Limb rehabilitation training device for simulating swimming and control method

Abstract

The invention discloses a limb rehabilitation training device for simulating swimming and a control method. The device comprises a bed board, four telescopic rods, VR glasses, a physiological parameter measuring module, a driving module and a feedback control module. The bed board is used for providing a supporting platform for a user performing limb rehabilitation training; the first ends of the four telescopic rods are movably installed at the four corners of the bed board respectively. The physiological parameter measurement module is used for measuring and obtaining a physiological information set of a user when the user uses the limb rehabilitation training device for simulating swimming to train; the feedback control module is used for acquiring a physiological information set and a force 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 driving module; and the driving module is used for adjusting the control force of the four telescopic rods according to the control value.

Description

Technical Field

[0001] The invention relates to the fields of rehabilitation medicine, industrial data processing and data modeling processing, and in particular to a limb rehabilitation training device for simulating swimming and a control method. Background Art

[0002] Limb rehabilitation training is an important means to help patients restore limb function, especially for patients whose limb motor function is limited due to disease, surgery or accidental injury. Traditional limb rehabilitation training methods usually rely on the guidance and manual assistance of physical therapists, but this method has some limitations. For example, the rehabilitation training process is relatively boring, and patients are prone to lose interest and motivation, which affects the rehabilitation effect. In addition, traditional rehabilitation training is difficult to accurately adjust according to the patient's real-time physiological state and limb strength, which can easily lead to insufficient training intensity or overtraining.

[0003] However, existing rehabilitation training devices lack real-time monitoring and feedback of patients' physiological parameters and limb strength, and cannot achieve personalized and intelligent rehabilitation training. Therefore, how to design a limb rehabilitation training device that can simulate real sports scenes and accurately control the training intensity is a technical problem that needs to be solved in the current limb rehabilitation field. Summary of the invention

[0004] The present invention mainly solves the problem of how to design a limb rehabilitation training device that can simulate real sports scenes and can accurately adjust the training intensity. The present invention discloses a limb rehabilitation training device that simulates swimming and a control method.

[0005] In a first aspect of an embodiment of the present invention, a limb rehabilitation training device simulating swimming is disclosed, comprising: a bed board, four telescopic rods, VR glasses, a physiological parameter measurement module, a driving module, and a feedback control 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 movably mounted on the four corners of the bed board respectively; when the user uses the limb rehabilitation training device simulating swimming for training, the user's four 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;

[0009] The VR glasses are worn on the user's head and are used to display a virtual reality video of a swimming scene for the user;

[0010] The physiological parameter measurement module is used to measure the set of physiological information of the user when the user is training using the simulated swimming limb rehabilitation training device; 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;

[0011] The feedback control module is respectively connected to the physiological parameter measurement module, the force sensors, and the driving 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 driving module;

[0012] The driving module is respectively connected to the four telescopic rods, and is used to adjust the control force on the four telescopic rods according to the control value.

[0013] The driving module includes a motor, a slide rail, and four connecting rods; the four connecting rods are respectively movably connected to the four telescopic rods;

[0014] The motor includes a motor body and a pulley; a pulley is provided at the bottom of the motor body, and the pulley is arranged in the slide rail; the rotation speed of the motor body is determined according to the control value;

[0015] The pulley is connected to the four connecting rods and is used to drive the four connecting rods to move following the motor.

[0016] 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 driving module, including:

[0017] The feedback control module obtains a set of standard physiological information and a set of standard force values; the set of standard physiological information includes a heart rate standard value, a blood pressure standard value, a blood oxygen saturation standard value, and a body temperature standard value; the set of standard force values includes an upper limb standard force value and a lower limb standard force value;

[0018] Perform physiological feedback calculation processing on the set of physiological information and the set of standard physiological information to obtain a physiological feedback information sequence;

[0019] Perform mechanical feedback calculation processing on the force data sequence and the set of standard force values to obtain a mechanical feedback information sequence;

[0020] Perform fusion calculation processing on the physiological feedback information sequence and the mechanical feedback information sequence to obtain a control value, and send the control value to the driving module.

