Rehabilitation training device and rehabilitation training control method

Abstract

The present disclosure relates to a rehabilitation training device and a rehabilitation training control method, and relates to the technical field of rehabilitation equipment and rehabilitation training. The rehabilitation training device comprises at least one of a brain signal detection device and a first force sensor, a target moving in a preset manner, a controller and a rehabilitation assisting mechanism, wherein the controller is electrically connected with the brain signal detection device, the first force sensor and the rehabilitation assisting mechanism, and the first force sensor is arranged on the rehabilitation assisting mechanism; wherein the brain signal detection device is configured to detect a brain signal of a user and input the brain signal into the controller, the first force sensor is configured to detect an active force of the user and send the active force to the controller, the controller is configured to generate a control instruction according to at least one of the brain signal and the active force and send the control instruction to the rehabilitation assisting mechanism, and the rehabilitation assisting mechanism is configured to assist a rehabilitation training part of the user to perform a movement training interacting with the target based on the control instruction.

Description

Technical Field

[0001] This disclosure relates to the fields of rehabilitation equipment and rehabilitation training technology, and in particular to a rehabilitation training device and a rehabilitation training control method. Background Technology

[0002] Stroke, also known as apoplexy or cerebrovascular accident, is most commonly associated with motor dysfunction.

[0003] After a stroke, users often achieve some degree of functional recovery, especially during the acute and subacute phases of spontaneous recovery.

[0004] In traditional rehabilitation therapy, patients often passively receive training from rehabilitation therapists or rehabilitation machines. Patients either lack the willingness to actively train or find it difficult to keep pace with their limb movements. Summary of the Invention

[0005] Given the poor effectiveness of traditional rehabilitation treatments, this disclosure proposes a rehabilitation training device that can improve the effectiveness of rehabilitation treatments.

[0006] According to some embodiments of this disclosure, a rehabilitation training device is provided, comprising: at least one of a brain signal detection device and a first force sensor, a target moving in a preset manner, a controller, and a rehabilitation assistive mechanism, wherein the controller is electrically connected to the brain signal detection device, the first force sensor, and the rehabilitation assistive mechanism, and the first force sensor is disposed on the rehabilitation assistive mechanism; wherein the brain signal detection device is configured to detect the user's brain signals and input the brain signals to the controller, the first force sensor is configured to detect the user's active force and send the active force to the controller, the controller is configured to generate control commands based on at least one of the brain signals and active force, and send them to the rehabilitation assistive mechanism, and the rehabilitation assistive mechanism is configured to assist the user's rehabilitation training parts in performing movement training that interacts with the target based on the control commands.

[0007] In some embodiments, the device further includes at least one of a second force sensor and a position sensor disposed on the rehabilitation assistive mechanism and electrically connected to the controller, wherein: the second force sensor is configured to detect the output force of the rehabilitation assistive mechanism and send the output force to the controller; the position sensor is configured to detect the position reached by the rehabilitation assistive mechanism and send the position to the controller; the controller is further configured to generate control commands based on at least one of brain signals and active force, and based on at least one of the output force and position.

[0008] In some embodiments, when the target is a virtual target, the rehabilitation training device further includes: a display device electrically connected to the controller and used to display the virtual target and the virtual interactive subject; wherein the controller is further configured to acquire at least one of the motion trajectory of the rehabilitation assistive mechanism and the force on the rehabilitation assistive mechanism, generate display information of the virtual interactive subject and send it to the display device for display.

[0009] In some embodiments, the display device is further configured to display prompt information, which includes at least one of: operation prompt information, start prompt information, preparation prompt information, and end prompt information.

[0010] In some embodiments, the device further includes a control component electrically connected to the controller, wherein the rehabilitation assistive mechanism assists the user's rehabilitation training movements, which in turn drive the control component to move, and the controller is configured to acquire the motion trajectory of the rehabilitation assistive mechanism through the movement of the control component.

[0011] In some embodiments, the device further includes: a motion sensor disposed on the rehabilitation assistive mechanism and electrically connected to the controller, wherein the motion sensor is configured to detect the motion trajectory of the rehabilitation assistive mechanism and send it to the controller, and the controller is configured to acquire the motion trajectory of the rehabilitation assistive mechanism through the motion sensor.

[0012] In some embodiments, the device further includes: a third force sensor disposed on the rehabilitation assistive mechanism and electrically connected to the controller, configured to detect forces on the rehabilitation assistive mechanism and send them to the controller, wherein the forces on the rehabilitation assistive mechanism include: the user's active force or the force at a preset position on the rehabilitation assistive mechanism.

[0013] In some embodiments, when the target is a physical target, the rehabilitation training device further includes an interactive component connected to a rehabilitation assistive mechanism, wherein the interactive component is driven by the rehabilitation assistive mechanism to achieve interaction with the target.

[0014] In some embodiments, the device further includes at least one of a first interactive sensor disposed on the interactive component and a second interactive sensor disposed on the target; wherein the first and second interactive sensors are configured to sense whether the interception or evasion is successful and to issue a prompt.

[0015] In some embodiments, when the target is a physical target, the rehabilitation training device further includes at least one of a third interactive sensor disposed on the rehabilitation assistive mechanism and a fourth interactive sensor disposed on the target; wherein the third interactive sensor and the fourth interactive sensor are configured to sense whether the interception or avoidance is successful and issue a prompt.

[0016] In some embodiments, the device further includes a feedback component configured to provide one or more modal feedbacks to the user based on the interaction result.

[0017] In some embodiments, the device further includes: a stimulation component disposed on the rehabilitation assistive mechanism and electrically connected to the controller; wherein the controller is configured to generate stimulation commands and send them to the stimulation component, and the stimulation component is configured to perform functional electrical stimulation on the user's rehabilitation training areas according to the stimulation commands.

[0018] In some embodiments, the brain signal detection device includes an EEG cap or a near-infrared instrument.

[0019] In some embodiments, the rehabilitation assistive mechanism is a rehabilitation robotic hand, and a third force sensor is disposed on the fingers of the rehabilitation robotic hand and configured to detect the pinching pressure of the fingers and send it to a controller. The controller is configured to generate an interception path of the interactive subject based on the pinching pressure to track the target and intercept it, wherein the greater the pinching pressure, the longer the interception path.

[0020] In some embodiments, the target includes: a first track and a second track of a preset shape, columnar bodies disposed on the first track and the second track, and light-emitting devices disposed on each columnar body according to a preset pattern. The first track and the second track are symmetrically arranged, and the columnar bodies and light-emitting devices on the first track and the second track are arranged in the same manner. The columnar bodies on the first track and the columnar bodies on the second track move along the first track and the second track respectively, and their directions of movement are opposite. The interactive component includes: a vertically arranged first support component and a second support component, the first support component and the second support component being symmetrically arranged and sharing the same center of symmetry or axis of symmetry with the first track and the second track. The distance between the first support component and the first track is less than a threshold, and the distance between the second support component and the second track is less than a threshold. A first bearing component is disposed on the first support component, a second bearing component is disposed on the second support component, and photosensitive devices are disposed on the first bearing component and the second bearing component. A rehabilitation assistive mechanism is connected to the first bearing component and the second bearing component. The movement of the rehabilitation assistive mechanism causes the photosensitive devices on the first bearing component and the second bearing component to move up and down. Upon sensing the light emitted by the light-emitting device, the interception is successful.

