as displaying corresponding prompts, setting interfaces, alarm information, etc.

[0045] The lower limb rehabilitation training device 100 also includes a lower limb training component 104, used to receive signals from the controller 102 (i.e., the main control device or host) to generate movement, thereby driving the lower limbs of the trainee to perform gait rehabilitation training. The lower limb training component 104 is connected to one or more parts of the trainee's lower limb, and then receives signals from the controller 102 (i.e., the main control device or host) to drive the lower limb training component 104 to generate movement according to a predetermined control strategy, thereby driving one or more parts of the trainee's lower limb to complete movement actions conforming to predetermined training parameters, forming one or more gaits, so that the lower limb training component of the lower limb rehabilitation training device provides lower limb rehabilitation training for the trainee. The lower limb training component 104 may include one or more joint motion components. Each joint motion component may have, but is not limited to, joint motors, motor drives, joint motion sensors, and joint force / torque sensors. By controlling the joint motion components, the lower limb rehabilitation training device can drive the corresponding joint movement of the patient, thereby achieving walking training. For example, as... Figure 2 As shown, Figure 2 This diagram illustrates the structure of the lower limb training component in a multi-joint lower limb rehabilitation training device according to one embodiment. Figure 2 The lower limb training component 104 includes joint motion components, such as a device ankle joint 113, a device knee joint 112, and a device hip joint 111, which are used to drive the joint movement of the training subject. Movement of the device ankle joint 113 drives the movement of the training subject's ankle joint, movement of the device knee joint 112 drives the movement of the training subject's knee joint, and movement of the device hip joint 111 drives the movement of the training subject's hip joint. The lower limb training component 104 also includes: a joint motor 1112 and a joint drive 1114 in the joint motion component of the device hip joint 111, and a joint motion sensor 1116 and a joint force / torque sensor 1118 in the joint motion component of the device hip joint 111.

[0046] In one embodiment, the lower limb rehabilitation training device 100 may further include a detection component for detecting the motion state of the lower limb training component 104. The detection component is connected to the controller 102. The detection component detects the motion state of the lower limb training component 104. This detection can be achieved by directly outputting detection values ​​from sensors, which are then processed by the controller to obtain the motion state. Alternatively, the "detection component" may include a processor, directly outputting the motion state. That is, the output of the detection component can be an analog or digital signal directly acquired by the sensors, or an analog or digital signal representing the motion state of the lower limb training component 104 obtained after processing and analyzing the data acquired by the sensors. The detection component may include one or more sensors. These sensors may include joint motion sensors and joint force / torque sensors in the joint motion components of the lower limb training component 104, or other sensing devices independent of the lower limb training component 104 that can acquire motion state. The motion state mentioned here refers to the motion state during the movement of the lower limb training component, including joint angles, joint angular velocities, joint angular accelerations, joint torques or joint interaction torques, gait phases, etc.

[0047] In order to enable timely online modification of training parameters when providing lower limb rehabilitation training to trainees using lower limb rehabilitation training equipment, allowing the equipment to respond quickly and adjust its current training status so that trainees can smoothly and continuously switch between training modes, therefore, as Figure 3 As shown, the present invention provides a control method for a lower limb rehabilitation training device, which is applied to... Figure 1 Taking lower limb rehabilitation training equipment as an example, the following steps are included:

[0048] Step 202: Controller 102 acquires training object parameters;

[0049] Step 204: The controller 102 determines the first control strategy based on the first training parameters and the training object parameters, and controls the lower limb training component 104 of the lower limb rehabilitation training device 100 to provide lower limb rehabilitation training to the training object according to the first control strategy.

[0050] Step 206, the controller 102 receives the second training parameters input by the user using the input / output component 106;

[0051] Step 208: The controller 102 determines the second control strategy based on the second training parameters and the training object parameters;

[0052] Step 210: The controller 102 determines a third control strategy based on the second training parameters or the second control strategy, and controls the lower limb training component 104 of the lower limb rehabilitation training device 100 according to the third control strategy, so that the lower limb training component 104 of the lower limb rehabilitation training device 100 meets the transition from the first training parameters to the second training parameters.

