A walking training method and system for a lower limb training robot

Abstract

The present invention belongs to the field of rehabilitation medical technology, and specifically relates to a walking training method and system for a lower limb training robot. The training method includes the following steps: Step 1, selecting a walking training mode and setting an auxiliary force; Step 2, obtaining actual pressure information between the patient's pelvis and the lower limb training robot in real time; Step 3, determining the patient's intended movement direction based on the actual pressure information and the auxiliary force, and determining the indicated movement direction of the lower limb training robot based on a human-computer interaction system and the set walking direction; if the indicated movement direction is inconsistent with the intended movement direction, stopping the patient from continuing to move in the intended movement direction; by setting different auxiliary forces, the present invention can basically meet the needs of different training intensities and can meet the training needs of patients in different rehabilitation periods.

Description

Technical Field

[0001] The present invention belongs to the technical field of rehabilitation medicine, and in particular relates to a walking training method and system for a lower limb training robot. Background Art

[0002] As the aging population becomes increasingly serious, more and more elderly people are losing the ability to walk autonomously in their lower limbs due to factors such as stroke and cardiovascular disease. This causes great inconvenience in their daily lives and seriously reduces their quality of life. Scientific research shows that providing scientific rehabilitation training to patients in the early stages of their illness plays a very important role in restoring lower limb motor function.

[0003] Traditional lower limb rehabilitation training has high workload for therapists, difficulty in standardizing treatment volume, and low treatment efficiency. At the same time, it is impossible to provide training content of different intensities for patients in different rehabilitation stages, and cannot meet the training needs of patients in different rehabilitation cycles. Moreover, the patient's movements are unstable during training, which can easily cause secondary injuries. Summary of the Invention

[0004] The purpose of the present invention is to provide a walking training method and system for a lower limb training robot. By setting different auxiliary forces, it can basically meet the needs of different training intensities and can meet the training needs of patients in different rehabilitation periods; by timely adjusting the patient's intended movement direction, the stability of the training process is guaranteed and the safety of the patient is guaranteed.

[0005] Based on the above purpose, the present invention adopts the following technical solutions:

[0006] A walking training method for a lower limb training robot comprises the following steps:

[0007] Step 1: Select walking training mode and set the auxiliary force; when the auxiliary force is greater than zero, it is the power value; when the auxiliary force is less than zero, it is the resistance value.

[0008] Step 2: Physical voltage information is collected in real time through pressure sensors installed on the left and right sides of the patient's pelvis. The physical voltage information is filtered, amplified, simulated, and debiased to obtain actual pressure information. The Beckhoff simulation processing method is as follows:

[0009]

[0010] Where A L It is a real-time analog signal read from the physical voltage information of the left side of the pelvis after filtering and amplification. R It is a real-time analog signal obtained from the physical voltage information on the right side of the pelvis after filtering and amplification. L is the pressure signal between the left side of the patient’s pelvis and the lower limb training robot, UL is the voltage information on the left side of the pelvis, F R is the pressure signal between the right side of the patient’s pelvis and the lower limb training robot, U R This is the voltage information on the right side of the pelvis.

[0011] Step 3: Determine the patient's intended movement direction based on the actual pressure information and auxiliary force, and determine the indicated movement direction of the lower limb training robot based on the human-computer interaction system and the set walking direction; if the indicated movement direction is inconsistent with the intended movement direction, stop the patient from continuing to move in the intended movement direction.

[0012] Furthermore, the method for removing the bias is:

[0013] F L1 =F L -F L0

[0014] F R1 =F R -F R0

[0015] Where, F L1 is the actual pressure information of the left side of the patient’s pelvis, F L0 is the initial pressure value obtained by the pressure sensor on the left side of the patient's pelvis under no-load conditions, F R1 is the actual pressure information on the right side of the patient’s pelvis, F R0 is the initial pressure value obtained when the pressure sensor on the right side of the patient's pelvis is unloaded.

