Bilateral upper limb training method and system based on upper limb rehabilitation robot

Abstract

The invention relates to the field of rehabilitation training, in particular to a bilateral upper limb training method and system based on an upper limb rehabilitation robot. The method comprises the steps that a first preset movement track of a left side robot and a second preset movement track of a right side robot are read; the action of the left side robot is controlled, the motion part of the left side robot is made to move, and the motion path starts from the first track point of the first preset motion track and traverses all track points of the first preset motion track; and the action of the right side robot is controlled, the motion part of the right side robot is made to move, and the motion path starts from the first track point of the second preset motion track and traverses all track points of the second preset motion track. By the adoption of the bilateral upper limb training method based on the upper limb rehabilitation robot, effective rehabilitation training can be conducted on the upper limbs of the user under the condition that the muscle forces of the upper limbs on the two sides of the user are weak.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation training, and more specifically, to a bilateral upper limb training method and system based on an upper limb rehabilitation robot. Background Art

[0002] The upper limbs play a vital role in daily life. Whether it is lifting heavy objects, doing housework or performing other daily activities, the support of upper limb strength is required. When the upper limb strength is insufficient, it becomes difficult to complete these activities, and even affects the ability to take care of oneself in life. Therefore, after the upper limb strength is lost, the patient needs to undergo rehabilitation training of the upper limbs. The method for upper limb rehabilitation training in the prior art is to use an exoskeleton rehabilitation robot for training. The exoskeleton rehabilitation robot includes a healthy side end and an affected side end. During training, the healthy upper limb of the patient drives the healthy side end to move, and the 3D somatosensory camera is used as a motion data collector for the healthy side end. After data analysis and processing by the host computer, the control command is sent to the affected side end of the exoskeleton rehabilitation robot, thereby realizing a bilateral training method in which the healthy side drives the affected side. Due to the defects of complex structure, high cost, and low degree of refinement of the movement of the exoskeleton rehabilitation robot, the effectiveness of bilateral training is affected. In addition, this training method is only applicable to patients with normal muscle strength of both upper limbs. For patients with weak strength of both upper limbs, training cannot be performed, and the applicability is poor. Summary of the invention

[0003] In order to solve the technical problem that the upper limb rehabilitation training method in the prior art cannot perform rehabilitation training on patients with weak upper limbs on both sides, the present invention provides solutions in the following aspects.

[0004] In a first aspect, the present invention provides a bilateral upper limb training method based on an upper limb rehabilitation robot, wherein the upper limb rehabilitation robot comprises a left robot and a right robot, wherein both the left robot and the right robot are end-traction robots, and the end-traction robots can drive the upper limbs of a user to exercise; the method comprises: obtaining the muscle strength level of the bilateral upper limbs of the user, wherein the muscle strength level comprises three levels: low, medium and high; in response to the muscle strength levels of the bilateral upper limbs of the user being both at a low level, entering a passive training mode; the passive training mode comprises:

[0005] Reading a first preset motion trajectory of the left robot and a second preset motion trajectory of the right robot; the first preset motion trajectory and the second preset motion trajectory both include a plurality of trajectory points;

[0006] Control the action of the left robot so that the moving part of the left robot moves, and the motion path starts from the first trajectory point of the first preset motion trajectory and traverses all trajectory points of the first preset motion trajectory; control the action of the right robot so that the moving part of the right robot moves, and the motion path starts from the first trajectory point of the second preset motion trajectory and traverses all trajectory points of the second preset motion trajectory.

[0007] The beneficial effect is that the bilateral upper limb training method based on the upper limb rehabilitation robot of the present invention can drive the user's upper limbs to move in the front-to-back, left-to-right, and up-and-down directions when the muscle strength of the user's upper limbs on both sides is weak, thereby performing effective rehabilitation training for the user's upper limbs.

[0008] Preferably, the end-to-end traction robot includes an arm support for carrying and fixing the user's arm, a vertical axis, a horizontal axis, a moving part located at the end of the arm support, and a three-axis motor, wherein the three-axis motor includes a telescopic motor, a lifting motor, and a rotating motor, wherein the horizontal axis can move up and down along the vertical axis driven by the lifting motor or the user's upper limb, and the arm support can perform telescopic movement along the horizontal axis driven by the telescopic motor or the user's upper limb, and can also rotate around the vertical axis driven by the rotating motor or the user's upper limb; the coordinate data of the trajectory point is Cartesian coordinate data, and the method for moving the moving part of the left robot to a certain trajectory point includes:

[0009] Convert the Cartesian coordinate data of the trajectory point into cylindrical coordinate data;

[0010] According to the angle in the cylindrical coordinate data, the action of the rotating motor of the left robot is controlled to make the moving part of the left robot rotate to the corresponding angle; according to the radial distance in the cylindrical coordinate data, the action of the telescopic motor of the left robot is controlled to make the horizontal distance between the moving part of the left robot and the vertical axis reach the corresponding radial distance; according to the height in the cylindrical coordinate data, the action of the lifting motor of the left robot is controlled to make the moving part of the left robot reach the corresponding height.

