A key adjustment method and device of a rehabilitation training device and a medium

Abstract

The application discloses a key adjustment method and device of a rehabilitation training device and a medium, relates to the field of medical devices, and solves the problems of low adjustment accuracy and easy overreach. The key pressing duration is used to identify the operation tendency of a user, the adjustment process is divided into at least three stages according to the comparison result of the key pressing duration and at least two time threshold values, and the adjustment rate of each stage is increased in turn with the increase of the duration, so that the adjustment efficiency and the adjustment accuracy are considered. The boundary distance between the current parameter value and the safety boundary value is calculated in real time, and the adjustment rate is forced to decrease to a preset safety adjustment rate when the boundary distance is less than or equal to a preset distance threshold value, so that the overshoot phenomenon is avoided. The adjustment is stopped when the current parameter value reaches the safety boundary value, so that it is ensured that the parameter adjustment will not be overlimited. When it is determined that the safety coupling range is exceeded, a safety response operation is performed on the current adjustment parameter or the associated parameter, so that each parameter can be limited for active adjustment and can be corrected for passive parameters.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular to a method, device and medium for adjusting buttons on a rehabilitation training device. Background Technology

[0002] Rehabilitation training equipment (such as three-dimensional composite motion training tables and balance training devices) is widely used in the rehabilitation treatment of patients with nerve injuries and bone and joint diseases. In clinical use, therapists need to adjust multiple operating parameters such as rotation speed, tilt angle, and training time in real time through the buttons on the device's handle, according to the patient's recovery progress.

[0003] Currently, parameter adjustment for this type of equipment mainly employs three methods: First, step-by-step adjustment, where each button press changes the parameter by a fixed step size. Adjusting from the minimum to the maximum value often requires dozens or even hundreds of button presses, making the operation extremely cumbersome. Second, simple long-press continuous adjustment, where the parameter changes continuously at a constant speed after the button is pressed for a certain period. However, because the speed is fixed, users are prone to over-adjusting and repeatedly reverting back. Third, two-level adjustment, distinguishing between short-press step-by-step and long-press continuous adjustment, but the continuous adjustment speed remains fixed, the switching between coarse and fine adjustments is abrupt, and it is difficult to stop precisely when approaching the target value. In existing equipment, the parameter adjustment mechanism and safety protection mechanism are independent, lacking linkage constraints; boundary protection is only passively triggered when the parameter reaches its limit, often resulting in users exceeding the limit due to insufficient reaction time; large-angle tilt during high-speed rotation may cause patients to fall, and there are no effective preventative measures for the complex safety hazards caused by such parameter coupling.

[0004] Therefore, providing a safe and intelligent regulation method that can balance regulation efficiency and accuracy and establish linkage constraints is a technical problem that urgently needs to be solved by those in the field. Summary of the Invention

[0005] The purpose of this application is to provide a method, device, and medium for adjusting the buttons of a rehabilitation training device, thereby solving the problems of low adjustment accuracy and easy overshooting in existing systems.

[0006] To address the aforementioned technical problems, this application provides a method for adjusting the buttons on a rehabilitation training device, comprising: The duration of the press of the current adjustment button is detected, and the current adjustment parameter and at least one associated parameter corresponding to the adjustment button are obtained. Based on the comparison results between the button press duration and at least two time thresholds, the adjustment process of the current adjustment parameter is divided into at least three stages, each of which corresponds to a different adjustment rate, and the adjustment rate increases sequentially with the increase of the button press duration. Calculate in real time the boundary distance between the current parameter value and the safety boundary value of the current adjustment parameter; When the boundary distance is less than or equal to a preset distance threshold, the adjustment rate of the current adjustment parameter is forcibly reduced to a preset safe adjustment rate. When the current parameter value of the current adjustment parameter reaches the safety boundary value, the adjustment of the current adjustment parameter is stopped; Based on the preset safety coupling function between the current adjustment parameter and the associated parameter, it is detected in real time whether the safety coupling range is exceeded, and when it is determined that the safety coupling range is exceeded, a safety response operation is performed on the current adjustment parameter and / or the associated parameter.

[0007] Optionally, in the above-mentioned method for adjusting the buttons on the rehabilitation training device, the at least three stages include: In the first adjustment phase, when the button press duration is less than the first time threshold, the current adjustment parameter is adjusted in unit steps. In the second adjustment phase, when the button press duration is greater than or equal to the first time threshold and less than the second time threshold, the current adjustment parameter is continuously adjusted at the first adjustment rate. In the third adjustment stage, when the button press duration is greater than or equal to the second time threshold, the current adjustment parameter is continuously adjusted at the second adjustment rate. Wherein, the second adjustment rate is greater than the first adjustment rate, and when a button release operation is detected at any stage, the adjustment of the current adjustment parameter is immediately stopped.

[0008] Optionally, in the above-mentioned method for adjusting the buttons of the rehabilitation training device, the step of forcibly reducing the adjustment rate of the current adjustment parameter to a preset safe adjustment rate when the boundary distance is less than or equal to a preset distance threshold further includes: While forcibly reducing the current adjustment rate to the preset safe adjustment rate, a tactile feedback signal or an auditory prompt signal is output.

