Upper limb rehabilitation training equipment, regulation and control method thereof, regulation and control device and medium

Abstract

The invention discloses upper limb rehabilitation training equipment, a regulation and control method and device thereof and a medium, and relates to the field of rehabilitation medicines.The upper limb rehabilitation training equipment is characterized in that a preset evaluation track is called to adjust a weight reduction handle to a set height, and the set height is used for unified evaluation before training; in the training process of the user, the actual height of the weight reduction handle and the actual output force detected by the tension sensor in the horizontal direction are obtained according to a preset time interval, and data used for evaluation are obtained; determining a vertical stability index according to a plurality of actual heights and a set height, determining a horizontal stability index according to a plurality of actual outputs and a target output, determining a target training mode according to the vertical stability index or the horizontal stability index, and obtaining two indexes based on evaluation data to reflect the degree of upper limb dysfunction of the user. Therefore, a suitable target training mode is recommended for the user, the torque of the horizontal driving motor and the angular displacement of the vertical driving motor are regulated and controlled according to the target training mode, and personalized rehabilitation training is achieved to meet rehabilitation requirements of different patients.

Description

Technical Field

[0001] This application relates to the field of rehabilitation medicine, and in particular to an upper limb rehabilitation training device and its control method, control device and medium. Background Technology

[0002] Upper limb dysfunction is a common sequela of various neurological diseases such as stroke, traumatic brain injury, and spinal cord injury. It is mainly manifested as weakened hand coordination, decreased muscle control, and reduced muscle strength. Rehabilitation training using upper limb rehabilitation equipment is a key intervention for restoring upper limb function. By guiding patients to complete movements along specific spatial pathways, it can effectively promote the reconstruction of movement patterns, improve joint range of motion, and enhance muscle coordination.

[0003] However, existing upper limb rehabilitation training equipment uses fixed parameters for movement paths and training difficulty, making it impossible to adjust according to the individual patient's degree of functional impairment, muscle strength level, and rehabilitation progress. For patients at different stages of injury, a uniform training trajectory and resistance setting are used, resulting in a lack of targeted training programs that fail to match the patient's actual abilities. For example, patients with extremely weak muscles in the early stages may not be able to complete the predetermined trajectory, while patients in the recovery period may experience reduced rehabilitation effectiveness due to insufficient training intensity, failing to meet the needs of phased and tiered personalized rehabilitation.

[0004] Therefore, how to achieve personalized rehabilitation training to meet the rehabilitation needs of different patients is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide an upper limb rehabilitation training device and its control method, control device and medium, to solve the problem that the existing upper limb rehabilitation training devices have fixed parameters for movement path and training difficulty, which cannot meet the needs of personalized rehabilitation.

[0006] To address the aforementioned technical problems, this application provides a method for controlling an upper limb rehabilitation training device, comprising:

[0007] Call the preset evaluation track and adjust the weight-reducing handle to the set height according to the preset evaluation track;

[0008] As the user's wrist is slipped inside the weight-reducing handle and the weight-reducing box slides along the weight-reducing track, the actual height of the weight-reducing handle and the actual horizontal force detected by the tension sensor are obtained at preset time intervals.

[0009] The vertical stability index is determined based on multiple actual heights and the set height, and the horizontal stability index is determined based on multiple actual outputs and the target output.

[0010] The target training mode is determined based on the vertical stability index or the horizontal stability index; wherein the target training mode includes passive training, automatic weight reduction training, or active training.

[0011] The torque of the horizontal drive motor and the angular displacement of the vertical drive motor are adjusted according to the target training mode.

[0012] Based on the above embodiments, in an optional embodiment, determining the target training mode according to the vertical stability index or the horizontal stability index includes:

[0013] If the vertical stability index is greater than the upper limit of the first preset interval, or the horizontal stability index is less than the lower limit of the second preset interval, the target training mode is determined to be passive training.

[0014] If the vertical stability index is within the first preset range, or the horizontal stability index is within the second preset range, the target training mode is determined to be automatic weight reduction training.

[0015] If the vertical stability index is less than the lower limit of the first preset interval, or the horizontal stability index is greater than the upper limit of the second preset interval, the target training mode is determined to be active training.

[0016] The vertical stability index has a higher priority than the horizontal stability index.

[0017] Based on the above embodiments, in an optional embodiment, if the target training mode is passive training, adjusting the torque of the horizontal drive motor and the angular displacement of the vertical drive motor according to the target training mode includes:

[0018] Adjust the horizontal drive motor to the first torque to drive the weight reduction box to move along the weight reduction track, thereby moving the user's arm along the weight reduction track;

[0019] Adjust the vertical drive motor to the first angular displacement to adjust the weight-reducing handle to the first target height.

