User limb rehabilitation massage device and control method

Abstract

The invention discloses a user limb rehabilitation massage device and a control method. The device comprises a bed board, four telescopic rods, a physiological parameter measuring module, a driving module, a feedback control module and a massage module. The bed board is used for providing a supporting platform for a user performing limb rehabilitation training; the four telescopic rods are used for supporting four limbs of a user; the physiological parameter measurement module is used for measuring to obtain a physiological information set of a user when the user uses the user limb rehabilitation massage device for training; and the feedback control module is used for acquiring a physiological information set and a strength data sequence measured by the four mechanical sensors, performing feedback control processing on the acquired information to obtain a control value, and sending the control value to the massage module. And the massage module is arranged on the four telescopic rods and is used for massaging the user according to the control value.

Description

Technical Field

[0001] The present invention relates to the fields of limb rehabilitation medicine and data modeling processing, and in particular to a user limb rehabilitation massage device and a control method. Background Art

[0002] Limb rehabilitation is an important research direction in the medical field. Effective rehabilitation training is essential for patients whose limb functions are limited due to diseases, injuries or surgeries. Traditional limb rehabilitation training methods mainly rely on manual massage and physical therapy, but these methods have many limitations. For example, the intensity and frequency of manual massage are difficult to control accurately, and the physical strength and experience of the therapist directly affect the rehabilitation effect; physical therapy equipment often has a single function and cannot be personalized according to the patient's real-time physiological state and limb strength. In addition, most existing rehabilitation equipment lacks real-time monitoring of the patient's physiological parameters, and cannot adjust the rehabilitation plan in time, which can easily lead to excessive fatigue of the patient or poor rehabilitation effect. Therefore, how to design a device that can monitor the patient's physiological state and limb strength in real time and perform personalized massage and rehabilitation training based on these data is a technical problem that needs to be solved in the current field of limb rehabilitation.

[0003] Swimming can effectively exercise the coordination of the limbs, but it is obviously inconvenient for patients with limb problems to go swimming. Therefore, there is a great need for a limb rehabilitation trainer that can facilitate patients to simulate swimming movements and add a massage effect during training to enhance the effect of limb rehabilitation training. Summary of the invention

[0004] The present invention mainly solves the problem of how to design a device that can monitor the patient's physiological state and limb strength in real time and perform personalized massage and rehabilitation training based on these data. The present invention discloses a user limb rehabilitation massage device and a control method.

[0005] In a first aspect of an embodiment of the present invention, a user limb rehabilitation massage device is disclosed, comprising: a bed board, four telescopic rods, a physiological parameter measurement module, a driving module, a feedback control module, and a massage module;

[0006] The bed board is used to provide a support platform for users who are undergoing limb rehabilitation training;

[0007] The four telescopic rods are used to provide support for the user's limbs;

[0008] The first ends of the four telescopic rods are respectively movably installed at the four corners of the bed board; when the user uses the user limb rehabilitation massage device for training, the four limbs of the user are respectively fixed to the second ends of the four telescopic rods; the second ends of the four telescopic rods are respectively provided with mechanical sensors; the mechanical sensors are used to measure the force data sequence applied by the user during the training process;

[0009] The physiological parameter measurement module is used to measure the set of physiological information of the user when the user uses the user limb rehabilitation massage device for training; the set of physiological information includes a heart rate information sequence, a blood pressure information sequence, a blood oxygen saturation information sequence, and a body temperature information sequence;

[0010] The feedback control module is respectively connected to the physiological parameter measurement module, the mechanical sensor, the drive module, and the massage module, and is used to collect the set of physiological information and the force data sequence measured by the four mechanical sensors, perform feedback control processing on the collected information to obtain a control value, and send the control value to the massage module;

[0011] The drive module is respectively connected to the four telescopic rods and is used to control the second ends of the four telescopic rods to perform circular arc motion;

[0012] The massage module is arranged on the four telescopic rods and is used to massage the user according to the control value.

[0013] The massage module includes an air pump, an airbag, and a plurality of massagers arranged on the outer surface of the airbag;

[0014] The air pump is used to perform pressurization or depressurization operations on the closed space inside the airbag according to the control value; the air pressure value of the pressurization or depressurization is proportional to the control value.

