Lower limb rehabilitation training system with signal feedback and control method thereof

Abstract

The application discloses a lower limb rehabilitation training system with signal feedback and a control method thereof, and belongs to the field of rehabilitation training devices.The system comprises a control module, a pressure sensor, an angle sensor, an electromyography sensor, a display terminal, an electric stimulation module and an execution module, wherein the control module is connected with the pressure sensor, the angle sensor, the electromyography sensor, the display terminal, the electric stimulation module and the execution module respectively; one end of the pressure sensor is fixedly connected with a knee joint mechanism, and the other end is connected with an execution mechanism through a transmission mechanism; the angle sensor is arranged at a rotation point position of the knee joint mechanism; and the electromyography sensor is arranged on a lower limb muscle surface.The signal intensity of the electromyography sensor and the signal intensity of the pressure sensor are monitored, and a set safety value is compared, so that an ideal lower limb rehabilitation training state is achieved, and the rehabilitation training effect of a patient can be ensured, and the safety of patient training can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation medical equipment, and particularly relates to a lower limb rehabilitation training system with signal feedback and a control method thereof. BACKGROUND

[0002] With the aggravation of population aging and the rising incidence of nervous system diseases such as stroke and spinal cord injury, the number of patients with lower limb motor dysfunction is increasing year by year. Traditional rehabilitation training mainly relies on manual assistance of physical therapists, and the training intensity, precision and individualization level are limited, and the labor intensity of therapists is large, and the rehabilitation efficiency is difficult to guarantee. Therefore, the lower limb rehabilitation training system has become a research hotspot in the field of rehabilitation engineering in recent years.

[0003] The existing lower limb rehabilitation training system cannot accurately know the muscle tension of the lower limbs of the patient, so as to ensure the safety of the patient during rehabilitation training. SUMMARY

[0004] In order to solve the problem that the existing lower limb rehabilitation training system cannot accurately know the muscle tension of the lower limbs of the patient, so as to ensure the safety of the patient during rehabilitation training, in order to ensure the safety of the patient, a lower limb rehabilitation training system with signal feedback and a control method thereof are provided. By monitoring the signal intensity of the electromyographic sensor and the signal intensity of the pressure sensor, the set safety value is compared, the ideal lower limb rehabilitation training state is reached, the rehabilitation training effect of the patient is ensured, and the safety of the patient during training is improved. At the same time, when the muscle tension of the lower limbs of the patient is too large, the muscle tension can be relieved by electric stimulation, and the continuity of the lower limb rehabilitation training is ensured.

[0005] In order to achieve the above purpose, the following technical solutions are adopted in the present application:

[0006] The present application provides a lower limb rehabilitation training system with signal feedback, which comprises a control module, a pressure sensor, an angle sensor, an electromyographic sensor, a display terminal, an electric stimulation module and an execution module. The control module is connected with the pressure sensor, the angle sensor, the electromyographic sensor, the display terminal, the electric stimulation module and the execution module respectively. One end of the pressure sensor is fixedly connected with a knee joint mechanism, and the other end is connected with an execution mechanism through a transmission mechanism. The angle sensor is arranged at the turning point position of the knee joint mechanism. The electromyographic sensor is arranged on the surface of the lower limb muscle.

[0007] Further, the system further comprises a voice module, a game interaction module and an emergency stop device, and the voice module, the game interaction module and the emergency stop device are connected with the control module.

[0008] Further, the execution mechanism is a lower limb knee joint driving motor.

[0009] Further, the control module comprises a storage, and the storage stores relevant data including a lower limb driving database and an electromyography detection database.

[0010] Further, the electric stimulation module is connected with an electrode patch arranged on a surface of a lower limb muscle.

[0011] Further, the display terminal displays a man-machine interaction interface; the man-machine interaction interface is used for displaying detected pressure, angle and electromyography intensity of left and right knee joints, and is used for setting pressure, running angle range, training speed, training time and electric stimulation module running time, and is also used for collecting personal information.

[0012] Further, the system has multiple control modes, and the control module controls running and stopping of the lower limb knee joint mechanism in different control modes according to signal values collected by the angle sensor, the electromyography sensor and the pressure sensor.

[0013] Another aspect of the application provides a control method of a lower limb rehabilitation training system with signal feedback, comprising:

[0014] Step 1: the control module automatically calculates maximum angle sensor signal values, maximum pressure sensor signal values and maximum electromyography sensor signal values corresponding to parameter values set on the man-machine interaction interface;

[0015] Step 2: the control module monitors angle sensor signal values, electromyography sensor signal values and pressure sensor signal values in real time;

[0016] Step 3: the control module controls running and stopping of the system according to the angle sensor signal values, the pressure sensor signal values and the electromyography sensor signal values monitored in real time, and the maximum angle sensor signal values, the maximum pressure sensor signal values and the maximum electromyography sensor signal values.