[0016] Furthermore, the method for determining the patient's intended movement direction is as follows: when F L1 +F0>∈ L And F R1 +F0>∈ R When F L1 +F0<-∈ L And F R1 +F0<-∈ R When F L1 +F0<-∈ L And F R1 +F0>∈ R When F L1 +F0>∈ L And F R1 +F0<-∈ R When the intended movement direction is to turn right; F0 is the auxiliary force, ∈ L and ∈ R The pressure threshold is set.

[0017] A walking training system for a lower limb training robot includes a control subsystem, and also includes a human-computer interaction system, a pressure sensor, and a bottom wheel differential drive motor connected to the control subsystem; the human-computer interaction system is used to select a training mode, and is also used to set an auxiliary force and a walking direction, and send the auxiliary force and the walking direction to the control subsystem; the pressure sensor is used to collect physical voltage information between the patient's pelvis and the lower limb training robot in real time, and send the physical voltage information to the control subsystem; the control subsystem is used to calculate actual pressure information based on the physical voltage information, and determine the patient's intended movement direction based on the auxiliary force and the actual pressure information. The control subsystem is also used to determine an indicated movement direction based on the walking direction, and output a stop movement instruction when the intended movement direction is inconsistent with the indicated movement direction; the bottom wheel differential drive motor is used to execute the instruction output by the control subsystem.

[0018] Furthermore, the control subsystem includes a filtering and amplifying module, a Beckhoff analog processing module, a de-biasing module and a direction judgment module; the filtering and amplifying module is used to filter and amplify the physical voltage information collected by the pressure sensor and send it to the Beckhoff analog processing module, the Beckhoff analog processing module is used to read the real-time analog signal based on the physical voltage information after filtering and amplification, and convert the real-time analog signal into a pressure signal, and then send the pressure signal to the de-biasing module, the de-biasing module is used to calculate the actual pressure information based on the pressure signal and the initial pressure value at no load; the direction judgment module is used to judge the patient's intended movement direction based on the actual pressure information and the auxiliary force.

[0019] Furthermore, the control subsystem is used to output a continue movement instruction when the intended movement direction is consistent with the indicated movement direction.

[0020] Furthermore, two pressure sensors are provided, each used to collect real-time physical voltage information between the left and right sides of the patient's pelvis and the lower limb training robot. The two pressure sensors are provided on the left and right sides, respectively cooperating with the left and right sides of the patient's pelvis. The left pressure sensor is used to measure the physical voltage information between the left side of the patient's pelvis and the lower limb training robot, while the right pressure sensor is used to measure the physical voltage information between the left side of the patient's pelvis and the lower limb training robot.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] When a patient is undergoing walking training, the present invention can adjust the patient's intended movement direction according to the indicated movement direction of the lower limb training robot. When the patient's intended movement direction is inconsistent with the indicated movement direction of the lower limb training robot, the patient's training is stopped in time to prevent the patient from being injured again during the rehabilitation training period, thereby improving the efficiency and safety of rehabilitation training. By setting different auxiliary forces to provide training content of different intensities, it can adapt to walking training for rehabilitation patients at different stages. The present invention calculates actual pressure information by calculating data collected in real time by a pressure sensor, and judges the patient's intended movement direction based on the actual pressure information. It can predict the patient's movement in advance and ensure the patient's safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the waist mechanism of Example 1 of the present invention;

[0024] Figure 2 This is a structural block diagram of a walking training system according to embodiment 1 of the present invention;

[0025] Figure 3 Schematic diagram of the flow of the walking training method according to embodiment 2 of the present invention.

[0026] In the figure: pressure sensor 1, spline 2, seat belt buckle 3. DETAILED DESCRIPTION

[0027] Example 1

[0028] The lower limb training robot is mainly composed of a waist mechanism, a motion control module, a mobile platform and a column. The mobile platform is composed of a servo drive motor, a reducer and a chassis frame. The mobile platform can move in different directions and can turn. The column is set vertically and the bottom end is installed on the mobile platform. The waist mechanism is connected to the column and is used to connect to the patient's pelvis. Figure 1 As shown, the lumbar mechanism primarily consists of left and right support armrests, a pressure sensor 1, a seatbelt buckle 3, and a spline 2. Pressure sensor 1 and spline 2 are mounted inside the support armrests, with pressure sensor 1 located at the front end of spline 2. The seatbelt buckle 3 is located outside the support armrests and connected to the sleeve on spline 2. The sleeve is slidably connected to spline 2, with a spring interposed between the sleeve and pressure sensor 1. The force exerted by the patient's pelvis is transmitted to pressure sensor 1 via the seatbelt buckle 3, sleeve, and spring. The motion control module primarily consists of Beckhoff modules.

