Exoskeleton rehabilitation exercise control method based on multi-sensor monitoring

Abstract

The invention relates to the technical field of intelligent control, in particular to an exoskeleton rehabilitation exercise control method based on multi-sensor monitoring, and the method comprises the steps: connecting four-limb linkage exoskeleton accessories, activating multi-source monitoring equipment in a wearing state, collecting the exercise data of each joint in real time, and constructing a staged exercise ability model. And extracting coordination deviation characteristics of upper and lower limbs, carrying out iterative updating in combination with user feedback and a staged coordination process, and obtaining a rehabilitation complete-cycle training scheme, so that the technical problems that the movement process is limited to power-assisted auxiliary control and cannot dynamically adapt to the real-time movement state and rehabilitation process of a patient are solved, and the aim of realizing rehabilitation of the patient by activating multi-source monitoring equipment is achieved. The method comprises the following steps: acquiring limb movement data of a user in real time, constructing a staged movement ability model, identifying coordination deviation characteristics of a patient in a rehabilitation process, and carrying out iterative updating in combination with feedback data of the user and a staged rehabilitation process, so as to realize the technical effect of dynamic adjustment of limb linkage and joint collaboration.

Description

Technical Field

[0001] The present invention relates to the technical field related to intelligent control, and in particular to an exoskeleton rehabilitation motion control method based on multi-sensor monitoring. Background Art

[0002] The application of exoskeleton devices in rehabilitation therapy is becoming increasingly widespread, especially in the rehabilitation process of patients with motor dysfunction. Exoskeleton devices serve as auxiliary devices to help patients complete rehabilitation training and effectively improve patients' motor ability and rehabilitation effects.

[0003] At present, rehabilitation exoskeleton robots often only focus on lower limb assistance and rehabilitation, and can only perform limited control over a single joint. It is difficult to dynamically adjust according to the patient's real-time movement status and rehabilitation progress. During exercise, the control accuracy and flexibility of complex movements such as limb linkage and joint coordination are limited, making it difficult to meet the patient's comprehensive rehabilitation needs.

[0004] In summary, the prior art has the technical problem of being limited to power-assisted control during exercise and being unable to dynamically adapt to the patient's real-time exercise state and rehabilitation process. Summary of the invention

[0005] The present application provides an exoskeleton rehabilitation motion control method based on multi-sensor monitoring, aiming to solve the technical problem that the prior art is limited to power-assisted control during motion and cannot dynamically adapt to the patient's real-time motion state and rehabilitation progress.

[0006] In view of the above problems, the technical solution to implement this application is:

[0007] The present application provides an exoskeleton rehabilitation motion control method based on multi-sensor monitoring, wherein the method is arranged in a rehabilitation motion control center, wherein the rehabilitation motion control center, an upper limb linkage component and a lower limb linkage component are interconnected, and the method comprises: connecting a four-limb linkage exoskeleton accessory, wherein the four-limb linkage exoskeleton accessory comprises a left shoulder joint motion component and a right shoulder joint motion component corresponding to the upper limb linkage component, and a left hip joint motion component, a left knee joint motion component, a left ankle joint motion component, a right hip joint motion component, a right knee joint motion component and a right ankle joint motion component corresponding to the lower limb linkage component; if the four-limb linkage exoskeleton accessory is in a wearing state, a multi-channel monitoring instruction is issued, wherein the multi-channel monitoring instruction is used to activate a multi-source monitoring device within a preset rehabilitation training cycle; using the multi-source monitoring device, a motion data group is collected in real time, wherein the motion data group comprises Including left shoulder joint motion data grouping, right shoulder joint motion data grouping, left hip joint motion data grouping, left knee joint motion data grouping, left ankle joint motion data grouping, right hip joint motion data grouping, right knee joint motion data grouping, right ankle joint motion data grouping; according to the motion data group, the rehabilitation motion control center performs data in-depth analysis, identifies user motion characteristics, and constructs a first-stage motion ability model; based on the first-stage motion ability model, taking the rehabilitation assistance process of the limb linkage exoskeleton accessories as a reference point, extracting the coordination deviation characteristics of the upper limb linkage components and the lower limb linkage components; through the coordination deviation characteristics of the upper limb linkage components and the lower limb linkage components, on the basis of the first-stage motion ability model, iteratively updates according to user feedback data and the staged coordination process to obtain a full-cycle rehabilitation training plan.

[0008] In summary, one or more technical solutions provided in the present application solve the technical problem that the user is limited to power-assisted control during exercise and cannot dynamically adapt to the patient's real-time exercise status and rehabilitation progress. It achieves the technical effect of activating multi-source monitoring equipment, collecting the user's limb movement data in real time and building a staged movement ability model, identifying the coordination deviation characteristics of the patient in the rehabilitation process, combining the user's feedback data and the staged rehabilitation progress for iterative updates, and realizing dynamic adjustment of limb linkage and joint coordination. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 A flow chart of an exoskeleton rehabilitation motion control method based on multi-sensor monitoring is provided for this application;

[0010] Figure 2 A schematic flow chart of establishing a first local coordination optimization space in an exoskeleton rehabilitation motion control method based on multi-sensor monitoring is provided for this application. DETAILED DESCRIPTION

[0011] Example

[0012] The present application is described in detail below with reference to the accompanying drawings. Figure 1 As shown, the present application provides an exoskeleton rehabilitation motion control method based on multi-sensor monitoring, wherein the method is set in a rehabilitation motion control center, the rehabilitation motion control center, the upper limb linkage component and the lower limb linkage component are interconnected, and the method includes:

[0013] S1: Connecting a four-limb linkage exoskeleton accessory, the four-limb linkage exoskeleton accessory includes a left shoulder joint motion component and a right shoulder joint motion component corresponding to the upper limb linkage component, and a left hip joint motion component, a left knee joint motion component, a left ankle joint motion component, a right hip joint motion component, a right knee joint motion component, and a right ankle joint motion component corresponding to the lower limb linkage component; S2: If the four-limb linkage exoskeleton accessory is in a wearing state, issuing a multi-channel monitoring instruction, the multi-channel monitoring instruction is used to activate a multi-source monitoring device within a preset rehabilitation training cycle; S3: Using the multi-source monitoring device, real-time acquisition of motion data groups, the motion data groups include a left shoulder joint motion data group, a right shoulder joint motion data group, a left hip joint motion data group, a left knee joint motion data group, a left ankle joint motion data group, a right hip joint motion data group, a right knee joint motion data group, and a right ankle joint motion data group.