[0021] In some embodiments, the target includes: a third track of a preset shape, and an object moving on the third track; wherein, when the rehabilitation assistive mechanism intercepts the object, at least one of a third interactive sensor disposed on the rehabilitation assistive mechanism and a fourth interactive sensor disposed on the object issues a prompt.

[0022] In some embodiments, the rehabilitation assistive device is configured to generate assistance, resistance or motion based on control commands output by the controller, in order to assist the user's rehabilitation training parts in performing exercise training that interacts with the target.

[0023] According to other embodiments of this disclosure, a rehabilitation training control method for a rehabilitation training device based on any of the foregoing embodiments is provided, comprising: a controller receiving at least one of a user's brain signal detected by a brain signal detection device and a user's active force detected by a first force sensor; generating a control command based on at least one of the brain signal and active force; and sending it to a rehabilitation assistive mechanism; the rehabilitation assistive mechanism assisting the user's rehabilitation training parts in performing movement training that interacts with a target based on the control command.

[0024] In some embodiments, the method further includes: a second force sensor detecting the output force of the rehabilitation assistive mechanism and sending the output force to a controller; a position sensor detecting the position reached by the rehabilitation assistive mechanism and sending the position to the controller; the controller generating control instructions based on at least one of brain signals and active force includes: the controller generating control instructions based on at least one of brain signals and active force, and based on at least one of output force and position.

[0025] In some embodiments, the method further includes: when the target is a virtual target, the controller acquires at least one of the motion trajectory of the rehabilitation assistive mechanism and the force on the rehabilitation assistive mechanism, generates display information of the virtual interactive subject and sends it to the display device; the display device displays the virtual target and the virtual interactive subject.

[0026] In some embodiments, the controller acquiring at least one of the motion trajectory of the rehabilitation assistive mechanism and the force on the rehabilitation assistive mechanism includes at least one of the following: the controller acquires the motion trajectory of the rehabilitation assistive mechanism by manipulating the movement of the component; the controller acquires the motion trajectory of the rehabilitation assistive mechanism by a motion sensor; the controller acquires the force on the rehabilitation assistive mechanism by a third force sensor, wherein the force on the rehabilitation assistive mechanism includes: the user's active force or the force at a preset position on the rehabilitation assistive mechanism.

[0027] In some embodiments, the method further includes: when the target is a physical target, at least one of a first interactive sensor disposed on the interactive component and a second interactive sensor disposed on the target, sensing whether the interception or avoidance was successful and issuing a prompt; or, at least one of a third interception sensor disposed on the rehabilitation assistive device and a fourth interception sensor disposed on the target, sensing whether the interception or avoidance was successful and issuing a prompt.

[0028] In some embodiments, the method further includes: a feedback component providing one or more modal feedbacks to the user based on the interaction result.

[0029] In some embodiments, the method further includes: the controller generating a stimulation command based on at least one of brain signals and active force and sending it to the stimulation component; the stimulation component performing functional electrical stimulation on the user's rehabilitation training area based on the stimulation command.

[0030] In some embodiments, the controller acquires at least one of the motion trajectory of the rehabilitation assistive mechanism and the force on the rehabilitation assistive mechanism, and generates display information for the virtual interactive subject by: a third force sensor detecting the pinching pressure on the fingers of the rehabilitation robotic hand and sending it to the controller; the controller generates an interception path for the interactive subject based on the pinching pressure to track the target and intercept it, wherein the greater the pinching pressure, the longer the interception path.

[0031] In some embodiments, the rehabilitation assistive mechanism assists the user's rehabilitation training parts to perform movement training that interacts with the target based on control commands, including: the rehabilitation assistive mechanism generates assistance, resistance or movement based on control commands to assist the user's rehabilitation training parts to perform movement training that interacts with the target.

[0032] In some embodiments, the rehabilitation training device operates based on a predictive paradigm.

[0033] The rehabilitation training device disclosed herein includes at least one of a brain signal detection device and a first force sensor, and further includes a target that moves in a preset manner, a controller, and a rehabilitation assistive mechanism. The brain signal detection device can detect the user's brain signals, the first force sensor can detect the user's active force, and the controller can generate control commands based on at least one of the brain signals and active force, and send them to the rehabilitation assistive mechanism. The rehabilitation assistive mechanism then assists the user's rehabilitation training areas in interactive movement training with the target based on the control commands. The rehabilitation training device disclosed herein can assist the user in rehabilitation training based on the user's active training intention, and by adopting a training method of interactive movement with the target, it can effectively stimulate the user's brain, multi-muscle, and multi-joint coordination, and can effectively improve the effect of rehabilitation training or treatment.

[0034] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 A schematic diagram of the structure of a rehabilitation training device according to some embodiments of the present disclosure is shown.

[0037] Figure 2 A schematic diagram of the structure of a rehabilitation training device according to other embodiments of this disclosure is shown.

[0038] Figure 3 A structural schematic diagram showing a portion of the structure of a rehabilitation training device according to some embodiments of the present disclosure.

[0039] Figure 4A A top view showing a portion of the structure of a rehabilitation training device according to some embodiments of this disclosure.

[0040] Figure 4B A schematic diagram illustrating an interception paradigm of some embodiments of this disclosure is shown.

[0041] Figure 5A A schematic diagram showing a portion of the structure of a rehabilitation training device according to some embodiments of the present disclosure.

[0042] Figure 5B A schematic diagram illustrating an interception paradigm of some embodiments of this disclosure is shown.

[0043] Figure 6A A front view showing a portion of the structure of a rehabilitation training device according to some embodiments of this disclosure.

[0044] Figure 6B A top view showing a portion of the structure of a rehabilitation training device according to some embodiments of this disclosure.

[0045] Figure 6C A schematic diagram illustrating an interception paradigm of some embodiments of this disclosure is shown.

[0046] Figure 7A A top view showing a portion of the structure of a rehabilitation training device according to some embodiments of this disclosure.

[0047] Figure 7B A schematic diagram illustrating an interception paradigm of some embodiments of this disclosure is shown.

[0048] Figure 8 A flowchart illustrating a rehabilitation training control method according to some embodiments of the present disclosure is shown.

[0049] Figure 9 A flowchart illustrating a rehabilitation training control method according to other embodiments of this disclosure is shown.

[0050] Figure 10 A flowchart illustrating a rehabilitation training control method according to further embodiments of the present disclosure is shown. Detailed Implementation

[0051] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0052] The inventors' research revealed that while brain imaging studies show similarities between the brain activation during actual motor execution and motor imagery, they are fundamentally different; the former exhibits significantly stronger cortical output layer activity than the latter. Most human daily activities are goal-directed movements, which inevitably involve sensorimotor transitions and multi-muscle, multi-joint coordination. Goal-directed movements rely on feedforward control and predictive mechanisms.

[0053] Therefore, the rehabilitation training device and rehabilitation training control method proposed in this disclosure are based on a predictive paradigm, whose neuroscience basis is feedforward motor control and predictive coding mechanisms. This disclosure combines the predictive paradigm of dynamic environment interaction with a specific rehabilitation training device for motor function rehabilitation, which can effectively stimulate the user's brain, multi-muscle, and multi-joint linkage, and effectively improve the effect of rehabilitation training.

