Self-adaptive limb movement control system

Abstract

The invention relates to a self-adaptive limb movement control system which comprises a limb joint active and passive movement device used for driving limb joints to generate angle changes; the motion planning module is used for determining a target angle and a target moment corresponding to limb joint motion based on current angle change, current moment change, maximum angle change and maximum moment change generated when the limb joints are driven to move, and controlling the limb joints to move based on the target angle and the target moment; wherein the step of controlling the limb joint to move on the basis of the target moment comprises the following steps: determining active moment change generated when the limb joint actively exerts force on the basis of the current moment change; in response to the fact that the active torque change is larger than a preset resistance value, operation parameters of the power unit are adjusted on the basis of the torque change so as to control the power unit to drive the limb joints to conduct resistance movement, and the operation parameters comprise the rotating speed and / or the direction.

Description

Technical Field

[0001] The present application relates to the technical field of motion control of medical devices, and in particular to an adaptive limb motion control system. Background Art

[0002] With the development of medical technology, it is becoming more and more common to use medical devices to assist target objects in moving. However, it is becoming more and more important to control the movement of medical devices more reasonably and effectively to achieve better movement effects.

[0003] Currently, most medical devices are controlled manually, which heavily relies on personal control experience and sometimes even causes accidents due to improper control. Therefore, how to adaptively control the motion of medical devices based on the situation of the target user to achieve a more effective motion control effect is a technical problem that needs to be solved urgently. Summary of the invention

[0004] Based on this, it is necessary to provide an adaptive limb motion control system to address the above technical issues.

[0005] The present application provides an adaptive limb motion control system, the system comprising:

[0006] Limb joint active and passive motion devices, used to drive limb joints to produce angle changes;

[0007] A motion planning module, for determining a target angle and a target torque corresponding to the limb joint movement based on a current angle change, a current torque change, a maximum angle change, and a maximum torque change generated when the limb joint is driven to move, and controlling the limb joint movement based on the target angle and the target torque;

[0008] Wherein, controlling the movement of the limb joint based on the target torque includes: determining the active torque change generated when the limb joint actively exerts force based on the current torque change; in response to the active torque change being greater than a preset resistance value, adjusting the operating parameters of the power unit based on the torque change to control the power unit to drive the limb joint to perform resistance movement, wherein the operating parameters include speed and / or direction; when the power unit accelerates, the target speed is determined based on the product of a first coefficient and a maximum speed, wherein the first coefficient is determined based on the current torque change and the actively applied torque base; when the power unit decelerates, the target speed is determined based on the product of a second coefficient and a maximum speed, wherein the second coefficient is determined based on the difference between the current torque change and the maximum torque change and the maximum torque change; wherein the first coefficient is greater than or equal to 1, and the second coefficient is less than 1.

[0009] In one embodiment, it further includes:

[0010] An angle detection module is used to obtain the current angle change caused by the power unit driving the limb joint movement;

[0011] A torque detection module, used for obtaining the current torque change generated when the power unit drives the limb joint to move and when the power unit interacts with the limb joint;

[0012] An angle evaluation module, used to obtain the maximum angle change that can be achieved when the power unit drives the limb joint to move;

[0013] The torque evaluation module is used to obtain the maximum torque change that can be achieved when the power unit interacts with the limb joint.

[0014] In one embodiment, the limb joint active and passive motion device fixes the elbow joint and performs extension-flexion motion of -5° to 0° to 135°. The motion trajectory of the limb joint active and passive motion device connected to the elbow joint conforms to the natural motion trajectory curve of elbow flexion-extension. The passive operation range reaches 140°, and the force point, force direction and motion trajectory are fixed: the force point is the front part of the forearm, the force direction is perpendicular to the forearm during flexion-extension, there is no force component to the elbow joint, and the elbow joint position is on the axis of rotation.

[0015] In one embodiment, the motion planning module is further used to determine a safety torque value based on the maximum torque change and a preset safety torque level;

[0016] The controlling of the limb joint movement based on the target torque comprises:

[0017] In response to the current torque change being greater than the safety torque value, a torque protection mode is initiated.

[0018] In one embodiment, controlling the movement of a limb joint based on the target angle includes:

[0019] Determining a target position of the power unit based on the target angle and the position function;

[0020] Determine a difference between the current angle change and the target angle value, and determine a rotation speed of the power unit based on a magnitude relationship between the difference and a limit range;

[0021] Based on the determined target position and rotation speed of the power unit, the limb joint is driven to perform passive movement.

[0022] In one embodiment, controlling the movement of a limb joint based on the target torque further includes:

[0023] Determining a difference between the current torque change and the target torque value;

[0024] Based on the difference value, the operating parameters of the power unit are controlled, and based on the adjusted operating parameters, the limb joints are driven to perform stretching movements, wherein the operating parameters include rotational speed and / or torque. Specifically, the difference ΔM between the current torque change M t detected by the torque detection module and the maximum torque change M max evaluated by the torque evaluation module is compared, and the rotational speed of the power unit is adjusted according to the difference to adjust the torque applied by the power unit to the limb joints, so that the limb joints perform stretching movements under progressive force.

[0025] In one embodiment, controlling the movement of a limb joint based on the target torque further includes:

[0026] comparing the current torque change with the maximum torque change;

[0027] In response to the current torque change direction being the same as the running direction, the operating parameters of the power unit are controlled based on the torque change to drive the limb joint to accelerate along the running direction, so as to control the power unit to drive the limb joint to perform power-assisted movement;

[0028] In response to the current torque change direction being opposite to the running direction, the operating parameters of the power unit are controlled based on the torque change, so as to drive the limb joint to decelerate along the running direction until the movement stops, so as to control the power unit to drive the limb joint to perform power-assisted movement;

[0029] Wherein, the operating parameters include the rotation speed of the power unit.

[0030] In one embodiment, controlling the movement of a limb joint based on the target torque further includes:

[0031] Determining the active torque change generated by the active movement of the limb joint based on the current torque change;

[0032] In response to the active torque changing direction being the same as the running direction, controlling the rotation speed of the power unit to increase, driving the limb joint to accelerate along the running direction, so as to control the power unit to drive the limb joint to perform active movement;

[0033] In response to the active torque changing direction being opposite to the running direction, the power unit is adjusted to run in the opposite direction, driving the limb joint to decelerate in the opposite direction of the running direction without stopping, so as to control the power unit to drive the limb joint to perform active movement.

[0034] In one embodiment, the method further includes: determining a safety torque value based on the maximum torque change and a preset safety torque level;

[0035] The controlling of the limb joint movement based on the target torque comprises:

[0036] In response to the current torque change being greater than the safety torque value, starting a torque protection mode;

[0037] or,

[0038] Determine the safety torque value based on the maximum torque change and the preset safety torque level;

[0039] The controlling of the limb joint movement based on the target angle and the target torque comprises:

[0040] In response to the current torque change being greater than the safety torque value, a torque protection mode is initiated.

