Precise-butt-joint lower limb training system and control method thereof

Abstract

The invention belongs to the technical field of lower limb rehabilitation, and particularly relates to a lower limb training system capable of achieving accurate butt joint and a control method thereof. The lower limb training system comprises a group of bearing platforms for bearing a patient; a lower limb rehabilitation device; the positioning docking device is arranged between the bearing platform and the lower limb rehabilitation device and used for docking the lower limb rehabilitation device with the bearing platform; the positioning butt joint device comprises a positioning rail arranged on the ground in the X-axis direction, a positioning groove formed in the positioning rail, a rear positioning plate fixedly installed on one side of the positioning rail and a front positioning plate clamped to one side of the positioning rail in a sliding mode. According to the lower limb training system disclosed by the invention, the lower limb rehabilitation device and the bearing platform can be positioned and butted by taking the positioning and butting device as a position reference, so that rapid and accurate butting of the lower limb rehabilitation device and the bearing platform is realized, and the problems of inaccurate butting or inconvenience in use and movement of the lower limb rehabilitation device and the bearing platform in the prior art are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of lower limb rehabilitation, and in particular relates to a precisely docked lower limb training system and a control method thereof. Background Art

[0002] Stroke and spinal cord injury produce a large number of patients with lower limb motor dysfunction. Such patients generally need long-term rehabilitation treatment, and traditional rehabilitation treatment methods are labor-intensive and risky, which has become a bottleneck restricting patients from receiving timely, adequate and standardized rehabilitation treatment. In response to the personalized and standardized rehabilitation treatment needs of stroke and spinal cord injury at different stages and degrees, the development of rehabilitation robots suitable for the full cycle rehabilitation treatment of lower limb motor function has become the only way to improve the quality of patient rehabilitation and reduce the burden on families and society.

[0003] In the existing lower limb rehabilitation systems, the lower limb rehabilitation device used for lower limb rehabilitation and the carrying platform used to carry patients are divided into independent types or integrated types. When in use, the independent lower limb rehabilitation systems need to be manually positioned based on personal experience. When the positioning of the two is inaccurate, the rehabilitation device and the human body's movement axis do not coincide, which may lead to poor rehabilitation training effects at best and secondary injuries to the patient at worst. In order to ensure the efficiency and safety of the patient's rehabilitation process, a lower limb rehabilitation system that integrates a lower limb rehabilitation device and a carrying platform has appeared on the market. However, the integrated design may interfere with the patient's training, be inconvenient to move, and occupy a large space when the patient needs to undergo multi-position rehabilitation training. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects in the prior art of inaccurate docking of lower limb rehabilitation devices with carrying platforms or inconvenient use and movement, and to provide a precise docking lower limb training system and a control method thereof that can quickly and accurately dock a lower limb rehabilitation device with a carrying platform.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] As the first aspect, a precisely matched lower limb training system includes:

[0007] A carrying platform for carrying a patient, the carrying platform comprising a carrying body and a plurality of groups of carrying wheels arranged below the carrying body;

[0008] A lower limb rehabilitation device is arranged on one side of the bearing platform, and comprises a mobile chassis, a rehabilitation mechanical leg mounted on the mobile chassis through a position adjustment mechanism, and a front moving ground wheel and a rear moving ground wheel mounted on the mobile chassis;

[0009] A positioning docking device is arranged between the carrying platform and the lower limb rehabilitation device, and is used to dock the lower limb rehabilitation device with the carrying platform; the positioning docking device includes a positioning track arranged on the ground along the X-axis direction, a positioning groove arranged on the positioning track, a rear positioning plate fixedly installed on one side of the positioning track, and a front positioning plate slidably engaged with one side of the positioning track;

[0010] During installation, the front movable ground wheels on one side of the lower limb rehabilitation device are respectively connected with the corresponding front positioning plates; the rear movable ground wheels on one side of the lower limb rehabilitation device are connected with the corresponding rear positioning plates; the bearing platform moves the bearing wheels on the side close to the lower limb rehabilitation device into the positioning groove.

[0011] Specifically, the positioning docking device also includes a limiting mechanism for limiting the position of the lower limb rehabilitation device and the load-bearing platform in the X-axis and Y-axis directions; the limiting mechanism includes a Y-axis electric push rod installed on the mobile chassis, a two-way limiting shaft assembly fixedly connected to the telescopic end of the Y-axis electric push rod, a plurality of limiting holes provided on the load-bearing platform, and a plurality of limiting grooves provided at the bottom of the positioning groove for limiting the load-bearing wheel;

[0012] The limiting grooves correspond to the limiting holes one by one; when the load-bearing wheel moves to the designated limiting groove, the Y-axis electric push rod is started to drive the bidirectional limiting shaft assembly to be inserted into the corresponding limiting hole.

[0013] Specifically, the bidirectional limit shaft assembly includes a transmission frame connected to the output end of the Y-axis electric push rod, a Y+ limit shaft extending along the positive direction of the Y-axis and installed on the transmission frame, and a Y- limit shaft extending along the negative direction of the Y-axis and installed on the transmission frame. The Y+ limit shaft and the Y- limit shaft are parallel to each other and run in the same direction.

[0014] Specifically, the position adjustment mechanism includes an up and down adjustment mechanism installed on the mobile chassis and a left and right adjustment mechanism connected to the up and down adjustment mechanism through a connecting plate; the up and down adjustment mechanism includes a lifting electric push rod with a fixed end installed on the mobile chassis, and at least two lifting guide rods arranged on the mobile chassis in parallel with the lifting electric push rod; the output end of the lifting electric push rod and the upper end of the lifting guide rod are both fixedly connected to the connecting plate.

[0015] Specifically, the left-right adjustment mechanism includes a left-right adjustment electric push rod installed on the connecting plate, a left-right adjustment guide rail fixedly installed on the connecting plate along the Y-axis direction, and a left-right adjustment slider slidably matched with the left-right adjustment guide rail; the rehabilitation mechanical leg is fixedly connected to the left-right adjustment slider.

