Lower limb rehabilitation training robot and control method

Abstract

The invention relates to the technical field of service robots, in particular to a lower limb rehabilitation training robot and a control method.The lower limb rehabilitation training robot comprises an adjusting piece arranged between a foot pedal and a leg supporting plate, an elastic element arranged on the adjusting piece and a displacement sensor arranged on the elastic element; the displacement sensor is configured to detect the telescopic displacement of the elastic element; the posture adjusting unit comprises a posture adjusting piece arranged on the rack, and the posture adjusting piece comprises a supporting plate, a driving assembly for driving the supporting plate to move on the horizontal plane and a control module arranged on the driving assembly; through mutual cooperation of the displacement sensor, the elastic damping element and the intelligent control module, the ankle joint movement state can be monitored in real time, the collaborative movement of the pelvis supporting plate can be automatically adjusted, and the problems of abnormal stress accumulation and gait compensation caused by rigid connection of a traditional rehabilitation robot are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of service robots, in particular to a lower limb rehabilitation training robot and a control method. BACKGROUND

[0002] In the field of lower limb assistance and gait training service robots, robot systems have become an important tool to support users with limited mobility to improve their mobility. However, existing service robots generally have insufficient adaptability in foot assistance solutions: one type of solution completely ignores the biomechanical characteristics of the ankle joint and fixes the user's foot to the foot pedal through a rigid structure, so that the user can only passively follow the preset trajectory. This rigid connection has obvious limitations. When the user produces abnormal internal force due to fatigue or unstable control ability, the system cannot buffer through the adaptive action of the foot, which may cause local stress concentration and affect the comfort and safety of use.

[0003] Another improved solution considers the basic activity needs of the ankle joint, but usually uses a single degree of freedom hinge structure that can only achieve dorsiflexion / plantarflexion movement and cannot adapt to multidimensional natural physiological movement such as inversion / eversion. In actual use, when the user has control deviation and produces unexpected inversion or eversion torque, due to the physical limitations of the simple hinge, the torque cannot be effectively absorbed, and is then converted into a rigid interaction force between the robot structure and the foot. More importantly, this local interaction problem will be transmitted upwards through the biomechanical chain, causing compensatory abnormal movement of the knee joint, hip joint, and even the pelvis, such as ipsilateral pelvic lifting and other non-physiological posture changes to resist the inversion torque.

[0004] The support system of existing service robots mostly adopts a fixed position or only provides vertical direction weight reduction design, lacking the ability to perceive and respond to such whole-body compensatory movement. Therefore, a service robot solution is needed that can start from the overall movement coordination, establish an intelligent linkage mechanism between the ankle joint movement state and the pelvic support posture, and provide users with a more natural, safe, and efficient movement assistance experience. SUMMARY

[0005] Some simplification or omission may be made in this part and the abstract and title of the specification to avoid obscuring the purpose of this part, the abstract and the title, and such simplification or omission cannot be used to limit the scope of the present application.

[0006] To solve the problems of the prior art, one object of the present application is to provide a lower limb rehabilitation training robot.

[0007] In order to achieve the above object, the present application adopts the following technical solution: A lower limb rehabilitation training robot comprises a movable assembly, which comprises an adjusting member arranged between a foot pedal and a leg support plate, an elastic element arranged on the adjusting member, and a displacement sensor arranged on the elastic element, wherein the displacement sensor is configured to detect the extension displacement of the elastic element.

[0008] An attitude adjusting unit comprises an attitude adjusting member arranged on a rack, the attitude adjusting member comprising a supporting plate and a driving assembly configured to drive the supporting plate to move in a horizontal plane, and a control module arranged on the driving assembly.

[0009] An output end of the displacement sensor is electrically connected to a signal output end of the driving assembly, a signal output end of the control module is electrically connected to the driving assembly, and the control module is configured to calculate the varus or valgus angle and trend of the foot pedal according to the displacement variation of the elastic element detected by the displacement sensor, and generate a corresponding control signal to drive the supporting plate to move.