[0015] The drive module includes a motor, a slide rail, and four connecting rods; the four connecting rods are respectively movably connected to the four telescopic rods;

[0016] The motor includes a motor body and a pulley; a pulley is arranged at the bottom of the motor body, and the pulley is arranged inside the slide rail;

[0017] The pulley is connected to the four connecting rods and is used to drive the four connecting rods to move following the motor.

[0018] The feedback control module is used to collect the set of physiological information and the force data sequence measured by the four mechanical sensors, perform feedback control processing on the collected information to obtain a control value, and send the control value to the massage module, including:

[0019] The feedback control module obtains a set of standard physiological information and a set of standard strength values. The set of standard physiological information includes a standard heart rate value, a standard blood pressure value, a standard blood oxygen saturation value, and a standard body temperature value. The set of standard strength values includes an upper limb standard strength value and a lower limb standard strength value.

[0020] Perform a first feedback calculation process on the set of physiological information and the set of standard physiological information to obtain a first feedback information sequence.

[0021] Perform a second feedback calculation process on the force data sequence and the set of standard strength values to obtain a second feedback information sequence.

[0022] Perform a fusion calculation process on the first feedback information sequence and the second feedback information sequence to obtain a control value, and send the control value to the massage module.

[0023] In a second aspect of the embodiments of the present invention, a control method for user limb rehabilitation massage is disclosed, which is implemented by using the user limb rehabilitation massage device, and includes:

[0024] S1. Use the bed board to provide a support platform for a user performing limb rehabilitation training.

[0025] S2. Fix the four limbs of the user to the second ends of the four telescopic rods respectively.

[0026] S3. Use the mechanical sensors provided on the four telescopic rods to measure a force data sequence exerted by the user during the training.

[0027] S4. Use the physiological parameter measurement module to measure a set of physiological information of the user when the user uses the user limb rehabilitation massage device for training.

[0028] S5. Use the feedback control module to collect a set of physiological information and a force data sequence measured by the four mechanical sensors, perform a feedback control process on the collected information to obtain a control value, and send the control value to the massage module.

[0029] S6. Use the massage module to set the massage intensity for the user according to the control value and massage the user.

[0030] The step of using the feedback control module to collect a set of physiological information and a force data sequence measured by the four mechanical sensors, perform a feedback control process on the collected information to obtain a control value includes:

[0031] S51. Use the feedback control module to obtain a set of standard physiological information and a set of standard strength values.

[0032] S52. Perform a first feedback calculation process on the physiological information set and the standard physiological information set to obtain a first feedback information sequence;

[0033] S53. Perform a second feedback calculation process on the force data sequence and the standard force value set to obtain a second feedback information sequence;

[0034] S54. Perform a fusion feedback calculation process on the first feedback information sequence and the second feedback information sequence to obtain a control value.

[0035] The performing a first feedback calculation process on the physiological information set and the standard physiological information set to obtain a first feedback information sequence includes:

[0036] S521. Subtract each sequence in the physiological parameter information set from the corresponding standard value to obtain a corresponding difference sequence; the difference sequence includes a heart rate difference sequence, a blood pressure difference sequence, a blood oxygen saturation difference sequence, and a body temperature difference sequence;

[0037] S522. Use all the difference sequences to construct a difference matrix;

[0038] S523. Perform a singular value calculation process on the difference matrix to obtain a singular value set; the singular value set includes singular values;

[0039] S524. Perform a statistical value calculation on the singular value set to obtain a singular statistical value;

[0040] S525. Perform a correlation feature calculation on the difference matrix to obtain a correlation eigenvalue;

[0041] S526. Perform a normalization calculation on each difference sequence respectively to obtain a corresponding normalized difference sequence;

[0042] S527. Take the average of all the normalized difference sequences to obtain a normalized average sequence;

[0043] S528. Perform a sequence calculation on the normalized average sequence, the singular statistical value, and the correlation eigenvalue to obtain a first feedback information sequence.

[0044] The performing a correlation feature calculation on the difference matrix to obtain a correlation eigenvalue includes:

[0045] S5251. Perform an EMD decomposition on each difference sequence of the difference matrix respectively to obtain corresponding IMF components;

[0046] S5252. Perform a correlation calculation on the difference matrix and all the IMF components to obtain a correlation eigenvalue.