[0054] The following is combined Figures 1-7B The rehabilitation training device disclosed herein is described.

[0055] Figure 1 These are structural diagrams of some embodiments of the rehabilitation training device disclosed herein. Figure 1 As shown, the rehabilitation training device 10 of this embodiment includes at least one of a brain signal detection device 102 and a first force sensor 104, and further includes a target 106 moving in a preset manner, a controller 108, and a rehabilitation assistive mechanism 110. The controller 108 is electrically connected to the brain signal detection device 102, the first force sensor 104, and the rehabilitation assistive mechanism 110, and the first force sensor 104 is disposed on the rehabilitation assistive mechanism 110.

[0056] In some embodiments, the rehabilitation training device 10 operates based on a predictive paradigm, such as an interception paradigm or an avoidance paradigm. Based on this predictive paradigm, the rehabilitation training device 10 assists the user in interactive movements with the target 106 to perform rehabilitation training. Interactive movements include intercepting or avoiding the target. Interception can be divided into two types: interception where the target is contacted or impacted, and interception where the target is captured without being touched. The former involves trajectory planning of the object that generates the interception action, while the latter, in addition to trajectory planning, also involves planning the capture action within the trajectory planning. A successful interception requires the intercepting subject (object A) and the intercepted target (object B) to be in the same position at the same time (temporal matching) (spatial matching). Therefore, guiding the motion effector to the final target position requires using key sensory signals to infer (predictive strategy) and generate movement to meet the task requirements.

[0057] The variable factors for interception actions include: the nature of the target (its shape and how it moves); whether the target is captured or collided with; the characteristics of the motion effector; and the accuracy limitations of the interception.

[0058] Based on the relative paths of the intercepting entity and the intercepted target, interception can be divided into 5 types. (1) Direct impact, where the movement paths of the intercepting entity and the intercepted target are opposite (e.g., Figure 6C (2) Tracking and colliding with the target, where the movement paths of the interceptor and the intercepted target are the same (e.g., Figure 5B (3) The interceptor moves away from the intercepted target, where the target moves towards a slower interceptor; (4) Approaches perpendicularly, where the path of the interceptor is perpendicular to the instantaneous velocity direction of the intercepted target (e.g., ...). Figure 4B ); (5)(1) or (2) or (3) and (4) combination.

[0059] Depending on whether the interception location is fixed, interception can be divided into free interception and fixed-point interception. Fixed-point interception refers to the intercepting entity and the intercepted target arriving at a predetermined location simultaneously, while free interception does not specify the interception location. The movement information of the intercepted target is crucial information during interception. Therefore, the intercepted target is visible in the early stages of its movement, and can then be intermittently or completely obstructed. For example, there may be no obstruction initially, followed by continuous obstruction after a certain point, or discontinuous obstruction after another point.

[0060] The target 106 moves in a preset manner, that is, it moves according to a certain pattern, such as uniform circumferential motion, etc., and is not limited to the examples given. The user can intercept or evade based on the pattern. The target 106 can be a virtual target or a physical target. In some embodiments, when the target 106 is a virtual target, the rehabilitation training device 10 further includes a display device 112 electrically connected to the controller 108. The display device 112 is, for example, a liquid crystal display, an LED display, VR (Virtual Reality) glasses, AR (Augmented Reality) glasses, etc., and is not limited to the examples given.

[0061] In some embodiments, the display device 112 may be configured to display virtual targets and virtual interactive subjects. A virtual interactive subject is a mapping of a certain effector of the body (including but not limited to a hand, arm, foot, a certain joint of the body, etc.) in a virtual scene (e.g., presented in the form of a cursor), or a certain tool used by the body, and the mapping of the tool in the virtual scene, etc.

[0062] In some embodiments, the controller 108 may also be configured to acquire at least one of the motion trajectory of the rehabilitation assistive mechanism and the force on the rehabilitation assistive mechanism, generate display information of the virtual interactive subject, and send it to the display device 112 for display.

[0063] When target 106 is a physical target, target 106 can be electrically connected to controller 108 or set independently. In this case, rehabilitation training device 10 may also include display device 112 or other forms of output device.

[0064] In some embodiments, the display device 112 or the output device is further configured to output prompt information, which includes at least one of the following: operation prompt information, start prompt information, preparation prompt information, and end prompt information.

[0065] Brain activity signals can be acquired using non-invasive or invasive techniques. Non-invasive recording techniques include, but are not limited to, EEG (Electroencephalogram), MEG (Magnetoencephalography), fNIRS (Functional Near-Infrared Spectroscopy), and fMRI (Functional Magnetic Resonance Imaging). Invasive recording techniques include, but are not limited to, ECoG (Electrocorticography).

[0066] The brain signal detection device 102 can acquire brain signals using the aforementioned non-invasive or invasive techniques, reading neural signals or their derivatives, such as an EEG cap or a near-infrared instrument, and is not limited to the examples described. The brain signal detection device 102 is configured to detect the user's brain signals and input them into the controller 108. The user's brain signals can reflect the user's intentions. The brain signal detection device 102 can act as a brain-computer interface to acquire and transmit the user's brain signals to the controller 108 for analysis, thereby decoding the active motor intentions contained within.

[0067] The first force sensor 104 can be configured to detect the user's active force and send the active force to the controller 108. The user's active force is the force generated by the user's active movement intention.

[0068] The controller 108 is configured to generate control commands based on at least one of brain signals and active force, and send them to the rehabilitation assistive device 110. The rehabilitation assistive device 110 is configured to assist the user's rehabilitation training areas in performing target-interactive motor training based on the control commands.

[0069] The controller 108 may include, for example, a processor, which can be implemented by a CPU, a PLC (Programmable Logic Controller), etc. The controller 108 may also include a memory, which may be a hard disk, CD-ROM, optical storage, etc., and is not limited to the examples given. The controller 108 may be a computer device.

[0070] The controller 108 can process the received information, including preprocessing and postprocessing. Preprocessing mainly aims to remove noise and obtain clean data, including channel selection, baseline correction, filtering, and artifact removal. Postprocessing includes feature extraction, feature selection, and pattern classification. Postprocessing can use traditional machine learning methods or deep learning methods. After processing the received information, the controller 108 determines that the user has an intention to move actively or is actively moving, and then sends control commands to the rehabilitation assistive device 110 to enable the rehabilitation assistive device 110 to assist the user's rehabilitation training parts in interactive movement training with the target. The controller 108 can also be configured to optimize the control commands based on results such as error-related potentials (ErrP) to enable the rehabilitation assistive device 110 to play a better assistive role.

[0071] Users can be divided into two categories. One category consists of users who lack sufficient muscle strength or the correct muscle patterns to complete rehabilitation tasks. In this case, the brain signal detection device 102 can detect the user's motor intentions, and the rehabilitation assistive device 110 can be used to assist the user in interactive motor training based on these intentions. The other category consists of users who can control their muscles to complete a certain degree of movement. In this case, the first force sensor 104 can detect the user's active force, determine the force or movement appropriate for the user's rehabilitation stage, and then send control commands to the rehabilitation assistive device 110. The rehabilitation assistive device 110 then performs corresponding auxiliary actions based on the control commands.

