Upper and lower limb rehabilitation training equipment and training method

Abstract

The invention relates to the technical field of rehabilitation training, in particular to upper and lower limb rehabilitation training equipment and a training method.The upper and lower limb rehabilitation training equipment comprises a patient operation part which comprises an upper limb operation part and a lower limb operation part, and the upper limb operation part and the lower limb operation part are each divided into a left side operation part and a right side operation part; one group of the left side operation part and the right side operation part can continuously rotate relative to a reference axis, so that the upper limbs and / or the lower limbs of a patient can periodically rotate. Two tension and pressure sensors are arranged in a crank structure of each operation side, so that the equipment can detect force components in the pushing and pulling directions of a patient at the same time, a control device obtains net operation resultant force with higher precision and anti-interference performance by calculating the difference value of two signals, the force exerting intention direction of the patient can be accurately judged, and the force exerting effect of the patient is improved. And a data basis is provided for accurate rehabilitation evaluation and personalized control.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation training technology, and more specifically to rehabilitation training equipment and methods for the upper and lower limbs. Background Technology

[0002] In modern rehabilitation medicine, active and passive rehabilitation training equipment has become an important tool for the recovery of upper and lower limb function in patients with stroke or post-operative conditions. These devices typically integrate motor drives, sensor monitoring, and human-computer interaction interfaces, aiming to help patients perform repetitive and standardized training through pre-set or guided movement patterns.

[0003] With technological advancements, the functions of rehabilitation training equipment have become increasingly diverse. Some devices incorporate gamification elements, combining training tasks with visual feedback to enhance patient engagement and make training more enjoyable. When operating these devices, patients typically need to input commands or maintain movement by manipulating handles, pedals, and other components.

[0004] However, existing training equipment still faces challenges in achieving personalized and adaptive training. On the one hand, patients' active exertion abilities vary greatly at different stages of rehabilitation, ranging from complete weakness to situations requiring resistance. Fixed passive drive patterns or simple assisted settings are difficult to match these dynamically changing needs, potentially leading to insufficient training intensity or excessive fatigue, affecting rehabilitation outcomes and safety.

[0005] On the other hand, existing methods for training aimed at promoting bilateral limb coordination have limitations in quantifying and responding to bilateral muscle strength differences in real time and with precision. These differences directly affect the completion rate of interactive tasks and the patient's training experience. If the device cannot intelligently adapt to this imbalance, it may exacerbate the patient's frustration and reduce their willingness to persist in training in the long term.

[0006] Therefore, how to enable rehabilitation equipment to more accurately sense the patient's real-time exertion status and dynamically and safely adjust the auxiliary output accordingly to adapt to individual differences and the rehabilitation process is a direction that those skilled in the art are continuously exploring. Summary of the Invention

[0007] To address the technical problems existing in existing rehabilitation training equipment, the first aspect of this invention proposes a technical solution: an upper and lower limb rehabilitation training device, comprising: The patient operating unit includes an upper limb operating unit and a lower limb operating unit. The upper limb operating unit and the lower limb operating unit are each divided into a left operating unit and a right operating unit. A set of the left operating unit and the right operating unit can rotate continuously relative to a reference axis, which is used to allow the patient's upper limb and / or lower limb to perform periodic rotation operations. A sensor array, disposed on the patient operating unit, is used to detect the operating force applied by the patient to the patient operating unit; The control device is communicatively connected to the sensor group; A driving device includes a first driving component and a second driving component, wherein the driving device is connected to the patient operating unit for driving the patient operating unit to move. The sensor group includes at least two sensors for detecting force components in opposite directions on the same operating side, and the control device is configured to: Based on the signals collected by the sensor group, the resultant force of the patient's left-side operation and the resultant force of the patient's right-side operation are calculated in real time. And calculate the real-time force difference between the resultant force of the left operation and the resultant force of the right operation; And based on the comparison result between the real-time force difference and the preset threshold, a control command is generated to adjust the output of the drive device.

[0008] Preferably, the left and right operating parts of the upper limb operating part and the lower limb operating part are both connected to a crank structure, which is used for operation by the patient's left and right hands or left and right feet; Wherein, the first end of the crank structure is connected to the drive shaft, the drive shaft is connected to the drive device, and the second end of the crank structure is detachably equipped with a handle or hand rest to form an upper limb operating part for upper limb operation; or the second end of the crank structure is connected to a foot pedal to form a lower limb operating part for lower limb operation. Each crank structure is equipped with two tension and compression sensors, which are used to detect the pushing and pulling forces applied by the patient, respectively. The control device calculates the resultant force of the patient's operation on that side based on the resultant force of the pushing and pulling forces detected by the two tension and compression sensors in the crank structure.

