Hand and foot stepping flexible force control rehabilitation robot and force control method thereof

Abstract

The invention relates to a hand and foot stepping flexible force control rehabilitation robot and a force control method thereof. A hand training mechanism and a foot training mechanism are arranged on the rack; the hand training mechanism comprises an active flexible force control device and a crank; the foot training mechanism comprises an active flexible force control device, a pedal plate and a cushion; the driving flexible force control device comprises a driving motor with an encoder, a driving disc, a driven disc, an elastic actuator, a rotating shaft and a rotary encoder; the rotating shaft is rotationally arranged on the rack; the rotating shaft penetrates through the driving disc and the driven disc; the driving disc is rotationally connected with the rotating shaft through a bearing; the driven disc is fixedly connected with the rotating shaft; the driving disc and the driven disc are connected through an elastic actuator, and the driving disc drives the driven disc to rotate through the elastic actuator. The hand and foot rehabilitation training device is used for hand and foot rehabilitation training, the traction force of the elastic actuator to the hand and the foot is monitored in real time in the training process, therefore, automatic adjustment is made, a rehabilitation assistance scheme is automatically optimized, and the rehabilitation effect is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation medical equipment, and in particular to a hand-foot-pedaling flexible force-controlled rehabilitation robot and a force control method thereof. Background Art

[0002] In order to help patients with cerebral infarction recover their motor ability, special rehabilitation training is often required to help patients regain their self-care ability. Traditional rehabilitation training often requires one-on-one, face-to-face training with rehabilitation experts. The entire rehabilitation training process is highly dependent on rehabilitation experts. The scarcity of rehabilitation experts is also one of the problems that cannot be solved in the short term in my country's rehabilitation field.

[0003] Based on this, people began to develop related rehabilitation training equipment. The training targets of rehabilitation training equipment are generally for upper and lower limbs. Whether it is upper or lower limb rehabilitation training, power-assisting devices are generally used to drive the patient's limbs to participate in exercise.

[0004] Although the power-assist device provides assistance for the patient's training, the patient's force is often inconsistent with the output force of the power-assist device. Therefore, it is impossible to reasonably evaluate how much traction the patient actually needs during the entire training process. At the same time, a little carelessness may cause secondary injuries to the patient. At the same time, the output force of the power-assist device is generally set according to the training mode. The output force is constant or adopts a predetermined change rule according to the training mode. Therefore, the power-assist device can only provide assistance, but cannot adaptively change the assistance based on the patient's actual participation force.

[0005] Therefore, there is an urgent need to design a rehabilitation training device that can monitor the actual traction force in real time and can adaptively change the assistance. Summary of the invention

[0006] The first objective of the present invention is a hand-foot-pedaling flexible force-controlled rehabilitation robot, which can monitor the traction force given to the hands and feet by the elastic actuator in real time, so as to make automatic adjustments and automatically optimize the rehabilitation assistance plan, thereby greatly improving the rehabilitation effect.

[0007] The technical solution for achieving the first object of the present invention is as follows: the hand-foot-pedaling flexible force-controlled rehabilitation robot of the present invention comprises a frame; a hand training mechanism and a foot training mechanism are arranged on the frame; the hand training mechanism comprises an active flexible force control device and a crank; the foot training mechanism comprises an active flexible force control device, a foot pedal and a seat cushion; The active flexible force control device comprises a driving motor with an encoder, an active disk, a driven disk, an elastic actuator, a rotating shaft and a rotary encoder; the rotating shaft is rotatably arranged on a frame; the rotating shaft passes through the active disk and the driven disk; the active disk is rotatably connected to the rotating shaft through a bearing; the driven disk is fixedly connected to the rotating shaft; the active disk and the driven disk are connected through an elastic actuator, and the active disk drives the driven disk to rotate through the elastic actuator; the driving motor is fixedly arranged on the frame and used to drive the active disk to rotate; the rotary encoder is fixedly arranged on the frame and used to detect the rotation angle of the driven disk; The two ends of the rotating shaft of the active flexible force control device in the hand training device are respectively fixed with cranks; the two ends of the rotating shaft of the active flexible force control device in the foot training device are respectively fixed with pedals; the seat cushion in the foot training device is fixed on the frame for sitting during foot training.