[0047] Performing statistical value calculation on the set of singular values to obtain a singular statistical value, including:

[0048] Statistically obtaining the mean value, variance, and median value of the set of singular values;

[0049] Calculating the mean value, variance, and median value to obtain a singular statistical value.

[0050] Performing second feedback calculation processing on the force data sequence and the standard force value set to obtain a second feedback information sequence, including:

[0051] S531, extracting the upper limb force data sequence and the lower limb force data sequence from the force data sequence;

[0052] S532, subtracting the upper limb force data sequence and the lower limb force data sequence from the upper limb standard force value and the lower limb standard force value respectively to obtain corresponding upper limb force difference value sequences and lower limb force difference value sequences;

[0053] S533, respectively performing autoregressive-moving average modeling on the upper limb force difference value sequence and the lower limb force difference value sequence to obtain a first regression model and a second regression model respectively; extracting the coefficient vectors of the two regression models and calculating the cross-correlation value φ of the two coefficient vectors;

[0054] S534, performing feedback calculation on the upper limb force difference value sequence and the lower limb force difference value sequence to obtain a second feedback information sequence.

[0055] The beneficial effects of the present invention are:

[0056] The user limb rehabilitation massage device of the present invention realizes comprehensive support for the limb rehabilitation training of patients by integrating a bed board, telescopic rods, a physiological parameter measurement module, a driving module, a feedback control module, and a massage module. The specific beneficial effects include:

[0057] First of all, the bed board provides a stable support platform for the patient, and the four telescopic rods provide personalized support and fixation for the patient's limbs, ensuring the comfort and safety of the rehabilitation training.

[0058] Secondly, the physiological parameter measurement module can monitor physiological information such as the patient's heart rate, blood pressure, blood oxygen saturation, and body temperature in real time. Combining with the limb strength data measured by the mechanical sensors on the telescopic rods, the feedback control module can comprehensively evaluate the patient's physiological state and rehabilitation progress. Through comparative analysis with standard physiological information and standard strength values, the feedback control module can generate accurate control values and send them to the massage module, thereby realizing dynamic adjustment of the massage intensity and method. This feedback control mechanism based on real-time data can not only avoid the patient's physical fatigue caused by overtraining but also provide personalized rehabilitation programs according to the patient's individual differences and rehabilitation stages.

[0059] In addition, the cylindrical structure, air pump, and airbag design of the massage module can provide a full-range and uniform massage effect for the patient's limbs, further enhancing the effect of rehabilitation training. Brief Description of the Drawings

[0060] Figure 1 It is a composition diagram of the device of the present invention;

[0061] Figure 2 It is an implementation flowchart of the method of the present invention. Detailed Embodiments

[0062] To better understand the content of the present invention, an embodiment is given here.

[0063] Figure 1 It is a composition diagram of the device of the present invention; Figure 2 It is an implementation flowchart of the method of the present invention.

[0064] In the first aspect of the embodiment of the present invention, a user limb rehabilitation massage device is disclosed, including: a bed board, four telescopic rods, a physiological parameter measurement module, a driving module, a feedback control module, and a massage module;

[0065] The bed board is used to provide a support platform for a user undergoing limb rehabilitation training;

[0066] The four telescopic rods are used to provide support for the user's limbs;

[0067] The first ends of the four telescopic rods are respectively movably installed at the four corners of the bed board; when the user uses the user limb rehabilitation massage device for training, the user's limbs are respectively fixed to the second ends of the four telescopic rods; the second ends of the four telescopic rods are respectively provided with mechanical sensors; the mechanical sensors are used to measure the force data sequence exerted by the user during the training process;

[0068] The physiological parameter measurement module is used to measure the set of physiological information of the user when the user uses the user limb rehabilitation massage device for training; the set of physiological information includes a heart rate information sequence, a blood pressure information sequence, a blood oxygen saturation information sequence, and a body temperature information sequence;

[0069] The feedback control module is respectively connected to the physiological parameter measurement module, the force sensors, the drive module, and the massage module, and is used to collect the set of physiological information and the force data sequence measured by the four force sensors, perform feedback control processing on the collected information to obtain a control value, and send the control value to the massage module;