[0011] Preferably, the method of converting the Cartesian coordinate data of a certain trajectory point into cylindrical coordinate data comprises:

[0012] If the trajectory point is located on the positive half axis of the X-axis, the corresponding cylindrical coordinate data calculation expression is:

[0013] degreeX=0, lengthY=X, lengthZ=Z;

[0014] If the trajectory point is located in the first quadrant or the fifth quadrant, the corresponding cylindrical coordinate data calculation expression is:

[0015] degreeX=tan -1 (Y / X); lengthZ = Z;

[0016] If the trajectory point is located on the positive half axis of the Y axis, the corresponding cylindrical coordinate data calculation expression is:

[0017] degreeX=90, lengthY=Y, lengthZ=Z;

[0018] If the trajectory point is located in the second or sixth quadrant, the corresponding cylindrical coordinate data calculation expression is:

[0019]

[0020] degreeX=180-tan -1 (|Y| / |X|), lengthZ=Z;

[0021] If the trajectory point is located on the negative half axis of the X-axis, the corresponding cylindrical coordinate data calculation expression is:

[0022] degreeX=180, lengthY=|X|, lengthZ=Z;

[0023] If the trajectory point is located in the third or seventh quadrant, the corresponding cylindrical coordinate data calculation expression is:

[0024] degreeX=tan -1 (|Y| / |X|)+180, lengthZ=Z;

[0025] If the trajectory point is located in the fourth or eighth quadrant, the corresponding cylindrical coordinate data calculation expression is:

[0026] degreeX=360-tan -1 (|Y| / |X|), lengthZ=Z;

[0027] Wherein, X, Y and Z represent the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the trajectory point respectively; degreeX represents the angle of the corresponding cylindrical coordinate data, lengthY represents the radial distance of the corresponding cylindrical coordinate data, and lengthZ represents the height of the corresponding cylindrical coordinate data.

[0028] Preferably, the method further comprises: in response to the user's upper limbs having muscle strength levels of both being at a medium level or a high level, entering an active training mode, the active training mode comprising:

[0029] The device parameters of the left robot and the right robot are set respectively, wherein the device parameters are the power assist level, the resistance level or the disturbance force level; detecting whether the moving parts of the left robot and the moving parts of the right robot are in motion; the direction of the power assist is the same as the moving direction of the moving part; the direction of the disturbance force is opposite to the moving direction of the moving part; the direction of the disturbance force forms a certain angle with the moving direction of the moving part;

[0030] In response to the movement of the moving part of the left robot, the three-axis motor of the left robot is controlled to apply corresponding assisting force, resistance force or disturbing force; in response to the movement of the moving part of the right robot, the three-axis motor of the right robot is controlled to apply corresponding assisting force, resistance force or disturbing force.

[0031] The beneficial effects are as follows: for users with weak upper limb strength who cannot complete active training by their own strength, the power level can be set to help the user complete the training; for users with relatively sound upper limb strength, the resistance level or disturbance level can be set to increase the difficulty of training, thereby improving the training effect of the user. The active training method of this embodiment can be used to train upper limbs with different muscle strengths, thereby improving the applicability of the bilateral upper limb training method based on the upper limb rehabilitation robot of the present invention.

[0032] Preferably, the active training mode further includes:

[0033] During the movement of the left robot's moving part, the force r applied by the user's left upper limb to the arm support of the left robot in the X-axis direction, the force phi applied to the arm support of the left robot in the Y-axis direction, and the force z applied to the arm support of the left robot in the Z-axis direction are detected in real time; during the movement of the right robot's moving part, the force r applied by the user's right upper limb to the arm support of the right robot in the X-axis direction is detected in real time ′ , the force phi applied to the arm support of the right robot in the Y-axis direction ′ And the force z applied to the arm support of the right robot in the Z-axis direction ′ ;

[0034] Calculate the real-time force value L on the left side l And the real-time strength value L on the right r , the calculation expression is:

[0035]

[0036] Calculate the real-time force ratio p on the left side l And the real-time power ratio on the right side p r , and display it; the calculation expression is:

[0037] p l =L l / (Ll +L r )×100%;

[0038] p r =L r / (L l +L r )×100%.

[0039] The beneficial effect is that by calculating the strength proportion of the user's upper limbs on both sides and displaying it during active training, the patient can understand the training situation in real time during the training process, thereby increasing the user's experience.

[0040] Preferably, the active training mode further includes:

[0041] During the movement of the moving part of the left robot, the rotation angle, the telescopic motor telescopic distance, and the lifting distance of the lifting motor corresponding to the current coordinate point of the moving part of the left robot are detected in real time, so as to obtain the cylindrical coordinates of the current coordinate point of the moving part of the left robot; the rotation angle, the telescopic motor telescopic distance, and the lifting distance of the lifting motor corresponding to the current coordinate point of the moving part of the right robot are detected in real time, so as to obtain the cylindrical coordinates of the current coordinate point of the moving part of the right robot;

[0042] Convert the cylindrical coordinates of the current coordinate point of the moving part of the left robot and the cylindrical coordinates of the current coordinate point of the moving part of the right robot into Cartesian coordinates respectively;

[0043] Calculate the left real-time training distance J based on the Cartesian coordinates of the current coordinate point of the left robot's moving part L ; Calculate the right real-time training distance J based on the Cartesian coordinates of the current coordinate point of the moving part of the right robot R ; The calculation expression is:

[0044]

[0045] Where, X c , Y c and Z c They represent the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the current coordinate point of the moving part of the left robot. b , Y b and Z b They represent the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the previous coordinate point of the moving part of the left robot. c ′ , Y c ′ and Z c ′They represent the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the current coordinate point of the moving part of the right robot. b ′ , Y b ′ and Z b ′ They respectively represent the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the previous coordinate point of the moving part of the right robot; += represents the addition assignment operator;

[0046] Compare the real-time training distance on the left and the real-time training distance on the right, and display the larger one.

[0047] The beneficial effect is that in active training, the user's real-time training distance is calculated and displayed so that the user can understand his or her own training situation, thereby further improving the user's experience.