[0008] Furthermore, the elastic actuator includes a first spring mounting portion, a second spring mounting portion and a plurality of springs; the first spring mounting portion includes a plurality of first mounting bodies; the second spring mounting portion includes a plurality of second mounting bodies; The active disk and the driven disk are coaxially arranged; a plurality of first mounting bodies are fixedly arranged on the end surface of the active disk facing the driven disk, and are evenly distributed around the circumference of the rotation axis of the active disk; a plurality of second mounting bodies are fixedly arranged on the end surface of the driven disk facing the active disk, and are evenly distributed around the circumference of the rotation axis of the driven disk; The first hanging bodies and the second hanging bodies are evenly arranged in a staggered manner; a spring is arranged between adjacent first hanging bodies and second hanging bodies; and both ends of the spring are hung on the adjacent first hanging bodies and second hanging bodies.

[0009] Furthermore, after the first mounting bodies and the second mounting bodies are evenly and staggered, they are arranged in a regular polygonal shape in the direction of the rotation axis of the active disk.

[0010] As an optimized design, the first spring mounting portion includes three first mounting bodies; the second spring mounting portion includes three second mounting bodies; after the three first mounting bodies and the three second mounting bodies are staggered and evenly arranged, they are arranged in a regular hexagon in the direction of the rotation axis of the active disk.

[0011] Furthermore, the first mounting bodies and the second mounting bodies are evenly arranged in a circle along the rotation axis of the active disk; the length of the spring in a stress-free state is the radius of the circle where the first mounting bodies and the second mounting bodies are arranged in a circle.

[0012] Furthermore, a first synchronous wheel is fixedly provided on the output shaft of the driving motor; a second synchronous wheel coaxial with the driving disc is fixedly provided on the driving disc; a first synchronous belt is provided between the first synchronous wheel and the second synchronous wheel; the driving motor drives the first synchronous wheel and drives the second synchronous wheel to rotate through the first synchronous belt; A third synchronous wheel coaxial with the rotating shaft is fixedly provided; the rotary encoder is fixedly arranged on the frame; a fourth synchronous wheel is fixedly provided on the rotating part of the rotary encoder; a second synchronous belt is provided between the third synchronous wheel and the fourth synchronous wheel; the rotating shaft drives the third synchronous wheel and drives the fourth synchronous wheel to rotate through the second synchronous belt.

[0013] Furthermore, it also includes a control unit, an input unit and an interactive output unit; the input unit is used to select a training mode; the interactive output unit is used to output interactive information; the input unit and the interactive output unit are both electrically connected to the control unit; the drive motor and the rotary encoder are both electrically connected to the control unit.

[0014] Furthermore, the above-mentioned interactive output unit is a display screen, and the display screen is used to output interactive information; the interactive information is an interactive game or interactive instruction performed through mobile control.

[0015] The second object of the present invention is to provide a force control method using the above-mentioned hand and foot stepping flexible force-controlled rehabilitation robot. This method monitors the traction force in real time through the encoder and rotary encoder of the driving motor, so that the output force of the driving motor can be automatically adjusted according to different training modes to achieve better rehabilitation effects.

[0016] The technical solution for achieving the second object of the present invention is: the force control method of the present invention using the above-mentioned hand-foot-pedaling flexible force-controlled rehabilitation robot comprises the following steps: S1. Prepare the above-mentioned hand- and foot-pedaling flexible force-controlled rehabilitation robot, let the rehabilitation trainee sit on the cushion of the foot training mechanism, hold the crank of the hand training mechanism with his hands, and step on the pedals of the foot training mechanism; wherein the hand- and foot-pedaling flexible force-controlled rehabilitation robot also includes a control unit, an input unit and an interactive output unit; the input unit is used to select a rehabilitation mode; the interactive output unit is used to output interactive information; the input unit and the interactive output unit are both electrically connected to the control unit; the drive motor and the position sensor are both electrically connected to the control unit; and the length of the spring in a non-stressed state is the radius of the circle in which the first hanging body and the second hanging body are arranged in a circular manner.