[0021] In the second aspect of the embodiments of the present invention, a control method for limb rehabilitation training of simulated swimming is disclosed, which is implemented by using the limb rehabilitation training device for simulated swimming, and includes:

[0022] S1, using the bed board to provide a support platform for a user undergoing limb rehabilitation training;

[0023] S2, respectively fixing the four limbs of the user to the second ends of the four telescopic rods;

[0024] S3, using the mechanical sensors arranged on the four telescopic rods to measure the force data sequence applied by the user during the training;

[0025] S4, using the physiological parameter measurement module to measure the set of physiological information of the user when the user is training by using the limb rehabilitation training device for simulated swimming;

[0026] S5, using the feedback control module to collect the set of physiological information and the force data sequence measured by the four mechanical sensors, performing feedback control processing on the collected information to obtain a control value, and sending the control value to the drive module;

[0027] S6, setting the control force of the drive module on the four telescopic rods according to the control value.

[0028] The step of using the feedback control module to collect the set of physiological information and the force data sequence measured by the four mechanical sensors, performing feedback control processing on the collected information to obtain a control value includes:

[0029] Using the feedback control module to obtain a set of standard physiological information and a set of standard force values;

[0030] Collecting the set of physiological information and the force data sequence measured by the four mechanical sensors;

[0031] Performing physiological feedback calculation processing on the set of physiological information and the set of standard physiological information to obtain a physiological feedback information sequence;

[0032] Performing mechanical feedback calculation processing on the force data sequence and the set of standard force values to obtain a mechanical feedback information sequence;

[0033] Performing fusion calculation processing on the physiological feedback information sequence and the mechanical feedback information sequence to obtain a control value, and sending the control value to the drive module.

[0034] The step of performing physiological feedback calculation processing on the set of physiological information and the set of standard physiological information to obtain a physiological feedback information sequence includes:

[0035] For each sequence in the set of physiological parameter information, subtract the corresponding standard value to obtain the 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;

[0036] Use all the difference sequences to construct a difference matrix X;

[0037] Perform eigenvalue solution processing on the difference matrix X to obtain the maximum eigenvalue λ 1max and the corresponding eigenvector, and determine the eigenvector as the first eigensequence;

[0038] Perform eigen transformation on each row vector of the difference matrix X to obtain a frequency domain matrix Y;

[0039] Perform eigenvalue solution processing on the frequency domain matrix Y to obtain the maximum eigenvalue λ 2max and the corresponding eigenvector, and determine the eigenvector as the second eigensequence;

[0040] Use the frequency domain matrix and the difference matrix to construct a feedback identification model;

[0041] Solve the feedback identification model to obtain the solution results of the first transformation vector and the second transformation vector;

[0042] Use the solution results of the first transformation vector and the second transformation vector to perform fusion weighting processing on the first eigensequence and the second eigensequence to obtain a physiological feedback information sequence;

[0043] The expression for the fusion weighting is:

[0044] μ i = c0L2(α1 i ) + v0L3(α2 i ),

[0045] where μ i is the i-th item of the physiological feedback information sequence, α1 i and α2 i are the i-th item of the first eigensequence and the i-th item of the second eigensequence respectively, L2() and L3() represent the quadratic Laguerre polynomial and the cubic Laguerre polynomial respectively, and c0 and v0 are the solution results of the first transformation vector and the second transformation vector respectively.

[0046] The mechanical feedback calculation processing of the force data sequence and the set of standard force values to obtain a mechanical feedback information sequence includes:

[0047] Extract the upper limb force data sequence and the lower limb force data sequence from the force data sequence;

[0048] For the upper limb strength data sequence and the lower limb strength data sequence, subtract them from the upper limb standard strength value and the lower limb standard strength value respectively to obtain the corresponding upper limb strength difference value sequence and the lower limb strength difference value sequence;

[0049] For the upper limb strength difference value sequence and the lower limb strength difference value sequence, perform autoregressive-moving average modeling respectively to obtain a first regression model and a second regression model; extract the coefficient vectors of the two regression models, and calculate the cross-correlation value φ of the two coefficient vectors;

[0050] Perform feedback calculation on the upper limb strength difference value sequence and the lower limb strength difference value sequence to obtain a mechanical feedback information sequence;

[0051] The expression of the feedback calculation is:

[0052]

[0053] where, is the i-th item of the mechanical feedback information sequence, t1 i and t2 i are the i-th items 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.