[0009] Preferably, the crank structure is configured to include a first lever arm and a second lever arm, the first lever arm and the second lever arm being connected by a fixed shaft, so that the first lever arm can rotate relative to the second lever arm about the axis of the fixed shaft, the axis of the fixed shaft being parallel to the reference axis, and a first mounting cavity for accommodating a first tension / compression sensor and a second mounting cavity for accommodating a second tension / compression sensor are provided between the first lever arm and the second lever arm. The first mounting hole is located on the first side of the fixed shaft, and the second mounting hole is located on the second side of the fixed shaft.

[0010] Preferably, the first lever arm and the second lever arm are provided with wire grooves communicating with the first mounting hole and the second mounting hole. The first lever arm is connected to the drive shaft. The first lever arm is provided with a socket. The drive shaft is inserted into the socket. A shaft end wire groove is also provided on one side of the socket. The shaft end wire groove is communicating with the wire groove. A conductive slip ring is also provided on the surface of the drive shaft. The signal lines of the first tension / compression sensor and the second tension / compression sensor can be connected to the conductive slip ring along the surface of the drive shaft through the wire groove and the shaft end wire groove, and are electrically connected to the control device through the conductive slip ring.

[0011] Preferably, both the first and second lever arms are provided with a rotating base. The rotating base of the first lever arm is provided with a first shaft hole, and the rotating base of the second lever arm is provided with a second shaft hole. The fixed shaft passes through the first shaft hole and the second shaft hole, so that the first and second lever arms are connected together. With the support of the fixed shaft, there is a gap between the mating surfaces of the first and second lever arms, so that when the first and second lever arms move relative to each other, the first and second tension / compression sensors can detect tension / compression data.

[0012] Preferably, the output end of the first driving component is connected to the drive shaft through a first transmission structure, and the output end of the second driving component is connected to the drive shaft through a second transmission structure. The first transmission structure includes a gear transmission mechanism, and the second transmission structure includes a belt transmission mechanism.

[0013] Preferably, the sensor group further includes a speed sensor for real-time monitoring of the rotational speed of the drive shaft.

[0014] Preferably, the control device is configured as follows: When the real-time force difference value is greater than the first preset threshold, the output frequency of the drive device is controlled to match the resultant force of the operation on the side with the smaller force value. When the real-time force difference is less than or equal to the first preset threshold but greater than the second preset threshold, reduce the output of the drive device; When the real-time force difference is less than or equal to the second preset threshold, the output of the drive device is increased; Wherein, the first preset threshold is greater than the second preset threshold.

[0015] Preferably, it also includes a human-computer interaction component that is communicatively connected to the control device, the human-computer interaction component being used to display training games; The control device is also configured to: compare the magnitudes of the resultant forces of the left-side operations with the resultant forces of the right-side operations, and control the virtual object in the training game to move left, right, or straight according to the comparison result.

[0016] A second aspect of this invention provides a technical solution: a method for upper and lower limb rehabilitation training, using the aforementioned upper and lower limb rehabilitation training equipment, comprising the following steps: Real-time acquisition of signals from the sensor array installed on the patient's operating area; Based on the signals from the sensor array, the resultant force of the patient's left-side operation and the resultant force of the patient's right-side operation are calculated. Calculate the real-time force difference between the resultant force of the left-side operation and the resultant force of the right-side operation; Based on the comparison result between the real-time force difference and the preset threshold, a control command is generated to adjust the output of the drive device; The patient operating unit includes an upper limb operating unit and a lower limb operating unit. Each of the upper limb operating unit and the lower limb operating unit is divided into a left operating unit and a right operating unit. A set of the left operating unit and the right operating unit can rotate continuously relative to a reference axis, which is used to allow the patient's upper limb and / or lower limb to perform periodic rotation operations.