[0016] Specifically, the rehabilitation mechanical leg includes a mounting plate, a hip joint rehabilitation component rotatably mounted on the mounting plate, a thigh rehabilitation component, a knee joint rehabilitation component, a calf rehabilitation component, an ankle joint rehabilitation component and a rehabilitation foot pedal rotatably connected in sequence.

[0017] The thigh rehabilitation component includes an upper thigh arm connected to the output end of the hip joint rehabilitation component, and a lower thigh arm connected to the upper thigh arm through a thigh lengthening component; one end of the lower thigh arm close to the knee joint rehabilitation component is connected to the knee joint rehabilitation component;

[0018] The thigh lengthening assembly includes a thigh lengthening electric push rod with one end mounted on the thigh upper arm and the other end mounted on the thigh lower arm; a thigh lengthening guide rail fixedly mounted on the thigh upper arm, and a thigh lengthening slider slidably matched with the thigh lengthening guide rail; the thigh lengthening slider is fixedly connected to the thigh lower arm.

[0019] Specifically, it also includes a torque compensation unit, which includes a multi-dimensional force sensor arranged on the rehabilitation foot pedal, a calculation and analysis module for real-time receiving and processing detection data of the multi-dimensional force sensor, and a control module for issuing control adjustment commands.

[0020] As a second aspect, a control method for a precisely docked lower limb training system comprises the following steps:

[0021] S1. Construct a precisely docked lower limb training system; that is, according to the usage scenario, construct one of the lower limb rehabilitation device independent training system, one lower limb rehabilitation device and a single-leg training system with a load-bearing platform, and two lower limb rehabilitation devices and a double-leg training system with a load-bearing platform;

[0022] S2. Establishing a connection relationship between the lower limb rehabilitation device and the carrying platform in the lower limb training system with precise docking; that is, positioning and connecting the lower limb rehabilitation device with the corresponding carrying platform through a connecting mechanism;

[0023] S3. The control module controls the lower limb training module to perform basic adjustments; the basic adjustments include at least one of the length of the thigh rehabilitation component, the length of the calf rehabilitation component, and the position of the rehabilitation mechanical leg relative to the bearing platform;

[0024] S4. Matching training mode; that is, the computing and analysis module receives the detection data collected by the multi-dimensional force sensor to match the training mode; the training mode includes an active training mode and a passive training mode;

[0025] S5. Real-time adjustment of training mode; that is, intention recognition is performed based on the patient's EEG information and the training mode is adjusted;

[0026] S6. The control module controls the rehabilitation robotic leg training to stop.

[0027] Specifically, the active training mode in step S4 uses the precise on-demand auxiliary force as a feedforward control item to obtain an active training control rate and realize an active training process;

[0028] The precise on-demand auxiliary force acquisition comprises the following steps:

[0029] Use multi-dimensional force sensors to measure the human-machine interaction force of the foot, and use radial basis function neural networks to accurately estimate the patient's lower limb muscle strength;

[0030] By collecting the human-computer interaction force and human-computer coupling system status data of healthy subjects, the parameters of the human body's sensory-balance interaction force model are identified; the interaction force τ provided by normal people in active training is calculated in real time through the sensory-balance interaction force model and system status. h ;

[0031] Using neural network to calculate and perceive the patient's real-time lower limb muscle strength and its corresponding human-computer interaction force τ p , by making a difference, the precise on-demand auxiliary force that the control system needs to provide can be obtained;

[0032] Specifically, the passive rehabilitation training in step S4 includes the following steps:

[0033] H1. Construct a human-machine coupling dynamics model for the rehabilitation system. The human-machine coupling dynamics model is:

[0034] Where M(q) is the inertia matrix, is the centrifugal force and Coriolis force matrix, G(q) is the gravity matrix, τ is the input torque, i.e. the control law to be designed, τ d To include external disturbances that do not model the dynamics of the system;

[0035] H2. Design a disturbance observer to estimate external disturbances, the formula is:

[0036]

[0037] In the formula, For pending Function of

[0038] H3. Design the system control law. The system control law formula is:

[0039]

[0040] where q d is the desired motion trajectory, is the estimate of the external disturbance, e and are the position and velocity errors of the motion trajectory, K d , K p is the controller gain.

[0041] The beneficial effects of the precise docking lower limb training system and control method thereof of the present invention are:

[0042] The lower limb rehabilitation device and the carrying platform in the lower limb training system of the present invention are accurately positioned and connected through a specially designed positioning and docking device, the carrying platform is positioned using a positioning groove fixed on the ground, and the lower limb rehabilitation device is positioned using a front positioning plate and a rear positioning plate arranged on the positioning track. The lower limb rehabilitation device and the carrying platform are both positioned and docked with the positioning and docking device as a position reference, thereby achieving rapid and accurate docking of the lower limb rehabilitation device and the carrying platform, solving the problem of inaccurate docking or inconvenient use and movement of the lower limb rehabilitation device and the carrying platform in the prior art, and avoiding the defect of easy error in positioning accuracy caused by direct positioning of the two in the prior art.

[0043] At the same time, a plurality of limiting grooves are arranged at the bottom of the positioning groove of the present invention. During the docking process, the load-bearing wheel card is arranged in the limiting groove to realize the movement limitation of the load-bearing platform. The lower limb rehabilitation device and the load-bearing platform are limited by the Y-axis electric push rod, the bidirectional limiting shaft assembly and the limiting hole to ensure the position stability of the lower limb rehabilitation device and the load-bearing platform after positioning and connecting. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0045] Figure 1 This is a first-perspective stereoscopic image of the lower limb training system in Embodiment 1 of the present invention.

[0046] Figure 2 This is a first-perspective stereoscopic image of the lower limb training system in Embodiment 1 of the present invention.

[0047] Figure 3 It is a schematic diagram of the installation of the lower limb rehabilitation device and the positioning docking device in the first embodiment of the present invention.

[0048] Figure 4 This is a detailed diagram of the installation of the lower limb rehabilitation device and the positioning docking device in Example 1 of the present invention.

[0049] Figure 5 It is a partial structural diagram of the limiting mechanism in the first embodiment of the present invention.

