A rehabilitation apparatus motion mode control method and system

Abstract

The present application relates to the field of rehabilitation medical technology, and particularly relates to a rehabilitation instrument motion mode control method and system, the method comprising: acquiring motion angle data and counter torque data of a user; determining whether the deviation of an actual motion trajectory from a preset path exceeds a preset threshold, determining whether the torque actively emitted by the user presents a continuous attenuation trend, and judging whether the motion performance of the user is declining; if it is judged that the motion performance of the user is declining, applying a diagnostic mechanical stimulation; collecting mechanical response data; according to the mechanical response data, judging whether the counter force source is active force reduction or involuntary muscle stretch reflex; if it is the involuntary muscle stretch reflex, switching the mode of the rehabilitation instrument to a vibration assistance and low-speed motion mode; if it is the active force reduction, switching the mode of the rehabilitation instrument to a strength compensation mode. The present application has the advantages of intelligently adjusting the motion mode of the rehabilitation instrument, and improving the pertinence, safety and effectiveness of rehabilitation training.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation medicine, in particular to a rehabilitation instrument motion mode control method and system. BACKGROUND

[0002] In the field of remote rehabilitation, existing rehabilitation devices have difficulty in accurately sensing and intelligently responding to changes in the physiological state of users when executing preset motion modes. Specifically, when a user's performance declines, the device usually only intervenes by increasing the auxiliary torque, but it cannot effectively distinguish whether the "opposing torque" is caused by muscle fatigue (insufficient active force) of the user or by non-autonomous muscle stretch reflex caused by increased muscle tension. The lack of such information recognition can cause the rehabilitation device to mistakenly continue to increase the auxiliary force, thereby intensifying the non-autonomous stimulation of the user's muscles, forming a vicious cycle of "auxiliary enhancement - reflex enhancement - opposition enhancement", which not only reduces the effectiveness of rehabilitation training, but also can cause user discomfort and even muscle damage.

[0003] In view of the above problems, the existing technology needs to be improved. SUMMARY

[0004] To solve the problems of the prior art, the present application provides a rehabilitation instrument motion mode control method and system, which intelligently adjusts the motion mode of the rehabilitation instrument, reduces the negative effects that may be caused by the blind increase of auxiliary force of traditional rehabilitation instruments, and thus improves the pertinence, safety and effectiveness of rehabilitation training.

[0005] The present application provides a rehabilitation instrument motion mode control method, which comprises:

[0006] Obtaining motion angle data and opposing torque data of a user;

[0007] Determining whether the deviation of the actual motion trajectory from the preset path exceeds a preset threshold according to the motion angle data, and determining whether the torque actively generated by the user presents a continuous decay trend according to the opposing torque data, to determine whether the user's performance is declining;

[0008] If it is determined that the user's performance is declining, changing the auxiliary force output form of the rehabilitation instrument to apply a diagnostic mechanical stimulus, wherein the diagnostic mechanical stimulus comprises a vibration component with a preset frequency and a preset amplitude superimposed on the original base driving torque of the rehabilitation instrument;

[0009] Collecting mechanical response data of the user during the application of the diagnostic mechanical stimulus;

[0010] Determining whether the user's opposing force is caused by a decrease in active force or a non-autonomous muscle stretch reflex according to the mechanical response data;

[0011] If the source of the resistance is determined to be the non-autonomic muscle stretch reflex, the mode of the rehabilitation instrument is switched to a vibration-assisted and low-speed movement mode, which includes continuously superimposing a vibration component in the assistive force output, reducing the movement speed of the task target, and simplifying the complexity of the preset path;

[0012] If the source of the resistance is determined to be active force reduction, the mode of the rehabilitation instrument is switched to a force compensation mode, which includes increasing the constant value of the basic pushing torque.

[0013] Through the above scheme, the deep reason for the decline in the user's movement performance can be accurately judged, and the movement mode of the rehabilitation instrument is intelligently adjusted accordingly, avoiding the negative effects that may be caused by the blind increase of assistive force of the traditional rehabilitation instrument, thereby improving the pertinence, safety and effectiveness of the rehabilitation training.

[0014] Further, the present application also proposes that the mechanical response data of the user during the application of the diagnostic mechanical stimulation is collected, including:

[0015] The natural frequency and the natural phase of the natural limb tremor of the user are obtained;

[0016] A counter-phase vibration torque with the same frequency as the natural frequency and the opposite phase to the natural phase is applied to suppress the natural limb tremor;

[0017] The torque data of the user is collected as the mechanical response data.

[0018] Further, the present application also proposes that it further includes:

[0019] The natural frequency and the natural phase are continuously updated in a rolling time window manner;

[0020] After updating the natural frequency and the natural phase each time, the frequency and the phase of the counter-phase vibration torque are synchronously adjusted to be continuously consistent with the frequency of the natural frequency and opposite to the phase of the natural phase;

[0021] According to the change trend of the natural frequency and the natural phase in the rolling time window, it is determined whether the natural limb tremor is in a stable state;

[0022] If it is determined to be in a stable state, the parameters of the counter-phase vibration torque remain unchanged;

[0023] If it is determined to be in a non-stable state, the natural frequency and the natural phase are continuously updated in a rolling time window manner, and the frequency and the phase of the counter-phase vibration torque are synchronously adjusted based on the updated natural frequency and the natural phase.

[0024] Further, the present application also proposes that it further includes:

[0025] determine whether there is a residual tremor component in the torque response of the user after the counter-phase vibration torque is applied;

[0026] If there is a residual tremor component, a compensation signal is constructed based on the frequency and phase information of the residual tremor component;

[0027] Based on the compensation signal, the output amplitude and phase of the counter-phase vibration torque are adaptively adjusted.

[0028] Further, the application also proposes that after switching the mode of the rehabilitation instrument to the vibration assistance and low-speed movement mode, the following steps are further included:

[0029] Monitoring the actual movement deviation value of the user under the preset path;

[0030] Determining whether the actual movement deviation value is continuously in a deviation stable state below the first deviation threshold;

[0031] If it is determined that the deviation stable state is reached, the complexity of the preset path and the movement speed of the task target are gradually increased according to a preset adjustment rule;

[0032] If it is determined that the deviation stable state is not reached, the current preset path and movement speed settings are maintained.

[0033] Further, the application also proposes that after switching the mode of the rehabilitation instrument to the vibration assistance and low-speed movement mode, the following steps are further included:

[0034] Within a preset response determination time window, it is determined whether there is a continuous deviation trajectory or periodic disturbance response inconsistent with the direction of the task target under the vibration assistance and low-speed movement mode based on the actual movement trajectory;

[0035] If it is determined that there is a continuous deviation trajectory or periodic disturbance response, it is determined that there is an abnormal behavior of non-target-oriented compensatory movement or external interference, a prompt signal is sent to the rehabilitation personnel, and a micro-disturbance torque with an amplitude lower than a disturbance threshold for verifying the response stability and movement intention consistency of the user is applied to the user, the disturbance threshold being a preset upper limit torque amplitude of the user's safe response; Figure One

[0036] If the user has an unpredictable response to the micro-disturbance torque, the current mechanical response data is marked as a key evaluation interval, and the corresponding abnormal trajectory feature parameters are recorded.

[0037] Further, the application also proposes that after applying the micro-disturbance torque with an amplitude lower than the disturbance threshold for verifying the response stability and movement intention consistency of the user, the following steps are further included: Figure One

[0038] ​​Continuously monitor the mechanical response data of the user, extract the response start time, maximum torque response time and maximum value time point of the perturbation torque of the user;

[0039] Calculate the time difference between the maximum torque response time and the maximum value time point, and determine whether the time difference exceeds the preset response hysteresis threshold;

[0040] If the time difference is determined to exceed the response hysteresis threshold, it is recorded as a hysteresis response event;

[0041] If the cumulative number of hysteresis response events exceeds the preset number threshold in a preset number of perturbation torque application operations, the current user is determined to be a hysteresis response mode user;

[0042] The user is determined to be a hysteresis response mode user, and the start time of the response determination time window is modified by delaying a preset hysteresis compensation duration.

[0043] Further, the present application also proposes that after the user is determined to be a hysteresis response mode user, further comprising:

[0044] Obtain the mechanical response peak amplitude, response duration and vibration input delay duration of the user during the application of the perturbation torque, calculate the vibration tolerance parameter of the user, and the vibration tolerance parameter is used to represent the sensitivity of the user to the perturbation torque;

[0045] According to the vibration tolerance parameter, dynamically adjust the output characteristics of the subsequent perturbation torque, and the output characteristics include amplitude upper limit, rising edge time, continuous application duration and / or start delay duration;

[0046] After applying the adjusted perturbation torque, collect the mechanical response data of the user, update the vibration tolerance parameter based on the mechanical response data, and the updated vibration tolerance parameter is used for adaptive adjustment of the output characteristics of the subsequent perturbation torque.

