Rehabilitation robot control system and method in voice interaction mode

Abstract

The invention discloses a rehabilitation robot control system and method in a voice interaction mode, and relates to the technical field of medical instruments.The system is characterized in that a voice interaction system receives and processes a voice instruction of a user to obtain an action instruction; the man-machine interaction system is used for filing according to input personal information, generating a motion gait track of a user, obtaining joint angle track information according to a motion instruction, sending the joint angle track information to the central computing control unit, and recording and displaying joint motor execution data; the central computing control unit receives and processes the joint angle track information, generates a motion task, transmits the motion task to each joint driving and control acquisition system, and feeds back execution data of a joint motor to the man-machine interaction system in real time; and the joint driving and control acquisition systems control the joint motors to execute actions according to the motion tasks and feed back execution data of the joint motors to the central computing control unit. The joint motor is controlled by voice to move according to the intention of a person, so that the dysfunctional person can walk freely.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a rehabilitation robot control system and method in a voice interaction mode. Background Art

[0002] Traditional exoskeleton lower limb rehabilitation robots can only perform fixed movements according to pre-set movement programs, but cannot perform corresponding movements according to human intentions. At present, existing technologies can analyze human movement intentions through EEG, EMG, external environment perception, and large model access, but they cannot analyze human intentions from a global perspective, so that they cannot accurately and effectively perform user task requirements. Moreover, this multimodal perception technology is still in the research and development stage, and its decoding of human intentions is still immature, and cannot be effectively used as a basis for human intention recognition, thus preventing users from moving freely. The access to the voice interaction system can well solve the gap at this stage.

[0003] Therefore, there is an urgent need to design a control scheme for a rehabilitation robot based on voice interaction so as to better execute the actions required by the user and help the user achieve free walking. Summary of the invention

[0004] The purpose of the present invention is to provide a rehabilitation robot control system and method in a voice interaction mode, which can control the rehabilitation robot to move according to human intentions through simple voice input, thereby helping people with functional disabilities to walk freely.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] A rehabilitation robot control system in a voice interaction mode, comprising:

[0007] The voice instruction generating device is used to receive the user's voice signal and send the voice instruction to the voice interaction system;

[0008] The rehabilitation robot body comprises:

[0009] A voice interaction system, used to receive and process the voice command to obtain an action command;

[0010] The human-computer interaction system is used to establish an information file based on the personal information input by the user, generate the user's motion trajectory, and process the action instructions transmitted by the voice interaction system to obtain the joint angle trajectory information and send it to the central operation control unit. It also records and displays the execution data of the joint motor in real time;

[0011] The central operation control unit is used to receive and process the joint angle trajectory information, generate motion tasks and transmit them to each joint drive and control acquisition system, and feed back the execution data of the joint motor fed back by the joint drive and control acquisition system to the human-machine interaction system in real time;

[0012] Each joint drive and control acquisition system is used to control the joint motor to execute motion commands according to the received motion tasks, and feed back the execution data of the joint motor to the central operation control unit in real time.

[0013] Furthermore, the human-computer interaction system exchanges information with the voice interaction system through serial communication technology; the joint drive and control acquisition systems establish connection with the central operation control unit through CAN communication; the human-computer interaction system exchanges information with the central operation control unit through Ethernet communication technology.

[0014] Furthermore, the system also includes a power supply module and an emergency protection module; the power supply module provides various required voltages for the entire system, and a charging port is set on the outside of the product; the emergency protection module is used to put the entire system into an emergency stop state when the user encounters an emergency.

[0015] Furthermore, the rehabilitation robot is an exoskeleton lower limb rehabilitation robot, and the voice command generating device also includes a walking assist crutch and a voice enable button, wherein the voice enable button is arranged at the upper end of the walking assist crutch, and is used to send a corresponding voice command to the voice interaction system when the user presses and speaks;

[0016] The emergency protection module is an emergency stop button, which is used to press the emergency stop button when the user encounters an emergency situation to put the entire system into an emergency stop state; the emergency stop button is located at the upper end of the walking assist crutch and is within the touch range of the thumb.

[0017] Furthermore, the step of establishing an information file based on the personal information input by the user and generating the user's movement gait trajectory specifically includes:

[0018] After inputting the user's personal information and establishing the information file, an ID icon is generated; the ID icon is clicked, and confirmation is clicked; matching is performed according to the parameters of the personal information to generate a motion gait trajectory for the user.

