Trajectory planning method for pelvic movement of walking rehabilitation training robot
By using sinusoidal function and Tau-j theory to plan the pelvic motion trajectory in the walking rehabilitation training robot, the problem of insufficient pelvic motion trajectory planning in the existing technology is solved, and a more scientific, accurate and personalized rehabilitation training plan is achieved.
Patent Information
- Application Number
- CN202510077805.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-17
- Publication Date
- 2025-05-13
AI Technical Summary
The existing walking rehabilitation training robots have problems such as insufficient movement, complex implementation process, and poor motor connection between adjacent cycles in the planning of pelvic motion trajectory.
The sine function is used to plan the trajectory of up and down of the pelvic motion, and the trajectory planning of left and right movements of the pelvic motion and torsional movement about the vertical axis is used to plan the trajectory planning curve to ensure the continuous velocity and acceleration of the trajectory planning curve, and improve the connection of the trajectory curve between adjacent periods.
The scientificity and accuracy of the pelvic movement of the walking rehabilitation training robot has been improved, and the generated trajectory planning curve is highly fitted with the pelvic movement trajectory under normal gait, and the stability and flexibility have also been improved.
Smart Images
Figure CN119993438A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of rehabilitation robots, and in particular to a trajectory planning method for pelvic movement of a walking rehabilitation training robot. Background Art
[0002] For people with lower limb movement disorders, in addition to surgery and drug treatment, reasonable rehabilitation training is very important to restore walking function. In the process of using walking rehabilitation training robots for rehabilitation training, the robot drives the patient's lower limbs to move, and scientific pelvic control training can improve the patient's joint kinematic parameters, thereby promoting the recovery of their walking movement function.
[0003] The mainstream gait rehabilitation robots are of two types: exoskeleton rehabilitation training robots and pedal rehabilitation training robots. When the exoskeleton gait rehabilitation robot performs rehabilitation training, the pelvis will move with the exoskeleton system, but because the lower limbs are restricted to the sagittal plane, the movement trajectory of the pelvis is quite different from that of the natural gait, which affects the gait dynamics. When the pedal rehabilitation robot performs rehabilitation training, the movement of the pelvis is passively generated under the constraints of the human joints and the robot system. The pelvic movement under these two training methods is not actively driven and reasonable trajectory planning is not performed. It is difficult for the pelvic movement to conform to the actual gait, and the movement of the hip, knee, and ankle joints will also be affected and deviate from the expected trajectory. When the existing trajectory planning algorithms such as the cubic / quintic polynomial method, the spline curve method, and the trapezoidal velocity method are used for pelvic motion planning, there are often defects such as insufficient flexibility of movement, complex implementation process, and poor movement connection between adjacent cycles. Summary of the invention
[0004] In order to achieve the above-mentioned purpose, the present invention provides a trajectory planning method for the pelvic movement of a walking rehabilitation training robot, which can adjust the movement trajectory of the pelvis of the walking rehabilitation training robot according to the pelvic movement range and gait parameters of different patients. The trajectory planning method for the pelvic movement of the walking rehabilitation training robot proposed by the present invention increases the scientificity and accuracy of the pelvic movement of the walking rehabilitation training robot without affecting the gait rehabilitation training. The present invention has the characteristics of simple parameters, strong controllability and high accuracy.
[0005] The technical solution adopted by the present invention is: A trajectory planning method for pelvic motion of a walking rehabilitation training robot includes trajectory planning for up-and-down motion of the pelvis, trajectory planning for left-and-right motion of the pelvis, and trajectory planning for torsional motion of the pelvis around a vertical axis, wherein the up-and-down motion of the pelvis adopts a sine function for trajectory planning, the left-and-right motion of the pelvis adopts Tau-j theory for trajectory planning, and the torsional motion of the pelvis adopts Tau-j theory for trajectory planning.
[0006] Further optimization, the trajectory planning of the pelvis up and down movement is: when the initial height of the pelvis when standing is taken as the zero point, the pelvis up and down movement trajectory planning equation based on the sine function is Where h is the range of up and down movement of the pelvis during walking, T is the gait period, t∈[0,T]; In the gait cycle divided by the heel strike event, the trajectory function of the pelvis up and down movement is
[0007] Further optimization, the left-right movement of the pelvis is a reciprocating movement of the pelvis between the left and right endpoints, the two endpoints are respectively regarded as the starting point and the end point of a single movement, and only the trajectory planning is performed for the single movement between the two endpoints.