[0054] In the third aspect of the implementation of the present invention, a control device for limb rehabilitation training for simulating swimming is disclosed, and the device includes:

[0055] A memory storing executable program code;

[0056] A processor coupled to the memory;

[0057] The processor calls the executable program code stored in the memory and executes the control method for limb rehabilitation training for simulating swimming.

[0058] In the fourth aspect of the implementation of the present invention, a computer-readable storage medium is disclosed, and the computer-readable storage medium stores computer instructions, which are used to execute the control method for limb rehabilitation training for simulating swimming when called by a computer.

[0059] In the fifth aspect of the implementation of the present invention, an information data processing terminal is disclosed, and the information data processing terminal is used to implement the control method for limb rehabilitation training for simulating swimming.

[0060] The beneficial effects of the present invention are:

[0061] The limb rehabilitation training device for simulating swimming in the present invention integrates a bed board, telescopic rods, VR glasses, a physiological parameter measurement module, a driving module, and a feedback control module, realizing the organic combination of immersive rehabilitation training and real-time physiological feedback.

[0062] First, the VR glasses provide virtual reality videos of swimming scenes for patients, simulating the visual experience of real swimming, greatly improving the interest of rehabilitation training and the participation of patients.

[0063] Secondly, the physiological parameter measurement module can monitor physiological information such as the heart rate, blood pressure, blood oxygen saturation, and body temperature of patients 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 physiological state and rehabilitation progress of patients. 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 driving module, thereby realizing the dynamic adjustment of the control force of the telescopic rods. This feedback control mechanism based on real-time data can not only adjust the training intensity according to the individual differences and real-time states of patients, avoiding overtraining or undertraining, but also effectively improve the safety and effect of rehabilitation training.

[0064] The device realizes precise control of the control force of the telescopic rods by adjusting the motor speed, further ensuring the stability and reliability of the training process. Description of the Drawings

[0065] Figure 1 is the implementation flowchart of the method of the present invention;

[0066] Figure 2 is the composition diagram of the device of the present invention. Detailed Embodiment

[0067] To better understand the content of the present invention, an embodiment is given here.

[0068] Figure 1 is the implementation flowchart of the method of the present invention. Figure 2 is the composition diagram of the device of the present invention.

[0069] In the first aspect of the embodiment of the present invention, a limb rehabilitation training device for simulating swimming is disclosed, including: a bed board, four telescopic rods, VR glasses, a physiological parameter measurement module, a driving module, and a feedback control module;

[0070] The bed board is used to provide a support platform for users undergoing limb rehabilitation training;

[0071] The four telescopic rods are used to provide support for the limbs of users;

[0072] The first ends of the four telescopic rods are respectively movably installed at the four corners of the bed board; when a user uses the limb rehabilitation training device for simulated swimming 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 for measuring the force data sequence exerted by the user during the training process;

[0073] The VR glasses are worn on the user's head and are used for displaying a virtual reality video of a swimming scene for the user;

[0074] The physiological parameter measurement module is used for measuring the set of physiological information of the user when the user uses the limb rehabilitation training device for simulated swimming 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;

[0075] The feedback control module is respectively connected to the physiological parameter measurement module, the mechanical sensors, and the driving module, and is used for collecting the set of physiological information and the force data sequence measured by the four mechanical sensors, performing feedback control processing on the collected information to obtain a control value, and sending the control value to the driving module;

[0076] The driving module is respectively connected to the four telescopic rods and is used for adjusting the control force on the four telescopic rods according to the control value;

[0077] The driving module includes a motor, a slide rail, and four connecting rods; the four connecting rods are respectively movably connected to the four telescopic rods;

[0078] 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; the rotation speed of the motor body is set according to the control value;

[0079] The pulley is connected to the four connecting rods and is used for driving the four connecting rods to move along with the motor.