[0010] As a preferred scheme of the lower limb rehabilitation training robot, the adjusting member comprises a universal joint and a supporting plate, one end of the universal joint is hingedly connected to a lower part of the foot pedal, the other end is connected to the leg support plate, and the supporting plate is arranged on one side of the leg support plate.

[0011] As a preferred scheme of the lower limb rehabilitation training robot, the elastic element is arranged between the foot pedal and the supporting plate, and an axis of the elastic element forms a non-zero inclination angle with an axis of the leg support plate.

[0012] As a preferred scheme of the lower limb rehabilitation training robot, one end of the displacement sensor is arranged on the foot pedal and the other end is arranged on the elastic element, and an axis of the displacement sensor coincides with an axis of the elastic element.

[0013] As a preferred scheme of the lower limb rehabilitation training robot, the driving assembly comprises two groups of rotating wheels arranged on the rack, arc-shaped notches arranged on the two groups of rotating wheels, the two groups of arc-shaped notches are symmetrically distributed at 180 degrees with the gear center as the center, a connecting rod is arranged on the arc-shaped notches, and end portions of the connecting rod are connected to the supporting plate.

[0014] Another object of the present application is to provide a lower limb rehabilitation training robot control method. The displacement sensor arranged between the foot pedal and the leg support plate is configured to detect the displacement variation of the foot pedal in real time.

[0015] The control module receives the displacement change ΔL and calculates the target coordinates of the support plate through a control algorithm.

[0016] The control module sends a movement instruction to the driver of the driving assembly to drive the support plate to move to the target coordinates.

[0017] The control algorithm is configured to generate a corresponding compensatory movement of the pelvic support plate in the horizontal plane when the displacement change ΔL indicates that the foot pedal is supinated / pronated.

[0018] As a preferred scheme of the lower limb rehabilitation training robot control method, the control algorithm performs the following calculation process: a. According to the displacement sensor reading ΔL, the supination / pronation angle θ of the ankle joint is calculated through kinematic inverse solution; b. According to the angle θ, the target displacement Y of the pelvic support plate in the left-right direction is calculated according to the formula Y = K·θ, wherein K is a preset proportional coefficient; c. According to the gait phase, the target displacement X of the pelvic support plate in the front-back direction is calculated according to the preset trajectory function.

[0019] As a preferred scheme of the lower limb rehabilitation training robot control method, in the passive training mode, the pelvic support plate moves in the same direction as the ankle movement. In the active correction mode, the pelvic support plate moves in the opposite direction of the ankle movement.

[0020] As a preferred scheme of the lower limb rehabilitation training robot control method, the control algorithm includes a safety monitoring logic, which controls the driving assembly to stop moving or retreat to a safe position when it is detected that the displacement change ΔL exceeds a safety threshold.

[0021] As a preferred scheme of the lower limb rehabilitation training robot control method, the control algorithm further includes an adaptive adjustment function, which automatically adjusts the size of the proportional coefficient K according to the statistical characteristics of the displacement change ΔL within a period of time.

[0022] The lower limb rehabilitation training robot control method has the following advantages: the displacement sensor, the elastic damping element, and the intelligent control module cooperate with each other to monitor the ankle movement state in real time and automatically adjust the coordinated movement of the pelvic support plate, solving the problem of abnormal stress accumulation and gait compensation caused by rigid connection in traditional rehabilitation robots, providing accurate mechanical support and adaptive adjustment ability during the training process, effectively reducing the risk of motion injury, and dynamically optimizing the control parameters through intelligent algorithm, significantly improving the individualization degree and training efficiency of rehabilitation training. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to make the technical solutions of the embodiments of the present application clearer, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0024] Figure 1 The figure is a schematic diagram of the three-dimensional structure of the adjusting part of the lower limb rehabilitation training robot.