[0009] Optionally, in the above-mentioned method for adjusting the buttons of the rehabilitation training device, when the current parameter value of the current adjustment parameter reaches the safety boundary value, the adjustment of the current adjustment parameter is stopped, further comprising: Disable the same-direction operation of the currently adjusted button and maintain the parameter value of the currently adjusted parameter unchanged.

[0010] Optionally, in the above-mentioned button adjustment method for rehabilitation training equipment, when the current adjustment parameter is the rotation speed parameter, the associated parameter is the tilt angle parameter; the preset safety coupling function is: the first safety coupling function between the rotation speed and the maximum allowable tilt angle; When the current adjustment parameter is the tilt angle parameter, the associated parameter is the rotation speed parameter; the preset safety coupling function is: the second safety coupling function between the current tilt angle and the maximum allowable rotation speed.

[0011] Optionally, in the above-mentioned button adjustment method for rehabilitation training equipment, the safety response operation includes at least one of the following: Reject the current adjustment instruction; Adjust the current adjustment parameter and / or the associated parameter to the target value within the safe coupling range; Send a notification message to the user.

[0012] Optionally, the button adjustment method for the above-mentioned rehabilitation training equipment further includes: Detect the remaining time in the timed training mode; When the remaining time is less than or equal to a preset time threshold, the current adjustment parameter is controlled to decrease to zero in a linear manner.

[0013] To address the aforementioned technical problems, this application also provides a button adjustment device for a rehabilitation training equipment, comprising: The detection module is used to detect the duration of the current adjustment button press and to obtain the current adjustment parameter and at least one associated parameter corresponding to the adjustment button. The adjustment module is used to divide the adjustment process of the current adjustment parameter into at least three stages based on the comparison results of the button press duration and at least two time thresholds. The at least three stages correspond to different adjustment rates, and the adjustment rate increases sequentially with the increase of the button press duration. The monitoring module is used to calculate in real time the boundary distance between the current parameter value and the safety boundary value of the current adjustment parameter; The deceleration module is used to force the adjustment rate of the current adjustment parameter to a preset safe adjustment rate when the boundary distance is less than or equal to a preset distance threshold. A protection module is used to stop adjusting the current adjustment parameter when the current parameter value of the current adjustment parameter reaches the safety boundary value; The linkage constraint module is used to detect in real time whether the current adjustment parameter and the associated parameter exceed the safety coupling range according to the preset safety coupling function between the current adjustment parameter and the associated parameter, and to perform a safety response operation on the current adjustment parameter and / or the associated parameter when it is determined that the safety coupling range is exceeded.

[0014] To address the aforementioned technical problems, this application also provides a button adjustment device for a rehabilitation training equipment, comprising: Memory, used to store computer programs; The processor is used to execute the computer program to implement the steps of the above-described method for adjusting the buttons of the rehabilitation training device.

[0015] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described method for adjusting the buttons on a rehabilitation training device.

[0016] The button adjustment method for the rehabilitation training device provided in this application detects the button press duration and obtains the current adjustment parameters and related parameters. The button press duration is used to identify the user's operating tendencies. Based on the comparison results of the button press duration with at least two time thresholds, the adjustment process is divided into at least three stages, with the adjustment rate of each stage increasing sequentially with the press duration. Therefore, fine-tuning can be achieved with short presses and coarse-tuning with long presses, balancing adjustment efficiency and accuracy. By calculating the boundary distance between the current parameter value and the safety boundary value in real time, the adjustment rate is forcibly reduced to a preset safe adjustment rate when the boundary distance is less than or equal to a preset distance threshold, automatically decelerating to avoid overshooting. Adjustment stops when the current parameter value reaches the safety boundary value, thus ensuring that parameter adjustment does not exceed limits and protecting the mechanical structure of the device and the patient's safety. A preset safe coupling function between the current adjustment parameters and related parameters is used to detect whether the safe coupling range is exceeded in real time, to determine whether there is a potential coupling risk between multiple parameters such as speed and angle. When the safe coupling range is exceeded, a safety response operation is performed on the current adjustment parameter or related parameter, allowing each parameter to both limit active adjustment and correct passive parameters. This application achieves both high-efficiency adjustment speed and accurate adjustment results while ensuring system security.

[0017] In addition, this application also provides a device and medium that correspond to the button adjustment method of the above-mentioned rehabilitation training equipment, with the same effect. Attached Figure Description

[0018] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This application provides a flowchart of a button adjustment method for a rehabilitation training device. Figure 2 This application provides a rate-time curve diagram for multi-stage adaptive continuous adjustment. Figure 3This application provides a schematic diagram of a dynamic speed regulation protection principle based on boundary distance. Figure 4 This application provides a speed-angle mapping curve for an embodiment of the present application; Figure 5 An angle-velocity mapping curve is provided for embodiments of this application; Figure 6 A structural diagram of a button adjustment device for a rehabilitation training equipment provided in this application embodiment; Figure 7 This is a structural diagram of the button adjustment device of another rehabilitation training device provided in an embodiment of this application. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0021] The core of this application is to provide a method, device, and medium for adjusting the buttons of a rehabilitation training device.