[0080] Adjusting the control force on the four telescopic rods according to the control value means setting the rotation speed of the motor body according to the control value, and realizing the adjustment of the control force on the four telescopic rods by setting the rotation speed of the motor body.

[0081] The feedback control module is used for collecting the set of physiological information and the force data sequence measured by the four mechanical sensors, performing feedback control processing on the collected information to obtain a control value, and sending the control value to the driving module, and includes:

[0082] 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.

[0083] Perform physiological feedback calculation processing on the set of physiological information and the set of standard physiological information to obtain a physiological feedback information sequence.

[0084] Perform mechanical feedback calculation processing on the force data sequence and the set of standard strength values to obtain a mechanical feedback information sequence.

[0085] Perform fusion calculation processing on the physiological feedback information sequence and the mechanical feedback information sequence to obtain a control value, and send the control value to the drive module.

[0086] During the user's training process, with the first end of the four telescopic rods as the fixed point and the second end of the four telescopic rods as the moving end, the second end makes a circular motion driven by the connecting rod, that is, the motion trajectory of the second end presents a circular arc.

[0087] The rotation speed of the motor body is set according to the control value. The rotation speed of the motor body is obtained by multiplying the control value by a preset constant.

[0088] The lengths of the four telescopic rods can be flexibly adjusted according to the lengths of the user's limbs.

[0089] 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. 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. After the motor body is powered on, it drives the sliding to move back and forth along the slide rail. The motor body is used to control the pulley to move back and forth along the slide rail.

[0090] The slide rail is a circular arc slide rail.

[0091] In the second aspect of the embodiments of the present invention, a control method for limb rehabilitation training for simulating swimming is disclosed, which is realized by using the limb rehabilitation training device for simulating swimming, and includes:

[0092] S1, use the bed board to provide a support platform for the user undergoing limb rehabilitation training;

[0093] S2, fix the four limbs of the user to the second ends of the four telescopic rods respectively;

[0094] S3, use the mechanical sensors arranged on the four telescopic rods to measure and obtain the force data sequence exerted by the user during the training process.

[0095] S4. Using the physiological parameter measurement module, measure the set of physiological information of the user when the user is training with the limb rehabilitation training device for simulated swimming.

[0096] 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 drive module.

[0097] S6. Using the drive module, adjust the control force on the four telescopic rods according to the control value.

[0098] The collected information includes the set of physiological information collected and the sequence of force data measured by the four force sensors.

[0099] 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:

[0100] Using the feedback control module, obtain the set of standard physiological information and the set of standard force values;

[0101] Perform physiological feedback calculation processing on the set of physiological information and the set of standard physiological information to obtain a sequence of physiological feedback information;

[0102] Perform mechanical feedback calculation processing on the sequence of force data and the set of standard force values to obtain a sequence of mechanical feedback information;

[0103] Perform fusion calculation processing on the sequence of physiological feedback information and the sequence of mechanical feedback information to obtain a control value, and send the control value to the drive module.

[0104] The step of performing physiological feedback calculation processing on the set of physiological information and the set of standard physiological information to obtain a sequence of physiological feedback information includes:

[0105] 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;

[0106] Use all the difference sequences to construct a difference matrix X;

[0107] Perform eigenvalue solution processing on the difference matrix X to obtain the maximum eigenvalue λ 1max and the corresponding eigenvector, and determine the eigenvector as the first eigen-sequence;

[0108] Perform a feature transformation on each row vector of the difference matrix X to obtain a frequency domain matrix Y;

[0109] Perform an eigenvalue solution process on the frequency domain matrix Y to obtain the maximum eigenvalue λ 2max and the corresponding eigenvector, and determine the eigenvector as the second feature sequence;

[0110] Use the frequency domain matrix and the difference matrix to construct a feedback identification model;

[0111] Solve the feedback identification model to obtain the solution results of the first transformation vector and the second transformation vector;

[0112] Use the solution results of the first transformation vector and the second transformation vector to perform a fusion weighting process on the first feature sequence and the second feature sequence to obtain a physiological feedback information sequence;

[0113] The expression for the fusion weighting is:

[0114] μ i = c0L2(α1 i ) + v0L3(α2 i ),

[0115] where μ i is the i-th item of the physiological feedback information sequence, α1 i and α2 i are the i-th item of the first feature sequence and the i-th item of the second feature sequence respectively, L2() and L3() represent the quadratic Laguerre polynomial and the cubic Laguerre polynomial respectively, and c0 and v0 are the solution results of the first transformation vector and the second transformation vector respectively.