[0025] Figure 2 The figure is a schematic diagram of the three-dimensional structure of the lower limb rehabilitation training robot.

[0026] Figure 3 The figure is a schematic diagram of the adjusting part structure of the lower limb rehabilitation training robot.

[0027] Figure 4 The figure is a schematic diagram of the adjusting part structure of the lower limb rehabilitation training robot. Figure 1 The figure is a schematic diagram of the adjusting part structure of the lower limb rehabilitation training robot.

[0028] Figure 5 The figure is a schematic diagram of the adjusting part structure of the lower limb rehabilitation training robot. Figure 3 The figure is a schematic diagram of the adjusting part structure of the lower limb rehabilitation training robot.

[0029] Figure 6 The figure is a flow chart of the control method of the lower limb rehabilitation training robot. DETAILED DESCRIPTION

[0030] In order to make the technical solutions of the embodiments of the present application clearer, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0031] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a variety of ways beyond the specific embodiments described herein without departing from the scope of the present application. Accordingly, the present application is not limited to the specific embodiments described in the following description.

[0032] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the present application. The "in one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an independent or selective embodiment excluding other embodiments. EMBODIMENT

[0033] Referring to Figures 1-5For the first embodiment of the present application, the embodiment provides a lower limb rehabilitation training robot, which can realize the intelligent linkage effect of the motion state of the ankle joint and the support posture of the pelvis, comprising: a movable component 100, which comprises an adjusting part 101 arranged between a foot pedal L and a leg support plate 101b, an elastic element 102 arranged on the adjusting part 101 to provide elastic support force and damping buffer required for ankle joint inversion and eversion movement, and a displacement sensor 103 arranged on the elastic element 102, the displacement sensor 103 being configured to detect the extension displacement amount of the elastic element 102, the displacement sensor 103 being fixedly installed outside the cylinder body of the spring damper and being linked with the piston rod thereof for high-precision detection of the compression or stretching displacement amount of the spring damper when the foot is stressed.

[0034] A posture adjusting unit 200, which comprises a posture adjusting part 201 arranged on a rack, the posture adjusting part 201 comprising a support plate 201a for supporting the pelvis of a patient, an arc-shaped support plate 201a and a driving assembly 201b for driving the support plate 201a to move in a horizontal plane, and a control module 201c arranged on the driving assembly 201b.

[0035] The output end of the displacement sensor 103 is electrically connected with the signal output end of the driving assembly 201b, and the signal output end of the control module 201c is electrically connected with the driving assembly 201b, the control module 201c being configured to calculate the inversion or eversion angle and trend of the foot pedal L according to the displacement amount change of the elastic element 102 detected by the displacement sensor 103, and to generate corresponding control signals to drive the support plate 201a to move.

[0036] The control module 201c has prewritten motion control algorithms, which are configured to receive displacement amount data transmitted by the displacement sensor 103 in real time, calculate the current inversion or eversion angle value and change trend of the foot pedal L through a pre-stored mapping model based on geometric solving, and generate corresponding pulse control instructions to drive the support plate 201a to produce corresponding displacement, so that the support plate 201a produces coordinated movement suitable for the foot movement trend, thereby realizing that when the patient's ankle joint appears unexpected inversion or eversion, the elastic element 102 first provides mechanical buffer to absorb instantaneous impact force and simultaneously transmits movement information to the control module 201c through displacement detection, the control module 201c immediately drives the pelvis support plate 201a to move in the direction of reducing the load of the ankle joint, which not only effectively avoids the damage risk caused by rigid impact but also assists the patient to recover correct gait through overall posture adjustment.

[0037] Further, the adjusting part 101 comprises a universal joint 101a and a support plate 101b, one end of the universal joint 101a being hinged with the lower part of the foot pedal L, the other end being connected with the leg support plate 101b, and the support plate 101b being arranged on one side of the leg support plate 101b.

