Single-axis rehabilitation equipment variable parameter training method and system

Abstract

The invention discloses a variable-parameter training method and system for single-axis rehabilitation equipment, and belongs to the technical field of rehabilitation medicines.The method comprises the steps that the zero point and the positive direction of a force sensor handle of the single-axis rehabilitation equipment are calibrated; four regions are symmetrically divided by taking the zero point as the center, and the region boundaries are adjustable; establishing a mapping relation between positions and control parameters, and setting a maximum reverse control parameter at a reversing point; and dynamically adjusting the region division and mapping relation based on the training effect. Rehabilitation training can be provided for patients in different rehabilitation stages, parameters can be adaptively adjusted according to the rehabilitation stages, the intelligent degree is high, the force sensor serves as a feedback element of the motion intention of the patient, it is guaranteed that the rehabilitation system can accurately judge the motion intention of the patient, rehabilitation training has high accuracy, and the rehabilitation training efficiency is improved. The rehabilitation training requirements of different patients can be met, and the adaptability is high.

Description

Technical Field

[0001] This invention belongs to the field of rehabilitation medical technology, specifically relating to a variable parameter training method and system for a single-axis rehabilitation device, and also to a single-axis rehabilitation device. Background Technology

[0002] The statements herein provide only background information in relation to this invention and do not necessarily constitute prior art.

[0003] With the increasing aging of the population, more and more elderly people will suffer from diseases such as hemiplegia and stroke. These patients usually lose some motor function and are unable to meet their daily living needs. For these patients, rehabilitation training is usually needed to help them regain their mobility. Rehabilitation training mainly uses physical therapy methods, and using rehabilitation equipment to guide patients in corresponding rehabilitation training, as a physical therapy method, has many advantages over traditional rehabilitation training methods, and therefore is widely used.

[0004] In recent years, a plethora of rehabilitation equipment has emerged, and numerous scholars have conducted related research. Rehabilitation training equipment is mainly divided into upper limb rehabilitation training devices and lower limb rehabilitation training devices. Upper limb rehabilitation training devices can help patients regain the ability to move their upper limbs independently. These devices mainly include single-axis, multi-axis, and robotic rehabilitation training devices. Due to the high coupling and control complexity of multi-axis and robotic rehabilitation training devices, single-axis devices offer significant advantages for simple rehabilitation training for patients.

[0005] However, the inventors discovered that for uniaxial rehabilitation training equipment, some control parameters are required to control the equipment during rehabilitation training, and these control parameters usually remain unchanged during the training process. This control method cannot automatically adapt to the patient's rehabilitation needs and may cause secondary injury to the patient. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a variable parameter training method and system for a single-axis rehabilitation device, which can provide rehabilitation training for patients at different rehabilitation stages, and can adaptively adjust parameters according to the rehabilitation stage, thus having a high degree of intelligence.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solution: In a first aspect, the technical solution of the present invention provides a variable parameter training method for a uniaxial rehabilitation device, comprising: Calibrate the zero point and positive direction of the force sensor handle of the uniaxial rehabilitation equipment; The system is divided into four symmetrical regions centered on zero, and the boundaries of each region are adjustable. Establish a mapping relationship between position and control parameters, and set the maximum reverse control parameter at the reversing point; The region division and mapping relationship are dynamically adjusted based on the training results.

[0008] In at least one embodiment, the zero point and positive direction of the force sensor handle of the uniaxial rehabilitation device are calibrated by setting the point where the force sensor handle of the uniaxial rehabilitation device is not under force as the zero point, setting the rightward pushing direction of the force sensor as the positive direction, and setting the leftward pushing direction as the negative direction.

[0009] In at least one embodiment, the four regions include negative region 2, negative region 1, positive region 1, and positive region 2, and the endpoints of negative region 2 and positive region 2 that are far from the zero point are reversal points.

[0010] In at least one embodiment, the area boundaries are adjustable, specifically: when the patient is in the early stage of rehabilitation, the distance between negative zone 1 and positive zone 1 is reduced, and the distance between negative zone 2 and positive zone 2 is increased; when the patient is in the middle or late stage of rehabilitation training, the distance between negative zone 1 and positive zone 1 is increased, and the distance between negative zone 2 and positive zone 2 is decreased.