[0047] Further, the present application also proposes that after switching the mode of the rehabilitation instrument to the strength compensation mode, further comprising:

[0048] In a preset monitoring time window, continuously collect the active force response data of the user under the action of the basic push torque;

[0049] According to the difference between the active force response data and the actual output torque of the rehabilitation instrument, calculate the time-weighted muscle fatigue integral;

[0050] Determine whether the muscle fatigue integral is lower than the recovery determination threshold;

[0051] If the muscle fatigue integral is lower than the recovery judgment threshold, it is determined that the user has autonomous force recovery potential, the mode of the rehabilitation instrument is switched from the force compensation mode to a preset path recovery evaluation mode, and the preset path recovery evaluation mode guides the user to independently complete the target action again in a step-by-step decreasing pushing torque manner.

[0052] Further, the application also provides a rehabilitation instrument movement mode control system, comprising:

[0053] A movement and torque acquisition module is configured to acquire movement angle data and counterforce torque data of the user.

[0054] A movement performance evaluation module is configured to determine whether the deviation of the actual movement trajectory from the preset path exceeds a preset threshold according to the movement angle data, and determine whether the torque actively generated by the user presents a continuous attenuation trend according to the counterforce torque data, to judge whether the movement performance of the user is decreased.

[0055] A diagnostic stimulation application module is configured to change the form of the auxiliary force output of the rehabilitation instrument to apply diagnostic mechanical stimulation if it is determined that the movement performance of the user is decreased, and the diagnostic mechanical stimulation comprises a vibration component with a preset frequency and a preset amplitude superimposed on the original base pushing torque of the rehabilitation instrument.

[0056] A response data acquisition module is configured to acquire mechanical response data of the user during the application of the diagnostic mechanical stimulation.

[0057] A counterforce source judgment module is configured to determine whether the counterforce source of the user is active force reduction or involuntary muscle stretch reflex according to the mechanical response data.

[0058] A vibration auxiliary mode switching module is configured to switch the mode of the rehabilitation instrument to a vibration auxiliary and low-speed movement mode if the counterforce source is determined to be involuntary muscle stretch reflex, and the vibration auxiliary and low-speed movement mode comprises continuously superimposing a vibration component in the auxiliary force output, reducing the movement speed of the task target, and simplifying the complexity of the preset path.

[0059] A force compensation mode switching module is configured to switch the mode of the rehabilitation instrument to a force compensation mode if the counterforce source is determined to be active force reduction, and the force compensation mode comprises increasing the constant value of the base pushing torque.

[0060] Through the above scheme, a system for implementing the rehabilitation instrument movement mode control method is provided, and the method can be effectively implemented through modular design, thereby improving the integration and functionality of the system.

[0061] In summary, the application provides a rehabilitation instrument motion mode control method and system. By introducing diagnostic mechanical stimulation and mechanical response data analysis, the application can accurately determine the deep reason for the decline of user motion performance (reduction of active force or involuntary muscle stretch reflex) and intelligently switch the motion mode of the rehabilitation instrument (vibration assistance and low-speed motion mode or strength compensation mode), thereby accurately determining the deep reason for the decline of user motion performance and intelligently adjusting the motion mode of the rehabilitation instrument, avoiding the negative effects caused by the blind increase of auxiliary force of the traditional rehabilitation instrument, and improving the pertinence, safety and effectiveness of rehabilitation training. BRIEF DESCRIPTION OF DRAWINGS

[0062] Figure 1 A flowchart of a rehabilitation instrument motion mode control method provided by the application.

[0063] Figure 2 A program block diagram of a rehabilitation instrument motion mode control system provided by the application.

[0064] In the figure: 1, motion and torque collection module; 2, motion performance evaluation module; 3, diagnostic stimulation application module; 4, response data collection module; 5, antagonistic force source judgment module; 6, vibration assistance mode switching module; 7, strength compensation mode switching module. DETAILED DESCRIPTION

[0065] The technical solutions in the application will be described in detail below with reference to the drawings in the application. Obviously, the described embodiments are only some of the embodiments of the application, not all the embodiments. The components of the application described and shown in the drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the application provided in the drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the application. Based on the embodiments of the application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application.

[0066] It should be noted that: similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the application, the terms "first", "second" and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0067] Reference Figure 1 The application provides a rehabilitation instrument motion mode control method, comprising:

[0068] S1000: acquiring motion angle data and antagonistic torque data of a user;

[0069] S2000: determining whether the deviation between the actual movement trajectory and the preset path exceeds a preset threshold according to the movement angle data, and determining whether the force moment actively issued by the user presents a continuous attenuation trend according to the counterforce moment data, judging whether the movement performance of the user is declined;

[0070] S3000: if it is judged that the movement performance of the user is declined, changing the form of the assistive force output of the rehabilitation instrument, applying a diagnostic mechanical stimulation, the diagnostic mechanical stimulation including superimposing a vibration component with a preset frequency and a preset amplitude on the original basis pushing moment of the rehabilitation instrument;

[0071] S4000: collecting mechanical response data of the user during the application of the diagnostic mechanical stimulation;

[0072] S5000: judging whether the counterforce source of the user is active force reduction or involuntary muscle stretch reflex according to the mechanical response data;

[0073] S6000: if the counterforce source is judged to be involuntary muscle stretch reflex, switching the mode of the rehabilitation instrument to a vibration assistance and low-speed movement mode, the vibration assistance and low-speed movement mode including continuously superimposing a vibration component in the assistive force output, reducing the movement speed of the task target, and simplifying the complexity of the preset path;

[0074] S7000: if the counterforce source is judged to be active force reduction, switching the mode of the rehabilitation instrument to a strength compensation mode, the strength compensation mode including increasing the constant value of the basis pushing moment.

[0075] The motion angle data refers to the angle position information of the joint or limb of the user in the rehabilitation training process relative to the reference coordinate system, which can be obtained by using technical means such as an angle sensor, an encoder, an inertial measurement unit (IMU) or an optical motion capture system, for example, by measuring in real time through a rotary encoder installed at the joint of the rehabilitation instrument, or by acquiring the limb posture data through a wearable IMU sensor. The counter torque data refers to the torque generated by the user's limb in the opposite direction of the output torque of the rehabilitation instrument under the action of the rehabilitation instrument, which can be obtained by using a force sensor, a torque sensor or a torque estimation based on motor current feedback, for example, by directly measuring the torque on the output shaft of the rehabilitation instrument, or by calculating the counter torque through the current and speed data of the driving motor. The diagnostic mechanical stimulation refers to a mechanical input, the purpose of which is to induce a specific physiological response of the user, so as to help the system to judge the deep physiological state of the user, which can be realized by superimposing a vibration component of a specific frequency and amplitude on the original basis of the rehabilitation instrument, for example, while the rehabilitation instrument continuously provides an assistive force, a small, periodic torque fluctuation is additionally applied. The mechanical response data refers to the mechanical feedback information generated by the user's limb or muscle during the application of the diagnostic mechanical stimulation, which can be collected by using a torque sensor, an electromyography sensor or an accelerometer, for example, by recording the instantaneous torque change of the user under the vibration stimulation through the torque sensor of the rehabilitation instrument, or by monitoring the electrical activity of the muscle through the surface electromyography (sEMG). The inauthentic muscle stretch reflex refers to a physiological reflex that occurs when the muscle is stretched, the internal stretch receptor is activated, and the muscle involuntarily contracts, which is usually manifested as muscle stiffness, spasm or resistance to external stretching. The vibration assist and low-speed motion mode refers to a rehabilitation training mode for the inauthentic muscle stretch reflex, which can be realized by continuously superimposing a vibration component on the assistive force output, reducing the motion speed of the task target and simplifying the complexity of the preset path, for example, while the rehabilitation instrument provides an assistive force, a low-amplitude vibration is continuously applied, the motion speed of the user is reduced, and the motion path is adjusted from a specific shape curve to a straight line. The strength compensation mode refers to a rehabilitation training mode for reducing the user's active force, which can be realized by increasing the constant value of the basic pushing torque, for example, the rehabilitation instrument increases a fixed and larger pushing torque on the basis of the original assistive force.

[0076] The core innovation of the present application is that by introducing diagnostic mechanical stimulation and collecting mechanical response data of the user, the source of the counter torque of the user can be judged to be active force reduction or inauthentic muscle stretch reflex, and the motion mode of the rehabilitation instrument is switched based thereon, thereby avoiding misjudgment of the physiological state of the user and improving the safety and effectiveness of the rehabilitation training.