[0053] Step 212: The controller 102 controls the lower limb training component 104 to provide lower limb rehabilitation training to the training subject according to the second control strategy.

[0054] During this process, the controller 102 can automatically formulate a transition control strategy for gait control, and control the lower limb training component 104 to smoothly transition the training object from gait training that meets the first training parameter to gait training that meets the second training parameter, so as to realize the ability to adjust the training parameters in real time during the training process to meet different training needs.

[0055] In step 202, the controller 102 can acquire training object parameters through the input / output component 106. These parameters can be directly input by the user through the input / output component 106, or the user can input the training object's identification information, such as the training object name and ID, through the input / output component 106. The training object parameters can be obtained from the lower limb rehabilitation training device 100, memory, server, etc. Alternatively, they can be obtained from other detection devices capable of acquiring training object parameters through the external interface of the input / output component 106.

[0056] The training object parameters here include at least parameters describing the lower limb dimensions of the training object that can determine the position of relevant joint motion components such as the ankle, knee, and hip joints of the device. For example, training object parameters may include the thigh length, calf length, and ankle height of the training object. Furthermore, depending on actual needs, the training object parameters may also include other anthropometric parameters reflecting the body shape characteristics of the training object. Anthropometric parameters include one or more of the limb size parameters used to describe the body shape of the training object. Limb size parameters used to describe the body shape of the training object include one or more of the following: the length of the longitudinal portion of the limb, the width of the transverse portion of the limb, the thickness of the limb, and the circumference of the limb, or a combination of multiple dimensional parameters, or the proportional relationship of multiple dimensional parameters. Limb size parameters include one or more of the following parameters: height, and various limb dimensions. These include waist dimensions (such as waist circumference, waist width, hip width, and pelvic size), thigh dimensions (such as thigh length, thigh circumference, and femur length), lower leg dimensions (such as lower leg length, lower leg circumference, tibia length, and fibula size), and foot dimensions (such as foot length, foot width, ankle height, and ankle width). All steps that ultimately obtain thigh length, lower leg length, and ankle height are considered to be obtaining lower limb size parameters.

[0057] Step 204: Determine a first control strategy based on the first training parameters and the training object parameters, and control the lower limb training component of the lower limb rehabilitation training device to provide lower limb rehabilitation training to the training object according to the first control strategy.

[0058] The first training parameter is the training parameter currently used by the lower limb rehabilitation training device 100 to perform rehabilitation training on the training subject. It can be pre-stored training parameters or parameters set by the user based on the training subject's condition. In one embodiment, the training parameters include at least one or more parameters that can cause changes in the motion state of each joint motion component in the lower limb training component, such as at least a joint angle range, stride length, walking speed, and cadence. The joint angle range includes the device's hip joint angle range, knee joint angle range, and ankle joint angle range, etc., and can be specifically determined according to the joint motion components in the lower limb training component 104 that need to be controlled. Of course, depending on actual needs, the training parameters may also include the leg lift height.

[0059] Specifically, a first control strategy can be generated based on the first training parameters and the training object parameters. The first control strategy is used to control the lower limb training component 104 of the lower limb rehabilitation training device 100 to provide lower limb rehabilitation training to the object.

[0060] Specifically, a first control strategy is generated based on first training parameters and training object parameters. This first control strategy is a set of first control parameters used to generate first spatial motions for each joint motion component of the lower limb training component 104. The first control parameter set can be the training gait temporal relationship of the joint motion components. Specifically, the training gait temporal relationship is the motion temporal relationship of the device hip joint, device knee joint, and device ankle joint adapted to the training object parameters. This motion temporal relationship can be the motion relationship of the angles, angular velocities, angular accelerations, or torques of the three joints in a time series or phase series; that is, the motion of the three joints is a function relationship based on time or phase.

[0061] In different implementations, the training gait timing relationship can be: the movement relationship of the device hip joint, device knee joint, and device ankle joint of the lower limb training component at different times; or, the movement relationship of the device hip joint, device knee joint, and device ankle joint of the lower limb training component in different phases; or, the mutual movement relationship of the device hip joint, device knee joint, and device ankle joint of the lower limb training component in different phases. Therefore, in one embodiment, the controller 102 can determine the training gait timing relationship regarding the movement of the device hip joint, device knee joint, and device ankle joint based on the training object parameters and training parameters.

