Control method and system of lower limb motion rehabilitation training machine

Abstract

The present application relates to the technical field of rehabilitation equipment control, and particularly relates to a control method and system of a lower limb movement rehabilitation training machine. The method comprises the following steps: starting the brushless motor lower limb movement rehabilitation training machine, collecting the force detection parameters of the user's stepping and the operation feedback parameters of the brushless motor in real time; sending the resistance adaptation instruction to the brushless motor of the lower limb movement rehabilitation training machine based on the force detection parameters and in combination with the operation feedback parameters, and real-time regulating and controlling the output impedance of the brushless motor; detecting the posture signal of the lower limb movement rehabilitation training machine in real time during the continuous operation of the output impedance regulation and control of the brushless motor; and triggering the emergency stop instruction of the brushless motor immediately when the abnormal posture signal is detected. The present application adopts the brushless motor, combines the standby protection countdown with the zoned, angularly linked collection of the force parameters and the dynamic impedance regulation and control, so as to realize the portable and silent operation of the equipment and the personalized resistance adaptation, and to enhance the operation stability and the training adaptation accuracy.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation equipment control technology, and in particular to a control method and system for a lower limb motor rehabilitation training machine. Background Technology

[0002] Currently, lower limb motor rehabilitation training machines still face numerous technical shortcomings in clinical and home applications. Mainstream products generally suffer from high operating noise and redundant structural elements in their power units, impacting training comfort and limiting portability and design, making them unsuitable for diverse usage scenarios. Regarding resistance control, existing devices rely on a crude method of force sensing, failing to accurately capture subtle changes in force exerted during user movement and offering only a limited number of fixed resistance levels. Furthermore, current equipment lacks a robust operational safety protection system, lacking comprehensive closed-loop monitoring of operational status. In case of abnormal conditions, the timeliness and coordination of safety responses are insufficient. Prolonged operation can lead to accelerated wear and tear, and manual intervention is required to resume operation after shutdown. Automatic synchronous restart of parameter acquisition and resistance control is not possible, resulting in low levels of integration and automation, failing to meet the high demands of rehabilitation training for equipment stability, accuracy, and safety. Summary of the Invention

[0003] Therefore, it is necessary to provide a control method and system for a lower limb motor rehabilitation training machine to solve at least one of the above-mentioned technical problems.

[0004] To achieve the above objectives, a control method for a lower limb motor rehabilitation training machine is provided, the method comprising the following steps: Step S1: Start the brushless motor lower limb exercise rehabilitation training machine and collect the force detection parameters of the user's pedaling and the operation feedback parameters of the brushless motor in real time; Step S2: Based on the force detection parameters and combined with the operation feedback parameters, send a resistance adaptation command to the brushless motor of the lower limb motor rehabilitation training machine to adjust the output impedance of the brushless motor in real time. Step S3: During the continuous operation of the brushless motor output impedance regulation, the posture signal of the lower limb motor rehabilitation training machine is detected in real time; when an abnormal posture signal is detected, the brushless motor emergency stop command is immediately triggered; the alarm mechanism is activated simultaneously, the power output of the brushless motor is cut off, and the collection of force detection parameters and operation feedback parameters is stopped. Step S4: During normal operation of the brushless motor output impedance regulation, the continuous running time of the brushless motor is cumulatively monitored; when the cumulative monitoring value reaches the set threshold, the brushless motor standby protection is automatically triggered, and the power output is forcibly cut off; when the standby protection timer ends, the real-time acquisition of the force detection parameters and operation feedback parameters is resumed, and the brushless motor output impedance regulation operation is restarted.

[0005] The present invention also provides a control system for a lower limb exercise rehabilitation training machine, used to execute the above-described control method for the lower limb exercise rehabilitation training machine, the control system of the lower limb exercise rehabilitation training machine comprising: The parameter acquisition module is used to start the brushless motor lower limb exercise rehabilitation training machine and collect the force detection parameters of the user's pedaling and the operation feedback parameters of the brushless motor in real time. The impedance command module is used to send resistance adaptation commands to the brushless motor of the lower limb motor rehabilitation training machine based on the force detection parameters and combined with the operation feedback parameters, and to adjust the output impedance of the brushless motor in real time. The monitoring and control module is used to detect the posture signal of the lower limb motor rehabilitation training machine in real time during the continuous operation of the brushless motor output impedance regulation; when an abnormal posture signal is detected, the brushless motor emergency stop command is immediately triggered; the alarm mechanism is activated simultaneously, the power output of the brushless motor is cut off, and the acquisition of force detection parameters and operation feedback parameters is stopped. The adjustment restart module is used to cumulatively monitor the continuous running time of the brushless motor during normal operation of the brushless motor output impedance regulation. When the cumulative monitoring value reaches the set threshold, the brushless motor standby protection is automatically triggered, and the power output is forcibly cut off. After the standby protection timer ends, the real-time acquisition of the force detection parameters and operation feedback parameters is restored, and the brushless motor output impedance regulation operation is restarted.

[0006] The beneficial effects of the present invention are as follows: On the one hand, this invention uses a brushless motor to replace the traditional brushed motor, structurally eliminating brush friction loss, significantly reducing the overall weight, making the machine more compact and lightweight, and giving it a simpler and more aesthetically pleasing appearance. Simultaneously, the brushless motor operates without brush contact friction, fundamentally avoiding mechanical noise and electromagnetic interference, providing a quiet and stable environment for rehabilitation training and improving the user experience. Furthermore, by collecting positive pedal force parameters in the foot pedal force distribution zones and circumferential torque parameters in the crank angle distribution zones, this invention accurately captures the complete changes in the rising, peak, and falling phases of the pedal force within a single pedaling cycle, as well as the extreme torque fluctuations within a single crank rotation. This enables refined perception of the user's force characteristics, providing a reliable data foundation for personalized resistance control and overcoming the limitation of traditional rehabilitation equipment that can only provide fixed resistance.