[0029] A walking training system for a lower limb training robot, such as Figure 2As shown, it includes a control subsystem, a human-computer interaction system connected to the control subsystem, two pressure sensors 1 and a bottom wheel differential drive motor. The human-computer interaction system includes a walking training mode selection module, an auxiliary force setting module, a walking direction setting module and a walking training start virtual button. Among them, the walking training mode selection module is used to select the walking training mode, the auxiliary force setting module is used to set the auxiliary force, and the walking direction setting module is used to set the walking direction of the system, and send the walking training mode, auxiliary force and walking direction to the control subsystem. The walking training start virtual button is a trigger button, and when the patient clicks the walking training start virtual button, the walking training system enters the training mode.

[0030] During training mode, pressure sensor 1 is used to collect real-time physical voltage information between the patient's pelvis and the lower limb training robot and transmit this information to the control subsystem. Two pressure sensors 1 are positioned on either side of the patient's pelvis, corresponding to the left and right sides of the patient's pelvis, respectively. The left pressure sensor 1 measures the physical voltage between the left side of the patient's pelvis and the lower limb training robot, while the right pressure sensor 1 measures the physical voltage between the right side of the patient's pelvis and the lower limb training robot. The bottom wheel differential drive motor is used to execute motion commands issued by the control subsystem, enabling walking training for the lower limb training robot.

[0031] The control subsystem is used to process signals based on the physical voltage information, calculate actual pressure information, and determine the patient's intended direction of movement based on the auxiliary force and actual pressure information. The control subsystem includes a filtering and amplification module, a Beckhoff analog processing module, a debiasing module, and a movement direction determination module. The filtering and amplification module is used to filter and amplify the physical voltage information collected by pressure sensor 1 and send it to the Beckhoff analog processing module. The Beckhoff analog processing module is used to read the real-time analog signal based on the physical voltage information after filtering and amplification, and convert the real-time analog signal into a pressure signal. The pressure signal is then sent to the debiasing module, which is used to calculate the actual pressure information based on the pressure signal and the initial pressure value at no load. The direction determination module is used to determine the patient's intended direction of movement based on the actual pressure information and the auxiliary force information.

[0032] The control subsystem is further configured to determine the indicated movement direction of the lower limb training robot based on information sent by the human-machine interaction subsystem, and to output a stop movement instruction when the intended movement direction is inconsistent with the indicated movement direction. The stop movement instruction is then sent to the motion control module, which controls the bottom wheel differential motor to stop, thereby preventing the patient from continuing to move in the original intended movement direction. The control subsystem is further configured to output a continue movement instruction when the indicated movement direction is consistent with the intended movement direction, and to send the continue movement instruction to the motion control module to assist the patient in continuing to move in the original intended movement direction.

[0033] The motion instructions processed as above are input into the lower limb training robot for online motion control. Combined with the set auxiliary force, walking motion direction and collected physical information, each servo motor is controlled to achieve the desired rotation, ultimately realizing walking training based on the lower limb training robot.

[0034] Example 2

[0035] A walking training method for a lower limb training robot, such as Figure 2 As shown, the following steps are included:

[0036] Step 1: Use a safety belt to connect the patient's pelvis to the safety belt buckle, select the walking training mode and set the walking direction and auxiliary force F0, and start training; the size of the auxiliary force is set according to the patient's recovery period and the intensity of training. When F0>0, it is the assistance value, and when F0<0, it is the resistance value.