[0041] In one embodiment, it also includes: a torque evaluation module, which is used to obtain the maximum torque change that can be achieved when the power unit interacts with the limb joints, including: automatic evaluation within the first automatic cycle, evaluating the maximum flexion torque from the minimum angle to the maximum angle, evaluating the maximum extension torque from the maximum angle to the minimum angle, determining the maximum torque change based on the maximum flexion torque and the maximum extension torque, and the current torque change detected by the torque detection module evaluates the maximum torque change Mmax of the power unit on the limb joint when the limb joint is driven by the power unit to perform passive movement. The above-mentioned motion control system can automatically detect and obtain the motion parameters corresponding to the limb joints, and adaptively plan the corresponding motion mode for each limb joint based on the personalized motion parameters. On the one hand, it not only provides a more reasonable motion mode for the limb joints, but also comprehensively considers the characteristics of the limb joints when planning the motion mode, which makes the corresponding motion plan safer.

[0042] In addition, different types of motion plans can be planned for limb joints based on detected parameters such as angles and torques, making the motion plans more flexible and diverse. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic flow chart of a motion control method provided in one of the embodiments of the present application;

[0044] Figure 2 A schematic diagram of the maximum angle in a basic operating scenario provided in one of the embodiments of the present application;

[0045] Figure 3 A schematic diagram of the maximum angle in the expansion motion and reciprocating motion provided in one embodiment of the present application;

[0046] Figure 4A schematic diagram of a flow chart of planning multiple motion types in a motion control method provided in one embodiment of the present application;

[0047] Figure 5 A schematic diagram of a flow chart of motion control based on torque and angle parameters provided in one of the embodiments of the present application;

[0048] Figure 6 A schematic diagram of speed change provided in one embodiment;

[0049] Figure 7 is a structural block diagram of a motion control system provided in one embodiment;

[0050] Figure 8 This is a diagram of the internal structure of a computer device provided in one of the embodiments of the present application.

[0051] Fig. 9 A limb joint active and passive motion device structure provided by an embodiment of the present invention;

[0052] Fig.10 for Figure 1 The state diagram of the active and passive motion device of the middle limb joint when it is flexed to the angle between the forearm support surface and the upper arm support surface is 45°;

[0053] Fig.11 A schematic diagram of a hand back support portion of a hand fixing component connected to a telescopic adjustment frame via an angle adjustment plate;

[0054] Fig.12 for Fig.11 A top view of the middle hand fixed parts;

[0055] Fig.13 for Fig.12 The main view of

[0056] Fig.14 This is a schematic diagram of the implementation and use process of the limb joint active and passive motion device of this application;

[0057] In the figure,

[0058] 31, forearm frame; 311, forearm driving belt; 312, forearm limiting rod; 313, forearm supporting plate; 31a, second bracket;

[0059] 32. upper arm frame; 321. upper arm strap; 322. upper arm limit rod; 323. upper arm support plate; 32a. first bracket;

[0060] A, joint; B, moving body; C, fixed point;

[0061] 20. Guide device;

[0062] 10. Driving device;

[0063] 100. Telescopic adjustment frame; 102. Connecting nut;

[0064] 200, hand fixing part; 210, back of hand supporting part; 221, first finger sleeve; 222, second finger sleeve; 230, fixing frame; 240, pressing plate; 250, adjusting mechanism; 251, screw rod; 252, nut; 210', handle; 211', flexible belt;

[0065] 300, angle adjustment plate; 310, extension portion; 320, adjustment rod; 330, positioning screw; 340, adjustment bracket; 301, hinge point;

[0066] 1. Main bracket; 1-1. Base; 1-2. Fixed column; 1-3. First connecting column; 1-3a. First hinged fixing mechanism; 1-4. Second connecting column; 1-4a. Second hinged fixing mechanism; 1-5. Telescopic column; 1-6. Casters. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0068] In one embodiment, Figure 1 As shown, a motion control method is provided, comprising the following steps:

[0069] Step 101, obtaining a current angle change generated when a power unit drives a target object to move.

[0070] The power unit may be a driving device, specifically a motor, and the target object may be a limb of the user or other object, such as a forearm. In some embodiments, the motor may drive the forearm of the user to move.

[0071] The current angle change may be an angle change corresponding to the initial position to the current position, including a change in angle size and a change in direction. In some embodiments, the current angle change ɑt generated when the motor drives the user's limbs to move can be detected by an angle detection module.

[0072] Step 102 : obtaining a current torque change generated when the power unit interacts with the target object when the power unit drives the target object to move.

[0073] In some embodiments, the torque change M generated by the interaction between the motor and the affected limb when the motor drives the affected limb to move can be detected by the torque detection module. t , and M tAs the current torque changes.

[0074] The current torque change may be a torque change corresponding to the change from the initial position to the current position, including a change in the magnitude of the torque and a change in the direction of the torque.

[0075] Step 103, obtaining the maximum angle change that can be achieved when the power unit drives the target object to move, and the maximum torque change that can be achieved when the power unit interacts with the target object.

[0076] In some embodiments, the maximum angular change that can be achieved can be evaluated by the angle evaluation module. Specifically, the motor can be controlled to run to the maximum angle that the patient can withstand and then stop running according to the operation point control module. The current angle change detected by the angle detection module is used to evaluate the maximum angular change that can be achieved when the affected limb is passively moved under the drive of the motor. max Among them, the maximum angle change can be understood as the maximum angle change range that the target object can withstand.

[0077] In some embodiments, the maximum torque change can be obtained by evaluating the torque evaluation module. Specifically, the automatic evaluation can be performed within the first automatic cycle, the maximum flexion torque can be evaluated from the minimum angle to the maximum angle, the maximum extension torque can be evaluated from the maximum angle to the minimum angle, and the maximum torque change can be determined based on the maximum flexion torque and the maximum extension torque. The current torque change detected by the torque detection module evaluates the maximum torque change M of the motor on the affected limb when the affected limb is passively moved by the motor. max Among them, the maximum torque change can be understood as the maximum torque change range that the target object can withstand.

[0078] Step 104, determining a target angle and a target torque corresponding to the movement of the target object based on the current angle change, the current torque change, the maximum angle change, and the maximum torque change, and controlling the movement of the target object based on the target angle and the target torque.

[0079] In some embodiments, a target angle and a target torque for controlling the motion of a target object may be calculated based on a motion planning module.

[0080] In some embodiments, the step of determining the target angle includes: determining the target angle based on the current angle change, the maximum angle change and preset motion parameters, wherein the preset motion parameters include at least one of an extension angle, a reciprocating angle and a dwell.

[0081] The target angle is determined based on the motion planning module. Specifically, the target angle ɑ can be determined based on the current angle change detected by the angle detection module, the maximum angle change (maximum operating angle) evaluated by the angle evaluation module, and the preset motion parameters. targetThe preset motion parameters may include preset expansion angle, number of reciprocating movements, dwell time and other parameters, and the angle of motion of the target object (eg, affected limb) is controlled based on the target angle.

[0082] In some embodiments, Figure 2 In the basic operation scenario shown, the target angle of the target object (e.g., the affected limb) is equal to the maximum angle, i.e., target = max ,exist Figure 3 In the extended operation scenario shown, the target angle is equal to the sum of the maximum angle and the extended angle, i.e., target = max +e, in Figure 3 In the reciprocating operation scenario shown, the target angle is equal to the maximum angle plus the extended angle minus the reciprocating angle, that is, ɑ target = max +er. Among them, e is the expansion angle, r is the reciprocating angle, n is the number of reciprocating times, and t is the dwell time.