[0062] Specifically, the controller can generate training gait timing relationships suitable for different training objects based on the training object parameters and training parameters (such as the first training parameter), using a gait design model. The gait design model can be one of several, such as a pre-set gait database, a gait learning model, or a gait trajectory planning model that combines kinematic and dynamic models. The gait database refers to a gait database formed by calibrating different training gait timing relationships with corresponding training object parameters and training parameters. Based on the existing gait database, the controller finds training gait timing relationships associated with the training object parameters and training parameters to obtain the output related to the training gait timing relationships. The gait learning model mentioned here can be a gait learning model built using algorithms such as support vector machines, artificial neural networks, deep learning, and decision trees. It is trained by using known different training gait temporal relationships, corresponding training object parameters, and calibrated relationships between these relationships. When new values ​​of the training object parameters and training parameters are input, the trained gait learning model outputs the associated training gait temporal relationships, thus obtaining the output related to the training gait temporal relationships. The gait trajectory planning model combining kinematic and dynamic models refers to establishing a gait trajectory planning model using kinematic and dynamic models. Based on the training object parameters and training parameters, the gait trajectory planning model automatically calculates the training gait temporal relationships of lower limb rehabilitation training equipment. The training gait temporal relationships mentioned here can be related to the movement of the equipment's hip, knee, and ankle joints.

[0063] According to the first control strategy, the lower limb training component 104 of the lower limb rehabilitation training device 100 is controlled to provide lower limb rehabilitation training for the training object. The gait currently undergoing lower limb rehabilitation training is determined according to the first control strategy. The first control strategy will drive the lower limb training component 104 to generate a first spatial movement through the first control parameters, so as to maintain the lower limb rehabilitation training device 100 providing gait training under the current training parameters.

[0064] Step 206: The controller receives the second training parameters input by the user.

[0065] Here, the second training parameter is the user-input training parameter, which the user wishes to adjust for rehabilitation training of the target body. The second training parameter may also include one or more parameters that can cause changes in the motion state of the various driving joint motor components in the lower limb training component, such as at least one joint angle range, stride length, walking speed, and cadence. Of course, depending on actual needs, the second training parameter may also include leg lift height. The second training parameter may or may not overlap with the corresponding parameters in the first training parameter. The values ​​corresponding to the same parameter type in the second training parameter may differ from those in the first training parameter.

[0066] In one implementation, the user can input parameter information through the input / output component 106, such as inputting relevant parameter settings on the device's touchscreen or an external input device. The controller 102 is connected to the input / output component 106 to obtain the parameter information input by the user.

[0067] When adjusting the second training parameter, the user should adjust it according to the actual training scenario and the training situation of the trainee. For example, if the trainee has achieved good training results under the first training parameter, the training difficulty can be appropriately increased to further improve the rehabilitation effect, such as increasing the joint angle range or walking speed. If the trainee has difficulty continuing training under the first training parameter, the training difficulty can be appropriately reduced, such as decreasing the walking stride or walking speed. If the trainee feels uncomfortable or the training effect is not good under the first training parameter, the parameters can be adjusted appropriately to suit the trainee, such as adjusting the joint angle range, walking stride, walking speed, or walking cadence.

[0068] Step 208: The controller determines the second control strategy based on the second training parameters and the training object parameters.

[0069] Specifically, determining the second control strategy based on the second training parameters and the training object parameters can involve determining a second control strategy to generate second control parameters for driving the various joint motion components of the lower limb training component 104 to produce a second spatial motion. These second control parameters can be control signals used to drive one or more joint motion components to produce a motion different from the first spatial motion. The set of second control parameters can be the temporal relationship of the training gait of the joint motion components. For an explanation of the temporal relationship of the training gait, please refer to the relevant explanation above; it will not be repeated here.

[0070] According to the second control strategy, the lower limb rehabilitation training device 100's lower limb training component 104 provides lower limb rehabilitation training to the training subject. The target training gait is determined according to the second control strategy. The second control strategy will drive the lower limb training component to generate a second spatial movement through the second control parameters to maintain the lower limb rehabilitation training device in the realization of the target gait. It must meet the requirements of the training subject parameters (such as limb size parameters) and the second training parameters.