[0017] Further, the step 3 comprises:

[0018] Step 3.1: taking that the angle sensor signal value reaches the maximum angle sensor signal value as a cycle, and determining whether the collected electromyography sensor signal value reaches the maximum electromyography sensor signal value in the cycle, if yes, going to step 3.2; if no, going to step 3.3;

[0019] Step 3.2: the control module sends a stop command to the actuator, records real-time electromyography sensor signals, starts the electric stimulation module, and continues until the collected electromyography sensor signal value is less than the maximum electromyography sensor signal value or the electric stimulation module running time is reached;

[0020] Step 3.3: judging whether the pressure sensor signal value reaches the maximum pressure sensor signal value, if yes, going to step 3.4, if no, going to step 3.6;

[0021] Step 3.4: the control module controls to reduce the set running angle and training speed in the next cycle, and records the number of reductions N;

[0022] Step 3.5: judging whether N is less than 3, if yes, going to step 3.6, if no, the control module sends a stop command to the actuator, starts to run the electric stimulation module, and ends the training process;

[0023] Step 3.6: the control module controls the actuator to run;

[0024] Step 3.7: judging whether the set training time is reached, if yes, ending the training, if no, going to step 3.1.

[0025] Further, the control method further comprises:

[0026] When the pressure sensor signal value does not reach the maximum pressure sensor signal value in a cycle, the control module sends a continue running command to the actuator, when a cycle ends, the system returns to the initial angle, and then the training of the next cycle is performed, until the time reaches the set training time, and the system stops running.

[0027] Compared with the prior art, the present application has the beneficial effects:

[0028] The present application overcomes the safety problems of the lower limb rehabilitation training equipment on the market at present, compares the signal intensity of the electromyographic sensor and the signal intensity of the pressure sensor with the set safety value, reaches the ideal lower limb rehabilitation training state, can guarantee the rehabilitation training effect of the patient, and can improve the safety of the patient training. Meanwhile, when the lower limb muscle tension of the patient is too large, the muscle tension can be relieved through electric stimulation, and the continuity of the lower limb rehabilitation training is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 Fig. 1 is one of the architecture schematic diagrams of the lower limb rehabilitation training system with signal feedback according to an embodiment of the present application;

[0030] Figure 2 Fig. 2 is another of the architecture schematic diagrams of the lower limb rehabilitation training system with signal feedback according to an embodiment of the present application;

[0031] Figure 3 Fig. 3 is one of the flowcharts of the control method of the lower limb rehabilitation training system with signal feedback according to an embodiment of the present application;

[0032] Figure 4This is a second flowchart of a control method for a lower limb rehabilitation training system with signal feedback according to an embodiment of the present invention. Detailed Implementation

[0033] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments:

[0034] like Figure 1 As shown, a lower limb rehabilitation training system with signal feedback includes a control module, which is connected to pressure sensors (left and right knee joints), angle sensors (left and right knee joints), electromyography sensors, a display terminal, an electrical stimulation module, and an actuator.

[0035] One end of the pressure sensor is fixedly connected to the knee joint mechanism (left and right knee joints), and the other end is connected to the actuator through a transmission mechanism (specifically, a linkage mechanism) (left and right knee joints); the angle sensor is set at the turning point of the knee joint mechanism (left and right knee joints); the electromyography sensor is placed on the surface of the patient's lower limb muscles (left and right lower limbs).

[0036] The display terminal shows a human-computer interaction interface, which is used to display the detected pressure, angle, electromyographic intensity, etc. of the left and right knee joints, and to set the pressure, running angle range, training speed, training time, electrical stimulation mode, electrical stimulation module running time, etc. It is also used to collect the patient's personal information.

[0037] The control module includes a memory, a microcontroller, and a data processor. The memory stores a lower limb drive database and an electromyography (EMG) detection database. The lower limb rehabilitation training system has multiple control modes. The data collected by the EMG and pressure sensors are processed by signal filtering and then transmitted to the control module. Based on the signal values ​​collected by the angle sensor, EMG sensor, and pressure sensor, the control module controls the operation and stop of the lower limb knee joint mechanism in different system control modes.

[0038] Furthermore, such as Figure 2 As shown, the system also includes a voice module, a game interaction module, and an emergency stop device, all of which are connected to the control module.

[0039] Furthermore, when the mechanism controlling the lower limb knee joint stops, the control module controls the electrical stimulation module to start, relieving muscle tension in the patient's lower limbs.

[0040] Furthermore, the actuator is a lower limb knee joint drive motor, which is a servo motor and can control the operation of the system in different modes.

[0041] Furthermore, the electrical stimulation module is connected to electrode pads, which are arranged on the surface of the lower limb muscles.

[0042] Further, the emergency stop device is an emergency stop switch.