[0037] Step 2: Acquire the actual pressure information between the patient's pelvis and the lower limb training robot in real time. Pressure sensors located on the left and right sides of the patient's pelvis collect physical information Γ between the two arms in real time. This information is the voltage generated by the interaction force acting on the pressure sensors. This voltage information is then filtered, amplified, simulated, and debiased to obtain the actual pressure information. The interaction force is generated by the patient's movement and is transmitted to the seatbelt buckle. The buckle then transmits this interaction force to the pressure sensor via a spline.

[0038] The filtering and amplification processing is performed by the pressure sensor filter amplifier circuit; the Beckhoff analog processing is to read the real-time analog signal A based on the physical information Γ on the left and right sides after filtering and amplification. L and A R , and then read the real-time analog signal A on the left and right sides of the Beckhoff module L and A R Converted into pressure signals F on the left and right sides L and F R , Beckhoff analog quantity processing formula is as follows:

[0039]

[0040] Where A L It is the real-time analog signal read by the Beckhoff module based on the physical voltage information of the left side of the pelvis after filtering and amplification. R It is the real-time analog signal read by the Beckhoff module based on the physical voltage information on the right side of the pelvis after filtering and amplification. L is the pressure signal between the left side of the patient’s pelvis and the lower limb training robot, UL The left side of the pelvis is based on the real-time analog signal A L Calculated voltage information, F R is the pressure signal between the right side of the patient’s pelvis and the lower limb training robot, U R The right side of the pelvis is based on the real-time analog signal A R Calculated voltage information.

[0041] The debiasing process mainly debiases the pressure signals on the left and right sides, and finally obtains the patient's actual pressure information F L1 、F R1 , the bias value is the initial pressure value F obtained under no-load conditions L0 、F R0 , the bias processing formula is as follows:

[0042] F L1 =F L -F L0

[0043] F R1 =F R -F R0

[0044] Where, F L1 is the actual pressure information of the left side of the patient’s pelvis, F L0 is the initial pressure value obtained by the pressure sensor on the left side of the patient's pelvis under no-load conditions, F R1 is the actual pressure information on the right side of the patient’s pelvis, F R0 is the initial pressure value obtained when the pressure sensor on the right side of the patient's pelvis is unloaded.

[0045] Step 3: Determine the patient's intended direction of movement based on the actual pressure information, assistive force, and pressure threshold. Determine the indicated direction of movement for the lower limb training robot based on the human-computer interaction system and the set walking direction. If the indicated direction of movement is inconsistent with the intended direction of movement, stop the patient from continuing to move in the intended direction of movement and output a stop movement instruction. If the indicated direction of movement is consistent with the intended direction of movement, assist the patient to continue moving in the original intended direction of movement and output a continue movement instruction. This continue movement instruction is then sent to the motion control module to assist the patient in continuing to move in the original intended direction of movement.

[0046] Set the pressure threshold range to -∈ L ~∈ L 、-∈ R ~∈ R In this embodiment, set ∈ L =∈ R =5, the method for judging the patient's intended movement direction is: when F L1 +F0>∈ LAnd F R1 +F0>∈ R When F L1 +F0<-∈ L And F R1 +F0<-∈ R When F L1 +F0<-∈ L And F R1 +F0>∈ R When F L1 +F0>∈ L And F R1 +F0<-∈ R The training method of this embodiment can be implemented using the walking training system of the lower limb training robot in Example 1, or by other means.