[0083] The method for determining the safety torque (target torque) includes: in some embodiments, determining the safety torque value based on the maximum torque change and the preset safety torque level; controlling the movement of the target object based on the target angle and the target torque includes: starting the torque protection mode in response to the current torque change being greater than the safety torque value.

[0084] Specifically, when the current torque change detected by the torque detection module is greater than the safety torque M overload When the torque protection mode in the passive motion mode is activated, the safety torque M overload It is calculated based on the maximum torque change and the preset safety torque level. overload =M max +n M *k M , where M max is the maximum torque change, n M Refers to the safety torque level, k M Refers to the safety torque base, k M You can customize any number from 1 to 10.

[0085] In some embodiments, the movement of a target object is controlled based on the target angle, including: determining a target position of a power unit based on the target angle and a position function; determining a difference between the current angle change and the target angle value, determining a rotational speed of the power unit based on a size relationship between the difference and a limit range, and driving the target object to perform passive movement based on the determined target position and rotational speed of the power unit.

[0086] Specifically, determine the difference between the current angle change detected by the angle detection module and the target angle obtained by the motion planning module Δ ɑ, according to the difference Δ ɑAdjust the speed V of the power unit (such as a motor) target , to control the motor to drive the affected limb to perform passive movement according to the target angle of the motion plan.

[0087] The target position is determined based on the target angle and the position function. The rotation speed is based on the angle difference value. Δ The relationship between ɑ and the limit range h is determined, for example, when the angular difference value Δ When ɑ is greater than the limit range h, the speed V target Equal to the maximum speed, when the angle difference Δ When ɑ is less than or equal to the limit range h, the speed V target Equal to the minimum speed.

[0088] Among them, V min =f V (V max );h=ɑ target -10; Δɑ=ɑ target -ɑ t ; When Δɑ≦h, V target =V min ; When Δɑ>h, V target =V max .

[0089] Among them, target is the target angle, V min is the minimum speed, V max is the maximum speed, f V (.) refers to the minimum speed function, Δ ɑ refers to the current angle change ɑ t The target angle ɑ obtained by the motion planning module target The difference between t Refers to the current angle change; V target It refers to the target speed and h refers to the limit range.

[0090] In some embodiments, the maximum speed is determined by: determining the maximum speed V based on a preset speed level max , by accelerating or decelerating the speed. Specifically, V max =n V *k V , where n V Indicates the speed grade, k V Indicates the speed base. For example, when n V =3, k V =5, then Vmax =3*5=15.

[0091] Regarding continuous passive motion, torque monitoring and torque evaluation are added on the basis of traditional CPM exercise training. By detecting the applied torque in real time during the exercise, the target object (such as the affected limb) can move within the maximum range without exceeding the safe torque evaluated according to the individual characteristics of the target object (such as the patient). By safely and effectively implementing reciprocating motion at the extreme position of the target object (such as the affected limb), the effectiveness and safety of the exercise are guaranteed. The motion control method provided in this application can ensure the safety and effectiveness of the exercise, and achieve reasonable control of the target object. For example, if the target object is an affected limb, the effusion and bleeding can be effectively "pumped away" from the joint, reducing the chance of stiffness after joint trauma. When the target object is other targets to be controlled, the target object can be effectively controlled. The motion control method not only meets the characteristics of the target object but also ensures the safety of the target object.

[0092] Regarding adaptive active or passive muscle strength training, the movement state or movement intention of the affected limb with high muscle tone or contracture can be identified. During the movement, the perceived torque can be autonomously adjusted and a certain amount of assistance or resistance can be given to ensure active or passive movement under the premise of safety and effectiveness, so as to restore the motor nerve control and muscle strength of the target object (such as a limb).

[0093] In some embodiments, controlling the movement of a target object based on the target torque includes: determining a difference between the current torque change and the target torque value; controlling operating parameters of a power unit based on the difference, and driving the target object to perform a stretching movement based on the adjusted operating parameters, wherein the operating parameters include rotational speed and / or torque.

[0094] Specifically, by comparing the current torque change M detected by the torque detection module t The maximum torque change M evaluated with the torque evaluation module max The difference ΔM between the two is measured, and the speed of the motor is adjusted according to the difference to adjust the torque of the motor on the affected limb, so that the affected limb can perform stretching movement under progressive force.

[0095] Specifically, when the difference ΔM is greater than or equal to zero, the rotation speed is equal to the maximum speed, and when the difference ΔM is less than zero, the rotation speed is equal to the minimum speed. max -M t , if ΔM ≥ 0, then V target＝ V max , if ΔM<0, then V target＝ V min ; Among them, V min is the minimum speed, V maxis the maximum speed, V target It refers to the target speed.

[0096] Regarding the progressive stretching technique, adaptive full stretching is performed for contracture or / myofascial adhesion, the mechanical principles of simulated manual stretching are applied, the stretching parameters (speed / intensity / time) are controlled, and a slow progressive force is adopted to implement the most "full" and "antagonistic" progressive flexible repeated stretching on the affected limb to loosen the contracted or adhered soft tissue, restore its elasticity and relative sliding ability, and achieve the purpose of increasing joint mobility.

[0097] In some embodiments, controlling the movement of a target object based on the target torque includes: determining the current torque change and the maximum torque change; in response to the current torque change direction being the same as the running direction, controlling the operating parameters of the power unit based on the torque change to drive the target object to accelerate along the running direction, so as to control the power unit to drive the target object to perform assisted movement; in response to the current torque change direction being opposite to the running direction, controlling the operating parameters of the power unit based on the torque change to drive the target object to decelerate along the running direction until it stops, so as to control the power unit to drive the target object to perform assisted movement; wherein the operating parameters include the rotational speed of the power unit.

[0098] In some specific embodiments, by comparing the current torque change detected by the torque detection module and the maximum torque change evaluated by the torque evaluation module, when the torque change direction is in the same direction as the running direction, the motor speed is controlled to increase in proportion according to the torque change to drive the affected limb to accelerate along the running direction; when the torque change direction is opposite to the running direction, the motor speed is adjusted to decrease according to the difference to drive the affected limb to decelerate along the running direction, so as to control the motor to drive the affected limb to perform power-assisted exercise. The torque change direction can be based on the current torque change M t With the target speed V target The direction of the current torque change M t With the target speed V target In the same direction, it can be understood that the direction of torque change is the same as the running direction.

[0099] If the current torque changes M t With the target speed V target If the direction is the same, the target speed is determined based on the product of the first coefficient and the maximum speed, where the first coefficient is determined based on the current torque change and the base of the actively applied torque, that is, V target =M t / f*V max ; If the current torque changes M t With the target speed V targetIn the opposite direction, the target speed is determined based on the product of the second coefficient and the maximum speed, wherein the second coefficient is determined based on the difference between the current torque change and the maximum torque change and the maximum torque change, that is, V target =(M max -M t ) / M max *V max , where V min ≦V target ≦V max , f refers to the base of the actively applied torque. Among them, the first coefficient is greater than or equal to 1, and the second coefficient is less than 1.

