Control method and system for realizing multi-dimensional track active and passive training

Abstract

The embodiment of the invention provides a control method and system for realizing multi-dimensional track active and passive training, and relates to the technical field of training track planning technologies. The method comprises the following steps: acquiring input force data; determining a motion change according to the input force data; and determining a motion track according to the motion variable quantity and a preset trapezoidal speed change. According to the method and the device, the problem of function abnormity compensation caused by motion track planning errors is solved, and the training effect is further improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of rehabilitation training control. Specifically, the present invention relates to a control method and system for realizing multi-dimensional trajectory active and passive training. Background Art

[0002] In the field of rehabilitation robots, the control methods of rehabilitation robots are mainly designed around rehabilitation training.

[0003] During rehabilitation training, patients are prone to using the parts with better functions to help the parts with weaker functions achieve the expected movements, resulting in the parts with weaker functions not being able to reach the expected training goals. This is particularly common in training involving multi-joint movements. Such abnormal functional compensation is defined as abnormal functional compensation.

[0004] According to the movement modes of human joints, rehabilitation robots can be divided into end-traction type and joint type. The joint type generally refers to a human-powered exoskeleton, which can directly drive specific joints of a patient to perform passive / active movements through a single / multiple motors; the end-traction type means that the rehabilitation robot contacts the human body at a certain point in the movement mechanism, and the robot drives the end of the human joint to perform passive / active movements through the end.

[0005] For the movement function disorders of human joints, the end-traction type of rehabilitation robot must drive the joint movement by realizing the movement of the joint end through a specific trajectory. Therefore, in order to achieve the expected movements of each joint and avoid abnormal functional compensation, the movement trajectory is more important for the end-traction type of robot.

[0006] However, the current rehabilitation robots rarely involve the planning of this trajectory. Summary of the Invention

[0007] The embodiments of the present invention provide a control method and system for realizing multi-dimensional trajectory active and passive training, so as to at least solve the problem of abnormal functional compensation caused by incorrect movement trajectory planning in related technologies.

[0008] According to an embodiment of the present invention, a control method for realizing multi-dimensional trajectory active and passive training is provided, including: Obtaining input force data; Determining a movement change amount according to the input force data; Determining a movement trajectory according to the movement change amount and a preset trapezoidal speed change.

[0009] In an exemplary embodiment, the determining a movement change amount according to the input force data includes: Based on the input force data and a preset admittance control model, determine the target speed, target motion position, and target acceleration in the target control period, where the motion change amount includes the target speed, the target motion position, and the target acceleration.

[0010] According to another embodiment of the present invention, there is provided a control system for realizing multi-dimensional trajectory active-passive training, including: An input force acquisition module for acquiring input force data; A change amount determination module for determining a motion change amount according to the input force data; A motion trajectory determination module for determining a motion trajectory according to the motion change amount and a preset trapezoidal speed change.

[0011] In an exemplary embodiment, the determining a motion change amount according to the input force data includes: Based on the input force data and a preset admittance control model, determine the target speed, target motion position, and target acceleration in the target control period, where the motion change amount includes the target speed, the target motion position, and the target acceleration.

[0012] According to still another embodiment of the present invention, there is also provided a computer-readable storage medium, in which a computer program is stored, and the computer program is configured to execute the steps in any one of the above method embodiments when running.

[0013] According to still another embodiment of the present invention, there is also provided an electronic device, including a memory and a processor, where a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0014] Through the present invention, since the active-passive training is realized by planning a trajectory, abnormal compensation of patients can be inhibited, and at the same time, the intensity of movement rehabilitation training can be effectively adjusted to achieve a better training effect. Therefore, the problem of abnormal functional compensation caused by incorrect motion trajectory planning can be solved, and the effect of improving the training effect can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a flowchart of a control method for realizing multi-dimensional trajectory active-passive training according to an embodiment of the present invention; Figure 2 is a structural block diagram of a control system for realizing multi-dimensional trajectory active-passive training according to an embodiment of the present invention. DETAILED DESCRIPTION

[0016] Next, the technical solutions in the embodiments of the present application will be described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments.

[0017] Hereinafter, terms such as "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0018] In addition, in the present application, orientation terms such as "upper", "lower", "left", "right", etc. may include but are not limited to being defined relative to the schematic placement of components in the accompanying drawings. It should be understood that these directional terms may be relative concepts, which are used for relative description and clarification, and they may change correspondingly according to the change in the orientation of the components placed in the accompanying drawings.