[0014] Specifically, the rehabilitation motion control center is used to manage and coordinate the movements of the exoskeleton equipment, process sensor data, generate personalized rehabilitation training plans, and make real-time adjustments during the rehabilitation process; the upper limb linkage component is a component of the exoskeleton, which is mainly used to assist the movement of the user's upper limbs, corresponding to specific joints such as the left shoulder joint motion component and the right shoulder joint motion component, to help the user coordinate shoulder movement ability; the lower limb linkage component is the part of the exoskeleton that assists the user's lower limb movement, corresponding to the motion components of the hip joint, knee joint and ankle joint (such as the left hip joint motion component, the right knee joint motion component, etc.); the multi-source monitoring device is a variety of sensor devices that monitor the user's limb movement, which can collect various data during the user's movement in real time, such as displacement, angle, force, etc.; the motion data group is the motion data collected by the multi-source monitoring device, which can be divided into multiple dimensions, each reflecting the movement of a specific joint, and each joint has its corresponding motion data grouping, such as the motion data grouping of the left shoulder joint, the motion data grouping of the left knee joint, etc.

[0015] Execution steps: During the rehabilitation training process, the rehabilitation motion control center will be interconnected with the exoskeleton device worn by the user (i.e., the four-limb linkage exoskeleton accessories). The exoskeleton device not only includes linkage components of the upper limbs (left shoulder joint, right shoulder joint), and linkage components of the lower limbs (left hip joint, right knee joint, etc.), but is designed to simulate the natural movement patterns of the human body and help users perform whole-body rehabilitation training. When the user puts on the exoskeleton device and is ready for training, check whether the exoskeleton is correctly connected and in the wearing state. If the exoskeleton device is in place, the rehabilitation motion control center will issue multi-channel monitoring instructions to activate various multi-source monitoring devices, so as to collect the patient's motion data in real time during rehabilitation training, for example, to monitor the patient's joint angles, joint stress conditions, and body balance.

[0016] After the multi-source monitoring device is activated, the patient's real-time motion data is collected from multiple sensors. These data are divided into different motion data groups. For example, the motion data of the left shoulder joint will be stored in the left shoulder joint motion data group, and the motion data of the right hip joint will enter the right hip joint motion data group. The left shoulder joint motion data group, the right shoulder joint motion data group, the left hip joint motion data group, the left knee joint motion data group, the left ankle joint motion data group, the right hip joint motion data group, the right knee joint motion data group, and the right ankle joint motion data group record the motion details of each joint, such as angle change, speed, motion trajectory, etc.; then, the motion data group is combined to accurately monitor the patient's motion status.

[0017] S4: According to the motion data group, the rehabilitation motion control center performs in-depth data analysis, identifies the user's motion characteristics, and constructs a first-stage motion ability model; S5: Based on the first-stage motion ability model, taking the rehabilitation assistance process of the four-limb linkage exoskeleton accessories as a reference point, the coordination deviation characteristics of the upper limb linkage components and the lower limb linkage components are extracted; S6: Through the coordination deviation characteristics of the upper limb linkage components and the lower limb linkage components, based on the first-stage motion ability model, it is iteratively updated according to user feedback data and the staged coordination process to obtain a full-cycle rehabilitation training plan.

[0018] Specifically, the motion data group refers to the motion data of each joint of the patient during rehabilitation training collected in real time from multi-source monitoring equipment, which is divided into multiple groups, including various joints of the upper and lower limbs, such as the left shoulder joint motion data group, the right knee joint motion data group, etc.; the rehabilitation motion control center identifies the user's motion characteristics by analyzing the motion data group, generates and optimizes the rehabilitation training plan, and adjusts the assistance of the exoskeleton device in real time; the first-stage motion ability model is a model constructed based on the analysis of the patient's motion data in the early stage of rehabilitation training, which reflects the patient's current motor ability status and serves as a basic reference in the rehabilitation process; the rehabilitation assistance process refers to the adjustment process of the auxiliary support provided by the exoskeleton accessories during the rehabilitation process. The assistance can be gradually reduced as the patient's rehabilitation progresses, and eventually the autonomous movement ability is gradually restored; the coordination deviation feature is the coordination problem identified when analyzing the patient's upper and lower limb motion data, such as the asynchrony of the upper and lower limb movements or the deviation of the movement angle; the feedback data is the feedback information of the patient on the training process, comfort, and effect during the rehabilitation process, so as to adjust the rehabilitation plan; the staged coordination process is the staged process of rehabilitation training, each stage has specific goals and evaluation criteria, and the patient's rehabilitation status is evaluated through coordination progress.

[0019] Execution steps: During the rehabilitation training process, firstly, the real-time motion data of the patient is collected through multi-source monitoring equipment. For example, assuming that the patient is undergoing limb rehabilitation training, data is collected from sensors of the left shoulder, right shoulder, left hip, right knee and other joints to generate a complete motion data group. Each data group records the motion information of a specific joint in detail, such as the range of motion of the left shoulder, the bending angle of the right knee, etc. These data reflect the specific performance of the patient in each training; then, the data is transmitted to the rehabilitation motion control center for processing and analysis. Through the data in-depth analysis technology, the data is comprehensively analyzed to identify the user's motion characteristics. For example, assuming that the patient The patient's right knee has a limited range of motion. Analysis shows that the right knee cannot reach the normal angle of motion when bent. Based on these data, a first-stage motor ability model is constructed. This first-stage motor ability model reflects the patient's current motor ability and serves as a reference for the early stages of rehabilitation. The first-stage motor ability model is combined with the rehabilitation assistance process of the rehabilitation equipment to analyze the patient's upper and lower limb coordination problems during the rehabilitation process, that is, coordination deviation characteristics. For example, if the patient's left shoulder moves slower than the right shoulder, or the left and right legs are not coordinated when the lower limbs move, these deviations can be used to identify the differences in the patient's limb linkage.

