Self-adaptive training control method, device and equipment for rehabilitation robot and medium

Abstract

The invention relates to the technical field of patient training equipment, in particular to a rehabilitation robot self-adaptive training control method, device and equipment and a medium. The rehabilitation robot self-adaptive training control method comprises the steps that in the walking training process of a patient, the relative distance between the patient and a rehabilitation robot is obtained; based on the relative distance between the patient and the rehabilitation robot, the target wheel speed of the driving wheel is obtained; and controlling the driving wheel to rotate according to the target wheel speed, so that the relative distance between the patient and the central origin returns to a set value. According to the technical scheme, the rehabilitation robot is cooperatively controlled in a self-adaptive mode, the rehabilitation robot is changed into a cooperative partner from a dominator, just enough assistance can be provided according to the real-time position of the patient, and therefore the good tracking effect is achieved.

Description

Technical Field

[0001] This invention relates to the field of patient training equipment technology, and in particular to an adaptive training control method, device, equipment and medium for a rehabilitation robot. Background Technology

[0002] Lower limb rehabilitation robots are an important branch of medical robotics, designed to assist or drive patients' lower limbs in repetitive, standardized rehabilitation training through mechanical devices to restore their motor function. With the development of sensing technology, control theory, and human-computer interaction, their software systems have become the core for achieving safe, efficient, and personalized rehabilitation.

[0003] However, current lower limb rehabilitation robots mostly employ forced tracking control with preset trajectories or compliant control with fixed parameters, failing to dynamically and adaptively adjust according to the patient's real-time active movement ability and effort level. This results in an overly "machine-dominated" training process, failing to achieve the leap from "machine-dominated" to "human-machine intelligent collaboration." Either "over-assistance" inhibits the patient's neural function remodeling, or insufficient assistance leads to training difficulties and discourages motivation; essentially, the depth of human-machine collaboration is insufficient. Summary of the Invention

[0004] To address or at least partially address the aforementioned technical problems, this invention provides an adaptive training control method, device, equipment, and medium for a rehabilitation robot. Through adaptive collaborative control of the rehabilitation robot, the robot transforms from a "dominant player" into a "collaborative partner," providing "just enough" assistance based on the patient's real-time location, thereby achieving better tracking results.

[0005] In a first aspect, the present invention provides an adaptive training control method for a rehabilitation robot. The lower limb rehabilitation robot includes a chassis drive assembly, a patient strap assembly, two passive joints, four braking joints, four links, and a support frame. The chassis drive assembly includes a chassis and two active wheels disposed on both sides of the chassis. The support frame is disposed on the chassis. The patient strap assembly includes a back plate disposed in a horizontal direction. A first braking joint and a second braking joint are disposed on opposite sides of the top of the support frame. A first passive joint and a second passive joint are disposed on opposite ends of the back plate. The first braking joint is connected to the first passive joint in sequence via a first link, a third braking joint, and a second link. The second braking joint is connected to the second passive joint in sequence via a third link, a fourth braking joint, and a fourth link. A patient strap area is formed corresponding to the patient strap assembly.

[0006] The training control method includes:

[0007] During the patient's walking training process, the relative distance between the patient and the rehabilitation robot is obtained;

[0008] The target wheel speed of the active wheel is obtained based on the relative distance between the patient and the rehabilitation robot;

[0009] The drive wheel is controlled to rotate at the target wheel speed to drive the rehabilitation robot to move, so that the relative distance between the patient and the rehabilitation robot returns to the set value.

[0010] In some embodiments, each of the braking joints is equipped with an angle sensor; acquiring the relative distance between the patient and the rehabilitation robot includes:

[0011] A rectangular coordinate system is established with the midpoint O of the first connecting line as the origin, the direction of the first connecting line as the X-axis, and the direction of the perpendicular bisector of the first connecting line as the Y-axis; the first connecting line is the connecting line between the first braking joint and the second braking joint.