[0011] In at least one embodiment, during rehabilitation training, the control parameters of negative zone 1 and positive zone 1 remain unchanged, while the control parameters of negative zone 2 and positive zone 2 increase with the distance from zero point, reaching their maximum and reversing at the reversal point.

[0012] In at least one embodiment, the assistance provided by the uniaxial rehabilitation device is positively correlated with the absolute value of the control parameters.

[0013] In at least one embodiment, the region division and mapping relationship are dynamically adjusted based on the training effect. Specifically, the mapping relationship between the travel area of ​​the rehabilitation training device and the position of the rehabilitation equipment and the control parameters is adjusted according to the patient's actual rehabilitation condition.

[0014] Secondly, the technical solution of the present invention also provides a variable parameter training system for a uniaxial rehabilitation device, comprising: The handle calibration module is configured to calibrate the zero point and positive direction of the force sensor handle of the monoaxial rehabilitation device. The travel area division module is configured to divide the area into four symmetrical regions centered on the zero point, and the boundaries of the regions are adjustable. The mapping relationship building module is configured to: establish a mapping relationship between position and control parameters, and set the maximum reverse control parameter at the reversing point; The dynamic adjustment module is configured to dynamically adjust the region division and mapping relationship based on the training effect.

[0015] Thirdly, the technical solution of the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the variable parameter training method for a single-axis rehabilitation device as described in the first aspect.

[0016] Fourthly, the technical solution of the present invention also provides a single-axis rehabilitation device, including: a rehabilitation training device, a force sensor handle for rehabilitation training, a motor, and a single-axis rehabilitation device variable parameter training system that is controlled and connected to the three respectively; wherein, the force sensor handle moves on the rehabilitation training device, and the motor provides assistance to the force sensor handle; The single-axis rehabilitation equipment variable parameter training system includes: a handle calibration module, configured to: calibrate the zero point and positive direction of the force sensor handle of the single-axis rehabilitation equipment; The travel area division module is configured to divide the area into four symmetrical regions centered on the zero point, and the boundaries of the regions are adjustable. The mapping relationship building module is configured to: establish a mapping relationship between position and control parameters, and set the maximum reverse control parameter at the reversing point; The dynamic adjustment module is configured to dynamically adjust the region division and mapping relationship based on the training effect.

[0017] The beneficial effects of the above-described technical solution of the present invention are as follows: 1) The present invention provides a variable parameter training method for a uniaxial rehabilitation device, which can provide rehabilitation training for patients at different rehabilitation stages. It can adaptively adjust parameters according to the rehabilitation stage, exhibiting a high degree of intelligence. By using a force sensor as a feedback element for the patient's movement intention, the rehabilitation system can accurately determine the patient's movement intention, resulting in high accuracy in rehabilitation training. It can adapt to the rehabilitation training needs of different patients, demonstrating strong adaptability, and can evaluate the patient's rehabilitation training effect, thereby optimizing relevant parameters during the patient's rehabilitation training process.

[0018] 2) The variable parameter training method for a single-axis rehabilitation device of the present invention adopts a combination of motor and force sensor, which reduces the dependence on other components and improves the integration of the system. Attached Figure Description

[0019] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0020] Figure 1 This is a schematic diagram of a variable parameter training method for a uniaxial rehabilitation device disclosed in Embodiment 1 of the present invention; Figure 2This is a schematic diagram of a variable parameter training method for a uniaxial rehabilitation device disclosed in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the uniaxial rehabilitation device disclosed in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the calibration force sensor handle disclosed in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the area division of the rehabilitation training device disclosed in Embodiment 1 of the present invention. Detailed Implementation

[0021] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0022] As described in the background section, the purpose of this invention is to overcome the shortcomings of the prior art and provide a variable parameter training method and system for a single-axis rehabilitation device, which can provide rehabilitation training for patients at different rehabilitation stages, and can adaptively adjust parameters according to the rehabilitation stage, thus having a high degree of intelligence.