[0071] For the determination of the second control strategy, please refer to the method for determining the first control strategy mentioned earlier. For example, the controller can use the gait design model to generate the timing relationship of training gait suitable for the motion requirements of different training objects based on the training object parameters corresponding to different training objects and the training parameters (such as the second training parameters). For the explanation of the gait design model, please refer to the relevant explanations mentioned earlier, and it will not be repeated here.

[0072] Step 210: Determine a third control strategy based on the second training parameters or the second control strategy, and control the lower limb training component according to the third control strategy, so that the lower limb training component transitions from satisfying the first training parameters to satisfying the second training parameters.

[0073] The second training parameter here includes one or more parameters that can cause changes in the motion state of each joint motion component in the lower limb training component, such as at least one joint angle range, walking stride, walking speed, and walking cadence.

[0074] Here, the third control strategy is used to control the lower limb training component to transition from meeting the first training parameter to meeting the second training parameter.

[0075] In one embodiment, determining the third control strategy based on the second training parameters may include:

[0076] The third control strategy is determined based on the motion state of the lower limb training component 104 and the second training parameters.

[0077] Specifically, the target training gait can be determined based on the second training parameters, and the transition gait can be calculated and determined in combination with the detected motion state of the lower limb training component 104. The lower limb training component 104 can be controlled to move closer to the target training gait to obtain the third control strategy.

[0078] The motion state of the lower limb training component 104 can be detected by one or more sensors in the detection component. The third control strategy is to calculate a series of control parameters (third control parameters) that change along the time sequence or phase, and control the lower limb training component 104 to transition from the current motion state to the target training gait. This allows the user to adjust the training parameters at any time according to the training object's situation during gait training, improve training efficiency, avoid safety accidents, and ensure that each training object can freely adjust the exercise intensity or gait movement mode according to their own physiological monitoring.

[0079] Additionally, in one embodiment, determining the third control strategy based on the second control strategy may include:

[0080] The third control strategy is determined based on the first and second control strategies.

[0081] For example, a third control strategy is determined based on the first and second control strategies, which is used to generate third control parameters for the joint motion components of the lower limb training component to produce third spatial motion.

[0082] Specifically, the lower limb rehabilitation training device 100 is controlled to maintain the current training gait using a first control strategy. A target gait is determined based on second training parameters and training object parameters. A second control strategy is then derived based on the target gait. This second control strategy drives the lower limb training component 104 to generate a second spatial movement through the second control parameters, maintaining the lower limb rehabilitation training device 100 in the target training gait. To ensure a smooth and continuous transition from the current training gait to the target training gait, during the transition from the first control strategy to the second control strategy, the training object parameters, the first control strategy, and the second control strategy are used as inputs for calculating the gait temporal relationship. The temporal relationship that changes along time or the phase relationship that changes along the motion state automatically generates a series of control parameters for generating third-space motion, forming the third control strategy. This generates the third control parameters that drive the joint motion components of the lower limb training component 104 to generate third-space motion, maintaining the lower limb rehabilitation training device 100 in an intermediate transitional gait during the transition. This allows the lower limb rehabilitation training device 100 to smoothly transition to the target training gait during gait movement without having to stop first, enabling users to adjust the training strategy, method, or training parameters at any time based on the real-time monitoring of the training object.

[0083] Therefore, in one embodiment, the third control strategy can be a third set of control parameters formed along time or phase changes. Here, the third set of control parameters refers to the control parameters used by the lower limb training component 104 to control the joint motion component in gait movements. The third set of control parameters includes at least one set of parameters reflecting gait. The first, second, and third control parameters mentioned here all refer to drive parameters used to control the rotation angle and torque output of the joint motion component, such as motor drive parameters used to drive the joint component's movement. The control parameters can be calculated, and the calculation method can be customized. During the change from the first to the second control strategy, the third control strategy is automatically formed and determined along time or phase changes, thereby obtaining the third control parameters.