[0012] Acquire the angle signals detected by the angle sensors installed at the locations of each braking joint;

[0013] Based on the angle signals, the length of each link, the length of the first connecting line, and the Cartesian coordinate system, the distance between the midpoint Q of the second connecting line and the midpoint O of the first connecting line is obtained; the second connecting line is the connecting line between the first passive joint and the second passive moving joint.

[0014] The distance between midpoint Q and midpoint O is taken as the relative distance between the patient and the rehabilitation robot.

[0015] In some embodiments, the target wheel speed includes a left target wheel speed and a right target wheel speed based on the patient's direction of travel; obtaining the target wheel speed of the drive wheel based on the relative distance includes:

[0016] The linear velocity is determined based on the relative distance;

[0017] The angular velocity is obtained based on the radius of the drive wheel and the linear velocity.

[0018] Based on the angular velocity and the linear velocity, the formula V is used. L The target wheel speed on the left is obtained by calculating VW×L / 2 using the formula V. R =V+W×L / 2 to obtain the target wheel speed on the right;

[0019] Among them, V L V represents the target wheel speed on the left. R Let W be the target wheel speed on the right, W be the angular velocity, V be the linear velocity, and L be the wheelbase of the two driving wheels.

[0020] In some embodiments, the adaptive training control method for the rehabilitation robot further includes:

[0021] Obtain the left and right rotation speeds;

[0022] Using formula V L The left target wheel speed is obtained by formula V = VW×L / 2+V3. R =V+W×L / 2+V4 to obtain the target wheel speed on the right;

[0023] Where V3 is the left rotation speed and V4 is the right rotation speed.

[0024] In some embodiments, the patient strap assembly is disposed on a pair of clamping plates in the patient strap area; a pressure sensing element is disposed on the side of the clamping plates facing the patient; the rehabilitation robot adaptive training control method further includes:

[0025] Obtain the pressure value detected by the pressure detection element;

[0026] When the pressure value exceeds the set pressure threshold, the drive wheel is controlled to stop rotating.

[0027] In some embodiments, a brake is provided for each of the braking joints, and after controlling the drive wheel to stop rotating, the adaptive training control method for the rehabilitation robot further includes:

[0028] The brake is used to control the brake joint to enter the locked state.

[0029] In some embodiments, after controlling the drive wheel to stop rotating, the adaptive training control method for the rehabilitation robot further includes:

[0030] Control the alarm device to send an alarm signal.

[0031] Secondly, the present invention also provides an adaptive training control device for a rehabilitation robot. The lower limb rehabilitation robot includes a chassis drive assembly, a patient strap assembly, two passive joints, four braking joints, four links, and a support frame. The chassis drive assembly includes a chassis and two drive wheels disposed on both sides of the chassis. The support frame is disposed on the chassis. The patient strap assembly includes a horizontally disposed back plate. A first braking joint and a second braking joint are disposed on the top two sides of the support frame, and a first passive joint and a second passive joint are disposed on the two ends of the back plate. The first braking joint is connected to the first passive joint in sequence via a first link, a third braking joint, and a second link. The second braking joint is connected to the second passive joint in sequence via a third link, a fourth braking joint, and a fourth link. A patient strap area is formed corresponding to the patient strap assembly.

[0032] The training control device includes:

[0033] The first acquisition module is used to acquire the relative distance between the patient and the rehabilitation robot during the patient's walking training process;

[0034] The second acquisition module is used to acquire the target wheel speed of the active wheel based on the relative distance between the patient and the rehabilitation robot;

[0035] The control module is used to control the drive wheel to rotate at the target wheel speed to drive the rehabilitation robot to move, so that the relative distance between the patient and the rehabilitation robot returns to the set value.

[0036] Thirdly, the present invention also provides an electronic device, including a processor and a memory, wherein the processor executes the steps of the adaptive training control method for rehabilitation robots described in the first aspect by calling programs or instructions stored in the memory.

[0037] Fourthly, the present invention also provides a storage medium that stores a program or instructions that cause a computer to perform the steps of the adaptive training control method for rehabilitation robots as described in the first aspect.