[0023] Example 1 In a typical embodiment of the present invention, such as Figure 1 and Figure 2 As shown, this embodiment discloses a variable parameter training method for a uniaxial rehabilitation device, including: S1. Calibrate the zero point and positive direction of the force sensor handle of the monoaxial rehabilitation equipment; S2. Divide the area into four symmetrical regions centered on the zero point, and the boundaries of the regions are adjustable; S3. Establish the mapping relationship between position and control parameters, and set the maximum reverse control parameter at the reversing point; S4. Dynamically adjust the region division and mapping relationship based on the training effect.

[0024] The following section provides a detailed description of the variable parameter training method for a single-axis rehabilitation device, using specific implementation methods as an example.

[0025] S1. Calibrate the zero point and positive direction of the force sensor handle of the monoaxial rehabilitation equipment.

[0026] Before using a monoaxial rehabilitation training device, the force sensor handle needs to be calibrated to ensure high force feedback accuracy during the training process. For example... Figure 3The uniaxial rehabilitation device shown has the rightward thrust direction of the force sensor set as positive and the leftward thrust direction as negative. When the force sensor is not under force, there may be zero-point drift; therefore, the value point when the force sensor is not under force is set as zero. O This completes the calibration of the force sensor handle, such as... Figure 4 As shown.

[0027] S2. Divide the area into four symmetrical regions centered on the zero point, and the boundaries of the regions are adjustable.

[0028] Because patients exert different amounts of force at different locations on the rehabilitation training device, different control parameters are needed to adjust the device. These parameters primarily provide assistance to the patient. In this embodiment, the assistance provided by the single-axis rehabilitation device is positively correlated with the absolute value of the control parameter; that is, the larger the absolute value of the control parameter, the greater the assistance provided. Therefore, the rehabilitation training device needs to be divided into zones to adapt to the patient's rehabilitation needs. In this embodiment, a zero point is used... O Centered on the center, the left and right sides are symmetrically divided into two areas, namely the negative two areas. AB Area -1 OB Zhengyi District OC Hezheng 2nd District CD And negative zone 2 AB Hezheng 2nd District CD Far from zero O endpoints A and D As a reversal point, the length of the area can be adjusted according to the patient's actual recovery progress, such as... Figure 5 As shown.

[0029] When the patient is in the early stages of recovery, the negative zone will be... OB With Zheng Yi District OC The distance is reduced, and the negative two area is reduced. AB Yuzheng Second District CD The distance increases; when the patient is in the middle and late stages of rehabilitation training, the negative zone 1 will be... OB With Zheng Yi District OC The distance increases, affecting the negative two zones. AB Yuzheng Second District CD The distance can be reduced, and the specific degree of increase or decrease can be adjusted according to the patient's rehabilitation training stage and rehabilitation training effect.

[0030] S3. Establish the mapping relationship between position and control parameters, and set the maximum reverse control parameter at the reversing point.

[0031] Patients exert different amounts of force at different locations on the rehabilitation training device. If the same control parameters are used, patients may not be able to train normally. Therefore, it is necessary to set different control parameters according to the area of ​​the rehabilitation training device and map the two together. Since S2 has already divided the area of ​​the rehabilitation training device, this step only requires mapping the location to the control parameters.

[0032] Because the range of training for patients during rehabilitation training is from... A arrive D The process is cyclical and repetitive. Analysis of the rehabilitation training device reveals that the patient... A Point and D At these points, a change of direction is required, and it's difficult to change the direction of force in a timely manner. Therefore, at these two points, the control parameters of the rehabilitation training device are adjusted to their maximum and reversed to provide some assistance for the patient to successfully complete the change of direction. Simultaneously, the motor-driven rehabilitation training device can determine the position of the force sensor handle based on the position of the motor encoder, and automatically determine the direction of assistance based on the value and trend of the force sensor handle's position. During rehabilitation training, the patient is instructed to... O Start the exercise, and O The control parameters of the point are constants and greater than zero, in the positive zone 1. OC Zhong Cong O arrive C The control parameters remain unchanged, in zone 2. CD Zhong Cong C arrive D Time control parameters change with distance O The distance between the points gradually increases and in D The point reaches its maximum and reverses, in the second positive zone. CD Zhong Cong D arrive C The control parameter gradually decreases, in the positive zone 1. OC Zhong Cong C arrive O Control parameters and C The latest control parameters are consistent, and it is in the negative zone. OB Zhong Cong O arrive B The control parameters remain unchanged in the negative two zone. AB Zhong Cong B arrive A The control parameters gradually increase and in A It reaches its maximum and reverses at the point, at AB Zhong Cong A arrive B The control parameters gradually decrease, in the negative zone. OB Zhong Cong B arrive O Control parameters andB The latest control parameters are consistent, and it is in zone 1. OC Zhong Cong O arrive C The control parameters remain unchanged throughout the process, and this cycle is repeated to complete the rehabilitation training.