[0019] Furthermore, the personal information includes name, gender, height, weight, thigh length, calf length, waist width, stride, and pace information.

[0020] Further, controlling the joint motor to execute the motion command according to the received motion task specifically includes:

[0021] When receiving a motion task from the central operation control unit, the joint drive and control acquisition module uses the CAN message filter to filter out the message corresponding to the shutdown motor, and at the same time identifies the function code according to the message to quickly locate the task to be performed by the user.

[0022] Furthermore, the voice interaction system includes: a microphone, a voice interaction control module, and a speaker. The microphone is worn on the head to receive the user's voice commands, the voice interaction control module is used to process the voice instructions to obtain action instructions; and the speaker is used to make voice responses.

[0023] Furthermore, the human-computer interaction system is externally mounted on the back of the product and separated from the main device; the voice interaction control module, central operation control unit and power supply module are all built into the integrated control box on the back of the device; the joint drive and control acquisition systems are built into the hip joint, knee joint and ankle joint of the product.

[0024] The present invention also provides a rehabilitation robot control method in a voice interaction mode, which is applied to the rehabilitation robot control system in the voice interaction mode, and comprises:

[0025] S1, receiving the user's voice command through the voice interaction system and processing it to obtain an action command;

[0026] S2, through the human-computer interaction system, establishes an information file based on the personal information input by the user, generates the user's motion trajectory, and processes the action instructions transmitted by the voice interaction system to obtain the joint angle trajectory information and send it to the central operation control unit, and also records and displays the execution data of the joint motor in real time;

[0027] S3, receiving and processing joint angle trajectory information through the central operation control unit, generating motion tasks and transmitting them to each joint drive and control acquisition system, and feeding back the execution data of the joint motors fed back by the joint drive and control acquisition system to the human-computer interaction system in real time;

[0028] S4, through each joint drive and control acquisition system, controls the joint motor to execute the action command according to the received motion task, and feeds back the execution data of the joint motor to the central operation control unit in real time.

[0029] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects: the control system and method of the rehabilitation robot in the voice interaction mode provided by the present invention can control the robot to move according to the user's intention according to the user's voice command. It helps people with limb and other functional disabilities to walk freely and help them achieve basic self-care. The specific advantages are as follows:

[0030] 1. The present invention is highly scalable and adaptable. The human-computer interaction system automatically matches the system according to the parameters input by the user and generates a motion trajectory for the user. It can be fine-tuned and optimized according to different application scenarios and requirements. Therefore, the human-computer interaction system can be customized and expanded according to the actual needs of the user to meet the service needs of different users and scenarios. This makes the present invention highly scalable and adaptable, and thus makes the present invention have broad application prospects and market demand, and can provide personalized gait data for different groups of people.

[0031] 2. The present invention adopts an integrated voice interaction system. Compared with methods such as EEG, EMG, and environmental perception, the voice interaction system can quickly understand and analyze the user's intentions and needs, and achieve highly intelligent language responses, thereby achieving smooth and natural human-computer dialogue and interaction. That is, the voice interaction system enables the robot to accurately capture the user's intentions, and the real-time nature of this voice recognition technology ensures the efficiency and convenience of human-computer interaction.

[0032] 3. The present invention can realize efficient and accurate task execution through the joint drive and control module: when receiving a task sent by the central operation control unit, the joint drive and control module can use the CAN message filter to filter out the message corresponding to the shutdown motor, and at the same time perform function code recognition based on the received message, quickly locate the task that the user wants to perform, so that the robot can complete the task efficiently and accurately. That is, the CAN message filtering function and function code recognition technology can quickly help the system identify the user's movement intention and find the corresponding execution function. Improve the efficiency and accuracy of task execution.

[0033] 4. The present invention can realize execution information feedback: In addition to the language response after the voice interaction system recognizes the intention, the present invention can also feedback the execution data of the joint motor, and record and display it in real time in the human-computer interaction system. The execution information feedback method makes the interaction between the user and the robot more natural and intuitive, and provides data support for the user's physical health assessment. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0035] Figure 1 is a schematic structural diagram of a rehabilitation robot control system in a voice interaction mode in an embodiment of the present invention;

[0036] Figure 2It is a schematic structural diagram of a rehabilitation robot control system in a voice interaction mode in a further embodiment of the present invention. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] The purpose of the present invention is to provide a rehabilitation robot control system and method in a voice interaction mode, which can control the exoskeleton robot to move according to human intentions through simple voice input, thereby helping people with lower limb dysfunction to walk freely.