[0017] Compared with the prior art, the advantages of the present invention are as follows: This invention arranges two tension and compression sensors in the crank structure on each operating side, enabling the device to simultaneously detect the force components in both the pushing and pulling directions of the patient. By calculating the difference between these two signals, the control device not only obtains a net operating force with higher accuracy and anti-interference, but also accurately determines the direction of the patient's force intention, providing a data basis for precise rehabilitation assessment and personalized control. Based on real-time calculation of the difference in operational force between the left and right sides, the device makes graded decisions through preset dual thresholds. It can dynamically and intelligently switch between three modes: forced synchronous training, coordination challenge training, and strength and endurance enhancement, so that the training intensity always matches the patient's real-time ability limit, thereby improving the rehabilitation training effect and experience. Attached Figure Description

[0018] The accompanying drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component shown in the various figures may be denoted by the same reference numeral. For clarity, not every component is labeled in each figure. Embodiments of various aspects of the invention will now be described by way of example and with reference to the accompanying drawings, wherein: Figure 1 This is a schematic diagram of the structure of the upper and lower limb rehabilitation training device shown in this invention; Figure 2 This is a schematic diagram of the upper limb operating part and the lower limb operating part of the present invention installed on the bracket; Figure 3 This is a schematic diagram of the first transmission structure shown in this invention; Figure 4 This is a schematic diagram of the second transmission structure shown in this invention; Figure 5 This is a schematic diagram of the structure of the grip being installed on the second end of the crank structure according to the present invention; Figure 6 This is a schematic diagram of the hand rest installed on the second end of the crank structure as shown in this invention; Figure 7 This is a schematic diagram of the structure of the first lever arm shown in this invention; Figure 8 This is a schematic diagram of the structure of the second lever arm shown in this invention; Figure 9 This is a schematic diagram of the crank structure shown in this invention; Figure 10 This is a schematic diagram of the crank structure connecting both ends of the drive shaft as shown in this invention; Figure 11 This is a schematic diagram showing the position of the shaft end groove as illustrated in this invention; Figure 12 This is a flowchart of the steering operation skill as shown in this invention. Detailed Implementation

[0019] To better understand the technical content of the present invention, specific embodiments are described below in conjunction with the accompanying drawings.

[0020] {Example 1} Combination Figure 1 As shown, the first aspect of the present invention proposes a technical solution: an upper and lower limb rehabilitation training device, including a patient operating unit, a sensor group 160, a control device 500, and a drive device.

[0021] The patient operating unit is the component where patients directly perform rehabilitation training. It receives driving force from the drive device and transmits the patient's active force.

[0022] The sensor group 160 is integrated on the patient operating unit to detect the operating force applied by the patient during training in real time and accurately, and transmit the signal to the control device 500.

[0023] Among them, the control device 500 is the core processing unit of the equipment. It receives and processes signals from the sensor group 160 and generates corresponding instructions according to the built-in control logic.

[0024] The drive device outputs adaptive driving force according to the instructions issued by the control device 500, driving the patient's operating part to move, realizing different training modes such as passive, assisted or active resistance.

[0025] Combination Figure 1 and Figure 2As shown, the patient operating unit includes an upper limb operating unit 150 and a lower limb operating unit 240. Both the upper limb operating unit 150 and the lower limb operating unit 240 are divided into a left operating unit and a right operating unit. The operating units on both sides are connected to a drive shaft 130 (where the upper limb operating unit 150 and the lower limb operating unit 240 are not on the same drive shaft 130), and can rotate continuously and periodically around the axis of the drive shaft 130 (i.e., the reference axis) for the patient's upper limb and / or lower limb to perform periodic rotation operations.

[0026] Specifically, this form of exercise simulates the action of riding a bicycle or cranking a handlebar, and is suitable for patients to perform reciprocating rehabilitation training with their upper limbs (grasping and cranking) or lower limbs (pedaling).

[0027] like Figure 1 As shown, both the upper limb operating part 150 and the lower limb operating part 240 are mounted on the bracket 400. Specifically, the upper limb operating part 150 is mounted on the upper bracket 420, and the lower limb operating part 240 is mounted on the lower bracket 410.

[0028] Combination Figure 2 and Figure 4 As shown, the left and right operating parts of the upper limb operating part 150 and the lower limb operating part 240 are both connected to the drive shaft 130 via a crank structure.

[0029] Specifically, the upper limb operating part 150 is connected to the upper limb crank structure 140, and the lower limb operating part 240 is connected to the lower limb crank structure 230.

[0030] It should be understood that the mechanical detection principle and main structure of the upper limb crank structure 140 and the lower limb crank structure 230 are the same. The main difference lies in the lever arm length and the end connector, in order to adapt to the different biomechanical characteristics of the upper and lower limbs.

[0031] The first end of the crank structure is connected to the drive shaft 130, and the drive shaft 130 is connected to the drive unit, such as... Figure 5 and Figure 6 As shown, a handle 150a or a hand rest 150b is detachably mounted on the second end of the crank structure, forming an upper limb operating part 150 for upper limb operation.