[0048] Preferably, the active training mode further includes: calculating the cumulative calories consumed by the user in real time, and the calculation method includes:

[0049] Get the resultant force F of force r, force phi and force z; get force r ′ , force phi ′ And force z ′ The resultant force F ′ ;

[0050] The cumulative calories consumed by the user's left upper limb are calculated based on the resultant force F. ′ Calculate the cumulative calories consumed by the user's right upper limb; the cumulative calories consumed by the user's left upper limb are calculated in the same way as the cumulative calories consumed by the user's right upper limb. The calculation expression for the cumulative calories consumed by the user's left upper limb is:

[0051]

[0052]

[0053] P l =F*V;

[0054] Where P l Indicates the real-time work power of the user's upper limbs, METs l represents the current metabolic equivalent of the user's left upper limb, W represents the weight of the user's unilateral upper limb, K tl Indicates the calories consumed per minute by the user's left upper limb, K l Indicates the cumulative calories consumed by the user's left upper limb, n indicates the total number of minutes the user has trained in active training mode; V indicates the training speed;

[0055] The cumulative calories consumed by the user's left upper limb are added to the cumulative calories consumed by the user's right upper limb to obtain the user's cumulative calories consumed and display them.

[0056] The beneficial effect is that the force applied by the user's upper limbs to the armrest is used to measure the calories consumed by the user during training, thereby more accurately calculating the user's physical energy consumption during exercise. In active training, by calculating and displaying the user's cumulative calorie data in real time, it helps the user understand his or her own training situation and enhances the user's experience.

[0057] Preferably, the method further comprises: in response to the user having different muscle strength levels of both upper limbs, and the muscle strength of one upper limb being of low level, entering a mirror training mode, wherein the mirror training mode comprises:

[0058] One of the left robot and the right robot is selected as the master control side and the other as the controlled side, and a mirroring mode is selected, wherein the mirroring mode includes a first mirroring mode and a second mirroring mode; in the first mirroring mode, the relationship between the coordinates of the moving part of the master control side and the moving part of the controlled side in the first space rectangular coordinate system is expressed as:

[0059]

[0060] In the second mirroring mode, the relationship between the coordinates of the moving part of the master side and the moving part of the controlled side in the first spatial rectangular coordinate system is expressed as:

[0061]

[0062] Where, X 被 , Y 被 and Z 被 They represent the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the moving part of the controlled side in the first spatial rectangular coordinate system, respectively. 主 , Y 主 and Z 主 They respectively represent the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the motion part of the master control side in the first spatial rectangular coordinate system, wherein the first spatial rectangular coordinate system is a spatial rectangular coordinate system established with the midpoint of the line between the left robot and the right robot as the origin, the front-to-back direction as the Y-axis direction, the left-to-right direction as the X-axis direction, and the direction perpendicular to the ground as the Z-axis direction, the left robot and the right robot are respectively located on the left and right sides of the YoZ plane of the first spatial rectangular coordinate system and the Y-axis coordinates of the two in the first spatial rectangular coordinate system are the same;

[0063] Set the device parameters of the main control side, wherein the device parameters are the assist level, the resistance level, or the disturbance level; the assist direction is the same as the movement direction of the moving part; the disturbance direction is opposite to the movement direction of the moving part; the disturbance direction is at a certain angle to the movement direction of the moving part;

[0064] In response to the movement of the moving part on the main control side, the operation of the three-axis motor on the main control side is controlled to apply corresponding assisting force, resistance force or disturbing force; the coordinates of the moving part on the main control side are detected in real time, and the moving part on the controlled side is controlled to move to the corresponding coordinate position according to the coordinates of the moving part on the main control side.

[0065] Preferably, it also includes:

[0066] During user training, the real-time position coordinates of the moving parts of the left robot and the right robot are obtained and converted into game coordinates; and the 3D scene of the game is displayed;

[0067] Change the game's 3D scene according to the game coordinates.

[0068] In the second aspect, the present invention also provides a bilateral upper limb training system based on an upper limb rehabilitation robot, including an industrial computer, a host computer, and a left robot and a right robot of the present invention. The host computer is used for human-computer interaction, and the industrial computer is communicatively connected to the left robot, the right robot and the host computer, respectively, for executing the bilateral upper limb training method based on the upper limb rehabilitation robot of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0070] Figure 1 is a flowchart schematically illustrating a passive training mode according to an embodiment of the present invention;

[0071] Figure 2 is a schematic diagram schematically showing the structure of an end-towed robot according to an embodiment of the present invention;

[0072] Figure 3 is a schematic diagram schematically showing the structure of a bilateral upper limb training system based on an upper limb rehabilitation robot according to an embodiment of the present invention;

[0073] Figure 4 The figure schematically shows the structure of an industrial computer according to an embodiment of the present invention. DETAILED DESCRIPTION

[0074] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0075] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0076] Embodiment of the bilateral upper limb training method based on the upper limb rehabilitation robot:

[0077] The bilateral upper limb training method based on the upper limb rehabilitation robot of the present invention comprises a left robot and a right robot, both of which are end-traction robots, and the end-traction robots can drive the upper limbs of the user to exercise; the method comprises: obtaining the muscle strength level of the bilateral upper limbs of the user, and the muscle strength level comprises three levels: low, medium and high; in response to the muscle strength level of the bilateral upper limbs of the user being low, entering the passive training mode; Figure 1 As shown, the passive training mode includes:

[0078] S101, reading the preset motion trajectories of the left robot and the right robot, specifically: reading a first preset motion trajectory of the left robot and a second preset motion trajectory of the right robot; the first preset motion trajectory and the second preset motion trajectory both include a plurality of trajectory points;

[0079] Before entering the passive training mode, the user will sit between the two robots and fix the forearms of both arms to the arm rests of the left robot and the right robot respectively, while the user's upper arms can move freely.

[0080] S102, controlling the movements of the moving parts of the left robot and the right robot, specifically: controlling the movement of the left robot to make the moving part of the left robot move, and the movement path is starting from the first trajectory point of the first preset motion trajectory and traversing all trajectory points of the first preset motion trajectory; controlling the movement of the right robot to make the moving part of the right robot move, and the movement path is starting from the first trajectory point of the second preset motion trajectory and traversing all trajectory points of the second preset motion trajectory.