[0038] The technical solution provided by the embodiments of the present invention has the following advantages compared with the prior art:

[0039] The adaptive training control method for rehabilitation robots provided in this invention determines the target wheel speed of the active wheel by acquiring the relative position of the patient with respect to the center of the rehabilitation robot in real time, so that the patient is always at the center of the rehabilitation robot. Through adaptive and collaborative control of the rehabilitation robot, the rehabilitation robot changes from a "dominant player" to a "collaborative partner", which can provide "just enough" assistance according to the patient's real-time position, reducing the patient's passivity and resistance, enhancing their motivation to actively participate and their sense of immersion in training, creating better conditions for neural remodeling, and thus achieving better tracking results. Attached Figure Description

[0040] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the structure of a rehabilitation robot provided in an embodiment of the present invention;

[0043] Figure 2 A corresponding embodiment provided by the present invention Figure 1 Partial structural diagram;

[0044] Figure 3 A flowchart illustrating an adaptive training control method for a rehabilitation robot provided in an embodiment of the present invention;

[0045] Figure 4 A corresponding embodiment provided by the present invention Figure 1 A schematic diagram of the equivalent six-axis structure;

[0046] Figure 5 This is a schematic diagram of the structure of an adaptive training control device for a rehabilitation robot provided in an embodiment of the present invention;

[0047] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0048] Among them, 101, chassis; 102, drive wheel; 111, back plate; 112, clamping plate; 113, pressure detection element; 114, handrail; 115, locking pivot; 116, sliding plate; 12, support connecting frame; 01, first braking joint; 02, second braking joint; 03, third braking joint; 04, fourth braking joint; 05, first passive joint; 06, second passive joint; 001, first link; 002, second link; 003, third link; 004, fourth link; 13, patient strapping area; 14, waist strap; 15, leg strap. Detailed Implementation

[0049] To better understand the above-mentioned objectives, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0050] Many specific details are set forth in the following description in order to provide a full understanding of the invention, but the invention may also be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the invention, and not all embodiments.

[0051] The adaptive training control method for rehabilitation robots provided in this invention determines the target wheel speed of the active wheel by acquiring the relative position of the patient with respect to the center of the rehabilitation robot in real time, so that the patient is always at the center of the rehabilitation robot. Through adaptive and collaborative control of the rehabilitation robot, the rehabilitation robot changes from a "dominant player" to a "collaborative partner", which can provide "just enough" assistance according to the patient's real-time position, reducing the patient's passivity and resistance, enhancing their motivation to actively participate and their sense of immersion in training, creating better conditions for neural remodeling, and thus achieving better tracking results.

[0052] Figure 1 This is a schematic diagram of the structure of a rehabilitation robot provided in an embodiment of the present invention. Figure 2 A corresponding embodiment provided by the present invention Figure 1 A partial structural diagram. Figure 3 This is a flowchart illustrating an adaptive training control method for a rehabilitation robot provided in an embodiment of the present invention. Wherein, Figure 3 The method shown is through Figure 1 The rehabilitation robot shown is implemented.

[0053] Specifically, such as Figure 1 and Figure 2As shown, the lower limb rehabilitation robot includes a chassis drive assembly, a patient strap assembly, two passive joints, four braking joints, four links, and a support frame 12. The chassis drive assembly includes a chassis 101 and two drive wheels 102 disposed on both sides of the chassis 101. The support frame 12 is disposed on the chassis 101. The patient strap assembly includes a back plate 111 disposed horizontally. The top two sides of the support frame 12 are respectively provided with a first braking joint 01 and a second braking joint 02. The two ends of the back plate 111 are respectively provided with a first passive joint 05 and a second passive joint 06. The first braking joint 01 is connected to the first passive joint 05 in sequence through a first link 001, a third braking joint 03, and a second link 002. The second braking joint 02 is connected to the second passive joint 06 in sequence through a third link 003, a fourth braking joint 04, and a fourth link 004. A patient strap area 13 is formed corresponding to the patient strap assembly.

[0054] Each of the four braking joints is equipped with an angle sensor and a brake, which can provide feedback on the rotation angle of each joint and switch between the locked and free states of the joints (locked state: the connecting rod to the joint cannot rotate around the joint; free state: the connecting rod to the joint can rotate around the joint). The two passive joints can only rotate freely.