[0020] After completing these analyses, the first-stage motor ability model is continuously adjusted and optimized based on these coordination deviation characteristics. After each training session, the patient can send user feedback data through equipment or feedback mechanisms (for example, providing physical comfort or pain feedback. If the patient reports that there is slight pain when bending the right knee, the training plan is adjusted according to these feedbacks to disperse the movement pressure of the knee). The rehabilitation plan is continuously updated iteratively. As the patient's rehabilitation progresses, the training assistance level and coordination plan are automatically adjusted. For example, if the patient's upper and lower limbs have recovered better coordination at a certain stage, the exoskeleton assistance can be reduced to allow the patient to gradually recover more autonomous motor abilities. Through this iterative update mechanism, a personalized, full-cycle rehabilitation training plan can be formulated based on the patient's rehabilitation performance at different stages. The goals of each training stage will be different. For example, the early goal may be to restore basic limb coordination movements, while the later stage may be to train patients to restore walking fluency. This plan not only helps patients improve rehabilitation efficiency, but also takes into account the safety and comfort of rehabilitation exercises.

[0021] Furthermore, through the coordination deviation characteristics of the upper limb linkage component and the lower limb linkage component, based on the first stage of the sports ability model, according to the user feedback data and the stage coordination process iterative update, the application method includes:

[0022] Based on the left shoulder joint motion component and the right shoulder joint motion component corresponding to the upper limb linkage component, a left & right shoulder connection adjustment component is configured; based on the left hip joint motion component and the right hip joint motion component corresponding to the lower limb linkage component, a left & right hip connection adjustment component is configured; based on the left knee joint motion component and the right knee joint motion component corresponding to the lower limb linkage component, a left & right knee connection adjustment component is configured; based on the left ankle joint motion component and the right ankle joint motion component corresponding to the lower limb linkage component, a left & right ankle connection adjustment component is configured.

[0023] Specifically, the upper limb linkage component refers to the part of the exoskeleton device related to the movement of the upper limbs, including the moving parts of the shoulder joint, such as the left shoulder joint moving parts and the right shoulder joint moving parts; the lower limb linkage component refers to the part of the exoskeleton device related to the movement of the lower limbs, including the moving parts of the hip joint, knee joint and ankle joint, such as the left hip joint moving parts, the right knee joint moving parts, etc.; the coordination deviation feature refers to the deviation in the degree of movement coordination between the upper and lower limbs during movement, for example, when the upper limbs move, the lower limbs do not have corresponding coordinated movements, or the movement amplitude of a certain joint does not meet expectations; the movement ability model is a model constructed based on the patient's movement data and feedback, reflecting the patient's movement ability and coordination, as a reference for subsequent training; the connection adjustment component is used to characterize the device that adjusts the connection and coordination between the moving parts of the upper or lower limbs to ensure the coordinated work of each component during movement.

[0024] Execution steps: First, analyze the movement data of the left shoulder and right shoulder joints. If it is detected that the patient's left shoulder has a smaller range of motion when raising his hand, configure the left & right shoulder connection adjustment component. The left & right shoulder connection adjustment component can monitor the movement coordination of the left and right shoulders in real time through sensors to ensure that the movement of the left shoulder can be properly supported by power assistance during upper limb training to achieve coordination with the right shoulder; then, based on the movement of the lower limbs, configure the left & right hip connection adjustment component. Assuming that the patient's right hip has a significantly smaller range of motion than the left hip during walking training, the power assistance of the right hip is automatically adjusted to ensure the synchronization of the movement of the hip joints on both sides. At the same time, the left & right knee connection adjustment component and the left & right ankle connection adjustment component will also be configured to achieve coordination between the joints of the lower limbs.

[0025] Before each training session, the rehabilitation movement control center will collect the latest movement data through monitoring equipment and analyze the coordination deviation characteristics of the upper and lower limbs. Taking the movement of the left and right shoulders as an example, assuming that when the patient is stretching his arms, there is a difference in the extension angles of the left and right shoulders. The corresponding adjustment mechanism will be triggered immediately, and the left shoulder's assistance will be increased by adjusting the components, thereby helping the patient to achieve a more balanced state of movement. After each training session, the patient can submit user feedback data through the control panel or mobile application, such as scoring the comfort of the movement, the strength of the assistance, etc. For example, if the patient reports that the right knee feels pain during exercise, this information will be recorded and the strength of the assistance for the right knee will be adjusted to ensure that the patient does not overexert himself during lower limb exercise. Through the above steps, real-time monitoring, dynamic adjustment and iterative updates are achieved to ensure that each patient receives personalized and precise assistance during rehabilitation training, thereby improving the overall rehabilitation effect.

[0026] Furthermore, if Figure 2 As shown, the present application method also includes:

[0027] Based on the left & right shoulder connection adjustment components and the left shoulder joint motion components, a first local connection array is generated; based on the left & right shoulder connection adjustment components and the right shoulder joint motion components, a second local connection array is generated; through the first local connection array and the second local connection array, local coordination optimization is performed with shoulder width adjustment and shoulder height adjustment to establish a first local coordination optimization space.

