Compiling method for adaptively adjusting upper limb rehabilitation training program and robot

Abstract

The invention provides a method for compiling an adaptive adjustment upper limb rehabilitation training program, which comprises the following steps of: manually compiling an initialized adaptive adjustment upper limb rehabilitation training program comprising an upper limb rehabilitation training original program template and an adaptive template function, the self-adaptive template function is configured to obtain a judgment conclusion based on upper and lower limit data of a normal operation area of the three-dimensional dragging force, and adjust the speed of short-distance movement or rotation of the three-dimensional movement upper limb rehabilitation robot in the corresponding direction according to the judgment conclusion; obtaining an action training moving track of a rehabilitation physician in combination with an upper limb rehabilitation training original program template; according to the initialized self-adaptive adjustment upper limb rehabilitation training program and the action training moving track of the rehabilitation physician, an automatic programming program is called for programming, and the self-adaptive adjustment upper limb rehabilitation training program is obtained. The technical problem that an upper limb rehabilitation training robot cannot accurately output targeted rehabilitation training programs according to actual conditions of different patients can be solved.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a method for writing an adaptive upper limb rehabilitation training program and a robot thereof. Background Technology

[0002] Medical research indicates that stroke is currently the second leading cause of death and the leading cause of disability in my country. Nearly 80% of stroke survivors experience limb disability, with upper limb problems having a more severe impact. Clinical medicine has proven that appropriate motor function training for stroke patients helps them better recover their physical functions, avoid "disuse atrophy" of the limbs, and may even allow them to regain lost functions. Among all parts of the body, the upper limbs have more complex and delicate motor functions than the lower limbs, and are the most important parts of the body capable of normal activity. Rehabilitation of the upper limbs is also more difficult and slower than that of the lower limbs; therefore, rehabilitation training for the upper limbs is particularly important.

[0003] To address the challenge of upper limb rehabilitation training, one existing technology employs upper limb rehabilitation training robots. For instance, patent CN114081778A describes a series-parallel adaptive sliding mode variable structure motion mirror-type upper limb rehabilitation training robot and its control method. This robot processes motion signals into a mirror image and sends them to the robot, which then guides the patient through rehabilitation training. The robot can adaptively adjust the training intensity based on the patient's training status and the collected heart rate signal. However, this approach only indirectly considers heart rate signals and lacks a defined range of upper and lower heart rate thresholds. It also fails to determine the appropriate pulling force required for different patients during rehabilitation training. Therefore, it is not well-suited for different patient groups and cannot accurately deliver targeted rehabilitation training programs based on individual patient conditions. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes a method and robot for adaptively adjusting upper limb rehabilitation training programs. This addresses the technical problem that existing upper limb rehabilitation training robots cannot be well applied to different patient groups and cannot accurately output targeted rehabilitation training programs based on the actual situation of different patients.

[0005] The technical solution adopted in this invention is as follows: Firstly, a method for writing an adaptive upper limb rehabilitation training program is provided, including: An initialized adaptive adjustment upper limb rehabilitation training program is manually written; the initialized adaptive adjustment upper limb rehabilitation training program includes an original upper limb rehabilitation training program template and an adaptive template function; the adaptive template function is configured to obtain a judgment conclusion based on the upper and lower limit data of the normal operating range of the three-dimensional drag force, and adjust the speed of the three-dimensional motion upper limb rehabilitation robot to make short-range movements or rotations in the corresponding direction according to the judgment conclusion. The movement training trajectory of rehabilitation physicians is obtained by combining the original program template of upper limb rehabilitation training; Based on the initial adaptive adjustment upper limb rehabilitation training program and the movement training trajectory of the rehabilitation physician, the automatic programming program is called to program and obtain the adaptive adjustment upper limb rehabilitation training program.

[0006] Furthermore, the original template for upper limb rehabilitation training includes: The startup template function is used to start the control program of the three-dimensional motion upper limb rehabilitation robot, perform system initialization and parameter setting, and guide the system into the main running process. The sampling template function is used to continuously collect the state information of the rehabilitation robot, including the three-dimensional force-measuring handle, the extreme positions and rotation angles of each moving part, and output the judgment results in real time for the main program to call. Run template functions to drive the three-dimensional motion upper limb rehabilitation robot to make short-range movements or rotations. They are also used to be automatically called based on sampling results or manually called by the operator. State template function, used to change the current state of the three-dimensional motion upper limb rehabilitation robot; Exit template function; used to terminate the currently running program, providing exit options, and performing resource release and state saving operations before program termination.

[0007] Furthermore, state template functions are used to change the current state of the 3D motion upper limb rehabilitation robot, including: The linear motion component with its own guide rail is rotated around the central axis to 0°, 90° and 180° positions; Move the linear motion component with its own guide rail to the forward or rear position; The linear motion component with its own guide rail will rotate 180° to turn around.