[0039] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] like Figure 1-2 As shown, a rehabilitation robot control system in a voice interaction mode provided in this embodiment includes a rehabilitation robot body and a voice command generating device;

[0041] The voice instruction generating device is used to receive the user's voice signal and send the corresponding voice instruction to the voice interaction system;

[0042] The rehabilitation robot body comprises:

[0043] The voice interaction system is used to receive and process the user's voice commands to obtain action commands;

[0044] The human-computer interaction system is used to establish an information file based on the personal information input by the user, generate the user's motion trajectory, and process the action instructions transmitted by the voice interaction system to obtain the joint angle trajectory information and send it to the central operation control unit through Ethernet communication technology. It also records and displays the execution data of the joint motor in real time;

[0045] The central operation control unit is used to receive and process the joint angle trajectory information, generate a motion task (i.e., the action to be performed), and transmit it to each joint drive and control acquisition system, and feed back the execution data of the joint motor fed back by the joint drive and control acquisition system to the human-computer interaction system in real time through the CAN communication protocol; specifically, the received joint angle trajectory information is analyzed and processed to obtain the action flag, and the corresponding interface function is called, namely:

[0046] The human-computer interaction system will encode the execution action according to the instructions sent by the voice interaction system, and send the data to the central control system through Ethernet communication technology. For example, when receiving a command to move forward 1 step, the human-computer interaction system will set the command word to 01, and when receiving a command to move forward 2 steps, the human-computer interaction system will set the command word to 02, and then send it to the central operation control unit, which will call the corresponding interface function according to the received command word.

[0047] Each joint drive and control acquisition system is used to control the joint motor to execute the action command according to the received motion task, and to feed back the execution data of the joint motor to the central operation control unit in real time through CAN communication. A closed loop of data is realized to provide data support for the human-computer interaction system to evaluate the user's physical health. Specifically, the execution data of the joint motor includes: real-time angle data of the joint motor, current data of each phase of the motor, rotation speed data of the motor, etc.

[0048] In this embodiment, the rehabilitation robot control system in the voice interaction mode also includes an emergency protection module and a power supply module; the power supply module provides various required voltages for the entire system and a charging port is set on the outside of the product; the emergency protection module is used to put the entire system into an emergency stop state when the user encounters an emergency.

[0049] In a further embodiment, the rehabilitation robot is an exoskeleton lower limb rehabilitation robot, and the voice command generating device further includes a walking assist crutch and a voice enable button, wherein the voice enable button is arranged at the upper end of the walking assist crutch, and is used to send a corresponding voice command to the voice interaction system when the user presses and speaks;

[0050] The emergency protection module is an emergency stop button, which is used to press the emergency stop button when the user encounters an emergency situation to put the entire system into an emergency stop state. The emergency stop button is located at the upper end of the walking assist crutch and is within the touch range of the thumb.

[0051] In this embodiment, the process of establishing an information file based on the personal information input by the user and generating the user's movement trajectory specifically includes:

[0052] Enter the user's personal information, create an information file, and generate an ID icon; click the ID icon and click confirm; match the parameters of the personal information and generate a motion trajectory for the user (when the robot is an exoskeleton lower limb rehabilitation robot, a motion gait trajectory is generated).

[0053] In this embodiment, the personal information includes name, gender, height, weight, thigh length, calf length, waist width, stride, and pace information.

[0054] In this embodiment, controlling the joint motor to execute the motion command according to the received motion task specifically includes:

[0055] When receiving a motion task from the central operation control unit, the joint drive and control acquisition module uses the CAN message filter to filter out the message corresponding to the shutdown motor, and at the same time identifies the function code according to the message to quickly locate the task to be performed by the user.

[0056] In this embodiment, the voice interaction system includes: a microphone, a voice interaction control module, and a speaker. The microphone is worn on the head to receive the user's voice commands. The voice interaction control module is used to process the voice instructions to obtain action instructions; the speaker is used to make voice responses.

[0057] In this embodiment, the human-computer interaction system is externally mounted on the back of the product and separated from the main device; the voice interaction control module, central operation control unit and power supply module are all built into the integrated control box on the back of the device; the joint drive and control acquisition systems are built into the hip joint, knee joint and ankle joint of the product.