[0007] On the other hand, this invention, through a dual-group linkage acquisition and triggering mechanism of force-torque and speed-voltage, ensures complete synchronization of the acquisition sequence of force detection parameters and operation feedback parameters, avoiding impedance control deviations caused by data misalignment. This makes the resistance adaptation command more closely match the user's real-time force application state and motor operating state. Simultaneously, through a precise standby protection countdown and parameter recovery mechanism, power is automatically cut off after the motor reaches a threshold of continuous operation. After the countdown ends, full-dimensional parameter acquisition and impedance control are synchronously restored, avoiding safety hazards and wear caused by prolonged motor operation while ensuring the continuity of rehabilitation training. Combined with an emergency stop for abnormal postures and a dual-path alarm mechanism, a closed-loop control system is constructed, encompassing data acquisition, impedance control, and safety protection, thus improving the safety and reliability of the equipment. Attached Figure Description

[0008] Figure 1 A schematic diagram of the steps in a control method for a lower limb motor rehabilitation training machine; Figure 2 This is a structural component diagram of a lower limb motor rehabilitation training machine; Figure 3 This is a schematic diagram of the lower limb motor rehabilitation training machine. The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0009] The technical method of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0010] Furthermore, the accompanying drawings are merely illustrative of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor methods and / or microcontroller methods.

[0011] It should be understood that although the terms "first," "second," etc., may be used herein to describe various units, these units should not be limited by these terms. These terms are used merely to distinguish one unit from another. For example, without departing from the scope of the exemplary embodiments, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0012] To achieve the above objectives, please refer to Figures 1 to 3 A control method for a lower limb motor rehabilitation training machine, the method comprising the following steps: Preferably, step S1: start the brushless motor lower limb exercise rehabilitation training machine and collect the force detection parameters of the user's pedaling and the operation feedback parameters of the brushless motor in real time; Optionally, the real-time acquisition of the user's pedaling force detection parameters and the brushless motor's operating feedback parameters in step S1 is specifically as follows: Collect the positive pedal force parameters and crank circumferential torque parameters of the user when pedaling. Collect the real-time values ​​of the positive pedal force parameters and crank circumferential torque parameters segment by segment according to the pedaling action cycle to obtain the force detection parameters of the user's pedaling. The rotor rotation speed parameters and motor operating voltage parameters of the brushless motor are collected. The dynamic values ​​of the rotor rotation speed parameters and motor operating voltage parameters are collected synchronously with the operating status of the brushless motor to obtain the operating feedback parameters of the brushless motor. The acquisition of force detection parameters and operation feedback parameters is initiated synchronously, and the acquisition time points correspond to the timing of pedaling actions and motor operation.

[0013] In this embodiment, pressure detection points are set up on the force-bearing surface of the bicycle pedals, and torque detection points are set up at the connection end between the crank and the frame. The pressure detection points collect the positive pedaling force parameters generated by the user when pedaling, and the torque detection points collect the circumferential torque parameters generated by the crank during rotation. The complete trajectory of the pedal from the initial position to the limit position and then back to the starting position is taken as a pedaling motion cycle. This cycle is divided into three acquisition segments: the pedaling rise segment, the pedaling peak segment, and the pedaling fall segment. In each segment, the real-time values ​​of the positive pedaling force parameters and the circumferential torque parameters of the crank are collected at a sampling frequency of 40Hz-60Hz. The real-time values ​​collected in each segment are integrated according to the pedaling sequence to form the force detection parameters of the user's pedaling.

[0014] A speed detection element is installed at the rotor end of the brushless motor, and a voltage detection element is installed in the power supply circuit of the motor. The rotor rotation speed parameter is collected by the speed detection element during the operation of the brushless motor, and the motor operating voltage parameter is collected by the voltage detection element during the operation of the motor. The entire time period from the start-up to the stop of the brushless motor is used as the operating cycle. The dynamic values ​​of the rotor rotation speed parameter and the motor operating voltage parameter are collected at time intervals of 10ms-30ms. The acquisition process is synchronized with the actual operating state of the motor. The collected dynamic values ​​are integrated according to the motor operating sequence to form the operating feedback parameters of the brushless motor.

[0015] The acquisition start signals for the pedal forward force parameters and crank circumferential torque parameters are synchronized with the start and operation signals of the brushless motor. Similarly, the acquisition start signals for the rotor rotation speed parameters and motor operating voltage parameters are synchronized with the start and operation signals of the brushless motor, achieving synchronous initiation of the force detection parameter and operation feedback parameter acquisition actions. The time nodes of each acquisition segment within the pedaling motion cycle precisely correspond to the acquisition time nodes of the rotor rotation speed parameters and motor operating voltage parameters. For each segment of the pedaling motion completed, the rotor rotation speed parameters and motor operating voltage parameters synchronously complete a dynamic value acquisition at the corresponding time node. The total duration of the pedaling motion cycle is set to 1.5s-2.5s, and the duration of each acquisition segment is equally divided according to the total cycle duration, ensuring that the acquisition time nodes of the two types of parameters are completely matched with the timing of the pedaling motion and motor operation.

[0016] All real-time values ​​of the pedal force parameters, crank circumferential torque parameters, rotor rotation speed parameters, and motor operating voltage parameters are collected and continuously recorded according to the timing of pedaling action and motor operation. The entire process of data collection and integration is uninterrupted, and the timing integration interval of the collected parameters is consistent with the time interval of pedaling action and motor operation.

[0017] Optionally, the parameters of the user's positive pedaling force and the crank circumferential torque during pedaling include: The positive pedal force parameters are collected in zones according to the force-bearing area of ​​the pedal, and the pedal force parameters of different force-bearing areas are obtained and integrated into the total pedal force parameters. The crank circumferential torque parameters are collected at different angles according to the crank rotation angle, and the torque parameters at different angles are integrated into the total torque parameters.

[0018] In this embodiment, the force-bearing surface of the pedal is divided into two independent force-bearing areas: a central force-bearing area and an outer ring force-bearing area, arranged in a concentric circle structure. Pressure detection units are deployed in each of the two force-bearing areas, and the corresponding positive pedaling force parameters are collected independently by the pressure detection units in each area. The parameters collected in the central force-bearing area are the central pedaling force parameters, and the parameters collected in the outer ring force-bearing area are the outer ring pedaling force parameters. During the collection process, the sampling frequency of each pressure detection unit is maintained at 40Hz-60Hz, and the sampling time interval is 10ms-30ms. The central pedaling force parameters and the outer ring pedaling force parameters collected in the same time sequence are vector synthesized to obtain the integrated total positive pedaling force parameters. The value of the synthesized operation is linearly correlated with the detection data of the two force-bearing areas.