[0032] Optionally, the handle 150a is suitable for patients with relatively good grasping ability to perform active push-pull training; the hand rest 150b is suitable for patients with weak hand function who cannot grasp firmly, and the forearm can be placed on the rest for training. The two are connected by a simple pivot or quick-release mechanism, and can be quickly switched according to the patient's condition.

[0033] Combination Figure 4 As shown, a foot pedal is connected to the second end of the crank structure, forming a lower limb operating part 240 for lower limb operation.

[0034] Referring to Figures 7 to 9, the crank structure is configured to include a first lever arm 140a and a second lever arm 140b, which are connected by a fixed shaft 140c. The first lever arm 140a is rotatable relative to the second lever arm 140b about the axis of the fixed shaft 140c, which is parallel to a reference axis.

[0035] A first mounting cavity for accommodating a first tension / compression sensor and a second mounting cavity for accommodating a second tension / compression sensor are provided between the first lever arm 140a and the second lever arm 140b.

[0036] The first mounting hole is located on the first side of the fixed shaft 140c, and the second mounting hole is located on the second side of the fixed shaft 140c.

[0037] Specifically, the first lever arm 140a is provided with a first mounting cavity bottom 141a and a second mounting cavity bottom 142a, and the second lever arm 140b is provided with a first mounting cavity top 141b and a second mounting cavity top 142b. When the first lever arm 140a and the second lever arm 140b are aligned with each other, the first mounting cavity bottom 141a and the first mounting cavity top 141b are aligned together to form a first mounting cavity, and the second mounting cavity bottom 142a and the second mounting cavity top 142b are aligned together to form a second mounting cavity.

[0038] Both the first mounting hole and the second mounting hole are provided with mounting grooves 149 for fixing the sensor.

[0039] Combination Figure 2 , 3 as well as Figures 7 to 9 As shown, sensor group 160 is disposed on the patient operating unit for detecting the operating force applied by the patient to the patient operating unit. Sensor group 160 includes at least two sensors for detecting the component force in opposite directions on the same operating side.

[0040] Specifically, in combination Figures 7 to 9 As shown, each crank structure is equipped with two tension and compression sensors, which are used to detect the pushing force and pulling force applied by the patient, respectively. The control device 500 calculates the resultant force of the patient's operation on that side based on the resultant force of the pushing force and pulling force detected by the two tension and compression sensors in the crank structure.

[0041] In a specific embodiment, both the first lever arm 140a and the second lever arm 140b are provided with a rotating seat 144. The rotating seat 144 of the first lever arm 140a is provided with a first shaft hole 144a, and the rotating seat 144 of the second lever arm 140b is provided with a second shaft hole 144b. The fixed shaft 140c passes through the first shaft hole 144a and the second shaft hole 144b.

[0042] This connects the first lever arm 140a and the second lever arm 140b together, and through the support of the fixed shaft 140c, there is a gap between the mating surfaces of the first lever arm 140a and the second lever arm 140b, so that when the first lever arm 140a and the second lever arm 140b move relative to each other, the first tension and pressure sensor and the second tension and pressure sensor can detect tension and pressure data.

[0043] Specifically, when the patient operates the handle 150a or the hand support 150b, the applied force is transmitted to the crank structure, causing a slight relative twisting or tension tendency between the first lever arm 140a and the second lever arm 140b. Since the two sensors are respectively arranged on both sides of the fixed shaft 140c, this relative movement causes one sensor to be mainly under pressure and the other sensor to be mainly under tension.

[0044] Furthermore, by reading these two force signals in opposite directions, the control device 500 can calculate the net resultant force of the patient's operation on that side and determine the direction of the force. Specifically, the resultant force = pushing force - pulling force.

[0045] Furthermore, in order to stably transmit the sensor signals within the crank structure to the fixed control device 500, the sensor wiring adopts a design using wiring channels and conductive slip rings.

[0046] Specifically, the first lever arm 140a and the second lever arm 140b are provided with a wire groove 145 communicating with the first mounting hole and the second mounting hole. The first lever arm 140a is connected to the drive shaft 130. The first lever arm 140a is provided with a socket 146. The drive shaft 130 is inserted into the socket 146. A shaft end wire groove 143 is also provided on one side of the socket 146. The shaft end wire groove 143 communicates with the wire groove 145.

[0047] In an optional embodiment, a socket 146 is formed within a bushing, which is connected to the first lever arm 140a in a removable and replaceable manner using a threaded fastener 147, thereby facilitating the replacement of a matching bushing according to the shaft end structure of the drive shaft 130.