[0058] Instructions for use: This product includes the main body of the exoskeleton lower limb rehabilitation robot and a walking assist crutch. When the user uses this product for the first time, he needs to establish his own information file through the human-computer interaction system. Enter the user's personal information, such as name, gender, height, weight, thigh length, calf length, waist circumference, stride, and pace information. After the file is created, an ID icon will be generated. Click the generated ID icon and click Confirm. The human-computer interaction system matches the system according to the parameters and generates a gait trajectory for the user. When the user wants to control the movement of the exoskeleton lower limb rehabilitation robot, in order to prevent external sound interference, you can press and hold the voice enable button on the left crutch. The button is at the upper end of the left crutch and within the touch range of the thumb. Then send a voice command to the device. After the sending is completed, the voice interaction system will reply with the corresponding information, indicating that the command was sent successfully. At this time, you can release the voice enable button, and the exoskeleton lower limb rehabilitation robot will perform the corresponding action according to the received command. At the same time, the central control system sends the real-time data of the device to the human-computer interaction system through Ethernet communication technology for information recording. In case of emergency, the user can press the emergency stop button on the right crutch, which is at the upper end of the right crutch and within the thumb's touch range, and the system will enter the emergency stop state. At the same time, the main body of the exoskeleton lower limb rehabilitation robot is also equipped with a voice enable button and an emergency stop button to meet the needs of users in the later stages of sensory motor function recovery when they do not need crutches.

[0059] Example 2

[0060] The embodiment of the present invention provides a rehabilitation robot control method in a voice interaction mode, which is applied to the rehabilitation robot control system in the voice interaction mode described in Example 1, and includes:

[0061] S1, receiving the user's voice command through the voice interaction system and processing it to obtain an action command;

[0062] S2, establishing an information file according to the personal information input by the user through the human-computer interaction system, generating the user's movement gait trajectory, and processing according to the action instructions transmitted by the voice interaction system, obtaining the joint angle trajectory information and sending it to the central operation control unit, and also recording and displaying the execution data of the joint motor in real time;

[0063] S3, receiving and processing joint angle trajectory information through the central operation control unit, generating motion tasks and transmitting them to each joint drive and control acquisition system, and feeding back the execution data of the joint motors fed back by the joint drive and control acquisition system to the human-computer interaction system in real time;

[0064] S4, through each joint drive and control acquisition system, controls the joint motor to execute the action command according to the received motion task, and feeds back the execution data of the joint motor to the central operation control unit in real time.

[0065] In summary, the rehabilitation robot control system and method in the voice interaction mode provided by the present invention can control the exoskeleton lower limb rehabilitation robot according to the user's voice commands, thereby enabling people with lower limb dysfunction to walk freely and help them achieve basic self-care abilities.

[0066] In a further embodiment, instructions such as forward 1 step, 2 steps, 3 steps, turn left, turn right, move left one step, move right one step, etc. are set in the voice interaction system, and 20-30 intention instructions can be set. When the voice interaction system receives relevant keywords in the voice, it will send corresponding messages to the human-computer interaction system through the serial port. According to the instructions sent by the voice interaction system, the corresponding interface function is called to encode the execution action, and the data is sent to the central control system through Ethernet communication technology.

[0067] The remaining technical features in this embodiment can be flexibly selected by those skilled in the art according to actual conditions to meet different specific practical needs. However, it is obvious to those skilled in the art that it is not necessary to adopt these specific details to implement the present invention. In other examples, in order to avoid confusing the present invention, the well-known components, structures or parts are not specifically described, which are all within the technical protection scope defined by the technical solution claimed for protection in the claims of the present invention.

[0068] Modifications and changes made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the scope of protection of the claims attached to the present invention. In the above description, a large number of specific details are set forth in order to provide a thorough understanding of the present invention. However, it is obvious to those of ordinary skill in the art that these specific details are not necessary to practice the present invention. In other examples, in order to avoid confusing the present invention, well-known technologies, such as specific construction details, operating conditions and other technical conditions, are not specifically described.