[0070] The drive module is respectively connected to the four telescopic rods and is used to control the second ends of the four telescopic rods to perform circular arc motion;

[0071] The massage module is arranged on the four telescopic rods and is used to massage the user according to the control value;

[0072] The number of the massage modules can be 4;

[0073] The massage module is of a cylindrical structure;

[0074] The massage module includes an air pump, an airbag, and a plurality of massagers arranged on the outer surface of the airbag;

[0075] The air pump is used to perform pressurization or decompression operations on the closed space inside the airbag according to the control value; the air pressure value of the pressurization or decompression is proportional to the control value;

[0076] The drive module includes a motor, a slide rail, and four connecting rods; the four connecting rods are respectively movably connected to the four telescopic rods;

[0077] The motor includes a motor body and a pulley; a pulley is arranged at the bottom of the motor body, and the pulley is arranged in the slide rail; after the motor body is powered on, it drives the slide to perform reciprocating motion along the slide rail;

[0078] The pulley is connected to the four connecting rods and is used to drive the four connecting rods to move following the motor.

[0079] The feedback control module is used to collect the set of physiological information and the force data sequence measured by the four force sensors, perform feedback control processing on the collected information to obtain a control value, and send the control value to the massage module, including:

[0080] The feedback control module obtains a set of standard physiological information and a set of standard strength values. The set of standard physiological information includes a standard heart rate value, a standard blood pressure value, a standard blood oxygen saturation value, and a standard body temperature value. The set of standard strength values includes an upper limb standard strength value and a lower limb standard strength value.

[0081] Perform a first feedback calculation process on the set of physiological information and the set of standard physiological information to obtain a first feedback information sequence.

[0082] Perform a second feedback calculation process on the set of force data sequences and the set of standard strength values to obtain a second feedback information sequence.

[0083] Perform a fusion calculation process on the first feedback information sequence and the second feedback information sequence to obtain a control value, and send the control value to the massage module.

[0084] The massager can be implemented by using rubber-like protrusions.

[0085] During the user's training process, with the first ends of the four telescopic rods as fixed points and the second ends of the four telescopic rods as moving ends, the second ends perform circular motion driven by the connecting rod, that is, the motion trajectories of the second ends are circular arcs.

[0086] The lengths of the four telescopic rods can be flexibly adjusted according to the lengths of the user's limbs.

[0087] The four limbs of the user are respectively fixed to the second ends of the four telescopic rods, and the fixing method can be a buckle or a magic tape fixing method. The movable connection between the four telescopic rods and the bed board can be realized through a pulley structure, a spring structure, or a screw structure.

[0088] The motor body is used to control the pulley to move back and forth along the slide rail.

[0089] The slide rail is a circular arc slide rail.

[0090] In the second aspect of the embodiments of the present invention, a control method for user limb rehabilitation massage is disclosed, which is implemented by using the user limb rehabilitation massage device, and includes:

[0091] S1, using the bed board to provide a support platform for the user performing limb rehabilitation training;

[0092] S2, fixing the four limbs of the user to the second ends of the four telescopic rods respectively;

[0093] S3, using the mechanical sensors arranged on the four telescopic rods to measure and obtain a sequence of force data exerted by the user during the training process;

[0094] S4. Using the physiological parameter measurement module, measure the set of physiological information of the user when the user is training with the user limb rehabilitation massage device;

[0095] S5. Using the feedback control module, collect the set of physiological information and the sequence of force data measured by the four force sensors, perform feedback control processing on the collected information to obtain a control value, and send the control value to the massage module;

[0096] S6. Using the massage module, set the massage intensity for the user according to the control value and massage the user.

[0097] The collected information includes the set of physiological information collected and the sequence of force data measured by the four force sensors.

[0098] The step of using the feedback control module to collect the set of physiological information and the sequence of force data measured by the four force sensors, and perform feedback control processing on the collected information to obtain a control value includes:

[0099] S51. Using the feedback control module, obtain the set of standard physiological information and the set of standard force values;

[0100] S52. Perform first feedback calculation processing on the set of physiological information and the set of standard physiological information to obtain a first feedback information sequence;

[0101] S53. Perform second feedback calculation processing on the sequence of force data and the set of standard force values to obtain a second feedback information sequence;

[0102] S54. Perform fusion feedback calculation processing on the first feedback information sequence and the second feedback information sequence to obtain a control value.