[0050] Figure 6 It is a partial structural schematic diagram of the carrier body in the first embodiment of the present invention.

[0051] Figure 7It is a structural schematic diagram of the lower limb rehabilitation device in Example 1 of the present invention.

[0052] Figure 8 It is a structural schematic diagram of the position adjustment mechanism in the first embodiment of the present invention.

[0053] Fig. 9 It is a schematic diagram of the structure of the rehabilitation mechanical leg in the first embodiment of the present invention.

[0054] Fig.10 It is a schematic structural diagram of a thigh rehabilitation component in accordance with an embodiment of the present invention.

[0055] Fig.11 This is a first-perspective stereoscopic image of the multi-posture transformable wheelchair in the first embodiment of the present invention.

[0056] Fig.12 This is a second perspective stereoscopic image of the multi-posture transformable wheelchair in the first embodiment of the present invention.

[0057] Fig.13 It is an installation diagram of a multi-posture change wheelchair and a positioning docking device in Embodiment 1 of the present invention.

[0058] Fig.14 This is an adjustment flow chart of the rehabilitation mechanical leg according to the third embodiment of the present invention.

[0059] Fig.15 It is a flow chart of the control method of embodiment 3 of the present invention.

[0060] Fig.16 This is an active control block diagram of the lower limb training system in Embodiment 3 of the present invention.

[0061] Fig.17 This is a passive control block diagram of the lower limb training system in Embodiment 3 of the present invention.

[0062] In the figure: 1. Load-bearing platform, 11. Load-bearing body, 111. Chair frame, 112. First angle adjustment component, 113. Seat plate, 114. Second angle adjustment component, 115. Back plate, 116. Footrest component, 12. Load-bearing wheel, 121. Load-bearing driving wheel, 122. Load-bearing moving wheel, 2. Lower limb rehabilitation device, 21. Mobile chassis, 22. Position adjustment mechanism, 221. Up and down adjustment mechanism, 2211. Lifting electric push rod, 2212. Lifting guide rod, 222. Connecting plate, 223. Left and right adjustment mechanism, 2231. Left and right adjustment electric push rod, 2232. Left and right adjustment guide rail, 2233. Left and right adjustment slider, 23. Rehabilitation mechanical leg, 231. Mounting plate, 232. Hip joint rehabilitation component, 233. Thigh rehabilitation component, 2331. Thigh upper arm, 2332. Thigh length adjustment component, 23321 , thigh length adjustment electric push rod, 23322, thigh length adjustment guide rail, 23323, thigh length adjustment slider, 2333, thigh lower arm, 234, knee joint rehabilitation component, 235, calf rehabilitation component, 236, ankle joint rehabilitation component, 237, rehabilitation foot pedal, 24, front moving ground wheel, 25, rear moving ground wheel, 26, limit rod, 3, positioning docking device, 31, positioning track, 32, positioning groove, 33, rear positioning plate, 34, front positioning plate, 35, limit mechanism, 351, Y-axis electric push rod, 353, two-way limit shaft assembly, 3531, Y+ limit shaft, 3532, Y- limit shaft, 3533, transmission frame, 354, limit hole, 355, limit groove, 36, trumpet-shaped opening, 4, torque compensation unit, 41, multi-dimensional force sensor, 42, calculation and analysis module, 43, control module. DETAILED DESCRIPTION

[0063] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0064] Embodiment 1

[0065] like Figure 1-Figure 13 The specific embodiment of a precisely docked lower limb training system of the present invention is shown. In this embodiment 1, the lower limb training system includes a carrying platform 1, a lower limb rehabilitation device 2 arranged on the right side of the carrying platform 1, and a positioning docking device 3 for connecting the carrying platform 1 and the lower limb rehabilitation device 2. The carrying platform 1 includes a carrying body 11 and a plurality of groups of carrying wheels 12 arranged below the carrying body 11. The carrying platform 1 in this embodiment can be a multi-posture changeable wheelchair or a nursing bed.

[0066] like Figure 1 and Figure 2As shown, the lower limb rehabilitation device 2 in this embodiment is arranged on one side of the bearing platform 1, and the lower limb rehabilitation device 2 includes a mobile chassis 21, a rehabilitation mechanical leg 23 installed on the mobile chassis 21 through a position adjustment mechanism 22, and a front movable ground wheel 24 and a rear movable ground wheel 25 installed on the mobile chassis 21. The positioning docking device 3 is arranged between the bearing platform 1 and the lower limb rehabilitation device 2, and is used to dock the lower limb rehabilitation device 2 with the bearing platform 1; the positioning docking device 3 includes a positioning track 31 arranged on the ground along the X-axis direction, a positioning groove 32 arranged on the positioning track 31, a rear positioning plate 33 fixedly installed on one side of the positioning track 31, and a front positioning plate 34 slidably engaged on one side of the positioning track 31. During installation, the front movable ground wheel 24 on one side of the lower limb rehabilitation device 2 is respectively connected with the corresponding front positioning plate 34; the rear movable ground wheel 25 on one side of the lower limb rehabilitation device 2 is connected with the corresponding rear positioning plate 33; the bearing wheel 12 on the side of the bearing platform 1 close to the lower limb rehabilitation device 2 moves into the positioning groove 32.

[0067] The lower limb rehabilitation device 2 and the carrying platform 1 in this embodiment are accurately positioned and connected through a specially designed positioning and docking device 3, and the carrying platform 1 is positioned using a positioning groove 32 fixed on the ground, and the lower limb rehabilitation device 2 is positioned using a front positioning plate 34 and a rear positioning plate 33 arranged on a positioning track 31. The lower limb rehabilitation device 2 and the carrying platform 1 are positioned and docked with the positioning and docking device 3 as a position reference, thereby achieving rapid and accurate docking of the lower limb rehabilitation device 2 and the carrying platform 1, solving the problem of inaccurate docking, inconvenience in use and movement of the lower limb rehabilitation device 2 and the carrying platform 1 in the prior art, and avoiding the defect of easy error in positioning accuracy caused by direct positioning of the two in the prior art.