[0008] Furthermore, the adaptive template function is configured to obtain a judgment conclusion based on the upper and lower limit data of the normal operating range of the three-dimensional drag force, including: In each detection cycle, the detected ±P, ±Q, and ±O drag forces are compared with the upper and lower limits of the normal operating range of the three-dimensional drag force to make an adaptive judgment conclusion: if the average absolute value of the drag force in one dimension is less than the lower limit of the normal operating range of that dimension, the adaptive judgment conclusion is "less than"; if the average absolute value of the drag force in one dimension is greater than the upper limit of the normal operating range of that dimension, the adaptive judgment conclusion is "greater than".

[0009] Furthermore, adjusting the speed of the three-dimensional motion upper limb rehabilitation robot for short-range movement or rotation in the corresponding direction based on the judgment conclusion includes: Within the same detection cycle, if the adaptive judgment conclusion of the three-dimensional drag force is "less than", the three-dimensional running speed will be increased by a preset percentage; the three-dimensional stepper motor drive pulse will be increased by a preset percentage and rounded; subsequent drives will be set to maintain this speed that has been increased by the preset percentage. Within the same detection cycle, if any of the adaptive judgment results for the 3D drag force are "greater than", then the command to reduce the 3D running speed by a preset percentage will be executed; the 3D stepper motor drive pulse will be reduced by a preset percentage and rounded; subsequent drives will be set to maintain this reduced preset percentage speed.

[0010] Furthermore, an adaptive adjustment upper limb rehabilitation training program is manually programmed and initialized, including "Physician's right hand to patient's left hand program template", "Physician's right hand to patient's left hand program template", "Physician's left hand to patient's right hand program template", and "Physician's left hand to patient's left hand program template", which is used to convert the patient's movement training trajectory into the physician's movement training trajectory.

[0011] Furthermore, by combining the original upper limb rehabilitation training program template, the movement training trajectory of the rehabilitation physician is obtained, including: The rehabilitation therapist operates the three-dimensional force-measuring handle of the rehabilitation robot to perform rehabilitation exercises; the original upper limb rehabilitation training program template is activated. The sampling module function detects and judges the force signal. If any of them exceed the set running threshold, the upper limb rehabilitation training original program template will call the running module function in that direction. The robot's three-dimensional force detection handle will then move or rotate briefly and write the name of the running module function into the database.

[0012] Furthermore, based on the initial adaptive adjustment of the upper limb rehabilitation training program and the rehabilitation physician's movement training trajectory, the automatic programming program is invoked for programming, including: The automatic programming program will read the rehabilitation physician's movement training trajectory records and set the node order according to the arrangement of module function names in the recorded data as a node for each sampling period; The automatic programming program, based on the node order, uses sequential loop programming logic to write each module function name as the corresponding function call command, starting from the first record, and sequentially writes it to the end of the four program templates: "Physician's right hand to patient's left hand adaptive control program template", "Physician's right hand to patient's left hand adaptive program template", "Physician's left hand to patient's right hand adaptive program template", and "Physician's left hand to patient's left hand adaptive program template". Write the name of the "Exit Program" module function into the "Adaptive Control Original Program Template".

[0013] Secondly, a robot is provided that adaptively adjusts the upper limb rehabilitation training program, and the upper limb rehabilitation training program is written using the method for writing the adaptive upper limb rehabilitation training program described in the first aspect.

[0014] Furthermore, the three-dimensional motion upper limb rehabilitation robot includes a basic base component, a fixed column component, an adjustable column component, a combined linear and rotational motion power component, a linear motion component with its own guide rail, a three-dimensional force detection grip component, a foot pad, and an electronic control system. The base component is equipped with a slide table and a fixed column component. The slide table component drives the fixed column component and all the upper components to move linearly in the front-back direction. The fixed column component is fixed on the base component and has four cylindrical guide rails inside. The adjustable column component is mounted on the cylindrical guide rail, and the height of the adjustable column component can be adjusted by a screw and nut mechanism. The combined linear and rotary motion power component is installed on the top of the adjustable column component, driving the linear motion component with its own guide rail to perform rotary and linear telescopic motion. The three-dimensional force detection grip component is installed at the front end of the linear motion component with its own guide rail, allowing the operator to hold it for control or to follow the robot's movement. It also detects and provides feedback on the magnitude and direction of the force in the three directions of "P, Q, O" in real time, providing signals to the electronic control system. Foot pad 7 is fixed to the ground in front of the base.