[0008] Further optimization, the trajectory planning of the left-right movement of the pelvis is: when the direction from right to left is determined as the positive direction, the trajectory from the rightmost side of the pelvis to the leftmost side is taken as the target trajectory, and the trajectory planning equation of the left-right movement of the pelvis based on the internal Tau-j theory is in, k x is the coupling coefficient of the Tau-j strategy, x0 is the range of left and right movement of the pelvis during walking, and T is the gait cycle.
[0009] Further optimization, the coupling coefficient k of the Tau-j strategy x When (0, 0.5) is taken, the velocity of the pelvic left and right motion trajectory planning curve based on Tau-j theory is zero at the beginning and end of the motion; the coupling coefficient k of the Tau-j strategy is x When the value is 0.4, the pelvic left-right motion trajectory planning equation based on Tau-j theory plans a smooth trajectory that has a high degree of fit with the pelvic left-right motion trajectory under normal gait.
[0010] Further optimization, the torsional movement of the pelvis around the vertical axis is the torsional movement of the pelvis around the vertical axis, which swings back and forth between two motion endpoints of the positive maximum rotation angle and the reverse maximum rotation angle, the two motion endpoints are respectively regarded as the starting point and end point of the swinging movement, and only the trajectory planning is performed for a single movement between the two endpoints.
[0011] Further optimization, the trajectory planning of the torsional motion of the pelvis around the vertical axis is: when the vertical axis is vertically upward as the positive direction and the counterclockwise rotation around the vertical axis is the positive direction of the torsional motion, the motion trajectory of the pelvis from the reverse maximum rotation angle to the positive maximum rotation angle is taken as the target trajectory. The trajectory planning equation of the torsional motion of the pelvis around the vertical axis based on Tau-j theory is: in, k r is the coupling coefficient of the Tau-j strategy, r0 is the range of pelvic torsion during walking, and T is the gait period.
[0012] Further optimization, the coupling coefficient k of the Tau-j strategy r When (0, 0.5) is taken, the velocity and acceleration of the trajectory planning curve of the pelvic torsion motion based on the Tau-j theory are both zero at the beginning and end of the motion; the coupling coefficient k of the Tau-j strategy is r When the value is 0.2, the trajectory planning equation of the torsional motion of the pelvis around the vertical axis based on the Tau-j theory plans a compliant trajectory that has a high degree of fit with the trajectory of the torsional motion of the pelvis in normal gait.
[0013] The beneficial effects of the present invention are: The present invention only needs to provide the patient's pelvic motion range and gait cycle, and can perform reasonable trajectory planning according to the trajectory planning equation, and has a high degree of fit with the pelvic motion trajectory under normal gait; the velocity and acceleration of the trajectory planning curve generated by the method are continuous, the trajectory curve between adjacent cycles has good connectivity, and the pelvic rehabilitation training robot has good stability in the start and stop stages when moving according to the planned curve; the Tau theory in the bionic trajectory algorithm is used to plan the trajectory of pelvic movement, which is more in line with the biomechanical characteristics of pelvic movement; in addition, the trajectory planning method of the present invention requires fewer parameters, is simple to calculate, and can adjust the pelvic motion trajectory according to the individual differences of different patients, thereby providing patients with a more reasonable and personalized rehabilitation plan. Therefore, the present invention has a high promotion value. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 Planning a curve for the trajectory of the pelvic up and down movement based on a sine function during a gait cycle; Figure 2 It is the trajectory planning curve of the left and right movement of the pelvis based on Tau-j theory in a gait cycle; Figure 3 The trajectory planning curve of the pelvic torsion motion based on Tau-j theory within a gait cycle. DETAILED DESCRIPTION
[0015] In order to more clearly understand the above-mentioned purposes, features and advantages of the present invention, the present invention is described in detail below in conjunction with specific embodiments. The following embodiments are implemented based on the technical solutions of the present invention, and detailed implementation methods and specific operating procedures are given. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the following embodiments.