[0020] Based on the above embodiments, in an optional embodiment, if the target training mode is active training, adjusting the torque of the horizontal drive motor and the angular displacement of the vertical drive motor according to the target training mode includes:

[0021] The horizontal drive motor is adjusted to a second torque to provide a horizontal driving force for the weight reduction box; wherein the driving force is less than or equal to the maximum static friction force of the weight reduction box;

[0022] Adjust the vertical drive motor to the second angular displacement to adjust the weight-reducing handle to the second target height.

[0023] Based on the above embodiments, in an optional embodiment, if the target training mode is automatic weight reduction training, adjusting the torque of the horizontal drive motor and the angular displacement of the vertical drive motor according to the target training mode includes:

[0024] Adjust the horizontal drive motor to the second torque and the vertical drive motor to the second angular displacement;

[0025] During the process of the user driving the weight reduction box to move along the weight reduction track, the first difference between the current height of the weight reduction handle and the second target height is determined, and the second difference between the current output force and the target output force detected by the tension sensor in the horizontal direction is determined.

[0026] The target displacement in the vertical direction is determined based on the first difference, and the target auxiliary force in the horizontal direction is determined based on the second difference.

[0027] The torque of the horizontal drive motor is adjusted according to the target auxiliary force, and the angular displacement of the vertical drive motor is adjusted according to the target displacement.

[0028] Based on the above embodiments, in an optional embodiment, determining a vertical stability index based on multiple actual heights and a set height, and determining a horizontal stability index based on multiple actual outputs and a target output, includes:

[0029] The vertical stability index is calculated according to the first preset formula;

[0030] The first preset formula is: ;

[0031] in, Let 'a' be the vertical stability index, 'b' be the actual height, and 'b' be the set height. The actual number of heights;

[0032] The horizontal stability index is calculated according to the second preset formula;

[0033] The second preset formula is: ;

[0034] in, Let c be the horizontal stability index, c be the actual output, and d be the target output. The actual number of units that contributed force.

[0035] This application also provides an upper limb rehabilitation training device, and a control method for the upper limb rehabilitation training device, including: a weight reduction box, a weight reduction track, a horizontal drive motor, a drum support, a drum, a vertical drive motor, a rope, a weight reduction handle, a tension sensor, and a controller.

[0036] The weight-reducing box is slidably connected to the weight-reducing track. The horizontal drive motor is connected to the weight-reducing box and is used to drive the weight-reducing box to move along the length direction of the weight-reducing track. The drum support, the drum, and the vertical drive motor are all located inside the weight-reducing box. The drum is rotatably connected to the drum support through a bearing. One end of the rope is wound around the drum, and the other end of the rope is connected to the weight-reducing handle. The vertical drive motor is connected to the drum and is used to drive the drum to rotate to adjust the height of the weight-reducing handle. The fixed end of the tension sensor is connected to the inner wall of the weight-reducing box, and the movable end of the tension sensor is connected to the drum support. The force axis of the tension sensor remains horizontal and parallel to the length direction of the weight-reducing track. The tension sensor is used to detect the horizontal tension of the weight-reducing handle on the weight-reducing box. The controller is connected to the vertical drive motor, the horizontal drive motor, and the tension sensor respectively, and the controller is used to execute the aforementioned control method.

[0037] This application also provides a control device for an upper limb rehabilitation training device, comprising:

[0038] The module is used to invoke a preset evaluation track and adjust the weight-reducing handle to a set height according to the preset evaluation track.

[0039] The acquisition module is used to acquire the actual height of the weight-reducing handle and the actual horizontal force detected by the tension sensor at preset time intervals as the user's wrist is placed inside the weight-reducing handle and the weight-reducing box slides along the weight-reducing track.

[0040] The first determining module is used to determine a vertical stability index based on multiple actual heights and a set height, and to determine a horizontal stability index based on multiple actual outputs and a target output.

[0041] The second determining module is used to determine the target training mode based on the vertical stability index or the horizontal stability index; wherein the target training mode includes passive training, automatic weight reduction training or active training.

[0042] The control module is used to control the torque of the horizontal drive motor and the angular displacement of the vertical drive motor according to the target training mode.

[0043] This application also provides a control device for an upper limb rehabilitation training device, including a memory for storing computer programs;

[0044] A processor is used to implement the steps of the control method for the upper limb rehabilitation training device when executing the computer program.

[0045] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the control method for the upper limb rehabilitation training device.