[0077] In some preferred embodiments, the present application is implemented as follows:

[0078] The rehabilitation instrument is equipped with a rotary encoder and a torque sensor to obtain the motion angle data of the user's elbow joint and the counter-torque data on the output shaft of the rehabilitation instrument in real time. For example, when the user performs elbow joint flexion and extension training, the rotary encoder can record the instantaneous angle of the elbow joint at a sampling rate of 100 Hz, and the torque sensor measures the interaction torque between the user and the rehabilitation instrument at the same sampling rate. The system continuously analyzes these data through the built-in processor. When the actual motion trajectory of the user deviates from the average of the preset circular path by more than 5 degrees for 5 consecutive seconds, and the user actively generated torque (calculated by subtracting the assistive torque from the output torque of the rehabilitation instrument) presents a continuous decay trend of more than 20% in the past 30 seconds, the system determines that the user's motion performance has decreased. At this time, the control unit of the rehabilitation instrument will immediately change the assistive force output form and apply a diagnostic mechanical stimulus. Specifically, on the basis of the original push torque of the rehabilitation instrument (for example, 2 Nm), a sinusoidal vibration component with a frequency of 5 Hz and an amplitude of 0.5 Nm is superimposed. During the application of this diagnostic mechanical stimulus, the torque sensor of the rehabilitation instrument continuously collects the user's mechanical response data at a higher sampling rate (for example, 200 Hz), which includes the instantaneous torque feedback of the user's limbs to the vibration stimulus. Subsequently, the system performs Fourier transform analysis on the collected mechanical response data to identify whether there is a harmonic component corresponding to the diagnostic vibration frequency (5 Hz). If there is a torque peak value near 5 Hz in the mechanical response data, and the peak value has a certain phase lag relationship with the vibration stimulus, it is determined to be a non-autonomous muscle stretch reflex. On the contrary, if there is no harmonic component in the mechanical response data, or the torque response only shows passive compliance to the basic push torque, it is determined to be a decrease in active force. If it is determined to be a non-autonomous muscle stretch reflex, the mode of the rehabilitation instrument will be switched to a vibration assist and low speed motion mode. In this mode, the rehabilitation instrument will continuously superimpose a vibration component with a frequency of 3 Hz and an amplitude of 0.3 Nm on the assistive force output to continuously suppress muscle spasm. At the same time, the motion speed of the task target will be reduced from the original 30 degrees / second to 15 degrees / second, and the complexity of the preset path will be simplified from a specific shaped curve to a straight line reciprocating motion. If it is determined to be a decrease in active force, the mode of the rehabilitation instrument will be switched to a power compensation mode. In this mode, the rehabilitation instrument will increase the constant value of the basic push torque from 2 Nm to 4 Nm to directly compensate for the user's insufficient power and help him complete the training. Through the above technical solutions, the present application can effectively solve the technical problem that the rehabilitation instrument cannot accurately distinguish the source of the user's counter-torque in remote rehabilitation.

[0079] In another embodiment of the present application, it is further proposed that S4000 comprises:

[0080] S4100: Obtain the natural frequency and natural phase of the natural body tremor of the user;

[0081] S4200: Apply an anti-phase vibration torque with the same frequency as the natural frequency and opposite phase to the natural phase to suppress the natural body tremor;

[0082] S4300: Collect torque data of the user as mechanical response data.

[0083] Wherein, the natural body tremor refers to the involuntary periodic vibration with specific frequency and phase of the user's limbs in a resting or moving state due to physiological or pathological reasons, which can be collected by various sensors such as acceleration sensor, electromyography sensor or force sensor, and recognized and extracted through signal processing methods such as Fourier transform, wavelet analysis or adaptive filtering. The anti-phase vibration torque refers to the torque opposite to the vibration direction of the natural body tremor, with the same frequency and opposite phase, which can be realized by the actuator of the rehabilitation instrument, such as motor or linear actuator, through accurate control of output torque. The purpose is to reduce or eliminate the influence of natural body tremor on mechanical response data through active cancellation.

[0084] The scheme of the present application first obtains the natural frequency and natural phase of the natural body tremor of the user, in this way, the scheme enables the rehabilitation instrument to analyze based on purer and more accurate mechanical response data when judging the source of the user's resistance.

[0085] In some preferred embodiments, collecting the mechanical response data of the user during the application of diagnostic mechanical stimulation can be specifically implemented as follows:

[0086] Firstly, in order to obtain the natural frequency and natural phase of the user's inherent tremor, the rehabilitation instrument can be equipped with high-sensitivity force sensors or acceleration sensors that continuously collect the user's limb movement data or torque data during rehabilitation training. A built-in signal processing unit, such as a digital signal processor (DSP) or microcontroller, can perform real-time spectral analysis on these raw data, such as using the Fast Fourier Transform (FFT) algorithm, to identify the main periodic component in the data. By analyzing the spectral peak, the natural frequency of the tremor can be determined, and its natural phase can be obtained through phase demodulation technology. Subsequently, in order to apply an anti-phase vibration torque with the same frequency as the natural frequency and opposite phase to the natural phase to suppress the inherent tremor of the limb, the actuator of the rehabilitation instrument, such as a high-response servo motor, can generate a vibration torque command with the same frequency but opposite phase according to the natural frequency and natural phase calculated by the signal processing unit. The servo motor accurately outputs this anti-phase vibration torque through its driver, acting on the user's limb, thereby actively canceling the user's inherent tremor. For example, if the user's limb is detected to tremble at a frequency of 5 Hz and a phase of 0 degrees, the servo motor will output a vibration torque at a frequency of 5 Hz and a phase of 180 degrees to achieve tremor suppression. Finally, after the inherent tremor of the limb is effectively suppressed, the rehabilitation instrument continues to collect the user's torque data through its force sensors, and these data are used as the mechanical response data. Since the influence of tremor has been significantly reduced at this time, the collected torque data can more accurately reflect the user's true physiological response, such as the active contraction force of the muscle or the stretch reflex force, under diagnostic mechanical stimulation, thereby providing reliable input for subsequent judgment of the source of resistance. Through the above technical solution, when collecting the user's mechanical response data, the natural frequency and natural phase of the user's inherent tremor can be obtained first, and an anti-phase vibration torque can be applied to actively suppress it.

[0087] In another embodiment of the present application, further steps are proposed to further optimize the suppression effect based on the application of the anti-phase vibration torque to suppress the inherent tremor of the limb, which include:

[0088] S8000: Continuously update the natural frequency and natural phase in a rolling time window manner;

[0089] S9000: After updating the natural frequency and natural phase each time, adjust the frequency and phase of the anti-phase vibration torque synchronously to make it consistent with the frequency of the natural frequency and opposite to the phase of the natural phase;

[0090] S10000: According to the trend of changes in the natural frequency and natural phase in the rolling time window, determine whether the inherent tremor of the limb is in a stable state;

[0091] S11000: If it is determined that the steady state, keep the current anti-phase vibration torque parameters unchanged;

[0092] S12000: If it is determined that the non-steady state, continue to update the natural frequency and the natural phase through the rolling time window, and based on the updated natural frequency and the natural phase, synchronously adjust the frequency and the phase of the anti-phase vibration torque.

[0093] Wherein, the rolling time window refers to a data processing technology, which defines a fixed length of time period, and with the passage of time, constantly the latest data into the window, while the oldest data out of the window, so as to realize the real-time or quasi real-time analysis of data stream, specifically can be through setting a sliding window of 5 seconds or 10 seconds, every 1 second or shorter time step, recalculate the frequency and phase information of the user's limb tremor in the window. Trend is to refer to the overall trend or law of the natural frequency and the natural phase value changes over time in a period of time. Specifically can be through calculating the mean, standard deviation, slope or linear regression analysis of the natural frequency and the natural phase in the rolling time window to evaluate its volatility or drift direction. Steady state refers to the frequency and phase of the inherent limb tremor remain relatively constant or fluctuate within an acceptable range in a certain time range. Specifically can be through setting a threshold, for example, if the standard deviation or rate of change of the natural frequency and the natural phase in the rolling time window is lower than the pre-set threshold, it is determined that the steady state, the purpose of which is to avoid unnecessary frequent adjustment in the case of relatively stable tremor parameters, thereby reducing the system calculation burden and energy consumption.