[0022] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] This application provides a method for adjusting the buttons on a rehabilitation training device, such as... Figure 1 As shown, it includes: S11: Detect the duration of the current adjustment button press, and obtain the current adjustment parameter corresponding to the adjustment button, and at least one associated parameter; S12: Based on the comparison results between the button press duration and at least two time thresholds, the adjustment process of the current adjustment parameter is divided into at least three stages, each of which corresponds to a different adjustment rate, and the adjustment rate increases sequentially with the increase of the button press duration. S13: Calculate the boundary distance between the current parameter value and the safety boundary value of the current adjustment parameter in real time; S14: When the boundary distance is less than or equal to the preset distance threshold, the adjustment rate of the current adjustment parameter is forcibly reduced to the preset safe adjustment rate; S15: When the current parameter value of the current adjustment parameter reaches the safety boundary value, stop adjusting the current adjustment parameter; S16: Based on the preset safety coupling function between the current adjustment parameter and the associated parameter, detect in real time whether the safety coupling range is exceeded, and perform a safety response operation on the current adjustment parameter and / or associated parameter when it is determined that the safety coupling range is exceeded.

[0024] The button adjustment method for rehabilitation training equipment provided in this embodiment is applied to rehabilitation training equipment, which can be a three-dimensional composite motion training platform or a balance training device. In actual operation scenarios, users adjust training parameters, such as rotation speed, tilt angle, or training time, through physical buttons or touch buttons on the device handle. The method in this embodiment achieves intelligent parameter adjustment control by detecting user button press behavior.

[0025] First, it's important to clarify that "current adjustment button" refers to the adjustment command input device triggered by the user through physical or virtual buttons on the device's handle or control panel. "Current adjustment parameter" refers to the operating parameter the user is currently actively adjusting via the button, such as rotation speed or tilt angle. "Associated parameter" refers to other operating parameters that have a preset safety coupling function relationship with the current adjustment parameter; for example, when the current adjustment parameter is rotation speed, the associated parameter could be tilt angle.

[0026] The step of detecting the duration of the current adjustment button press involves the system continuously monitoring the user's actions on a specific adjustment button, starting the timer from the moment the button is pressed until it is released or the press ends. Simultaneously, the system acquires the current adjustment parameter corresponding to that button; for example, if the user presses the angle adjustment button, the current adjustment parameter is the tilt angle parameter. Furthermore, the system acquires at least one associated parameter; for example, when the current adjustment parameter is rotation speed, the associated parameter could be the tilt angle parameter; and vice versa. The purpose of this step is to establish a foundation for the interconnected perception of parameters, enabling the system to not only know what parameter the user is adjusting but also the coupling relationship between that parameter and other safety-related parameters.

[0027] Based on the comparison results between the button press duration and at least two time thresholds, the adjustment process of the current adjustment parameter is divided into at least three stages. It should be noted that the time thresholds are preset time demarcation points in the device control system, used to distinguish different user adjustment intentions. The time thresholds for at least two stages divide the adjustment process into at least three stages, each corresponding to a different adjustment rate, with the adjustment rate increasing sequentially with the button press duration. This step means that the system automatically determines whether the user wants fine-tuning or rapid adjustment based on the length of time the button is pressed, and automatically matches the corresponding adjustment rate, without requiring the user to perform any additional mode switching.

[0028] The system calculates the boundary distance between the current parameter value and the safety boundary value in real time. The safety boundary value refers to the maximum or minimum value that the current adjustment parameter is allowed to reach; for example, the safety boundary value for the tilt angle can be +15 degrees or -15 degrees. The boundary distance is the absolute value of the difference between the current parameter value and the safety boundary value, used to quantify the margin of safety between the current parameter value and the limit state.

[0029] When the boundary distance is less than or equal to a preset distance threshold, the adjustment rate of the current adjustment parameter is forcibly reduced to a preset safe adjustment rate. This step means that the system does not wait until the current adjustment parameter reaches the safe boundary value before taking protective measures, but actively reduces the adjustment rate when there is still a certain margin between the current adjustment parameter and the safe boundary value. This provides a deceleration buffer for the mechanical inertia of the equipment and the user's reaction delay, thereby achieving soft-landing boundary protection.

[0030] When the current value of the currently adjustable parameter reaches the safety boundary value, adjustment of the current parameter stops. This step means that when the parameter value reaches the limit, the system performs a final shutdown to prevent parameter exceeding the limit from causing equipment damage or patient safety risks.

[0031] Based on the preset safety coupling function between the current adjustment parameters and related parameters, the system detects in real time whether the safety coupling range has been exceeded. The preset safety coupling function refers to the mathematical mapping relationship describing the safety constraints between two or more operating parameters, such as the correspondence between rotational speed and the maximum allowable tilt angle. The safety coupling range refers to the safe area for parameter combinations defined by the preset safety coupling function. This step means that the system not only monitors whether a single parameter exceeds its limit, but also monitors in real time whether the combined state of multiple parameters is within the safe area, thereby identifying hidden risk states where individual parameters are safe but the combination is dangerous.

[0032] When a system determines that the parameter combination is outside the safe coupling range, it performs a safety response operation on the currently adjusted parameter and / or associated parameters. This step means that when a safety risk is detected in the parameter combination, the system can restrict only the currently adjusted parameter, adjust only the associated parameters, or adjust both simultaneously to restore the parameter combination to the safe coupling range.