[0046] The present application provides a method for controlling an upper limb rehabilitation training device, comprising: calling a preset assessment track; adjusting the weight-reducing handle to a set height according to the preset assessment track, the set height being used for a unified assessment before user training; during the process of the user's wrist being fitted into the weight-reducing handle and the weight-reducing box sliding along the weight-reducing track, acquiring the actual height of the weight-reducing handle and the actual horizontal force detected by the tension sensor at preset time intervals, thereby obtaining data for assessment; determining a vertical stability index based on multiple actual heights and the set height, determining a horizontal stability index based on multiple actual forces and the target force, determining a target training mode based on the vertical stability index or the horizontal stability index, obtaining the horizontal stability index and the vertical stability index based on the assessment data to reflect the degree of upper limb dysfunction of the user, thereby recommending a suitable target training mode (passive training, automatic weight-reducing training, or active training) to the user, and adjusting the torque of the horizontal drive motor and the angular displacement of the vertical drive motor according to the target training mode, thereby achieving personalized rehabilitation training to meet the rehabilitation needs of different patients.

[0047] In addition, for users with severe upper limb dysfunction, passive training can be used. The upper limb rehabilitation training equipment guides the user's upper limb movements to help them establish correct movement pattern memory. For users with less severe upper limb dysfunction, automatic weight-reduction training is used. During automatic weight-reduction training, the current height and horizontal force of the weight-reduction handle are collected in real time. This allows for assistance based on the current height and force, enabling real-time monitoring and adjustment. Adjustments can be made promptly based on the patient's actual performance to avoid injury and improve training effectiveness. The display screen can also show the patient's actual movement trajectory, the current height of the weight-reduction handle, and the current horizontal force in real time, providing intuitive visual feedback. This allows the patient to clearly see the rehabilitation progress curve, significantly increasing participation. Users or medical staff can also set training parameters through the display screen, improving the interactivity of the rehabilitation training equipment.

[0048] The beneficial effects and methods of the upper limb rehabilitation training device, control device, and medium provided in this application are as described above. Attached Figure Description

[0049] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 A flowchart illustrating a method for controlling an upper limb rehabilitation training device provided in this application embodiment;

[0051] Figure 2 A structural diagram of an upper limb rehabilitation training device provided in an embodiment of this application;

[0052] Figure 3 A structural diagram of a control device for an upper limb rehabilitation training equipment provided in this application embodiment;

[0053] Figure 4 This is a structural diagram of the control device for another upper limb rehabilitation training device provided in an embodiment of this application. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0055] The core of this application is to provide an upper limb rehabilitation training device and its control method, control device and medium, for realizing personalized rehabilitation training to meet the rehabilitation needs of different patients.

[0056] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0057] Figure 1 A flowchart illustrating a control method for an upper limb rehabilitation training device provided in this application embodiment is shown below. Figure 1 As shown, a method for controlling an upper limb rehabilitation training device includes:

[0058] S10: Call the preset evaluation track and adjust the weight-reducing handle to the set height according to the preset evaluation track.

[0059] S11: During the process of the user's wrist being placed inside the weight-reducing handle and the weight-reducing box sliding along the weight-reducing track, the actual height of the weight-reducing handle and the actual horizontal force detected by the tension sensor are obtained at preset time intervals.

[0060] S12: Determine the vertical stability index based on multiple actual heights and set heights, and determine the horizontal stability index based on multiple actual outputs and target outputs.

[0061] S13: Determine the target training mode based on the vertical stability index or the horizontal stability index; the target training mode includes passive training, automatic weight reduction training or active training.

[0062] S14: Adjust the torque of the horizontal drive motor and the angular displacement of the vertical drive motor according to the target training mode.

[0063] To facilitate understanding, the specific structure of the upper limb rehabilitation training equipment is described below. Figure 2 This is a structural diagram of an upper limb rehabilitation training device provided in an embodiment of this application. Figure 2 As shown, an upper limb rehabilitation training device includes: a weight-reducing box 2, a weight-reducing track 1, a horizontal drive motor, a drum support, a drum, a vertical drive motor, a rope, a weight-reducing handle 3, a tension sensor, and a controller; the weight-reducing box 2 is slidably connected to the weight-reducing track 1, the horizontal drive motor is connected to the weight-reducing box 2, and the horizontal drive motor is used to drive the weight-reducing box 2 to move along the length direction of the weight-reducing track 1; the drum support, the drum, and the vertical drive motor are all located inside the weight-reducing box 2; the drum is rotatably connected to the drum support through a bearing; one end of the rope is wound around the drum, and the other end of the rope... The end of the tension sensor is connected to the weight-reducing handle 3, and the vertical drive motor is connected to the drum. The vertical drive motor is used to drive the drum to rotate to adjust the height of the weight-reducing handle 3. The fixed end of the tension sensor is connected to the inner wall of the weight-reducing box 2, and the movable end of the tension sensor is connected to the drum support. The force axis of the tension sensor is kept horizontal and parallel to the length direction of the weight-reducing track 1. The tension sensor is used to detect the horizontal tension of the weight-reducing handle 3 on the weight-reducing box 2. The controller is connected to the vertical drive motor, the horizontal drive motor and the tension sensor respectively. The controller is used to execute the above-mentioned control method.