[0055] The rehabilitation robot provided in this embodiment of the invention, when training a patient, is positioned... Figure 2 The patient support area 13 is equipped with a lumbar support belt 14 and a leg support belt 15 to support the patient. During patient training, the rehabilitation robot transforms from a "dominant player" to a "collaborative partner," providing just-enough assistance based on the patient's real-time position. This reduces the patient's passivity and resistance, enhances their motivation to participate actively, and increases their immersion in the training, creating better conditions for neural remodeling.

[0056] Specifically, such as Figure 3 As shown, the adaptive training control method for rehabilitation robots provided in this embodiment of the invention can be executed by the adaptive training control method device for rehabilitation robots provided in this embodiment of the invention. This device can be implemented using software and / or hardware. The adaptive training control method for rehabilitation robots includes the following steps:

[0057] S301. During the patient's walking training process, obtain the relative distance between the patient and the rehabilitation robot.

[0058] Specifically, in this step, while the patient is training in the patient bandage area 13, the relative distance between the patient and the rehabilitation robot is obtained. How this relative distance is obtained is detailed below.

[0059] In some embodiments, angle sensors are correspondingly provided on the braking joints; acquiring the relative distance between the patient and the rehabilitation robot includes:

[0060] A rectangular coordinate system is established with the midpoint O of the first connecting line as the origin, the direction of the first connecting line as the X-axis, and the direction of the perpendicular bisector of the first connecting line as the Y-axis; the first connecting line is the connecting line between the first braking joint and the second braking joint.

[0061] Acquire the angle signals detected by the angle sensors installed at the locations of each braking joint;

[0062] Based on the angle signals, the length of each link, the length of the first connecting line, and the rectangular coordinate system, the distance between the midpoint Q of the second connecting line and the midpoint O of the first connecting line is obtained; the second connecting line is the connecting line between the first passive joint and the second passive moving joint.

[0063] The distance between midpoint Q and midpoint O is taken as the relative distance between the patient and the rehabilitation robot.

[0064] Specifically, Figure 4 A corresponding embodiment provided by the present invention Figure 1 A schematic diagram of the equivalent six-axis structure. Combined with... Figure 1 and Figure 4 As shown, the positions of the first braking joint 01, the second braking joint 02, the third braking joint 03, and the fourth braking joint 04 are respectively... Figure 4 The positions of A, B, C, and D, the first passive joint 05, and the second passive joint 06 are respectively... Figure 4 In the diagram, M and N are connected; the midpoint O of the first connecting line is the midpoint of line segment AB, and the midpoint Q of the second connecting line is the midpoint of line segment MN.

[0065] Specifically, since the lengths of each link and backplate 111 are fixed, and the distance between the top two sides of the support frame is fixed, the lengths Lo of line segment AB, L1 of line segments BD and AC, and L2 of line segments CM and DN can all be known values. Combining the angle signals detected by the angle sensor, the coordinates of midpoint O and midpoint Q are obtained. Therefore, based on the coordinates of midpoint O and midpoint Q, the distance between midpoint O and midpoint Q can be obtained, thus determining the relative distance between the patient and the rehabilitation robot. For example, combining... Figure 4 , Figure 4 The coordinates of each point in the data can be specifically as follows:

[0066] Point A: (-Lo / 2, 0)

[0067] Point B: (Lo / 2,0)

[0068] Point C: (Ax-L1*cos(π-θlp),sin(θlp))

[0069] Point D: (Bx + L1*cos(θrp), sin(θrp))

[0070] Point M: (Cx+cos(θlp-θld), Cy+sin(θlp-θld))

[0071] Point N: (Dx-cos(θrp-θrd),Dy+sin(θrp-θrd))

[0072] Q point: ((Mx+Nx) / 2,(My+Ny) / 2)

[0073] S302. Based on the relative distance between the patient and the rehabilitation robot, obtain the target wheel speed of the active wheel.