[0084] The lower limb rehabilitation training equipment provides lower limb rehabilitation training to the trainee according to the third control strategy, so that the trainee can smoothly switch from the first training parameter to the second training parameter without interruption, without causing discomfort or bone damage to the trainee.

[0085] Step 212: Control the lower limb training component to provide lower limb rehabilitation training to the training subject according to the second control strategy.

[0086] After the switch is completed by the third control strategy, the second control strategy controls the lower limb training component to provide rehabilitation training that meets the second training parameters for the trainee.

[0087] The control method for the aforementioned lower limb rehabilitation training device involves: acquiring training object parameters; determining a first control strategy based on first training parameters and training object parameters; controlling the lower limb training component of the lower limb rehabilitation training device to provide lower limb rehabilitation training to the training object according to the first control strategy; receiving second training parameters input by the user; determining a second control strategy based on the second training parameters and the training object parameters; determining a third control strategy based on the second training parameters or the second control strategy; controlling the lower limb training component according to the third control strategy to ensure that the lower limb training component meets the second training parameters; and controlling the lower limb rehabilitation training device to provide lower limb rehabilitation training to the training object according to the second control strategy.

[0088] Therefore, when providing lower limb rehabilitation training, the lower limb rehabilitation training equipment can modify training parameters online and receive second training parameters input by the user. The equipment will respond quickly and adjust the current training state, allowing the trainee to smoothly and continuously switch between training modes. Online adjustments can be made during training without pausing and resetting or restarting the machine, ensuring training continuity and improving efficiency. Furthermore, after modifying training parameters online, the system will quickly respond, adjust the training state, and smoothly and continuously switch between modes. During the transition of gait control strategies, the system constantly monitors the trainee's parameters, ensuring that personalized gait control strategies are established based on the actual situation of each trainee during the switching process.

[0089] In one embodiment, the control method for the lower limb rehabilitation training device further includes: acquiring transition parameters;

[0090] At this point, the step of determining the third control strategy based on the second training parameters or the second control strategy includes: combining the obtained transition parameters to determine the third control strategy based on the second training parameters or the second control strategy.

[0091] First, transition parameters are obtained. These parameters may include switching time, number of switching steps, switching speed, and other parameters related to the transition process from the first control strategy to the second control strategy. Second, based on the obtained transition parameters, a third control strategy is determined according to the second training parameters or the second control strategy. This can be achieved by combining the process in step 210, using the time-varying temporal relationship or the phase relationship changing along the motion state to generate a series of third control parameters according to the transition parameters.

[0092] The transition parameters can be obtained by the user through pre-set methods or during gait switching. Therefore, while or not simultaneously with receiving the second training parameters input by the user in step 206, prompting the user to input the transition parameters for switching allows for personalized customization of different gait training transition strategies for different training subjects. For example, subjects with good rehabilitation effects or who have been undergoing rehabilitation exercises for a period of time can have their switching time or number of steps reduced. In embodiments of the present invention, a smaller switching time or number of steps can be set to achieve rapid switching and improve efficiency; for subjects with poor motor ability or who have just begun rehabilitation training, a longer switching time or number of steps can be set for a slow and smooth transition, allowing the training subject to adapt and avoiding injury.

[0093] The transition parameters here can also be preset switching time or preset switching steps. The preset switching time refers to the preset time to complete the gait transition, while the preset switching steps refer to the preset number of steps to complete the gait transition. These can be preset according to actual business needs, product requirements, or actual application scenarios.

[0094] In one embodiment, after receiving the second training parameters input by the user, the method further includes:

[0095] If the received second training parameter does not meet the preset adjustment rules, output a prompt message reminding you of the training parameter settings.

[0096] The preset adjustment rules are used to determine whether the second training parameter is reasonable or meets the adjustment requirements. They can be determined in advance based on actual business needs, actual product needs, or actual application scenarios. The preset adjustment rules can include the parameter setting range of each training parameter. Setting any parameter within the parameter setting range will determine that the second training parameter meets the preset adjustment rules. If the second training parameter exceeds the parameter setting range, it is determined that the second training parameter does not meet the preset adjustment rules, and a message indicating that the training parameter setting was unsuccessful can be output for easy reminder.