[0064] In this embodiment, the weight-reducing handle 3 can be a rubber ring. The patient can slip their wrist into the ring and pull the handle 3 to slide the weight-reducing box 2 along the weight-reducing track 1. The length of the weight-reducing track 1 is parallel to the horizontal direction. An encoder is installed in the vertical drive motor. The controller monitors the angular displacement of the vertical drive motor in real time through the encoder and converts it into the height of the weight-reducing handle 3. Furthermore, a display screen connected to the controller can be provided. The display screen displays the preset evaluation track, provides feedback on the patient's movement trajectory, and allows for parameter settings. A force sensor can also be provided to detect the vertical pulling force.

[0065] In step S10, the preset evaluation track can be a straight line, that is, the weight reduction handle moves along the length of the weight reduction track at a preset height.

[0066] In step S11, when the patient's wrist is placed inside the weight-reducing handle, the patient pulls the handle, causing the weight-reducing box to slide along the weight-reducing track. During the sliding process, the actual height of the weight-reducing handle can be acquired every 50ms. Specifically, the actual height can be determined based on the current angular displacement detected by the encoder in the vertical drive motor and a relationship table containing the correspondence between angular displacement and the height of the weight-reducing handle. Every 50ms, the actual horizontal force detected by the tension sensor is acquired; the actual force is the horizontal pulling force exerted by the user on the weight-reducing box.

[0067] In step S12, determining the vertical stability index based on multiple actual heights and a set height includes: calculating the vertical stability index according to a first preset formula; the first preset formula is:

[0068] ;

[0069] in, Here, 'a' represents the vertical stability index, 'b' represents the actual height, and 'a' represents the set height. This represents the actual number of heights. The set height is an empirical value.

[0070] The horizontal stability index is determined based on multiple actual and target outputs, including: calculating the horizontal stability index according to a second preset formula; the second preset formula is:

[0071] ;

[0072] in, Where c is the horizontal stability index, d is the actual output, and d is the target output. The actual number of forces exerted; where the target force is an empirical value.

[0073] In step S13, the target training mode is determined based on the vertical stability index or the horizontal stability index, including: if the vertical stability index is greater than the upper limit of the first preset interval, or the horizontal stability index is less than the lower limit of the second preset interval, the target training mode is determined to be passive training; if the vertical stability index is within the first preset interval, or the horizontal stability index is within the second preset interval, the target training mode is determined to be automatic weight reduction training; if the vertical stability index is less than the lower limit of the first preset interval, or the horizontal stability index is greater than the upper limit of the second preset interval, the target training mode is determined to be active training; wherein, the vertical stability index has a higher priority than the horizontal stability index.

[0074] For ease of understanding, the following examples illustrate this: A vertical stability index greater than 10cm, or a horizontal stability index less than 10N, indicates passive training as the target training mode; a vertical stability index between 5cm and 10cm, or a horizontal stability index between 10N and 30N, indicates automatic weight reduction training as the target training mode; a vertical stability index less than 50cm, or a horizontal stability index greater than 30N, indicates active training as the target training mode; if the vertical stability index is greater than 10cm, the target training mode is passive training; if the horizontal stability index is between 10N and 30N, the target training mode is automatic weight reduction training. Since the vertical stability index has higher priority than the horizontal stability index, the target training mode is determined to be passive training.

[0075] In step S14, adjusting the torque of the horizontal drive motor and the angular displacement of the vertical drive motor according to the target training mode specifically includes the following three methods.

[0076] The output torque of the horizontal drive motor is converted into horizontal thrust through the transmission mechanism. Taking the lead screw drive as an example, the greater the torque, the greater the axial thrust generated by the lead screw, and the more powerfully it pushes the weight reduction box. The controller will convert the target auxiliary force into the required torque value and adjust the current of the horizontal drive motor to achieve torque control. When the motor torque increases, the horizontal thrust output by the transmission mechanism increases synchronously, and the boosting effect when the weight reduction box moves is more obvious; conversely, the thrust decreases, and only the frictional resistance is compensated when entering the active training mode.

[0077] The output shaft of the vertical drive motor is connected to the drum, and the drum rotates synchronously when the motor rotates. One end of the rope is fixed to the drum and wound several times, while the other end is suspended from the weight-reducing handle. When the motor generates angular displacement (rotates at a certain angle), the drum rotates accordingly, winding or releasing the rope, thereby changing the effective length of the rope outside the drum, allowing the weight-reducing handle to rise or fall vertically.

[0078] The first method: If the target training mode is passive training, adjust the torque of the horizontal drive motor and the angular displacement of the vertical drive motor according to the target training mode, including: adjusting the horizontal drive motor to the first torque to drive the weight reduction box to move along the weight reduction track to move the user's arm along the weight reduction track; adjusting the vertical drive motor to the first angular displacement to adjust the weight reduction handle to the first target height.