[0048] The second lever arm 140b is provided with a pin hole 148 (the second end of the crank structure), in which a handle 150a, a hand rest 150b, or a foot pedal structure is installed.

[0049] Furthermore, the surface of the drive shaft 130 is also provided with a first conductive slip ring 162. The signal lines of the first tension / compression sensor and the second tension / compression sensor can be connected to the first conductive slip ring 162 along the surface of the drive shaft 130 through the wire groove 145 and the shaft end wire groove 143, and are electrically connected to the control device 500 through the first conductive slip ring 162.

[0050] Thus, after the sensor signal line is led out from the mounting hole, it passes sequentially through the wire groove 145 inside the lever arm and the wire groove 143 at the shaft end, and is arranged along the surface of the drive shaft 130, finally connecting to the rotating inner ring of the first conductive slip ring 162. The fixed outer ring of the conductive slip ring is then connected to the equipment frame. In this way, no matter how the drive shaft 130 rotates, the electrical signal can be transmitted without tangling through the sliding contact point of the slip ring.

[0051] In an optional embodiment, combined with Figure 10 and Figure 11 As shown, the outer ring of the first conductive slip ring 162 is fixed to the bearing housing 131, the drive shaft 130 is connected to the bearing housing 131 through the bearing, and the surface of the drive shaft 130 is also provided with a bevel gear 132, which is used to realize the change of transmission direction.

[0052] Furthermore, the control device 500 is communicatively connected to the sensor group 160. The control device 500 is configured as follows: Based on the signals collected by the sensor array, the resultant force of the patient's left-side operation and the resultant force of the right-side operation are calculated in real time. And calculate the real-time force difference between the resultant forces of the left-side operations and the resultant forces of the right-side operations; And based on the comparison between the real-time force difference and the preset threshold, control commands are generated to adjust the output of the drive device.

[0053] Specifically, the control device 500 continuously receives raw voltage signals from the sensor group 160 via a high-speed data acquisition card.

[0054] In an optional embodiment, the control device 500 is configured to: When the real-time force difference is greater than the first preset threshold, the output frequency of the control drive device is matched to the resultant force of the operation on the side with the smaller force value. When the real-time force difference is less than or equal to the first preset threshold but greater than the second preset threshold, reduce the output of the drive device; When the real-time force difference is less than or equal to the second preset threshold, increase the output of the drive device; The first preset threshold is greater than the second preset threshold.

[0055] In a specific embodiment, the control device 500 filters and calibrates the original signal, converting it into a force value. For each side (left / right), based on the readings of two tension / compression sensors mounted on the same crank and located on both sides of the fixed shaft 140c, the absolute value ΔF of the real-time difference between the left and right side's operating resultant force is calculated using the formula: operating resultant force = thrust sensor reading - tension sensor reading.

[0056] The control device 500 compares the calculated ΔF with preset thresholds (e.g., a first threshold of 10N, a second threshold of 5N) and generates instructions accordingly. Furthermore, intervention is initiated if the combined force is severely unbalanced (e.g., ΔF > 10N): When a significant difference in force between the two sides is detected, it indicates a clear difference between the patient's healthy and affected sides. In this case, the control device instructs the drive motor to adjust its output torque or speed curve, actively matching the force exertion rhythm and amplitude of the weaker side. For example, reducing the overall rotational speed or providing stronger assistance during the weaker side's force exertion phase, forcing the bilateral movements to tend towards synchronization.

[0057] If the combined force is balanced during coordination training (5N < ΔF ≤ 10N): When the force difference is at a moderate level, it indicates that the patient is making efforts to coordinate both sides. At this time, the control device will instruct the drive device to appropriately reduce the auxiliary output and slightly increase the resistance to encourage the patient to actively engage both muscle groups for more coordinated force exertion, thus promoting the reconstruction of neuromuscular control.

[0058] If the combined force is weak, then strength enhancement is carried out (ΔF≤5N): When the force exerted on both sides is relatively balanced, the control device judges that the patient's coordination is good, and then instructs the drive device to increase the output (such as increasing the movement speed or increasing the resistance), shifting the training focus to the enhancement of muscle endurance and strength.

[0059] In this way, by quantifying the patient's real-time effort through high-precision sensors and dynamically adjusting the external mechanical assistance (resistance or assistance) based on this, the training difficulty is always within the patient's ability range, so that it is neither too easy to be ineffective training, nor too difficult to cause training injury or frustration.