[0094] The scheme of the present application effectively solves the problem of decline of suppression effect caused by the change of user's inherent limb tremor parameters over time by introducing a dynamic adaptive tremor suppression mechanism. This adaptive feedback closed-loop control enables the rehabilitation instrument to continuously track and respond to the dynamic changes of user's tremor, ensuring that the anti-phase vibration torque is always in the best suppression state, thereby maintaining long-term effective tremor suppression effect.

[0095] In another embodiment of the present application, it is further proposed that the method further comprises the following steps:

[0096] S13000: Determine whether there is residual tremor component in the torque response of the user after applying the anti-phase vibration torque;

[0097] S14000: If there is residual tremor component, construct a compensation signal based on the frequency and phase information of the residual tremor component;

[0098] S15000: Based on the compensation signal, adaptively adjust the output amplitude and phase of the anti-phase vibration torque.

[0099] The residual tremor component refers to a periodic fluctuation with a specific frequency and phase that can be detected in the torque response of the user after applying the counter-phase vibration torque, and the amplitude of the fluctuation exceeds the preset noise threshold or the clinically acceptable residual tremor level. Specifically, the torque response data can be analyzed by spectrum analysis to identify energy peaks close to the inherent limb tremor frequency, and the amplitude of the energy peaks can be evaluated to determine whether the amplitude reaches a level that requires further processing. The compensation signal refers to an auxiliary control signal constructed based on the frequency and phase information of the residual tremor component, which is used to further cancel the residual tremor. Specifically, a sinusoidal or sinusoidal waveform signal with the same frequency as the residual tremor, opposite phase and adjustable amplitude can be generated by a digital signal processor based on the real-time frequency and phase of the residual tremor. The adaptive adjustment refers to dynamically and automatically correcting the output parameters of the counter-phase vibration torque based on the real-time feedback of the compensation signal, so that the counter-phase vibration torque can better adapt to the actual tremor of the user. Specifically, the compensation signal can be used as an error input in a closed-loop control system to drive the torque output module to adjust the amplitude and phase of the counter-phase vibration torque, so as to minimize the residual tremor.

[0100] The scheme of the present application solves the problem of interference of residual tremor component on rehabilitation judgment in the prior art by analyzing the torque response of the user after applying the counter-phase vibration torque.

[0101] In some preferred embodiments, the present application is implemented as follows: the control unit of the rehabilitation instrument can continuously monitor the torque response data of the user after applying the counter-phase vibration torque, and the data can be collected by the force sensor. In order to determine whether there is a residual tremor component, the control unit can perform real-time Fourier transform or wavelet analysis on the collected torque data. By analyzing the frequency spectrum, if one or more energy peaks are found near the inherent limb tremor frequency, and the amplitudes of the peaks exceed the preset threshold (for example, a torque fluctuation threshold can be determined by clinical trials or expert experience), it can be determined that there is a significant residual tremor component. If it is determined that there is a residual tremor component, the control unit will further extract the accurate frequency and phase information of the residual tremor component. For example, the frequency of the dominant residual tremor can be determined by a peak detection algorithm, and the phase can be determined by cross-correlation analysis or Hilbert transform. Based on the frequency and phase information, the control unit can construct a compensation signal. The compensation signal can be a sinusoidal waveform signal with the same frequency as the residual tremor and opposite phase, and the initial amplitude of the compensation signal can be set to match the amplitude of the residual tremor.

[0102] Subsequently, the control unit adaptively adjusts the output amplitude and phase of the counter-phase vibration torque based on the constructed compensation signal. This can be achieved by a proportional-integral-derivative controller, in which the compensation signal can be taken as the input or error signal of the controller. For example, if the amplitude of the residual tremor is still large, the proportional-integral-derivative controller can increase the output amplitude of the counter-phase vibration torque; if there is a deviation in the phase of the residual tremor from the expected, the controller can fine-tune the phase of the counter-phase vibration torque to make it more accurately counter-phase with the residual tremor. This adjustment process is continuous and real-time, ensuring that the counter-phase vibration torque can dynamically adapt to any residual tremor in the user's torque response, thereby achieving continuous optimal suppression of tremor. Through the above technical solutions, the present application can identify and accurately compensate for the residual tremor component that may exist in the user's torque response after applying the counter-phase vibration torque.

[0103] In another embodiment of the present application, further proposed is that the sub-step S6000 of switching the mode of the rehabilitation instrument to the vibration assistance and low-speed movement mode further comprises:

[0104] S6200: monitoring the actual movement deviation value of the user under the preset path;

[0105] S6300: judging whether the actual movement deviation value is continuously in a deviation stable state below the first deviation threshold value;

[0106] S6400: if it is judged that the deviation stable state is reached, gradually increasing the complexity of the preset path and the movement speed of the task target according to a preset adjustment rule;

[0107] S6500: if it is judged that the deviation stable state is not reached, maintaining the current settings of the preset path and the movement speed.

[0108] The actual movement deviation value refers to the deviation between the actual movement trajectory of the user's limb and the target preset path set by the rehabilitation instrument when the user performs the rehabilitation task. It can be obtained by measuring the joint angle or limb position of the user in real time and comparing it with the corresponding target point on the preset path, calculating the Euclidean distance or angle difference. The first deviation threshold refers to a preset value used to determine whether the user's movement deviation is within an acceptable range. It can be personalized according to the user's rehabilitation stage, degree of limb dysfunction, or rehabilitation goal. The deviation stable state refers to the actual movement deviation value of the user remaining below the first deviation threshold for a period of time with small fluctuations. It can be determined by rolling average, standard deviation calculation, or trend analysis of the actual movement deviation value. The preset adjustment rule refers to a specific strategy for guiding the difficulty of the rehabilitation program when the user's movement performance reaches the deviation stable state. It can include gradually increasing the percentage of movement speed, increasing the curvature of the path curve, or introducing new movement directions. The complexity of the preset path refers to the geometric characteristics and difficulty level of the movement trajectory that the user needs to follow in the rehabilitation task. It can be represented by the degree of curvature, the number of path segments, the path length, or the density of points that need to be accurately controlled on the path. The movement speed of the task target refers to the speed at which the target point moves on the path when the rehabilitation instrument guides the user to complete the preset path. It can be represented by angular velocity or linear velocity.

[0109] The scheme of the present application introduces a dynamic adjustment mechanism. After the rehabilitation instrument switches to the vibration assistance and low-speed movement mode, it can intervene in detail according to the actual movement performance of the user.

[0110] In some preferred embodiments, the present application is implemented as follows:

[0111] When the mode of the rehabilitation device is switched to the vibration-assisted and low-speed movement mode, the control unit of the rehabilitation device continuously monitors the actual movement deviation value of the user on the preset path. The movement angle data of the user's limbs can be collected in real time through the angle sensors or encoders installed at the joints of the rehabilitation device, and compared with the target angle on the preset path in the rehabilitation task to calculate the real-time angle deviation as the actual movement deviation value. Subsequently, the control unit determines whether the actual movement deviation value is continuously in a deviation stable state below the first deviation threshold. Specifically, the control unit can set a time window, for example, 5 seconds, and continuously collect the actual movement deviation value within the time window. Then, the average value and the standard deviation of the deviation values within the time window are calculated. If the average value is below the preset first deviation threshold and the standard deviation is also below a preset fluctuation threshold, it can be determined that the deviation is in a stable state. The first deviation threshold can be set according to the rehabilitation target, for example, for elbow joint rehabilitation, it can be set to 5 degrees. If the control unit determines that the deviation is in a stable state, the complexity of the preset path and the movement speed of the task target are gradually increased according to the preset adjustment rule. For example, the preset adjustment rule can be set as: every time the user reaches the deviation stable state, the movement speed of the task target increases by 5%, and at the same time, the complexity of the preset path increases by one level, for example, from a straight path to a path containing a curved segment, or the number of points that need to be accurately controlled on the path is increased. The driving motor and control algorithm of the rehabilitation device will adjust its output accordingly to guide the user to train at the new speed and path. If the control unit determines that the deviation is not in a stable state, i.e., the user's movement deviation is still large or unstable, the rehabilitation device will maintain the current preset path and movement speed settings. This means that the rehabilitation device will continue to train at the current low speed and simplified path until the user's movement performance reaches the deviation stable state. This mechanism ensures that the difficulty of rehabilitation training matches the actual ability of the user, avoiding poor training results or user discomfort caused by blindly increasing the difficulty. Through the above technical solution, after the rehabilitation device is switched to the vibration-assisted and low-speed movement mode, the rehabilitation scheme can be dynamically and finely adjusted according to the real-time movement performance of the user.