[0097] Preset adjustment rules can include not only setting ranges for each parameter, but also the interrelationships between parameters, or step-by-step reminders for parameters undergoing gait modifications. For example, if adjusting one training parameter based on its interrelationships necessitates adjustments to other training parameters, the system can determine if the received second training parameter does not meet the preset adjustment rules and output a prompt indicating the need to adjust other relevant training parameters. Another example is when the step difference between the second and first training parameters is too large; the system can output prompts / reminders indicating the need for multiple step-by-step adjustments, such as repeatedly displaying the setting ranges for the relevant training parameters. Each adjustment value must be within the preset reasonable adjustment range, less than the difference between the set second and first training parameters. This ensures a more reasonable, slower, and more comfortable gait transition.

[0098] This embodiment ensures that the parameters or switching are reasonable, thus avoiding harm to the patient.

[0099] In one embodiment, the control method for the lower limb rehabilitation training device further includes:

[0100] Provides a training switching entry point.

[0101] The training switching entry is used to switch the training parameter configuration interface. It can be located in the assessment and monitoring interface of the lower limb rehabilitation training equipment, or it can be a physical button on the display screen or control device of the lower limb rehabilitation training equipment (such as a keyboard or operation control panel), or a user keyboard or operation control panel. By touching this physical button, you can quickly access or switch to the training parameter configuration interface and input the second training parameter.

[0102] In one embodiment, the training switching entry is set in the assessment and monitoring interface of the lower limb rehabilitation training device.

[0103] The training switching entry can be located on the assessment and monitoring interface of the lower limb rehabilitation training equipment. Specifically, it can generate gait assessment data based on the status parameters of the lower limb training components, and / or pop up a training parameter configuration interface through the training switching entry. The interface receives second training parameters input by the user. The assessment and monitoring results help determine whether training parameters need adjustment. If adjustment is required, the user can directly access the training parameter configuration interface through the switching entry to quickly set the relevant parameters.

[0104] The gait assessment data here is used to evaluate the training status of the trainee's lower limb gait training. The gait assessment data displayed on the gait assessment monitoring interface can be used to intuitively judge the training status of the trainee's lower limb gait training and help adjust the training parameters.

[0105] For example, such as Figure 4 As shown, Figure 4 The assessment and monitoring interface displays gait assessment data. For example, the gait assessment data of the left leg device's knee joint motion component is 88, and the gait assessment data of the right leg device's knee joint motion component is 81. This indicates that the trainee's gait assessment effect under the current training parameters is good, and the training parameters can be further adjusted to increase the training difficulty and improve the rehabilitation training effect.

[0106] like Figure 4 As shown, you can switch to the training parameter configuration interface by clicking the training parameter switching entry, which will display the "Training Parameters" tab in the upper right corner of the interface. The training parameter configuration interface is as follows: Figure 5 As shown, Figure 5The diagram illustrates a training parameter configuration interface in one embodiment. This interface includes a joint range of motion adjustment interface, allowing modification of one or more parameters, such as hip, knee, and ankle angle ranges and stride length, either individually or simultaneously. Since the ranges of motion of each joint are interconnected, all parameters can be modified before being submitted together, or modifications can be made one at a time and submitted immediately. The interface also includes basic training parameter adjustments, allowing modification of training time and walking speed, either individually or simultaneously, with immediate submission after modification. The system receives parameter settings from the training parameter configuration interface and obtains the second training parameter input by the user.

[0107] In another embodiment, specifically, a gait assessment and monitoring interface can be displayed based on the state parameters of the lower limb training component. Gait assessment data can be generated and displayed based on the state parameters of the lower limb training component. Further, a specific gesture operation by the user on the assessment and monitoring interface is received. Based on the specific gesture operation, the assessment and monitoring interface is switched to the training parameter configuration interface, or the training parameter configuration interface is popped up. A second training parameter is received by inputting on the training parameter configuration interface. Here, the specific gesture operation is used to switch the assessment and monitoring interface to the training parameter configuration interface. The specific gesture operation could be, for example, swiping left or right, or waving, etc. Specifically, after receiving a specific gesture operation by the user on the assessment and monitoring interface, the assessment and monitoring interface can be switched to the training parameter configuration interface, or the training parameter configuration interface can be directly popped up. The training parameter configuration interface is provided with an input control. By inputting on this input control, the second training parameter is received.