[0116] The expression for the feedback identification model is:

[0117]

[0118] where cov(X′, Y′) is the correlation value of the first fusion vector and the second fusion vector, X is the difference matrix, X′ is the first fusion vector, Y′ is the first fusion vector, c and v are the first transformation vector and the second transformation vector respectively, and c0 and v0 are the solution results of c and v respectively;

[0119] The solution of the feedback identification model can adopt a genetic algorithm;

[0120] The feature transformation can adopt a Walsh transformation;

[0121] Performing mechanical feedback calculation and processing on the force data sequence and the set of standard force values to obtain a mechanical feedback information sequence, including:

[0122] Extracting an upper limb force data sequence and a lower limb force data sequence from the force data sequence;

[0123] 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;

[0124] Performing autoregressive-moving average modeling on the upper limb force difference value sequence and the lower limb force difference value sequence respectively to obtain a first regression model and a second regression model; extracting coefficient vectors of the two regression models and calculating the cross-correlation value φ of the two coefficient vectors;

[0125] Performing feedback calculation on the upper limb force difference value sequence and the lower limb force difference value sequence to obtain a mechanical feedback information sequence;

[0126] The expression of the feedback calculation is:

[0127]

[0128] where, is the i-th item of the mechanical feedback information sequence, t1 i and t2 i are the i-th items of the upper limb force difference value sequence and the lower limb force difference value sequence respectively, t2 max is the maximum value of the lower limb force difference value sequence, and T is the length of the upper limb force difference value sequence.

[0129] The autoregressive-moving average modeling is performed with the sequence number value of the difference value sequence as the independent variable and the element value of the difference value sequence as the dependent variable for autoregressive-moving average modeling.

[0130] Performing fusion calculation and processing on the physiological feedback information sequence and the mechanical feedback information sequence to obtain a control value and sending the control value to the driving module, including:

[0131]

[0132] where, KZ is the control value and n is the length of the physiological feedback information sequence.

[0133] In the third aspect of the embodiments of the present invention, a control device for limb rehabilitation training for simulating swimming is disclosed, and the device includes:

[0134] A memory storing executable program code;

[0135] A processor coupled to the memory;

[0136] The processor calls the executable program code stored in the memory and executes the control method for the limb rehabilitation training of simulated swimming.

[0137] In a fourth aspect of the embodiments of the present invention, a computer - storable medium is disclosed. The computer - storable medium stores computer instructions, and when the computer instructions are called by a computer, they are used to execute the control method for the limb rehabilitation training of simulated swimming.

[0138] In a 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 the limb rehabilitation training of simulated swimming.

[0139] The above are only 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 limb rehabilitation training device simulating swimming, characterized in that: include: Bed board, four telescopic rods, VR glasses, physiological parameter measurement module, drive module, feedback control 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 a user is training with the limb rehabilitation training device simulating swimming, the user's four 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 VR glasses are worn on the user's head and are used to display a virtual reality video of a swimming scene for the user; The physiological parameter measurement module is used to measure and obtain a set of physiological information of the user when the user is training with the limb rehabilitation training device simulating swimming; 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, and the driving 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 driving module; The driving module is connected to the four telescopic rods respectively, and is used to adjust the control force of the four telescopic rods according to the control value.

2. The limb rehabilitation training device for simulating swimming as claimed in 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 rotation speed of the motor body is determined according to the control value; The pulley is connected to the four connecting rods and is used to drive the four connecting rods to move along with the motor.

3. The limb rehabilitation training device for simulating swimming as claimed in 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 driving 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 physiological feedback calculation processing on the physiological information set and the standard physiological information set to obtain a physiological feedback information sequence; Performing mechanical feedback calculation processing on the force data sequence and the standard force value set to obtain a mechanical feedback information sequence; The physiological feedback information sequence and the mechanical feedback information sequence are fused and calculated to obtain a control value, and the control value is sent to the driving module.