[0068] In order to allow the load-bearing wheel to move smoothly into the positioning groove 32, a trumpet-shaped opening 36 is provided at the front end of the positioning track 31. The trumpet-shaped opening structure here can be integrally formed with the positioning track 31, or can be fixed by screws, and there is no absolute limitation here.

[0069] In order to ensure the stability of the positioning and docking between the lower limb rehabilitation device 2 and the carrying platform 1, Figures 3 to 6 As shown, the positioning and docking device 3 in this embodiment also includes a limiting mechanism 35 for limiting the position of the lower limb rehabilitation device 2 and the carrying platform 1 in the X-axis and Y-axis directions; the limiting mechanism 35 includes a Y-axis electric push rod 351 installed on the mobile chassis 21, a two-way limiting shaft assembly 353 fixedly connected to the telescopic end of the Y-axis electric push rod 351, a plurality of limiting holes 354 opened on the carrying platform 1, and a plurality of limiting grooves 355 opened at the bottom of the positioning groove 32 for limiting the carrying wheel 12.

[0070] It should be further explained that the limiting grooves 355 and the limiting holes 354 in this embodiment correspond one to one; when the load-bearing wheel 12 moves to the specified limiting groove 355, the Y-axis electric push rod 351 is started to drive the bidirectional limiting shaft assembly 353 to be inserted into the corresponding limiting hole 354. The load-bearing wheel 12 in this embodiment includes a load-bearing driving wheel 121 arranged at the lower rear of the load-bearing body 11 and a load-bearing moving wheel 122 arranged at the lower front of the load-bearing body 11. It should be understood that the positions of the limiting grooves 355 and the limiting holes 354 in this embodiment can be determined in quantity and position according to the actual application scenario, and the specific positions and specific numbers of the limiting grooves 355 and the limiting holes 354 are not absolutely limited here.

[0071] During specific use, the lower limb rehabilitation device 2 cooperates with the supporting platform 1 to move the rear movable ground wheel 25 on one side to the inner side of the rear positioning plate 33, and then the front positioning plate 34 is inserted from one side of the positioning track 31 to complete the positioning and locking of the lower limb rehabilitation device 2 in the X-axis direction. The control driving wheel is started, and the supporting platform 1 is moved, and the supporting driving wheel 121 on the side of the supporting platform 1 close to the lower limb rehabilitation device 2 is moved to the positioning groove 32 on the positioning guide rail until the supporting driving wheel 121 moves to the limiting groove 355 corresponding to the required position, thereby realizing the positioning and limiting of the supporting platform 1 and the lower limb rehabilitation device 2 in the X-axis direction. Both the lower limb rehabilitation device 2 and the supporting platform 1 are positioned with reference to the positioning connection device, avoiding the problem of inaccurate positioning accuracy caused by direct positioning of the two in the prior art.

[0072] After the positioning of the lower limb rehabilitation device 2 and the carrying platform 1 in the X-axis direction is completed, the Y-axis electric push rod 351 is started, and the bidirectional limit shaft assembly 353 installed on the lower limb rehabilitation device 2 is inserted into the corresponding limit hole 354 opened on the carrying platform 1 to achieve the limit fixation in the Y-axis direction, so as to achieve the positioning and limit connection of the carrying platform 1 and the lower limb rehabilitation device 2 on the Y-axis. The ingenious design of the positioning groove 32, the front positioning plate 34, the rear positioning plate 33, the limit hole 354, the bidirectional limit shaft assembly 353, etc. in this embodiment solves the problem of difficult positioning connection and easy deviation of the installation position caused by the mutual independence of the lower limb rehabilitation device 2 and the carrying platform 1. In order to increase the stability of the lower limb training system and avoid instability due to excessive weight of the patient, it is only necessary to set a certain counterweight in the lower limb rehabilitation device 2 to ensure the stability of the lower limb rehabilitation device 2 and the carrying platform 1. It should be understood that the position and number of the counterweight can be adjusted according to the specific patient use range and use scenario, and there is no absolute limitation on the position and number of the counterweight.

[0073] like Figure 5As shown, the bidirectional limit shaft assembly 353 in the first embodiment includes a transmission frame 3533 connected to the output end of the Y-axis electric push rod 351, a Y+ limit shaft 3531 extending along the positive direction of the Y-axis and installed on the transmission frame 3533, and a Y- limit shaft 3532 extending along the negative direction of the Y-axis and installed on the transmission frame 3533. The Y+ limit shaft 3531 and the Y- limit shaft 3532 are parallel to each other and run in the same direction.

[0074] When the Y-axis electric push rod 351 drives the Y+ limit axis 3531 to extend into the limit hole 354 on the carrier body 11, the Y- limit axis 3532 retracts toward the lower limb rehabilitation device 2. When the Y-axis electric push rod 351 drives the Y- limit axis 3532 to extend into the limit hole 354 on the carrier body 11, the Y+ limit axis 3531 retracts toward the lower limb rehabilitation device 2. The design of the two limit axes, the Y+ limit axis 3531 and the Y- limit axis 3532, in this embodiment allows the lower limb rehabilitation device 2 to be used on the left and / or right side of the carrier body 11. When it is necessary to respectively set the two lower limb rehabilitation training devices on the left and right sides of the carrier platform 1 to realize the simultaneous training of the patient's left and right legs, it only needs to set corresponding positioning connection devices on the left and right sides of the carrier platform 1. Compared with the rehabilitation system in the prior art, the lower limb rehabilitation system of this embodiment has the advantages of compact structure, small space occupation, easy movement and wide applicability. In order to prevent the load-bearing platform 1 and the lower limb training device 2 from excessively moving, a limiting rod 26 for preventing the load-bearing platform 1 from excessively moving is provided at the rear of the frame of the movable chassis 21 .

[0075] like Figure 7 and Figure 8 As shown, the position adjustment mechanism 22 in the first embodiment includes an up-down adjustment mechanism 221 installed on the mobile chassis 21 and a left-right adjustment mechanism 223 connected to the up-down adjustment mechanism 221 through a connecting plate 222. The up-down adjustment mechanism 221 includes a lifting electric push rod 2211 whose fixed end is installed on the mobile chassis 21, and at least two lifting guide rods 2212 arranged on the mobile chassis 21 in parallel with the lifting electric push rod 2211. The output end of the lifting electric push rod 2211 and the upper end of the lifting guide rod 2212 are fixedly connected to the connecting plate 222.