[0100] In some embodiments, controlling the movement of a target object based on the target torque includes: determining the change in active torque generated by the active movement of the target object based on the current torque change; in response to a change in the active torque being the same as a running direction, controlling the rotation speed of the power unit to increase, driving the target object to accelerate along the running direction, so as to control the power unit to drive the target object to actively move; in response to a change in the active torque being opposite to the running direction, adjusting the power unit to run in the opposite direction, driving the target object to decelerate in the opposite direction of the running direction without stopping, so as to control the power unit to drive the target object to actively move.

[0101] Specifically, the torque change detected by the torque detection module is used to calculate the braking torque change generated by the active force of the target object (such as the affected limb). When the direction of the active torque change is the same as the running direction, the motor is controlled according to the torque change. When the running direction is opposite, the motor is adjusted to run in the opposite direction to drive the affected limb to run at a low speed in the opposite direction of operation, so as to control the motor to drive the affected limb to perform active movement.

[0102] If the current torque changes M t With the target speed V target In the same direction, V target =M t / f * V max , if the current torque changes M t With the target speed V target In the opposite direction, V target =-V min , where V min ≦V target ≦V max , f refers to the actively applied torque base.

[0103] In some embodiments, controlling the movement of a target object based on the target torque includes: determining the active torque change generated when the target object actively exerts force based on the current torque change; in response to the active torque change being greater than a set resistance value, controlling the operating parameters of the power unit according to the torque change to control the power unit to drive the target object to perform resistance movement, wherein the operating parameters include rotation speed and / or direction.

[0104] Specifically, the active torque change generated by the active force of the affected limb is calculated through the current torque change detected by the torque detection module. When the active torque change is greater than the set resistance value s, the motor speed and direction are adjusted according to the torque change to control the motor to drive the affected limb to perform resistance exercise. t ≥s, V target =M t / f * V max , V min ≦V target ≦V max .

[0105] The software control system provided in the above embodiment detects in real time the current state value of the angle change and the torque change of the moving parts connected to the target object (for example, the affected limb), compares the difference between the current state value and the maximum angle and / or safe torque assessed according to the patient's individual ability, understands the movement state or intention through the difference, and performs algorithm analysis based on the movement state or intention. Under the premise of safety, the motor speed / direction / torque / target position is adjusted in real time and accurately to the maximum extent, so that the affected limb moves at an appropriate speed, torque and angle, thereby realizing a closed-loop adaptive control method of human-machine-environment perception and two-way interaction.

[0106] It should be noted that the speed change process mentioned in the above embodiment can refer to the attached Figure 6 , in the attached Figure 6 The figure shows the process of reaching the target position from the current position, including the acceleration process, the constant speed process and the deceleration process, and the acceleration time and the deceleration time can be set separately.

[0107] See also Figure 4 , is a flow chart of a motion control method provided in one embodiment of the present application, comprising the following steps:

[0108] Exercise preparation.

[0109] Movement assessment.

[0110] Motion planning, in the motion planning module, includes determining the type of movement based on the movement state. The types of movement include stretching movement, passive movement, active movement, assisted movement, and resistance movement.

[0111] Motion information collection, collects corresponding motion information data from the motion process, and evaluates the motion state and motion intention based on the collected motion data, and continues motion planning until the end of the motion.

[0112] See also Figure 5 , is a flow chart of a motion control method provided in one embodiment of the present application, comprising the following steps:

[0113] The motion planning module includes the determination of the target position and the target angle, and the control of the motor speed, torque and moving parts based on the target position and the target angle.

[0114] And through the motion state perception module, for example, including the torque detection module to perceive the torque change (current torque change), the torque evaluation module to evaluate the maximum torque (maximum torque change), and the torque difference calculation and analysis is performed based on the torque change and the maximum torque.

[0115] The motor torque is controlled based on the calculation and analysis of the torque difference.

[0116] And through the motion state perception module, for example, including the angle detection module to detect the angle change (current angle change), through the angle evaluation module to evaluate the maximum angle (maximum angle change), and the angle difference is calculated and analyzed based on the angle change and the maximum angle.

[0117] The speed of the motor is controlled based on the calculation and analysis of the angle difference.

[0118] The present application provides a software system for active and passive movement of limb joints and intelligent dynamic stretching of terminal angles, which belongs to the field of medical sports rehabilitation.

[0119] Immobilization or rest after surgery on the limb joints will cause a series of pathological changes in the joints and their surrounding tissues, leading to thickening and contracture of ligament and joint capsule fibers, joint degeneration, heterotopic ossification, resulting in limb joint stiffness and limited mobility.

[0120] After a stroke or hemiplegia, due to damage to the brain nerves, more than 80% of people will experience hemiplegia of the limbs accompanied by spasticity, hypertonia and other sequelae. If not actively treated, it may lead to permanent high muscle tension in the affected limbs, joint contractures and abnormal movement patterns.

[0121] Joint stiffness caused by trauma and postoperative immobilization is the most common, and the probability of stiffness is highest in complex joint fractures and dislocations. Swelling and hematoma are often the culprits of elbow stiffness, and the extreme position of joint movement is usually the most prone to stiffness.

[0122] At present, the main method to reduce joint stiffness, hypertonia, and spasticity is to start functional training of joint range of motion and muscle strength at an early stage to improve the extensibility of joint soft tissue and muscle characteristics. The main means currently used are physical therapist manual stretching (PT), continuous passive training (CPM) and intelligent rehabilitation robot motion training system, but the current status of these rehabilitation means and technologies still has a lot of room for improvement.

[0123] Manual stretching is a method used by physical therapists to apply mechanical principles to continuously stretch and expand the range of motion of joints, and to perform passive rehabilitation training on limb joints to restore the patient's joint mobility and limb motor function. However, this type of rehabilitation training relies on the human input of rehabilitation therapists, and traditional physical manual stretching is very laborious. The duration, training intensity, and rehabilitation strategy also depend on the therapist's experience and subjective feelings.

[0124] CPM passive motion rehabilitation machine is mainly used in orthopedics to maintain joint mobility to prevent joint stiffness caused by trauma or postoperative swelling and hematoma. In order to ensure safety, foreign CPM passive motion rehabilitation machines all adopt an automatic operation mode of returning when encountering force. However, due to factors such as trauma or postoperative joint swelling and hematoma, they are often subject to varying degrees of resistance during operation, resulting in a relatively small passive operation range, and the limbs usually cannot reach the full range of motion. Domestic CPM moves limbs or joints at a constant speed within the pre-set angle operation range. Although the system can provide a large torque, during the entire operation process, due to the limitations of the mechanical structure and the way the force is applied, the resistance encountered during the operation cannot be detected, and the set range of motion is smaller than the effective range of motion. Otherwise, excessive force may occur during the operation, increasing the risk of secondary injury to the affected limb. In this case, the previous CPM range of motion cannot reach a limited higher position, which is also the key physiological position where stiffness is prone to occur. Safe and effective reciprocating extrusion motion must be implemented to force the effusion and bleeding to be effectively "pumped away" from the joint to prevent joint stiffness caused by excessive deposition of matrix.