[0072] When the rehabilitation training device includes a brain signal detection device 102 and a first force sensor 104, an input device electrically connected to the controller 108 can be provided. The input device may be, for example, a mouse, keyboard, touchscreen, button, microphone, etc., and is not limited to the examples listed. The user can select the user type or training type through the input device. The rehabilitation training device may also include an output device electrically connected to the controller 108. The output device may be, for example, a display device, speaker, etc., and is not limited to the examples listed. The output device can output prompt information to the user according to the controller's instructions, such as operation prompts, to help the user select the user type or training type.

[0073] For example, when selecting the first user type or the first training type, the brain signal detection device 102 detects the user's brain signal, and the controller 108 generates control commands based on the brain signal; when selecting the second user type or the second training type, the first force sensor 104 detects the user's active force, and the controller 108 generates control commands based on the active force; when selecting the second user type or the second training type, the brain signal detection device 102 detects the user's brain signal, the first force sensor 104 detects the user's active force, and the controller 108 generates control commands based on both the brain signal and the active force.

[0074] The rehabilitation assistive device 110 can adopt different structures depending on the rehabilitation training area. It can be a robotic arm for upper limb rehabilitation training, a robotic leg for lower limb rehabilitation training, a robotic hand for hand rehabilitation training, etc., and is not limited to the examples given. The rehabilitation assistive device 110 is configured to generate assistance, resistance, or motion based on control commands output by the controller, to assist the user's rehabilitation training area in interactive movement training with the target. Alternatively, the rehabilitation assistive device 110 can also be configured to not generate force or motion based on control commands output by the controller, but only to assist in acquiring the user's force or movement status.

[0075] For example, multiple power modes can be set, and the controller 108 issues control commands based on the user's selection of different power modes via input devices. For instance, in the first power mode, the rehabilitation assistive device 110 does not output force or movement; in the second power mode, the rehabilitation assistive device 110 outputs assistance or movement; and in the third power mode, the rehabilitation assistive device 110 generates resistance. Different intensities can also be set in the second and third power modes, and the controller 108 issues control commands based on the user's selection of different intensities via input devices. In the later stages of rehabilitation training, the rehabilitation assistive device 110 can generate resistance to provide more challenging rehabilitation training tasks, improving the user's training effect. Multiple training modes can increase the flexibility and diversity of rehabilitation training.

[0076] The rehabilitation training device of the above embodiment includes at least one of a brain signal detection device and a first force sensor, and further includes a target that moves in a preset manner, a controller, and a rehabilitation assistive mechanism. The brain signal detection device can detect the user's brain signals, the first force sensor can detect the user's active force, and the controller can generate control commands based on at least one of the brain signals and active force, and send them to the rehabilitation assistive mechanism. The rehabilitation assistive mechanism then assists the user's rehabilitation training areas in interactive movement training with the target based on the control commands. The rehabilitation training device of the above embodiment can assist the user in rehabilitation training based on the user's active training intention, and by adopting a training method of interactive movement with the target, it can effectively stimulate the user's brain, the linkage of multiple muscles and joints, and can effectively improve the effect of rehabilitation training or treatment.

[0077] The following is combined Figure 2 The rehabilitation training device disclosed herein will be further described.

[0078] Figure 2 Structural diagrams of other embodiments of the rehabilitation training device disclosed herein are shown. Figure 2 As shown, the rehabilitation training device 10 in this embodiment further includes at least one of a second force sensor 114 and a position sensor 116, which are disposed on the rehabilitation assistive mechanism 110 and electrically connected to the controller 108.

[0079] In some embodiments, the second force sensor 114 is configured to detect the output force of the rehabilitation assistive mechanism 110 and send the output force to the controller 108; the position sensor 116 is configured to detect the position reached by the rehabilitation assistive mechanism 110 and send the position to the controller 108; the controller 108 is also configured to generate control commands based on at least one of brain signals and active force, and based on at least one of output force and position.

[0080] The brain signal detection device 102, the first force sensor 104, the second force sensor 114, and the position sensor 116 can perform periodic (e.g., period of 1 second) or real-time detection, and send the detected brain signals, active force, output force, and position to the controller 108. The controller 108 generates control commands based on one or more of the above information to improve the accuracy of the rehabilitation assistive device 110 in assisting the user. The output force of the rehabilitation assistive device 110 can also be collected through the drive mechanism of the rehabilitation assistive device 110, and the position sensor 116 can be set on the rehabilitation assistive device 110 at the end closer to the target 106 when interacting with the target 106.

[0081] In some embodiments, when the target is a virtual target, the rehabilitation training device 10 further includes: a control component 118 electrically connected to the controller, wherein the rehabilitation assistive mechanism 110 assists the user's rehabilitation training part movements to drive the control component 118 to move, and the controller 108 is configured to acquire the motion trajectory of the rehabilitation assistive mechanism 110 through the movement of the control component 118.

[0082] The control component 118 may be a joystick, a control handle, etc., which can be controlled by the user with the assistance of the rehabilitation assistive device 110. The control component 118 is mapped onto the display device 112 as a virtual interactive subject and the motion trajectory of the virtual interactive subject. The control component 118 can be connected to or disconnected from the rehabilitation assistive device 110.

[0083] Figure 3 Partial structures of the rehabilitation training device 10 in some embodiments are shown. For example... Figure 3 As shown, the control component 118 is connected to one end of the rehabilitation assistive mechanism 110, which is, for example, a robotic arm. The user's arm for rehabilitation training is placed on the robotic arm, and the movement of the robotic arm drives the control component 118 to move. The control component 118 includes a hinged first connecting rod and a second connecting rod. The other end of the first connecting rod is connected to the base below the display and is hinged to the mechanism inside the base. The control component 118 can move freely in a horizontal plane within a certain range. The controller 108 can map the movement of the control component 118 into the movement or motion trajectory of the virtual interactive subject and send it to the display (display device 112) for display.

[0084] For example, target 106 on the monitor is displayed as a small ball in uniform circular motion. The virtual interactive subject is a hand-shaped cursor, which is initially located at the center of the circle. The user's arm movement or the robotic arm assisting the user's arm movement drives the control component 118 to move, which is mapped to the hand-shaped cursor on the monitor to intercept the small ball, thereby performing rehabilitation training on the user's arm.

[0085] Figure 4AA top view of a portion of the structure of the rehabilitation training device 10 in other embodiments is shown. For example... Figure 4A As shown, the rehabilitation assistive device 110 is, for example, a robotic arm. The robotic arm is a structure with two degrees of freedom in the horizontal plane. It interacts with the user through the end handle E (control component 118). The robotic arm DE segment can rotate freely around axis D, and the robotic arm CD segment can rotate freely around axis C. The horizontal plane below the robotic arm is a display device 112.

[0086] For example, a user uses a desktop rehabilitation robotic arm for horizontal arm function training. The user controls a virtual interactive subject (hand-shaped cursor) displayed on the display device 112 via a control handle E (control unit 118). The hand-shaped cursor can start from the center point of the entire screen (that is, the center of the ball's circular motion). When it collides with the ball, it successfully intercepts it, and its path is perpendicular to the instantaneous velocity direction of the ball (e.g., ...). Figure 4B (As shown).