[0019] The crank's rotation circumference is evenly divided into rotation angle intervals of 60°-90°. Torque detection units are installed on the outer wall of the crank in each rotation angle interval. Each torque detection unit rotates synchronously with the crank and independently collects the circumferential torque parameters of the crank within the corresponding angle interval. The acquisition trigger of each torque detection unit is linked to the crank's rotation angle. Acquisition starts immediately when the crank rotates to the corresponding angle interval. The collected torque parameters are named according to the angle interval. The acquisition frequency of all torque detection units is consistent with that of the pedal pressure detection unit to ensure the synchronization of the acquisition sequence.

[0020] The crank circumferential torque parameters collected from each rotation angle range are integrated in a time sequence. A complete 360° rotation of the crank is considered as one integration cycle. The torque parameters of each angle within the same cycle are arranged sequentially according to the rotation angle of the crank. The integrated total crank circumferential torque parameters are obtained by arithmetic summation. The original acquisition accuracy of each angle torque parameter is preserved during the summation process, and no data rounding is performed.

[0021] Optionally, collecting parameters of the user's positive pedaling force and crank circumferential torque during pedaling also includes: When collecting the positive pedal force parameters, capture the values ​​of the upward segment of the pedal force, the peak value of the pedal force, and the downward segment of the pedal force in a single pedaling action, and collect complete data on the change of pedal force in a single cycle. When collecting crank circumferential torque parameters, the maximum and minimum torque values ​​are captured during one revolution of the crank to collect complete single-cycle torque fluctuation data.

[0022] In this embodiment, the entire stroke of the pedal from its initial reset position to its limit position and back to its initial position is considered as a single pedaling action cycle. This cycle is divided into three stages: the force-increasing segment, the force-peak segment, and the force-decreasing segment. The pressure detection unit continuously collects real-time values ​​of the positive pedaling force parameters at a sampling frequency of 40Hz-60Hz in each stage, forming the positive pedaling force segment values ​​for each stage. The maximum value is extracted from the data collected in the force-peak segment as the peak value of the positive pedaling force. The values ​​of the force-increasing segment, the force-peak value, and the force-decreasing segment are sequentially recorded in series according to the timing of the pedaling action, forming complete change data of the positive pedaling force in a single cycle. The time granularity of the data recording is consistent with the sampling frequency.

[0023] Taking the 360° circular motion of the crank around its axis as a single rotation cycle, a torque detection unit continuously collects real-time values ​​of the crank circumferential torque parameters throughout the entire crank rotation cycle at a sampling frequency of 40Hz-60Hz, forming continuous torque acquisition data for a single crank rotation. In this continuous acquisition data, the maximum value in the entire range is extracted as the maximum value of the crank circumferential torque by a numerical extreme value retrieval method, and the minimum value in the entire range is extracted as the minimum value of the crank circumferential torque. The maximum and minimum torque values ​​are associated and stored with the continuous torque acquisition data within a single cycle to form complete fluctuation data of the crank circumferential torque for a single cycle.

[0024] The phase division of the pedal force parameters is synchronized with the single-cycle rotation of the crank circumferential torque parameters. One 360° rotation of the crank corresponds to one complete pedaling action cycle. The start and end points of the acquisition of the two types of parameters are completely coincident. The time ratio of the pedal force rise segment, the pedal force peak segment, and the pedal force fall segment is allocated to a single pedaling action cycle in a 1:1:1 ratio. The acquisition time of each segment is 0.5s-0.8s to ensure the integrity of the pedal force change data in a single cycle.

[0025] The single-cycle pedal forward force variation data and the single-cycle crank circumferential torque fluctuation data are mapped and associated one-to-one according to the acquisition time sequence. Each pedal forward force parameter acquisition time point corresponds to a crank circumferential torque parameter acquisition time point. The mapped and associated datasets are stored in batches according to the pedaling action cycle. The stored datasets retain the original acquisition accuracy of the pedal forward force segment values, peak force values, force drop segment values, maximum torque values, and minimum torque values, without data rounding or compression.

[0026] Optionally, the following triggering mechanism is used to collect the force detection parameters of the user's pedaling and the operation feedback parameters of the brushless motor in real time in step S1: The acquisition of the positive pedal force parameter and the circumferential crank torque parameter is linked and triggered. The acquisition of the crank torque parameter is started simultaneously when the pedal force is applied. The acquisition of the rotor speed parameters of the brushless motor and the motor operating voltage parameters is linked and triggered. The motor starts to generate speed as the acquisition start signal, and the acquisition of motor voltage parameters is started synchronously.

[0027] In this embodiment, a pedal force trigger threshold is set at the acquisition end of the pedal forward force parameter. This threshold is set to 5N-15N. When the acquisition end captures the instantaneous value of the pedal forward force parameter generated by the force applied to the pedal and it reaches the pedal force trigger threshold, a pedal force acquisition start electrical signal is generated. The pedal force acquisition start electrical signal directly triggers the acquisition action of the crank circumferential torque parameter acquisition end. The crank circumferential torque parameter acquisition end starts acquisition immediately after receiving the trigger. The acquisition start time difference between the pedal forward force parameter and the crank circumferential torque parameter is controlled within 0ms-5ms, realizing the linkage trigger acquisition of the two types of force detection parameters.

[0028] A speed trigger threshold is set at the rotor rotation speed parameter acquisition terminal, which is set to 10r / min-20r / min. When the acquisition terminal captures the instantaneous value of the rotor rotation speed parameter generated by the start of the brushless motor and it reaches the speed trigger threshold, a speed acquisition start electrical signal is generated. The speed acquisition start electrical signal directly triggers the acquisition action of the motor operating voltage parameter acquisition terminal. The motor operating voltage parameter acquisition terminal starts acquisition immediately after receiving the trigger. The acquisition start time difference between the rotor rotation speed parameter and the motor operating voltage parameter is controlled within 0ms-5ms, realizing the linkage trigger acquisition of the two types of operating feedback parameters.