4. A control method for limb rehabilitation training simulating swimming, characterized in that: The method is realized by using the limb rehabilitation training device for simulating swimming according to any one of claims 1 to 3, comprising: 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 limb rehabilitation training device simulating swimming; 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 driving module; S6: Setting the control force of the driving module on the four telescopic rods according to the control value.

5. The control method for limb rehabilitation training simulating swimming as claimed in claim 4, 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: Using the feedback control module, obtaining a standard physiological information set and a standard force value set; Collect a set of physiological information and a sequence of force data measured by four mechanical sensors; Performing physiological feedback calculation processing on the physiological information set and the standard physiological information set to obtain a physiological feedback information sequence; Performing mechanical feedback calculation processing on the force data sequence and the standard force value set to obtain a mechanical feedback information sequence; The physiological feedback information sequence and the mechanical feedback information sequence are fused and calculated to obtain a control value, and the control value is sent to the driving module.

6. The control method for limb rehabilitation training simulating swimming as claimed in claim 5, characterized in that: The step of performing physiological feedback calculation processing on the physiological information set and the standard physiological information set to obtain a physiological feedback information sequence includes: 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; Using all the difference sequences, construct the difference matrix X; Perform eigenvalue solving on the difference matrix X to obtain the maximum eigenvalue λ 1max and the corresponding feature vector, determining the feature vector as a first feature sequence; Performing feature transformation on each row vector of the difference matrix X to obtain a frequency domain matrix Y; Perform eigenvalue solving on the frequency domain matrix Y to obtain the maximum eigenvalue λ 2max and the corresponding feature vector, determining the feature vector as a second feature sequence; Using the frequency domain matrix and the difference matrix, a feedback identification model is constructed; Solving the feedback identification model to obtain a solution result of the first transformation vector and a solution result of the second transformation vector; Using the solution result of the first transformation vector and the solution result of the second transformation vector, the first feature sequence and the second feature sequence are subjected to fusion weighting processing to obtain a physiological feedback information sequence; The expression of the fusion weight is: m i =c0L2(α1 i )+v0L3(α2 i ), Among them, μ i is the i-th item of the physiological feedback information sequence, α1 i and α2 i are respectively the i-th item of the first feature sequence and the i-th item of the second feature sequence, L2() and L3() represent quadratic Laguerre polynomials and cubic Laguerre polynomials, c0 and v0 are the solution results of the first transformation vector and the solution results of the second transformation vector, respectively.

7. The control method for limb rehabilitation training simulating swimming as claimed in claim 5, characterized in that: The step of performing mechanical feedback calculation processing on the force data sequence and the standard force value set to obtain a mechanical feedback information sequence includes: Extracting an upper limb strength data sequence and a lower limb strength data sequence from the strength data sequence; 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; Autoregressive-sliding average modeling is performed on the upper limb strength difference value sequence and the lower limb strength difference value sequence to obtain a first regression model and a second regression model respectively; coefficient vectors of the two regression models are extracted, and a cross-correlation value φ of the two coefficient vectors is calculated; Performing feedback calculation on the upper limb strength difference value sequence and the lower limb strength difference value sequence to obtain a mechanical feedback information sequence; The expression of the feedback calculation is: in, is the i-th item of the mechanical feedback information sequence, t1 i and t2 i are the i-th item of the upper limb strength difference value sequence and the lower limb strength difference value sequence, 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.

8. A control device for limb rehabilitation training simulating swimming, characterized in that: The device comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the control method for limb rehabilitation training simulating swimming according to any one of claims 4 to 7.

9. A computer storable medium, characterized in that: The computer storable medium stores computer instructions, and when the computer instructions are called by a computer, they are used to execute the control method for limb rehabilitation training of simulated swimming as described in any one of claims 4 to 7.

10. An information data processing terminal, characterized in that: The information data processing terminal is used to implement the control method for limb rehabilitation training simulating swimming as described in any one of claims 4 to 7.

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