[0019] In the present application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" may be a fixed connection, a detachable connection, or integrated; it may be directly connected or indirectly connected through an intermediate medium. In addition, the term "coupling" may be a way of electrical connection for realizing signal transmission.

[0020] As used herein, "about", "substantially" or "approximately" includes the stated value and the average value within an acceptable deviation range of the specific value, where the acceptable deviation range is determined by those of ordinary skill in the art considering the measurement being discussed and the errors associated with the measurement of the specific quantity (i.e., the limitations of the measurement system).

[0021] Current rehabilitation training mainly includes two training modes: passive training and active training.

[0022] Passive training means that the rehabilitation robot drives the patient to perform movements with fixed rules through a certain power, and in this process, the power required for the user's movement is mainly provided by the robot. This mode is mainly for users who are unable to resist their own gravity (including limb gravity) to perform active movements.

[0023] Active training can be roughly divided into assisted training and resistance training. Assisted training is for users who can resist part of their own weight and perform active movements. When users are unable to complete certain rehabilitation training goals, the rehabilitation robot provides assistance to help users complete the training through movement. Resistance training is a training mode used when users can resist gravity and perform voluntary movements and need to further resist external resistance for movement function recovery. Both the passive training mode and the active training mode have specific training conditions and training goals. Therefore, to adapt to different training conditions and purposes, it is necessary to design a combined active and passive training by combining active training and passive training to achieve better training effects.

[0024] However, the trajectory of combined active and passive training will have different effects on the training results. Therefore, it is necessary to make specific planning for the training trajectory to ensure the training effect.

[0025] In this patent, the admittance control method is used to convert the force applied by the patient on the device into the movement change of the device by collecting the force, so as to realize the active movement driven by the patient's active movement intention. Finally, the movement change in passive training and the movement change in active training are combined to obtain the final movement change target, thereby realizing the training of the combined active and passive movement modes.

[0026] According to the characteristics of trajectory movement, the trajectory change can be decoupled into two parts: distance change and direction change. Through the above-mentioned combined active and passive control method, motion planning is carried out during any trajectory movement. Then, according to the direction change of the trajectory, the combined active and passive movement changes on any trajectory can be calculated, thereby realizing the combined active and passive movement on any trajectory.

[0027] Specifically, in this embodiment, a control method for realizing combined active and passive training of multi-dimensional trajectories is provided. Figure 1 It is a flowchart of a control method for realizing combined active and passive training of multi-dimensional trajectories according to an embodiment of the present invention, as Figure 1 shown. This process includes the following steps: Step S101, obtain input force data; In this embodiment, the input force data refers to the force exerted by the user on the training device during training. Different parts of the human body provide different forces, and the input force data is also different.

[0028] Step S102, determine the amount of movement change according to the input force data; In this embodiment, determining the amount of movement change according to the input force data includes: According to the input force data and a preset admittance control model, determine the target speed, target movement position, and target acceleration in the target control period, where the amount of movement change includes the target speed, the target movement position, and the target acceleration.

[0029] Specifically, the admittance control model is given first: (Formula 1) Wherein, represents the actual external input force (i.e., input force data), represents the target interaction force; m represents the virtual mass parameter; d represents the virtual damping parameter; k represents the virtual elastic coefficient; , , respectively represent the current acceleration, speed, and position of the robot; , respectively represent the preset speed and position of the robot; represents non-linear forces such as virtual friction; 2) Calculate the motion target of the robot in the nth control cycle with a duration of . When the patient's input force is , calculate the target acceleration of the control model in the current control cycle as: (Formula 2) Therefore, calculate the target speed in the current control cycle as: (Formula 3) Calculate the target motion position in the current control cycle as: (Formula 4) Above, combining the target motion positions of trapezoidal velocity planning and admittance control realizes the method of combining passive motion and active motion.

[0030] Step S103, determine the motion trajectory according to the motion change amount and the preset trapezoidal velocity change.