[0125] At present, intelligent sports rehabilitation training systems are mainly used for active and passive auxiliary training of limbs after nerve damage, and for restoring patients' motor nerve control and muscle strength training of limbs. However, such patients usually have symptoms such as high muscle tension / limb contracture, so the system is usually equipped with safety protection measures. Once the resistance is too large, the machine starts to stop or automatically reverses the operation mode. Due to the limitations of mechanical mechanism design and motion control technology, it is usually an active force, and the movement assisted by the equipment is a main / passive movement mode, generating repetitive joint limb movements, but cannot perform effective passive stretching training on joints with high muscle tension or contracture.

[0126] Through the embodiments provided in the present application, for patients with clinical limb movement disorders such as high muscle tone / spasm, joint contracture / stiffness, etc., the movement status and / or movement intention of the patient can be accurately identified by real-time perception of the movement information of the affected limb (joint mechanics, joint angle), and based on the understanding of the movement status and / or movement intention, a sports rehabilitation system with functions such as (1) progressive stretching technology, (2) continuous passive motion training, and (3) adaptive active muscle strength training is provided to make up for the deficiencies of the existing technology.

[0127] In the above embodiment, combined with the design of the joint mechanical transmission structure and the motion control host, it can effectively assist the target user (for example, a patient) to perform target object (for example, a joint) activity exercise, stretch contracted soft tissue, stretch and relax stiff joints, and improve joint mobility. The speed and torque of the motor are adjusted in real time through the angle change of limb movement and the state data such as torque change, and dynamic progressive force and continuous stretching treatment are implemented. On the basis of ensuring safety and effectiveness, the range of joint movement is expanded to the maximum extent, and the patient's comfort is improved, so as to mobilize the patient's willingness to recover, increase the frequency of training treatment, and shorten the rehabilitation cycle.

[0128] It can be understood that the target object provided in the embodiment of the present application can be a patient's limb such as a forearm, or other non-human limbs. In addition to being used in the medical field, the solution provided in this embodiment can also be applied to other cardinal fields such as strengthening exercise or training.

[0129] In some embodiments, the angle change in the above-mentioned motion control method can be generated based on the limb joint active and passive motion device driving the forearm. Specifically, the angle change generated when the forearm moves is generated by the limb joint active and passive motion device driving the upper arm to rotate relative to the forearm, and the limb joint active and passive motion system drive includes the power unit, which is a driving device for adjusting the angle between the forearm support surface and the upper arm support surface, that is, adjusting the angle generated when the forearm moves.

[0130] Among them, the angle change generated when the forearm moves is generated by the limb joint active and passive motion device driving the upper arm to rotate relative to the forearm. The limb joint active and passive motion device drives include the power unit, which is a driving device for adjusting the angle between the forearm supporting surface and the upper arm supporting surface, that is, adjusting the angle generated when the forearm moves.

[0131] Specifically, see Figure 9-14The power unit is a driving device, which is used to drive the moving body B to move a preset length in the direction of approaching / moving away from the fixed point C along the guiding direction of the guide device 20, so as to adjust the angle between the forearm support surface and the upper arm support surface, that is, to adjust the angle generated when the target object (forearm) moves. The angle change generated when the target object moves is generated when the power unit drives the forearm frame to rotate relative to the upper arm frame.

[0132] like Figure 9-14 As shown, in one embodiment of the present invention, a limb joint active and passive motion device is provided, comprising:

[0133] An upper arm frame 32, the upper arm frame 32 comprises an upper arm supporting surface and a mounting surface which are arranged opposite to each other, the mounting surface is fixed to the main support 1, and the mounting surface is fixedly connected to the first support 32a;

[0134] The guide device 20 includes a moving body B, which can be driven to move a preset length along the guiding direction of the guide device 20, and the moving body B is hinged to an end of the first bracket 32a away from the upper arm 32; a fixed point C is provided on one end of the guide device 20 located in the guiding direction thereof;

[0135] The forearm frame 31 is located on the same side of the guide device as the upper arm frame 32 and is hingedly connected to the upper arm frame 32 through a joint A; the forearm frame 31 includes a forearm support plate 313 and two forearm limit rods 312 arranged on both sides of the forearm support plate 313 in the width direction, and the two forearm limit rods 312 are connected through a forearm driving belt 35; the forearm limit rod 312 is hingedly connected to the fixed point C through a second bracket 31a, and the second bracket 31a is perpendicular to the forearm limit rod 312;

[0136] A telescopic adjustment frame is provided at one end of the forearm frame 31 away from the upper arm frame 32, and a hand fixing component 200 is provided at the end of the telescopic adjustment frame;

[0137] The arm is fixed between the forearm support plate 313 and the forearm driving belt 311. When the moving body B is driven to move toward the fixed point C, the second bracket 31a pulls the forearm to stretch through the forearm driving belt 311. When the moving body B is driven to move to the shortest distance to the fixed point C, the angle between the forearm supporting surface of the forearm bracket and the upper arm supporting surface is 185° (equivalent to -5° for stretching, and the angle between the forearm and the extension line of the upper arm is -5°).

[0138] When the moving body B is driven to move in a direction away from the fixed point C, the second bracket 31a pushes the forearm to flex through the forearm support plate 313, and when the moving body B is driven to move to the farthest distance from the fixed point C, the angle between the forearm supporting surface and the upper arm supporting surface is 45° (the device is used as the basis for description here, which is equivalent to flexion of 135°: the angle between the forearm and the extension line of the upper arm is 135°).

[0139] Specifically, when using the device, the patient can sit or lie down, and adjust the upper arm frame 32 and the forearm frame 31 to a suitable position. The upper arm is placed in the center of the upper arm support plate 323 of the upper arm frame 32; the forearm is placed in the center of the forearm frame 31, and the forearm near the wrist is placed on the forearm support plate 313. After the forearm elbow axis is concentric with the joint A, the upper arm is fixed with the upper arm strap 321, and the forearm support plate 313 cooperates with the forearm driving belt 311 to surround and fix the forearm; finally, the telescopic adjustment frame 100 is adjusted to a suitable hand length.

[0140] During the rehabilitation process, the upper arm is arranged on the upper arm frame 32 and always keeps a fixed position; the line connecting the fixed point C and the moving body B is consistent with the guiding direction. When the moving body B is driven to move in the direction close to the fixed point C, the angle between the forearm supporting surface and the upper arm supporting surface gradually increases; when the moving body B is driven to move to the closest distance to the fixed point C, the angle between the forearm supporting surface and the upper arm supporting surface is 185° (at this time, the forearm is extended -5°: the forearm is below the plane where the upper arm is located, and the angle between the forearm and the extension line of the upper arm is -5°), which meets the maximum extension angle of the human elbow joint toward the back of the hand. When the moving body B is driven to move in the direction away from the fixed point C, the angle between the forearm supporting surface and the upper arm supporting surface gradually decreases; Figure 2 The moving body B is driven to move to the state farthest from the fixed point C. At this time, the angle between the forearm support surface and the upper arm support surface is 45° (the forearm is flexed 135° at this time: the forearm is above the plane where the upper arm is located, and the angle between the forearm and the extension line of the upper arm is 135°), which meets the minimum flexion and folding angle of the human elbow joint toward the palm side. Since the range of motion can reach the effective position (the key physiological position prone to stiffness), a safe and effective reciprocating squeeze movement is implemented to force the effusion and bleeding to be effectively "pumped away" from the joint, preventing joint stiffness caused by excessive matrix deposition. In this way, effective passive stretching training can be carried out on joints with high muscle tension or contracture.