[0028] Specifically, the left & right shoulder connection adjustment component is used to adjust the device connecting the left shoulder and the right shoulder, by changing the angle and distance between the two shoulders to optimize their motion coordination effect; the left shoulder joint motion component is an exoskeleton component related to the movement of the left shoulder, responsible for helping or limiting the movement of the left shoulder to ensure that it maintains the correct movement pattern during rehabilitation training; the right shoulder joint motion component is an exoskeleton component related to the movement of the right shoulder, and its function is similar to that of the left shoulder joint motion component to ensure the movement ability and coordination of the right shoulder; the local connection number is a data structure composed of adjustment components and motion components, which records the key parameters and connection relationships of shoulder movement, such as angles, torques and other information; the local coordination optimization space is a space for local adjustment within a specific parameter range to optimize motion coordination, through which dynamic adjustment of sports performance can be achieved.

[0029] Execution steps: First, based on the data of the left & right shoulder connection adjustment component and the left shoulder joint motion component, a first local connection array is generated. Assuming that during the rehabilitation training process, the movement amplitude and angle changes detected by the left shoulder joint motion component are 20 degrees, the adjustment component records the corresponding adjustment parameters of this movement (such as adjustment force and angle). Therefore, the first local connection array may include a series of information such as [20 degrees, adjustment force 1] for subsequent movement analysis and adjustment; similarly, based on the left & right shoulder connection adjustment component and the right shoulder joint motion component, a second local connection array is generated. Assuming that the movement parameters of the right shoulder are 15 degrees and the adjustment force is 0.8, this information will be recorded in the second local connection array to form a data structure, such as [15 degrees, adjustment force 0.8]. Through such a structure, the current movement state and the required adjustment can be quickly obtained.

[0030] Through the first local connection array and the second local connection array, shoulder width adjustment and shoulder height adjustment are implemented. For example, assuming that there is a 5-degree coordination deviation between the patient's left shoulder and right shoulder in a certain training, the shoulder width needs to be increased according to the motion data of the left and right shoulders. At the same time, the angle of the left shoulder is adjusted to expand outward, and the height of the right shoulder is appropriately increased. Through such optimization, the first local coordination optimization space is constructed, which contains the optimal motion parameter range between the left shoulder and the right shoulder. For example, when performing stretching movements, the patient's left shoulder needs to be lifted up to reach the target position, while the right shoulder may not be effectively lifted due to muscle tension. Through the monitored first local connection array and the second local connection array, it is identified that the left shoulder movement amplitude is 25 degrees, while the right shoulder is only 10 degrees, resulting in a coordination inconsistency between the two. Based on these data, the angle of the left shoulder is adjusted to be fine-tuned to 28 degrees, and the assistance of the right shoulder is optimized so that it can reach the optimal position during the stretching process. In this way, through local coordination optimization, patients will be more comfortable when performing stretching movements, effectively improving the rehabilitation effect. Through these steps, the patient's shoulder movement will be accurately monitored and optimized, ensuring that normal movement and coordination are gradually restored during the rehabilitation process.

[0031] Furthermore, the application method includes:

[0032] Based on the left & right hip connection adjustment component, a second local coordination optimization space is established; based on the left & right knee connection adjustment component, a third local coordination optimization space is established; based on the left & right ankle connection adjustment component, a fourth local coordination optimization space is established; the first local coordination optimization space, the second local coordination optimization space, the third local coordination optimization space, and the fourth local coordination optimization space are merged to establish a global coordination optimization framework; the first stage movement ability model is used as the starting point of the global coordination optimization framework, and dynamic coordinated correction is performed according to the coordination deviation characteristics of the upper limb linkage component and the lower limb linkage component.

[0033] Specifically, the left & right hip connection adjustment component is used to adjust the connection and motion parameters between the left hip joint and the right hip joint to ensure the coordination and stability of the lower limbs; the left & right knee connection adjustment component is used to adjust the motion relationship between the left knee joint and the right knee joint to ensure that the two can cooperate with each other during movement and optimize the gait; the left & right ankle connection adjustment component is used to adjust the connection between the left ankle joint and the right ankle joint to ensure the coordinated movement of the lower limb ends; the local coordination optimization space is used to characterize the optimization space for achieving local motion coordination by adjusting the joint components within a specific motion parameter range; the global coordination optimization framework is used to characterize the combination of multiple local coordination optimization spaces to form an overall coordination framework for dynamically adjusting the motion coordination of the upper and lower limbs.

[0034] Execution steps: First, based on the input data of the left & right hip connection adjustment components, a second local coordination optimization space is created. For example, if the angle of the left hip joint is monitored to be 30 degrees and the angle of the right hip joint is 25 degrees, a 5-degree coordination deviation is identified. In order to optimize the relationship between the two, the movement of the left hip is adjusted so that it can coordinate with the right hip during the activity to ensure stability during movement; next, the left & right knee connection adjustment components are used to establish a third local coordination optimization space. It is assumed that when the patient is bending, the angle of the left knee is 45 degrees and the angle of the right knee is 50 degrees. Through real-time data analysis, the 5-degree deviation between the two is identified to ensure that when the knee joints are bent, the movement amplitudes of the two are consistent to prevent injuries caused by uncoordinated movement.

[0035] Similarly, based on the left & right ankle connection adjustment components, the fourth local coordination optimization space is established. Assuming that during walking, the range of motion of the left ankle is 20 degrees, while the range of motion of the right ankle is 25 degrees, the movement strategies of the two are adjusted according to this difference to ensure the flexibility and stability of the ankle joint during movement; then, the first local coordination optimization space, the second local coordination optimization space, the third local coordination optimization space and the fourth local coordination optimization space are merged to form a global coordination optimization framework. This framework integrates the data and adjustment strategies of the four local optimization spaces, so that patients can achieve better coordination during comprehensive sports training. For example, when patients perform gait training, the coordination of the limbs will be considered simultaneously; the first stage of the movement ability model is used as the starting point of the global coordination optimization framework, and the coordination deviation characteristics between the upper limb and lower limb linkage components are monitored to perform dynamic coordination correction in real time. Through these steps, patients will be able to obtain more accurate movement adjustment during the rehabilitation process, which will promote the overall improvement of their movement ability.