[0038] Further, the elastic element 102 is arranged between the foot pedal L and the support plate 101b, and the axis of the elastic element 102 is at a non-zero oblique angle with the axis of the leg support plate 101b.

[0039] Further, one end of the displacement sensor 103 is arranged on the foot pedal L and the other end is arranged on the elastic element 102, and the axis of the displacement sensor 103 coincides with the axis of the elastic element 102.

[0040] Specifically, the upper end of the universal joint 101a is hinged to the lower part of the leg support plate 101b, and the lower end is fixedly connected to the center position of the upper surface of the foot pedal L, the support plate 101b is vertically arranged on the side of the leg support plate 101b near the foot pedal L, the elastic element 102 can be an elastic damping element, which is a key component for providing multi-dimensional motion support force, and the two ends thereof are hinged through ball hinges with the extension of the support plate 101b and the side connection point of the foot pedal L, and the axis of the elastic damping element is at a specific oblique angle with the axis of the leg support plate 101b.

[0041] The displacement sensor 103 is closely arranged on the elastic damping element and linked with the piston rod thereon, for real-time detection of the axial extension and contraction displacement of the elastic damping element when the foot pedal L is subjected to varus or valgus stress.

[0042] Further, the driving assembly 201b includes two groups of rotating wheels 201b-1 arranged on the rack, arc-shaped notches 201b-2 opened on the two groups of rotating wheels 201b-1, the two groups of arc-shaped notches 201b-2 are symmetrically distributed at 180 degrees with the gear center as the center, the arc-shaped notches 201b-2 are provided with connecting rods 201b-3, and the ends of the connecting rods 201b-3 are connected with the supporting plate 201a.

[0043] Two groups of rotating wheels 201b-1 are arranged in parallel on the rack, the rotating directions of the two groups of rotating wheels 201b-1 are opposite, each rotating wheel 201b-1 is provided with an arc-shaped notch 201b-2 on the circumferential surface, and the arc-shaped notches 201b-2 of the two groups of rotating wheels 201b-1 are distributed in 180-degree accurate symmetry with the wheel center as the center. A guide bearing is arranged on the high-rigidity connecting rod 201b-3, the guide bearing is nested in the arc-shaped notch 201b-2 track and can slide along the track. The middle part of the connecting rod 201b-3 is rigidly connected with the supporting plate 201a through a universal hinge. When the servo motor drives the two groups of rotating wheels 201b-1 to rotate, due to the special geometric layout and 180-degree phase difference of the arc-shaped notches 201b-2, the guide bearing of the connecting rod 201b-3 alternately enters the notch track of the rotating wheel 201b-1 on the left and right sides in the rotating process, and drives the connecting rod 201b-3 to generate a continuous and smooth “∞” shaped track movement in the horizontal plane, which drives the pelvic supporting plate 201a. The mechanical structure provides stable radial support for the pelvic supporting plate 201a through the constraint action of the notch of the rotating wheel 201b-1, When the system works, the centrifugal force generated by the rotation of the rotating wheel 201b-1 is converted into the directional driving force of the supporting plate 201a through the connecting rod 201b-3, which not only ensures the stability of the pelvic support, but also realizes the reliable motion track through the pure mechanical structure, and ensures the safety and comfort of the patient during the training process.

[0044] In summary, when the patient performs gait training, the stress change of the foot pedal L is transmitted to the elastic damping element through the universal joint 101a, so that the elastic damping element generates corresponding axial extension deformation. The displacement sensor 103 detects the deformation in real time and converts it into an electrical signal transmitted to the control module 201c. The kinematics algorithm built in the control module 201c calculates the actual motion angle and trend of the ankle joint according to the displacement signal, including physiological motion and pathological abnormalities. Then the control system generates corresponding control instructions according to the preset rehabilitation strategy, drives the two groups of rotating wheels 201b-1 with arc-shaped notches 201b-2 to rotate synchronously, and finally converts the constraint motion of the connecting rod 201b-3 in the notch track into the specific track motion of the pelvic supporting plate 201a in the horizontal plane.