[0081] In the passive training mode, the user does not need to actively exert force, and can exercise the upper limbs under the drive of the left robot and the right robot. Even if the user's upper limb strength is very weak, rehabilitation training can be effectively performed. The bilateral upper limb training method based on the upper limb rehabilitation robot of the present invention can drive the user's upper limbs to move in the front-to-back direction, left-to-right direction, and up-and-down direction when the muscle strength of both sides of the user's upper limbs is weak, thereby performing effective rehabilitation training on the user's upper limbs.

[0082] In one embodiment, Figure 2 As shown, the end-to-end traction robot includes an arm support 1 for carrying and fixing the user's arm, a vertical axis 4, a horizontal axis 3, a moving part 2 located at the end of the arm support, and a three-axis motor, wherein the three-axis motor includes a telescopic motor, a lifting motor, and a rotating motor, wherein the horizontal axis can move up and down along the vertical axis driven by the lifting motor or the user's upper limb, and the arm support can perform telescopic movement along the horizontal axis driven by the telescopic motor or the user's upper limb, and can also rotate around the vertical axis driven by the rotating motor or the user's upper limb; in this embodiment, a certain point on the arm support can be used as the moving part. The coordinate data of the trajectory point is Cartesian coordinate data, and the method for moving the moving part of the left robot to a certain trajectory point includes:

[0083] S201, converting the Cartesian coordinate data of the trajectory point into cylindrical coordinate data;

[0084] S202. Based on the angle in the cylindrical coordinate data, control the action of the rotating motor of the left robot to rotate the moving part of the left robot to a corresponding angle; based on the radial distance in the cylindrical coordinate data, control the action of the telescopic motor of the left robot to make the horizontal distance between the moving part of the left robot and the vertical axis reach a corresponding radial distance; based on the height in the cylindrical coordinate data, control the action of the lifting motor of the left robot to make the moving part of the left robot reach a corresponding height.

[0085] In one embodiment, a method for converting Cartesian coordinate data of a trajectory point into cylindrical coordinate data includes:

[0086] If the trajectory point is located on the positive half axis of the X-axis, the corresponding cylindrical coordinate data calculation expression is:

[0087] degreeX=0, lengthY=X, lengthZ=Z;

[0088] If the trajectory point is located in the first quadrant or the fifth quadrant, the corresponding cylindrical coordinate data calculation expression is:

[0089] degreeX=tan -1(Y / X); lengthZ = Z;

[0090] If the trajectory point is located on the positive half axis of the Y axis, the corresponding cylindrical coordinate data calculation expression is:

[0091] degreeX=90, lengthY=Y, lengthZ=Z;

[0092] If the trajectory point is located in the second or sixth quadrant, the corresponding cylindrical coordinate data calculation expression is:

[0093]

[0094] degreeX=180-tan -1 (|Y| / |X|), lengthZ=Z;

[0095] If the trajectory point is located on the negative half axis of the X-axis, the corresponding cylindrical coordinate data calculation expression is:

[0096] degreeX=180, lengthY=|X|, lengthZ=Z;

[0097] If the trajectory point is located in the third or seventh quadrant, the corresponding cylindrical coordinate data calculation expression is:

[0098] degreeX=tan -1 (|Y| / |X|)+180, lengthZ=Z;

[0099] If the trajectory point is located in the fourth or eighth quadrant, the corresponding cylindrical coordinate data calculation expression is:

[0100] degreeX=360-tan -1 (|Y| / |X|), lengthZ=Z;

[0101] Wherein, X, Y and Z represent the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the trajectory point respectively; degreeX represents the angle of the corresponding cylindrical coordinate data, lengthY represents the radial distance of the corresponding cylindrical coordinate data, and lengthZ represents the height of the corresponding cylindrical coordinate data.

[0102] In one embodiment, the method further includes: in response to the user's upper limbs having muscle strength levels of both medium or high levels, entering an active training mode, the active training mode including:

[0103] S301, respectively set equipment parameters of the left robot and the right robot, wherein the equipment parameters are power assist level, resistance level or disturbance force level; detect whether the moving parts of the left robot and the moving parts of the right robot are moving; the direction of the power assist is the same as the moving direction of the moving part; the direction of the resistance is opposite to the moving direction of the moving part; the direction of the disturbance force is at a certain angle to the moving direction of the moving part;

[0104] It should be noted that only one of the three levels of assistance, resistance and disturbance can be set, and it can be set before the user starts upper limb training.

[0105] S302. In response to the movement of the moving part of the left robot, the three-axis motor of the left robot is controlled to apply corresponding assisting force, resistance force or disturbing force; in response to the movement of the moving part of the right robot, the three-axis motor of the right robot is controlled to apply corresponding assisting force, resistance force or disturbing force.

[0106] For users with weak upper limb strength who cannot complete active training by their own strength, the power level can be set to help the user complete the training; for users with relatively sound upper limb strength, the resistance level or disturbance level can be set to increase the difficulty of training, thereby improving the training effect of the user. The active training method of this embodiment can be used to train upper limbs with different muscle strengths, thereby improving the applicability of the bilateral upper limb training method based on the upper limb rehabilitation robot of the present invention.

[0107] In one embodiment, the active training mode further includes:

[0108] S401, during the movement of the moving part of the left robot, the force r applied by the user's left upper limb to the arm support of the left robot in the X-axis direction, the force phi applied to the arm support of the left robot in the Y-axis direction, and the force z applied to the arm support of the left robot in the Z-axis direction are detected in real time; during the movement of the moving part of the right robot, the force r applied by the user's right upper limb to the arm support of the right robot in the X-axis direction is detected in real time ′ , the force phi applied to the arm support of the right robot in the Y-axis direction ′ And the force z applied to the arm support of the right robot in the Z-axis direction ′ ;

[0109] A three-axis force sensor can be installed at the corresponding part of the left robot to detect the force r applied by the user's left upper limb to the arm support of the left robot in the X-axis direction, the force phi applied to the arm support of the left robot in the Y-axis direction, and the force z applied to the arm support of the left robot in the Z-axis direction.