[0069] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A rehabilitation robot control system in voice interaction mode, characterized in that: It includes a rehabilitation robot body and a voice command generating device; The voice instruction generating device is used to receive the user's voice signal and send the voice instruction to the voice interaction system; The rehabilitation robot body comprises: A voice interaction system, used to receive and process the voice command to obtain an action command; The human-computer interaction system is used to establish an information file based on the personal information input by the user, generate the user's motion trajectory, and process the action instructions transmitted by the voice interaction system to obtain the joint angle trajectory information and send it to the central operation control unit. It also records and displays the execution data of the joint motor in real time; The central operation control unit is used to receive and process the joint angle trajectory information, generate motion tasks and transmit them to each joint drive and control acquisition system, and feed back the execution data of the joint motor fed back by the joint drive and control acquisition system to the human-machine interaction system in real time; Each joint drive and control acquisition system is used to control the joint motor to execute motion commands according to the received motion tasks, and feed back the execution data of the joint motor to the central operation control unit in real time.

2. The rehabilitation robot control system in voice interaction mode according to claim 1, characterized in that: The human-computer interaction system exchanges information with the voice interaction system through serial communication technology; the joint drive and control acquisition system establishes communication with the central operation control unit through CAN communication; the human-computer interaction system exchanges information with the central operation control unit through Ethernet communication technology.

3. The rehabilitation robot control system in voice interaction mode according to claim 1, characterized in that: The system also includes a power supply module and an emergency protection module; the power supply module provides various required voltages for the entire system, and a charging port is set on the outside of the product; the emergency protection module is used to put the entire system into an emergency stop state when the user encounters an emergency.

4. The rehabilitation robot control system in voice interaction mode according to claim 3, characterized in that: The rehabilitation robot is an exoskeleton lower limb rehabilitation robot, and the voice command generating device also includes a walking assist crutch and a voice enable button, wherein the voice enable button is arranged at the upper end of the walking assist crutch and is used to send a corresponding voice command to the voice interaction system when the user presses and speaks; The emergency protection module is an emergency stop button, which is used to press the emergency stop button when the user encounters an emergency, so that the entire system enters an emergency stop state; The emergency stop button is located at the upper end of the walking assist crutch, within the touch range of the thumb.

5. The rehabilitation robot control system in voice interaction mode according to claim 1, characterized in that: The step of establishing an information file based on the personal information input by the user and generating the user's movement gait trajectory specifically includes: After inputting the user's personal information and establishing the information file, an ID icon is generated; the ID icon is clicked, and confirmation is clicked; matching is performed according to the parameters of the personal information to generate a motion gait trajectory for the user.

6. The rehabilitation robot control system in voice interaction mode according to claim 1, characterized in that: The personal information includes name, gender, height, weight, thigh length, calf length, waist width, stride, and pace information.

7. The rehabilitation robot control system in voice interaction mode according to claim 1, characterized in that: The step of controlling the joint motor to execute the motion command according to the received motion task specifically includes: When receiving a motion task from the central operation control unit, the joint drive and control acquisition module uses the CAN message filter to filter out the message corresponding to the shutdown motor, and at the same time identifies the function code according to the message to quickly locate the task to be performed by the user.

8. The rehabilitation robot control system in voice interaction mode according to claim 1, characterized in that: The voice interaction system includes: a microphone, a voice interaction control module, and a speaker. The microphone is worn on the head to receive the user's voice commands. The voice interaction control module is used to process the voice instructions to obtain action instructions; the speaker is used to make voice responses.

9. The rehabilitation robot control system in voice interaction mode according to claim 1, characterized in that: The human-computer interaction system is externally mounted on the back of the product and separated from the main device; the voice interaction control module, central operation control unit and power supply module are all built into the integrated control box on the back of the device; the joint drive and control acquisition systems are built into the hip joint, knee joint and ankle joint of the product.

10. A method for controlling a rehabilitation robot in a voice interaction mode, applied to a rehabilitation robot control system in a voice interaction mode according to any one of claims 1 to 9, characterized in that: include: S1, receiving the user's voice command through the voice interaction system and processing it to obtain an action command; S2, through the human-computer interaction system, establishes an information file based on the personal information input by the user, generates the user's motion trajectory, and processes the action instructions transmitted by the voice interaction system to obtain the joint angle trajectory information and send it to the central operation control unit, and also records and displays the execution data of the joint motor in real time; S3, receiving and processing joint angle trajectory information through the central operation control unit, generating motion tasks and transmitting them to each joint drive and control acquisition system, and feeding back the execution data of the joint motors fed back by the joint drive and control acquisition system to the human-computer interaction system in real time; S4, through each joint drive and control acquisition system, controls the joint motor to execute the action command according to the received motion task, and feeds back the execution data of the joint motor to the central operation control unit in real time.

Images