[0029] The pedal force acquisition start electrical signal and the speed acquisition start electrical signal are connected to the signal synchronization calibration terminal. The signal response delay of the calibration terminal is controlled within 0ms-3ms to complete the timing synchronization processing of the two types of start electrical signals. When either the pedal force acquisition start electrical signal or the speed acquisition start electrical signal is generated first, the signal synchronization calibration terminal will synchronously trigger the acquisition terminal of the other type of parameter with the first generated start electrical signal, so as to realize the full-domain synchronous start of the acquisition of four types of parameters: pedal forward pedal force parameter, crank circumferential torque parameter, rotor rotation speed parameter, and motor working voltage parameter.

[0030] Preferably, step S2: based on the force detection parameters and combined with the operation feedback parameters, a resistance adaptation command is sent to the brushless motor of the lower limb motor rehabilitation training machine to adjust the output impedance of the brushless motor in real time. Optionally, step S2 includes the following steps: The basic value for impedance control is determined by taking the positive pedal force parameter as the core parameter and combining it with the crank circumferential torque parameter. Using rotor speed parameters as auxiliary parameters, and combining them with motor operating voltage parameters, the basic value of impedance regulation is dynamically calibrated. Based on the calibrated impedance control value, a resistance adaptation command is generated, and the command is sent frame by frame to the impedance control terminal of the brushless motor according to the motor's running sequence.

[0031] In this embodiment, the real-time value of the pedal forward force parameter in the force detection parameters is extracted as the core basis for impedance control. According to the linear correspondence between the pedal forward force parameter and the impedance value, the basic impedance value is initially matched, and then the real-time value of the crank circumferential torque parameter is substituted into it for proportional correction. The correction coefficient is set to 0.05-0.15. The final impedance control base value is determined by multiplying the basic impedance value by the correction coefficient and the superposition value of the crank circumferential torque parameter.

[0032] The real-time value of the rotor rotation speed parameter in the operation feedback parameters is extracted as an auxiliary basis for impedance control. First, it is determined whether the rotor rotation speed parameter is within the rated operating range of 20r / min-90r / min. Then, the voltage fluctuation coefficient is calculated in combination with the real-time value of the motor working voltage parameter. The fluctuation coefficient is the ratio of the actual voltage to the rated voltage, with a value range of 0.9-1.1. The impedance control base value is dynamically calibrated using this coefficient. When the speed exceeds the rated range, additional calibration is performed according to a compensation coefficient of 0.02-0.08 to obtain the calibrated impedance control value.

[0033] Using the calibrated impedance control value as the core data, a resistance adaptation command containing the impedance control value and control direction is generated. The command is encapsulated in a fixed data frame format, with the data frame transmission baud rate set to 9600-19200bps. According to the operation sequence of the brushless motor, the encapsulated resistance adaptation command is sent frame by frame at time intervals of 5ms-15ms. The timing of the command transmission is synchronized with the mechanical motion timing of the rotor rotation.

[0034] After receiving the resistance matching command transmitted frame by frame, the impedance control terminal of the brushless motor performs real-time control according to the impedance control value in the command. During the control process, the actual impedance control value is transmitted back at a frequency of 40Hz-60Hz. The actual value transmitted back is compared with the set value in the command in real time. When the deviation between the two exceeds ±0.5Ω, a compensation command is immediately generated based on the deviation value and sent synchronously with the next frame of resistance matching command to realize closed-loop correction of impedance control.

[0035] Optionally, in step S2, sending the resistance adaptation command to the brushless motor of the lower limb motor rehabilitation training machine is specifically as follows: Extract the peak value of the pedaling force and the maximum value of the torque from the force detection parameters, integrate them into force characteristic values ​​and use them as the core parameters for resistance adaptation; The average speed and voltage stability values ​​are extracted from the operating feedback parameters, integrated into operating characteristic values, and used as auxiliary parameters for resistance adaptation. The corresponding resistance adaptation command is generated based on the matching relationship between the force characteristic value and the running characteristic value.

[0036] In this embodiment, the peak value of the positive pedaling force and the maximum value of the crank circumferential torque are extracted from the single-cycle acquisition data of the force detection parameters. The two values ​​are normalized and the value mapping range is set to 0-100. Then, they are weighted and calculated according to a weight ratio of 7:3. The result of the weighted calculation is used as the integrated force characteristic value, which is directly used as the core parameter of resistance adaptation.

[0037] The average rotor speed and stable motor operating voltage are extracted from the continuously collected data of the operation feedback parameters. The average speed is the arithmetic mean within the 10s-30s collection period, and the stable voltage is the effective value after removing extreme values ​​within the same collection period. The two values ​​are normalized according to the collection period, and the mapping range is synchronously set to 0-100. Then, they are weighted and calculated with a weight ratio of 6:4. The calculation result is used as the integrated operation characteristic value, which is directly used as the auxiliary parameter for resistance adaptation.

[0038] Multiple matching intervals are preset for the force characteristic value and the running characteristic value. The force characteristic value is divided into 10 equidistant matching sub-intervals, and the running characteristic value is also divided into 10 equidistant matching sub-intervals. Each matching interval corresponds to a unique impedance control value and control direction. The adjustment gradient of the impedance control value is set to 0.1Ω-0.5Ω. The calculated force characteristic value and running characteristic value are substituted into the preset matching interval to complete the precise matching of the value and the interval, and to determine the corresponding impedance control value and control direction.

[0039] Based on the impedance control value and control direction obtained from the matching, a resistance adaptation command is generated. The command encapsulates the impedance control value, control direction, and command check code. The check code is the result of the combined calculation of the value and direction, used to verify the validity of the command transmission. After the command is generated, the data is encoded in a fixed format, and the encoded command data is synchronized with the running sequence of the brushless motor.

[0040] Preferably, in step S3: during the continuous operation of the brushless motor output impedance regulation, the posture signal of the lower limb motor rehabilitation training machine is detected in real time; when an abnormal posture signal is detected, the brushless motor emergency stop command is immediately triggered; the alarm mechanism is activated simultaneously, the power output of the brushless motor is cut off, and the collection of force detection parameters and operation feedback parameters is stopped. Optionally, in step S3, the posture signal of the lower limb motor rehabilitation training machine is detected in real time; When an abnormal posture signal is detected, the brushless motor is immediately triggered to stop. Specifically, the horizontal tilt signal and longitudinal offset signal of the bicycle body are detected according to the preset spatial dimension and combined into the overall posture signal of the bicycle. The monitored attitude signal is continuously compared with the preset safe attitude threshold. If it exceeds the safe attitude threshold, it is immediately identified as an abnormal attitude signal. An emergency stop control signal for the brushless motor is generated based on the abnormal posture signal and directly transmitted to the motor operation control terminal of the lower limb motor rehabilitation training machine to trigger an emergency stop command.