[0076] In this embodiment, a lifting electric push rod 2211 with a large stroke is used to drive the position adjustment of the rehabilitation mechanical leg 23 in the Z-axis direction, so that the rehabilitation mechanical leg 23 can meet the rehabilitation training in sitting posture, lying posture and standing posture.

[0077] See also Figure 7 and Figure 8The left-right adjustment mechanism 223 includes a left-right adjustment electric push rod 2231 installed on the connecting plate 222, a left-right adjustment guide rail 2232 fixedly installed on the connecting plate 222 along the Y-axis direction, and a left-right adjustment slider 2233 slidingly matched with the left-right adjustment guide rail 2232. The rehabilitation mechanical leg 23 is fixedly connected to the left-right adjustment slider 2233.

[0078] In this embodiment, the rehabilitation mechanical leg 23 and the left and right adjustment sliders 2233 are fixedly installed. The left and right adjustment electric push rods 2231 are started to drive the left and right adjustment sliders 2233 to move along the left and right adjustment guide rails 2232, thereby driving the hip joint rehabilitation board to adjust the distance relative to the supporting platform 1 in the X-axis direction by a small distance, that is, to achieve precise adjustment of the distance between the rehabilitation mechanical leg 23 and the supporting platform 1 in the X-axis direction to suit the use of patients with different fat and thin bodies.

[0079] like Fig. 9 As shown, the rehabilitation mechanical leg 23 in the first embodiment includes a mounting plate 231, a hip joint rehabilitation component 232 rotatably mounted on the mounting plate 231, a thigh rehabilitation component 233, a knee joint rehabilitation component 234, a calf rehabilitation component 235, an ankle joint rehabilitation component 236 and a rehabilitation foot pedal 237 which are rotatably connected in sequence.

[0080] See also Fig.10 The thigh rehabilitation component 233 includes a thigh upper arm 2331 connected to the output end of the hip joint rehabilitation component 232, and a thigh lower arm 2333 connected to the thigh upper arm 2331 through the thigh lengthening component 2332; one end of the thigh lower arm 2333 close to the knee joint rehabilitation component 234 is connected to the knee joint rehabilitation component 234. The thigh lengthening component 2332 includes a thigh lengthening electric push rod 23321 with one end mounted on the thigh upper arm 2331 and the other end mounted on the thigh lower arm 2333; a thigh lengthening guide rail 23322 fixedly mounted on the thigh upper arm 2331, and a thigh lengthening slider 23323 slidably matched with the thigh lengthening guide rail 23322; and the thigh lengthening slider 23323 is fixedly connected to the thigh lower arm 2333.

[0081] The calf rehabilitation component 235 in this embodiment includes a calf upper arm connected to the output end of the knee joint rehabilitation component 234, and a calf lower arm connected to the calf upper arm through a calf lengthening component; one end of the calf lower arm close to the ankle joint rehabilitation component 236 is connected to the ankle joint rehabilitation component 236. The calf lengthening component includes a calf lengthening electric push rod installed at one end on the calf upper arm and the other end on the calf lower arm, a calf lengthening guide rail fixedly installed on the calf upper and lower arms, and a calf lengthening slider slidably matched with the calf lengthening guide rail, and the calf lengthening slider is fixedly connected to the calf lower arm.

[0082] In this embodiment, the length adjustment components are set in the thigh rehabilitation component 233 and the calf rehabilitation component 235. The length adjustment components can meet the rehabilitation requirements of different patients' leg lengths. At the same time, the length adjustment components in this embodiment use electric push rods with Hall sensors as length adjustment drives, and do not require the installation of additional length point meters, making the thigh rehabilitation component 233 and the calf rehabilitation component 235 with length adjustment functions more compact and lightweight. In combination with the hip joint rehabilitation mechanism, knee joint rehabilitation component 234 and ankle joint rehabilitation component 236 in this embodiment, all use servo motors and harmonic reducer integrated drive modules, which together achieve the effect of compact structure and small size of the rehabilitation mechanical leg 23.

[0083] As an implementation mode, the carrier body 11 in this embodiment is a multi-position changing chair, referring to Figure 11 to Figure 12 The multi-posture chair in this embodiment includes a chair frame 111, a seat plate 113 rotatably mounted on the upper part of the chair frame 111 through a first angle adjustment component 112, and a back plate 115 rotatably mounted with the seat plate 113 through a second angle adjustment component 114; the first angle adjustment component 112 is arranged in the middle position of the seat plate 113, the first angle adjustment component 112 drives the seat plate 113 to rotate along the middle line of the seat plate 113 parallel to the Y-axis, and the second angle adjustment component 114 drives the back plate 115 to rotate along the edge line of the seat plate 113 parallel to the Y-axis.

[0084] When in use, when the multi-posture change chair is converted from a sitting posture to a lying posture, the second angle adjustment component 114 is started to rotate the back plate 115 to the same horizontal plane as the seat plate 113. When the multi-posture change chair is converted from a sitting posture to a standing posture, the second adjustment component is started to rotate the back plate 115 to the same horizontal plane as the seat plate 113, and the first angle adjustment component 112 is started to rotate the back plate 115 and the seat plate 113 on the same horizontal plane to a vertical state. That is, when the multi-posture change chair is converted from a sitting posture to a lying posture, it is only necessary to start the second angle adjustment component 114 to adjust the angle, and when the multi-posture change chair is converted from a sitting posture to a standing posture, it is only necessary to start the first angle adjustment component 112 and the second angle adjustment component 114 to adjust the angle together. The posture change of the multi-posture change chair of the present application is simple and reliable, and greatly reduces the overall occupied space of the bearing platform 1 used to bear patients.