[0110] S402: Calculate the left real-time force value L l And the real-time strength value L on the rightr , the calculation expression is:

[0111]

[0112] S403, calculating the left real-time force ratio p l And the real-time power ratio on the right side p r , and display it; the calculation expression is:

[0113] p l =L l / (L l +L r )×100%;

[0114] p r =L r / (L l +L r )×100%.

[0115] In active training, by calculating and displaying the strength ratio of the user's upper limbs on both sides, patients can understand the training situation in real time during the training process, thereby enhancing the user's experience.

[0116] In one embodiment, the active training mode further includes:

[0117] S501. During the movement of the moving part of the left robot, the rotation angle, the telescopic motor telescopic distance, and the lifting distance of the lifting motor corresponding to the current coordinate point of the moving part of the left robot are detected in real time, so as to obtain the cylindrical coordinates of the current coordinate point of the moving part of the left robot; the rotation angle, the telescopic motor telescopic distance, and the lifting distance of the lifting motor corresponding to the current coordinate point of the moving part of the right robot are detected in real time, so as to obtain the cylindrical coordinates of the current coordinate point of the moving part of the right robot;

[0118] The rotation angle corresponding to the current coordinate point of the moving part refers to the rotation angle of the current coordinate point relative to the vertical axis.

[0119] S502, converting the cylindrical coordinates of the current coordinate point of the moving part of the left robot and the cylindrical coordinates of the current coordinate point of the moving part of the right robot into Cartesian coordinates respectively;

[0120] S503, calculating the left real-time training distance J according to the Cartesian coordinates of the current coordinate point of the moving part of the left robot L ; Calculate the right real-time training distance J based on the Cartesian coordinates of the current coordinate point of the moving part of the right robot R ; The calculation expression is:

[0121]

[0122] Where, X c , Y c and Z c They represent the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the current coordinate point of the moving part of the left robot. b , Y b and Z b They represent the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the previous coordinate point of the moving part of the left robot. c ′ , Y c ′ and Z c ′ They represent the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the current coordinate point of the moving part of the right robot. b ′ , Y b ′ and Z b ′ They respectively represent the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the previous coordinate point of the moving part of the right robot; += represents the addition assignment operator;

[0123] S504: Compare the left real-time training distance and the right real-time training distance, and display the larger one.

[0124] In active training, the user's real-time training distance is calculated and displayed so that the user can understand his or her own training status, which further improves the user's experience.

[0125] In one embodiment, the active training mode further includes: calculating the cumulative calories consumed by the user in real time, and the calculation method includes:

[0126] S601, obtain the resultant force F of force r, force phi and force z; obtain force r ′ , force phi ′ And force z ′ The resultant force F ′ ;

[0127] S602, calculating the cumulative calories consumed by the user's left upper limb according to the resultant force F, and calculating the cumulative calories consumed by the user's left upper limb according to the resultant force F. ′ Calculate the cumulative calories consumed by the user's right upper limb; the cumulative calories consumed by the user's left upper limb are calculated in the same way as the cumulative calories consumed by the user's right upper limb. The calculation expression for the cumulative calories consumed by the user's left upper limb is:

[0128]

[0129] P l =F*V;

[0130] Where P l Indicates the real-time work power of the user's upper limbs, METs l represents the current metabolic equivalent of the user's left upper limb, W represents the weight of the user's unilateral upper limb, K tl Indicates the calories consumed per minute by the user's left upper limb, K l It represents the cumulative calories consumed by the user's left upper limb, n represents the total minutes of the user's training in active training mode; V represents the training speed; the real-time total power of the three-axis motor is equal to the sum of the real-time power of the telescopic motor, the real-time power of the rotating motor and the real-time power of the lifting motor.

[0131] S603: Add the cumulative calories consumed by the left upper limb of the user and the cumulative calories consumed by the right upper limb of the user to obtain the cumulative calories consumed by the user and display them.

[0132] This embodiment uses the detected force applied by the user's upper limbs to the armrest to measure the calories consumed by the user during training, thereby more accurately calculating the user's physical energy consumption during exercise.

[0133] In active training, by calculating and displaying the user's cumulative calorie consumption data in real time, it helps the user understand their own training status and enhances the user experience.

[0134] In one embodiment, the method further includes: in response to the user having different muscle strength levels of both upper limbs, and the muscle strength level of one upper limb is low, entering a mirror training mode, wherein the mirror training mode includes:

[0135] S701, select one of the left robot and the right robot as the master control side and the other as the controlled side, select a mirror mode, the mirror mode includes a first mirror mode and a second mirror mode; in the first mirror mode, the expression of the relationship between the coordinates of the moving part of the master control side and the moving part of the controlled side in the first space rectangular coordinate system is:

[0136]

[0137] In the second mirroring mode, the relationship between the coordinates of the moving part of the master side and the moving part of the controlled side in the first spatial rectangular coordinate system is expressed as:

[0138]

[0139] Where, X 被 , Y 被 and Z 被 They represent the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the moving part of the controlled side in the first spatial rectangular coordinate system, respectively. 主 , Y主 and Z 主 They respectively represent the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the motion part of the master control side in the first spatial rectangular coordinate system, wherein the first spatial rectangular coordinate system is a spatial rectangular coordinate system established with the midpoint of the line between the left robot and the right robot as the origin, the front-to-back direction as the Y-axis direction, the left-to-right direction as the X-axis direction, and the direction perpendicular to the ground as the Z-axis direction, the left robot and the right robot are respectively located on the left and right sides of the YoZ plane of the first spatial rectangular coordinate system and the Y-axis coordinates of the two in the first spatial rectangular coordinate system are the same;

[0140] S702, setting device parameters of the main control side, wherein the device parameters are the power assist level, the resistance level, or the disturbance force level; the power assist direction is the same as the movement direction of the moving part; the disturbance force direction is opposite to the movement direction of the moving part; the disturbance force direction forms a certain angle with the movement direction of the moving part;

[0141] S703, in response to the movement of the moving part of the main control side, control the operation of the three-axis motor on the main control side, thereby applying corresponding assisting force, resistance force or disturbing force; detect the coordinates of the moving part of the main control side in real time, and control the moving part of the controlled side to move to the corresponding coordinate position according to the coordinates of the moving part of the main control side.