[0033] S4. Dynamically adjust the region division and mapping relationship based on the training effect.

[0034] During rehabilitation training, the travel area of ​​the rehabilitation training device and the mapping relationship between the device's position and control parameters need to be adjusted according to the patient's actual rehabilitation progress to ensure effective training. During training, the therapist assesses the patient's progress based on the training effect and the data recorded by the device. If the training is ineffective, the travel area of ​​the device needs adjustment, appropriately reducing the distance between zones 1 (positive and negative) and altering the mapping relationship between the device's position and control parameters, specifically changing the range of parameter variation in zones 2 (positive and negative). If the patient's progress is good, the original travel area and mapping relationship can be maintained or slightly adjusted before continuing training.

[0035] This embodiment proposes a novel variable-parameter training system for a single-axis rehabilitation device by combining a motor and a force sensor. This system is applicable to rehabilitation training at different stages for patients and mainly includes the following four stages: The first stage is the calibration of the force sensor handle for rehabilitation training; the second stage is the division of the travel area of ​​the rehabilitation training device, which divides the travel area of ​​the device to accommodate different rehabilitation stages of patients; the third stage is the mapping of the area position to control parameters, further clarifying the mapping relationship between the area position and control parameters to ensure that patients can successfully complete rehabilitation training; the fourth stage is the evaluation and optimization of the training effect of the rehabilitation training device, which evaluates the effect of the patient's rehabilitation training and iteratively optimizes the training system based on the evaluation results.

[0036] Example 2 In a typical embodiment of the present invention, this embodiment discloses a variable parameter training system for a uniaxial rehabilitation device, comprising: The handle calibration module is configured to calibrate the zero point and positive direction of the force sensor handle of the monoaxial rehabilitation device. The travel area division module is configured to divide the area into four symmetrical regions centered on the zero point, and the boundaries of the regions are adjustable. The mapping relationship building module is configured to: establish a mapping relationship between position and control parameters, and set the maximum reverse control parameter at the reversing point; The dynamic adjustment module is configured to dynamically adjust the region division and mapping relationship based on the training effect.

[0037] Example 3 In a typical embodiment of the present invention, this embodiment provides a computer-readable storage medium storing a computer program thereon. When executed by a processor, the program implements the steps of a variable parameter training method for a single-axis rehabilitation device as described in Embodiment 1. These steps include: S1. Calibrate the zero point and positive direction of the force sensor handle of the monoaxial rehabilitation equipment; S2. Divide the area into four symmetrical regions centered on the zero point, and the boundaries of the regions are adjustable; S3. Establish the mapping relationship between position and control parameters, and set the maximum reverse control parameter at the reversing point; S4. Dynamically adjust the region division and mapping relationship based on the training effect.

[0038] Example 4 In a typical embodiment of the present invention, such as Figure 3 As shown, this embodiment provides a single-axis rehabilitation device, including: a rehabilitation training device, a force sensor handle for rehabilitation training, a motor, and a single-axis rehabilitation device variable parameter training system that is controlled and connected to the three respectively; wherein, the force sensor handle moves on the rehabilitation training device, and the motor provides assistance to the force sensor handle; In this embodiment, a single-axis rehabilitation device variable parameter training system as described in Embodiment 2 is used. This system includes: The handle calibration module is configured to calibrate the zero point and positive direction of the force sensor handle of the monoaxial rehabilitation device. The travel area division module is configured to divide the area into four symmetrical regions centered on the zero point, and the boundaries of the regions are adjustable. The mapping relationship building module is configured to: establish a mapping relationship between position and control parameters, and set the maximum reverse control parameter at the reversing point; The dynamic adjustment module is configured to dynamically adjust the region division and mapping relationship based on the training effect.