[0033] The button adjustment method for rehabilitation training equipment provided in this application detects the button press duration and obtains the current adjustment parameters and related parameters. The button press duration is used to identify the user's operating tendencies. Based on the comparison results of the button press duration with at least two time thresholds, the adjustment process is divided into at least three stages, with the adjustment rate of each stage increasing sequentially with the press duration. Therefore, fine-tuning can be achieved with short presses and coarse-tuning with long presses, balancing adjustment efficiency and accuracy. By calculating the boundary distance between the current parameter value and the safety boundary value in real time, the adjustment rate is forcibly reduced to a preset safe adjustment rate when the boundary distance is less than or equal to a preset distance threshold, automatically decelerating to avoid overshooting. Adjustment stops when the current parameter value reaches the safety boundary value, thus ensuring that parameter adjustment does not exceed limits and protecting the mechanical structure of the equipment and the patient's safety. A preset safe coupling function between the current adjustment parameters and related parameters is used to detect in real time whether the safe coupling range is exceeded, in order to determine whether there is a potential coupling risk between multiple parameters such as speed and angle. When it is determined that the safe coupling range is exceeded, a safety response operation is performed on the current adjustment parameter or related parameter, so that each parameter can both limit active adjustment and correct passive parameters. This application achieves both high-efficiency adjustment speed and accurate adjustment results while ensuring system security.

[0034] This embodiment further defines the specific division of the three adjustment stages based on the above embodiments, and the three stages include at least: In the first adjustment phase, when the button press duration is less than the first time threshold, the current adjustment parameter is adjusted in unit steps. In the second adjustment phase, when the button press duration is greater than or equal to the first time threshold and less than the second time threshold, the current adjustment parameter is continuously adjusted at the first adjustment rate. In the third adjustment stage, when the button press duration is greater than or equal to the second time threshold, the current adjustment parameter is continuously adjusted at the second adjustment rate. The second adjustment rate is greater than the first adjustment rate, and the adjustment of the current adjustment parameter is immediately stopped when a button release operation is detected at any stage.

[0035] like Figure 2 As shown, Figure 2The horizontal axis represents the button press duration, and the vertical axis represents the adjustment rate. The graph is marked with two dividing points: a first time threshold T1 and a second time threshold T2, dividing the curve into three regions. The region to the left of the first time threshold T1 corresponds to the first adjustment stage, where the adjustment rate remains at a unit step, represented by a fixed point on the rate axis. The region between the first time threshold T1 and the second time threshold T2 corresponds to the second adjustment stage, where the adjustment rate jumps to the first adjustment rate and remains constant. The region to the right of the second time threshold T2 corresponds to the third adjustment stage, where the adjustment rate further jumps to the second adjustment rate and remains constant.

[0036] When the button press duration is less than a first time threshold, the system controls the current adjustment parameter to be adjusted in unit steps. That is, each button press increases the change by a fixed minimum amount, for example, the angle parameter increases by 1 degree each time, and the speed parameter increases by 1 level each time. This step corresponds to the user's tap operation and is used to achieve precise fine-tuning.

[0037] When the button press duration is greater than or equal to a first time threshold and less than a second time threshold, the system controls the current adjustment parameter to be continuously adjusted at a first adjustment rate, such as increasing by 5 degrees per second or increasing by 2 levels per second. This step corresponds to a medium-duration press by the user, used to achieve smooth coarse adjustment.

[0038] When the button press duration is greater than or equal to the second time threshold, the system controls the current adjustment parameter to be continuously adjusted at a second adjustment rate, where the second adjustment rate is greater than the first adjustment rate, for example, increasing by 15 degrees per second or increasing by 5 increments per second. This step corresponds to the user's sustained long press operation and is used to achieve coarse adjustments that quickly traverse a large adjustment range. As shown in Table 1, a specific division method of the three adjustment stages is provided.

[0039] Table 1. Specific division of the three adjustment stages

[0040] Furthermore, at any adjustment stage, the system immediately stops adjusting the current parameter as soon as it detects the button being released. In other words, the adjustment action strictly follows the user's pressing behavior; continuous pressing results in continuous changes, and the changes stop immediately upon the pressing is released. Because three progressively increasing adjustment rate levels are provided, and the adjustment stops upon release, users can flexibly switch between rapid adjustment and precise positioning by controlling the pressing duration and the timing of release, without requiring additional mode selection.

[0041] Because this embodiment associates the three stages with specific time thresholds and adjustment rates, the multi-stage adaptive speed adjustment mechanism has clear feasibility. However, it should be noted that the specific values ​​of the first time threshold, second time threshold, first adjustment rate, second adjustment rate, and unit step size mentioned above are only illustrative examples and do not represent a strict limitation imposed by this embodiment. In practical applications, the above values ​​can be adjusted accordingly based on the mechanical characteristics and response speed of different rehabilitation training devices, as well as the patient's usage habits.

[0042] According to the above embodiments, a feedback output mechanism is further added to the boundary deceleration process. When the boundary distance is less than or equal to a preset distance threshold, the adjustment rate of the current adjustment parameter is forcibly reduced to a preset safe adjustment rate. The mechanism also includes: While forcibly reducing the current adjustment rate to a preset safe adjustment rate, it outputs a tactile feedback signal or an auditory prompt signal.