[0031] In this embodiment, Performing trapezoidal velocity planning on the motion process includes the following steps: 1. Assume that the acceleration and deceleration during the motion are a and the target speed , then the acceleration time during the motion, the deceleration time , and further assume that the overall motion distance is s and the constant velocity time is ; Then the target motion position at any time t is: When t < , ; When < t < + When ; When + <t< When ; Subsequently, the current trajectory is calculated according to the target position: 1) In this patent, a circular trajectory is used as the target motion trajectory. Assume that the center position of the circular trajectory is represented by two-dimensional coordinates as , and the radius is r; further, assume that the starting point of the circular trajectory has coordinates , then the specific calculation process of the following formula for the circular trajectory is as follows: (Formula 5) Wherein, , is the moving distance on the trajectory; Substitute the target position obtained by trapezoidal velocity planning and the target position obtained by admittance control into the above formula to get: (Formula 6) Finally, through the target position of the active and passive motion based on the trajectory is obtained.

[0032] Through the above steps, since the active and passive training is realized by planning the trajectory, the abnormal compensation of the patient can be inhibited, and at the same time, the intensity of the movement rehabilitation training can be effectively adjusted to achieve better results, solving the problem of abnormal compensatory function caused by incorrect movement trajectory planning and improving the training effect.

[0033] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases, the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0034] In this embodiment, a control system for realizing multi-dimensional trajectory active and passive training is also provided. This system is used to implement the above-mentioned embodiments and preferred implementation manners, and those that have been described will not be repeated here. As used hereinafter, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0035] Figure 2 is a structural block diagram of a control system for realizing multi-dimensional trajectory active and passive training according to an embodiment of the present invention. As Figure 2 shown, the system includes: An input force acquisition module 21, configured to acquire input force data; A change amount determination module 22, configured to determine a motion change amount according to the input force data; A motion trajectory determination module 23, configured to determine a motion trajectory according to the motion change amount and a preset trapezoidal speed change.

[0036] In an optional embodiment, the determining the motion change amount according to the input force data includes: Determining a target speed, a target motion position, and a target acceleration in a target control period according to the input force data and a preset admittance control model, where the motion change amount includes the target speed, the target motion position, and the target acceleration.

[0037] It should be noted that the above-mentioned various modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above-mentioned modules are all located in the same processor; or, the above-mentioned various modules are respectively located in different processors in any combination form.

[0038] An embodiment of the present invention also provides a computer-readable storage medium, in which a computer program is stored. Wherein, the computer program is set to execute the steps in any one of the above method embodiments when running.

[0039] In an exemplary embodiment, the above-mentioned computer-readable storage medium may include, but is not limited to: USB flash drives, read-only memories (ROM for short), random access memories (RAM for short), mobile hard disks, magnetic disks, or optical disks and other various media that can store computer programs.

[0040] An embodiment of the present invention further provides an electronic device, including a memory and a processor. A computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0041] In an exemplary embodiment, the above electronic device may further include a transmission device and an input / output device. Among them, the transmission device is connected to the above processor, and the input / output device is connected to the above processor.

[0042] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and conciseness of description, only the division of the above function modules is used as an example. In actual applications, the above functions can be allocated to different function modules according to needs, that is, the internal structure of the device is divided into different function modules to complete all or part of the functions described above.

[0043] In several embodiments provided in the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0044] The unit described as a separated component may or may not be physically separated. The component displayed as a unit may be a physical unit or multiple physical units, that is, it may be located in one place, or it may be distributed to multiple different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0045] In addition, each functional unit in each embodiment of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0046] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods of the various embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0047] The above content is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A control method for realizing multi-dimensional trajectory active and passive training, characterized in that: include: Obtain input force data; Determine the amount of motion change based on the input force data; The motion trajectory is determined according to the motion change amount and the preset trapezoidal speed change.

2. The system according to claim 1, characterized in that Determining the motion variation according to the input force data includes: According to the input force data and a preset admittance control model, a target speed, a target motion position, and a target acceleration in a target control cycle are determined, wherein the motion variation includes the target speed, the target motion position, and the target acceleration.

3. A control system for realizing multi-dimensional trajectory active and passive training, characterized in that: include: An input force acquisition module, used to obtain input force data; A variation determination module is used to determine the motion variation according to the input force data; The motion trajectory determination module is used to determine the motion trajectory according to the motion change amount and the preset trapezoidal speed change.

4. The method according to claim 3, characterized in that Determining the motion variation according to the input force data includes: According to the input force data and a preset admittance control model, a target speed, a target motion position, and a target acceleration in a target control cycle are determined, wherein the motion variation includes the target speed, the target motion position, and the target acceleration.

5. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program is configured to execute the method according to any one of claims 1 to 2 when executed.

6. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to perform the method according to any one of claims 1 to 2.

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