[0016] A trajectory planning method for pelvic movement of a rehabilitation training robot includes trajectory planning for up and down movement of the pelvis, trajectory planning for left and right movement of the pelvis, and trajectory planning for twisting movement of the pelvis around a vertical axis. The trajectory planning in the three movement directions of the pelvis is independent of each other.
[0017] The pelvic up and down movement adopts the sine function for trajectory planning. Since the up and down movement of the pelvis presents a change law similar to that of the sine function, the trajectory planning method of the sine function is adopted, and the derivatives of each order of the sine function are continuous, which can ensure the smoothness of the rehabilitation movement. Therefore, the sine function can be used for trajectory planning of the pelvic up and down movement.
[0018] When the initial height of the pelvis when standing is taken as the zero point, the pelvic up and down motion trajectory planning equation based on the sine function is: Where h is the range of up and down movement of the pelvis during walking, T is the gait period, t∈[0,T].
[0019] In the gait cycle divided by the heel strike event, the trajectory function of the pelvis up and down movement is The trajectory of the left and right movement of the pelvis is planned using the Tau-j theory. Since the pelvis reciprocates between the left and right endpoints during walking, the two endpoints can be regarded as the starting point and end point of a single movement, respectively, so only the trajectory of the single movement between the two endpoints needs to be planned. The speed of the left and right movement of the pelvis is zero at the beginning and end, and the movement is slow at the beginning and near the end point of the movement. The acceleration and deceleration time is long, and the whole movement process is relatively smooth. Therefore, the internal Tau-j guidance strategy based on the Tau theory can be used to plan the trajectory of the left and right movement of the pelvis.
[0020] When the direction from right to left is determined as the positive direction, the trajectory from the rightmost side of the pelvis to the leftmost side is taken as the target trajectory. The left-right motion trajectory planning equation of the pelvis based on the internal Tau-j theory is: in, k x is the coupling coefficient of the Tau-j strategy, x0 is the range of left and right movement of the pelvis during walking, and T is the gait cycle.
[0021] When the coupling coefficient k in the Tau-j strategy takes different values, the curve has different performances in the acceleration and deceleration stages. In the trajectory planning equation for the left and right movement of the pelvis, the coupling coefficient k of the Tau-j strategy is xWhen (0,0.5) is selected, the velocity of the pelvic left and right motion trajectory planning curve based on Tau-j theory is zero at the beginning and end of the motion, and the whole process is very stable. x When it is 0.4, the pelvic left-right motion trajectory planning equation based on the internal Tau-j theory plans a smooth trajectory with a high degree of fit with the pelvic left-right motion trajectory under normal gait.
[0022] The trajectory planning of the pelvic torsion motion around the vertical axis is performed using the Tau-j theory. Since the pelvic torsion around the vertical axis swings back and forth between the two motion endpoints of the maximum positive rotation angle and the maximum negative rotation angle, the two motion endpoints can be regarded as the starting point and end point of the swinging motion, so only the trajectory planning of the single motion between the two endpoints is required. The velocity at the beginning and end of a single torsion motion is also zero, so the internal Tau-j guidance strategy of the Tau theory can still be used to plan the trajectory of the pelvic torsion motion around the vertical axis.
[0023] When the vertical axis is determined to be the positive direction and the counterclockwise rotation around the vertical axis is the positive direction of the twist, the trajectory of the pelvis twisting from the reverse maximum rotation angle to the positive maximum rotation angle is taken as the target trajectory. The trajectory planning equation of the twisting motion of the pelvis around the vertical axis based on the internal Tau-j theory is: in, k r is the coupling coefficient of the Tau-j strategy, r0 is the range of pelvic torsion during walking, and T is the gait period.
[0024] In the trajectory planning equation for the torsional motion of the pelvis around the vertical axis, the coupling coefficient k of the Tau-j strategy is r When (0, 0.5) is selected, the velocity and acceleration of the trajectory planning curve of the pelvic torsion motion based on the Tau-j theory are both zero at the beginning and end of the motion, and the entire motion process is relatively smooth. r When it is 0.2, a compliant trajectory with a high degree of fit to the pelvic torsional motion trajectory in normal gait can be planned based on the trajectory planning equation of the pelvic torsional motion around the vertical axis in Tau-j theory.