[0036] Furthermore, the first local coordinated optimization space, the second local coordinated optimization space, the third local coordinated optimization space, and the fourth local coordinated optimization space are merged to establish a global coordinated optimization framework. The method of the present application includes:

[0037] The hip-knee connection is optimized by means of the left & right hip connection adjustment component and the left & right knee connection adjustment component, and a first coordination connection channel is added between the second local coordination optimization space and the third local coordination optimization space; the knee-ankle coordination connection is optimized by means of the left & right knee connection adjustment component and the left & right ankle connection adjustment component, and a second coordination connection channel is added between the third local coordination optimization space and the fourth local coordination optimization space; according to the first coordination connection channel between the second local coordination optimization space and the third local coordination optimization space, the second local coordination optimization space and the third local coordination optimization space are merged; according to the second coordination connection channel between the third local coordination optimization space and the fourth local coordination optimization space, the third local coordination optimization space and the fourth local coordination optimization space are merged.

[0038] Specifically, the first local coordination optimization space is used to optimize the coordination of the left shoulder and the right shoulder by adjusting the motion parameters of the upper limbs so as to achieve better coordination during movement; the second local coordination optimization space is used to ensure the movement stability and coordination of the lower limbs by adjusting the motion relationship of the left hip and the right hip; the third local coordination optimization space is used to achieve coordination between the knee joints by adjusting the motion relationship of the left knee and the right knee; the fourth local coordination optimization space is used to ensure the flexibility and coordination of the lower limb ends by adjusting the motion relationship of the left ankle and the right ankle; the first coordination connection channel is used to connect the channel between the second local coordination optimization space and the third local coordination optimization space to optimize the movement coordination of the hip joint and the knee joint; the second coordination connection channel is used to connect the channel between the third local coordination optimization space and the fourth local coordination optimization space to optimize the movement coordination of the knee joint and the ankle joint.

[0039] Execution steps: First, the coordinated connection between the hip joint and the knee joint is optimized by using the left & right hip connection adjustment component and the left & right knee connection adjustment component. It is assumed that when walking, the movements of the left hip and the right knee are not synchronized, the angle of the left hip is 30 degrees, and the angle of the right knee is 40 degrees. Through data analysis, this difference is identified, and a first coordinated connection channel is established to achieve coordinated cooperation between the hip joint and the knee joint. Specifically, some auxiliary force is applied to the left knee to better keep it consistent with the movement of the right hip; Next, the coordinated connection between the knee joint and the ankle joint is optimized by using the left & right knee connection adjustment component and the left & right ankle connection adjustment component. It is assumed that during the same walking process, the angle of the right knee is 50 degrees, while the range of motion of the left ankle is only 15 degrees, resulting in uncoordinated movement of the lower limbs. By establishing a second coordinated connection channel, the activity parameters of the right knee are adjusted to promote the movement of the left ankle so that it can better follow the rhythm of the right knee.

[0040] According to the establishment of the first coordination connection channel, the second local coordination optimization space (coordination optimization of the left hip and the right hip) is merged with the third local coordination optimization space (coordination optimization of the left knee and the right knee), and the motion parameters of the two are adjusted through real-time data analysis to achieve synchronous movement of the hip and knee. For example, if the angle deviation of the knee joint is identified, appropriate adjustments will be made to the movement of the hip joint to make it more coordinated; according to the establishment of the second coordination connection channel, the third local coordination optimization space (coordination optimization of the left knee and the right knee) is merged with the fourth local coordination optimization space (coordination optimization of the left ankle and the right ankle). Similarly, the monitored motion data of the knee and ankle joints are analyzed. If the coordination between the right knee and the right ankle is insufficient, timely adjustments will be made to ensure stability and coordination during walking.

[0041] The second local coordination optimization space and the third local coordination optimization space are merged, and the third local coordination optimization space and the fourth local coordination optimization space are merged to obtain a global coordination optimization framework. The global coordination optimization framework comprehensively considers the coordination relationship between the hip, knee, and ankle joints, so that patients can achieve more flexible and coordinated movements when walking, standing, and exercising. For example, when patients are doing gait training, the movement of all joints is monitored in real time, and dynamic adjustments are made as needed to ensure that the movement between each joint is smooth and coordinated. Through the above steps, rehabilitation training will be more effective, and patients can achieve optimal movement coordination with the help of exoskeletons, thereby improving rehabilitation effects.

[0042] Furthermore, according to the coordination deviation characteristics of the upper limb linkage component and the lower limb linkage component, dynamic collaborative correction is performed, and the method of the present application includes:

[0043] Based on the first local coordination optimization space and the second local coordination optimization space, a first-level global dynamic coordination index is added between the upper limb linkage component and the lower limb linkage component; based on the first local coordination optimization space and the third local coordination optimization space, a second-level global dynamic coordination index is added between the upper limb linkage component and the lower limb linkage component; based on the first local coordination optimization space and the fourth local coordination optimization space, a third-level global dynamic coordination index is added between the upper limb linkage component and the lower limb linkage component; the global coordination optimization framework is constructed through the first-level global dynamic coordination index between the upper limb linkage component and the lower limb linkage component, the second-level global dynamic coordination index between the upper limb linkage component and the lower limb linkage component, and the third-level global dynamic coordination index between the upper limb linkage component and the lower limb linkage component.

[0044] Specifically, the first-level global dynamic coordination index refers to an index that measures the basic coordination between the upper limb linkage components and the lower limb linkage components, which is mainly established by analyzing the motion parameters and coordination degree of the shoulder and hip; the second-level global dynamic coordination index is used to evaluate the cooperation of the upper and lower limbs at the intermediate coordination level, which is mainly established by analyzing the motion coordination between the shoulder and the knee; the third-level global dynamic coordination index focuses on the higher-level coordination of the upper and lower limbs, and mainly evaluates the motion synergy effect between the shoulder and the ankle; the global coordination optimization framework is used to characterize an overall framework formed by integrating all dynamic coordination indicators, aiming to improve the coordination and efficiency of the overall movement through real-time data monitoring and analysis.