[0085] To avoid the situation in the prior art where the rehabilitation mechanical legs 23 are set on the seat mechanism, which makes the seat mechanism cumbersome and the posture change unstable, the multi-posture change chair cleverly uses the first angle adjustment component 112 and the second angle adjustment component 114 in different installation positions to realize the transformation of the three postures of standing, sitting and lying. It does not require more complicated support and drive, and has a simple and reliable structure. The multi-posture change chair is connected to the lower limb rehabilitation device 2 through a positioning connection device to complete rehabilitation training in standing, sitting and lying postures. The entire lower limb rehabilitation system has a compact structure, is easy to disassemble and install, and is convenient to move with each other. At the same time, the lower limb rehabilitation device 2 and the multi-posture change chair structure that are independent of each other and cooperate with each other greatly improve the stability during the rehabilitation process, and can be suitable for family-type rehabilitation, with a wide range of applications.

[0086] In this embodiment 1, Fig.11 and Fig.13 As shown, there are three limiting holes 354, which are opened on the side support beam of the chair frame 111, and there are three limiting grooves 355, which correspond to the three limiting holes 354 one by one. The three limiting holes 354 and the three limiting grooves 355 correspond to the lying posture, sitting posture and standing posture of the multi-posture change chair. The three limiting holes 354 are the standing posture limiting hole 354, the sitting posture limiting hole 354 and the lying posture limiting hole 354 from front to back, and the three limiting grooves 355 are the standing posture limiting groove 355, the sitting posture limiting groove 355 and the lying posture limiting groove 355 from front to back. When the multi-posture change chair is in different postures, the limiting shaft is inserted into the corresponding limiting hole 354, and the driving bearing wheel 12 is set in the corresponding limiting groove 355. The limiting holes 354, the limiting grooves 355 and the three postures of the multi-posture change chair correspond to each other one by one, which further ensures the accuracy of positioning.

[0087] The multi-posture changing chair also includes a foot pedal assembly 116 mounted on the chair frame 111; the foot pedal assembly 116 includes a foot pedal connecting rod symmetrically mounted on the chair frame 111, and a changing chair foot pedal mounted at one end of the foot pedal connecting rod. When the multi-posture changing chair is in a sitting position, the patient's feet step on the changing chair foot pedal. When the multi-posture changing chair is in a lying position, the patient's feet are connected and fixed to the rehabilitation foot pedal 237 of the rehabilitation mechanical leg 23 in the lower limb rehabilitation device 2, and the rehabilitation mechanical leg 23 drives the patient's lower limbs to complete active rehabilitation training and passive rehabilitation training. When the multi-posture changing chair is in a standing position, the patient's feet step on the ground, and the patient can achieve assisted walking with the assistance of the suspension device of the multi-posture changing chair. The suspension device in this embodiment adopts a suspension device structure that is easily available on the market, and the specific structure of the suspension device is not described in detail here.

[0088] Embodiment 2

[0089] In the second embodiment, based on the first embodiment, two lower limb rehabilitation devices 2 are provided. The two lower limb rehabilitation devices 2 are respectively provided on both sides of the supporting platform 1, and both lower limb rehabilitation devices 2 are positioned and docked with the supporting platform 1 by an independent positioning connection device, so as to realize simultaneous rehabilitation training of the patient's left and right legs.

[0090] In order to realize the automation control and control accuracy of the lower limb training system of the present invention, the above-mentioned embodiment 1 and embodiment 2 also include a torque compensation unit, which includes a multi-dimensional force sensor arranged on the rehabilitation foot pedal 237, a calculation and analysis module for receiving and processing the detection data of the multi-dimensional force sensor in real time, and a control module for issuing a control adjustment command. Among them, the multi-dimensional force sensor adopts a three-dimensional force sensor, which is used to detect the force of the patient's foot acting on the rehabilitation foot pedal 237 in real time.

[0091] Embodiment 3

[0092] See also Fig.14 and Fig.15 As shown, the control method of the lower limb training system based on the first or second embodiment includes the following steps:

[0093] S1. Construct a precisely docked lower limb training system; that is, according to the usage scenario, construct one of the lower limb rehabilitation device 2 independent training system, one lower limb rehabilitation device 2 and a single-leg training system of the carrying platform 1, and two lower limb rehabilitation devices 2 and a double-leg training system of the carrying platform 1;

[0094] S2. Establishing a connection relationship between the lower limb rehabilitation device 2 and the carrying platform 1 in the lower limb training system with precise docking; that is, positioning and connecting the lower limb rehabilitation device 2 and the corresponding carrying platform 1 through a connecting mechanism;

[0095] S3. The control module controls the lower limb training module to perform basic adjustments; the basic adjustments include at least one of the length of the thigh rehabilitation component 233, the length of the calf rehabilitation component 235, and the position of the rehabilitation mechanical leg 23 relative to the bearing platform 1;

[0096] S4. Matching training mode; that is, the computing and analysis module receives the detection data collected by the multi-dimensional force sensor to match the training mode; the training mode includes an active training mode and a passive training mode;

[0097] S5. Real-time adjustment of training mode; that is, intention recognition is performed based on the patient's EEG information and the training mode is adjusted;

[0098] S6. The control module controls the rehabilitation robotic leg 23 to stop training.

[0099] Among them, the active training mode in step S4 uses the precise on-demand auxiliary force as the feedforward control item to obtain the active training control rate and realize the active training process;

[0100] Accurate on-demand auxiliary force acquisition includes the following steps:

[0101] Use multi-dimensional force sensors to measure the human-machine interaction force of the foot, and use radial basis function neural networks to accurately estimate the patient's lower limb muscle strength;

[0102] By collecting the human-computer interaction force and human-computer coupling system status data of healthy subjects, the parameters of the human body's sensory-balance interaction force model are identified; the interaction force τ provided by normal people in active training is calculated in real time through the sensory-balance interaction force model and system status. h ;

[0103] Using neural network to calculate and perceive the patient's real-time lower limb muscle strength and its corresponding human-computer interaction force τ p By making the difference, the precise on-demand auxiliary force that the control system needs to provide can be obtained.