[0015] As can be seen from the above technical solution, the beneficial technical effects of the present invention are as follows: 1. The adaptive adjustment upper limb rehabilitation training program provided in this application introduces an adaptive adjustment function, making the robot-assisted rehabilitation training process more in line with the actual physical condition of the patient and more suitable for the patient's current injury and condition. 2. The automatic programming method is easy to operate and popularize. Both rehabilitation physicians and patients can learn to operate it in a short time. The operation process only involves common technologies such as power switch, program start and stop, Chinese character input, and USB flash drive plugging and unplugging. It does not involve programming or program selection. 3. During the programming process, it can record the training actions performed by rehabilitation physicians for patients and convert them into execution programs. It can implement different adaptive numerical control rehabilitation training for different patients or different rehabilitation stages of the same patient. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0017] Figure 1 This is a structural schematic diagram of the three-dimensional motion upper limb rehabilitation robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram illustrating the working process of the three-dimensional motion upper limb rehabilitation robot in an embodiment of the present invention; Figure 3 This is a schematic diagram of the method for writing an adaptive adjustment upper limb rehabilitation training program in an embodiment of the present invention; Figure label: 1-Basic base component, 2-Fixed column component, 3-Adjustable column component, 4-Combined linear and rotary motion power component, 5-Linear motion component with built-in guide rail, 6-Three-dimensional force detection grip component, 7-Foot pad. Detailed Implementation

[0018] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0019] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0020] Example This embodiment provides a robot and method for adaptively adjusting upper limb rehabilitation training programs. First, the hardware structure of the three-dimensional motion upper limb rehabilitation robot is described, such as... Figure 1As shown, the three-dimensional motion upper limb rehabilitation robot consists of a basic base component 1, a fixed column component 2, an adjustable column component 3, a combined linear and rotary motion power component 4, a linear motion component with its own guide rail 5, a three-dimensional force detection grip component 6, and a footpad 7. The three-dimensional motion upper limb rehabilitation robot also includes an electronic control system. Since the electronic control system can be implemented using any existing industrial control computer, the placement of the industrial control computer and its distance from the robot body do not affect the implementation of this technical solution. Therefore, the industrial control computer... Figure 1 This is not reflected in the text. The specific details of each of the above parts are as follows: The base component 1 serves as the platform for the robot's load-bearing and horizontal movement; its core function is to provide stable support for the entire robot. The base component is equipped with a slide table and a fixed column assembly. The slide table assembly on the base component drives the fixed column assembly and all upper components to move linearly along the "O" direction (front-back direction), expanding the robot's workspace.

[0021] Fixed column component 2: fixed to the base component; its function is to serve as a fixed part of the column system. Its four internal cylindrical guide rails provide precise vertical guide rail constraints for the lifting and lowering of the adjustable column component, and it can also serve as an installation carrier for the electrical control system.

[0022] Adjustable column component 3: It is mounted on the guide rail of the fixed column component; its core function is to realize the electric adjustment of the overall working height of the robot, which can be driven by the internal screw and nut mechanism to accommodate doctors or patients of different heights.

[0023] Linear and rotary motion combined power unit 4: installed on the top of the adjustable column component; its function is to integrate and output the core two-dimensional motion power of the robot, that is, to drive the linear motion component with its own guide rail to perform "Q-direction" rotary motion and "P-direction" linear extension motion, which is the key power source for the trajectory motion of the end effector.

[0024] The self-contained linear motion component 5 is a direct load and execution extension of the two-dimensional power component; its function is to serve as the mounting base for the three-dimensional force-measuring grip, and under the drive of the two-dimensional power component, it performs a precise linear extension and retraction motion in the "P direction" along its own internal guide rail, thereby changing the radial position of the grip.

[0025] The three-dimensional force-measuring grip 6 is installed at the front end of the linear motion component with its own guide rail. Its core function is to serve as the sole human-machine interface and information perception interface. It allows the operator to grip the grip to control or follow the robot's movement, and it can also detect and provide real-time feedback on the magnitude and direction of the force in the "P, Q, O" directions, providing signals for control. The three-dimensional motion upper limb rehabilitation robot provided by this invention can convert the trajectory of the physician's three-dimensional full-range movement while holding the three-dimensional force-measuring grip—that is, the three-dimensional motion training trajectory of the rehabilitation robot—into a numerical control program. This numerical control program is the upper limb rehabilitation training program provided to the patient.

[0026] Footpad 7: Fixed to the ground in front of the base; its function is to provide the operator with a stable and comfortable standing position and to help define the reference direction of "O" movement.

[0027] When using the three-dimensional motion upper limb rehabilitation robot, such as Figure 2 As shown in the figure, the red arrow indicates the positive direction of the (OQ, R) horizontal cylindrical coordinate 3D motion of the robot's 3D force detection handle; the range of the horizontal cylindrical coordinate 3D motion is between the two blue circles: O=0.8m, Q=∞, R=1m; the yellow H straight arrow indicates the positive direction of the height adjustment motion of the upper part of the column.

[0028] The working principle of the aforementioned three-dimensional upper limb rehabilitation robot is as follows: The robot's 3D force-detecting gripper, controlled by a physician, performs training movements. Force signals generate commands that drive the gripper's movement, and these command names are saved sequentially. The robot then writes these saved commands into a manually written adaptive program template containing adaptive control function modules, resulting in an adaptively adjustable upper limb rehabilitation training program. Using this program, the robot's 3D force-detecting gripper pulls the patient's hand, driving the arm through rehabilitation training. Adaptive control of the operating speed is implemented, using the normal operating range as a control benchmark: increasing the speed when the pulling force is small and decreasing it when it is large. Adaptive control of the pulling force is performed at each sampling time, making the robot-assisted training process more suitable for different patients' current injuries and conditions.