[0142] In the mirror mode, the user's healthy upper limb drives the movement of the motor part of the master side. According to the position of the motor part of the master side, the controlled side drives the movement of the motor part of the controlled side through the three-axis motor, thereby driving the movement of the user's affected upper limb.

[0143] In the first mirroring mode, during the training process, the upper limbs on both sides move in opposite directions in the left-right direction and in the front-back direction. In the second mirroring mode, the upper limbs on both sides move in opposite directions in the left-right direction and in the front-back direction, the upper limbs on both sides move in the same direction.

[0144] By setting the mirror training mode, during training, the user only needs to exert force on the healthy upper limb, and the controlled side will drive the user's affected upper limb to follow the healthy upper limb to make mirror movements, thereby realizing a bilateral training method in which the healthy side drives the affected side without using an exoskeleton rehabilitation robot, and the degree of refinement of the movement is high. In addition, the applicability of the bilateral upper limb training method based on the upper limb rehabilitation robot of the present invention is improved.

[0145] In one embodiment, it further includes:

[0146] S801, during the user training process, real-time position coordinates of the moving parts of the left robot and the right robot are obtained and converted into game coordinates; and a 3D scene of the game is displayed;

[0147] S802: Change the 3D scene of the game according to the game coordinates.

[0148] The interest of rehabilitation training is improved by displaying the 3D game scene during the training process and changing the 3D scene of the game according to the real-time position coordinates of the moving parts of the left robot and the right robot.

[0149] In one embodiment, converting the cylindrical coordinates of the current coordinate point of the moving part of the left robot into Cartesian coordinates includes:

[0150] Assume that the angle of the current coordinate point is θ, the radial distance is |r|, and the height is Z; if θ=0, the calculation expression of the corresponding Cartesian coordinate is:

[0151] X = |r|, Y = 0.0, Z = Z;

[0152] If 0<θ<90, the corresponding Cartesian coordinate calculation expression is: X = |r| × cosθ, Y = |r| × sinθ, Z = Z;

[0153] If θ = 90, the corresponding Cartesian coordinate calculation expression is: X = 0.0, Y = |r|, Z = Z;

[0154] If 90<θ<180, the corresponding Cartesian coordinate calculation expression is: X = -|r| × cosθ, Y = |r| × sinθ, Z = Z;

[0155] If θ = 180, the corresponding Cartesian coordinate calculation expression is: X = -|r|, Y = 0.0, Z = Z;

[0156] If θ≤240, the corresponding Cartesian coordinate calculation expression is: X=-|r|×cosθ, Y=-|r|×sinθ, Z=Z;

[0157] Where X, Y and Z represent the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the current coordinate point in the Cartesian coordinate system respectively.

[0158] Bilateral upper limb training system based on upper limb rehabilitation robot:

[0159] like Figure 3 As shown, the present invention also provides a bilateral upper limb training system based on an upper limb rehabilitation robot, including an industrial computer 7, a host computer 8, and a left robot 5 and a right robot 6 of the present invention, wherein the industrial computer is communicatively connected to the left robot, the right robot and the host computer, respectively, for executing the bilateral upper limb training method based on the upper limb rehabilitation robot in the above embodiment.

[0160] In this embodiment, the industrial computer uses the MQTT communication protocol to connect with the left robot, the right robot and the host computer, which greatly improves the real-time and reliability of data transmission compared to the commonly used TCP / IP protocol or serial port protocol. This communication method allows the devices to be interconnected without the need for data transfer through the host computer, reducing the interaction delay between the healthy side and the affected side in the mirror training mode.

[0161] like Figure 4 As shown, the industrial computer includes a processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the bilateral upper limb training method based on the upper limb rehabilitation robot of the present invention is implemented.

[0162] The bilateral upper limb training system based on the upper limb rehabilitation robot of this embodiment also includes other components familiar to those skilled in the art, such as a communication bus and a communication interface, whose settings and functions are known in the art and will not be described in detail here.

[0163] In the present invention, the aforementioned memory may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, apparatus or device. For example, a computer-readable storage medium may be any suitable magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory RRAM (Resistive Random Access Memory), a dynamic random access memory DRAM (Dynamic Random Access Memory), a static random access memory SRAM (Static Random-Access Memory), an enhanced dynamic random access memory EDRAM (Enhanced Dynamic Random Access Memory), a high-bandwidth memory HBM (High-Bandwidth Memory), a hybrid memory cube HMC (Hybrid Memory Cube), etc., or any other medium that may be used to store the required information and may be accessed by an application, a module, or both. Any such computer storage medium may be part of a device or accessible or connectable to a device. Any application or module described in the present invention may be implemented using computer-readable / executable instructions that may be stored or otherwise maintained by such a computer-readable medium.

[0164] In the description of this specification, "plurality" or "several" means at least two, such as two, three or more, etc., unless otherwise clearly and specifically defined.

[0165] Although this specification has shown and described a number of embodiments of the present invention, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art will conceive of many modifications, changes and alternatives without departing from the ideas and spirit of the present invention. It should be understood that in the practice of the present invention, various alternatives to the embodiments of the present invention described herein may be employed.