[0017] S2. The training mode is selected through the input unit, and the interactive output unit displays corresponding interactive information; the interactive output unit is a display screen; the interactive information is an interactive game or interactive instruction performed through mobile control; S3. According to the selected training mode, the control unit controls the driving motor of the hand training mechanism and / or the foot training mechanism to operate, and the driving motor drives the corresponding active disk of the hand training mechanism and / or the foot training mechanism to rotate; S4. When performing hand training, the rehabilitation trainee shakes the handle according to the interactive information on the display screen; when performing foot training, the rehabilitation trainee steps on the pedal according to the interactive information on the display screen; S5, the control unit calculates the rotation angle difference between the drive motor and the rotary encoder, where the rotation angle difference is the deformation of the spring; and the traction force given by the drive motor to the hand and / or foot is converted according to the deformation of the spring; S6. Based on the calculated traction force, the control unit automatically adjusts the output force of the drive motor according to the training mode.

[0018] The present invention has positive effects: (1) The present invention can monitor the traction force given to the hands and feet by the active flexible force control device in real time, thereby making automatic adjustments and automatically optimizing the rehabilitation assistance plan, greatly improving the rehabilitation effect. At the same time, the interactive output unit can make patients feel more involved.

[0019] (2) The active flexible force control device of the present invention drives the rotating shaft to rotate through the elastic actuator, thereby providing assistance to the hands and feet. At the same time, the elastic actuator is conducive to improving the user experience, reducing secondary injuries through its own buffering, and can also monitor the actual traction by monitoring the angular difference between the drive motor and the rotary encoder. The entire structural design is simple and ingenious, with low manufacturing cost and low failure rate in later use.

[0020] (3) The first hanging part and the second hanging part of the elastic actuator in the present invention are distributed in a regular polygon, and the final design is a regular hexagonal distribution. This layout has a more uniform output of traction and is smoother when used.

[0021] (4) The force control method of the present invention can calculate the actual traction force according to the position sensor, and thus provide assistance or resistance according to the setting requirements of the training mode. In this way, while achieving adaptive adjustment, it can also enrich the rehabilitation training mode and greatly improve the rehabilitation training effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments and in conjunction with the accompanying drawings, wherein Figure 1 It is a structural schematic diagram of the hand-foot-pedaling flexible force-controlled rehabilitation robot of the present invention; Figure 2 It is a structural schematic diagram of the active flexible force control device in the present invention; Figure 3A top view of the active flexible force control device of the present invention; Figure 4 It is a structural schematic diagram of the active flexible force control device of the hand training mechanism in the present invention; Figure 5 It is a structural schematic diagram of the active flexible force control device of the foot training mechanism of the present invention; Figure 6 It is a structural schematic diagram of the elastic actuator in the present invention; Figure 7 It is a schematic diagram of an explosion of the elastic actuator in the present invention; Figure 8 is a cross-sectional view of the elastic actuator of the present invention; Fig. 9 This is a schematic diagram of electrical connections of the hand-foot-pedaling flexible force-controlled rehabilitation robot of the present invention; Fig.10 Schematic diagram of torque calculation of the elastic actuator in the present invention.