[0029] The operation steps for writing the adaptive adjustment upper limb rehabilitation training program invoked by the three-dimensional motion upper limb rehabilitation robot are as follows: S1. Manually programmed, initialized adaptive adjustment program for upper limb rehabilitation training. The manual initialization of the adaptive adjustment upper limb rehabilitation training program includes: a manual initialization of the upper limb rehabilitation training program template, a manual initialization of the adaptive template function, and a manual initialization of four commonly used basic program templates.

[0030] S11. Manually written template for upper limb rehabilitation training programs Using a programming language in a programming environment, manually write the original program template for upper limb rehabilitation training, as follows: First, the original program template for upper limb rehabilitation training includes the following template functions: start template function, sampling template function, running template function, state template function, and exit template function, as well as variable settings and display settings.

[0031] The startup template function is used to start the control program of the rehabilitation robot, perform system initialization and parameter settings, and guide it into the main running process.

[0032] The sampling template function is used to continuously collect the state information of the rehabilitation robot, including the three-dimensional force-measuring handle, the extreme positions of each moving part, the rotation angle, etc., and output the judgment results in real time for the main program to call.

[0033] Run template functions to drive the robot to make short-range movements or rotations in the corresponding directions. These include nine motion control functions: +P, -P, P pause, +Q, -Q, Q pause, +O, -O, O pause. These functions can be called automatically based on the sampling results or manually by the operator.

[0034] State template functions are used to change the robot's current state, including rotating the self-guided linear motion component around the central axis to a 0°, 90°, or 180° position, moving the self-guided linear motion component to a forward or rearward position, and enabling the self-guided linear motion component to perform a 180° rotation and turn around.

[0035] The exit template function is used to terminate the currently running program, providing exit options (such as exiting directly or restarting), and performing resource release and state saving operations before the program terminates.

[0036] When writing the original program template for upper limb rehabilitation training, the above template functions are set one by one. The key points of the settings are as follows: 1) Remove any content related to database read / write operations from the running template function and the state template function; 2) In the startup template function, modify the content related to reading and writing the database to facilitate finding the program file for the adaptive control rehabilitation training required by the patient from the database; 3) In the startup template function, compared with the existing technology, a statement is added to determine the upper and lower limits of the normal operating range of the three-dimensional drag force: that is, to accept the default value or select the value in the drop-down list; using the upper and lower limits of the drag force as the boundary, the normal operating range of the three-dimensional drag force is determined. 4) In the sampling module function, compared with the existing technology, the judgment statement based on the running threshold and the three-dimensional power drive statement based on the running threshold are deleted. The original three-dimensional force real-time detection and display statement is used. The judgment statement based on the normal operating area and the command statement to start the adaptive module function are added to enter the adaptive control operation stage. Each sampling cycle needs to determine whether the average absolute value of the drag force of each dimension is within the normal operating area of ​​the three-dimensional drag force. That is to say, the determined normal operating area of ​​the three-dimensional drag force is the benchmark of adaptive control. The upper and lower limit data of the normal operating area of ​​the three-dimensional drag force determined this time need to be saved as the default value for the next time. 5) In the exit template function, add patient rehabilitation training database records and add program path selection commands for direct exit or starting over.

[0037] S12. Manually write adaptive template functions The adaptive module function performs the following: it obtains a judgment conclusion based on the upper and lower limits of the normal operating range of the three-dimensional drag force, and issues a command to adjust the running speed, specifically: For the adaptive template function, during operation, each sampling period needs to determine whether the average absolute value of the drag force in each dimension is within the normal operating range of the three-dimensional drag force. The judgment criteria are as follows: in each detection period, the detected drag forces in the ±P, ±Q, and ±O directions are compared with the upper and lower limits of the normal operating range of the three-dimensional drag force to make an adaptive judgment conclusion: if the average absolute value of any one dimension of drag force is less than the lower limit of the normal operating range of that dimension of drag force, the adaptive judgment conclusion is "less than"; if the average absolute value of any one dimension of drag force is greater than the upper limit of the normal operating range of that dimension of drag force, the adaptive judgment conclusion is "greater than".

[0038] Within the same detection cycle, if the adaptive judgment conclusion of the three-dimensional drag force is "less than", then a command is issued to increase the three-dimensional running speed by a preset percentage; the three-dimensional stepper motor drive pulse is set to increase by a preset percentage and rounded; subsequent drives are set to maintain this speed increased by the preset percentage; in a specific implementation, the preset percentage is 5%-10%, preferably 5%.

[0039] Within the same detection cycle, if any of the adaptive judgment results for the 3D drag force is "greater than", a command is issued to reduce the 3D running speed by a preset percentage; the 3D stepper motor drive pulses are set to decrease by the preset percentage and rounded; subsequent drives are set to maintain this reduced preset percentage speed. In a specific implementation, the preset percentage is 5%-10%, preferably 5%.