[0079] Passive training is designed for patients with extremely weak muscles. By adjusting the weight-reducing handle to the first target height, once the patient's wrist is placed on the handle, a horizontal drive motor is used to move the weight-reducing box. The movement of the patient's arm is entirely driven by the weight-reducing handle, which helps them establish the correct movement pattern memory.

[0080] The second method: If the target training mode is active training, adjust the torque of the horizontal drive motor and the angular displacement of the vertical drive motor according to the target training mode. This includes: adjusting the horizontal drive motor to the second torque to provide horizontal pushing force for the weight-reducing box; wherein the pushing force is less than or equal to the maximum static friction of the weight-reducing box; and adjusting the vertical drive motor to the second angular displacement to adjust the weight-reducing handle to the second target height. The maximum static friction is the maximum resistance threshold that the weight-reducing box needs to overcome at the instant it starts moving from a stationary state; it is the limit value of static friction.

[0081] During active training, the vertical drive motor is adjusted to the second angular displacement to move the weight-reducing handle to the second target height, which can be set according to the user's height. The horizontal drive motor is adjusted to the second torque to provide a horizontal pushing force to the weight-reducing box. This pushing force is less than or equal to the maximum static friction of the weight-reducing box, providing some assistance during active training, but not enough to directly propel the weight-reducing box along the weight-reducing track. The direction of this pushing force is the direction of movement of the weight-reducing box.

[0082] The third method: If the target training mode is automatic weight reduction training, adjust the torque of the horizontal drive motor and the angular displacement of the vertical drive motor according to the target training mode, including: adjusting the horizontal drive motor to the second torque and adjusting the vertical drive motor to the second angular displacement; during the movement of the weight reduction box along the weight reduction track, determine the first difference between the current height of the weight reduction handle and the second target height, and determine the second difference between the current output force detected by the tension sensor in the horizontal direction and the target output force; determine the target displacement in the vertical direction based on the first difference, and determine the target auxiliary force in the horizontal direction based on the second difference; adjust the torque of the horizontal drive motor according to the target auxiliary force, and adjust the angular displacement of the vertical drive motor according to the target displacement.

[0083] Automatic weight reduction training, building upon active training, provides assistance to prevent injury during training when insufficient horizontal force is detected or the current height of the weight-reducing handle deviates significantly from the second target height. The user places their wrist within the weight-reducing handle and actively pulls it to slide the weight-reducing box along the weight-reducing track. During this process, the user may experience issues such as pulling the handle downwards or insufficient horizontal force, indicating potential inadequate recovery. Therefore, it is necessary to determine the current height of the weight-reducing handle in real-time based on encoder data from the vertical drive motor and to obtain real-time feedback from the tension sensor regarding the user's current horizontal force. The target vertical displacement is determined based on a first difference: Target Displacement = Kp × First Difference, where the first difference is the difference between the current height of the weight-reducing handle and the second target height, and Kp is the first proportionality coefficient. The target horizontal assist force is determined based on a second difference: Target Assist Force = Kf × Second Difference, where the second difference is the difference between the current horizontal force and the target horizontal force, and Kf is the second proportionality coefficient. Adjusting the torque of the horizontal drive motor based on the target auxiliary force can be achieved using a lookup table method. The first preset table contains the correspondence between the target auxiliary force and the torque. By adjusting the torque of the horizontal drive motor, the auxiliary force in the horizontal direction is adjusted to the target auxiliary force. Similarly, adjusting the angular displacement of the vertical drive motor based on the target displacement can also be achieved using a lookup table method. The second preset table contains the correspondence between the target displacement and the angular displacement. If the first difference is negative, the angular displacement is adjusted so that the distance the weight-reducing handle descends equals the absolute value of the target displacement. If the first difference is positive, the angular displacement is adjusted so that the distance the weight-reducing handle rises equals the absolute value of the target displacement.

[0084] Based on the above embodiments, after adjusting the torque of the horizontal drive motor and the angular displacement of the vertical drive motor according to the target training mode, this application embodiment further includes:

[0085] During training in various target training modes, the actual height of the weight-reducing handle and the actual horizontal force detected by the tension sensor are acquired in real time. Multiple actual heights are used to generate actual motion trajectories, which are then compared with standard motion trajectories to obtain comparison results. These results can be used to indicate the patient's training effectiveness. Alternatively, the actual horizontal force can be compared with thresholds to assess the patient's training effectiveness. When the number of training sessions and the training effect reach preset standards, passive training can be switched to automatic weight-reducing training, and automatic weight-reducing training can be switched to active training. Similarly, the vertical stability index after training can be determined based on multiple actual heights and a set height during training, and the horizontal stability index after training can be determined based on multiple actual forces and a target force. The horizontal and vertical stability indices in the patient's ability file are then updated, and the number of training sessions and the training mode for each session are recorded.