[0043] When the boundary distance is less than or equal to a preset distance threshold, such as 3 degrees, the system forcibly reduces the current adjustment rate to a preset safe adjustment rate, such as 1 degree per second, while outputting a tactile feedback signal or an auditory prompt signal. The tactile feedback signal can be vibration feedback from the device handle, and the auditory prompt signal can be a buzzer or a voice prompt.

[0044] refer to Figure 3 , Figure 3 This is a schematic diagram of dynamic speed regulation protection based on boundary distance. Figure 3 The horizontal axis represents the current parameter value, and the vertical axis represents the adjustment rate. The graph shows the preset safe adjustment rate V_safe and the preset distance threshold D_threshold. In the region where the current parameter value is far from the safe boundary value, the adjustment rate remains at the normal adjustment rate corresponding to the current stage. When the current parameter value enters the region within the safe boundary value D_threshold (i.e., the boundary distance is less than or equal to the preset distance threshold), the adjustment rate is forcibly reduced to the preset safe adjustment rate V_safe, forming a clear deceleration zone. When the current parameter value reaches the safe boundary value, the adjustment rate drops to zero, indicating that adjustment has stopped.

[0045] This step refers to the system automatically reducing the adjustment rate when it triggers early intervention at the boundary. It also transmits status change information to the user through multi-sensory channels, allowing the user to intuitively perceive that they have entered the boundary deceleration zone. Since users may be focused on the patient's recovery status or the device screen during actual operation, simple rate changes may not be noticed in time. Therefore, adding feedback signals can effectively improve the user's perception of the system status and prevent users from continuously pressing buttons due to a lack of awareness of rate changes, thus reducing adjustment efficiency.

[0046] Furthermore, the introduction of feedback signals can also serve as a confirmation mechanism in human-computer interaction, allowing users to clearly understand that the system is performing a safety protection action, rather than indicating a device malfunction or response delay. This embodiment does not impose strict limitations on the specific vibration mode of the tactile feedback signal or the specific tone and volume of the auditory prompt signal; it can be continuous vibration or intermittent vibration, and it can be a single prompt tone or a gradually changing prompt tone.

[0047] Based on the above embodiments, the operation after the boundary is reached is further defined. When the current parameter value of the current adjustment parameter reaches the safe boundary value, the adjustment of the current adjustment parameter is stopped, which further includes: Disable the same-direction operation of the currently adjusted button and maintain the parameter value of the currently adjusted parameter unchanged.

[0048] When the current value of the adjustment parameter reaches a safe boundary value, such as when the tilt angle reaches +15 degrees or -15 degrees, the system not only stops adjusting the current parameter but also further disables any subsequent operations of the currently adjusted button. In other words, if the user has been pressing the button to increase the tilt angle, once the tilt angle reaches +15 degrees, any further operations of that button will be ignored by the system, and the tilt angle will not continue to increase regardless of how long the user presses the button.

[0049] At the same time, the system maintains the current adjustment parameter value unchanged, that is, keeps the current tilt angle at ±15 degrees, neither increasing it further nor automatically regressing. This step refers to the system using a software-level instruction filtering mechanism to prevent users from accidentally exceeding the parameter limits due to misoperation or habitual long presses, thereby protecting the device's mechanical structure from impact and preventing harm to the patient due to sudden parameter changes.

[0050] Since the shielding of unidirectional operation is unidirectional, the reverse operation remains effective. For example, when the tilt angle reaches ±15 degrees, the increase button is shielded, but the decrease button still responds normally. The user can use the reverse button to adjust the parameter away from the boundary and restore the bidirectional adjustment capability. This embodiment does not strictly limit the specific implementation of the shielding mechanism; it can be achieved by ignoring button signals through the interrupt controller or by blocking the transmission of adjustment commands through status flags.

[0051] The above embodiments only provide a general definition of a preset safety coupling function between the current adjustment parameter and the associated parameter. This embodiment further specifies this function as a bidirectional coupling relationship between rotational speed and tilt angle. When the current adjustment parameter is the rotational speed parameter, the associated parameter is the tilt angle parameter; the preset safety coupling function is: a first safety coupling function between the rotational speed and the maximum allowable tilt angle. When the current adjustment parameter is the tilt angle parameter, the associated parameter is the rotation speed parameter; the preset safety coupling function is: the second safety coupling function between the current tilt angle and the maximum allowable rotation speed.

[0052] Table 2 illustrates a constraint relationship between parameters provided in an embodiment of this application. As shown in Table 2, when the current adjustment parameter is the rotation speed parameter, the associated parameter is the tilt angle parameter. In this case, the preset safety coupling function is the first safety coupling function between the rotation speed and the maximum allowable tilt angle. The first safety coupling function describes the maximum allowable tilt angle when the current rotation speed is a certain value or a certain range.

[0053] When the current adjustment parameter is the tilt angle parameter, the associated parameter is the rotation speed parameter. In this case, the preset safety coupling function is the second safety coupling function between the current tilt angle and the maximum permissible rotation speed. The second safety coupling function describes the maximum permissible rotation speed when the current tilt angle is a certain value or a certain range.