[0040] The speed at which the robot makes short-range movements or rotations in the corresponding direction, after adjustment by the adaptive module function, is indirectly calculated based on the patient's drag force detected in real time by the three-dimensional force detection handle component. The patient's drag force and the speed at which the robot makes short-range movements or rotations in the corresponding direction driven by the template function are calculated as follows: Let V R V Q V O The speeds in the R, Q, and O directions are shown in m / s, respectively. N R N Q N O The pulse frequencies for driving the stepper motors in the R, Q, and O directions, respectively, are in Hz. T R T Q T O The detected drag forces in the R, Q, and O directions are shown in N, respectively. F G T D These are the upper and lower limits of the drag force in the set normal operating area, in N; n represents the number of three-dimensional drag force detections. Under the condition that the adaptive conclusion remains unchanged, n = n + 1. k is the three-dimensional running speed adjustment coefficient; therefore, the dragging force F P Calculate using the following formula: F P =k(F G +T D ) Adaptive judgment formula When |T R |<T D With |T Q |<T D With |T O <T D If true, the adaptive judgment conclusion is "less than"; When |T R |≥T D or |T Q | ≥T D or |T O |≥T D If true, the adaptive judgment conclusion is "greater than"; The value of n, which represents the number of times the three-dimensional drag force is detected. Initial value n=0, If the adaptive judgment conclusion remains unchanged during this detection cycle, then n = n+1. If the adaptive judgment conclusion changes during this detection cycle, then n = 1; When the judgment conclusion is "less than", the three-dimensional running speed should be increased by a factor of k, i.e. n=n+1 V R 1 = V R0 (1+k) n = 2 V R 2 = V R1 (1+k) = V R0 (1+k)(1+k) = V R0 (1+k) 2 Similarly V R n = V R0 (1+k) n Due to V R As n increases, N is required to... R n must also increase by the same coefficient, so N R n = N R0 (1+k) n The requirement is that the velocities of all three-dimensional motions should increase simultaneously, therefore V R n = V R0 (1+k) n V Q n = V Q0 (1+k) n V O n = V O0 (1+k) n The drive pulse frequency of the three-dimensional stepper motor must increase simultaneously with the same coefficient, therefore N R n = { N R0 (1+k) n} N Q n = {N Q0 (1+k) n} N O n ={ N O0 (1+k) n} In the formula, {} represents rounding; When the judgment conclusion is "greater than", the three-dimensional running speed should be reduced by a reduction factor of k, i.e. n = n+1 VR 1 = V R0 (1-k) n=2 V R 2=V R1 (1-k)= V R0 (1-k)(1-k) = V R0 (1-k) 2 Similarly V R n=V R0 (1-k) n Due to V R As n increases, N is required to... R n must also increase by the same coefficient, so N R n=N R0 (1-k) n The requirement is that the velocities of all three-dimensional motions should increase simultaneously, therefore V R n=V R0 (1-k) n V Q n=V Q0 (1-k) n V O n=V O0 (1-k) n The drive pulse frequency of the three-dimensional stepper motor must increase simultaneously with the same coefficient, therefore N R n={N R0 (1-k) n} N Q n={N Q0 (1-k) n} N O n={N O0 (1-k) n} In the formula, {} represents rounding; The coefficient k can be calculated and adjusted according to different actual situations using the following formula: Where k max This is the maximum allowable adjustment range for a single operation by the system, preventing excessively rapid speed adjustments due to single-detection deviations, which could affect stability and patient safety. The preset percentage is 5%; T represents the current drag force, and F... G TD These are the upper and lower limits of the drag force set for the normal operating area. It is a natural constant.

[0041] S13. Four commonly used basic program templates for manual writing Based on the "Adaptive Control Original Program Template", four other program templates were written: "Physician's Right Hand to Patient's Left Hand Program Template", "Physician's Right Hand to Patient's Left Hand Program Template", "Physician's Left Hand to Patient's Right Hand Program Template", and "Physician's Left Hand to Patient's Left Hand Program Template".

[0042] The following principles should be followed when writing these four program templates: 1) During the follow-up operation phase, the rehabilitation physician treats the rehabilitation robot as a patient to provide treatment. The motion trajectory obtained by the rehabilitation robot, which is also stored in the database, is the patient's trajectory, not the physician's operational trajectory. When the rehabilitation robot assists the patient in rehabilitation training, the rehabilitation robot takes on the role of the rehabilitation physician, and the motion trajectory it emits should be the physician's trajectory, not the patient's trajectory stored in the database. Therefore, there is a problem of the rehabilitation robot changing roles. The purpose of writing the program template is to convert the patient's trajectory into the physician's trajectory. 2) There is a conversion relationship between the patient's trajectory and the physician's trajectory: the ±P height direction does not change; however, the ±Q and ±O directions need to be interchanged. 3) The physician's trajectory should be divided into two types: one for the patient's left hand and one for the patient's right hand. If the operation of obtaining the right from the left or the left from the right is to be performed, the positive and negative directions must be interchanged in the ±Q rotation direction, while the ±O direction is the front and back direction and therefore remains unchanged. 4) The trajectory starting point is determined manually, without the need for program intervention; Following the above principles, modify the execution direction statements of the six execution program module functions (+P execution, -P execution, +Q execution, -Q execution, +O execution, and -O execution) in the "Adaptive Control Original Program Template" according to the requirements of each program template file. No other program statements or program module function names need to be changed.