[0104] like Fig.16 The figure shows the block diagram of the active control of the lower limb training system. In the active control system, impedance control is used as the feedback term to compensate for uncertain factors and perform compliant interaction. The expression is: Where Md, Cd and Kd are virtual inertial mass, virtual damping and virtual stiffness parameters respectively. is the difference between the reference position and the expected position, τ int First, healthy subjects were recruited, and the human-computer interaction force of the healthy group during rehabilitation training was collected by installing a three-dimensional force sensor on the end. The radial basis function neural network was trained by the gradient descent method to identify the parameters of the human body sensory-balance interaction force model. Secondly, the human-computer interaction force of the patient during rehabilitation training was collected in real time, and the above human-computer interaction force model parameters and the radial basis function neural network were used to estimate the patient's real-time lower limb muscle strength and its corresponding human-computer interaction force τ int , combined with the human-machine coupling dynamics model, the precise on-demand assistive force that the lower limb training system should provide can be further calculated; finally, the impedance control model parameters (Md, Cd, and Kd) are optimized based on the patient's muscle strength estimation to achieve precise on-demand assistance and compliant control during the patient's rehabilitation training.

[0105] The passive rehabilitation training in step S4 is a training in which the robot drives the lower limbs of the human body to complete a predetermined trajectory tracking, and includes the following steps:

[0106] H1. Construct a human-machine coupling dynamics model for the rehabilitation system. The human-machine coupling dynamics model is:

[0107] Where M(q) is the inertia matrix, is the centrifugal force and Coriolis force matrix, G(q) is the gravity matrix, τ is the input torque, i.e. the control law to be designed, τd is an external disturbance that includes the unmodeled dynamics of the system.

[0108] H2. Design a disturbance observer to estimate external disturbances, the formula is:

[0109]

[0110] In the formula, For pending function.

[0111] H3. Design the system control law. The system control law formula is:

[0112]

[0113] where q d is the desired motion trajectory, is the estimate of the external disturbance, e and are the position and velocity errors of the motion trajectory, K d , K p is the controller gain. Reasonable selection of their values ​​can make the trajectory of human lower limb rehabilitation training accurately track the expected trajectory.

[0114] like Fig.17 The figure shows the passive control block diagram of the lower limb training system. In the passive training control block diagram, based on the human-machine coupling dynamics model, the modeling error caused by the uncertainty of the inertial parameters of the human lower limbs and the training device, as well as the impact of external disturbances such as friction on the system performance are fully considered. The nonlinear disturbance observer designed can accurately estimate these unmodeled dynamics and external disturbances. The observer effectively improves the observation accuracy of the unmodeled dynamics and external disturbances in the system by real-time feedback of the position and velocity information of the motion training trajectory.

[0115] In terms of control methods, the backstepping method is used to derive the control law of the system. By gradually constructing the Lyapunov function of the system, the system is ensured to maintain asymptotic stability during the control process. In this way, not only can the patient's passive training process be accurately tracked, but the robustness and response speed of the control system can also be significantly improved. This control strategy ensures that patients can perform rehabilitation exercise training according to the predetermined trajectory, reducing movement deviations caused by model errors and external interference, thereby further improving the effect of passive training and the quality of rehabilitation.

[0116] This passive rehabilitation training method can accurately adjust the motion state of the training device in a dynamic environment, ensuring that the patient's training trajectory is consistent with the preset rehabilitation path, so that the patient can obtain a more accurate and stable rehabilitation experience in the passive training mode. Through the passive rehabilitation training method of the present invention, the safety of the training process is guaranteed, and more scientific and effective support is provided for the patient's functional recovery.

[0117] It should be understood that the specific embodiments described above are only used to explain the present invention, and are not used to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A precision docking lower limb training system, characterized in that: include: A carrying platform (1) for carrying a patient, the carrying platform (1) comprising a carrying body (11) and a plurality of groups of carrying wheels (12) arranged below the carrying body (11); A lower limb rehabilitation device (2) is arranged on one side of the bearing platform (1), the lower limb rehabilitation device (2) comprising a mobile chassis (21), a rehabilitation mechanical leg (23) mounted on the mobile chassis (21) via a position adjustment mechanism (22), and a front movable ground wheel (24) and a rear movable ground wheel (25) mounted on the mobile chassis (21); A positioning docking device (3) is arranged between the carrying platform (1) and the lower limb rehabilitation device (2) and is used to dock the lower limb rehabilitation device (2) with the carrying platform (1); the positioning docking device (3) comprises a positioning track (31) arranged on the ground along the X-axis direction, a positioning groove (32) arranged on the positioning track (31), a rear positioning plate (33) fixedly mounted on one side of the positioning track (31), and a front positioning plate (34) slidably engaged with one side of the positioning track (31); During installation, the front movable ground wheel (24) on one side of the lower limb rehabilitation device (2) is respectively connected with the corresponding front positioning plate (34); the rear movable ground wheel (25) on one side of the lower limb rehabilitation device (2) is connected with the corresponding rear positioning plate (33); the bearing wheel (12) on the bearing platform (1) close to the side of the lower limb rehabilitation device (2) is moved into the positioning groove (32).

2. A precisely docked lower limb training system according to claim 1, characterized in that: The positioning docking device (3) also includes a limiting mechanism (35) for limiting the position of the lower limb rehabilitation device (2) and the bearing platform (1) in the X-axis and Y-axis directions; the limiting mechanism (35) includes a Y-axis electric push rod (351) installed on the mobile chassis (21), a two-way limiting shaft assembly (353) fixedly connected to the telescopic end of the Y-axis electric push rod (351), a plurality of limiting holes (354) provided on the bearing platform (1), and a plurality of limiting grooves (355) provided at the bottom of the positioning groove (32) for limiting the bearing wheel (12); The limiting grooves (355) correspond to the limiting holes (354) one by one; when the load-bearing wheel (12) moves to the designated limiting groove (355), the Y-axis electric push rod (351) is started to drive the bidirectional limiting shaft assembly (353) to be inserted into the corresponding limiting hole (354).