[0045] Execution steps: By analyzing the first local coordination optimization space (coordination optimization of the left shoulder and the right shoulder) and the second local coordination optimization space (coordination optimization of the left hip and the right hip), a first-level global dynamic coordination index is established. For example, assuming that in gait training, the movement range of the left shoulder is 10 degrees lower than that of the right shoulder, and the movement range of the left hip is similar to that of the right hip, by comparing these motion data, a value is generated to represent the degree of coordination between the upper and lower limbs. If this value is lower than a certain threshold, the movement strength of the left shoulder is increased to compensate for it to achieve better coordination. Next, based on the first local coordination optimization space (shoulder) and the third local coordination optimization space (knee), a second-level global dynamic coordination index is added. For example, if the coordination between the left shoulder and the right knee is poor during a certain training, the angle of the right knee is 30 degrees, while the angle of the left shoulder is only 20 degrees, the support strength of the right knee can be adjusted to promote the synchronous movement of the left shoulder and improve the coordination between the upper and lower limbs.

[0046] Based on the first local coordination optimization space and the fourth local coordination optimization space (ankle), three levels of global dynamic coordination indicators are added. Assuming that the movement coordination between the left shoulder and the right ankle is poor, the angle of the right ankle is 45 degrees, and the movement range of the left shoulder is relatively small, at this time, the strength of the left shoulder will be adjusted by monitoring the movement of the left and right ankles, so that it can more effectively guide the movement of the lower limbs during exercise and improve the overall movement efficiency. By integrating the above three global dynamic coordination indicators, a global coordination optimization framework is constructed. This framework not only considers the coordination between the shoulder, hip, knee and ankle, but also can update and optimize the dynamic adjustment strategy between each part in real time. For example, when a change in a certain indicator is detected, the movement parameters of other parts will be dynamically adjusted to ensure the smoothness and coordination of the overall movement. In rehabilitation training, assuming that the patient's left leg and right arm are obviously uncoordinated when walking, all dynamic coordination indicators are analyzed through real-time data feedback, and the movement range of the left leg and the movement strength of the right arm are adjusted, so that the patient can achieve a more efficient exercise effect.

[0047] For example, when a patient is doing a push-up exercise, it is found that the movement coordination between the left shoulder and the right hip is poor. Assuming that the power output of the left shoulder is relatively low, the patient cannot effectively push the body forward during the push-up. At this time, the power of the left shoulder can be adjusted in time by analyzing the first-level global dynamic coordination index to ensure that it is consistent with the movement of the right hip, thereby improving the fluency and effect of the entire movement. Through the above steps, dynamic coordination correction is performed based on real-time feedback to ensure that patients achieve better movement coordination and effect during rehabilitation training.

[0048] Furthermore, based on the first local coordination optimization space and the second local coordination optimization space, a first-level global dynamic coordination index between the upper limb linkage component and the lower limb linkage component is added, and the method of the present application includes:

[0049] A basic motion scene is introduced, which includes walking and stepping on stairs. In the basic motion scene, a trunk stability index is set, which includes a spinal dynamic balance index, a pelvic rotation index and a tilt control index. Under the constraint of the trunk stability index, a first-level global dynamic coordination index between the upper limb linkage component and the lower limb linkage component is constrained and adjusted.

[0050] Specifically, basic movement scenarios refer to common movement patterns in rehabilitation training, such as walking and stepping on stairs, which are used to evaluate and train patients' motor abilities; trunk stability indices are used to evaluate the stability of the trunk during movement, including spinal dynamic balance indices (the ability of the spine to maintain balance during movement), pelvic rotation indices (the rotation of the pelvis during movement to determine the coordination of movement) and tilt control indices (the ability of the body to maintain an upright posture during movement to avoid excessive tilt); the first-level global dynamic coordination index is used to measure the indicators for achieving coordinated movement between the upper and lower limbs in basic movement scenarios.

[0051] Execution steps: In the initial stage of rehabilitation training, two basic sports scenes, walking and stepping on stairs, are first introduced. These scenes provide patients with a familiar sports environment, making the training more realistic. For example, when patients are trained in the corresponding scenes of walking, the patient's gait characteristics and the coordination of the upper limbs are recorded at the same time for subsequent analysis and optimization. When conducting basic sports training, multiple trunk stability indicators are set at the same time. Furthermore, for the dynamic balance indicator of the spine, the bending and stability of the patient's spine during exercise are monitored by sensors. For example, when the patient walks, if the spine has obvious forward bending or backward bending, real-time feedback is provided to remind the patient to adjust the posture; for the pelvic rotation indicator, the rotation of the pelvis is analyzed by inertial sensors to ensure its stability during exercise. If the pelvic rotation is detected to be too large, the patient is reminded to reduce the stride to maintain the coordination of the movement; for the tilt control indicator: monitor the degree of inclination of the patient's body when walking or stepping on stairs to prevent the risk of falling caused by inclination. For example, if it is detected that the patient's body tilts more than a certain angle during the stepping on stairs, the height of the step ladder will be automatically reduced or the training difficulty will be adjusted.

[0052] Under the constraint of ensuring the trunk stability index, the first-level global dynamic coordination index is dynamically adjusted. Specifically, by analyzing the motion data of the upper and lower limbs in the basic motion scene, the motion parameters of each part are adjusted in real time. For example, suppose the patient finds that the coordination between the left shoulder and the right hip is poor during walking, resulting in the left leg's steps not being smooth enough. According to the dynamic balance index of the spine and the pelvic rotation index, it is found that the patient's left shoulder position in the gait is too high, affecting the movement ability of the right hip. At this time, by adjusting the range of motion and strength of the left shoulder, it is promoted to achieve better coordination with the right hip. Through the above steps, in the basic motion scene, by setting the trunk stability index and dynamically adjusting the coordination index, the patient's movement stability and coordination can be effectively improved, thereby achieving better rehabilitation effects.