[0041] In this embodiment, the posture of the lower limb motor rehabilitation training machine is detected in both horizontal and vertical spatial dimensions. The horizontal dimension uses the horizontal centerline of the bicycle body as a reference and continuously detects the horizontal tilt angle of the body to form a horizontal tilt signal. The vertical dimension uses the vertical centerline of the bicycle body as a reference and continuously detects the vertical offset distance of the body to form a vertical offset signal. The detection sampling frequency of the two types of signals is set to 40Hz-60Hz. The horizontal tilt signal and the vertical offset signal collected in the same time sequence are integrated according to the dimension label to form the overall posture signal of the bicycle. The integration process retains the original detection accuracy of the two types of signals.

[0042] The safety attitude thresholds for the bicycle body are preset. The safety threshold for the horizontal tilt angle is set to 0°-10°, and the safety threshold for the longitudinal offset distance is set to 0cm-5cm. The horizontal tilt angle value and the longitudinal offset distance value in the overall attitude signal monitored in real time are continuously compared with the corresponding safety attitude thresholds. The comparison period is consistent with the detection sampling frequency of the attitude signal. When any value exceeds the corresponding safety attitude threshold, it is immediately judged as an abnormal attitude signal. The judgment result is generated without delay and the judgment time node is recorded synchronously.

[0043] Based on the abnormal posture signal generated by the judgment, an emergency stop control signal for the brushless motor is directly generated. The emergency stop control signal is a high-level trigger signal with a signal amplitude set to 5V-12V. This emergency stop control signal is directly transmitted to the operation control terminal of the brushless motor of the lower limb motor rehabilitation training machine. The transmission process is synchronized with the signal reception timing of the motor operation control terminal. After receiving the emergency stop control signal, the operation control terminal immediately triggers the emergency stop command of the brushless motor. The trigger response time difference is controlled within 0ms-5ms.

[0044] Throughout the entire process of detecting and comparing the overall attitude signal, the signal linkage between the detection end and the motor operation control end is maintained. The detection end sends back a normal attitude confirmation signal to the operation control end at a time interval of 10ms-30ms. When the signal transmission is interrupted or an abnormal attitude signal is received, the operation control end immediately enters the emergency stop trigger preparation state. After the emergency stop command is triggered, the detection end continues to collect the attitude signal of the bicycle body until the horizontal tilt angle value and the longitudinal offset distance value return to the safe attitude threshold range, thus completing the continuous monitoring of attitude abnormalities.

[0045] Most importantly, step S3 involves simultaneously activating the alarm mechanism, cutting off the brushless motor's power output, and stopping the collection of force detection parameters and operational feedback parameters. Specifically: At the same time sequence as the motor emergency stop command is triggered, the bicycle's digital alarm signal is activated, and at the same time, the audible alarm signal of the buzzer is activated with a fixed frequency intermittent sound. The digital alarm signal and the audible alarm signal are triggered in a preset sequence and continuously output, forming a dual-channel interlocked alarm mechanism. The main power drive circuit of the brushless motor is directly disconnected by hard-wire triggering, and the control signal output channel of the motor impedance regulation is closed at the same time, so as to realize the dual cut-off of power output and regulation command, and make the motor immediately stop the dynamic impedance regulation and rotor rotation. By sending a collection enable shutdown command to the parameter collection terminal, the full-dimensional collection of force detection parameters and the full-time sampling of operational feedback parameters are simultaneously terminated. At the same time, the digital transmission link of the parameters is cut off and the collection buffer is cleared, thereby achieving the synchronous shutdown of the collection and transmission of force detection parameters and operational feedback parameters and clearing of temporary collection data.

[0046] In this embodiment, at the same time as the emergency stop command of the brushless motor is triggered, the digital alarm signal of the bicycle's digital display is activated. The digital display displays a preset fault code and remains constantly lit. At the same time, the buzzer alarm signal is activated. The buzzer sounds intermittently at a fixed frequency of 2Hz-4Hz. The time difference between the activation of the digital alarm signal and the audible alarm signal is controlled within 0ms-3ms. The two types of alarm signals are output in a preset sequence without a separate shutdown mechanism, forming a dual-channel interlocked alarm mechanism. The output stops synchronously after the bicycle's posture signal returns to the safety threshold.

[0047] A disconnect signal is sent to the main power drive circuit of the brushless motor via hard-wire triggering, directly cutting off the power supply path of the main circuit. At the same time, a control signal shutdown command is sent to the motor impedance regulation terminal, completely shutting off the control signal output channel of the motor impedance regulation. This achieves a dual disconnection of the physical path of power output and the path of regulation command signal. The response delay of the disconnection action is controlled within 0ms-5ms, causing the brushless motor to immediately stop the dynamic impedance regulation action and rotor rotation. All operating modules of the motor enter a power-off shutdown state.

[0048] A unified command to enable and disable data acquisition is sent to all acquisition terminals for force detection parameters and operational feedback parameters. The synchronization deviation of the command is controlled within 0ms-3ms. Upon receiving the command, the acquisition terminal immediately terminates the full-dimensional acquisition of pedal forward force parameters and crank circumferential torque parameters, and simultaneously terminates the full-time sampling of rotor rotation speed parameters and motor operating voltage parameters. All acquisition actions are stopped and there is no temporary continuation mechanism.

[0049] While terminating parameter acquisition, the digital transmission link between the parameter acquisition end and the subsequent control end is directly cut off. After the link is cut off, the acquisition buffer is immediately cleared, clearing all temporary acquisition data stored in the buffer, including pedal forward force parameters, crank circumferential torque parameters, rotor rotation speed parameters, and motor operating voltage parameters. The clearing operation covers the entire storage area of ​​the buffer, achieving synchronous shutdown of the force detection parameter and operation feedback parameter acquisition and transmission links without leaving any temporary data.