[0023] In the figure, a frame 1, a hand training mechanism 2, a crank 21, a foot training mechanism 3, a foot pedal 31, a seat cushion 32, an active flexible force control device 4, a drive motor 41, an active disk 42, a driven disk 43, an elastic actuator 44, a rotating shaft 45, a rotary encoder 46, a first synchronous belt 47, a second synchronous belt 48, a first hanging body 441, a second hanging body 442, a spring 443, a first synchronous wheel 411, a second synchronous wheel 421, a third synchronous wheel 451, a fourth synchronous wheel 461, a control unit 5, an input unit 6, and an interactive output unit 7. DETAILED DESCRIPTION

[0024] See Figures 1 to 9 The hand-foot-pedaling flexible force-controlled rehabilitation robot of the present invention comprises a frame 1; the frame 1 is provided with a hand training mechanism 2 and a foot training mechanism 3; the hand training mechanism 2 comprises an active flexible force control device 4 and a crank 21; the foot training mechanism 3 comprises an active flexible force control device 4, a foot pedal 31 and a seat cushion 32; The active flexible force control device 4 includes a driving motor 41 with an encoder, an active disk 42, a driven disk 43, an elastic actuator 44, a rotating shaft 45 and a rotary encoder 46; the rotating shaft 45 is rotatably arranged on the frame 1; the rotating shaft 45 passes through the active disk 42 and the driven disk 43; the active disk 42 is rotatably connected to the rotating shaft 45 through a bearing; the driven disk 43 is fixedly connected to the rotating shaft 45; the active disk 42 and the driven disk 43 are connected through an elastic actuator 44, and the active disk 42 drives the driven disk 43 to rotate through the elastic actuator 44; the driving motor 41 is fixedly arranged on the frame 1 and is used to drive the active disk 42 to rotate; the rotary encoder 46 is fixedly arranged on the frame 1 and is used to detect the rotation angle of the driven disk 43; The two ends of the rotating shaft 45 of the active flexible force control device 4 in the hand training device 2 are respectively fixed with a crank 21; the crank 21 is used for the rehabilitation trainee to perform actions similar to shaking a hand wheel; the two ends of the rotating shaft 45 of the active flexible force control device 4 in the foot training device 3 are respectively fixed with a foot pedal 31; the seat cushion 32 in the foot training device 3 is fixedly set on the frame 1, and is used for sitting during foot training.

[0025] It can be seen that during rehabilitation training, the trainee sits on the seat 32, steps on the pedals 31, and holds the crank 21. During rehabilitation training, the trainee's feet perform actions similar to riding a bicycle, and his hands perform actions similar to cranking a hand wheel with both hands.

[0026] The elastic actuator 44 includes a first spring mounting portion, a second spring mounting portion and six springs 443; the first spring mounting portion includes three first mounting bodies 441; the second spring mounting portion includes three second mounting bodies 442; The active disk 42 and the driven disk 43 are coaxially arranged; three first mounting bodies 441 are fixedly arranged on the end surface of the active disk 42 facing the driven disk 43, and are evenly distributed around the circumference of the rotation axis of the active disk 42; three second mounting bodies 442 are fixedly arranged on the end surface of the driven disk 43 facing the active disk 42, and are evenly distributed around the circumference of the rotation axis of the driven disk 43; The first hanging bodies 441 and the second hanging bodies 442 are evenly arranged in a staggered manner; a spring 443 is provided between adjacent first hanging bodies 441 and second hanging bodies 442 ; and both ends of the spring 443 are hung on the adjacent first hanging bodies 441 and second hanging bodies 442 .

[0027] After the first hanging bodies 441 and the second hanging bodies 442 are evenly arranged in a staggered manner, they are arranged in a regular hexagonal shape in the direction of the rotation axis of the active disk 42. More precisely, in a state without force, the hanging points of the springs 443 are arranged in a regular hexagonal shape.

[0028] The first hanging bodies 441 and the second hanging bodies 442 are evenly arranged in a circle along the rotation axis of the active disk 42; the length of the spring 443 in a state without force is the radius of the circle where the first hanging bodies 441 and the second hanging bodies 442 are arranged in a circle. In other words, the gyration radii of the first hanging body 441 and the second hanging body 442 are equal, and the length of the spring 443 in a state without force is equal to the gyration radius of the first hanging body 441.