[0112] In another embodiment of the present application, it is further proposed that the sub-step S6000 of switching the mode of the rehabilitation device to the vibration-assisted and low-speed movement mode further comprises:

[0113] S6600: Within the preset response judgment time window, based on the actual movement trajectory, it is determined whether the user appears a continuous deviation trajectory or a periodic disturbance response inconsistent with the direction of the task target in the vibration-assisted and low-speed movement mode;

[0114] S6700: If it is determined that there is a continuous offset trajectory or a periodic disturbance response, it is determined that there is an abnormal behavior of non-target-oriented compensatory movement or external disturbance influence, a prompt signal is sent to the rehabilitation personnel, and a micro-disturbance torque with an amplitude lower than the disturbance threshold is applied to the user for verification of the user's response stability and motion intention Figure One consistency, and the disturbance threshold is the upper limit of the force amplitude of the user's safe response preset;

[0115] S6800: If the user has an unpredictable response to the micro-disturbance torque, the current mechanical response data is marked as a section that needs to be evaluated in detail, and the corresponding abnormal trajectory characteristic parameters are recorded.

[0116] The preset response judgment time window refers to the time period used by the system to analyze the user's motion trajectory and mechanical response data, which can be dynamically set according to the stage of rehabilitation training, the user's rehabilitation condition or the characteristics of a specific task, to ensure timely detection of abnormal behavior. The continuous deviation trajectory that is inconsistent with the target direction of the task refers to the actual motion path of the user continuously deviating from the predetermined rehabilitation path over a period of time, and this deviation is not random fluctuation, but shows a certain trend or directionality, which can be manifested as the user trying to complete the action through non-standard posture or muscle group, for example, in elbow joint flexion and extension training, the user may use the swing of the shoulder joint to assist in completing the action. The periodic disturbance response refers to the regular and repeated fluctuations or tremors in the user's motion trajectory or mechanical response data, which can be caused by external environmental factors, such as device vibration, environmental noise, or user's own physiological factors, such as physiological tremor, myoclonus. The non-target oriented compensatory movement refers to the user unconsciously or consciously adopting an unexpected, non-targeted limb movement pattern to achieve the task requirement during rehabilitation, which aims to complete the action by bypassing the impaired function rather than directly improving the impaired function. The abnormal behavior affected by external interference refers to the user's motion performance being abnormal due to unexpected factors from the external environment or the device itself during rehabilitation training, which can include loose device connection, sensor drift, or sudden noise in the training environment. The disturbance threshold refers to the upper limit of the torque that ensures the safety and comfort of the user when applying a perturbation torque to the user, which can be pre-set according to the user's physiological tolerance, the rehabilitation stage and the safety specifications of the rehabilitation instrument. The perturbation torque refers to a small amplitude, short duration torque input used to detect the user's motion intention and response stability, which can be in the form of pulse, step or low amplitude sine wave torque output. The unpredictable response refers to the user's mechanical response data showing irregular, violent or delayed reactions that do not conform to normal physiological reactions or expected motion intentions after being stimulated by the perturbation torque, which can be manifested as sudden muscle stiffness, violent tremor or complete loss of control over the limb. The key evaluation interval refers to the time period identified by the system in which the user's motion performance is abnormal or the response is unstable, which can be automatically marked and highlighted by the system for in-depth analysis and diagnosis by the rehabilitation personnel. The abnormal trajectory feature parameters refer to specific numerical values or patterns used to quantify and describe the user's abnormal motion trajectory, which can include deviation amplitude, deviation direction, disturbance frequency, disturbance amplitude, motion smoothness index, etc., which can be used for subsequent rehabilitation program adjustment and effect evaluation.

[0117] The scheme of the present application further improves the rehabilitation training control in the vibration assistance and low speed motion mode by introducing the recognition and response mechanism for the user's abnormal motion behavior.

[0118] In some preferred embodiments, the present application is implemented as follows:

[0119] When the rehabilitation device switches to the vibration-assisted and low-speed movement mode, the control unit of the rehabilitation device can continuously collect the movement angle data of the user and construct the actual movement trajectory of the user in real time based on these data. For example, the control unit can use a Kalman filter to smooth the raw sensor data to obtain the accuracy of the trajectory. Within a preset response judgment time window, for example, every 5 seconds, the control unit can analyze the recent movement trajectory data. The analysis method can include: quantifying the degree of deviation of the trajectory by calculating the Fréchet distance or Hausdorff distance between the actual movement trajectory and the preset path; at the same time, Fourier transform or wavelet analysis can be used to detect whether there is a specific frequency component in the trajectory data to identify the periodic disturbance response. If it is detected that the elbow joint of the user deviates from the preset straight line path during flexion and extension, and shows a tendency to swing outward, this can be identified as a continuous deviation trajectory. Or, if it is detected that the user's limbs show regular tremors with a frequency in the range of 4-12 Hz during movement, this can be identified as a periodic disturbance response. If the control unit determines that there is a continuous deviation trajectory or a periodic disturbance response, the system can immediately determine that there is an abnormal behavior of non-target-oriented compensatory movement or external interference. At this time, the rehabilitation device can send a visual or audible prompt signal to the connected rehabilitation staff terminal (such as a tablet computer or workstation) through the wireless communication module, for example, a warning box pops up or a prompt sound is played on the monitoring interface of the rehabilitation staff. At the same time, the actuator of the rehabilitation device can apply a micro-disturbance torque to the user. This micro-disturbance torque can be a short-acting pulse torque with a duration of 50 milliseconds and an amplitude lower than the upper limit of the user's safe response torque (for example, lower than 0.5 Nm), which is used to verify the user's movement intention and limb stability. Subsequently, the system will continuously monitor the user's mechanical response data after the micro-disturbance torque is applied. If the user has an unpredictable response to this micro-disturbance torque, for example, his limbs suddenly show violent and irregular tremors, or the limbs are instantly stiff and stop moving after the torque is applied, this can be determined as an unpredictable response. In this case, the control unit can automatically mark the mechanical response data in the current time period as a key evaluation interval and store it in the local storage of the rehabilitation device or upload it to the cloud database. At the same time, the system can record the corresponding abnormal trajectory characteristic parameters, such as the movement angle, torque amplitude, duration, maximum distance of trajectory deviation, and disturbance frequency when the abnormality occurs, which can be used as an important basis for the subsequent detailed diagnosis and rehabilitation program adjustment by the rehabilitation staff.

[0120] In another embodiment of the present application, it is further proposed that the sub-step S6700 includes: applying a torque with an amplitude lower than the disturbance threshold to the user to verify the user's response stability and movement intention.Figure One a hysteresis response event is recorded, and if the cumulative number of hysteresis response events exceeds a preset number threshold in a preset number of perturbation torque application operations, the current user is determined to be a hysteresis response mode user.

[0121] S6720: continuously monitoring the user's mechanical response data, extracting the user's response start time, maximum torque response time, and maximum value time point of the perturbation torque;

[0122] S6730: calculating the time difference between the maximum torque response time and the maximum value time point, and determining whether the time difference exceeds a preset response hysteresis threshold;

[0123] S6740: if the time difference is determined to exceed the response hysteresis threshold, a hysteresis response event is recorded, and if the cumulative number of hysteresis response events exceeds a preset number threshold in a preset number of perturbation torque application operations, the current user is determined to be a hysteresis response mode user.

[0124] S6750: the user is determined to be a hysteresis response mode user, and the start time of the response determination time window is modified by delaying a preset hysteresis compensation duration.

[0125] Wherein, continuously monitoring the user's mechanical response data means continuously collecting the dynamic feedback information of the user's limbs to the torque after the perturbation torque is applied, which can be specifically real-time acquisition of the user's torque, position, speed, etc. data through force sensors, angle sensors, etc. The response start time refers to the initial time when the user's limbs produce identifiable response to the perturbation torque, which can be specifically determined by analyzing the point where the torque or position change rate first exceeds the background noise threshold in the mechanical response data, and the purpose is to mark the accurate time point when the user starts to react to the stimulus. The maximum torque response time refers to the moment when the amplitude of the torque in the user's mechanical response data reaches the peak, which can be specifically identified by peak detection on the collected torque data, and the purpose is to determine the time when the user's response intensity reaches the highest point. The maximum value time point of the perturbation torque refers to the time when the perturbation torque applied by the rehabilitation instrument reaches its preset peak amplitude on the time axis, which can be specifically determined by the torque output control signal or built-in sensor record of the rehabilitation instrument.