[0086] The present application provides a method for controlling an upper limb rehabilitation training device, comprising: calling a preset assessment track; adjusting the weight-reducing handle to a set height according to the preset assessment track, the set height being used for a unified assessment before user training; during the process of the user's wrist being fitted into the weight-reducing handle and the weight-reducing box sliding along the weight-reducing track, acquiring the actual height of the weight-reducing handle and the actual horizontal force detected by the tension sensor at preset time intervals, thereby obtaining data for assessment; determining a vertical stability index based on multiple actual heights and a set height, determining a horizontal stability index based on multiple actual forces and a target force, determining a target training mode based on the vertical stability index or the horizontal stability index, obtaining the horizontal stability index and vertical stability index based on the assessment data to reflect the degree of upper limb dysfunction of the user, thereby recommending a suitable target training mode (passive training, automatic weight-reducing training, or active training) to the user, and adjusting the torque of the horizontal drive motor and the angular displacement of the vertical drive motor according to the target training mode, thereby achieving personalized rehabilitation training to meet the rehabilitation needs of different patients.

[0087] In addition, for users with severe upper limb dysfunction, passive training can be used. The upper limb rehabilitation training equipment guides the user's upper limb movements to help them establish correct movement pattern memory. For users with less severe upper limb dysfunction, automatic weight-reduction training is used. During automatic weight-reduction training, the current height and horizontal force of the weight-reduction handle are collected in real time. This allows for assistance based on the current height and force, enabling real-time monitoring and adjustment. Adjustments can be made promptly based on the patient's actual performance to avoid injury and improve training effectiveness. The display screen can also show the patient's actual movement trajectory, the current height of the weight-reduction handle, and the current horizontal force in real time, providing intuitive visual feedback. This allows the patient to clearly see the rehabilitation progress curve, significantly increasing participation. Users or medical staff can also set training parameters through the display screen, improving the interactivity of the rehabilitation training equipment.

[0088] In the above embodiments, the control method of the upper limb rehabilitation training equipment has been described in detail. This application also provides embodiments corresponding to the control device of the upper limb rehabilitation training equipment. It should be noted that this application describes the embodiments of the device part from two perspectives: one is based on the functional module, and the other is based on the hardware.

[0089] Figure 3 A structural diagram of a control device for an upper limb rehabilitation training equipment provided in this application embodiment is shown below. Figure 3 As shown, the control device of the upper limb rehabilitation training equipment includes:

[0090] Module 10 is invoked to invoke the preset evaluation track and adjust the weight-reducing handle to the set height according to the preset evaluation track.

[0091] The acquisition module 11 is used to acquire the actual height of the weight-reducing handle and the actual horizontal force detected by the tension sensor at preset time intervals during the process when the user's wrist is placed inside the weight-reducing handle and the weight-reducing box slides along the weight-reducing track.

[0092] The first determining module 12 is used to determine the vertical stability index based on multiple actual heights and set heights, and to determine the horizontal stability index based on multiple actual outputs and target outputs.

[0093] The second determining module 13 is used to determine the target training mode based on the vertical stability index or the horizontal stability index; wherein the target training mode includes passive training, automatic weight reduction training or active training.

[0094] The control module 14 is used to control the torque of the horizontal drive motor and the angular displacement of the vertical drive motor according to the target training mode.

[0095] Based on the above embodiments, in one optional embodiment, the second determining module includes:

[0096] The first determining unit is used to determine the target training mode as passive training if the vertical stability index is greater than the upper limit of the first preset interval or the horizontal stability index is less than the lower limit of the second preset interval.

[0097] The second determining unit is used to determine the target training mode as automatic weight reduction training if the vertical stability index is within the first preset interval or the horizontal stability index is within the second preset interval.

[0098] The third determining unit is used to determine the target training mode as active training if the vertical stability index is less than the lower limit of the first preset interval or the horizontal stability index is greater than the upper limit of the second preset interval.

[0099] Among them, the vertical stability index has a higher priority than the horizontal stability index.

[0100] Based on the above embodiments, in an optional embodiment, if the target training mode is passive training, the control module includes:

[0101] The first control unit is used to control the horizontal drive motor to the first torque so as to drive the weight reduction box to move along the weight reduction track and thus move the user's arm along the weight reduction track.

[0102] The second control unit is used to control the vertical drive motor to the first angular displacement so as to control the weight-reducing handle to the first target height.

[0103] Based on the above embodiments, in an optional embodiment, if the target training mode is active training, the control module includes:

[0104] The third control unit is used to adjust the horizontal drive motor to the second torque to provide a horizontal driving force for the weight reduction box; wherein the driving force is less than or equal to the maximum static friction force of the weight reduction box;

[0105] The fourth control unit is used to adjust the vertical drive motor to the second angular displacement so as to adjust the weight-reducing handle to the second target height.