Claims

1. A walking training method for a lower limb training robot, characterized in that: The lower limb training robot is mainly composed of a waist mechanism, a motion control module, a mobile platform and a column; the mobile platform is composed of a servo drive motor, a reducer and a chassis frame, etc. The mobile platform can move in different directions and can turn. The column is vertically arranged and the bottom end is installed on the mobile platform. The waist mechanism is connected to the column and is used to connect to the patient's pelvis; the waist mechanism is mainly composed of two left and right support armrests, a pressure sensor, a seat belt buckle and a spline. The pressure sensor and the spline are installed inside the support armrest. The pressure sensor is located at the front end of the spline. The seat belt buckle is set outside the support armrest and connected to the sleeve on the spline. The sleeve is slidably connected to the spline. A spring is provided between the sleeve and the pressure sensor. The force of the patient's pelvis is transmitted to the pressure sensor through the seat belt buckle, sleeve and spring; the following steps are included: Step 1: Select walking training mode and set the assist force; Step 2: Physical voltage information is collected in real time through pressure sensors installed on the left and right sides of the patient's pelvis. The physical voltage information is filtered, amplified, simulated, and debiased to obtain actual pressure information. The Beckhoff simulation processing method is as follows: Where A L It is a real-time analog signal read from the physical voltage information of the left side of the pelvis after filtering and amplification. R It is a real-time analog signal obtained from the physical voltage information on the right side of the pelvis after filtering and amplification. L is the pressure signal between the left side of the patient’s pelvis and the lower limb training robot, U L is the voltage information on the left side of the pelvis, F R is the pressure signal between the right side of the patient’s pelvis and the lower limb training robot, U R It is the voltage information of the right side of the pelvis; Step 3: Determine the patient's intended movement direction based on the actual pressure information and the auxiliary force, and determine the indicated movement direction of the lower limb training robot based on the human-computer interaction system and the set walking direction; if the indicated movement direction is inconsistent with the intended movement direction, stop the patient from continuing to exercise in the intended movement direction; The method to remove the bias is: F L1 =F L -F L0 F R1 =F R -F R0 Where, F L1 is the actual pressure information of the left side of the patient’s pelvis, F L0 is the initial pressure value obtained by the pressure sensor on the left side of the patient's pelvis under no-load conditions, F R1 is the actual pressure information on the right side of the patient’s pelvis, F R0 is the initial pressure value obtained when the pressure sensor on the right side of the patient's pelvis is unloaded; The method for determining the patient's intended movement direction is: when F L1 +F0>∈ L And F R1 +F0>∈ R When F L1 +F0<-∈ L And F R1 +F0<-∈ R When F L1 +F0<-∈ L And F R1 +F0>∈ R When F L1 +F0>∈ L And F R1 +F0<-∈ R When the intended movement direction is to turn right; F0 is the auxiliary force, ∈ L and∈ R The pressure threshold is set.

2. A walking training system for a lower limb training robot that implements the walking training method according to claim 1, characterized in that: The robot comprises a control subsystem, a human-machine interaction system connected to the control subsystem, a pressure sensor, and a bottom wheel differential drive motor; the human-machine interaction system is used to select a training mode, set the assist force and walking direction, and send the assist force and walking direction to the control subsystem; the pressure sensor is used to collect physical voltage information between the patient's pelvis and the lower limb training robot in real time, and send the physical voltage information to the control subsystem; The control subsystem is used to calculate actual pressure information based on physical voltage information, and determine the patient's intended movement direction based on the auxiliary force and actual pressure information. The control subsystem is also used to determine the indicated movement direction based on the walking direction, and output a stop movement instruction when the intended movement direction is inconsistent with the indicated movement direction; the bottom wheel differential drive motor is used to execute the instructions output by the control subsystem.

3. The walking training system for a lower limb training robot according to claim 2, wherein: The control subsystem includes a filtering and amplifying module, a Beckhoff analog processing module, a debiasing module and a direction judgment module; the filtering and amplifying module is used to filter and amplify the physical voltage information collected by the pressure sensor and send it to the Beckhoff analog processing module, the Beckhoff analog processing module is used to read the real-time analog signal based on the physical voltage information after filtering and amplification, and convert the real-time analog signal into a pressure signal, and then send the pressure signal to the debiasing module, the debiasing module is used to calculate the actual pressure information based on the pressure signal and the initial pressure value at no load, and the direction judgment module is used to judge the patient's intended movement direction based on the actual pressure information and the auxiliary force.

4. The walking training system for a lower limb training robot according to claim 3, wherein: Two pressure sensors are provided, and the two pressure sensors are used to respectively collect physical voltage information between the left and right sides of the patient's pelvis and the lower limb training robot in real time.

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