[0103] The step of performing first feedback calculation processing on the set of physiological information and the set of standard physiological information to obtain a first feedback information sequence includes:

[0104] S521. Subtract each sequence in the set of physiological parameter information from the corresponding standard value to obtain a corresponding difference sequence; the difference sequence includes a heart rate difference sequence, a blood pressure difference sequence, a blood oxygen saturation difference sequence, and a body temperature difference sequence;

[0105] S522. Use all the difference sequences to construct a difference matrix;

[0106] S523. Perform singular value calculation processing on the difference matrix to obtain a set of singular values; the set of singular values includes singular values;

[0107] S524. Calculate the statistical value of the set of singular values to obtain the singular statistical value;

[0108] S525. Calculate the relevant eigenvalues of the difference matrix to obtain the relevant eigenvalues;

[0109] S526. Perform normalization calculation on each difference sequence respectively to obtain the corresponding normalized difference sequence;

[0110] S527. Calculate the average of all the normalized difference sequences to obtain the normalized average sequence;

[0111] S528. Perform sequence calculation on the normalized average sequence, the singular statistical value and the relevant eigenvalues to obtain the first feedback information sequence.

[0112] The calculation of the relevant eigenvalues of the difference matrix to obtain the relevant eigenvalues includes:

[0113] S5251. Perform EMD decomposition on each difference sequence of the difference matrix respectively to obtain the corresponding IMF components;

[0114] S5252. Perform relevant calculation on the difference matrix and all the IMF components to obtain the relevant eigenvalues;

[0115] The expression of the relevant calculation is:

[0116]

[0117] where x i (t) is the t-th element of the i-th difference sequence, is the t-th element of the average component of all the IMF components, is the t-th element of the average sequence of all the difference sequences, c i (t) is the t-th element of the i-th IMF component, and N is the number of IMF components.

[0118] The calculation of the statistical value of the set of singular values to obtain the singular statistical value includes:

[0119] Statistically obtain the mean value, variance and median value of the set of singular values;

[0120] Perform calculation on the mean value, variance and median value to obtain the singular statistical value;

[0121] The average sequence is obtained by calculating the average of the elements with the same serial number of all the sequences to obtain the average value, and the average sequence, the normalized average sequence, the average sequence of the difference sequences and the average component of all the IMF components are all obtained according to the above method.

[0122] The calculation expression of the singular statistical value is as follows:

[0123]

[0124] where β is the singular statistical value, φ is the median value, ρ is the variance, t i is the i-th singular value of the singular value set, τ is the mean value, and M is the total number of elements in the singular value set;

[0125] The calculation expression of the sequence is as follows:

[0126]

[0127] where κ i is the i-th term of the normalized average sequence, and F1 i is the i-th term of the first feedback information sequence.

[0128] EMD represents empirical mode decomposition, and IMF represents the classification mode sequence.

[0129] The calculation and processing of the singular value can be realized by using the singular value solution algorithm of the matrix.

[0130] The second feedback calculation and processing of the force data sequence and the standard force value set to obtain the second feedback information sequence includes:

[0131] Extracting the upper limb force data sequence and the lower limb force data sequence from the force data sequence;

[0132] Subtracting the upper limb force data sequence and the lower limb force data sequence from the upper limb standard force value and the lower limb standard force value respectively to obtain the corresponding upper limb force difference value sequence and the lower limb force difference value sequence;

[0133] Performing autoregressive-moving average modeling on the upper limb force difference value sequence and the lower limb force difference value sequence respectively to obtain the first regression model and the second regression model; extracting the coefficient vectors of the two regression models and calculating the cross-correlation value φ of the two coefficient vectors;

[0134] Performing feedback calculation on the upper limb force difference value sequence and the lower limb force difference value sequence to obtain the second feedback information sequence;

[0135] The expression of the feedback calculation is as follows:

[0136]

[0137] where is the i-th term of the second feedback information sequence, t1 i and t2 iThey are the i-th terms of the upper limb strength difference value sequence and the lower limb strength difference value sequence respectively, t2 max is the maximum value of the lower limb strength difference value sequence, and T is the length of the upper limb strength difference value sequence.