[0106] Based on the above embodiments, in an optional embodiment, if the target training mode is automatic weight reduction training, adjusting the torque of the horizontal drive motor and the angular displacement of the vertical drive motor according to the target training mode includes:

[0107] The fifth control unit is used to control the horizontal drive motor to the second torque and the vertical drive motor to the second angular displacement.

[0108] The fourth determining unit is used to determine the first difference between the current height of the weight-reducing handle and the second target height, and to determine the second difference between the current output force and the target output force detected by the tension sensor in the horizontal direction during the process of the user driving the weight-reducing box to move along the weight-reducing track.

[0109] The fifth determining unit is used to determine the target displacement in the vertical direction based on the first difference and to determine the target auxiliary force in the horizontal direction based on the second difference.

[0110] The sixth control unit is used to control the torque of the horizontal drive motor according to the target auxiliary force and to control the angular displacement of the vertical drive motor according to the target displacement.

[0111] Based on the above embodiments, in an optional embodiment, the first determining module includes:

[0112] The first calculation unit is used to calculate the vertical stability index according to the first preset formula;

[0113] The first preset formula is: ;

[0114] in, Here, 'a' represents the vertical stability index, 'b' represents the actual height, and 'a' represents the set height. The actual number of heights;

[0115] The second calculation unit is used to calculate the horizontal stability index according to the second preset formula;

[0116] The second preset formula is: ;

[0117] in, Where c is the horizontal stability index, d is the actual output, and d is the target output. The actual number of units that contributed force.

[0118] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0119] Figure 4 A structural diagram of the control device for another upper limb rehabilitation training device provided in this application embodiment is shown below. Figure 4 As shown, the control device of the upper limb rehabilitation training equipment includes: a memory 20 for storing computer programs;

[0120] The processor 21 is used to execute a computer program to implement the steps of the control method for the upper limb rehabilitation training device as described in the above embodiment.

[0121] The control device for the upper limb rehabilitation training equipment provided in this embodiment may include, but is not limited to, smartphones, tablets, laptops, or desktop computers.

[0122] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which handles computational operations related to machine learning.

[0123] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the control method for the upper limb rehabilitation training device disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, actual height, actual force, etc.

[0124] In some embodiments, the control device of the upper limb rehabilitation training equipment may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0125] Those skilled in the art will understand that Figure 4 The structure shown does not constitute a limitation on the control device of the upper limb rehabilitation training equipment and may include more or fewer components than shown.

[0126] The control device for the upper limb rehabilitation training equipment provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can perform the following methods: calling a preset evaluation track and adjusting the weight-reducing handle to a set height according to the preset evaluation track; during the process of the user's wrist being placed inside the weight-reducing handle and the weight-reducing box sliding along the weight-reducing track, acquiring the actual height of the weight-reducing handle and the actual horizontal force detected by the tension sensor at preset time intervals; determining a vertical stability index based on multiple actual heights and a set height, and determining a horizontal stability index based on multiple actual forces and a target force; determining a target training mode based on the vertical stability index or the horizontal stability index; wherein, the target training mode includes passive training, automatic weight-reducing training, or active training; and adjusting the torque of the horizontal drive motor and the angular displacement of the vertical drive motor according to the target training mode.

[0127] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the control method of the upper limb rehabilitation training device in the above method embodiment.

[0128] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0129] The foregoing has provided a detailed description of an upper limb rehabilitation training device and its control method, control device, and medium provided in this application. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0130] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for controlling an upper limb rehabilitation training device, characterized in that, include: Call the preset evaluation track and adjust the weight-reducing handle to the set height according to the preset evaluation track; As the user's wrist is slipped inside the weight-reducing handle and the weight-reducing box slides along the weight-reducing track, the actual height of the weight-reducing handle and the actual horizontal force detected by the tension sensor are obtained at preset time intervals. The vertical stability index is determined based on multiple actual heights and the set height, and the horizontal stability index is determined based on multiple actual outputs and the target output. The target training mode is determined based on the vertical stability index or the horizontal stability index; wherein the target training mode includes passive training, automatic weight reduction training, or active training. The torque of the horizontal drive motor and the angular displacement of the vertical drive motor are adjusted according to the target training mode.

2. The control method for the upper limb rehabilitation training equipment according to claim 1, characterized in that, Determining the target training mode based on the vertical stability index or the horizontal stability index includes: If the vertical stability index is greater than the upper limit of the first preset interval, or the horizontal stability index is less than the lower limit of the second preset interval, the target training mode is determined to be passive training. If the vertical stability index is within the first preset range, or the horizontal stability index is within the second preset range, the target training mode is determined to be automatic weight reduction training. If the vertical stability index is less than the lower limit of the first preset interval, or the horizontal stability index is greater than the upper limit of the second preset interval, the target training mode is determined to be active training. The vertical stability index has a higher priority than the horizontal stability index.