Claims

1. A bilateral upper limb training method based on an upper limb rehabilitation robot, characterized in that: The upper limb rehabilitation robot comprises a left robot and a right robot, both of which are end-traction robots, and the end-traction robots can drive the upper limbs of a user to exercise; the method comprises: obtaining the muscle strength levels of the upper limbs of the user, the muscle strength levels comprising three levels: low, medium and high; in response to the muscle strength levels of the upper limbs of the user being both at a low level, entering a passive training mode; the passive training mode comprises: Reading a first preset motion trajectory of the left robot and a second preset motion trajectory of the right robot; the first preset motion trajectory and the second preset motion trajectory both include a plurality of trajectory points; Control the action of the left robot so that the moving part of the left robot moves, and the motion path starts from the first trajectory point of the first preset motion trajectory and traverses all trajectory points of the first preset motion trajectory; control the action of the right robot so that the moving part of the right robot moves, and the motion path starts from the first trajectory point of the second preset motion trajectory and traverses all trajectory points of the second preset motion trajectory.

2. The bilateral upper limb training method based on an upper limb rehabilitation robot according to claim 1, characterized in that: The end-towed robot includes an arm support for carrying and fixing the user's arm, a vertical axis, a horizontal axis, a moving part located at the end of the arm support, and a three-axis motor, wherein the three-axis motor includes a telescopic motor, a lifting motor, and a rotating motor, wherein the horizontal axis can move up and down along the vertical axis driven by the lifting motor or the user's upper limb, and the arm support can perform telescopic movement along the horizontal axis driven by the telescopic motor or the user's upper limb, and can also rotate around the vertical axis driven by the rotating motor or the user's upper limb; The coordinate data of the trajectory point is Cartesian coordinate data, and the method for moving the moving part of the left robot to a certain trajectory point includes: Convert the Cartesian coordinate data of the trajectory point into cylindrical coordinate data; According to the angle in the cylindrical coordinate data, the action of the rotating motor of the left robot is controlled to make the moving part of the left robot rotate to the corresponding angle; according to the radial distance in the cylindrical coordinate data, the action of the telescopic motor of the left robot is controlled to make the horizontal distance between the moving part of the left robot and the vertical axis reach the corresponding radial distance; according to the height in the cylindrical coordinate data, the action of the lifting motor of the left robot is controlled to make the moving part of the left robot reach the corresponding height.

3. The bilateral upper limb training method based on an upper limb rehabilitation robot as claimed in claim 2, characterized in that: The method of converting the Cartesian coordinate data of a trajectory point into cylindrical coordinate data includes: If the trajectory point is located on the positive half axis of the X-axis, the corresponding cylindrical coordinate data calculation expression is: degreeX=0, lengthY=X, lengthZ=Z; If the trajectory point is located in the first quadrant or the fifth quadrant, the corresponding cylindrical coordinate data calculation expression is: If the trajectory point is located on the positive half axis of the Y axis, the corresponding cylindrical coordinate data calculation expression is: degreeX=90, lengthY=Y, lengthZ=Z; If the trajectory point is located in the second or sixth quadrant, the corresponding cylindrical coordinate data calculation expression is: degreeX=180-tan -1 (|Y| / |X|),lengthZ=Z; If the trajectory point is located on the negative half axis of the X-axis, the corresponding cylindrical coordinate data calculation expression is: degreeX=180, lengthY=|X|, lengthZ=Z; If the trajectory point is located in the third or seventh quadrant, the corresponding cylindrical coordinate data calculation expression is: degreeX=tan -1 (|Y| / |X|)+180,lengthZ=Z; If the trajectory point is located in the fourth or eighth quadrant, the corresponding cylindrical coordinate data calculation expression is: degreeX=360-tan -1 (|Y| / |X|),lengthZ=Z; Wherein, X, Y and Z represent the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the trajectory point respectively; degreeX represents the angle of the corresponding cylindrical coordinate data, lengthY represents the radial distance of the corresponding cylindrical coordinate data, and lengthZ represents the height of the corresponding cylindrical coordinate data.

4. The bilateral upper limb training method based on an upper limb rehabilitation robot as claimed in claim 2, characterized in that: The method further includes: in response to the user's upper limbs having muscle strength levels of both sides being at a medium level or a high level, entering an active training mode, the active training mode including: The device parameters of the left robot and the right robot are set respectively, wherein the device parameters are the power assist level, the resistance level or the disturbance force level; detecting whether the moving parts of the left robot and the moving parts of the right robot are in motion; the direction of the power assist is the same as the moving direction of the moving part; the direction of the disturbance force is opposite to the moving direction of the moving part; the direction of the disturbance force forms a certain angle with the moving direction of the moving part; In response to the movement of the moving part of the left robot, the three-axis motor of the left robot is controlled to apply corresponding assisting force, resistance force or disturbing force; in response to the movement of the moving part of the right robot, the three-axis motor of the right robot is controlled to apply corresponding assisting force, resistance force or disturbing force.

5. The bilateral upper limb training method based on an upper limb rehabilitation robot as claimed in claim 4, characterized in that: The active training mode also includes: During the movement of the left robot's moving part, the force r applied by the user's left upper limb to the arm support of the left robot in the X-axis direction, the force phi applied to the arm support of the left robot in the Y-axis direction, and the force z applied to the arm support of the left robot in the Z-axis direction are detected in real time; during the movement of the right robot's moving part, the force r applied by the user's right upper limb to the arm support of the right robot in the X-axis direction is detected in real time ′ , the force phi applied to the arm support of the right robot in the Y-axis direction ′ And the force z applied to the arm support of the right robot in the Z-axis direction ′ ; Calculate the real-time force value L on the left side l And the real-time strength value L on the right r , the calculation expression is: Calculate the real-time force ratio p on the left side l And the real-time power ratio on the right side p r , and display it; the calculation expression is: p l =L l / (L l +L r )×100%; p r =L r / (L l +L r )×100%.