[0060] Furthermore, the sensor group 160 also includes a speed sensor for real-time monitoring of the rotational speed of the drive shaft 130. Combined with... Figure 3 As shown, the speed sensor detects the rotational speed of the gears in the bevel gear set and is electrically connected to the control device 500 through the second conductive slip ring 161. The wiring design of the speed sensor is the same as that of the pressure sensor.

[0061] Specifically, the signal line from the speed sensor first converges into the main wiring groove, and then is guided to the second conductive slip ring 161 via the shaft end groove. The second conductive slip ring 161 transmits the speed signal from the rotating side to the fixed control device 500 without wear or entanglement.

[0062] In the above embodiments, the driving device includes a first driving component 110 and a second driving component 210. The driving device is connected to the patient operating unit for driving the patient operating unit to move.

[0063] Optionally, the output end of the first drive component 110 is connected to the drive shaft 130 through the first transmission structure 120, and the output end of the second drive component 210 is connected to the drive shaft 130 through the second transmission structure 220. The first transmission structure 120 includes a gear transmission mechanism, and the second transmission structure 220 includes a belt transmission mechanism.

[0064] Specifically, in combination Figure 3 As shown, the gear transmission mechanism includes a reducer 121 and a bevel gear set 122.

[0065] As mentioned above, the transmission method is selected based on the load characteristics.

[0066] Since upper limb training focuses more on the precision, flexibility and rapid response of movement to adapt to the complex directional operation of the hand, gear transmission is used to meet the extremely high requirements of the upper limb for control precision and response speed, making game control (such as rapid left and right turns) more responsive.

[0067] Since lower limb training requires dealing with greater torque and impact while pursuing smoothness and comfort, belt drive provides a smooth start and stop experience for lower limb training, and can absorb some of the impact during the gait cycle, protecting the patient's joints and providing a more comfortable experience.

[0068] Furthermore, it also includes a human-computer interaction component 300 that is communicatively connected to the control device. The human-computer interaction component 300 is used to display the training game. The control device 500 is also configured to compare the magnitudes of the resultant forces of the left and right operations and control the virtual objects in the training game to move left, right, or straight according to the comparison results.

[0069] In an optional embodiment, the control device 500 continuously compares the resultant force F of the left-side operation. left The resultant force F of the operation on the right side right The size of the value. In cycling simulation games, this comparison is directly mapped to directional control: If F left Persistently greater than F right If a certain amount is reached, the virtual bicycle will turn left.

[0070] If F right Persistently greater than F left If a certain amount is reached, the virtual bicycle will turn right.

[0071] If the two are of similar size, the virtual bicycle will continue to travel in a straight line.

[0072] In this way, immersive training allows patients to move beyond monotonous repetition of movements and instead become fully engaged in game tasks involving avoiding obstacles and moving along the track. They consciously and actively control the force exerted on both sides of their body, and the visual feedback on the screen reflects the user's force exertion effect in real time, thus forming feedback.

[0073] {Example 2} Combination Figure 12 As shown, the second aspect of the present invention proposes a technical solution, a method for upper and lower limb rehabilitation training, using the above-mentioned upper and lower limb rehabilitation training equipment, comprising the following steps: Real-time acquisition of signals from sensor group 160 set on the patient operating unit; Based on the signals from sensor group 160, the resultant force of the patient's left-side operation and the resultant force of the right-side operation are calculated. Calculate the real-time force difference between the resultant forces of the left-side and right-side operations; Based on the comparison between the real-time force difference and the preset threshold, control commands are generated to adjust the output of the drive device. The patient operating unit includes an upper limb operating unit 150 and a lower limb operating unit 240. Both the upper limb operating unit 150 and the lower limb operating unit 240 are divided into a left operating unit and a right operating unit. A set of left and right operating units can rotate continuously relative to a reference axis for the patient's upper limb and / or lower limb to perform periodic rotation operations.

[0074] In a specific embodiment, the control device 500 filters and calibrates the original signal, converting it into a force value. For each side (left / right), based on the readings of two tension / compression sensors mounted on the same crank and located on both sides of the fixed shaft 140c, the absolute value ΔF of the real-time difference between the left and right side's operating resultant force is calculated using the formula: operating resultant force = thrust sensor reading - tension sensor reading.

[0075] The control device 500 compares the calculated ΔF with preset thresholds (e.g., a first threshold of 10N, a second threshold of 5N) and generates instructions accordingly. Furthermore, intervention is initiated if the combined force is severely unbalanced (e.g., ΔF > 10N): When a significant difference in force between the two sides is detected, it indicates a clear difference between the patient's healthy and affected sides. In this case, the control device instructs the drive motor to adjust its output torque or speed curve, actively matching the force exertion rhythm and amplitude of the weaker side. For example, reducing the overall rotational speed or providing stronger assistance during the weaker side's force exertion phase, forcing the bilateral movements to tend towards synchronization.