3. A precisely docked lower limb training system according to claim 2, characterized in that: The bidirectional limit axis assembly (353) comprises a transmission frame (3533) connected to the output end of the Y-axis electric push rod (351), a Y+ limit axis (3531) extending along the positive direction of the Y-axis and installed on the transmission frame (3533), and a Y- limit axis (3532) extending along the negative direction of the Y-axis and installed on the transmission frame (3533), wherein the Y+ limit axis (3531) and the Y- limit axis (3532) are parallel to each other and run in the same direction.

4. The precise docking lower limb training system according to claim 1, characterized in that: The position adjustment mechanism (22) comprises an up-down adjustment mechanism (221) mounted on the mobile chassis (21) and a left-right adjustment mechanism (223) connected to the up-down adjustment mechanism (221) via a connecting plate (222); The up-and-down adjustment mechanism (221) comprises a lifting electric push rod (2211) whose fixed end is mounted on the mobile chassis (21), and at least two lifting guide rods (2212) arranged on the mobile chassis (21) in parallel with the lifting electric push rod (2211); the output end of the lifting electric push rod (2211) and the upper end of the lifting guide rod (2212) are both fixedly connected to the connecting plate (222); The left-right adjustment mechanism (223) comprises a left-right adjustment electric push rod (2231) installed on the connecting plate (222), a left-right adjustment guide rail (2232) fixedly installed on the connecting plate (222) along the Y-axis direction, and a left-right adjustment slider (2233) slidably matched with the left-right adjustment guide rail (2232); the rehabilitation mechanical leg (23) is fixedly connected to the left-right adjustment slider (2233).

5. The precise docking lower limb training system according to claim 4, characterized in that: The rehabilitation mechanical leg (23) comprises a mounting plate (231), a hip joint rehabilitation component (232) rotatably mounted on the mounting plate (231), a thigh rehabilitation component (233), a knee joint rehabilitation component (234), a calf rehabilitation component (235), an ankle joint rehabilitation component (236), and a rehabilitation foot pedal (237) which are rotatably connected in sequence.

6. A precision docking lower limb training system according to claim 5, characterized in that: The thigh rehabilitation component (233) comprises an upper thigh arm (2331) connected to the output end of the hip joint rehabilitation component (232), and a lower thigh arm (2333) connected to the upper thigh arm (2331) via a thigh length adjustment component (2332); one end of the lower thigh arm (2333) close to the knee joint rehabilitation component (234) is connected to the knee joint rehabilitation component (234); The thigh lengthening component (2332) comprises a thigh lengthening electric push rod (23321) with one end mounted on the thigh upper arm (2331) and the other end mounted on the thigh lower arm (2333); a thigh lengthening guide rail (23322) fixedly mounted on the thigh upper arm (2331), and a thigh lengthening slider (23323) slidably matched with the thigh lengthening guide rail (23322); the thigh lengthening slider (23323) is fixedly connected to the thigh lower arm (2333).

7. A precision docking lower limb training system according to claim 6, characterized in that: It also includes a torque compensation unit, which includes a multi-dimensional force sensor arranged on the rehabilitation foot pedal (237), a calculation and analysis module for receiving and processing the detection data of the multi-dimensional force sensor in real time, and a control module (43) for issuing a control adjustment command.

8. The control method of the precision docking lower limb training system according to claim 7, characterized in that: The following steps are involved: S1. Constructing a precisely docked lower limb training system; that is, constructing one of the following according to the usage scenario: an independent training system of a lower limb rehabilitation device (2), a single-leg training system of a lower limb rehabilitation device (2) and a carrying platform (1), and a double-leg training system of two lower limb rehabilitation devices (2) and a carrying platform (1); S2. Establishing a connection relationship between the lower limb rehabilitation device (2) and the carrying platform (1) in the lower limb training system for precise docking; that is, positioning and connecting the lower limb rehabilitation device (2) and the corresponding carrying platform (1) through a connecting mechanism; S3. The control module (43) controls the lower limb training module to perform basic adjustments; the basic adjustments include at least one of the length of the thigh rehabilitation component (233), the length of the calf rehabilitation component (235), and the position of the rehabilitation mechanical leg (23) relative to the bearing platform (1); S4. Matching training mode; that is, the computing and analysis module receives the detection data collected by the multi-dimensional force sensor to match the training mode; the training mode includes an active training mode and a passive training mode; S5. Real-time adjustment of training mode; that is, intention recognition is performed based on the patient's EEG information and the training mode is adjusted; S6. The control module controls the rehabilitation robotic leg (23) to stop training.

9. The control method of the precision docking lower limb training system according to claim 8, characterized in that: The active training mode in step S4 uses the precise on-demand auxiliary force as a feedforward control item to obtain an active training control rate and realize an active training process; The precise on-demand auxiliary force acquisition comprises the following steps: Use multi-dimensional force sensors to measure the human-machine interaction force of the foot, and use radial basis function neural networks to accurately estimate the patient's lower limb muscle strength; By collecting the human-computer interaction force and human-computer coupling system status data of healthy subjects, the parameters of the human body's sensory-balance interaction force model are identified; the interaction force τ provided by normal people in active training is calculated in real time through the sensory-balance interaction force model and system status. h ; Using neural network to calculate and perceive the patient's real-time lower limb muscle strength and its corresponding human-computer interaction force τ p By making the difference, the precise on-demand auxiliary force that the control system needs to provide can be obtained.

10. The control method of the precision docking lower limb training system according to claim 8, characterized in that: The passive rehabilitation training in step S4 includes the following steps: H1. Construct a human-machine coupling dynamics model for the rehabilitation system. The human-machine coupling dynamics model is: Where M(q) is the inertia matrix, is the centrifugal force and Coriolis force matrix, G(q) is the gravity matrix, τ is the input torque, i.e. the control law to be designed, τ d To include external disturbances that do not model the dynamics of the system; H2. Design a disturbance observer to estimate external disturbances, the formula is: In the formula, For pending Function of H3. Design the system control law. The system control law formula is: where q d is the desired motion trajectory, is the estimate of the external disturbance, e and are the position and velocity errors of the motion trajectory respectively. d , K p is the controller gain.

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