[0074] Specifically, in this step, based on the relative distance between the patient and the rehabilitation robot obtained in S101, i.e., the distance between midpoint O and midpoint Q, the target wheel speed of the drive wheel 102 is determined. Thus, by acquiring the patient's relative position to the center of the rehabilitation robot in real time, the target wheel speed of the drive wheel is determined, ensuring the patient remains at the center of the rehabilitation robot. Through adaptive collaborative control of the rehabilitation robot, the robot transforms from a "dominant player" to a "collaborative partner," providing just-enough assistance based on the patient's real-time position, thereby achieving a better tracking effect.

[0075] In some embodiments, the target wheel speed includes a left target wheel speed and a right target wheel speed based on the patient's direction of travel; obtaining the target wheel speed of the drive wheel based on relative distance includes:

[0076] Linear velocity is determined based on relative distance;

[0077] The angular velocity is obtained based on the radius and linear velocity of the drive wheel;

[0078] Based on angular velocity and linear velocity, the formula V is used. L =VW×L / 2 to obtain the target wheel speed on the left, using the formula V R =V+W×L / 2 to obtain the target wheel speed on the right;

[0079] Among them, V L V represents the target wheel speed on the left. R denoted as the target wheel speed on the right, W as the angular velocity, V as the linear velocity, and L as the wheelbase between the two driving wheels.

[0080] Specifically, in combination Figure 1 and Figure 4The linkage can serve as the robotic arm of the rehabilitation robot. Based on the structural characteristics of the mechanical mechanism, the maximum range of motion between midpoint O and midpoint Q can be determined, thereby identifying the maximum and minimum distance Smax and Smin between O and Q. Combining the current relative distance S and the set maximum walking speed Vmax, the linear velocity V can be determined using the formula V = S × Vmax / (Smax - Smin). Then, based on the known radius r of the drive wheel 102, the angular velocity W is obtained using the formula W = V / r. Further, the formula V... L The target wheel speed on the left can be obtained by calculating VW×L / 2 using the formula V. R =V+W×L / 2 can be used to obtain the target wheel speed on the right.

[0081] In some embodiments, the adaptive training control method for rehabilitation robots further includes:

[0082] Obtain the left and right rotation speeds;

[0083] Using formula V L =VW×L / 2+V3 to obtain the target wheel speed on the left, using the formula V R =V+W×L / 2+V4 to obtain the target wheel speed on the right;

[0084] Where V3 is the left rotation speed and V4 is the right rotation speed.

[0085] Specifically, as mentioned earlier, when the direction of the line connecting point Q and point O changes, the rehabilitation robot needs to adjust its orientation by rotating to ensure that the robotic arm always aligns with the target direction. Based on this, this embodiment of the invention obtains the left and right rotational speeds. The target wheel speed is calculated by combining the linear velocity and rotational speed. The addition of rotational speed allows speed control to form a closed loop, preventing the rehabilitation robot from only moving in a straight line and being unable to turn and follow.

[0086] Specifically, obtain the slope k of points M and N. MN k MN This feedback parameter k can be used as a feedback parameter for the yaw angle. MN It can directly reflect the current posture deviation of the robotic arm, and thus dynamically adjust the left and right rotation speeds based on the feedback parameter kmn to complete the orientation correction of the rehabilitation robot and allow the robotic arm to realign with the target direction.

[0087] Wherein, the feedback parameter k MN There is a correspondence between the left-side rotation speed V3 and the right-side rotation speed V4. This correspondence can be pre-calibrated and stored. Upon obtaining the current feedback parameter k... MN You can directly call the above correspondence to query the left rotation speed V3 and right rotation speed V4.

[0088] S303. Control the drive wheel to rotate at the target wheel speed to drive the rehabilitation robot to move, so that the relative distance between the patient and the rehabilitation robot returns to the set value.

[0089] Specifically, in this step, based on the target wheel speed obtained in S302, a corresponding drive signal is output to the drive wheel 102 through a drive component, such as a drive motor. The drive wheel 102 is controlled to rotate at the target wheel speed to move the rehabilitation robot, thus restoring the relative distance between the patient and the rehabilitation robot to a set value. This ensures the patient remains at the center of the rehabilitation robot. Through adaptive collaborative control, the rehabilitation robot transforms from a "dominant player" into a "collaborative partner," providing just the right amount of assistance based on the patient's real-time position, thereby achieving better tracking results.