[0050] Preferably, in step S4: when the brushless motor is running under normal output impedance regulation, the continuous running time of the brushless motor is cumulatively monitored; when the cumulative monitoring value reaches the set threshold, the brushless motor standby protection is automatically triggered, and the power output is forcibly cut off; when the standby protection timer ends, the real-time acquisition of the force detection parameters and the running feedback parameters is resumed, and the brushless motor output impedance regulation operation is restarted.

[0051] Optionally, in step S4, the continuous running time of the brushless motor is cumulatively monitored; When the cumulative monitoring value reaches the set threshold, the brushless motor standby protection is automatically triggered, and the power output is forcibly cut off. Specifically, the actual running time of the brushless motor is continuously monitored with the motor starting impedance adjustment as the starting point, and the cumulative value is updated in real time according to the actual running time. The system performs real-time matching and judgment between the accumulated monitoring values ​​and the preset motor continuous operation threshold. When the accumulated monitoring values ​​reach the motor continuous operation threshold, a standby protection trigger signal is immediately generated. The motor standby protection program is activated based on a trigger signal, which forcibly cuts off the motor's power output by disconnecting the motor's power drive circuit.

[0052] In this embodiment, the moment the brushless motor receives the first resistance adaptation command and initiates the impedance adjustment action is taken as the timing start point. The actual running time of the brushless motor is continuously and cumulatively monitored. The timing accuracy is set to 0.1s. The cumulative monitoring value is updated in real time in a linear manner according to the actual running time of the brushless motor. The update frequency of the cumulative monitoring value is consistent with the command reception frequency of the motor impedance adjustment. The continuous running time of the brushless motor in the impedance adjustment state is recorded throughout the entire process, and uninterrupted timing and value update operations are performed.

[0053] A preset continuous operation threshold for the brushless motor is set between 40 and 60 minutes. The real-time updated cumulative monitoring value is continuously matched and judged against the preset continuous operation threshold. The judgment period is set between 100ms and 300ms. Each judgment directly retrieves the current instantaneous value of the cumulative monitoring value and compares it with the threshold. When the instantaneous value of the cumulative monitoring value reaches or equals the preset continuous operation threshold, a high-level standby protection trigger signal is immediately generated. The amplitude of the trigger signal is set between 5V and 12V. After the signal is generated, it is continuously output.

[0054] The standby protection program is directly started based on the generated standby protection trigger signal. After the protection program is started, it immediately sends a circuit breaker trigger command to the power drive circuit of the brushless motor. The power supply path of the power drive circuit of the brushless motor is directly cut off by the command. The response delay of the circuit breaker trigger command is controlled within 0ms-5ms. After the power supply path is cut off, the rotor rotation and impedance regulation of the brushless motor stop immediately, realizing the forced cut-off of the motor power output.

[0055] After the motor standby protection program is started, the cumulative monitoring of the actual running time of the brushless motor is immediately stopped and the current cumulative monitoring value is retained. At the same time, the resistance matching command receiving channel of the brushless motor is locked, and new resistance matching commands are prohibited from being transmitted to the motor impedance control terminal. The power drive circuit remains in an open circuit state until the standby protection timing program is started and the timing operation is completed. Only then is the locking of the resistance matching command receiving channel released, and the power drive circuit path restoration operation is only performed after the timing ends. The standby protection execution state is maintained throughout the entire process.

[0056] Most importantly, in step S4, after the standby protection timer ends, the real-time acquisition of the force detection parameters and operation feedback parameters is resumed, and the brushless motor output impedance regulation operation is restarted. Specifically, this is as follows: The timing program for standby protection is started and countdown monitoring is performed with the motor power output cut off as the starting point. After the timing ends, a parameter acquisition and recovery signal is generated. Based on the recovery signal, the partitioned and angled acquisition of force detection parameters and the continuous sampling acquisition of motor operating parameters are restarted, and the synchronous acquisition of all parameters is restored. Based on the recovered real-time parameters, the resistance adaptation command is regenerated and sent to the motor, and the real-time control operation of the motor output impedance is restarted according to the initial control logic.

[0057] In this embodiment, the instant when the brushless motor power drive circuit is completely cut off and the power output is completely terminated is taken as the timing start point to start the standby protection countdown monitoring process. The total countdown time is set to 20min-40min, and the timing accuracy is controlled within 0.1s. The remaining countdown value is updated sequentially according to a fixed time unit. Each value update is kept in real time synchronization without delay, and the countdown monitoring is uninterrupted throughout the process. When the remaining countdown value decreases to zero and the standby protection countdown ends, a high-level parameter acquisition and recovery signal is immediately generated. The signal amplitude is set to 5V-12V. After the signal is generated, it maintains a continuous and stable output state without signal interruption or fluctuation.

[0058] Based on the generated parameter acquisition and recovery signals, the acquisition process of various parameters is restarted synchronously. In terms of force detection parameters, the pedal force parameters of the positive pedaling force are recovered by zonal acquisition, and the crank rotation angle parameters of the circumferential torque are recovered by angular acquisition, strictly following the original linkage acquisition logic. In terms of operation feedback parameters, the rotor rotation speed parameters and motor operating voltage parameters are recovered by continuous sampling throughout the entire time period. The sampling frequency of all parameter acquisitions is uniformly returned to the 40Hz-60Hz range, and the acquisition start sequence is completely overlapped without any sequential start deviation, ensuring that the four types of parameters—positive pedaling force parameters, crank circumferential torque parameters, rotor rotation speed parameters, and motor operating voltage parameters—are recovered and acquired synchronously.

[0059] The four types of parameters collected after recovery are processed in real time. The real-time change value of the pedal positive force parameter and the real-time fluctuation value of the crank circumferential torque parameter within a single cycle are extracted and integrated into complete force detection parameters. At the same time, the real-time operating value of the rotor rotation speed parameter and the real-time stable value of the motor operating voltage parameter within the corresponding time sequence are extracted and integrated into complete operation feedback parameters. The processing retains the original acquisition accuracy of all parameters without numerical deletion or rounding, ensuring that the parameter values ​​are complete and the time sequence is accurate, providing effective data support for subsequent impedance control.