[0087] In some embodiments, when the target is a virtual target, the rehabilitation training device 10 further includes: a motion sensor 120 disposed on the rehabilitation assistive mechanism 110 and electrically connected to the controller 108, wherein the motion sensor 120 is configured to detect the motion trajectory of the rehabilitation assistive mechanism 110 and send it to the controller 108, and the controller 108 is configured to acquire the motion trajectory of the rehabilitation assistive mechanism 110 through the motion sensor 120.

[0088] For example, rehabilitation assistive device 110 may be a mechanical leg, which users use to train their leg-raising function. Motion sensors 120 may be installed on the mechanical leg, and the display device 112 may be VR glasses. The VR glasses display a ball moving at a constant speed and a virtual interactive subject (foot-shaped cursor). When the user raises their leg, the motion sensors send the detected information to the controller 108, which is then mapped to the movement of the foot-shaped cursor in the VR glasses. Through leg-raising training, the user can control the foot-shaped cursor to intercept the ball.

[0089] In some embodiments, when the target is a virtual target, the rehabilitation training device 10 further includes a third force sensor 122 disposed on the rehabilitation assistive mechanism 110 and electrically connected to the controller 108, configured to detect the force on the rehabilitation assistive mechanism 110 and send it to the controller 108, wherein the force on the rehabilitation assistive mechanism 110 includes: the user's active force or the force at a preset position on the rehabilitation assistive mechanism 110.

[0090] Furthermore, in some embodiments, the rehabilitation assistive mechanism 110 is a rehabilitation robotic hand, and a third force sensor 122 is disposed on the fingers of the rehabilitation robotic hand, configured to detect the pinching pressure of the fingers and send it to a controller 108. The controller 108 is configured to generate an interception path for the interactive subject based on the pinching pressure to track the target 106 for interception, wherein the greater the pinching pressure, the longer the interception path. Multiple third force sensors 122 may be included.

[0091] Figure 5A Partial structures of the rehabilitation training device 10 in some embodiments are shown. For example... Figure 5A As shown, the rehabilitation assistive mechanism 110 is a rehabilitation robotic hand, and multiple third force sensors 122 are installed on the fingers of the rehabilitation robotic hand.

[0092] For example, users can use a rehabilitation robotic hand to train palm function, such as pinching with the thumb and forefinger, and use VR glasses to visualize the movements of a virtual interactive subject and target 106. Figure 5B As shown, the task is for a virtual interactive subject (hand, A) to track a ball (B) until a collision occurs. The length of the virtual interactive subject's path is the impulse of the pinching pressure (i.e., the integral of the pinching pressure over time) multiplied by a constant (gain). The greater the pressure, the longer the path traveled by the virtual interactive subject per unit time.

[0093] In some embodiments, when the target is a physical target, the rehabilitation training device 10 further includes an interactive component 124 connected to a rehabilitation assistive mechanism, wherein the interactive component 124 is driven by the rehabilitation assistive mechanism 110 to achieve interaction with the target 106.

[0094] like Figure 6A and 6B As shown, in some embodiments, target 106 includes: a first track 1061 and a second track 1062 of a preset shape, columnar bodies 1063 disposed on the first track 1061 and the second track 1062, and light-emitting devices 1064 (e.g., light-emitting diodes) disposed on each columnar body 1063 according to a preset pattern. The first track 1061 and the second track 1062 are centrally symmetrically arranged, and the columnar bodies 1063 and the light-emitting devices 1064 on the first track 1061 and the second track 1062 are arranged in the same manner (e.g., ...). Figure 6AAs shown, the height difference between adjacent light-emitting devices 1064 is a preset value. The light-emitting devices 1064 are arranged in order from low to high (and do not exceed the maximum and minimum height values). The height arrangement of the light-emitting devices 1064 on the first track 1061 and the second track 1062 is symmetrical about the center of the two tracks. The columnar body 1063 on the first track 1061 and the columnar body 1063 on the second track 1062 move along the first track 1061 and the second track 1062 respectively, and the directions of movement are opposite.

[0095] Furthermore, the interactive component 124 includes: a first support component 1241 and a second support component 1242 vertically arranged, the first support component 1241 and the second support component 1242 being symmetrically arranged and having the same center of symmetry or axis of symmetry as the first track 1061 and the second track 1062, the distance between the first support component 1241 and the first track 1061 being less than a threshold, the distance between the second support component 1242 and the second track 1062 being less than a threshold, a first bearing component 1243 being disposed on the first support component 1241, a second bearing component 1244 being disposed on the second support component 1242, and a photosensitive device 1245 being disposed on the first bearing component 1243 and the second bearing component 1244.

[0096] The first support component 1243 and the second support component 1244 are, for example, sliding components, elastic components, etc., and are not limited to the examples given. The photosensitive device 1245 is, for example, a photodiode. The rehabilitation assistive mechanism 110 is connected to the first support component 1243 and the second support component 1244. The movement of the rehabilitation assistive mechanism 110 causes the photosensitive device 1245 on the first support component 1243 and the second support component 1244 to move up and down. When the light emitted by the light-emitting device 1064 is sensed, the light is successfully intercepted.

[0097] For example, rehabilitation assistive device 110 is a wristband for users to perform elbow joint extension exercises. The first track 1061 and the second track 1062 are, for example, rectangular tracks on which cylinders of equal length are evenly arranged. Each cylinder has a light-emitting diode (LED) attached to it. The height of these LEDs is arranged according to a certain pattern, such as increasing and decreasing at equal intervals. The left track rotates counterclockwise, and the right track rotates clockwise, both at a constant speed, and the height arrangement of the LEDs on both sides is always symmetrical about the center of the two tracks. When the cylinder directly in front of the track moves from left to right / from right to left to the corresponding position of the first support component 1241 and the second support component 1242, they then simultaneously move inward. The first support component 1241 and the second support component 1242 are, for example, two cylinders containing springs of equal length (first bearing component 1243 and second bearing component 1244), with two photodiodes attached to the ends of the springs. A rope is attached to the end of the spring, and the end of the rope is connected to a wristband. When the user puts on the wristband and extends their elbow, the spring is pulled, causing the photodiode to move downwards. The greater the force, the lower the photodiode is positioned. The user pulls one wristband on each arm, adjusting the force according to the cylinder's movement speed, thus maximizing the overlap between the photodiode and the LED. Only when these two pairs of photodiodes and LEDs are sufficiently close will the two photodiodes sense the light emitted by their respective LEDs, simultaneously reaching a high-level state, thus successfully intercepting the light. The interception paradigm used here is direct impact. Figure 6C As shown.

[0098] Since the above embodiments contain two symmetrically arranged structures, the same effect can be achieved by including only one part, so it will not be described in detail here.

[0099] In some embodiments, the rehabilitation training device 10 further includes at least one of a first interactive sensor 126 disposed on the interactive component 124 and a second interactive sensor 128 disposed on the target 106; the first interactive sensor 126 and the second interactive sensor 128 are configured to sense whether the interception or avoidance is successful and issue a prompt. The first interactive sensor 126 and the second interactive sensor 128 may also send the detected signals to the controller 108, the controller 108 issues a prompt command to the output device, and the output device issues a prompt.

[0100] For example, the first interactive sensor 126 and the second interactive sensor 128 can be a ranging sensor, a collision sensor, or the light-emitting component and photosensitive component in the above embodiments, and are not limited to the examples given.