[0054] Table 2. Constraints between parameters

[0055] As shown in Table 3, for example, the maximum permissible tilt angle is 15 degrees when the rotation speed is between levels 1 and 3; 12 degrees when the rotation speed is between levels 4 and 6; 8 degrees when the rotation speed is between levels 7 and 8; and 5 degrees when the rotation speed is between levels 9 and 10. (Reference) Figure 4 , Figure 4 This is a graph showing the speed-angle mapping relationship. Figure 4 The horizontal axis represents the rotational speed setting, and the vertical axis represents the maximum permissible tilt angle. This is a graphical representation of the first safety coupling function.

[0056] When the tilt angle is between 0 and 5 degrees, the maximum permissible rotational speed is level 10; when the tilt angle is between 6 and 10 degrees, the maximum permissible rotational speed is level 7; when the tilt angle is between 11 and 13 degrees, the maximum permissible rotational speed is level 4; and when the tilt angle is between 14 and 15 degrees, the maximum permissible rotational speed is level 2. (Reference) Figure 5 , Figure 5 This is a schematic diagram of the angle-velocity mapping relationship. This is a graphical representation of the second safety coupling function.

[0057] Table 3. Specific data on the coupling between parameters

[0058] Since there is a physical coupling relationship between rotation speed and tilt angle, the higher the rotation speed and the larger the tilt angle, the greater the eccentric acceleration experienced by the patient and the higher the risk of falling. Therefore, through the bidirectional constraints of the first safety coupling function and the second safety coupling function, it can be ensured that no matter which parameter the user adjusts, the system can evaluate the safety of the parameter combination in real time and prevent dangerous combinations of high speed and large angle from occurring.

[0059] It should be noted that the above correspondence between gear positions and angles is merely an example and does not represent a strict limitation in this embodiment. In practical applications, the specific mapping relationship between the first and second safety coupling functions can be set according to the mechanical structure of the equipment, the patient's physical condition, and clinical safety standards. Furthermore, the preset safety coupling function can be a discrete piecewise function or a continuous curve function.

[0060] This embodiment defines the specific types of security response operations, which include at least one of the following: Reject the current adjustment instruction; Adjust the current adjustment parameters and / or associated parameters to the target values ​​within the safe coupling range; Send a notification message to the user.

[0061] Rejecting the current adjustment command means that when the system determines that the current adjustment operation will cause the parameter combination to exceed the safe coupling range, it directly ignores the user's current key input and keeps the current adjustment parameter unchanged. For example, when the current tilt angle is 10 degrees and the user attempts to increase the rotation speed from level 3 to level 7, since the maximum allowable tilt angle corresponding to level 7 is 8 degrees, and the current 10 degrees exceeds this range, the system rejects the speed increase command, and the rotation speed remains at level 3.

[0062] Adjusting the current adjustment parameters and / or associated parameters to target values ​​within the safe coupling range means that the system actively corrects the parameters to restore them to the safe range. This step can be to reduce only the current adjustment parameters, such as limiting the rotation speed to the allowable range; it can also be to adjust only the associated parameters, such as automatically reducing the tilt angle from 10 degrees to 8 degrees before allowing the rotation speed to increase to level 7; or it can be to adjust both simultaneously, such as simultaneously reducing the rotation speed and tilt angle so that the parameter combination falls within the safe coupling range.

[0063] Providing users with notifications—that is, informing them via the device's display screen, indicator lights, or sounds—that the current operation cannot be performed due to security restrictions, or that the system has automatically performed security adjustments. This step aims to enhance system transparency, allowing users to understand the reason for the adjustment limitations and preventing them from mistakenly believing the device is malfunctioning.

[0064] This embodiment further adds an automatic pausing function in the timed training mode, and also includes: Detect the remaining time in the timed training mode; When the remaining time is less than or equal to the preset time threshold, the current adjustment parameter is controlled to decrease to zero in a linear manner.

[0065] The system detects the remaining time in the timed training mode, i.e., the remaining countdown time set by the device. When the remaining time is less than or equal to a preset time threshold, the system controls the current adjustment parameter to decrease to zero in a linear manner. The preset time threshold is, for example, 3 seconds or 5 seconds. The linear decrease means that the speed parameter decreases uniformly at a fixed rate of change. For example, if the initial speed is level 8 and the preset time threshold is 5 seconds, the system can control the speed to decrease by 1.6 levels per second, so that the speed drops to level 0 exactly when the remaining time reaches zero. This step aims to mitigate the impact and safety hazards caused by a sudden stop at the end of timed training. In rehabilitation training scenarios, if the device suddenly stops at the end of the timed period, the patient may experience discomfort or even lose balance due to inertia. By triggering linear deceleration in advance, the device begins to gradually decrease speed before the training ends, ensuring that the device has completely stopped when the time reaches zero, and the patient experiences almost no impact. Furthermore, the slow-stop operation at the end of the timed period has higher priority than the user's speed adjustment command; that is, if the user attempts to increase speed during the slow-stop process, the system prioritizes the slow-stop logic to ensure safety. Because of the linear deceleration method, the deceleration process is smooth and controllable, further improving patient comfort and safety.