[0141] It can be seen from the above process that during the movement, the forearm of the limb is limited from both sides by the forearm limiting rod 312, and the forearm frame 31 can drive the forearm to perform -5°-0°-135° extension-flexion movement around the joint A; and, since the second bracket is hinged to the fixed point C of the guide device, and the second bracket is perpendicular to the forearm limiting rod, the force is vertically transmitted from the fixed point C through the second bracket to the forearm limiting rod 312 and the forearm supporting plate 313. When the forearm is flexed and folded, the forearm supporting plate 313 pushes the forearm and wrist to perform standard flexion movement around the elbow joint in a direction perpendicular to the length of the forearm; when the forearm is extended, the second bracket 31a is pulled in a direction perpendicular to the forearm through the forearm driving belt 311 to perform extension movement with the forearm frame 31 and the forearm, ensuring that the direction of the force during flexion and extension is perpendicular to the forearm, there is no partial force to the elbow joint, and the elbow joint will not be squeezed.

[0142] In summary, this application has the following advantages:

[0143] ① The forearm can be fixed to perform extension-flexion movement of -5°~0°~135°. The movement trajectory of the training components connected to the elbow joint conforms to the natural movement trajectory of elbow flexion-extension. The passive movement range reaches 140°, allowing the limbs to reach a full-angle effective range of motion;

[0144] ② During the movement, the force point, force direction and movement trajectory are strictly set. The force point is the part of the forearm close to the wrist. The force direction is perpendicular to the forearm during flexion-extension. There is no partial force to the elbow joint. The movement trajectory completely simulates the natural movement trajectory of the human elbow joint and will not cause secondary damage to the affected limb. In this way, the forearm on the forearm frame 31 can safely and effectively perform continuous passive movement around the bracket node.

[0145] For a detailed explanation of the implementation process of this application, please refer to Figure 6 , three rotatable node joints A, mobile body B, and fixed point C form triangle ABC. When the driving motor after power-on drives the rotating screw to rotate, the mobile body B rigidly connected to the upper arm is forced to move along the screw, so that the distance between nodes BC, that is, the length of the a side of the triangle, changes, so that the ∠A corresponding to the a side changes, that is, the forearm rotates around joint A. Because the angle β between the solid line represented by the forearm and the dotted line AC is rigid and unchanged, the change value of ∠A is also the change value of the angle between the forearm and the X-axis. This change value is the designed operating angle range. Assumptions:

[0146] When the forearm is fully extended (extended -5 degrees), ∠A is the initial value of 12.73 degrees, and the angle between the forearm frame and the X-axis is -5 degrees. When the forearm frame reaches the horizontal position, ∠A is 17.73 degrees, and the angle between the forearm frame and the X-axis is 0 degrees; when the forearm is fully flexed (flexed 135 degrees), ∠A is 152.73 degrees, and the angle between the forearm frame and the X-axis is 135 degrees. The range of ∠A is 140 degrees, which means that the forearm frame of the equipment can rotate around the bracket node A from -5° to 0° to 135°, so that the motion trajectory is consistent with the natural flexion-extension motion trajectory of the elbow joint, that is, this allows the forearm tied to the forearm frame to safely and effectively perform continuous passive motion around the elbow joint.

[0147] The present application has the characteristics of flexible settings in different rehabilitation scenarios: in antagonistic stretching training, the extension angle can be limited as needed; in dynamic stretching training, flexible stretching can be performed reciprocatingly, and the number of reciprocating times can be set; in static stretching training, static stretching can be maintained, and the dwell time can be preset; in adaptive flexible stretching, the running speed can be automatically reduced according to the degree of joint stiffness and the terminal angle range, thereby adaptively reducing the applied torque, and flexible slow stretching training is comfortable.

[0148] The motion trajectory of the present application conforms to the natural motion curve of elbow flexion-extension, and the force is located at the distal end of the forearm, ensuring that the position of the elbow joint is always on the center line of the bracket's rotation axis during the movement.

[0149] refer to Fig. 9 In some embodiments, the guide device 20 includes a guide groove, the moving body B is embedded in the guide groove and can slide along the guide groove, and the fixed point C is set on the extension line of the length direction of the guide groove. Specifically, when the guide device 20 is a guide groove, the line connecting the fixed point C and the moving body B is consistent with the extension direction of the guide groove, and when the moving body B is driven to move, the angle between the front arm frame 31 and the upper arm frame 32 changes.

[0150] refer to Fig. 9 In some embodiments, the invention further comprises a driving device 10, wherein the driving device 10 comprises:

[0151] A driving component, located at a fixed point C at one end of the guiding direction of the guide device 20;

[0152] The rotating screw is connected to the driving shaft of the driving component, and the length direction of the rotating screw is consistent with the guiding direction of the guide device 20. The rotating screw is spirally penetrated into the moving body B to drive the moving body B to move along the guiding direction.

[0153] Specifically, a driving component is used to drive the rotating screw to rotate, so that the moving body B can move along the length direction of the rotating screw to automatically drive the moving body B to slide, and the rotating screw can provide a moving guide for the moving body B to ensure that the movement direction of the moving body B is stable and not deviated.

[0154] It can be understood that the driving device can be a power unit, specifically a motor.

[0155] refer to Figure 11-13 In some embodiments, the hand fixing component 200 includes:

[0156] The back of hand support portion 210 is connected to the end of the telescopic adjustment frame 100 away from the forearm frame 31;

[0157] The finger plate includes four first finger sleeves 221 which are arranged in parallel and dispersedly and connected to the back of hand supporting part 210 and two second finger sleeves 222 which are arranged on both sides of the back of hand supporting part 210 in the width direction;

[0158] A fixing frame 230, wherein the fixing frame 230 is mounted above the back of hand supporting portion 210 and two ends of the fixing frame 230 are respectively fixed to two second finger sleeves 222;

[0159] The pressing plate 240 is disposed on the fixing frame 230 and is located above the back-of-hand supporting portion 210. The pressing plate 240 can be moved toward / away from the back-of-hand supporting portion 210 under the action of the adjusting mechanism 250. When the back of the hand is placed on the back-of-hand supporting portion 210, the pressing plate 240 moves toward the direction close to the back-of-hand supporting portion 210 so that the back of the hand adheres to the surface of the back-of-hand supporting portion 210.

[0160] Specifically, the second finger sleeve 222 can be directly connected and fixed with the fixing frame 230 by plugging and matching, and the adjustment mechanism 250 can include a screw rod 251 spirally inserted in the fixing frame and a nut 252 at the upper end of the screw rod 251, and the lower end of the screw rod 251 is rotatably connected with the pressing plate 240. During operation, four fingers are fixed to the four first finger sleeves 221 respectively, and the left thumb is fixed to the second finger sleeve 222 on one side, or the right thumb is fixed to the second finger sleeve 222 on the other side, so that the fingers can be fixed; when the back of the hand is placed on the back of the hand support part 210, the rotating nut 252 and the screw rod 251 drive the pressing plate 240 to move toward the direction close to the back of the hand support part 210, so that the back of the hand is closely attached to the surface of the back of the hand support part.