[0029] A first synchronous wheel 411 is fixedly disposed on the output shaft of the driving motor 41; a second synchronous wheel 421 coaxial therewith is fixedly disposed on the driving disk 42; a first synchronous belt 47 is disposed between the first synchronous wheel 411 and the second synchronous wheel 421; the driving motor 41 drives the first synchronous wheel 411 and drives the second synchronous wheel 421 to rotate through the first synchronous belt 47; A third synchronous wheel 451 coaxial with the rotating shaft 45 is fixedly provided; a rotary encoder 46 is fixedly arranged on the frame 1; a fourth synchronous wheel 461 is fixedly provided on the rotating part of the rotary encoder 46; a second synchronous belt 48 is provided between the third synchronous wheel 451 and the fourth synchronous wheel 461; the rotating shaft 45 drives the third synchronous wheel 451 and drives the fourth synchronous wheel 461 to rotate through the second synchronous belt 48.

[0030] It also includes a control unit 5, an input unit 6 and an interactive output unit 7; the input unit 6 is used to select a training mode; the interactive output unit 7 is used to output interactive information; the input unit 6 and the interactive output unit 7 are both electrically connected to the control unit 5; the drive motor 41 and the rotary encoder 46 are both electrically connected to the control unit 5.

[0031] The interactive output unit 7 is a display screen, which is used to output interactive information; the interactive information is an interactive game or interactive instruction performed through mobile control.

[0032] The present invention uses the above-mentioned hand-foot-pedaling flexible force-controlled rehabilitation robot to perform a force control method, comprising the following steps: S1. Prepare the above-mentioned hand-foot pedaling flexible force-controlled rehabilitation robot, let the rehabilitation trainee sit on the seat cushion 32 of the foot training mechanism 3, hold the crank 21 of the hand training mechanism 2, and step on the foot pedal 31 of the foot training mechanism 3; S2, selecting a training mode through the input unit 6, and the interactive output unit 7 displays corresponding interactive information; the interactive output unit 7 is a display screen; the interactive information is an interactive game or interactive instruction performed through mobile control; S3, according to the selected training mode, the control unit 5 controls the driving motors 41 of the hand training mechanism 2 and the foot training mechanism 3 to operate, and the driving motors 41 drive the corresponding active disks 42 of the hand training mechanism 2 and the foot training mechanism 3 to rotate; S4, when performing hand training, the rehabilitation trainee shakes the handle 21 according to the interactive information on the display screen; when performing foot training, the rehabilitation trainee steps on the pedal 31 according to the interactive information on the display screen; S5, the control unit 5 calculates the rotation angle difference between the drive motor 41 and the rotary encoder 46, and the rotation angle difference is the deformation amount of the spring 443; the traction force given to the hand and foot by the drive motor 41 is converted by the deformation amount of the spring 443; S6. Based on the calculated traction force, the control unit 5 automatically adjusts the output force of the driving motor 41 according to the training mode.

[0033] refer to Fig.10 , where the conversion process of traction force is as follows: The control unit 5 calculates the angular difference between the drive motor 41 and the rotary encoder 46. The angular difference is the change in the angle of the mounting points of adjacent springs 443 after being subjected to force, and the change in the angle is recorded as θ. According to the design, the distance from the mounting point of the spring 443 to the rotation center is known as R (mm), and the stiffness of the spring 443 is K (N / mm). In the unforced state, the three first mounting bodies 441 are evenly distributed on the circumference at an angle of 120°. The three second mounting bodies 442 are evenly distributed on the circumference at an angle of 120°. Therefore, the angle between the adjacent first mounting bodies 441 and the second mounting bodies 442 based on the rotation center is 60°. In addition, the length L of the spring 443 in the unforced state is R.