[0025] The above shows and describes the main features, methods of use, basic principles and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements according to actual conditions, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.
Claims
1. A trajectory planning method for pelvic motion of a walking rehabilitation training robot, characterized in that: It includes trajectory planning for up and down movement of the pelvis, trajectory planning for left and right movement of the pelvis, and trajectory planning for torsional movement of the pelvis around a vertical axis. The up and down movement of the pelvis is planned using a sine function, the left and right movement of the pelvis is planned using Tau-j theory, and the torsional movement of the pelvis is planned using Tau-j theory.
2. The trajectory planning method for pelvic movement of a walking rehabilitation training robot according to claim 1, characterized in that: The trajectory planning of the pelvic up and down movement is: when the initial height of the pelvis when standing is taken as the zero point, the trajectory planning equation of the pelvic up and down movement based on the sine function is: Where h is the range of up and down movement of the pelvis during walking, T is the gait period, t∈[0,T]; In the gait cycle divided by the heel strike event, the trajectory function of the pelvis up and down movement is 3. The trajectory planning method for pelvic movement of a walking rehabilitation training robot according to claim 1, characterized in that: The left-right movement of the pelvis is a reciprocating movement of the pelvis between two left and right endpoints, the two endpoints are respectively regarded as the starting point and the end point of a single movement, and only the trajectory planning is performed for the single movement between the two endpoints.
4. The trajectory planning method for pelvic movement of a walking rehabilitation training robot according to claim 3, characterized in that: The trajectory planning of the left-right movement of the pelvis is: when the direction from right to left is determined as the positive direction, the trajectory from the rightmost side of the pelvis to the leftmost side is taken as the target trajectory. The trajectory planning equation of the left-right movement of the pelvis based on the internal Tau-j theory is: in, k x is the coupling coefficient of the Tau-j strategy, x0 is the range of left and right movement of the pelvis during walking, and T is the gait cycle.
5. The trajectory planning method for pelvic movement of a walking rehabilitation training robot according to claim 3, characterized in that: The coupling coefficient k of the Tau-j strategy x When (0, 0.5) is taken, the velocity of the pelvic left and right motion trajectory planning curve based on Tau-j theory is zero at the beginning and end of the motion; the coupling coefficient k of the Tau-j strategy is x When the value is 0.4, the pelvic left-right motion trajectory planning equation based on Tau-j theory plans a smooth trajectory that has a high degree of fit with the pelvic left-right motion trajectory under normal gait.
6. The trajectory planning method for pelvic motion of a walking rehabilitation training robot according to claim 1, characterized in that: The torsional motion of the pelvis around the vertical axis is the torsional motion of the pelvis around the vertical axis swinging back and forth between two motion endpoints of the maximum positive rotation angle and the maximum reverse rotation angle. The two motion endpoints are respectively regarded as the starting point and end point of the swinging motion, and only the trajectory planning is performed for a single motion between the two endpoints.
7. A trajectory planning method for pelvic motion of a walking rehabilitation training robot as claimed in claim 6, characterized in that: The trajectory planning of the torsional motion of the pelvis around the vertical axis is as follows: when the vertical axis is vertically upward as the positive direction and the counterclockwise rotation around the vertical axis is the positive direction of the torsional motion, the motion trajectory of the pelvis from the reverse maximum rotation angle to the positive maximum rotation angle is taken as the target trajectory. The trajectory planning equation of the torsional motion of the pelvis around the vertical axis based on the Tau-j theory is: in, k r is the coupling coefficient of the Tau-j strategy, r0 is the range of pelvic torsion during walking, and T is the gait period.
8. The trajectory planning method for pelvic movement of a walking rehabilitation training robot according to claim 6, characterized in that: The coupling coefficient k of the Tau-j strategy r When (0, 0.5) is taken, the velocity and acceleration of the trajectory planning curve of the pelvic torsion motion based on the Tau-j theory are both zero at the beginning and end of the motion; Coupling coefficient k of Tau-j strategy r When the value is 0.2, the trajectory planning equation of the torsional motion of the pelvis around the vertical axis based on the Tau-j theory plans a compliant trajectory that has a high degree of fit with the trajectory of the torsional motion of the pelvis in normal gait.