[0161] In this embodiment, the position of the back of the hand and fingers is fixed by using a finger plate, a fixing frame 230, an adjustment mechanism 250, and a pressure plate 240, so that the fingers cannot swing and the back of the hand cannot be lifted or turned over, thereby preventing the hand from swinging, lifting, or rotating to a large extent during exercise, which may cause the force point on the forearm to shift and the direction of the force to be skewed, thereby generating a partial force toward the elbow joint to cause secondary injury to the affected limb, ensuring that the force point is always located at the forearm close to the wrist and the force is always perpendicular to the forearm, thereby further improving the rehabilitation effect and safety.

[0162] Since the first finger sleeve 221 and the second finger sleeve 222 are arranged separately, the relative position between the first finger sleeve 221 and the second finger sleeve 222 can be adjusted according to the size of the hand before the pressure plate is fixed; after the pressure plate presses the back of the hand, the relative position of the first finger sleeve 221 and the second finger sleeve 222 can be fixed unchanged, thereby ensuring the stable position of the hand.

[0163] refer to Fig.11 In some embodiments, the back of hand support portion 210 is mounted on an angle adjustment plate 300 , and the angle adjustment plate 300 is hinged to the telescopic adjustment frame 100 ;

[0164] The back side of the angle adjustment plate 300 is provided with an extension portion 310 in a direction away from the back-of-hand support portion; it also includes an adjustment rod 320, one end of which is hinged to the end of the extension portion 310, and the other end passes through an adjustment bracket 340 provided on the back of the telescopic adjustment frame 100, and a positioning screw 330 penetrates into the adjustment bracket 340 from the outside and abuts against the adjustment rod 320.

[0165] Specifically, in some rehabilitation usage scenarios, it is necessary to change the angle between the hand and the forearm. In this case, the positioning screw 330 can be loosened, and the length of the adjustment rod 320 inserted into the adjustment bracket 340 can be manually changed. Since the other end of the adjustment rod 320 is connected to the extension part 310, the angle adjustment plate 300 can be driven to rotate around the hinge point 301 with the telescopic adjustment frame 100, and the angle between the angle adjustment plate 300 and the telescopic adjustment frame 100 can be changed, thereby changing the angle between the hand and the forearm.

[0166] In this embodiment, after adjusting the angle between the back of the hand support part 210 and the telescopic adjustment frame 100, more rehabilitation scenarios can be adapted. In particular, when the back of the hand support part 210 is rotated and adjusted toward the back of the hand, the fingers can be stretched behind the hand to relieve the symptoms of hand flexion spasm. In addition, the extension part 310 arranged on the back side of the angle adjustment plate 300 in a direction away from the back of the hand support part 210 can increase the adjustment space, avoiding the adjustment rod 320 being directly connected to the body of the angle adjustment plate 300, resulting in the end of the adjustment rod connected to the angle adjustment plate being stuck during the angle adjustment process.

[0167] refer to Fig.10 In some other embodiments, the hand fixing component 200 may include: a handle 210 ′ connected to the telescopic adjustment frame 100 through a flexible belt.

[0168] Specifically, after the telescopic adjustment frame 100 is adjusted to a suitable length for the hand, the connecting nut 102 is locked, the handle 210' is held by the hand, and the entire hand is stretched toward the back of the hand, thereby relieving the hand flexion spasm symptoms. This embodiment uses the handle 210', which has less hand restraint; and the handle 210' is connected to the telescopic adjustment frame 100 through a flexible belt 211', which is conducive to the stretching of the entire hand toward the back of the hand, greatly relieving the hand flexion spasm symptoms.

[0169] refer to Fig. 9 In some embodiments, the forearm frame 31 is connected to the telescopic adjustment frame 100 through two connecting nuts 102. Specifically, the telescopic adjustment frame 100 can be telescopically adjusted, with a telescopic range of 0mm to 60mm, and is locked by the connecting nut 102 after the adjustment is completed.

[0170] refer to Fig.10 The upper arm frame 32 includes an upper arm support plate 323 and upper arm limiting rods 322 arranged on both sides of the upper arm support plate 323, and an upper arm strap 321 is arranged between the two upper arm limiting rods 322. The upper arm can be limited from both sides by the two upper arm limiting rods 322, so as to avoid the upper arm swinging, lifting or rotating during exercise, which will cause the force point on the forearm to shift and the force direction to deviate, thereby generating a partial force to the elbow joint to cause secondary damage to the affected limb, and ensure that the force point is always located at the part of the forearm close to the wrist, and the force is always perpendicular to the forearm, so as to further improve the rehabilitation effect and safety.

[0171] refer to Fig. 9 In some embodiments, the main support 1 comprises:

[0172] Base 1-1;

[0173] A fixing column 1-2, the lower end of which is mounted on the base 1-1;

[0174] The first connecting column 1-3, the lower end of the first connecting column 1-3 is hingedly connected to the upper end of the fixing column 1-2 through a first hinge fixing mechanism 1-3a,

[0175] The second connecting column 1-4 is fixed to the upper arm 32, and the lower end of the second connecting column is hingedly connected to the upper end of the first connecting column 1-3 through a second hinged fixing mechanism 1-4a;

[0176] Among them, the hinge axis direction of the first hinge fixing mechanism 1-3a is perpendicular to the hinge axis direction of the second hinge fixing mechanism 1-4a and both are parallel to the horizontal plane.

[0177] Specifically, the hinge fixing mechanism may include a hinge screw. When the hinge screw is loosened, the two hinged parts rotate relative to each other to adjust the angle between them. After the adjustment is completed, the hinge screw is tightened to fix the relative position between the two hinged parts.

[0178] Since the patient's body positions during rehabilitation are different, such as lying on the back, lying on the side, etc., in this embodiment, the hinge axis direction of the first articulated fixing mechanism 1-3a is perpendicular to the hinge axis direction of the second articulated fixing mechanism 1-4a and both are parallel to the horizontal plane, so that the upper arm frame 32 and the forearm frame 31 can be adjusted in the front and back and left and right directions, and the adjustment range is -90° to +90°, respectively, to adapt to patients in different body positions, and the flexibility of use is better.

[0179] Furthermore, the upper end of the fixed column 1-2 is plugged with a telescopic column 1-5, and the height of the upper arm frame 32 and the forearm frame 31 can be adjusted by changing the plug-in length to adapt to patients at different heights. The height adjustment range is 0mm to 170mm, and the adjustment is convenient. The base can also be equipped with four casters 1-6, which can facilitate free movement of the device. When in use, the base casters 1-6 can be locked in advance.

[0180] In some embodiments, a touch screen is also included, which is electrically connected to the driving device 10; and the touch screen is connected to the upper arm 32 through a screen bracket. Specifically, the driving device 10 can be controlled to start on the touch screen to drive the moving body B to move. Furthermore, the screen bracket can be rotated and retracted to adjust the angle and height of the touch screen.