[0034] During rehabilitation training, the active disk 42 and the driven disk 43 will deviate in angle under the force state, that is, a rotation angle difference will be generated. At this time, the length of the spring 443 changes as follows: Among them, three groups of springs 443 are stretched, and the stretched spring length L1=2*R*sin(120°-θ / 2), the spring force P1=(L1-R)*K, and the component force tangent to the rotation direction F1=P1*cos(60°-θ / 2); The other three groups of springs 443 are compressed, and the length after compression is L2=2*R*sin(θ / 2), the spring force P2=(R-L2)*K, and the component force tangent to the rotation direction is F2=P2*cos(θ / 2); Therefore, the total spring force F=3*(F1+F2), the torque The torque T is the traction force.

[0035] It can be seen from this that the traction force can be calculated by simply monitoring the steering angle difference, making it easier to implement regulation.

[0036] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A hand-foot-pedaling flexible force-controlled rehabilitation robot, comprising a frame; the frame is provided with a hand training mechanism and a foot training mechanism; the characteristics are: The hand training mechanism includes an active flexible force control device and a crank; the foot training mechanism includes an active flexible force control device, a foot pedal and a seat cushion; The active flexible force control device comprises a driving motor with an encoder, an active disk, a driven disk, an elastic actuator, a rotating shaft and a rotary encoder; the rotating shaft is rotatably arranged on a frame; the rotating shaft passes through the active disk and the driven disk; the active disk is rotatably connected to the rotating shaft through a bearing; the driven disk is fixedly connected to the rotating shaft; the active disk and the driven disk are connected through an elastic actuator, and the active disk drives the driven disk to rotate through the elastic actuator; the driving motor is fixedly arranged on the frame and used to drive the active disk to rotate; the rotary encoder is fixedly arranged on the frame and used to detect the rotation angle of the driven disk; The two ends of the rotating shaft of the active flexible force control device in the hand training device are respectively fixed with cranks; the two ends of the rotating shaft of the active flexible force control device in the foot training device are respectively fixed with pedals; the seat cushion in the foot training device is fixed on the frame for sitting during foot training.

2. The hand-foot-pedaling flexible force-controlled rehabilitation robot according to claim 1, characterized in that: The elastic actuator includes a first spring mounting portion, a second spring mounting portion and a plurality of springs; the first spring mounting portion includes a plurality of first mounting bodies; the second spring mounting portion includes a plurality of second mounting bodies; The active disk and the driven disk are coaxially arranged; a plurality of first mounting bodies are fixedly arranged on the end surface of the active disk facing the driven disk, and are evenly distributed around the circumference of the rotation axis of the active disk; a plurality of second mounting bodies are fixedly arranged on the end surface of the driven disk facing the active disk, and are evenly distributed around the circumference of the rotation axis of the driven disk; The first hanging bodies and the second hanging bodies are evenly arranged in a staggered manner; a spring is arranged between adjacent first hanging bodies and second hanging bodies; and both ends of the spring are hung on the adjacent first hanging bodies and second hanging bodies.

3. The hand-foot-pedaling flexible force-controlled rehabilitation robot according to claim 2, characterized in that: After being staggered and evenly arranged, the first hanging bodies and the second hanging bodies are arranged in a regular polygonal shape in the direction of the rotation axis of the active disk.

4. The hand-foot-pedaling flexible force-controlled rehabilitation robot according to claim 3, characterized in that: The first spring mounting part includes three first mounting bodies; the second spring mounting part includes three second mounting bodies; the three first mounting bodies and the three second mounting bodies are evenly arranged in a staggered manner to form a regular hexagonal arrangement in the direction of the rotation axis of the active disk.

5. The hand-foot-pedaling flexible force-controlled rehabilitation robot according to claim 2, 3 or 4, characterized in that: The first hanging bodies and the second hanging bodies are evenly arranged in a circle along the rotation axis of the active disk; the length of the spring in a stress-free state is the radius of the circle where the first hanging bodies and the second hanging bodies are arranged in a circle.