[0039] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A variable parameter training method for a uniaxial rehabilitation device, characterized in that, include: Calibrate the zero point and positive direction of the force sensor handle of the uniaxial rehabilitation equipment; The system is divided into four symmetrical regions centered on zero, and the boundaries of each region are adjustable. Establish a mapping relationship between position and control parameters, and set the maximum reverse control parameter at the reversing point; The region division and mapping relationship are dynamically adjusted based on the training results.

2. The variable parameter training method for a uniaxial rehabilitation device as described in claim 1, characterized in that, To calibrate the zero point and positive direction of the force sensor handle of the uniaxial rehabilitation equipment, specifically, set the point where the force sensor handle of the uniaxial rehabilitation equipment is not under force as the zero point, set the rightward pushing direction of the force sensor as the positive direction, and set the leftward pushing direction as the negative direction.

3. The variable parameter training method for a uniaxial rehabilitation device as described in claim 1, characterized in that, The four regions include negative zone 2, negative zone 1, positive zone 1, and positive zone 2, with the endpoints of negative zone 2 and positive zone 2 that are far from the zero point being the reversal points.

4. The variable parameter training method for a uniaxial rehabilitation device as described in claim 3, characterized in that, The boundaries of the zones are adjustable. Specifically, when the patient is in the early stage of rehabilitation, the distance between zone 1 and zone 1 is reduced, and the distance between zone 2 and zone 2 is increased. When the patient is in the middle or late stage of rehabilitation training, the distance between zone 1 and zone 1 is increased, and the distance between zone 2 and zone 2 is decreased.

5. The variable parameter training method for a uniaxial rehabilitation device as described in claim 1, characterized in that, During rehabilitation training, the control parameters of negative zone 1 and positive zone 1 remain unchanged, while the control parameters of negative zone 2 and positive zone 2 increase with the distance from zero point, reaching their maximum and reversing at the reversal point.

6. The variable parameter training method for a uniaxial rehabilitation device as described in claim 1, characterized in that, The absolute values ​​of the assist and control parameters provided by the uniaxial rehabilitation equipment are positively correlated.

7. The variable parameter training method for a uniaxial rehabilitation device as described in claim 1, characterized in that, The region division and mapping relationship are dynamically adjusted based on the training effect. Specifically, the mapping relationship between the travel area of ​​the rehabilitation training device and the position of the rehabilitation equipment and the control parameters is adjusted according to the actual rehabilitation condition of the patient.

8. A variable parameter training system for a uniaxial rehabilitation device, characterized in that, include: The handle calibration module is configured to calibrate the zero point and positive direction of the force sensor handle of the monoaxial rehabilitation device. The travel area division module is configured to divide the area into four symmetrical regions centered on the zero point, and the boundaries of the regions are adjustable. The mapping relationship building module is configured to: establish a mapping relationship between position and control parameters, and set the maximum reverse control parameter at the reversing point; The dynamic adjustment module is configured to dynamically adjust the region division and mapping relationship based on the training effect.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps in the variable parameter training method for a single-axis rehabilitation device as described in any one of claims 1-7.

10. A uniaxial rehabilitation device, characterized in that, include: The rehabilitation training device, the force sensor handle for rehabilitation training, the motor, and the single-axis rehabilitation equipment variable parameter training system that are respectively controlled and connected to the three; wherein, the force sensor handle moves on the rehabilitation training device and the motor provides assistance to the force sensor handle. The single-axis rehabilitation equipment variable parameter training system includes: a handle calibration module, configured to: calibrate the zero point and positive direction of the force sensor handle of the single-axis rehabilitation equipment; The travel area division module is configured to divide the area into four symmetrical regions centered on the zero point, and the boundaries of the regions are adjustable. The mapping relationship building module is configured to: establish a mapping relationship between position and control parameters, and set the maximum reverse control parameter at the reversing point; The dynamic adjustment module is configured to dynamically adjust the region division and mapping relationship based on the training effect.

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