6. The bilateral upper limb training method based on an upper limb rehabilitation robot as claimed in claim 4, characterized in that: The active training mode also includes: During the movement of the moving part of the left robot, the rotation angle, the telescopic motor telescopic distance, and the lifting distance of the lifting motor corresponding to the current coordinate point of the moving part of the left robot are detected in real time, so as to obtain the cylindrical coordinates of the current coordinate point of the moving part of the left robot; the rotation angle, the telescopic motor telescopic distance, and the lifting distance of the lifting motor corresponding to the current coordinate point of the moving part of the right robot are detected in real time, so as to obtain the cylindrical coordinates of the current coordinate point of the moving part of the right robot; Convert the cylindrical coordinates of the current coordinate point of the moving part of the left robot and the cylindrical coordinates of the current coordinate point of the moving part of the right robot into Cartesian coordinates respectively; Calculate the left real-time training distance J based on the Cartesian coordinates of the current coordinate point of the left robot's moving part L ; Calculate the right real-time training distance J based on the Cartesian coordinates of the current coordinate point of the moving part of the right robot R ; The calculation expression is: Where, X c , Y c and Z c They represent the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the current coordinate point of the moving part of the left robot. b , Y b and Z b They represent the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the previous coordinate point of the moving part of the left robot. c ′ , Y c ′ and Z c ′ They represent the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the current coordinate point of the moving part of the right robot. b ′ , Y b ′ and Z b ′ They respectively represent the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the previous coordinate point of the moving part of the right robot; += represents the addition assignment operator; Compare the real-time training distance on the left and the real-time training distance on the right, and display the larger one.

7. The bilateral upper limb training method based on an upper limb rehabilitation robot as claimed in claim 6, characterized in that: The active training mode also includes: calculating the cumulative calories consumed by the user in real time, and the calculation method includes: Get the resultant force F of force r, force phi and force z; get force r ′ , force phi ′ And force z ′ The resultant force F ′ ; The cumulative calories consumed by the user's left upper limb are calculated based on the resultant force F. ′ Calculate the cumulative calories consumed by the user's right upper limb; the cumulative calories consumed by the user's left upper limb are calculated in the same way as the cumulative calories consumed by the user's right upper limb. The calculation expression for the cumulative calories consumed by the user's left upper limb is: P l =F*V; Where P l Indicates the real-time work power of the user's upper limbs, METs l represents the current metabolic equivalent of the user's left upper limb, W represents the weight of the user's unilateral upper limb, K tl Indicates the calories consumed per minute by the user's left upper limb, K l Indicates the cumulative calories consumed by the user's left upper limb, n indicates the total number of minutes the user has trained in active training mode; V indicates the training speed; The cumulative calories consumed by the user's left upper limb are added to the cumulative calories consumed by the user's right upper limb to obtain the user's cumulative calories consumed and display them.

8. The bilateral upper limb training method based on an upper limb rehabilitation robot as claimed in claim 2, characterized in that: The method further includes: in response to the user having different muscle strength levels of both upper limbs, and the muscle strength level of one upper limb being low, entering a mirror training mode, wherein the mirror training mode includes: One of the left robot and the right robot is selected as the master control side and the other as the controlled side, and a mirroring mode is selected, wherein the mirroring mode includes a first mirroring mode and a second mirroring mode; in the first mirroring mode, the relationship between the coordinates of the moving part of the master control side and the moving part of the controlled side in the first space rectangular coordinate system is expressed as: In the second mirroring mode, the relationship between the coordinates of the moving part of the master side and the moving part of the controlled side in the first spatial rectangular coordinate system is expressed as: Where, X 被 , Y 被 and Z 被 They represent the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the moving part of the controlled side in the first spatial rectangular coordinate system, respectively. 主 , Y 主 and Z 主 They respectively represent the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the motion part of the master control side in the first spatial rectangular coordinate system, wherein the first spatial rectangular coordinate system is a spatial rectangular coordinate system established with the midpoint of the line between the left robot and the right robot as the origin, the front-to-back direction as the Y-axis direction, the left-to-right direction as the X-axis direction, and the direction perpendicular to the ground as the Z-axis direction, the left robot and the right robot are respectively located on the left and right sides of the YoZ plane of the first spatial rectangular coordinate system and the Y-axis coordinates of the two in the first spatial rectangular coordinate system are the same; Set the device parameters of the main control side, wherein the device parameters are the assist level, the resistance level, or the disturbance level; the assist direction is the same as the movement direction of the moving part; the disturbance direction is opposite to the movement direction of the moving part; the disturbance direction is at a certain angle to the movement direction of the moving part; In response to the movement of the moving part on the main control side, the operation of the three-axis motor on the main control side is controlled to apply corresponding assisting force, resistance force or disturbing force; the coordinates of the moving part on the main control side are detected in real time, and the moving part on the controlled side is controlled to move to the corresponding coordinate position according to the coordinates of the moving part on the main control side.

9. The bilateral upper limb training method based on an upper limb rehabilitation robot according to any one of claims 2 to 8, characterized in that: Also includes: During the user training process, the real-time position coordinates of the moving parts of the left robot and the right robot are obtained in real time and converted into game coordinates; And show the 3D scene of the game; Change the game's 3D scene according to the game coordinates.

10. A bilateral upper limb training system based on an upper limb rehabilitation robot, characterized in that: It includes an industrial computer, a host computer, and the left robot and the right robot as described in claim 1, the host computer is used for human-computer interaction, and the industrial computer is communicatively connected to the left robot, the right robot and the host computer, respectively, for executing the bilateral upper limb training method based on the upper limb rehabilitation robot as described in any one of claims 1 to 9.

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