[0043] S2. Obtain the movement training trajectory of the rehabilitation physician. A rehabilitation therapist operates a three-dimensional force-measuring handle on a rehabilitation robot to perform rehabilitation exercises and acquire the movement trajectory for training. Specifically: The rehabilitation physician must first determine whether to use the left or right hand, and then notify the operating system by clicking to move the three-dimensional force detection handle to the starting position. The starting position should generally be consistent with the position of the rehabilitation physician's hand. If the rehabilitation physician is using the right hand, the three-dimensional force detection handle of the rehabilitation robot should be adjusted to a position slightly to the left center; and vice versa.

[0044] Then, the original program template for upper limb rehabilitation training is started again. At this time, the called running module function not only has the function of short-range operation, but also the function of writing its program name into the database. The role of the rehabilitation physician's manual operation is to hold the three-dimensional force detection handle to perform rehabilitation exercises, so that the three-dimensional force measuring handle can detect the value and direction of the three-dimensional force. The sampling module function will detect and judge this force signal. If any of them exceed the set running threshold, the original program template for upper limb rehabilitation training will call the running module function in that direction to run. The robot's three-dimensional force detection handle will then move or rotate in a short range and write the name of the running module function into the database.

[0045] Thus, with the operator's movements, the robot acquires an interpolated spatial curve trajectory composed of several short-range straight lines. This is the training motion trajectory provided by the operator, and this stage is called the follow-up movement stage. During the follow-up movement stage, the operator performs movements on the three-dimensional force detection handle. The upper limb rehabilitation training original program template, based on the judgment results of the sampling module function, calls the corresponding running module function to drive the robot to make short-range movements or rotations in the corresponding directions. Through the interpolation of these short-range displacements, the training trajectory of the entire movement process is obtained. During this process, the upper limb rehabilitation training original program template writes the names of the running module functions called in each detection cycle into the database in chronological order. These running module functions that may be written into the database refer to the names of module functions such as +P, -P, P pause, +Q, -Q, Q pause, +O, -O, O pause, and 180° rotation, rather than the functions themselves. In this way, the entire training motion trajectory is recorded in the database.

[0046] S3. Based on the initial adaptive adjustment of the upper limb rehabilitation training program and the rehabilitation physician's movement training trajectory, call the automatic programming program to automatically program. The automatic programming program that can automatically generate adaptive rehabilitation training programs is invoked. The rehabilitation physician performs rehabilitation treatment on the robot patient's three-dimensional force detection handle, and writes the data of the rehabilitation training movement trajectory into the database. The robot's automatic programming program will read this recorded data. The order of the module function names in the recorded data is the order of the nodes where the operation occurs. Each sampling period is counted as one node. The program will strictly follow this order, using sequential loop programming logic, starting from the first record, and sequentially writing the name of each module function as the corresponding function call command to the end of the four program templates: "Physician's Right Hand to Patient's Left Hand Adaptive Control Program Template," "Physician's Right Hand to Patient's Left Hand Adaptive Control Program Template," "Physician's Left Hand to Patient's Right Hand Adaptive Control Program Template," and "Physician's Left Hand to Patient's Left Hand Adaptive Control Program Template." Next, it will write the "Exit Program" module function name from the "Adaptive Control Original Program Template." Then, after renaming and saving these four source programs and writing them to the database, the source code program is obtained. These four source code programs are then edited, renamed, saved, and written to the database to obtain the executable program. Finally, the executable program for the patient's right hand is named "XXX Right Hand Adaptive Training Program," and the executable program for the patient's left hand is named "XXX Left Hand Adaptive Training Program," and both are saved and written to the database, or copied to the patient.

[0047] In a specific implementation, an automatic programming program that can automatically generate adaptive rehabilitation training programs can be pre-compiled manually using C#. When the automatic programming program is called, the three-dimensional motion upper limb rehabilitation robot automatically mirrors the motion trajectory detected by the rehabilitation physician through the three-dimensional force detection handle component into the patient's upper limb rehabilitation training trajectory.

[0048] In the specific implementation of the adaptive adjustment upper limb rehabilitation training program, it is written using C#, Python, or other programming languages, as described in this application specification. Trial runs and adjustments are conducted on the mechanical body of the automatically programmed three-dimensional motion upper limb rehabilitation robot until a fully functional and usable program is finally formed.