[0181] In one embodiment, Figure 7 As shown, a motion control system 400 is provided. The system can use software modules or hardware modules, or a combination of the two to become a part of a computer device, including:

[0182] Angle detection module 410, used to obtain the current angle change generated when the power unit drives the target object to move;

[0183] A torque detection module 420 is used to obtain a current torque change generated when the power unit interacts with the target object when the power unit drives the target object to move;

[0184] An angle evaluation module 430 is used to obtain the maximum angle change that can be achieved when the power unit drives the target object to move;

[0185] A torque evaluation module 440, used to obtain a maximum torque change that can be achieved when the power unit interacts with the target object;

[0186] The motion planning module 450 is used to determine the target angle and target torque corresponding to the motion of the target object based on the current angle change, the current torque change, the maximum angle change and the maximum torque change, and control the motion of the target object based on the target angle and the target torque.

[0187] For the specific definition of the motion control system, please refer to the definition of the motion control method above, which will not be repeated here. Each module in the above motion control system can be implemented in whole or in part by software, hardware and a combination thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0188] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 8 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store motion-related data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a motion control method is implemented.

[0189] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0190] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0191] In one embodiment, a computer-readable storage medium is provided, storing a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0192] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0193] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0194] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. An adaptive limb motion control system, characterized in that: The system comprises: Limb joint active and passive motion devices, used to drive limb joints to produce angle changes; A motion planning module, for determining a target angle and a target torque corresponding to the limb joint movement based on a current angle change, a current torque change, a maximum angle change, and a maximum torque change generated when the limb joint is driven to move, and controlling the limb joint movement based on the target angle and the target torque; Wherein, controlling the movement of the limb joint based on the target torque includes: determining the active torque change generated when the limb joint actively exerts force based on the current torque change; in response to the active torque change being greater than a preset resistance value, adjusting the operating parameters of the power unit based on the torque change to control the power unit to drive the limb joint to perform resistance movement, wherein the operating parameters include speed and / or direction; when the power unit accelerates, the target speed is determined based on the product of a first coefficient and a maximum speed, wherein the first coefficient is determined based on the current torque change and the actively applied torque base; when the power unit decelerates, the target speed is determined based on the product of a second coefficient and a maximum speed, wherein the second coefficient is determined based on the difference between the current torque change and the maximum torque change and the maximum torque change; wherein the first coefficient is greater than or equal to 1, and the second coefficient is less than 1.

2. The adaptive limb motion control system according to claim 1, characterized in that: Also includes: An angle detection module is used to obtain the current angle change caused by the power unit driving the limb joint movement; A torque detection module, used for obtaining the current torque change generated when the power unit drives the limb joint to move and when the power unit interacts with the limb joint; An angle evaluation module, used to obtain the maximum angle change that can be achieved when the power unit drives the limb joint to move; The torque evaluation module is used to obtain the maximum torque change that can be achieved when the power unit interacts with the limb joint.

3. The adaptive limb motion control system according to claim 1, characterized in that: The limb joint active and passive motion device fixes the elbow joint and performs extension-flexion motion of -5° to 0° to 135°. The motion trajectory of the limb joint active and passive motion device connected to the elbow joint conforms to the natural motion trajectory curve of elbow joint flexion-extension. The passive operation range reaches 140°, and the force point, force direction and motion trajectory are fixed: the force point is the front part of the forearm, the force direction is perpendicular to the forearm during flexion-extension, there is no force component to the elbow joint, and the elbow joint is located on the axis of rotation.

4. The adaptive limb motion control system according to claim 1, characterized in that: The motion planning module is further used to determine a safety torque value based on the maximum torque change and a preset safety torque level; The controlling of the limb joint movement based on the target torque comprises: In response to the current torque change being greater than the safety torque value, a torque protection mode is initiated.

5. The adaptive limb motion control system according to claim 1, characterized in that: Controlling the movement of the limb joint based on the target angle includes: Determining a target position of the power unit based on the target angle and the position function; Determine a difference between the current angle change and the target angle value, and determine a rotation speed of the power unit based on a magnitude relationship between the difference and a limit range; Based on the determined target position and rotation speed of the power unit, the limb joint is driven to perform passive movement.

6. The adaptive limb motion control system according to claim 1, characterized in that: Controlling the movement of the limb joint based on the target torque also includes: Determining a difference between the current torque change and the target torque value; Based on the difference value, the operating parameters of the power unit are controlled, and based on the adjusted operating parameters, the limb joints are driven to perform stretching movements, wherein the operating parameters include rotational speed and / or torque. Specifically, the difference ΔM between the current torque change Mt detected by the torque detection module and the maximum torque change M max evaluated by the torque evaluation module is compared, and the rotational speed of the power unit is adjusted according to the difference to adjust the torque applied by the power unit to the limb joints, so that the limb joints perform stretching movements under progressive force.

7. The adaptive limb motion control system according to claim 1, characterized in that: Controlling the movement of the limb joint based on the target torque also includes: comparing the current torque change with the maximum torque change; In response to the current torque change direction being the same as the running direction, the operating parameters of the power unit are controlled based on the torque change to drive the limb joint to accelerate along the running direction, so as to control the power unit to drive the limb joint to perform power-assisted movement; In response to the current torque change direction being opposite to the running direction, the operating parameters of the power unit are controlled based on the torque change, so as to drive the limb joint to decelerate along the running direction until the movement stops, so as to control the power unit to drive the limb joint to perform power-assisted movement; Wherein, the operating parameters include the rotation speed of the power unit.

8. The adaptive limb motion control system according to claim 1, characterized in that: Controlling the movement of the limb joint based on the target torque also includes: Determining the active torque change generated by the active movement of the limb joint based on the current torque change; In response to the active torque changing direction being the same as the running direction, controlling the rotation speed of the power unit to increase, driving the limb joint to accelerate along the running direction, so as to control the power unit to drive the limb joint to perform active movement; In response to the active torque changing direction being opposite to the running direction, the power unit is adjusted to run in the opposite direction, driving the limb joint to decelerate in the opposite direction of the running direction without stopping, so as to control the power unit to drive the limb joint to perform active movement.

9. The adaptive limb motion control system according to claim 1, characterized in that: Also includes: Determining a safety torque value based on the maximum torque change and a preset safety torque level; The controlling of the limb joint movement based on the target torque comprises: In response to the current torque change being greater than the safety torque value, starting a torque protection mode; or, Determine the safety torque value based on the maximum torque change and the preset safety torque level; The controlling of the limb joint movement based on the target angle and the target torque comprises: In response to the current torque change being greater than the safety torque value, a torque protection mode is initiated.

10. The adaptive limb motion control system according to claim 1, characterized in that: It also includes: a torque evaluation module, which is used to obtain the maximum torque change that can be achieved when the power unit interacts with the limb joints, including: automatic evaluation within the first automatic cycle, evaluating the maximum flexion torque from the minimum angle to the maximum angle, evaluating the maximum extension torque from the maximum angle to the minimum angle, and determining the maximum torque change based on the maximum flexion torque and the maximum extension torque. The current torque change detected by the torque detection module evaluates the maximum torque change Mmax of the power unit on the limb joint when the limb joint is passively moved under the drive of the power unit.

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