[0043] Based on the above-mentioned embodiments, as Figure 3 shown, the application further proposes a control method of a lower limb rehabilitation training system with signal feedback, comprising:

[0044] S101: The data processor of the control module automatically calculates the maximum angle sensor signal value, the maximum pressure sensor signal value and the maximum electromyography sensor signal value corresponding to the parameter values set on the human-computer interaction interface;

[0045] S102: The control module monitors the angle sensor signal value, the electromyography sensor signal value and the pressure sensor signal value in real time; specifically, the monitoring frequency is not lower than the change frequency of the angle sensor signal, the electromyography sensor signal and the pressure sensor signal;

[0046] S103: The control module controls the operation and stop of the system according to the real-time monitored angle sensor signal value, pressure sensor signal value and electromyography sensor signal value, and the maximum angle sensor signal value, maximum pressure sensor signal value and maximum electromyography sensor signal value.

[0047] Specifically, before the above process is executed, the following preparations need to be made:

[0048] The electrode patches connected to the electrical stimulation module are arranged on the surface of the muscles of the left and right lower limbs of the patient; the electromyography sensors are arranged on the surface of the muscles of the left and right lower limbs of the patient;

[0049] Parameter values are set on the human-computer interaction interface, including pressure, operating angle range, training speed, training time, electrical stimulation mode, electrical stimulation module operating time, etc., and the data processor of the control module automatically calculates the maximum pressure sensor signal value and the maximum electromyography sensor signal value corresponding to the set parameter values.

[0050] Further, as Figure 4 shown, the S103 comprises:

[0051] S103.1: Take the angle sensor signal value reaching the maximum angle sensor signal value as a cycle, and determine whether the collected electromyography sensor signal value reaches the maximum electromyography sensor signal value within the cycle, if yes, go to S103.2; if no, go to S103.3;

[0052] S103.2: The control module sends a stop command to the actuator, records the real-time electromyography sensor signal at the same time, starts the electrical stimulation module, and continues until the collected electromyography sensor signal value is less than the maximum electromyography sensor signal value or the electrical stimulation module operating time is reached;

[0053] S103.3: judging whether the pressure sensor signal value reaches the maximum pressure sensor signal value, if yes, turning to S103.4, if no, turning to S103.6;

[0054] S103.4: the control module controls to reduce the set running angle and training speed in the next period, and records the number of reductions N;

[0055] S103.5: judging whether N is less than 3, if yes, turning to S103.6, if no, the control module sends a stop command to the actuator, starts the electric stimulation module, and ends the training process;

[0056] S103.6: the control module controls the actuator to run;

[0057] S103.7: judging whether the set training time is reached, if yes, ending the training, if no, turning to S103.1.

[0058] Further, the control method specifically comprises:

[0059] 1) during the system running, when the pressure sensor signal value reaches the maximum pressure sensor signal value corresponding to the set parameter, and the electromyography sensor signal value does not reach the maximum electromyography sensor value corresponding to the set parameter, the control module sends a stop command to the actuator, and records the electromyography sensor signal at this time, and the electric stimulation module starts running;

[0060] 2) during the system running, when the electromyography sensor signal value reaches the maximum electromyography sensor parameter value corresponding to the set parameter, even if the pressure sensor signal value does not reach the maximum pressure sensor value corresponding to the set parameter, the control module still sends a stop command to the actuator, and the electric stimulation module starts running;

[0061] 3) the system running time is mainly the set training time, and the running angle is periodically run by the set running angle, and one period is that the angle sensor signal value reaches the set maximum angle sensor value, that is, the first running period is counted as the first running period when the system starts running, if the pressure sensor signal value does not reach the maximum pressure sensor signal value corresponding to the set parameter in the first running period, the control module sends a continue running command to the actuator, the first running period ends, the system returns to the initial angle, and then the second running, that is, the second running period, is performed, until the time reaches the set training time, and the system stops running.

[0062] 4) If the pressure sensor signal value reaches the maximum pressure sensor signal value corresponding to the set parameter in the first running cycle, and the electromyographic sensor signal value does not reach the maximum electromyographic sensor signal value corresponding to the set parameter, the control module automatically reduces the set running angle value and the speed parameter value in the second running cycle;

[0063] 5) In the second running cycle, when the pressure sensor signal value reaches the maximum pressure sensor signal value corresponding to the set parameter and the electromyographic sensor signal value does not reach the maximum electromyographic sensor signal value corresponding to the set parameter after the control module reduces the set running angle and speed parameter value, the control module continues to reduce the set running angle and speed parameter value in the next cycle until the number of continuous reductions is 3, the control module sends a stop command to the actuator, and the electrical stimulation module starts running;

[0064] 6) In the second running cycle, when the pressure sensor signal value does not reach the maximum pressure sensor signal value corresponding to the set parameter and the electromyographic sensor signal value reaches the maximum electromyographic sensor signal value corresponding to the set parameter after the control module reduces the set running angle and speed parameter value, the control module sends a stop command to the actuator, and the electrical stimulation module starts running.