[0049] In the rehabilitation robot of this invention, under a computer operating program environment, the patient selects the adaptive execution program according to its name. This execution program will perform adaptive control rehabilitation training on the robot. The operator first needs to determine the upper and lower limits of the normal operating range of each dimension of traction force. Default values ​​can be used, or selected values ​​can be selected. Then, the training phase begins. After the patient grips the three-dimensional force detection handle, the program is started, and the linear motion component of the rehabilitation robot with its built-in guide rail will reproduce the motion training trajectory. The robot's three-dimensional force detection handle drives the patient's arm, which is gripping the handle tightly with its palm, to perform end-of-arm traction and conduct multi-dimensional motion rehabilitation training. Digital control rehabilitation training not only allows patients to perform the training independently, without the need for manual assistance from rehabilitation physicians, but also eliminates the need for physicians to select or write programs. Patients do not need to go to the hospital. If the patient needs further training programs, they can seek medical treatment online. The rehabilitation physician, based on the patient's current training status, will implement training on the hospital's rehabilitation robot that meets the patient's current requirements and automatically program the execution program, which will then be sent to the patient.

[0050] During rehabilitation training, the patient's delayed movements generate a dragging force on the three-dimensional force detection handle. If the three-dimensional dragging forces are all within the normal operating range, the adaptive control module function will ensure that the rehabilitation training trajectory and speed operate normally according to the CNC program. When the three-dimensional dragging forces are all below the lower limit of the normal operating range, the adaptive control module function will increase the three-dimensional running speed without affecting the rehabilitation trajectory. When one dimension of the three-dimensional dragging force is greater than the upper limit of the normal operating range, the adaptive control module function will decrease the three-dimensional running speed without affecting the rehabilitation trajectory. In other words, the entire rehabilitation training process is under the control of the adaptive control module function, implementing adaptive control that affects the speed. The addition of the adaptive function not only makes the rehabilitation training more suitable for the patient's current injury and condition, but also prevents accidents caused by excessive dragging forces straining the patient's arm. Furthermore, it allows the robot to appropriately increase the training speed when the patient feels that the rehabilitation training is easy and normal, in order to achieve better rehabilitation results.

[0051] The adaptive adjustment upper limb rehabilitation training program provided in this application introduces an adaptive adjustment function, making the robot-assisted rehabilitation training process more closely aligned with the patient's actual physical condition and current injury, thus overcoming the lack of flexibility in automatic programming. The automatic programming method is easy to operate and readily adopted; both rehabilitation physicians and patients can learn to operate it in a short time. The operation process only involves common techniques such as power switching, program start / stop, Chinese character input, and USB flash drive insertion / removal, without involving program writing or program selection. During programming, the program can record the training movements performed by the rehabilitation physician for the patient and convert them into an executable program. Different adaptive numerical control rehabilitation training can be implemented for different patients or different stages of rehabilitation for the same patient.

[0052] This application relates to an upper limb rehabilitation training robot, suitable for patients with fractures, internal injuries, strokes, or frozen shoulder.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A method for self-adapting programming of upper limb rehabilitation training program, characterized in that, The application relates to an adaptive adjustment upper limb rehabilitation training program with initialization written by artificial, which comprises an upper limb rehabilitation training original program template and an adaptive template function. The adaptive template function is configured to obtain a judgment conclusion based on the upper and lower limit data of a normal running area of three-dimensional dragging force, and adjust the speed of short-range movement or rotation of a three-dimensional motion upper limb rehabilitation robot in a corresponding direction according to the judgment conclusion. The upper limb rehabilitation training original program template is combined with the action training running track of a rehabilitation doctor to obtain an adaptive adjustment upper limb rehabilitation training program by calling an automatic programming program. The upper limb rehabilitation training original program template comprises a start template function, a sampling template function, a running template function, a state template function and a quit template function.

2. The method of claim 1, wherein, The start template function is used for starting the control program of the three-dimensional motion upper limb rehabilitation robot, performing system initialization and parameter setting, and guiding into a main running flow. The sampling template function is used for continuously collecting the state information of the rehabilitation robot, including three-directional acting force of a three-dimensional force handle, limit positions and rotation angles of each motion component, and outputting the judgment result in real time for calling by the main program. The running template function is used for driving the three-dimensional motion upper limb rehabilitation robot to make short-range movement or rotation, and is also used for automatically calling or manually calling according to the sampling result. The state template function is used for changing the current state of the three-dimensional motion upper limb rehabilitation robot. The quit template function is used for ending the currently running program, providing an exit option, and performing resource release and state saving operations before program ending. The state template function is used for changing the current state of the three-dimensional motion upper limb rehabilitation robot, and comprises the following steps.