[0108] It should be understood that although the steps in the flowchart above are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart above may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0109] like Figure 6As shown, the present invention also provides a lower limb rehabilitation training device 600, including: a lower limb training component 606, an input / output component 605, and a controller 604. The lower limb training component 606 is connected to the lower limbs of the training subject. The lower limb training component 606 receives signals from the controller 604, generates movement, and drives the lower limbs of the training subject to perform gait rehabilitation training. The controller 604 is connected to the lower limb training component 606 and is used to execute... Figure 2 The control method described in steps 202 to 212.

[0110] For details regarding the lower limb training component 606 and the controller 604, please refer to the foregoing description, which will not be repeated here. Secondly, in one embodiment, the device further includes a detection component 602 for detecting the motion state of the lower limb training component. The detection component 602 is connected to the controller 604. The motion state mentioned here refers to the motion state of the lower limb training component during movement, including joint angles, joint angular velocities, joint angular accelerations, joint torques or joint interaction torques, gait phase, etc.

[0111] Secondly, the device also includes a memory for storing the execution instructions required by the controller 604.

[0112] In one embodiment, such as Figure 7 As shown, a control system 700 for a lower limb rehabilitation training device is provided, including a training object parameter acquisition module 702, a first control strategy determination module 704, a second training parameter receiving module 706, a second control strategy determination module 708, a third control strategy determination module 710, and a training control module 712. The training object parameter acquisition module 702 is used to acquire training object parameters, as described in step 202 above. The first control strategy determination module 704 is used to determine a first control strategy based on the first training parameters and the training object parameters, and to control the lower limb training components of the lower limb rehabilitation training device to provide lower limb rehabilitation training to the training object according to the first control strategy, as described in step 204 above. The second training parameter receiving module 706 is used to receive second training parameters input by the user, as described in step 206 above. The second control strategy determination module 708 is used to determine a second control strategy based on the second training parameters and the training object parameters, as described in step 208 above. The third control strategy determination module 710 is used to determine a third control strategy based on the second training parameters or the second control strategy, and control the lower limb training component according to the third control strategy, so that the lower limb training component transitions from meeting the first training parameters to meeting the second training parameters, as in step 210 above. The training control module 712 is used to control the lower limb training component to provide lower limb rehabilitation training to the training subject according to the second control strategy, as in step 212 above.

[0113] In one embodiment, the training object parameters are used to describe at least the lower limb size of the training object. The first training parameter and the second training parameter include one or more parameter information that can cause changes in the training state of each driving joint motion component in the lower limb training component, such as joint angle range, walking stride, walking speed, and walking cadence.

[0114] In one embodiment, the third control strategy determination module 710 determines a third control strategy based on the state of the lower limb training component and the second training parameters.

[0115] In one embodiment, the third control strategy determination module 710 determines the third control strategy based on the first control strategy and the second control strategy.

[0116] In one embodiment, the control system 700 of the lower limb rehabilitation training device acquires transition parameters, and the third control strategy determination module 710 combines the acquired transition parameters to determine a third control strategy based on the second training parameters or the second control strategy.

[0117] In one embodiment, the control system 700 of the lower limb rehabilitation training device determines that the received second training parameters do not meet the preset adjustment rules and outputs a prompt message reminding users of the training parameter settings.

[0118] In one embodiment, the control system 700 of the lower limb rehabilitation training device provides a training switching entry.

[0119] In one embodiment, the training switching entry is located on the assessment and monitoring interface of the lower limb rehabilitation training device. For specific limitations regarding the control system of the lower limb rehabilitation training device, please refer to the above section on... Figure 2 The limitations of the control method for the lower limb rehabilitation training equipment described in steps 202 to 212 shown are not repeated here. Each module in the control system of the aforementioned lower limb rehabilitation training equipment can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0120] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 8As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database is used for a first control strategy, a second control strategy, and a third control strategy. The network interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements the control method for the lower limb rehabilitation training device.