[0090] In some embodiments, such as Figure 1 and Figure 2 As shown, the patient strap assembly includes a pair of clamping plates 112 disposed in the patient strapping area 13; a pressure sensing element 113 is disposed on the side of the clamping plate 112 facing the patient. The patient strap assembly also includes a sliding plate 116 and a locking pivot 115 disposed on a back plate 111, with the clamping plate 112 connected to the sliding plate 116 via the locking pivot 115. When the patient needs to enter the patient strapping area 13, the locking pivot 115 can be unlocked, and the two clamping plates 112 can rotate in opposite directions around their respective locking pivots 115 in a direction opposite to the back plate 111, so that the free ends of the two clamping plates 112 move away from each other, forming an outwardly flared V-shaped opening, facilitating the user to step between the two clamping plates 112. The clamping plates 112 are provided with rotatable handles 114, which can be opened or retracted according to different support needs.

[0091] In some embodiments, the adaptive training control method for rehabilitation robots further includes: acquiring the pressure value detected by the pressure detection element; and controlling the drive wheel to stop rotating when the pressure value is greater than a set pressure threshold.

[0092] The pressure detection element 113 can be a force sensor. Specifically, the force sensor can detect the interaction force between the patient and the clamping plate 112. When the detected force is greater than a set threshold, it is determined that the patient has an accident and cannot support their own body weight. At this time, the drive wheel 102 is controlled to stop rotating to ensure the patient's personal safety.

[0093] In some embodiments, brakes are provided for each braking joint, and after the drive wheel stops rotating, the adaptive training control method for the rehabilitation robot further includes:

[0094] The brake joint is locked by controlling the brake mechanism.

[0095] Specifically, by controlling each braking joint to enter the locked state through the brake and by stopping the rotation of the drive wheel, the patient can be statically supported, preventing the patient from falling and getting injured due to accidents.

[0096] In some embodiments, after the drive wheel stops rotating, the adaptive training control method for the rehabilitation robot further includes:

[0097] Control the alarm device to send an alarm signal.

[0098] The alarm device can be an audible and visual alarm. In the event of an accident, the alarm device can also send an alarm signal to remind medical staff to ensure the patient's personal safety.

[0099] In some embodiments, such as Figure 1 As shown, the chassis drive assembly also includes a driven wheel 103, which is connected to the drive wheel 102 in sequence via a front support link 104 and a front support push rod 105.

[0100] In some embodiments, such as Figure 1 As shown, the rehabilitation robot also includes a manual movement component 16. When the rehabilitation robot runs out of power and cannot walk automatically, medical staff can use the manual movement component 16 to push the rehabilitation robot to operate.

[0101] Based on the same inventive concept, this invention also provides an adaptive training control device for a rehabilitation robot. The lower limb rehabilitation robot includes a chassis drive assembly, a patient strap assembly, two passive joints, four braking joints, four links, and a support frame. The chassis drive assembly includes a chassis and two active wheels disposed on both sides of the chassis. The support frame is disposed on the chassis. The patient strap assembly includes a back plate disposed horizontally. A first braking joint and a second braking joint are disposed on the top two sides of the support frame, and a first passive joint and a second passive joint are disposed on the two ends of the back plate. The first braking joint is connected to the first passive joint in sequence via a first link, a third braking joint, and a second link. The second braking joint is connected to the second passive joint in sequence via a third link, a fourth braking joint, and a fourth link. A patient strap area is formed corresponding to the patient strap assembly.

[0102] Figure 5 This is a schematic diagram of the structure of an adaptive training control device for a rehabilitation robot, provided in an embodiment of the present invention. Figure 5As shown, the training control device includes: a first acquisition module 51, used to acquire the relative distance between the patient and the rehabilitation robot during the patient's walking training process; a second acquisition module 52, used to acquire the target wheel speed of the active wheel based on the relative distance between the patient and the rehabilitation robot; and a control module 53, used to control the active wheel to run at the target wheel speed so that the relative parameters between the patient and the center origin return to the set value.