[0060] Based on the standardized real-time force detection parameters and operational feedback parameters, the basic impedance value is first determined by combining the pedaling force-related values. Then, dynamic calibration is completed by combining the speed and voltage-related values ​​to obtain a precise impedance control value. Subsequently, a resistance adaptation command containing the impedance control value and control direction is encapsulated and sent frame by frame to the brushless motor impedance control terminal according to a fixed transmission sequence. After receiving the command, the motor control terminal directly starts the output impedance control action and adjusts the output impedance in real time according to the command value. The parameter acquisition and impedance control are synchronized throughout the process. The actual output impedance is checked against the command setting value in real time to ensure that the motor output impedance control operation is completely restarted and restored to the normal recovery operation state.

[0061] The present invention also provides a control system for a lower limb exercise rehabilitation training machine, used to execute the above-described control method for the lower limb exercise rehabilitation training machine, the control system of the lower limb exercise rehabilitation training machine comprising: The parameter acquisition module is used to start the brushless motor lower limb exercise rehabilitation training machine and collect the force detection parameters of the user's pedaling and the operation feedback parameters of the brushless motor in real time. The impedance command module is used to send resistance adaptation commands to the brushless motor of the lower limb motor rehabilitation training machine based on the force detection parameters and combined with the operation feedback parameters, and to adjust the output impedance of the brushless motor in real time. The monitoring and control module is used to detect the posture signal of the lower limb motor rehabilitation training machine in real time during the continuous operation of the brushless motor output impedance regulation; when an abnormal posture signal is detected, the brushless motor emergency stop command is immediately triggered; the alarm mechanism is activated simultaneously, the power output of the brushless motor is cut off, and the acquisition of force detection parameters and operation feedback parameters is stopped. The adjustment restart module is used to cumulatively monitor the continuous running time of the brushless motor during normal operation of the brushless motor output impedance regulation. When the cumulative monitoring value reaches the set threshold, the brushless motor standby protection is automatically triggered, and the power output is forcibly cut off. After the standby protection timer ends, the real-time acquisition of the force detection parameters and operation feedback parameters is restored, and the brushless motor output impedance regulation operation is restarted.

[0062] Please see Figure 2 This is a structural component diagram of a lower limb motor rehabilitation training machine. The components listed are as follows: 1. Battery, providing power to the machine; 2. Wireless remote control, used for remote operation; 3. Display screen, showing real-time operating parameters and status; 4. Leather handle for easy transport; 5. Main body, supporting all core functional components; 6. Metal crank, transmitting pedaling torque and collecting torque data; 7. Foot pedals, for user pedaling and collecting pedaling force data; 8. Base, providing stable support for the machine; 9. Hex socket screws, securing the base to the main body; 10. Handle, helping the user maintain balance; 11. Emergency stop button, used to trigger emergency stop and alarm.

[0063] Specifically, the positive pedaling force parameters of the lower limb motor rehabilitation training machine are collected by the foot pedal 7. Its force-bearing surface is divided into a central force-bearing area and an outer ring force-bearing area according to concentric circles. The pedaling force parameters of different areas are collected in each area and then integrated into the total pedaling force parameter. Simultaneously, the numerical changes in the rising, peak, and falling phases of the pedaling force within a single pedaling cycle are captured. The circumferential torque parameters of the crank are collected by the metal crank 6. As the crank rotates, torque parameters at different positions are collected according to angle intervals and integrated into the total torque parameter. The maximum and minimum torque values ​​within a single rotation are extracted. When the brushless motor power is cut off, the device starts a 20-40 minute standby protection countdown with an accuracy of 0.1 seconds. After the countdown ends, parameter collection automatically resumes: the foot pedal 7 resumes zoned pedaling force collection, and the metal crank 6 resumes angled torque collection. Simultaneously, motor speed and voltage data are collected at a sampling frequency of 40-60Hz. The normalized force and operating parameters will be used to calculate the impedance control value, generate resistance adaptation instructions and send them to the motor, and adjust the output impedance in real time so that the lower limb motor rehabilitation training machine can be restored to normal rehabilitation operation.

[0064] Please see Figure 3 This is a schematic diagram of a lower limb motor rehabilitation training machine. The side features a power button and status indicator lights for easy monitoring of the device's operating status. A charging port or data transfer port is located below. A leather handle on top facilitates carrying and moving the machine. Metal cranks extend from both sides, connecting to foot pedals with straps. The straps secure the user's feet, preventing slippage, and accurately collect data on pedaling force.

[0065] Therefore, the embodiments should be considered as exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of the equivalents of the application are intended to be included within the invention.

[0066] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. A control method for a lower limb motor rehabilitation training machine, characterized in that, Includes the following steps: Step S1: Start the brushless motor lower limb exercise rehabilitation training machine and collect the force detection parameters of the user's pedaling and the operation feedback parameters of the brushless motor in real time; Step S2: Based on the force detection parameters and combined with the operation feedback parameters, send a resistance adaptation command to the brushless motor of the lower limb motor rehabilitation training machine to adjust the output impedance of the brushless motor in real time. Step S3: During the continuous operation of the brushless motor output impedance regulation, the posture signal of the lower limb motor rehabilitation training machine is detected in real time; when an abnormal posture signal is detected, the brushless motor emergency stop command is immediately triggered; the alarm mechanism is activated simultaneously, the power output of the brushless motor is cut off, and the collection of force detection parameters and operation feedback parameters is stopped. Step S4: When the brushless motor is running with its output impedance under normal control, the continuous running time of the brushless motor is monitored cumulatively. When the cumulative monitored values ​​reach the set threshold, the brushless motor standby protection is automatically triggered, forcibly cutting off the power output; After the standby protection timer ends, the real-time acquisition of force detection parameters and operation feedback parameters resumes, and the brushless motor output impedance regulation operation restarts.