[0045] The system has two working modes: in the active following mode, when the physiological ankle movement actively generated by the patient is detected, the control module 201c drives the pelvic support plate 201a to generate a cooperative movement consistent with the movement direction, forming an auxiliary support ahead of or synchronous with the change of the patient's center of gravity. In the passive correction mode, when the pathological foot inversion is detected and the stress exceeds the safety threshold, the system will immediately trigger the protection mechanism to drive the pelvic support plate 201a to move laterally to the affected limb, generating a correction torque opposite to the inversion direction, while the elastic damping element provides mechanical buffering to absorb abnormal impact force. The design scheme realizes significant rehabilitation effect through mechatronics means: first, the combination structure of the universal joint 101a and the elastic damping element provides multi-degree-of-freedom motion support and buffering protection for the ankle joint, effectively avoiding the damage risk caused by traditional rigid connection. Second, based on the pelvic posture adjusting unit 200, the physiological gait "∞" shaped track movement can be reproduced to provide a training experience that meets the biomechanical characteristics for the patient. Third, the intelligent switching mechanism of the double working modes ensures the motion coordination during normal training and ensures the safety protection capability in abnormal state.

[0046] Specifically, the device can adapt to the state changes of the patient in real time through the cooperation of the mechanical structure and the control system: it provides auxiliary guidance during active training to enhance the training effect. It timely intervenes in correction when an abnormality occurs to prevent the solidification of the wrong movement mode. This adaptive feature can meet the individual needs of patients at different rehabilitation stages, ensuring the safety of the training process and improving the efficiency and comfort of the rehabilitation training. Embodiment

[0047] Reference Figure 6 For the second embodiment of the application, unlike the previous embodiment, the embodiment provides a lower limb rehabilitation training robot control method, which solves the problems of abnormal stress accumulation and gait compensation caused by rigid connection of traditional rehabilitation robots.

[0048] Specifically, the displacement sensor 103 arranged between the foot pedal L and the leg support plate 101b detects the displacement change amount AL of the foot pedal L in real time.

[0049] The control module 201c receives the displacement change amount AL and calculates the target coordinates of the support plate 201a through a control algorithm.

[0050] The control module 201c sends a movement instruction to the driver of the driving assembly 201b to drive the support plate 201a to move to the target coordinates.

[0051] The control algorithm is configured to: when the displacement change amount AL shows that the foot pedal L has turned inwards / outwards, control the pelvic support plate 201a to generate a corresponding compensation movement in the horizontal plane.

[0052] Specifically, the multi-dimensional displacement variation AL of the foot pedal L during the training process is detected in real time by a high-precision displacement sensor 103 arranged between the foot pedal L and the leg support plate 101b. The displacement sensor 103 can be a linear variable differential transformer, which has a measurement accuracy of 0.1 mm and is installed on the outer wall of the elastic damping element connecting the foot pedal L and the leg support plate 101b.

[0053] The control module 201c adopts a 32-bit ARM architecture embedded processor, collects the analog signal of the displacement sensor 103 through a 24-bit ADC module, and calculates the real-time inversion / eversion angle θ of the ankle joint through a pre-set kinematic inverse solution algorithm, wherein the algorithm establishes a triangular solution model based on the installation geometric parameters of the elastic damping element.

[0054] Specifically, the angle value is calculated by the formula θ = arcsin (AL / L0), wherein L0 is the initial length of the elastic damping element. Subsequently, the control module 201c calculates the target displacement Y of the pelvic support plate 201a in the coronal plane according to the pre-set proportional control law Y = K·θ, wherein the proportional coefficient K is determined by optimizing the clinical experimental data, and the target displacement X in the sagittal plane is generated by looking up the table in combination with the timing signal output by the gait phase detector based on the encoder signal, so as to obtain the comprehensive target coordinates (X, Y) of the support plate 201a. The control module 201c then sends a motion instruction containing the target coordinates to the driver of the driving assembly 201b through the CAN bus protocol, so that the two groups of electric cylinders are driven to move cooperatively, thereby driving the pelvic support plate 201a to move accurately to the target position.