[0121] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 9 As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a control method for the lower limb rehabilitation training device. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0122] Those skilled in the art will understand that Figure 8 or Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0123] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the control method for the lower limb rehabilitation training device described above. The steps of the control method for the lower limb rehabilitation training device described here can be the steps from the control methods for the lower limb rehabilitation training devices in the various embodiments described above.

[0124] In one embodiment, a computer-readable storage medium is provided, storing a computer program that, when executed by a processor, causes the processor to perform the steps of the control method for the lower limb rehabilitation training device described above. The steps of the control method for the lower limb rehabilitation training device described above can be the steps in the control methods for the lower limb rehabilitation training devices of the various embodiments described above. Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0125] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. The above embodiments only illustrate several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A control method for a lower limb rehabilitation training device, the method comprising: Obtain the parameters of the training object; A first control strategy is determined based on the first training parameters and the training object parameters, and the lower limb training component of the lower limb rehabilitation training device is controlled to provide lower limb rehabilitation training to the training object according to the first control strategy. Receive the second training parameter input by the user; A second control strategy is determined based on the second training parameters and the training object parameters; A third control strategy is determined based on the second training parameters or the second control strategy, and the lower limb training component is controlled according to the third control strategy to transition the lower limb training component from satisfying the first training parameters to satisfying the second training parameters. The second control strategy controls the lower limb training component to provide lower limb rehabilitation training to the trainee. The training object parameters are used to describe the lower limb size of the training object, including parameters that determine the position of the joint motion components of the device ankle joint, device knee joint and device hip joint, as well as human morphology parameters that reflect the body shape characteristics of the training object. The first training parameter and the second training parameter include one or more parameter information that can cause changes in the training state of each joint motion component in the lower limb training component, such as joint angle range, walking stride, walking speed, and walking cadence. The third control strategy is a set of third control parameters formed by changes along time or phase.

2. The method according to claim 1, characterized in that, The step of determining the third control strategy based on the second training parameters includes: A third control strategy is determined based on the motion state of the lower limb training component and the second training parameters.

3. The method according to claim 1, characterized in that, Determining the third control strategy based on the second control strategy includes: A third control strategy is determined based on the first and second control strategies.

4. The method according to claim 1, characterized in that, The method further includes: Obtain transition parameters; The step of determining the third control strategy based on the second training parameters or the second control strategy includes: Based on the obtained transition parameters, a third control strategy is determined according to the second training parameters or the second control strategy.

5. The method according to claim 1, characterized in that, After receiving the second training parameters input by the user, the method further includes: If the received second training parameter does not meet the preset adjustment rules, output a prompt message reminding you of the training parameter settings.

6. The method according to claim 1, characterized in that, The method also includes providing a training parameter switching entry point.

7. A lower limb rehabilitation training device, characterized in that, The device includes: Lower limb training component, connected to the lower limbs of the training subject; input / output component; and, A controller, connected to the lower limb training component, is used to execute the control method according to any one of claims 1-6.

8. A control system for a lower limb rehabilitation training device, characterized in that, The system includes: The training object parameter acquisition module is used to acquire the training object parameters; The first control strategy determination module is used to determine a first control strategy based on the first training parameters and the training object parameters, and to control the lower limb training component of the lower limb rehabilitation training device to provide lower limb rehabilitation training to the training object according to the first control strategy. The second training parameter receiving module is used to receive the second training parameters input by the user. The second control strategy determination module is used to determine the second control strategy based on the second training parameters and the training object parameters; The third control strategy determination module is used to determine a third control strategy based on the second training parameters or the second control strategy, and control the lower limb training component according to the third control strategy, so that the lower limb training component can transition from the first training parameters to the second training parameters. The training control module is used to control the lower limb rehabilitation training device to provide lower limb rehabilitation training to the training subject according to the second control strategy; The training object parameters are used to describe the lower limb size of the training object, including parameters that determine the position of the joint motion components of the device ankle joint, device knee joint and device hip joint, as well as human morphology parameters that reflect the body shape characteristics of the training object. The first training parameter and the second training parameter include one or more parameter information that can cause changes in the training state of each joint motion component in the lower limb training component, such as joint angle range, walking stride, walking speed, and walking cadence. The third control strategy is a set of third control parameters formed by changes along time or phase.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

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