[0101] In some embodiments, the rehabilitation assistive mechanism 110 can directly interact with the target 106. The rehabilitation training device further includes at least one of a third interaction sensor 130 disposed on the rehabilitation assistive mechanism 110 and a fourth interaction sensor 132 disposed on the target 106. The third interaction sensor 130 and the fourth interaction sensor 132 are configured to sense whether interception or avoidance is successful and issue a prompt. The third interaction sensor 130 and the fourth interaction sensor 132 can also send the detected signals to the controller 108, which sends a prompt command to the output device, which then issues a prompt.

[0102] In some embodiments, such as Figure 7A As shown, target 106 includes: a third track 1065 of a preset shape, and an object 1066 moving on the third track 1065; wherein, when rehabilitation assistive mechanism 110 intercepts object 1066, at least one of the third interactive sensor 130 disposed on rehabilitation assistive mechanism 110 and the fourth interactive sensor 132 disposed on object 1066 issues a prompt.

[0103] For example, users can use ankle exoskeletons to perform ankle extension exercises. Figure 7A The black plane (i.e., the sole of the foot) can only rotate around axis C. Initially, the sole and lower leg form a 90° angle. Below the exoskeleton is an elliptical track (third track 1065), on which a small ball (object 1066) moves in a circular motion. If, at a certain moment, the ball happens to be directly beneath the sole of the foot, and the sole rotates downwards to a certain angle and touches the ball on the track, the circuits of the third interaction sensor 130 and the fourth interaction sensor 132 are activated, emitting a sound, and the interception is successful. The interception paradigm here is as follows: Figure 7B As shown, when the ball collides with the sole of the foot, its path is perpendicular to the instantaneous velocity of the ball. Because interception can only occur in the track area below the sole of the foot, this is considered a fixed-point interception.

[0104] In some embodiments, the rehabilitation training device 10 further includes a feedback component 134, configured to provide one or more modalities of feedback to the user based on the interaction results. The feedback component 134 may be electrically connected to a controller 108, which may generate feedback instructions based on the interaction results with the target 106 and send them to the feedback component 134. The feedback component 134 sorts the feedback instructions and provides different feedback.

[0105] Feedback component 134 may include one or more. For example, feedback component 134 may include an electrostimulation feedback device for sending tactile feedback to the user, which may be installed on the rehabilitation assistive device 110; feedback component 134 may also include a physical feedback device for sending somatosensory feedback to the user, which may also be installed on the rehabilitation assistive device 110. Feedback component 134 may also include feedback components of various modalities such as visual, auditory, and tactile, and is not limited to the examples given. Feedback component 134 may provide different forms of feedback in the case of successful or failed interaction.

[0106] In some embodiments, the rehabilitation training device 10 further includes a stimulation component 136 disposed on the rehabilitation assistive mechanism 110 and electrically connected to the controller 108; wherein the controller 108 is configured to generate stimulation commands and send them to the stimulation component 136, and the stimulation component 136 is configured to perform functional electrical stimulation on the user's rehabilitation training areas according to the stimulation commands. The stimulation component 136 may also be configured to use methods such as direct current stimulation to improve rehabilitation efficiency.

[0107] In some embodiments, the rehabilitation assistive mechanism 110 may include a first mechanism and a second mechanism for the user's limbs on both sides, respectively. The first mechanism is equipped with at least one of a first force sensor 104, a second force sensor 114, a position sensor 116, a third force sensor 122, and a motion sensor 120. The second mechanism is equipped with the same sensors as the first mechanism. The user's limbs on both sides can be differentiated by different levels of rehabilitation; for example, one limb may be healthy while the other requires rehabilitation training. The controller 108 is configured to map the movement or force of the mechanism for the limb with a higher level of rehabilitation (e.g., the first mechanism) to the mechanism for the limb with a lower level of rehabilitation (e.g., the second mechanism), generate control commands, and send them to the mechanism for the limb with a lower level of rehabilitation to assist in training.

[0108] In some embodiments, when the target is a physical target, the rehabilitation training device 10 further includes an occlusion component, for example, disposed on the target's movement track, for continuously or discontinuously occluding the target after a preset time. When the target is a virtual target, the display device displays whether the target is continuously or discontinuously occluded after a preset time.

[0109] In some embodiments, the rehabilitation training device 10 further includes an input device and an output device electrically connected to the controller 108. The input device and output device are the same as those mentioned in the foregoing embodiments. The output device may include a display device 112. The display device 112 is also configured to display prompt information, including at least one of: operation prompt information, start prompt information, preparation prompt information, and end prompt information. Other output devices may also issue prompt information in other forms, such as through sound, and are not limited to the examples given.

[0110] For example, a user's rehabilitation training using the rehabilitation training device 10 can be divided into four epochs or periods. Episode 1: Preparation. The user can focus on the display device 112, entering a state of readiness. During this time, the display device can show operational or preparation prompts, such as instructions on how to proceed and precautions. Episode 2: Delay. The target appears on the periphery and moves according to a preset pattern. During this period, the user does not need to react immediately but should maintain attention to the screen and prepare for subsequent actions. This period is not mandatory and can be added, removed, or modified based on the specific task objective. Episode 3: Response. After receiving the GO (Go) signal, the user can react according to the task requirements, interacting with the target as quickly and accurately as possible (e.g., intercepting or dodging). Feedback, such as visual, tactile, or auditory feedback, can be provided regardless of the success of the interception or evasion. If there is no second time period, the appearance of the target can serve as a start cue, and the user can respond to the exercise as required after the target appears. Time period four is the rest period. After completing the exercise, the user can enter a rest state and relax as required. The display device can display rest prompts and other information.

[0111] The above embodiments primarily use target interception as an example for description. The training method for target avoidance is easy to understand; avoidance is the opposite of interception, requiring object A and object B to be in different positions at each moment (position mismatch). To avoid contact with target B, the avoidant A needs to change its direction of movement or speed (including stopping or starting movement), or both. In a sense, once the interception accuracy or avoidance accuracy is specified, avoidance and interception are essentially the same calculation, both being predictive strategies, only they are complementary. Rehabilitation training using target avoidance can still utilize the rehabilitation training devices described in the above embodiments; only the training method needs modification, which will not be elaborated further here.

[0112] The rehabilitation training devices in the above embodiments allow users to repair impaired motor control functions caused by stroke and other brain injuries through repetitive voluntary behavioral training. The inclusion of a brain signal detection device and a first force sensor ensures that the patient performs motor training under active intent, guaranteeing a close temporal and functional coupling between central brain activity and peripheral limb activity. The rehabilitation assistive device helps users complete flexible rehabilitation training exercises and also provides different power mode options, increasing the flexibility and diversity of rehabilitation training.

[0113] The following is combined Figures 8-10 This disclosure describes a rehabilitation training control method based on a rehabilitation training device.

[0114] Figure 8 Flowcharts showing some embodiments of the rehabilitation training control method disclosed herein. For example... Figure 8 As shown, the rehabilitation training control method in this embodiment includes steps S802 to S808.

[0115] In step S802, the brain signal detection device detects the user's brain signals and inputs the brain signals into the controller.

[0116] In step S804, the first force sensor detects the user's active force and sends the active force to the controller.

[0117] Steps S802 and S804 are optional.

[0118] In step S806, the controller receives at least one of the user's brain signals detected by the brain signal detection device and the user's active force detected by the first force sensor, generates a control command based on at least one of the brain signals and active force, and sends it to the rehabilitation assistive institution.