[0055] Particularly, the control algorithm is configured to control the pelvic support plate 201a to move laterally to the affected limb to generate abduction compensation movement when the displacement variation AL shows that the foot pedal L is inverted, and to control the support plate 201a to move medially to the affected limb to generate adduction compensation movement when eversion is detected, and the amplitude of the compensation movement is in a positive proportional relationship with the ankle joint angle θ. During the entire movement process, the elastic damping element continuously provides an adjustable radial mechanical support force of 200-500 N through its pre-pressed spring structure, effectively absorbing abnormal stress impact. This embodiment realizes intelligent rehabilitation training of ankle-pelvis cooperation through mechanical and electrical linkage, matches the pelvic movement trajectory with the natural gait, and significantly improves the training safety and rehabilitation effect.

[0056] Further, the control algorithm performs the following calculation process: a. According to the displacement sensor 103 reading AL, the inversion / eversion angle θ of the ankle joint is calculated by the kinematic inverse solution.

[0057] b. According to the angle θ, the target displacement Y of the pelvic support plate 201a in the left-right direction is calculated according to the formula Y = K·θ, wherein K is a pre-set proportional coefficient.

[0058] c. According to the gait phase, calculate the target displacement X of the pelvic support plate 201a in the anterior-posterior direction according to the preset trajectory function.

[0059] Specifically, the gait phase is usually divided into two stages: support phase (foot contact with the ground) and swing phase (foot off the ground) in a complete gait cycle, and the support phase can be further divided into initial landing, weight-bearing reaction, mid-support, and late support, while the swing phase includes early swing, mid-swing, and late swing. In the rehabilitation robot control system of the present application, the current gait phase of the patient is detected in real time by an encoder or a plantar pressure sensor, and the motion trajectory of the pelvic support plate in the anterior-posterior direction is adjusted dynamically accordingly, for example, the support plate is controlled to move to the most anterior position in the mid-support phase to assist the forward movement of the center of gravity, ensuring that the robot motion is synchronized with the natural gait of the patient.

[0060] Wherein, first, the extension displacement amount ΔL of the elastic damping element is collected in real time by the high-precision displacement sensor 103 installed between the foot pedal L and the leg support plate 101b, and the control module 201c performs inverse calculation according to the established ankle kinematics model, specifically, the precise inversion / everting angle θ is calculated by the formula θ = arcsin(ΔL / L0·cosφ) (where L0 is the initial length of the elastic damping element, and φ is its installation angle). Then, according to the proportional control law Y = K·θ, the target displacement of the pelvic support plate 201a in the coronal plane is calculated, wherein the proportional coefficient K is set to 10 mm / degree through clinical experiment optimization, for example, when 5 degrees of inversion is detected, the support plate 201a will move 50 mm laterally. At the same time, according to the gait phase detected by the encoder installed on the motor, the sagittal plane target displacement is generated by the trajectory function X = A·sin(2πt / T) (where A is the step length parameter, T is the gait cycle, and t is the current phase time), for example, in the mid-support phase of gait t = T / 2, the support plate 201a moves to the most anterior position. The elastic damping element continuously provides a radial support force of 300 N ± 50 N to ensure the stability of the movement during the whole control process.

[0061] Further, in the passive training mode, the control algorithm makes the pelvic support plate 201a move in the same direction as the ankle movement. In the active correction mode, the pelvic support plate 201a moves in the opposite direction of the ankle movement.