[0076] If the combined force is balanced during coordination training (5N < ΔF ≤ 10N): When the force difference is at a moderate level, it indicates that the patient is making efforts to coordinate both sides. At this time, the control device will instruct the drive device to appropriately reduce the auxiliary output and slightly increase the resistance to encourage the patient to actively engage both muscle groups for more coordinated force exertion, thus promoting the reconstruction of neuromuscular control.

[0077] If the combined force is weak, then strength enhancement is carried out (ΔF≤5N): When the force exerted on both sides is relatively balanced, the control device judges that the patient's coordination is good, and then instructs the drive device to increase the output (such as increasing the movement speed or increasing the resistance), shifting the training focus to the enhancement of muscle endurance and strength.

[0078] In this way, by quantifying the patient's real-time effort through high-precision sensors and dynamically adjusting the external mechanical assistance (resistance or assistance) based on this, the training difficulty is always within the patient's ability range, so that it is neither too easy to be ineffective training, nor too difficult to cause training injury or frustration.

[0079] Furthermore, the training experience is enhanced through the human-computer interaction component 300, and the magnitude of the resultant force of the left operation and the resultant force of the right operation are compared through the control device 500, and the virtual object in the training game is controlled to move left, right or straight according to the comparison result.

[0080] In an optional embodiment, the control device 500 continuously compares the resultant force F of the left-side operation. left The resultant force F of the operation on the right side right The size of the value. In cycling simulation games, this comparison is directly mapped to directional control: If F left Persistently greater than F right If a certain amount is reached, the virtual bicycle will turn left.

[0081] If F right Persistently greater than F left If a certain amount is reached, the virtual bicycle will turn right.

[0082] If the two are of similar size, the virtual bicycle will continue to travel in a straight line.

[0083] In this way, immersive training allows patients to move beyond monotonous repetition of movements and instead become fully engaged in game tasks involving avoiding obstacles and moving along the track. They consciously and actively control the force exerted on both sides of their body, and the visual feedback on the screen reflects the user's force exertion effect in real time, thus forming feedback.

[0084] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention shall be determined by the claims.

Claims

1. A rehabilitation training device for the upper and lower limbs, characterized in that, include: The patient operating unit includes an upper limb operating unit (150) and a lower limb operating unit (240), wherein the upper limb operating unit (150) and the lower limb operating unit (240) are each divided into a left operating unit and a right operating unit. A set of the left operating unit and the right operating unit can rotate continuously relative to a reference axis for the patient's upper limb and / or lower limb to perform periodic rotation operations. A sensor group (160) is disposed on the patient operating unit for detecting the operating force applied by the patient to the patient operating unit; The control device (500) is communicatively connected to the sensor group (160); The driving device includes a first driving component (110) and a second driving component (210), the driving device being connected to the patient operating part for driving the patient operating part to move; The sensor group includes at least two sensors for detecting force components in opposite directions on the same operating side, and the control device (500) is configured to: Based on the signals collected by the sensor group, the resultant force of the patient's left-side operation and the resultant force of the patient's right-side operation are calculated in real time. And calculate the real-time force difference between the resultant force of the left operation and the resultant force of the right operation; And based on the comparison result between the real-time force difference and the preset threshold, a control command is generated to adjust the output of the drive device.

2. The upper and lower limb rehabilitation training device according to claim 1, characterized in that, The left and right operating parts of the upper limb operating part (150) and the lower limb operating part (240) are both connected to a crank structure, which is used for operation by the patient's left and right hands or left and right feet; The crank structure has a first end connected to a drive shaft (130), the drive shaft (130) connected to the drive device, and a handle (150a) or hand rest (150b) detachably mounted on the second end of the crank structure to form an upper limb operation part (150) for upper limb operation; or the second end of the crank structure is connected to a foot pedal to form a lower limb operation part (240) for lower limb operation. Each crank structure is equipped with two tension and compression sensors, which are used to detect the pushing and pulling forces applied by the patient, respectively. The control device (500) calculates the resultant force of the patient's operation on that side based on the resultant force of the pushing and pulling forces detected by the two tension and compression sensors in the crank structure.