[0053] Furthermore, taking the rehabilitation assistance process of the limb linkage exoskeleton accessory as a reference point, the present application method also includes:

[0054] Obtain user basic data, the user basic data including height data and body shape data; upload the user basic data to the rehabilitation motion control center, and use the preset fit to initialize the upper limb linkage component and the lower limb linkage component; after the initialization configuration is completed, synchronize and match the rehabilitation assistance process and the staged coordination process of the four-limb linkage exoskeleton accessories, and introduce a user comfort evaluation mechanism to update the preset fit.

[0055] Specifically, the basic user data includes height data (the user's height, usually in centimeters, affects the overall size and fit of the exoskeleton), body shape data (the user's body shape information, including weight, shoulder width, hip circumference, etc., to help achieve more accurate fit and comfort); the rehabilitation assistance process is the support and driving force provided by the exoskeleton during rehabilitation training, with the aim of helping the user complete the exercise; the staged coordination process is the change in the coordinated movement between the user's upper and lower limbs at different stages of rehabilitation training; the preset fit is the degree of matching between the exoskeleton and the user's body set according to the user's basic data, which is used to ensure comfort and exercise efficiency; the user comfort evaluation mechanism is used to evaluate the user's comfort when wearing the exoskeleton, so as to adjust the exoskeleton settings during the rehabilitation process.

[0056] Execution steps: When the user first uses the four-limb linkage exoskeleton accessories, the user is required to input his height data and body shape data and upload them to the rehabilitation movement control center. The rehabilitation movement control center can be a central processing unit responsible for storing and analyzing the data of all users. After the data is uploaded, the data is processed and stored to provide a reference for subsequent exoskeleton configuration. Using the preset fit, the settings of the upper limb linkage components and the lower limb linkage components are automatically adjusted to adapt to the user's physical characteristics. For example, if the user's shoulder width is large, the width of the components needs to be adjusted in the configuration of the upper limb linkage components to ensure that they are not restricted during movement. This process involves automatic mechanical adjustment to ensure that the accessories can accurately adapt to the user's body.

[0057] After the initial configuration is completed, the rehabilitation assistance process is synchronized with the staged coordination process, which means that the assistance provided by the exoskeleton needs to be adjusted in real time according to the user's basic data and current movement status. For example, if the user finds that the lower limb assistance is insufficient during gait training, the lower limb assistance can be dynamically increased to ensure smooth and safe movement. During the entire use process, user feedback is continuously collected, such as through questionnaires or sensors to monitor the user's comfort when wearing the exoskeleton. The user's feedback will be used to update the preset fit. For example, if the user reports that he feels a strong sense of pressure in the left shoulder during exercise, this information will be recorded, and the fit of the upper limb linkage components will be adjusted to optimize the comfort of the accessories. Through the above steps, dynamic management of the user's basic data is achieved to ensure that the exoskeleton accessories can maximize the user's comfort and exercise effect while providing rehabilitation assistance.

[0058] In summary, the beneficial effects of the embodiments of the present application are:

[0059] 1. Through multi-sensor monitoring equipment, the user's motion data is collected, and the rehabilitation motion control plan is dynamically adjusted according to the user's motion characteristics and real-time status to achieve personalized rehabilitation training.

[0060] 2. Through the coordinated control of the upper and lower limb linkage components, the linkage of multiple joints such as the shoulder joint, hip joint, knee joint and ankle joint is optimized, and the coordinated movement ability of the patient's limbs is improved, thereby improving the overall rehabilitation effect.

[0061] 3. Through in-depth analysis and dynamic collaborative correction, the patient's motor ability model is iteratively updated to improve the accuracy and effectiveness of rehabilitation training and achieve multi-level movement optimization from local to whole body.

[0062] 4. Due to the introduction of basic movement scenes, the basic movement scenes include walking and stepping on stairs; in the basic movement scenes, the trunk stability index is set, and the trunk stability index includes the spinal dynamic balance index, the pelvic rotation index and the tilt control index; under the constraint of the trunk stability index, the first-level global dynamic coordination index between the upper limb linkage component and the lower limb linkage component is constrained and adjusted. Through the above steps, in the basic movement scenes, by setting the trunk stability index and dynamically adjusting the coordination index, the patient's movement stability and coordination can be effectively improved, thereby achieving better rehabilitation effects.

[0063] In summary, any step can be stored as a computer instruction or program in an unlimited computer memory, and can be called and recognized by an unlimited computer processor, and no unnecessary restrictions are made here.

[0064] Furthermore, the above-mentioned technical scheme only reflects the preferred technical scheme of the technical scheme of the embodiment of the present application. Some changes that may be made to some parts thereof by technicians in this technical field all reflect the novel principles of the embodiment of the present application. Obviously, technicians in this field can make various changes and modifications to the present application without departing from the scope of the present application.

Claims

1. An exoskeleton rehabilitation motion control method based on multi-sensor monitoring, characterized in that: The method is set in a rehabilitation movement control center, and the rehabilitation movement control center, the upper limb linkage component and the lower limb linkage component are interconnected. The method includes: Connecting the four-limb linkage exoskeleton accessories, the four-limb linkage exoskeleton accessories include a left shoulder joint motion component and a right shoulder joint motion component corresponding to the upper limb linkage component, and a left hip joint motion component, a left knee joint motion component, a left ankle joint motion component, a right hip joint motion component, a right knee joint motion component, and a right ankle joint motion component corresponding to the lower limb linkage component; If the four-limb linkage exoskeleton accessory is in a wearing state, a multi-channel monitoring instruction is issued, and the multi-channel monitoring instruction is used to activate multi-source monitoring equipment within a preset rehabilitation training cycle; Adopting the multi-source monitoring device, collecting motion data groups in real time, the motion data groups including left shoulder joint motion data grouping, right shoulder joint motion data grouping, left hip joint motion data grouping, left knee joint motion data grouping, left ankle joint motion data grouping, right hip joint motion data grouping, right knee joint motion data grouping, and right ankle joint motion data grouping; According to the exercise data group, the rehabilitation exercise control center performs in-depth data analysis, identifies the user's exercise characteristics, and constructs a first-stage exercise ability model; Based on the first stage movement ability model, the coordination deviation characteristics of the upper limb linkage components and the lower limb linkage components are extracted with the rehabilitation assistance process of the four-limb linkage exoskeleton accessories as a reference point; Through the coordination deviation characteristics of the upper limb linkage components and the lower limb linkage components, based on the first stage of the movement ability model, according to the user feedback data and the stage coordination process iterative update, a full-cycle rehabilitation training plan is obtained.