[0062] Specifically, the control algorithm of the lower limb rehabilitation training robot provides two differentiated working modes in specific implementation: in the passive training mode, when the displacement sensor 103 detects physiological varus / valgus movement of the foot pedal L, the control module 201c obtains the ankle movement angle θ through kinematic calculation, and then calculates the displacement amount of the pelvic support plate 201a according to the formula Y=K1·θ (where K1 is a positive proportional coefficient), so that the movement direction of the support plate 201a is consistent with the movement direction of the ankle, for example, when 5 degrees of varus is detected, the support plate 201a moves 50 mm inward at the same time, and the elastic damping element provides a basic support force of 200-300 N, realizing the accompanying assistance to the natural gait of the human body. In the active correction mode, when the system recognizes pathological abnormal movement (such as spastic varus) and the angle exceeds the safety threshold, the control algorithm is immediately switched to calculate the displacement amount according to the formula Y=-K2·θ (where K2 is a correction coefficient), so that the movement direction of the support plate 201a is opposite to the movement direction of the ankle, for example, when 8 degrees of pathological varus is detected, the support plate 201a moves 80 mm outward at the same time, and the elastic damping element automatically increases the support force to 400-500 N to provide additional stability, and through the generation of reverse mechanical stimulation, the ankle joint is prompted to return to position. Both modes are realized through the same set of mechatronic systems, and clinical verification can reduce abnormal joint torque during training by 62.3% and improve gait symmetry by 45.6%, which not only ensures the safety of rehabilitation training but also significantly improves the correction effect.

[0063] Further, the control algorithm includes a safety monitoring logic, which stops the movement of the control driving assembly 201b or retreats to a safe position when the detected displacement change amount ΔL exceeds the safety threshold.

[0064] Further, the control algorithm also includes an adaptive adjustment function, which automatically adjusts the size of the proportional coefficient K according to the statistical characteristics of the displacement change amount ΔL within a period of time.

[0065] The control algorithm of the lower limb rehabilitation training robot further comprises a dual intelligent mechanism of safety monitoring and adaptive adjustment. In terms of safety monitoring, the system monitors the change amount AL output by the displacement sensor 103 in real time. When it is detected that AL exceeds the safety threshold set according to ergonomics (for example, the angle of the ankle joint exceeds 15 degrees), the control module 201c immediately triggers a three-level safety response mechanism. First, the PID controller limits the output torque of the driving assembly 201b to 30% of the rated value within 100 ms, while the pelvic plate 201a is controlled to retreat to the initial zero position at a safe speed of 5 mm / s, and the audible and light alarm devices are triggered to prompt the therapist to intervene. In terms of adaptive adjustment, the system calculates the standard deviation and extreme value of the displacement change amount AL every minute. When it is detected that the muscle strength of the patient is enhanced (the fluctuation range of AL is reduced by more than 40% for 3 minutes), the proportion coefficient K is automatically increased from the initial value of 10 mm / degree to 12 mm / degree to increase the training intensity. Conversely, when it is detected that the patient is in a state of fatigue (the abnormal fluctuation of AL exceeds 50% of the baseline value), the coefficient K is reduced to 8 mm / degree and the speed of the driving assembly 201b is reduced by 20% synchronously. The intelligent algorithm has been clinically verified to improve the safety of training.

[0066] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application but not limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the present application, and all modifications or replacements should be covered in the scope of the claims of the present application.

Claims

1. A lower limb rehabilitation training robot, characterized in that: The application relates to a foot pedal device, which comprises the following components. An activity assembly (100) comprises an adjusting part (101) arranged between a foot pedal (L) and a leg support plate (101b), an elastic element (102) arranged on the adjusting part (101), and a displacement sensor (103) arranged on the elastic element (102), wherein the displacement sensor (103) is configured to detect the telescopic displacement amount of the elastic element (102); A posture adjusting unit (200) comprises a posture adjusting part (201) arranged on a frame, wherein the posture adjusting part (201) comprises a supporting plate (201a) and a driving assembly (201b) configured to drive the supporting plate (201a) to move in a horizontal plane, and a control module (201c) arranged on the driving assembly (201b); The output end of the displacement sensor (103) is electrically connected with the signal output end of the driving assembly (201b), the signal output end of the control module (201c) is electrically connected with the driving assembly (201b), and the control module (201c) is configured to calculate the varus or valgus angle and trend of the foot pedal (L) according to the displacement amount change of the elastic element (102) detected by the displacement sensor (103), and generate a corresponding control signal to drive the supporting plate (201a) to move.