[0065] 7) During the system running process, the control module monitors the control signal of the emergency stop switch in real time, and when it is detected that the emergency stop switch is pressed, the control module controls the actuator to immediately return to the initial state and stop running.

[0066] 8) During the system running process, the control module runs with a voice prompt.

[0067] The above only shows the preferred embodiments of the present application, and it should be noted that for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be considered as the protection scope of the present application.

Claims

1. A lower extremity rehabilitation training system with signal feedback, characterized in that, The system comprises a control module, a pressure sensor, an angle sensor, an electromyography sensor, a display terminal, an electrical stimulation module and an execution module, wherein the control module is connected with the pressure sensor, the angle sensor, the electromyography sensor, the display terminal, the electrical stimulation module and the execution module respectively; one end of the pressure sensor is fixedly connected with a knee joint mechanism, and the other end is connected with an execution mechanism through a transmission mechanism; the angle sensor is arranged at a turning point of the knee joint mechanism; and the electromyography sensor is arranged on the surface of a lower limb muscle. The lower limb rehabilitation training system is used for executing the following steps: Step 1: the control module automatically calculates corresponding maximum angle sensor signal values, maximum pressure sensor signal values and maximum electromyography sensor signal values according to parameter values set on a human-computer interaction interface; Step 2: the control module monitors angle sensor signal values, electromyography sensor signal values and pressure sensor signal values in real time; Step 3: the control module controls the operation and stop of the system according to the real-time monitored angle sensor signal values, pressure sensor signal values and electromyography sensor signal values, and the maximum angle sensor signal values, maximum pressure sensor signal values and maximum electromyography sensor signal values; The step 3 comprises: Step 3.1: taking the angle sensor signal values reaching the maximum angle sensor signal values as a cycle, it is judged whether the collected electromyography sensor signal values reach the maximum electromyography sensor signal values within the cycle, if yes, the process proceeds to step 3.2, and if no, the process proceeds to step 3.3; Step 3.2: the control module sends a stop command to the execution mechanism, records real-time electromyography sensor signals, starts the electrical stimulation module, and ends the training process until the collected electromyography sensor signal values are less than the maximum electromyography sensor signal values or the running time of the electrical stimulation module is reached; Step 3.3: it is judged whether the pressure sensor signal values reach the maximum pressure sensor signal values, if yes, the process proceeds to step 3.4, and if no, the process proceeds to step 3.6; Step 3.4: the control module controls the running angle and training speed to be reduced in the next cycle, and records the number of reductions N; Step 3.5: it is judged whether N is less than 3, if yes, the process proceeds to step 3.6, and if no, the control module sends a stop command to the execution mechanism, starts the electrical stimulation module, and ends the training process; Step 3.6: the control module controls the execution mechanism to run; Step 3.7: it is judged whether the set training time is reached, if yes, the training is ended, and if no, the process proceeds to step 3.

1. The system further comprises a voice module, a game interaction module and an emergency stop device, wherein the voice module, the game interaction module and the emergency stop device are connected with the control module.

2. The lower limb rehabilitation training system with signal feedback according to claim 1, characterized in that, The execution mechanism is a lower limb knee joint driving motor.

3. The lower limb rehabilitation training system with signal feedback according to claim 1, characterized in that, The control module comprises a storage, and the storage stores relevant data including a lower limb driving database and an electromyography detection database.

4. The lower limb rehabilitation training system with signal feedback according to claim 1, characterized in that, The electrical stimulation module is connected with an electrode sheet, and the electrode sheet is arranged on the surface of a lower limb muscle.

5. The lower limb rehabilitation training system with signal feedback according to claim 1, characterized in that, ​ 6. The lower limb rehabilitation training system with signal feedback according to claim 1, characterized in that, The display terminal displays a man-machine interaction interface; the man-machine interaction interface is used for displaying the detected pressure, angle and muscle strength of the left and right knee joints, and is used for setting pressure, running angle range, training speed, training time and electric stimulation module running time, and is also used for collecting personal information.

7. The lower limb rehabilitation training system with signal feedback according to claim 1, characterized in that, The system has multiple control modes, and the control module controls the running and stopping of the lower limb knee joint mechanism in different control modes according to the signal values collected by the angle sensor, the muscle electric sensor and the pressure sensor.

8. The lower limb rehabilitation training system with signal feedback according to claim 1, characterized in that, Further comprising: In one cycle, when the pressure sensor signal value does not reach the maximum pressure sensor signal value, the control module sends a continue running command to the executing mechanism, when one cycle ends, the system returns to the initial angle, and then the next cycle of training is performed, until the time reaches the set training time, and the system stops running.

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