[0126] The response lag threshold refers to a preset upper limit of time for judging whether the user response is delayed, which can be preset according to clinical experience, user group characteristics or rehabilitation goals, and the purpose is to quantitatively judge whether the user response exceeds the acceptable delay range. The delayed response event refers to the case that the response time difference of the user to the single perturbation torque exceeds the preset response lag threshold, and the purpose is to mark each response not timely. The preset number of perturbation torque application operations refers to the total number of times of applying the perturbation torque to the user by the rehabilitation instrument within a period of time or a specific training period. The preset number threshold refers to the cumulative upper limit of the delayed response event for judging whether the user belongs to the delayed response mode, which can be set according to clinical guidelines or user rehabilitation stage. The delayed response mode user refers to the user whose cumulative number of delayed response events exceeds the preset number threshold in the preset number of perturbation torque application operations. The starting time of the response judgment time window refers to the starting time point at which the rehabilitation instrument system starts to evaluate whether the user response to the perturbation torque meets the expectation. The preset lag compensation duration refers to the preset amount of time for delaying the starting time of the response judgment time window after the user is judged as the delayed response mode user, which can be set according to the degree of delay of the user or clinical experience.

[0127] The scheme of the present application further refines the evaluation of the user's mechanical response by applying a perturbation torque with an amplitude below the interference threshold to the user to verify the stability of the user's response and the consistency of the user's movement intention after the user's response to the perturbation torque is verified. Figure One

[0128] In some preferred embodiments, the present application is implemented as follows:

[0129] ​When the rehabilitation device applies a perturbation torque to the user with an amplitude below the interference threshold, the high-precision torque sensor and angle sensor embedded in the rehabilitation device can continuously collect the mechanical response data of the user's limb at a sampling frequency of, for example, 1000 Hz, including joint torque and angle changes. An embedded processor, such as a microcontroller based on the ARM Cortex-M4 architecture, can be responsible for real-time processing of these data. The processor can run a signal processing algorithm to extract the response start time, for example, by detecting the time when the slope of the torque signal first exceeds the preset noise level. At the same time, the processor can identify the maximum peak value in the torque response curve to determine the maximum torque response time. The maximum value time point of the perturbation torque can be obtained from the torque output instruction of the rehabilitation device or the internal timer. Subsequently, the processor calculates the time difference between the maximum torque response time and the maximum value time point of the perturbation torque. For example, if the preset response delay threshold is 80 milliseconds, when the calculated time difference exceeds 80 milliseconds, the system can record it as a delayed response event. The system can continuously count the cumulative number of delayed response events in, for example, 10 consecutive perturbation torque application operations. If the cumulative number exceeds the preset number threshold of, for example, 3 times, the user can be determined as a delayed response mode user. Once the user is determined as a delayed response mode user, the system can immediately adjust the subsequent response judgment logic. For example, if the original start time of the response judgment time window is 50 milliseconds after the perturbation torque is applied, the system can delay it by a preset delay compensation duration, for example, 50 milliseconds, so that the new response judgment time window starts to evaluate from 100 milliseconds after the perturbation torque is applied. In this way, even if the user's response has a certain delay, the system can accurately capture the user's true response in a more generous time window, avoiding false judgments caused by delays.

[0130] In another embodiment of the present application, it is further proposed that after the user is determined as a delayed response mode user, the following steps are further included:

[0131] S6751: Obtain the mechanical response peak amplitude, response duration, and vibration input delay duration of the user during the application of the perturbation torque, and calculate the vibration tolerance parameter of the user, which is used to represent the sensitivity of the user to the perturbation torque;

[0132] S6752: Dynamically adjust the output characteristics of the subsequent perturbation torque according to the vibration tolerance parameter, the output characteristics including the amplitude upper limit, the rising edge time, the continuous application duration, and / or the start delay duration;

[0133] S6753: After applying the adjusted perturbation torque, collect the mechanical response data of the user, and update the vibration tolerance parameter based on the mechanical response data, and the updated vibration tolerance parameter is used for adaptive adjustment of the output characteristics of the subsequent perturbation torque.

[0134] The peak amplitude of the mechanical response refers to the instantaneous maximum value of the maximum reaction torque or displacement of the user's limbs or joints when subjected to the perturbation torque stimulation, which can be analyzed by collecting data using force sensors or angle sensors, and the purpose is to quantify the user's immediate reaction intensity to the stimulation; the response duration refers to the time length experienced by the user's mechanical response from the beginning to the basic recovery of the stable state after being subjected to the perturbation torque stimulation, which can be realized by using the duration analysis method in signal processing, and the purpose is to evaluate the user's tolerance and recovery ability to the stimulation; the vibration input delay length refers to the time interval between the start of the perturbation torque and the generation of recognizable mechanical response by the user, which can be realized by using time stamp comparison or signal threshold detection method; the vibration tolerance parameter refers to a comprehensive index for quantifying the sensitivity and adaptability of the user to the perturbation torque, which can be realized by weighting and combining the peak amplitude of the mechanical response, the response duration and the vibration input delay length, or by calculating through a machine learning model, and the purpose is to provide a basis for personalized adjustment of the perturbation torque; the output characteristics of the perturbation torque refer to the physical properties of the perturbation torque that can be controlled and adjusted during the application process, which can be realized by using the control parameters of the torque output module of the rehabilitation instrument, and the purpose is to fine-tune the application method of the perturbation torque; the amplitude upper limit refers to the maximum torque value that the perturbation torque can reach during the application process, which can be realized by software setting or hardware limiting, and the purpose is to ensure user safety and avoid overstimulation; the rising edge time refers to the time required for the perturbation torque to rise from zero or the starting value to its peak or stable value, which can be realized by using slope control or piecewise linear approximation, and the purpose is to control the mutation degree of the stimulation and reduce the user's discomfort; the continuous application time length refers to the time length of the perturbation torque after reaching the preset amplitude, which can be realized by using timer control or event triggering mechanism, and the purpose is to control the total amount of stimulation; the start delay time length refers to the time interval between the system deciding to apply the perturbation torque and actually starting to apply the perturbation torque, which can be realized by using a delay timer or a waiting instruction, and the purpose is to provide a psychological preparation time for the user or to synchronize with other actions of the rehabilitation instrument; the adaptive adjustment refers to the process in which the system automatically and dynamically modifies the output characteristics of the perturbation torque according to the user's real-time response data to optimize the stimulation effect, which can be realized by using feedback control algorithm or reinforcement learning algorithm, and the purpose is to realize personalized and optimized rehabilitation training.

[0135] The scheme of the present application overcomes the limitations brought by only correcting the response determination time window by further introducing a dynamic optimization mechanism for the perturbation torque application strategy after the user is determined to be a delayed response mode user.

[0136] In some preferred embodiments, when a user is determined to be a delayed response mode user, the control system of the rehabilitation instrument can implement the following steps:

[0137] First, during the application of the perturbation torque, the system collects the user's mechanical response data in real time through force sensors and angle sensors integrated at the joints of the rehabilitation instrument. For example, the force sensors can record the user's limb's reaction torque curve to the perturbation torque, and the angle sensors can record the limb's displacement curve under the action of the perturbation torque. From these curves, the system can extract the mechanical response peak amplitude, such as identifying the maximum instantaneous value on the torque curve; the response duration, such as calculating the time from the first time the torque response exceeds the baseline threshold to the time it falls below the baseline threshold; and the vibration input delay length, such as determining by comparing the start time stamp of the perturbation torque application with the time stamp of the first time the user's mechanical response reaches the preset activation threshold. Then, the system can use these extracted characteristic values to calculate the user's vibration tolerance parameter through a preset algorithm model. For example, this parameter can be a weighted average value, in which the mechanical response peak amplitude, response duration and vibration input delay length are multiplied by different weight coefficients to reflect their relative importance in sensitivity evaluation. Alternatively, it can also be a model based on fuzzy logic or neural network, which inputs these characteristic values and outputs a normalized value representing the user's sensitivity. Then, according to the calculated vibration tolerance parameter, the control system can dynamically adjust the output characteristics of the subsequent perturbation torque. For example, the system can preset a parameter adjustment table to look up the corresponding amplitude upper limit, rising edge time, duration of application and / or start delay time according to the range of the vibration tolerance parameter. If the vibration tolerance parameter indicates that the user's sensitivity is high, the system can automatically select a smaller amplitude upper limit, a longer rising edge time, a shorter duration of application, or increase the start delay time to ensure a gentle stimulation. Conversely, if the parameter indicates that the user's tolerance is good, the amplitude upper limit can be appropriately increased or the rising edge time can be shortened to ensure effective stimulation. Finally, after the adjusted perturbation torque is applied, the system will again collect the user's mechanical response data. These new data will be input into the same algorithm model for updating the user's vibration tolerance parameter. For example, an exponentially weighted moving average method can be used to fuse the new vibration tolerance parameter with the historical parameters, so that the parameter can smoothly reflect the changes in the user's state. The updated vibration tolerance parameter will be immediately used for the output characteristic adjustment of the next perturbation torque, forming a continuous and adaptive feedback loop to ensure that the application of the perturbation torque always matches the user's real-time physiological state.