[0119] In some embodiments, a second force sensor detects the output force of the rehabilitation assistive mechanism and sends the output force to a controller; a position sensor detects the position reached by the rehabilitation assistive mechanism and sends the position to the controller; the controller generates control commands based on at least one of brain signals and active force, and based on at least one of output force and position.

[0120] In step S808, the rehabilitation assistive mechanism assists the user's rehabilitation training parts in performing movement training that interacts with the target based on control commands.

[0121] In some embodiments, the rehabilitation assistive device generates assistance, resistance, or movement based on control commands to assist the user's rehabilitation training parts in performing movement training that interacts with the target.

[0122] In some embodiments, the rehabilitation training device operates based on a predictive paradigm.

[0123] Figure 9 Flowcharts are shown for some other embodiments of the rehabilitation training control method disclosed herein. For example... Figure 9 As shown, the rehabilitation training control method in this embodiment further includes steps S902 to S908.

[0124] In step S902, when the target is a virtual target, the controller acquires at least one of the motion trajectory of the rehabilitation assistive mechanism and the force on the rehabilitation assistive mechanism, and generates display information of the virtual interactive subject, which is then sent to the display device.

[0125] In some embodiments, the controller acquiring at least one of the motion trajectory of the rehabilitation assistive mechanism and the force on the rehabilitation assistive mechanism includes at least one of the following: the controller acquires the motion trajectory of the rehabilitation assistive mechanism by manipulating the movement of the component; the controller acquires the motion trajectory of the rehabilitation assistive mechanism by a motion sensor; the controller acquires the force on the rehabilitation assistive mechanism by a third force sensor, wherein the force on the rehabilitation assistive mechanism includes: the user's active force or the force at a preset position on the rehabilitation assistive mechanism.

[0126] In some embodiments, a third force sensor detects the pinching pressure on the fingers of the rehabilitation robotic hand and sends it to a controller; the controller generates an interception path for the interactive subject based on the pinching pressure to track the target and intercept it, wherein the greater the pinching pressure, the longer the interception path.

[0127] In step S904, the display device displays the virtual target, the virtual interactive subject, and the interaction result.

[0128] In step S906, if the target is a physical target, the interaction result is sensed by the interaction sensor and a prompt is issued.

[0129] For example, at least one of a first interactive sensor located on the interactive component and a second interactive sensor located on the target senses whether the interception or avoidance was successful and issues a prompt. As another example, at least one of a third interception sensor located on the rehabilitation assistive device and a fourth interception sensor located on the target senses whether the interception or avoidance was successful and issues a prompt.

[0130] In step S908, the feedback component provides one or more modal feedbacks to the user based on the interaction results.

[0131] Figure 10 Flowcharts showing further embodiments of the rehabilitation training control method disclosed herein. For example... Figure 10 As shown, the rehabilitation training control method in this embodiment further includes steps S1002 to S1004.

[0132] In step S1002, the controller generates a stimulation command based on at least one of brain signals and active force and sends it to the stimulation component.

[0133] In step S1004, the stimulation component applies functional electrical stimulation to the user's rehabilitation training area according to the stimulation command. The rehabilitation training control method can refer to the working mode and principle of the rehabilitation training device in the foregoing embodiments, and will not be repeated here.

[0134] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0135] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0136] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0137] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0138] The above description is only a preferred embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A rehabilitation training device, wherein, The operation mechanism of the rehabilitation training device follows a predictive paradigm, including: a brain signal detection device and a first force sensor, a target moving in a preset manner, a controller, and a rehabilitation assistive mechanism, wherein the controller is electrically connected to the brain signal detection device, the first force sensor, and the rehabilitation assistive mechanism, and the first force sensor is disposed on the rehabilitation assistive mechanism; The brain signal detection device is configured to detect the user's brain signals and input the brain signals into the controller. The first force sensor is configured to detect the user's active force and send the active force to the controller. The controller is configured to generate a control command based on at least one of the brain signals and the active force and send it to the rehabilitation assistive mechanism. The rehabilitation assistive mechanism is configured to assist the user's rehabilitation training parts in performing movement training that interacts with the target based on the control command. Interacting with the target includes intercepting the target. The interception situations include intercepting the target with opposite movement paths, intercepting the target with the same movement paths and the intercepting target tracking the target, intercepting the target away from the target and the target moving towards the intercepting target, or intercepting the target close to the target and the path of the intercepting target perpendicular to the instantaneous velocity direction of the target. Specifically, when the first user type or the first training type is selected, the user's brain signals are detected by the brain signal detection device, and the controller generates control commands based on the brain signals. When the second user type or the second training type is selected, the user's active force is detected by the first force sensor, and the controller generates control commands based on the active force. When the third user type or the third training type is selected, the user's brain signals are detected by the brain signal detection device, and the user's active force is detected by the first force sensor. The controller generates control commands based on the brain signals and the active force.

2. The rehabilitation training device according to claim 1 further includes: At least one of the following sensors, a second force sensor and a position sensor, is disposed on the rehabilitation assistive device and electrically connected to the controller: The second force sensor is configured to detect the output force of the rehabilitation assistive mechanism and send the output force to the controller; The position sensor is configured to detect the position reached by the rehabilitation assistive device and send the position to the controller; The controller is also configured to generate the control command based on at least one of the brain signal and the active force, and based on at least one of the output force and the position.

3. The rehabilitation training device according to claim 1, wherein, When the target is a virtual target, the rehabilitation training device further includes: a display device electrically connected to the controller and used to display the virtual target and the virtual interactive subject; The controller is further configured to acquire at least one of the motion trajectory of the rehabilitation assistive mechanism and the force on the rehabilitation assistive mechanism, and generate display information of the virtual interactive subject to be sent to the display device for display.

4. The rehabilitation training device according to claim 3, wherein, The display device is also configured to display prompt information, which includes at least one of the following: operation prompt information, start prompt information, preparation prompt information, and end prompt information.

5. The rehabilitation training device according to claim 3, further comprising: A control component electrically connected to the controller, wherein the rehabilitation assistive mechanism assists the user's rehabilitation training movements to drive the control component's movements, and the controller is configured to acquire the motion trajectory of the rehabilitation assistive mechanism through the movements of the control component.

6. The rehabilitation training device according to claim 3 further includes: A motion sensor is installed on the rehabilitation assistive device and electrically connected to the controller, wherein the motion sensor is configured to detect the motion trajectory of the rehabilitation assistive device and send it to the controller, and the controller is configured to acquire the motion trajectory of the rehabilitation assistive device through the motion sensor.

7. The rehabilitation training device according to claim 3 further includes: A third force sensor, installed on the rehabilitation assistive mechanism and electrically connected to the controller, is configured to detect the force on the rehabilitation assistive mechanism and send it to the controller. The force on the rehabilitation assistive mechanism includes: the user's active force or the force at a preset position on the rehabilitation assistive mechanism.

8. The rehabilitation training device according to claim 1, wherein, When the target is a physical target, the rehabilitation training device further includes an interactive component connected to the rehabilitation assistive mechanism, wherein the interactive component is driven by the rehabilitation assistive mechanism to achieve interaction with the target.