2. The control method for the lower limb motor rehabilitation training machine according to claim 1, characterized in that, In step S1, the real-time acquisition of the user's pedaling force detection parameters and the brushless motor's operating feedback parameters specifically includes: Collect the positive pedal force parameters and crank circumferential torque parameters of the user when pedaling. Collect the real-time values ​​of the positive pedal force parameters and crank circumferential torque parameters segment by segment according to the pedaling action cycle to obtain the force detection parameters of the user's pedaling. The rotor rotation speed parameters and motor operating voltage parameters of the brushless motor are collected. The dynamic values ​​of the rotor rotation speed parameters and motor operating voltage parameters are collected synchronously with the operating status of the brushless motor to obtain the operating feedback parameters of the brushless motor. The acquisition of force detection parameters and operation feedback parameters is initiated synchronously, and the acquisition time points correspond to the timing of pedaling actions and motor operation.

3. The control method for the lower limb motor rehabilitation training machine according to claim 2, characterized in that, The parameters of the user's positive pedal force and the crank circumferential torque during pedaling include: The positive pedal force parameters are collected in zones according to the force-bearing area of ​​the pedal, and the pedal force parameters of different force-bearing areas are obtained and integrated into the total pedal force parameters. The crank circumferential torque parameters are collected at different angles according to the crank rotation angle, and the torque parameters at different angles are integrated into the total torque parameters.

4. The control method for the lower limb motor rehabilitation training machine according to claim 3, characterized in that, The data collection also includes parameters of the user's positive pedaling force and crank circumferential torque during pedaling. When collecting the positive pedal force parameters, capture the values ​​of the upward segment of the pedal force, the peak value of the pedal force, and the downward segment of the pedal force in a single pedaling action, and collect complete data on the change of pedal force in a single cycle. When collecting crank circumferential torque parameters, the maximum and minimum torque values ​​are captured during one revolution of the crank to collect complete single-cycle torque fluctuation data.

5. The control method for the lower limb motor rehabilitation training machine according to claim 4, characterized in that, The following triggering mechanism is used to collect the force detection parameters of the user's pedaling and the operation feedback parameters of the brushless motor in real time in step S1: The acquisition of the positive pedal force parameter and the circumferential crank torque parameter is linked and triggered. The acquisition of the crank torque parameter is started simultaneously when the pedal force is applied. The acquisition of the rotor speed parameters of the brushless motor and the motor operating voltage parameters is linked and triggered. The motor starts to generate speed as the acquisition start signal, and the acquisition of motor voltage parameters is started synchronously.

6. The control method for the lower limb motor rehabilitation training machine according to claim 5, characterized in that, Step S2 includes the following steps: The basic value for impedance control is determined by taking the positive pedal force parameter as the core parameter and combining it with the crank circumferential torque parameter. Using rotor speed parameters as auxiliary parameters, and combining them with motor operating voltage parameters, the basic value of impedance regulation is dynamically calibrated. Based on the calibrated impedance control value, a resistance adaptation command is generated, and the command is sent frame by frame to the impedance control terminal of the brushless motor according to the motor's running sequence.

7. The control method for the lower limb motor rehabilitation training machine according to claim 6, characterized in that, In step S2, sending a resistance adaptation command to the brushless motor of the lower limb motor rehabilitation training machine specifically involves: Extract the peak value of the pedaling force and the maximum value of the torque from the force detection parameters, integrate them into force characteristic values ​​and use them as the core parameters for resistance adaptation; The average speed and voltage stability values ​​are extracted from the operation feedback parameters, integrated into operation characteristic values, and used as auxiliary parameters for resistance adaptation. The corresponding resistance adaptation command is generated based on the matching relationship between the force characteristic value and the running characteristic value.

8. The control method for the lower limb motor rehabilitation training machine according to claim 1, characterized in that, In step S3, the posture signals of the lower limb motor rehabilitation training machine are detected in real time; When an abnormal posture signal is detected, the brushless motor is immediately triggered to stop. Specifically, the horizontal tilt signal and longitudinal offset signal of the bicycle body are detected according to the preset spatial dimension and combined into the overall posture signal of the bicycle. The monitored attitude signal is continuously compared with the preset safe attitude threshold. If it exceeds the safe attitude threshold, it is immediately identified as an abnormal attitude signal. An emergency stop control signal for the brushless motor is generated based on the abnormal posture signal and directly transmitted to the motor operation control terminal of the lower limb motor rehabilitation training machine to trigger an emergency stop command.

9. The control method for the lower limb motor rehabilitation training machine according to claim 1, characterized in that, In step S4, the continuous running time of the brushless motor is cumulatively monitored; When the cumulative monitoring value reaches the set threshold, the brushless motor standby protection is automatically triggered, and the power output is forcibly cut off. Specifically, the actual running time of the brushless motor is continuously monitored with the motor starting impedance adjustment as the starting point, and the cumulative value is updated in real time according to the actual running time. The cumulative monitoring value is matched and judged in real time with the preset motor continuous operation threshold. When the cumulative monitoring value reaches the motor continuous operation threshold, a standby protection trigger signal is immediately generated. The motor standby protection program is activated based on a trigger signal, which forcibly cuts off the motor's power output by disconnecting the motor's power drive circuit.

10. A control system for a lower limb motor rehabilitation training machine, characterized in that, For executing the control method of the lower limb motor rehabilitation training machine as described in claim 1, the control system of the lower limb motor rehabilitation training machine includes: The parameter acquisition module is used to start the brushless motor lower limb exercise rehabilitation training machine and collect the force detection parameters of the user's pedaling and the operation feedback parameters of the brushless motor in real time. The impedance command module is used to send resistance adaptation commands to the brushless motor of the lower limb motor rehabilitation training machine based on the force detection parameters and combined with the operation feedback parameters, and to adjust the output impedance of the brushless motor in real time. The monitoring and control module is used to detect the posture signal of the lower limb motor rehabilitation training machine in real time during the continuous operation of the brushless motor output impedance regulation; when an abnormal posture signal is detected, the brushless motor emergency stop command is immediately triggered; the alarm mechanism is activated simultaneously, the power output of the brushless motor is cut off, and the acquisition of force detection parameters and operation feedback parameters is stopped. The adjustment restart module is used to cumulatively monitor the continuous running time of the brushless motor during normal operation of the brushless motor output impedance regulation. When the cumulative monitoring value reaches the set threshold, the brushless motor standby protection is automatically triggered, and the power output is forcibly cut off. After the standby protection timer ends, the real-time acquisition of the force detection parameters and operation feedback parameters is restored, and the brushless motor output impedance regulation operation is restarted.

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