3. The method of claim 2, wherein the upper extremity rehabilitation training program is automatically adjusted based on the measured values of the user's upper extremity movement. The self-provided guide rail linear motion component is rotated to 0 DEG, 90 DEG and 180 DEG around a central axis. The self-provided guide rail linear motion component reaches a front position or a rear position. The self-provided guide rail linear motion component is rotated by 180 DEG to make a U-turn movement. The adaptive template function is configured to obtain a judgment conclusion based on the upper and lower limit data of a normal running area of three-dimensional dragging force, and adjust the speed of short-range movement or rotation of a three-dimensional motion upper limb rehabilitation robot in a corresponding direction according to the judgment conclusion.

4. The method of claim 1, wherein, In each detection period, the detected +P, +Q and +O dragging forces are compared with the upper and lower limit data of the normal running area of the three-dimensional dragging force to make an adaptive judgment conclusion: as long as the average absolute value data of one-dimensional dragging force is smaller than the lower limit data of the one-dimensional dragging force normal running area, the adaptive judgment conclusion is smaller; as long as the average absolute value data of one-dimensional dragging force is larger than the upper limit data of the one-dimensional dragging force normal running area, the adaptive judgment conclusion is larger. In the same detection period, if the adaptive judgment conclusions of the three-dimensional dragging forces are all smaller, the three-dimensional running speeds are all increased by a preset percentage; the three-dimensional stepping motor driving pulse is increased by a preset percentage and is rounded; and the subsequent driving is kept running at the speed increased by the preset percentage.

5. The method of claim 4, wherein the adaptive adjustment of the upper extremity rehabilitation training program is based on the user's performance of the upper extremity rehabilitation training program. ​ ​ If the adaptive judgment result of the three-dimensional dragging force is greater than the preset threshold value in the same detection cycle, a command is sent to reduce the three-dimensional running speed by a preset percentage; the driving pulse of the three-dimensional stepping motor is set to reduce by a preset percentage and is rounded; and the driving of the subsequent driving is set to run at the reduced speed by the preset percentage.

6. The method of claim 1, wherein, The adaptive adjustment upper limb rehabilitation training program is manually written, including writing a doctor's right hand versus patient's left hand program template, a doctor's right hand versus patient's left hand program template, a doctor's left hand versus patient's right hand program template, and a doctor's left hand versus patient's left hand program template, which are used to convert the patient's action training running track into a doctor's action training running track.

7. The method of claim 1, wherein, The action training running track of the rehabilitation doctor is obtained in combination with the upper limb rehabilitation training original program template, including: The rehabilitation therapist controls the three-dimensional force handle of the rehabilitation robot to perform rehabilitation exercise; and the upper limb rehabilitation training original program template is started; The sampling module function detects and judges the force signal, and if any of the force signals exceeds the set running threshold value, the upper limb rehabilitation training original program template calls the running module function in the direction to run, the robot three-dimensional force detection handle moves or rotates a short distance, and the name of the running module function is written into the database.

8. The method of claim 6, wherein the adaptive adjustment of the upper extremity rehabilitation training program is based on the user's performance of the upper extremity rehabilitation training program. According to the initialized adaptive adjustment upper limb rehabilitation training program and the action training running track of the rehabilitation doctor, an automatic programming program is called to program, including: The automatic programming program reads the action training running track record of the rehabilitation doctor, and sets the node order according to the arrangement order of the module function name in the record data as a node in each sampling period; The automatic programming program sequentially cycles according to the node order, starts from the first record, and sequentially writes each module function name into the end of the four program templates of the doctor's right hand versus patient's left hand adaptive control program template, the doctor's right hand versus patient's left hand adaptive program template, the doctor's left hand versus patient's right hand adaptive program template, and the doctor's left hand versus patient's left hand adaptive program template as a corresponding function call command. The exit program module function name is written into the adaptive control original program template.

9. A robot that adaptively adjusts an upper limb rehabilitation training program, characterized by, The writing method of the adaptive adjustment upper limb rehabilitation training program according to any one of claims 1-8 is used to write the upper limb rehabilitation training program.

10. The robot for self-adapting adjustment of the upper limb rehabilitation training program according to claim 9, characterized in that, The three-dimensional motion upper limb rehabilitation robot comprises a base seat component, a fixed column component, an adjustable column component, a linear motion and rotary motion combined power component, a self-guide rail linear motion component, a three-dimensional force detection handle component, a foot pad, and an electric control system. A sliding table and the fixed column component are mounted on the base seat component, and the fixed column component and all components above are driven by the sliding table assembly to move linearly in the front-back direction. The fixed column component is fixed on the base seat component and internally provided with four cylindrical guide rails. The adjustable column component is sleeved on the cylindrical guide rails and the height of the adjustable column component is adjusted by a screw nut mechanism. The linear motion and rotary motion combined power component is installed at the top of the adjustable column component and drives the self-guide rail linear motion component to move linearly and rotate. The three-dimensional force detection handle component is installed at the front end of the linear motion component with guide rails, is held by the operator to control, or follows the movement of the robot, and detects and feeds back the force size and direction in P, Q and O directions in real time to provide signals for the electric control system. The foot pad plate 7 is fixed to the ground in front of the base.

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