3. The control method for the upper limb rehabilitation training equipment according to claim 1, characterized in that, If the target training mode is passive training, adjusting the torque of the horizontal drive motor and the angular displacement of the vertical drive motor according to the target training mode includes: Adjust the horizontal drive motor to the first torque to drive the weight reduction box to move along the weight reduction track, thereby moving the user's arm along the weight reduction track; Adjust the vertical drive motor to the first angular displacement to adjust the weight-reducing handle to the first target height.

4. The control method for the upper limb rehabilitation training equipment according to claim 3, characterized in that, If the target training mode is active training, adjusting the torque of the horizontal drive motor and the angular displacement of the vertical drive motor according to the target training mode includes: The horizontal drive motor is adjusted to a second torque to provide a horizontal driving force for the weight reduction box; wherein the driving force is less than or equal to the maximum static friction force of the weight reduction box; Adjust the vertical drive motor to the second angular displacement to adjust the weight-reducing handle to the second target height.

5. The control method for the upper limb rehabilitation training device according to claim 4, characterized in that, If the target training mode is automatic weight reduction training, adjusting the torque of the horizontal drive motor and the angular displacement of the vertical drive motor according to the target training mode includes: Adjust the horizontal drive motor to the second torque and the vertical drive motor to the second angular displacement; During the process of the user driving the weight reduction box to move along the weight reduction track, the first difference between the current height of the weight reduction handle and the second target height is determined, and the second difference between the current output force and the target output force detected by the tension sensor in the horizontal direction is determined. The target displacement in the vertical direction is determined based on the first difference, and the target auxiliary force in the horizontal direction is determined based on the second difference. The torque of the horizontal drive motor is adjusted according to the target auxiliary force, and the angular displacement of the vertical drive motor is adjusted according to the target displacement.

6. The control method for the upper limb rehabilitation training equipment according to claim 1, characterized in that, A vertical stability index is determined based on multiple actual heights and a set height, and a horizontal stability index is determined based on multiple actual outputs and a target output, including: The vertical stability index is calculated according to the first preset formula; The first preset formula is: ; in, Let 'a' be the vertical stability index, 'b' be the actual height, and 'b' be the set height. The actual number of heights; The horizontal stability index is calculated according to the second preset formula; The second preset formula is: ; in, Let c be the horizontal stability index, c be the actual output, and d be the target output. The actual number of units that contributed force.

7. An upper limb rehabilitation training device, characterized in that, The control method applied to the upper limb rehabilitation training device according to any one of claims 1 to 6 includes: a weight reduction box, a weight reduction track, a horizontal drive motor, a roll support, a roll, a vertical drive motor, a rope, a weight reduction handle, a tension sensor, and a controller; The weight-reducing box is slidably connected to the weight-reducing track. The horizontal drive motor is connected to the weight-reducing box and is used to drive the weight-reducing box to move along the length direction of the weight-reducing track. The drum support, the drum, and the vertical drive motor are all located inside the weight-reducing box. The drum is rotatably connected to the drum support through a bearing. One end of the rope is wound around the drum, and the other end of the rope is connected to the weight-reducing handle. The vertical drive motor is connected to the drum and is used to drive the drum to rotate to adjust the height of the weight-reducing handle. The fixed end of the tension sensor is connected to the inner wall of the weight-reducing box, and the movable end of the tension sensor is connected to the drum support. The force axis of the tension sensor remains horizontal and parallel to the length direction of the weight-reducing track. The tension sensor is used to detect the horizontal tension of the weight-reducing handle on the weight-reducing box. The controller is connected to the vertical drive motor, the horizontal drive motor, and the tension sensor respectively. The controller is used to execute the control method according to any one of claims 1 to 6.

8. A control device for an upper limb rehabilitation training equipment, characterized in that, include: The calling module is used to call the preset evaluation track and adjust the weight-reducing handle to a set height according to the preset evaluation track; The acquisition module is used to acquire the actual height of the weight-reducing handle and the actual horizontal force detected by the tension sensor at preset time intervals as the user's wrist is placed inside the weight-reducing handle and the weight-reducing box slides along the weight-reducing track. The first determining module is used to determine a vertical stability index based on multiple actual heights and a set height, and to determine a horizontal stability index based on multiple actual outputs and a target output. The second determining module is used to determine the target training mode based on the vertical stability index or the horizontal stability index; wherein the target training mode includes passive training, automatic weight reduction training or active training. The control module is used to control the torque of the horizontal drive motor and the angular displacement of the vertical drive motor according to the target training mode.

9. A control device for an upper limb rehabilitation training equipment, characterized in that, Includes memory used to store computer programs; A processor, configured to execute the computer program to implement the steps of the control method for the upper limb rehabilitation training device as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the control method for the upper limb rehabilitation training device as described in any one of claims 1 to 6.

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