[0066] Specifically, it also includes: Upon receiving the start command, check whether the current adjustment parameter and the associated parameter are both at their initial parameter values; If either the current adjustment parameter or the associated parameter is not at its initial value, the start command will be refused, and / or the rehabilitation training equipment will be controlled to perform a reset operation.

[0067] When the system receives a start command, it checks whether the currently adjusted parameters and associated parameters are all at their initial values. The start command refers to the signal generated when the user presses the device's start button, which is used to begin executing the preset training program.

[0068] Initial parameter values ​​refer to the parameter values ​​corresponding to the equipment's safe start-up state, such as the speed parameter being at zero, and the angle parameter being at its minimum value or zero degrees. The purpose of this step is to ensure that the equipment is in a mechanically and electrically safe reference state before starting operation. When the system detects that any of the currently adjusted parameters or associated parameters are not at their initial parameter values—for example, the speed setting is not zero, or the tilt angle is not zero degrees—the system executes corresponding protective operations.

[0069] The protective measures include refusing to execute the start command, meaning the device does not respond to the start request and the motor remains stationary. The system can also simultaneously control the rehabilitation training device to perform a reset operation, automatically resetting the speed parameters to zero and the angle parameters to zero degrees before allowing the user to start the device. This step addresses the safety risk posed by users potentially starting the device with non-zero parameters in existing equipment. For example, if the speed is forgotten to be zeroed after the previous training session, the device's sudden high-speed movement upon restarting could potentially injure the patient.

[0070] Because of the mandatory pre-start check and optional automatic reset, the system ensures that the equipment is in an absolutely safe initial state before each training session begins, eliminating potential safety hazards at the start-up moment. For example, in the application scenario of a three-dimensional composite motion training platform, when the user presses the start button, the system first checks whether the current speed level is 0 and the current tilt angle is 0 degrees. If the speed level is 3 and the tilt angle is 5 degrees, the system will not start the motor and will display a prompt message on the handle screen asking the user to first adjust the speed to 0 and the tilt angle to 0 degrees. At the same time, the system can automatically perform a reset operation, gradually reducing the speed level to 0 and gradually adjusting the tilt angle back to 0 degrees. After the reset is completed, the system will automatically start or wait for the user to press the start button again.

[0071] Specifically, when the current adjustment parameter and the associated parameter trigger adjustment simultaneously, the method also includes: The adjustment operation is executed according to a preset priority order, where the preset priority order is: safety boundary protection takes precedence over safety coupling protection, and safety coupling protection takes precedence over button adjustment commands.

[0072] When the current adjustment parameter and the associated parameter trigger adjustment simultaneously, the system executes the adjustment operation according to a preset priority order. The preset priority order is: safety boundary protection takes precedence over safety coupling protection, and safety coupling protection takes precedence over button adjustment commands.

[0073] Specifically, safety boundary protection refers to protective measures triggered based on the distance between the current adjustment parameter and the safety boundary value. For example, it might force a speed reduction when the boundary distance is less than or equal to a preset distance threshold, or stop adjustment when the parameter value reaches the safety boundary value. Safety coupling protection refers to protective measures triggered based on a preset safety coupling function between the current adjustment parameter and associated parameters. For example, it might execute a safety response operation when the parameter combination exceeds the safety coupling range. Button adjustment commands refer to active adjustment requests issued by the user through the current adjustment button.

[0074] Because safety boundary protection directly prevents single parameter out-of-bounds errors, its risks are the most pressing and its consequences the most direct, so it is given the highest priority. Safety coupling protection prevents risks associated with multiple parameter combinations; its risks are conditional and combinatorial, so it is given a secondary priority. Button adjustment commands reflect the user's subjective intent, but should yield to system protection mechanisms in the face of safety constraints, so they are given the lowest priority.

[0075] For example, when a user is increasing the tilt angle by pressing a button, and the system detects that the current tilt angle is approaching the safety boundary value and the combination of the current rotation speed and tilt angle exceeds the safety coupling range, the system will first execute the safety boundary protection, that is, stop the increase of the tilt angle; if the tilt angle has not yet reached the boundary but the combination has exceeded the safety range, then the safety coupling protection will be executed, that is, refuse the increase command or simultaneously reduce the rotation speed; only when neither boundary protection nor coupling protection is triggered will the user's button adjustment command be executed normally.

[0076] Furthermore, when the timed pausing mechanism and security coupling protection are triggered simultaneously, similarly, security boundary protection still takes precedence over security coupling protection, and security coupling protection takes precedence over parameter maintenance instructions in the timed pausing procedure. However, the execution priority of the timed pausing procedure itself is higher than the user's active acceleration instructions. This embodiment further clarifies the relative priorities between different security mechanisms, making the system's behavior deterministic and predictable in complex scenarios.

[0077] It should be noted that the above priority order is exemplary and does not represent a strict limitation in this embodiment. In practical applications, the priority order of each protection mechanism can be adjusted according to the security assessment results, but generally speaking, protection mechanisms that directly prevent physical boundary crossings should take precedence over mechanisms that prevent combined risks, and system protection mechanisms should take precedence over user operation commands.