9. The rehabilitation training device according to claim 8, further comprising: At least one of a first interactive sensor disposed on the interactive component and a second interactive sensor disposed on the target; The first and second interactive sensors are configured to sense whether the interception or evasion was successful and to issue a prompt.

10. The rehabilitation training device according to claim 1, wherein, When the target is a physical target, the rehabilitation training device further includes at least one of a third interactive sensor disposed on the rehabilitation assistive mechanism and a fourth interactive sensor disposed on the target; The third and fourth interaction sensors are configured to sense whether the interception or evasion was successful and to issue a prompt.

11. The rehabilitation training device according to claim 1, further comprising: The feedback component is configured to provide one or more modalities of feedback to the user based on the interaction results.

12. The rehabilitation training device according to claim 1, further comprising: Stimulation components disposed on the rehabilitation assistive device and electrically connected to the controller; The controller is configured to generate stimulation commands and send them to the stimulation component, and the stimulation component is configured to perform functional electrical stimulation on the user's rehabilitation training areas according to the stimulation commands.

13. The rehabilitation training device according to claim 1, wherein, The brain signal detection device includes: an EEG cap or a near-infrared instrument.

14. The rehabilitation training device according to claim 7, wherein, The rehabilitation assistive mechanism is a rehabilitation robotic hand. The third force sensor is set on the fingers of the rehabilitation robotic hand and is configured to detect the pinching pressure of the fingers and send it to the controller. The controller is configured to generate an interception path for the interactive subject based on the pinching pressure to track and intercept the target. The greater the pinching pressure, the longer the interception path.

15. The rehabilitation training device according to claim 8, wherein, The target includes: a first track and a second track with a preset shape, columnar bodies arranged on the first track and the second track, and light-emitting devices arranged on each columnar body according to a preset pattern. The first track and the second track are symmetrically arranged, the columnar bodies and light-emitting devices on the first track and the second track are arranged in the same way, and the columnar bodies on the first track and the columnar bodies on the second track move along the first track and the second track respectively, and the directions of movement are opposite. The interactive component includes: a first support component and a second support component vertically arranged, the first support component and the second support component being symmetrically arranged and having the same center of symmetry or axis of symmetry as the first track and the second track, the distance between the first support component and the first track being less than a threshold, the distance between the second support component and the second track being less than a threshold, a first bearing component being arranged on the first support component, a second bearing component being arranged on the second support component, and a photosensitive device being arranged on the first bearing component and the second bearing component; The rehabilitation assistive mechanism is connected to the first and second supporting components. The movement of the rehabilitation assistive mechanism causes the photosensitive devices on the first and second supporting components to move up and down. When the light emitted by the light-emitting device is sensed, the light is successfully intercepted.

16. The rehabilitation training device according to claim 10, wherein, The target includes: a third track of a preset shape, and an object moving on the third track; When the rehabilitation assistive device intercepts the object, at least one of the third interactive sensor installed on the rehabilitation assistive device and the fourth interactive sensor installed on the object issues a prompt.

17. The rehabilitation training device according to claim 1, wherein, The rehabilitation assistive device is configured to generate assistance, resistance, or movement based on control commands output by the controller, in order to assist the user's rehabilitation training parts in performing movement training that interacts with the target.

18. A rehabilitation training control method based on the rehabilitation training device according to any one of claims 1-17, comprising: The controller receives at least one of the user's brain signals detected by the brain signal detection device and the user's active force detected by the first force sensor, generates a control command based on the brain signals and at least one of the active force, and sends it to the rehabilitation assistive institution. The rehabilitation assistive institution assists the user's rehabilitation training parts in performing movement training that interacts with the target based on the control commands; Interacting with the target includes intercepting the target. The interception can occur in the following situations: the interceptor and the target move in opposite directions; the interceptor and the target move in the same direction and the interceptor is tracking the target; the interceptor moves away from the target and the target moves toward the interceptor; or the interceptor moves closer to the target and the path of the interceptor is perpendicular to the instantaneous velocity direction of the target. Specifically, when the first user type or the first training type is selected, the user's brain signals are detected by the brain signal detection device, and the controller generates control commands based on the brain signals. When the second user type or the second training type is selected, the user's active force is detected by the first force sensor, and the controller generates control commands based on the active force. When the third user type or the third training type is selected, the user's brain signals are detected by the brain signal detection device, and the user's active force is detected by the first force sensor. The controller generates control commands based on the brain signals and the active force.

19. The rehabilitation training control method according to claim 18, further comprising: The second force sensor detects the output force of the rehabilitation assistive mechanism and sends the output force to the controller; The position sensor detects the position reached by the rehabilitation assistive device and sends the position to the controller; The controller generates control commands based on at least one of the brain signals and the active force, including: The controller generates the control command based on at least one of the brain signal and the active force, and based on at least one of the output force and the position.

20. The rehabilitation training control method according to claim 18, further comprising: In the case that the target is a virtual target, The controller acquires at least one of the motion trajectory of the rehabilitation assistive mechanism and the force on the rehabilitation assistive mechanism, and generates display information of the virtual interactive subject, which is then sent to the display device. The display device displays the virtual target and the virtual interactive subject.

21. The rehabilitation training control method according to claim 20, wherein, The controller acquires at least one of the following: the motion trajectory of the rehabilitation assistive mechanism and the force on the rehabilitation assistive mechanism. The controller manipulates the movement trajectory of the rehabilitation assistive mechanism by controlling the actions of its components; The controller acquires the motion trajectory of the rehabilitation assistive mechanism through the motion sensor; The controller acquires the force on the rehabilitation assistive mechanism through a third force sensor, wherein the force on the rehabilitation assistive mechanism includes: the user's active force or the force at a preset position on the rehabilitation assistive mechanism.

22. The rehabilitation training control method according to claim 18 further includes: In the case that the target is a physical target, At least one of a first interactive sensor installed on the interactive component and a second interactive sensor installed on the target, senses whether the interception or evasion is successful and issues a prompt. Alternatively, at least one of a third interceptor sensor installed on the rehabilitation assistive device and a fourth interceptor sensor installed on the target may be used to detect whether the interception or avoidance was successful and issue a prompt.

23. The rehabilitation training control method according to claim 18 further includes: The feedback component provides one or more modalities of feedback to the user based on the interaction results.

24. The rehabilitation training control method according to claim 21 further includes: The controller generates a stimulation command based on at least one of the brain signals and the active force, and sends it to the stimulation component. The stimulation component provides functional electrical stimulation to the user's rehabilitation training areas according to the stimulation command.

25. The rehabilitation training control method according to claim 22, wherein, The controller acquires at least one of the motion trajectory of the rehabilitation assistive mechanism and the force on the rehabilitation assistive mechanism, and generates display information for the virtual interactive subject, including: The third force sensor detects the pinching pressure on the fingers of the rehabilitation robotic hand and sends it to the controller; The controller generates an interception path for the interactive subject based on the pinch pressure to track and intercept the target, wherein the greater the pinch pressure, the longer the interception path.

26. The rehabilitation training control method according to claim 18, wherein, The rehabilitation assistive device, based on the control commands, assists the user's rehabilitation training areas in performing movement training that interacts with the target, including: The rehabilitation assistive device generates assistance, resistance, or movement based on the control commands to assist the user's rehabilitation training parts in performing movement training that interacts with the target.

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