[0138] For the autoregressive moving average modeling, the sequence number value of the difference value sequence is used as the independent variable, and the element value of the difference value sequence is used as the dependent variable for autoregressive moving average modeling.

[0139] The expression for the fusion feedback calculation and processing is:

[0140]

[0141] where KR is the control value and n is the length of the first feedback information sequence.

[0142] In the third aspect of the embodiments of the present invention, a control device for user limb rehabilitation massage is disclosed. The device includes:

[0143] A memory storing executable program code;

[0144] A processor coupled to the memory;

[0145] The processor calls the executable program code stored in the memory to execute the control method for user limb rehabilitation massage.

[0146] In the fourth aspect of the embodiments of the present invention, a computer-readable storage medium is disclosed. The computer-readable storage medium stores computer instructions, and when the computer instructions are called by the computer, they are used to execute the control method for user limb rehabilitation massage.

[0147] In the fifth aspect of the embodiments of the present invention, an information data processing terminal is disclosed. The information data processing terminal is used to implement the control method for user limb rehabilitation massage.

[0148] The above are only the embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A user limb rehabilitation massage device, characterized in that: include: Bed board, four telescopic rods, physiological parameter measurement module, drive module, feedback control module, massage module; The bed board is used to provide a support platform for users who are undergoing limb rehabilitation training; The four telescopic rods are used to provide support for the user's limbs; The first ends of the four telescopic rods are movably mounted on the four corners of the bed board respectively; when the user uses the user limb rehabilitation massage device for training, the user's limbs are fixed to the second ends of the four telescopic rods respectively; the second ends of the four telescopic rods are respectively provided with mechanical sensors; the mechanical sensors are used to measure and obtain a data sequence of the force applied by the user during the training process; The physiological parameter measurement module is used to measure and obtain a set of physiological information of the user when the user is trained using the user limb rehabilitation massage device; The physiological information set includes a heart rate information sequence, a blood pressure information sequence, a blood oxygen saturation information sequence, and a body temperature information sequence; The feedback control module is connected to the physiological parameter measurement module, the mechanical sensor, the driving module, and the massage module respectively, and is used to collect a set of physiological information and a force data sequence measured by four mechanical sensors, perform feedback control processing on the collected information, obtain a control value, and send the control value to the massage module; The driving module is connected to the four telescopic rods respectively, and is used to control the second ends of the four telescopic rods to perform circular motion; The massage module is arranged on the four telescopic rods and is used for massaging the user according to the control value.

2. The user limb rehabilitation massage device according to claim 1, characterized in that: The massage module includes an air pump, an air bag, and a plurality of massagers arranged on the outer surface of the air bag; The air pump is used to pressurize or depressurize the closed space inside the airbag according to the control value; the air pressure value of the pressurization or depressurization is proportional to the control value.

3. The user limb rehabilitation massage device according to claim 1, characterized in that: The driving module comprises a motor, a slide rail and four connecting rods; the four connecting rods are movably connected to the four telescopic rods respectively; The motor comprises a motor body and a pulley; a pulley is arranged at the bottom of the motor body, and the pulley is arranged in the slide rail; The pulley is connected to the four connecting rods and is used to drive the four connecting rods to move along with the motor.

4. The user limb rehabilitation massage device according to claim 1, characterized in that: The feedback control module is used to collect a set of physiological information and a force data sequence measured by four mechanical sensors, perform feedback control processing on the collected information, obtain a control value, and send the control value to the massage module, including: The feedback control module acquires a standard physiological information set and a standard strength value set; the standard physiological information set includes a standard value of heart rate, a standard value of blood pressure, a standard value of blood oxygen saturation, and a standard value of body temperature; the standard strength value set includes a standard strength value of upper limbs and a standard strength value of lower limbs; Performing a first feedback calculation process on the physiological information set and the standard physiological information set to obtain a first feedback information sequence; Performing a second feedback calculation process on the strength data sequence and the standard strength value set to obtain a second feedback information sequence; The first feedback information sequence and the second feedback information sequence are fused and calculated to obtain a control value, and the control value is sent to the massage module.