[0138] In another embodiment of the present application, it is further proposed that the sub-step S7000 includes:

[0139] S7200: continuously collect active force response data of the user under the action of the preset base pushing torque within a preset monitoring time window;

[0140] S7300: calculate a time-weighted muscle fatigue integral according to a difference between the active force response data and an actual output torque of the rehabilitation instrument;

[0141] S7400: determine whether the muscle fatigue integral is lower than a recovery determination threshold;

[0142] S7500: if the muscle fatigue integral is lower than the recovery determination threshold, determine that the user has autonomous force recovery potential, switch the mode of the rehabilitation instrument from the force compensation mode to a preset path recovery evaluation mode, and the preset path recovery evaluation mode guides the user to complete the target action autonomously again in a way of gradually reducing the pushing torque.

[0143] The preset monitoring time window refers to a preset time period, during which the system continuously collects physiological or motion data of the user, with the purpose of obtaining sufficient data amount for stable and reliable evaluation, and avoiding misjudgment caused by instantaneous data fluctuation. The active force response data refers to the torque or mechanical signal generated by the user's own muscles for completing the target action when the rehabilitation instrument provides a basic driving torque, which can be collected by force sensors, electromyographic sensors or kinematic sensors, etc., with the purpose of quantifying the user's autonomous movement ability. The time-weighted muscle fatigue integral refers to a cumulative index, which is obtained by weighted summation of the difference between the active force response data of the user at different time points and the actual output torque of the rehabilitation instrument, wherein the recent data is given a higher weight, which can be realized by exponential decay weighting or linear decay weighting algorithm. The recovery determination threshold refers to a preset numerical standard for determining whether the user's muscle fatigue integral reaches the condition for switching the rehabilitation mode, which can be set according to clinical experience, individual differences of the user or rehabilitation goals. The preset path recovery evaluation mode refers to a specific operation mode of the rehabilitation instrument, in which the rehabilitation instrument gradually reduces the driving torque to the user according to the preset path, which can be realized by controlling the motor output torque or adjusting the mechanical damping, etc., with the purpose of guiding the user to gradually increase the active force and independently complete the target action, and evaluating the real recovery level. The gradually reduced driving torque refers to that in the preset path recovery evaluation mode, when the rehabilitation instrument assists the user to complete the action, the driving torque is not completely removed at once, but gradually reduced in stages according to the preset step or gradient, which can be realized by software algorithm control of torque output, for example, every cycle or time point, the driving torque is reduced by a fixed value or a percentage, with the purpose of gradually challenging the user's active force ability, avoiding the user's inability to complete the action or producing discomfort due to the sudden disappearance of the auxiliary force.

[0144] The scheme of the present application further introduces a dynamic evaluation and mode adjustment mechanism after the rehabilitation instrument switches to the force compensation mode, thereby solving the problem that only increasing the constant value of the basic driving torque cannot judge the recovery potential of the user's active force.

[0145] In some preferred embodiments, when the rehabilitation device is switched to force compensation mode, the control unit can initiate a continuous monitoring program. For example, the control unit can be an embedded processor connected to force and motion sensors for collecting user's active force response data. Within a preset monitoring time window, such as 5 minutes, the control unit can continuously acquire the user's torque output data under the basic pushing torque at a sampling frequency of 100Hz. Simultaneously, the rehabilitation device's motor drive unit provides real-time feedback of its actual output torque data. The control unit can calculate the user's voluntary force contribution based on the difference between the collected user's active force response data (e.g., the torque applied by the user to the rehabilitation device) and the actual output torque of the rehabilitation device. To assess muscle fatigue, the control unit can calculate the muscle fatigue integral using a time-weighted method. For example, an exponentially weighted average algorithm can be used, assigning higher weights to the most recent voluntary force contribution data, making the integral more sensitive to the user's current fatigue state. Subsequently, the control unit can determine whether the calculated muscle fatigue integral is below a preset recovery threshold. This threshold can be personalized based on the user's rehabilitation stage, disease type, or rehabilitation goals. For example, it can be set so that when the muscle fatigue score is below a certain value, the user is considered to have the potential for voluntary recovery. If the judgment result shows that the muscle fatigue score is below the recovery judgment threshold, the control unit can immediately determine that the user has the potential for voluntary recovery. At this time, the control unit can send a command to the mode switching module of the rehabilitation device to switch the mode of the rehabilitation device from the strength compensation mode to the preset path recovery assessment mode. In the preset path recovery assessment mode, the motor drive unit of the rehabilitation device can be programmed to guide the user to complete the target movement by gradually reducing the driving torque according to the preset path. For example, after each complete exercise cycle, the driving torque of the rehabilitation device can be automatically reduced by 5% or a fixed value until the driving torque is reduced to the preset minimum assistance level or the user can complete the movement completely independently. This method can gradually guide the user to rely more on their own strength, thereby promoting their muscle strength recovery and motor control ability improvement.

[0146] Reference Figure 2 In another embodiment of this application, a rehabilitation device motion mode control system is further proposed, comprising:

[0147] Motion and torque acquisition module 1 is used to acquire the user's motion angle data and counteracting torque data;

[0148] The sports performance evaluation module 2 is used to determine whether the deviation between the actual sports trajectory and the preset path exceeds the preset threshold based on the sports angle data, and to determine whether the torque actively generated by the user shows a continuous decay trend based on the counter torque data, so as to judge whether the user's sports performance has declined.

[0149] a diagnostic stimulus application module 3 configured to change the form of assistance force output of the rehabilitation instrument to apply a diagnostic mechanical stimulus if it is determined that the user's motor performance is declining, the diagnostic mechanical stimulus including a vibration component superimposed on the original base pushing torque of the rehabilitation instrument with a preset frequency and a preset amplitude;

[0150] a response data acquisition module 4 configured to acquire the mechanical response data of the user during the application of the diagnostic mechanical stimulus;

[0151] an antagonistic force source determination module 5 configured to determine whether the antagonistic force source of the user is active force reduction or involuntary muscle stretch reflex according to the mechanical response data;

[0152] a vibration assistance mode switching module 6 configured to switch the mode of the rehabilitation instrument to a vibration assistance and low speed movement mode if the antagonistic force source is determined to be involuntary muscle stretch reflex, the vibration assistance and low speed movement mode including continuously superimposing the vibration component in the assistance force output, reducing the movement speed of the task target, and simplifying the complexity of the preset path;

[0153] a strength compensation mode switching module 7 configured to switch the mode of the rehabilitation instrument to a strength compensation mode if the antagonistic force source is determined to be active force reduction, the strength compensation mode including increasing the constant value of the base pushing torque.

[0154] The scheme of the present application realizes the perception, evaluation, diagnosis and intervention of the rehabilitation training process of the user by implementing each functional step in the rehabilitation instrument movement mode control method into a series of mutually cooperating modules.

[0155] In an embodiment, the rehabilitation instrument movement mode control system of the present application can be specifically implemented as follows:

[0156] The movement and torque acquisition module 1 can be composed of a rotary encoder and a torque sensor installed at the joint of the rehabilitation instrument, for example, the rotary encoder is used to measure the movement angle of the user's limb, and the torque sensor is used to monitor the output torque of the rehabilitation instrument and the antagonistic torque of the user in real time. These sensors are connected to the central processing unit by wired or wireless means.

[0157] The movement performance evaluation module 2 can be integrated in the embedded controller of the rehabilitation instrument, which runs a preset algorithm to continuously receive movement angle data and antagonistic torque data.

[0158] The diagnostic stimulus application module 3 can be composed of the driving motor of the rehabilitation instrument and its matching driving circuit.

[0159] The response data acquisition module 4 can use the same torque sensor as the movement and torque acquisition module to continuously acquire the torque response data of the user at a higher sampling rate (e.g. 1000 Hz) during the application of the diagnostic mechanical stimulus.

[0160] The source of resistance determination module 5 can be a software module running on the central processing unit, which receives the torque response data provided by the response data acquisition module 4. The module can analyze the phase and amplitude characteristics of the vibration response based on Fourier transform, combined with a pre-set physiological model or machine learning model, to determine whether the resistance is due to active force reduction (for example, the response amplitude is linearly related to the stimulation amplitude, and there is no obvious phase lag) or non-autonomic muscle stretch reflex (for example, the response amplitude increases at a certain frequency, accompanied by phase advance).