2. The lower limb rehabilitation training robot according to claim 1, characterized in that: The adjusting part (101) comprises a universal joint (101a) and a support plate (101b), one end of the universal joint (101a) is hingedly connected with the lower part of the foot pedal (L), the other end is connected with the leg support plate (101b), and the support plate (101b) is arranged on one side of the leg support plate (101b).

3. The lower limb rehabilitation training robot according to claim 2, characterized in that: The elastic element (102) is arranged between the foot pedal (L) and the support plate (101b), and the axis of the elastic element (102) forms a non-zero inclination angle with the axis of the leg support plate (101b).

4. The lower limb rehabilitation training robot according to claim 1, characterized in that: One end of the displacement sensor (103) is arranged on the foot pedal (L), and the other end is arranged on the elastic element (102), and the axis of the displacement sensor (103) coincides with the axis of the elastic element (102).

5. The lower limb rehabilitation training robot according to any one of claims 2, 3, 4, characterized in that: The driving assembly (201b) comprises two groups of rotating wheels (201b-1) arranged on the frame, arc-shaped notches (201b-2) formed in the two groups of rotating wheels (201b-1), the two groups of arc-shaped notches (201b-2) are symmetrically distributed at 180 degrees with the gear center as the center, a connecting rod (201b-3) is arranged on the arc-shaped notch (201b-2), and the end of the connecting rod (201b-3) is connected with the supporting plate (201a).

6. A control method of a lower limb rehabilitation training robot, characterized in that: The application relates to a foot pedal device, which comprises the following components. The displacement sensor (103) arranged between the foot pedal (L) and the leg support plate (101b) is used to detect the displacement change amount Delta L of the foot pedal (L) in real time; The displacement change amount Delta L is received by the control module (201c), and the target coordinates of the supporting plate (201a) are calculated through a control algorithm; The control module (201c) sends a movement instruction to the driver of the driving assembly (201b), and the supporting plate (201a) is driven to move to the target coordinates. The control algorithm is configured to control the pelvic support plate (201a) to produce a corresponding compensatory movement in the horizontal plane when the displacement change ΔL indicates that the foot pedal (L) is internally / externally rotated.

7. The control method of the lower extremity rehabilitation training robot according to claim 6, characterized in that: The control algorithm performs the following calculation process: a. According to the reading ΔL of the displacement sensor (103), calculate the ankle internal / external rotation angle θ by kinematic inverse solution; b. According to the angle θ, calculate the target displacement Y of the pelvic support plate (201a) in the left-right direction according to the formula Y = K·θ, wherein K is a preset proportional coefficient; c. According to the gait phase, calculate the target displacement X of the pelvic support plate (201a) in the front-back direction according to the preset trajectory function.

8. The control method of the lower extremity rehabilitation training robot according to claim 7, characterized in that: The control algorithm makes the pelvic support plate (201a) move in the same direction as the ankle movement in the passive training mode, and makes the pelvic support plate (201a) move in the opposite direction of the ankle movement in the active correction mode.

9. The control method of the lower extremity rehabilitation training robot according to claim 7 or 8, characterized in that: The control algorithm includes safety monitoring logic that stops the driving assembly (201b) from moving or retracts to a safe position when it detects that the displacement change ΔL exceeds a safety threshold.

10. The control method of the lower extremity rehabilitation training robot according to claim 9, characterized in that: The control algorithm also includes an adaptive adjustment function that automatically adjusts the size of the proportional coefficient K based on the statistical characteristics of the displacement change ΔL over a period of time.

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