5. A method for controlling a user's limb rehabilitation massage, implemented by using the user's limb rehabilitation massage device according to any one of claims 1 to 4, characterized in that: include: S1, using the bed board to provide a support platform for a user performing limb rehabilitation training; S2, fixing the user's limbs to the second ends of the four telescopic rods respectively; S3, using the mechanical sensors provided on the four telescopic rods to measure and obtain a data sequence of the force applied by the user during the training process; S4, using the physiological parameter measurement module to measure and obtain a set of physiological information of the user when the user is training with the user limb rehabilitation massage device; S5, using the feedback control module to collect a set of physiological information and a force data sequence measured by four mechanical sensors, performing feedback control processing on the collected information to obtain a control value, and sending the control value to the massage module; S6, using the massage module to set the massage intensity for the user according to the control value, and massaging the user.

6. The control method for user limb rehabilitation massage according to claim 1, characterized in that: The feedback control module is used to collect a set of physiological information and a force data sequence measured by four mechanical sensors, and feedback control processing is performed on the collected information to obtain a control value, including: S51, using the feedback control module to obtain a standard physiological information set and a standard strength value set; S52, performing a first feedback calculation process on the physiological information set and the standard physiological information set to obtain a first feedback information sequence; S53, performing a second feedback calculation process on the strength data sequence and the standard strength value set to obtain a second feedback information sequence; S54: Perform fusion feedback calculation processing on the first feedback information sequence and the second feedback information sequence to obtain a control value.

7. The control method for user limb rehabilitation massage according to claim 6, characterized in that: The performing first feedback calculation processing on the physiological information set and the standard physiological information set to obtain a first feedback information sequence includes: S521, subtracting each sequence in the physiological parameter information set from the corresponding standard value to obtain a corresponding difference sequence; the difference sequence includes a heart rate difference sequence, a blood pressure difference sequence, a blood oxygen saturation difference sequence, and a body temperature difference sequence; S522, constructing a difference matrix using all the difference sequences; S523, performing singular value calculation processing on the difference matrix to obtain a singular value set; the singular value set includes singular values; S524, performing statistical value calculation on the singular value set to obtain a singular statistical value; S525, performing relevant feature calculation on the difference matrix to obtain relevant feature values; S526, performing normalization calculation on each difference sequence to obtain a corresponding normalized difference sequence; S527, averaging all normalized difference sequences to obtain a normalized average sequence; S528, performing sequence calculation on the normalized average sequence, singular statistical values ​​and related eigenvalues ​​to obtain a first feedback information sequence.

8. The control method for user limb rehabilitation massage according to claim 7, characterized in that: The performing relevant feature calculation on the difference matrix to obtain relevant feature values ​​includes: S5251, performing EMD decomposition on each difference sequence of the difference matrix to obtain corresponding IMF components; S5252, performing correlation calculation on the difference matrix and all IMF components to obtain relevant eigenvalues.

9. The control method for user limb rehabilitation massage according to claim 7, characterized in that: The step of calculating statistics on the singular value set to obtain a singular statistical value includes: Obtaining statistically the mean, variance, and median of the singular value set; The mean, variance, and median values ​​are calculated to obtain singular statistical values.

10. The control method for user limb rehabilitation massage according to claim 6, characterized in that: The performing a second feedback calculation process on the strength data sequence and the standard strength value set to obtain a second feedback information sequence includes: S531, extracting an upper limb strength data sequence and a lower limb strength data sequence from the strength data sequence; S532, subtracting the upper limb strength data sequence and the lower limb strength data sequence from the upper limb standard strength value and the lower limb standard strength value, respectively, to obtain a corresponding upper limb strength difference value sequence and a lower limb strength difference value sequence; S533, performing autoregression-sliding average modeling on the upper limb strength difference value sequence and the lower limb strength difference value sequence, respectively, to obtain a first regression model and a second regression model, respectively; extracting coefficient vectors of the two regression models, and calculating a cross-correlation value φ of the two coefficient vectors; S534, performing feedback calculation on the upper limb strength difference value sequence and the lower limb strength difference value sequence to obtain a second feedback information sequence.

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