3. The upper and lower limb rehabilitation training device according to claim 2, characterized in that, The crank structure is configured to include a first lever arm (140a) and a second lever arm (140b), which are connected by a fixed shaft (140c) so that the first lever arm (140a) can rotate relative to the second lever arm (140b) about the axis of the fixed shaft (140c). The axis of the fixed shaft (140c) is parallel to the reference axis. A first mounting cavity for accommodating a first tension / compression sensor and a second mounting cavity for accommodating a second tension / compression sensor are provided between the first lever arm (140a) and the second lever arm (140b). The first mounting hole is located on the first side of the fixed shaft (140c), and the second mounting hole is located on the second side of the fixed shaft (140c).

4. The upper and lower limb rehabilitation training device according to claim 3, characterized in that, The first lever arm (140a) and the second lever arm (140b) are provided with wire grooves (145) that communicate with the first mounting hole and the second mounting hole. The first lever arm (140a) is connected to the drive shaft (130). The first lever arm (140a) is provided with a socket (146). The drive shaft (130) is inserted into the socket (146). A shaft end wire groove (143) is also provided on one side of the socket (146). The shaft end wire groove (143) communicates with the wire groove (145). A conductive slip ring is also provided on the surface of the drive shaft (130). The signal lines of the first tension and compression sensor and the second tension and compression sensor can be connected to the conductive slip ring along the surface of the drive shaft (130) through the wire groove (145) and the shaft end wire groove (143), and are electrically connected to the control device through the conductive slip ring.

5. The upper and lower limb rehabilitation training device according to claim 3, characterized in that, Both the first lever arm (140a) and the second lever arm (140b) are provided with a rotating seat (144). The rotating seat (144) of the first lever arm (140a) is provided with a first shaft hole (144a), and the rotating seat (144) of the second lever arm (140b) is provided with a second shaft hole (144b). The fixed shaft (140c) passes through the first shaft hole (144a) and the second shaft hole (144b), so that the first lever arm (140a) and the second lever arm (140b) are connected together. With the support of the fixed shaft (140c), there is a gap between the mating surfaces of the first lever arm (140a) and the second lever arm (140b). When the first lever arm (140a) and the second lever arm (140b) move relative to each other, the first tension and pressure sensor and the second tension and pressure sensor detect tension and pressure data.

6. The upper and lower limb rehabilitation training device according to claim 2, characterized in that, The output end of the first driving component (110) is connected to the drive shaft (130) through the first transmission structure (120), and the output end of the second driving component (210) is connected to the drive shaft (130) through the second transmission structure (220). The first transmission structure (120) includes a gear transmission mechanism, and the second transmission structure (220) includes a belt transmission mechanism.

7. The upper and lower limb rehabilitation training device according to claim 1, characterized in that, The sensor group (160) also includes a speed sensor for real-time monitoring of the rotational speed of the drive shaft (130).

8. The upper and lower limb rehabilitation training device according to any one of claims 1-7, characterized in that, The control device (500) is configured to: When the real-time force difference value is greater than the first preset threshold, the output frequency of the drive device is controlled to match the resultant force of the operation on the side with the smaller force value. When the real-time force difference is less than or equal to the first preset threshold but greater than the second preset threshold, reduce the output of the drive device; When the real-time force difference is less than or equal to the second preset threshold, the output of the drive device is increased; Wherein, the first preset threshold is greater than the second preset threshold.

9. The upper and lower limb rehabilitation training device according to claim 1, characterized in that, It also includes a human-computer interaction component (300) that is communicatively connected to the control device, the human-computer interaction component (300) being used to display training games; The control device (500) is further configured to: compare the magnitudes of the resultant forces of the left-side operations with those of the resultant forces of the right-side operations, and control the virtual object in the training game to move left, right, or straight according to the comparison result.

10. A method for rehabilitation training of the upper and lower limbs, characterized in that, Using the upper and lower limb rehabilitation training device according to any one of claims 1-9 includes the following steps: Real-time acquisition of signals from the sensor group (160) set on the patient operating unit; Based on the signals from the sensor group (160), the resultant force of the patient's left-side operation and the resultant force of the patient's right-side operation are calculated; Calculate the real-time force difference between the resultant force of the left-side operation and the resultant force of the right-side operation; Based on the comparison result between the real-time force difference and the preset threshold, a control command is generated to adjust the output of the drive device; The patient operation unit includes an upper limb operation unit (150) and a lower limb operation unit (240). The upper limb operation unit (150) and the lower limb operation unit (240) are each divided into a left operation unit and a right operation unit. A set of the left operation unit and the right operation unit can rotate continuously relative to a reference axis for the patient's upper limb and / or lower limb to perform periodic rotation operations.

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