[0103] The adaptive training control device for rehabilitation robots provided in the above embodiments can execute the adaptive training control methods for rehabilitation robots provided in the above embodiments, and has the same or corresponding beneficial effects, which will not be described in detail here.

[0104] This invention also provides a storage medium that stores a program or instructions that cause a computer to execute the steps of the adaptive training control method for rehabilitation robots provided in the above embodiments.

[0105] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0106] Based on the above embodiments, this invention also provides an electronic device. Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Figure 6 As shown, the electronic device includes a processor 401 and a memory 402. The processor 401 executes programs or instructions stored in the memory, such as... Figure 6 The steps of the adaptive training and control method for rehabilitation robots described herein have the beneficial effects of the above embodiments, and will not be repeated here.

[0107] like Figure 6As shown, an electronic device may include at least one processor 401, at least one memory 402, and at least one communication interface 403. The various components in the electronic device are coupled together via a bus system 404. The communication interface 403 is used for information transmission with external devices. It is understood that the bus system 404 is used to implement communication between these components. In addition to a data bus, the bus system 404 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in… Figure 6 The general designated all buses as Bus System 404.

[0108] It is understood that the memory 402 in this embodiment can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. In some embodiments, the memory 402 stores the following elements: executable units or data structures, or subsets thereof, or extended sets thereof, operating systems, and applications. In this embodiment of the invention, the processor 401 executes the steps of the various embodiments of the method provided in this embodiment of the invention by calling the programs or instructions stored in the memory 402.

[0109] The method provided in this embodiment of the invention can be applied to processor 401, or implemented by processor 401. Processor 401 can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the hardware of processor 401 or by instructions in software form. The processor 401 can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor.

[0110] The steps of the method provided in this embodiment of the invention can be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software units in the decoding processor. The software units can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory 402, and processor 401 reads the information in memory 402 and combines it with its hardware to complete the steps of the method.

[0111] The electronic device may also include one or more physical components to execute instructions generated by the processor 401 when performing the methods provided in this embodiment of the invention. Different physical components may be located within the electronic device or outside the electronic device, such as in a cloud server. Each physical component, together with the processor 401 and the memory 402, works to realize the functions of the electronic device in this embodiment.

[0112] 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 process, method, article, or apparatus.

[0113] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention is not limited to the specific combination of the above-described technical features, but also includes other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the foregoing inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions as those in the present invention.

Claims

1. An adaptive training control method for a rehabilitation robot, characterized in that, The lower limb rehabilitation robot includes a chassis drive assembly, a patient strap assembly, two passive joints, four braking joints, four links, and a support frame. The chassis drive assembly includes a chassis and two drive wheels on both sides of the chassis. The support frame is mounted on the chassis. The patient strap assembly includes a back plate arranged horizontally. The top two sides of the support frame are respectively provided with a first braking joint and a second braking joint. The two ends of the back plate are respectively provided with a first passive joint and a second passive joint. The first braking joint is connected to the first passive joint in sequence via a first link, a third braking joint, and a second link. The second braking joint is connected to the second passive joint in sequence via a third link, a fourth braking joint, and a fourth link. A patient strapping area is formed corresponding to the patient strapping component; The training control method includes: During the patient's walking training process, the relative distance between the patient and the rehabilitation robot is obtained; The target wheel speed of the active wheel is obtained based on the relative distance between the patient and the rehabilitation robot; The drive wheel is controlled to rotate at the target wheel speed to drive the rehabilitation robot to move, so that the relative distance between the patient and the rehabilitation robot returns to the set value.