[0161] The vibration assistance mode switching module 6 and the force compensation mode switching module 7 can both be control logic units in the central processing unit.

[0162] The above only describes the embodiments of the present application and is not used to limit the protection scope of the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A rehabilitation apparatus motion pattern control method characterized by, The method comprises: acquiring motion angle data and counterforce moment data of a user; determining whether the actual motion trajectory deviates from the preset path by more than a preset threshold value according to the motion angle data, and determining whether the user actively generated force moment shows a sustained decay trend according to the counterforce moment data, to determine whether the user's motion performance is declining; if it is determined that the user's motion performance is declining, changing the form of auxiliary force output of the rehabilitation instrument, and applying a diagnostic mechanical stimulus, wherein the diagnostic mechanical stimulus comprises superimposing a vibration component with a preset frequency and a preset amplitude on the original base pushing moment of the rehabilitation instrument; collecting mechanical response data of the user during application of the diagnostic mechanical stimulus; determining whether the counterforce of the user is active force reduction or involuntary muscle stretch reflex according to the mechanical response data; if it is determined that the counterforce is the involuntary muscle stretch reflex, switching the mode of the rehabilitation instrument to a vibration assistance and low-speed motion mode, wherein the vibration assistance and low-speed motion mode comprises continuously superimposing a vibration component in the auxiliary force output, reducing the motion speed of the task target, and simplifying the complexity of the preset path; if it is determined that the counterforce is the active force reduction, switching the mode of the rehabilitation instrument to a strength compensation mode, wherein the strength compensation mode comprises increasing the constant value of the base pushing moment.

2. The exercise mode control method of claim 1, wherein, The method further comprises: acquiring the inherent frequency and the inherent phase of the inherent limb tremor of the user; applying an anti-phase vibration force moment with the same frequency as the inherent frequency and the opposite phase to the inherent phase to suppress the inherent limb tremor; collecting torque data of the user as the mechanical response data.

3. The exercise mode control method of claim 2, wherein, The method further comprises: continuously updating the inherent frequency and the inherent phase in a rolling time window manner; after updating the inherent frequency and the inherent phase each time, synchronously adjusting the frequency and the phase of the anti-phase vibration force moment to be consistent with the frequency of the inherent frequency and opposite to the phase of the inherent phase; determining whether the inherent limb tremor is in a stable state according to the variation trend of the inherent frequency and the inherent phase in the rolling time window; if it is determined that the inherent limb tremor is in a stable state, keeping the current parameters of the anti-phase vibration force moment unchanged; if it is determined that the inherent limb tremor is not in a stable state, continuously updating the inherent frequency and the inherent phase in the rolling time window manner, and synchronously adjusting the frequency and the phase of the anti-phase vibration force moment based on the updated inherent frequency and the inherent phase.

4. The exercise mode control method of claim 3, wherein, The method further comprises: determining whether there is a residual tremor component in the torque response of the user after applying the anti-phase vibration force moment; if there is the residual tremor component, constructing a compensation signal based on the frequency and phase information of the residual tremor component; adaptively adjusting the output amplitude and phase of the anti-phase vibration force moment based on the compensation signal.

5. The exercise mode control method of claim 1, wherein, After switching the mode of the rehabilitation instrument to the vibration assistance and low-speed motion mode, the method further comprises: monitoring the actual motion deviation value of the user under the preset path; determining whether the actual motion deviation value is continuously in a deviation stable state below a first deviation threshold value; If the deviation is determined to be stable, the complexity of the preset path and the movement speed of the task target are gradually increased according to a preset adjustment rule; If the deviation is determined to be unstable, the current preset path and the movement speed are maintained.

6. The exercise mode control method of claim 5, wherein, After the mode of the switching rehabilitation instrument is switched to the vibration assistance and low-speed movement mode, the following steps are further included: Within a preset response determination time window, it is determined whether a continuous deviation trajectory or a periodic disturbance response inconsistent with the direction of the task target appears in the vibration assistance and low-speed movement mode based on the actual movement trajectory; If the continuous deviation trajectory or the periodic disturbance response is determined to exist, it is determined that there is abnormal behavior of non-target-oriented compensatory movement or external interference, a prompt signal is sent to a rehabilitation staff, and a micro-disturbance torque with an amplitude lower than a disturbance threshold is applied to the user for verifying the consistency of the user's response stability and movement intention, the disturbance threshold being a preset upper limit torque amplitude of the user's safe response; If the user has an unpredictable response to the micro-disturbance torque, the current mechanical response data is marked as a key evaluation interval, and the corresponding abnormal trajectory characteristic parameters are recorded.

7. The exercise mode control method of claim 6, wherein, After the micro-disturbance torque with an amplitude lower than the disturbance threshold is applied to the user for verifying the consistency of the user's response stability and movement intention, the following steps are further included: The mechanical response data of the user is continuously monitored, and the response start time, the maximum torque response time, and the maximum value time point of the micro-disturbance torque of the user are extracted; The time difference between the maximum torque response time and the maximum value time point is calculated, and it is determined whether the time difference exceeds a preset response hysteresis threshold; If the time difference is determined to exceed the response hysteresis threshold, it is recorded as a hysteresis response event; If the cumulative number of hysteresis response events exceeds a preset number threshold in a preset number of micro-disturbance torque application operations, the current user is determined to be a hysteresis response mode user; The starting time of the response determination time window is modified by delaying a preset hysteresis compensation duration when the user is determined to be a hysteresis response mode user. 8.The exercise mode control method of the rehabilitation apparatus according to claim 7, characterized by: After the user is determined to be a hysteresis response mode user, the following steps are further included: The mechanical response peak amplitude, response duration, and vibration input delay duration of the user during the application of the micro-disturbance torque are obtained, and a vibration tolerance parameter of the user is calculated, the vibration tolerance parameter being used to represent the sensitivity of the user to the micro-disturbance torque; According to the vibration tolerance parameter, the output characteristics of the subsequent micro-disturbance torque are dynamically adjusted, the output characteristics including an amplitude upper limit, a rising edge time, a continuous application duration, and / or a start delay duration; After the adjusted micro-disturbance torque is applied, the mechanical response data of the user is collected, and the vibration tolerance parameter is updated based on the mechanical response data, the updated vibration tolerance parameter being used for adaptive adjustment of the output characteristics of the subsequent micro-disturbance torque.

9. The exercise mode control method of claim 1, wherein, After the mode of the switching rehabilitation instrument is switched to the strength compensation mode, the following steps are further included: Within a preset monitoring time window, the active force response data of the user under the action of the basic pushing torque is continuously collected. According to a difference between the active force response data and an actual output torque of the rehabilitation instrument, a time-weighted muscle fatigue integral is calculated; It is judged whether the muscle fatigue integral is lower than a recovery judgment threshold value; If the muscle fatigue integral is lower than the recovery judgment threshold value, it is judged that the user has autonomous force recovery potential, the mode of the rehabilitation instrument is switched from the force compensation mode to a preset path recovery evaluation mode, and the preset path recovery evaluation mode guides the user to independently complete the target action again in a step-by-step decreasing pushing torque manner.

10. A rehabilitation apparatus motion pattern control system characterized by, Comprise: A motion and torque acquisition module for acquiring motion angle data and counterforce torque data of a user; A motion performance evaluation module for determining whether an actual motion trajectory deviates from a preset path by more than a preset threshold value according to the motion angle data, and determining whether a continuously decreasing trend of a torque actively generated by the user is present according to the counterforce torque data, and judging whether the motion performance of the user is decreased; A diagnostic stimulation application module for changing the form of auxiliary force output of the rehabilitation instrument if it is judged that the motion performance of the user is decreased, and applying a diagnostic mechanical stimulation, wherein the diagnostic mechanical stimulation comprises a vibration component of a preset frequency and a preset amplitude superimposed on the original base pushing torque of the rehabilitation instrument; A response data acquisition module for acquiring mechanical response data of the user during application of the diagnostic mechanical stimulation; A counterforce source judgment module for judging whether the counterforce source of the user is active force reduction or non-autonomous muscle stretch reflex according to the mechanical response data; A vibration auxiliary mode switching module for switching the mode of the rehabilitation instrument to a vibration auxiliary and low-speed motion mode if the counterforce source is judged to be the non-autonomous muscle stretch reflex, wherein the vibration auxiliary and low-speed motion mode comprises continuously superimposing a vibration component in the auxiliary force output, reducing the motion speed of the task target, and simplifying the complexity of the preset path; A force compensation mode switching module for switching the mode of the rehabilitation instrument to a force compensation mode if the counterforce source is judged to be the active force reduction, wherein the force compensation mode comprises increasing the constant value of the base pushing torque.

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