6. The hand-foot-pedaling flexible force-controlled rehabilitation robot according to claim 1, 2, 3, 4, or 5, characterized in that: A first synchronous wheel is fixedly arranged on the output shaft of the driving motor; a second synchronous wheel coaxial with the driving disc is fixedly arranged on the driving disc; a first synchronous belt is arranged between the first synchronous wheel and the second synchronous wheel; the driving motor drives the first synchronous wheel and drives the second synchronous wheel to rotate through the first synchronous belt; A third synchronous wheel coaxial with the rotating shaft is fixedly provided; the rotary encoder is fixedly arranged on the frame; a fourth synchronous wheel is fixedly provided on the rotating part of the rotary encoder; a second synchronous belt is provided between the third synchronous wheel and the fourth synchronous wheel; the rotating shaft drives the third synchronous wheel and drives the fourth synchronous wheel to rotate through the second synchronous belt.

7. The hand-foot-pedaling flexible force-controlled rehabilitation robot according to claim 1, 2, 3, 4, or 5, characterized in that: It also includes a control unit, an input unit and an interactive output unit; the input unit is used to select a training mode; the interactive output unit is used to output interactive information; the input unit and the interactive output unit are both electrically connected to the control unit; the drive motor and the rotary encoder are both electrically connected to the control unit.

8. The hand-foot-pedaling flexible force-controlled rehabilitation robot according to claim 7, characterized in that: The interactive output unit is a display screen, and the display screen is used to output interactive information; the interactive information is an interactive game or interactive instruction performed through mobile control.

9. A force control method using the hand-foot-pedaling flexible force-controlled rehabilitation robot according to claim 5, characterized in that The following steps are involved: S1. Prepare the hand-foot-pedaling flexible force-controlled rehabilitation robot as described in claim 5, let the rehabilitation trainee sit on the cushion of the foot training mechanism, hold the crank of the hand training mechanism with his hands, and step on the pedal of the foot training mechanism with his feet; wherein the hand-foot-pedaling flexible force-controlled rehabilitation robot also includes a control unit, an input unit and an interactive output unit; the input unit is used to select the rehabilitation mode; the interactive output unit is used to output interactive information; the input unit and the interactive output unit are both electrically connected to the control unit; the drive motor and the position sensor are both electrically connected to the control unit; and the length of the spring in the unstressed state is the radius of the circle in which the first hanging body and the second hanging body are arranged circumferentially. S2. Select the training mode through the input unit, and the interactive output unit displays the corresponding interactive information; the interactive output unit is a display screen; the interactive information is an interactive game or interactive instruction performed through mobile control; S3. According to the selected training mode, the control unit controls the driving motor of the hand training mechanism and / or the foot training mechanism to operate, and the driving motor drives the corresponding active disk of the hand training mechanism and / or the foot training mechanism to rotate; S4. When performing hand training, the rehabilitation trainee shakes the handle according to the interactive information on the display screen; when performing foot training, the rehabilitation trainee steps on the pedal according to the interactive information on the display screen; S5. The control unit calculates the rotation angle difference between the drive motor and the rotary encoder, and the rotation angle difference is the deformation of the spring; The traction force given by the drive motor to the hands and / or feet is calculated by the deformation of the spring; S6. Based on the calculated traction force, the control unit automatically adjusts the output force of the drive motor according to the training mode.

10. The force control method according to claim 9, characterized in that: A first synchronous wheel is fixedly arranged on the output shaft of the driving motor; a second synchronous wheel coaxial with the driving disc is fixedly arranged on the driving disc; a first synchronous belt is arranged between the first synchronous wheel and the second synchronous wheel; the driving motor drives the first synchronous wheel and drives the second synchronous wheel to rotate through the first synchronous belt; The driven disk is fixedly provided with a third synchronous wheel coaxial therewith; the rotary encoder is fixedly arranged on the frame; the rotating part of the rotary encoder is fixedly provided with a fourth synchronous wheel; a second synchronous belt is provided between the third synchronous wheel and the fourth synchronous wheel; the driven disk drives the third synchronous wheel and drives the fourth synchronous wheel to rotate through the second synchronous belt.

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