2. The adaptive training control method for rehabilitation robots according to claim 1, characterized in that, Each of the braking joints is equipped with an angle sensor; the relative distance between the patient and the rehabilitation robot is obtained, including: A rectangular coordinate system is established with the midpoint O of the first connecting line as the origin, the direction of the first connecting line as the X-axis, and the direction of the perpendicular bisector of the first connecting line as the Y-axis; the first connecting line is the connecting line between the first braking joint and the second braking joint. Acquire the angle signals detected by the angle sensors installed at the locations of each braking joint; Based on the angle signals, the length of each link, the length of the first connecting line, and the Cartesian coordinate system, the distance between the midpoint Q of the second connecting line and the midpoint O of the first connecting line is obtained; the second connecting line is the connecting line between the first passive joint and the second passive moving joint. The distance between midpoint Q and midpoint O is taken as the relative distance between the patient and the rehabilitation robot.

3. The adaptive training control method for rehabilitation robots according to claim 1, characterized in that, The target wheel speed includes the left target wheel speed and the right target wheel speed based on the patient's direction of travel; Based on the relative distance, the target wheel speed of the drive wheel is obtained, including: The linear velocity is determined based on the relative distance; The angular velocity is obtained based on the radius of the drive wheel and the linear velocity. Based on the angular velocity and the linear velocity, the formula V is used. L The target wheel speed on the left is obtained by calculating VW×L / 2 using the formula V. R =V+W×L / 2 to obtain the target wheel speed on the right; Among them, V L V represents the target wheel speed on the left. R Let W be the target wheel speed on the right, W be the angular velocity, V be the linear velocity, and L be the wheelbase of the two driving wheels.

4. The adaptive training control method for rehabilitation robots according to claim 3, characterized in that, Also includes: Obtain the left and right rotation speeds; Using formula V L The left target wheel speed is obtained by formula V = VW×L / 2+V3. R =V+W×L / 2+V4 to obtain the target wheel speed on the right; Where V3 is the left rotation speed and V4 is the right rotation speed.

5. The adaptive training control method for a rehabilitation robot according to claim 1, characterized in that, The patient strap assembly comprises a pair of clamping plates disposed in the patient strap area; a pressure detection element is disposed on the side of the clamping plate facing the patient; the training control method further includes: Obtain the pressure value detected by the pressure detection element; When the pressure value exceeds the set pressure threshold, the drive wheel is controlled to stop rotating.

6. The adaptive training control method for a rehabilitation robot according to claim 5, characterized in that, A brake is provided for each of the aforementioned braking joints. After controlling the drive wheel to stop rotating, the training control method further includes: The brake is used to control the brake joint to enter the locked state.

7. The adaptive training control method for a rehabilitation robot according to claim 5, characterized in that, After controlling the drive wheel to stop rotating, the training control method further includes: Control the alarm device to send an alarm signal.

8. An adaptive training control device for a rehabilitation robot, characterized in that, The lower limb rehabilitation robot includes a chassis drive assembly, a patient strap assembly, two passive joints, four braking joints, four links, and a support frame. The chassis drive assembly includes a chassis and two drive wheels on both sides of the chassis. The support frame is mounted on the chassis. The patient strap assembly includes a horizontally positioned back plate. The top two sides of the support frame are respectively provided with a first braking joint and a second braking joint. The two ends of the back plate are respectively provided with a first passive joint and a second passive joint. The first braking joint is connected to the first passive joint in sequence via a first link, a third braking joint, and a second link. The second braking joint is connected to the second passive joint in sequence via a third link, a fourth braking joint, and a fourth link. A patient strapping area is formed corresponding to the patient strapping component; The training control device includes: The first acquisition module is used to acquire the relative distance between the patient and the rehabilitation robot during the patient's walking training process; The second acquisition module is used to acquire the target wheel speed of the active wheel based on the relative distance between the patient and the rehabilitation robot; The control module is used to control the drive wheel to rotate at the target wheel speed to drive the rehabilitation robot to move, so that the relative distance between the patient and the rehabilitation robot returns to the set value.

9. An electronic device, characterized in that, It includes a processor and a memory, wherein the processor executes the steps of the adaptive training control method for rehabilitation robots as described in any one of claims 1-7 by calling programs or instructions stored in the memory.

10. A storage medium, characterized in that, The storage medium stores a program or instructions that cause a computer to perform the steps of the adaptive training control method for a rehabilitation robot as described in any one of claims 1-7.

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