2. The exoskeleton rehabilitation motion control method based on multi-sensor monitoring as claimed in claim 1, characterized in that: By using the coordination deviation characteristics of the upper limb linkage components and the lower limb linkage components, the method is iteratively updated based on the first staged motor ability model according to user feedback data and the staged coordination process, and includes: Based on the left shoulder joint motion component and the right shoulder joint motion component corresponding to the upper limb linkage component, a left & right shoulder connection adjustment component is configured; Based on the left hip joint motion component and the right hip joint motion component corresponding to the lower limb linkage component, a left & right hip connection adjustment component is configured; Based on the left knee joint motion component and the right knee joint motion component corresponding to the lower limb linkage component, a left & right knee connection adjustment component is configured; Based on the left ankle joint motion component and the right ankle joint motion component corresponding to the lower limb linkage component, a left & right ankle connection adjustment component is configured.

3. The exoskeleton rehabilitation motion control method based on multi-sensor monitoring as claimed in claim 2, characterized in that: Based on the left & right shoulder connection adjustment components and the left shoulder joint motion component, a first local connection array is generated; Based on the left & right shoulder connection adjustment components, and the right shoulder joint motion component, generate a second local connection array; Through the first local connection array and the second local connection array, local coordination optimization is performed by adjusting the shoulder width and the shoulder height to establish a first local coordination optimization space.

4. The exoskeleton rehabilitation motion control method based on multi-sensor monitoring as claimed in claim 3, characterized in that: The method comprises: Based on the left & right hip connection adjustment components, a second local coordination optimization space is established; Based on the left & right knee joint adjustment components, a third local coordination optimization space is established; Based on the left & right ankle connection adjustment components, a fourth local coordination optimization space is established; The first local coordinated optimization space, the second local coordinated optimization space, the third local coordinated optimization space, and the fourth local coordinated optimization space are merged to establish a global coordinated optimization framework; The first stage movement ability model is used as the starting point of the global coordination optimization framework, and dynamic coordination correction is performed according to the coordination deviation characteristics of the upper limb linkage components and the lower limb linkage components.

5. The exoskeleton rehabilitation motion control method based on multi-sensor monitoring as claimed in claim 4, characterized in that: The first local coordinated optimization space, the second local coordinated optimization space, the third local coordinated optimization space, and the fourth local coordinated optimization space are merged to establish a global coordinated optimization framework, and the method includes: Perform hip-knee connection optimization through the left & right hip connection adjustment component and the left & right knee connection adjustment component, and add a first coordinated connection channel between the second local coordinated optimization space and the third local coordinated optimization space; Perform knee-ankle coordinated connection optimization through the left & right knee connection adjustment component and the left & right ankle connection adjustment component, and add a second coordinated connection channel between the third local coordinated optimization space and the fourth local coordinated optimization space; According to the first coordination connection channel between the second local coordination optimization space and the third local coordination optimization space, the second local coordination optimization space and the third local coordination optimization space are merged; The third local coordinated optimization space and the fourth local coordinated optimization space are merged according to the second coordinated connection channel between the third local coordinated optimization space and the fourth local coordinated optimization space.

6. The exoskeleton rehabilitation motion control method based on multi-sensor monitoring as claimed in claim 5, characterized in that: Dynamic collaborative correction is performed according to the coordination deviation characteristics of the upper limb linkage component and the lower limb linkage component, and the method includes: Based on the first local coordination optimization space and the second local coordination optimization space, adding a first-level global dynamic coordination index between the upper limb linkage component and the lower limb linkage component; Based on the first local coordination optimization space and the third local coordination optimization space, adding a secondary global dynamic coordination index between the upper limb linkage component and the lower limb linkage component; Based on the first local coordination optimization space and the fourth local coordination optimization space, adding a three-level global dynamic coordination index between the upper limb linkage component and the lower limb linkage component; The global coordination optimization framework is constructed by the first-level global dynamic coordination index between the upper limb linkage component and the lower limb linkage component, the second-level global dynamic coordination index between the upper limb linkage component and the lower limb linkage component, and the third-level global dynamic coordination index between the upper limb linkage component and the lower limb linkage component.

7. The exoskeleton rehabilitation motion control method based on multi-sensor monitoring as claimed in claim 6, characterized in that: Based on the first local coordination optimization space and the second local coordination optimization space, a first-level global dynamic coordination index between the upper limb linkage component and the lower limb linkage component is added, and the method includes: Introducing basic motion scenes, which include walking and stepping on stairs; In the basic sports scene, a trunk stability index is set, and the trunk stability index includes a spinal dynamic balance index, a pelvic rotation index, and a tilt control index; Under the constraint of the trunk stability index, the first-level global dynamic coordination index between the upper limb linkage component and the lower limb linkage component is constrained and adjusted.

8. The exoskeleton rehabilitation motion control method based on multi-sensor monitoring as claimed in claim 1, characterized in that: Taking the rehabilitation assistance process of the limb linkage exoskeleton accessory as a reference point, the method further includes: Obtaining basic user data, wherein the basic user data includes height data and body shape data; Uploading the user basic data to the rehabilitation movement control center, and using a preset fit degree to initialize the configuration of the upper limb linkage component and the lower limb linkage component; After the initialization configuration is completed, the rehabilitation assistance process of the limb linkage exoskeleton accessories is synchronized with the staged coordination process, and a user comfort evaluation mechanism is introduced to update the preset fit.

Images