[0078] In the above embodiments, the button adjustment method for the rehabilitation training equipment has been described in detail. This application also provides embodiments corresponding to the button adjustment device for the rehabilitation training equipment. It should be noted that this application describes the embodiments of the device from two perspectives: one is based on the functional module, and the other is based on the hardware.

[0079] From the perspective of functional modules Figure 6 A structural diagram of a button adjustment device for a rehabilitation training equipment provided in this application embodiment is shown below. Figure 6 As shown, a button adjustment device for a rehabilitation training equipment includes: The detection module 21 is used to detect the pressing duration of the current adjustment button and obtain the current adjustment parameter corresponding to the adjustment button, and at least one associated parameter. The adjustment module 22 is used to divide the adjustment process of the current adjustment parameter into at least three stages based on the comparison results of the button press duration and at least two time thresholds. The at least three stages correspond to different adjustment rates, and the adjustment rate increases sequentially with the increase of the button press duration. Monitoring module 23 is used to calculate in real time the boundary distance between the current parameter value and the safety boundary value of the current adjustment parameter; The deceleration module 24 is used to force the adjustment rate of the current adjustment parameter to a preset safe adjustment rate when the boundary distance is less than or equal to a preset distance threshold. The protection module 25 is used to stop adjusting the current adjustment parameter when the current parameter value of the current adjustment parameter reaches the safety boundary value; The linkage constraint module 26 is used to detect in real time whether the safety coupling range is exceeded based on the preset safety coupling function between the current adjustment parameter and the associated parameter, and to perform a safety response operation on the current adjustment parameter and / or the associated parameter when it is determined that the safety coupling range is exceeded.

[0080] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0081] Figure 7 A structural diagram of the button adjustment device for another rehabilitation training device provided in this application embodiment is shown below. Figure 7 As shown, the button adjustment device of the rehabilitation training equipment includes: a memory 30 for storing computer programs; The processor 31 is used to execute a computer program to implement the steps of the method for obtaining user operation habit information as described in the above embodiment (button adjustment method for rehabilitation training equipment).

[0082] The button adjustment device of the rehabilitation training equipment provided in this embodiment may include, but is not limited to, mobile terminals, personal computers, workstations, etc.

[0083] The processor 31 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 31 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 31 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 31 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 31 may also include an Artificial Intelligence (AI) processor, which handles computational operations related to machine learning.

[0084] The memory 30 may include one or more computer-readable storage media, which may be non-transitory. The memory 30 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 30 is used to store at least the following computer program 301, which, after being loaded and executed by the processor 31, is capable of implementing the relevant steps of the button adjustment method for the rehabilitation training device disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 30 may also include an operating system 302 and data 303, and the storage method may be temporary or permanent storage. The operating system 302 may include Windows, Unix, Linux, etc. The data 303 may include, but is not limited to, the data involved in implementing the button adjustment method for the rehabilitation training device.

[0085] In some embodiments, the button adjustment device of the rehabilitation training equipment may further include a display screen 32, an input / output interface 33, a communication interface 34, a power supply 35, and a communication bus 36.

[0086] Those skilled in the art will understand that Figure 7 The structure shown does not constitute a limitation on the button adjustment device of the rehabilitation training equipment, and may include more or fewer components than shown.

[0087] The button adjustment device for rehabilitation training equipment provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following method: button adjustment method for rehabilitation training equipment.

[0088] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the above embodiment of the button adjustment method for the rehabilitation training device.

[0089] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0090] The computer-readable storage medium provided in this embodiment stores a computer program. When the processor executes the program, it can implement the following method: a button adjustment method for a rehabilitation training device.

[0091] The button adjustment method, device, and medium of the rehabilitation training equipment provided in this application have been described in detail above. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

[0092] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

Claims

1. A method for adjusting the buttons on a rehabilitation training device, characterized in that, include: The duration of the press of the current adjustment button is detected, and the current adjustment parameter and at least one associated parameter corresponding to the adjustment button are obtained. Based on the comparison results between the button press duration and at least two time thresholds, the adjustment process of the current adjustment parameter is divided into at least three stages, each of which corresponds to a different adjustment rate, and the adjustment rate increases sequentially with the increase of the button press duration. Calculate in real time the boundary distance between the current parameter value and the safety boundary value of the current adjustment parameter; When the boundary distance is less than or equal to a preset distance threshold, the adjustment rate of the current adjustment parameter is forcibly reduced to a preset safe adjustment rate. When the current parameter value of the current adjustment parameter reaches the safety boundary value, the adjustment of the current adjustment parameter is stopped; Based on the preset safety coupling function between the current adjustment parameter and the associated parameter, it is detected in real time whether the safety coupling range is exceeded, and when it is determined that the safety coupling range is exceeded, a safety response operation is performed on the current adjustment parameter and / or the associated parameter.

2. The button adjustment method for the rehabilitation training device according to claim 1, characterized in that, The at least three stages include: In the first adjustment phase, when the button press duration is less than the first time threshold, the current adjustment parameter is adjusted in unit steps. In the second adjustment phase, when the button press duration is greater than or equal to the first time threshold and less than the second time threshold, the current adjustment parameter is continuously adjusted at the first adjustment rate. In the third adjustment stage, when the button press duration is greater than or equal to the second time threshold, the current adjustment parameter is continuously adjusted at the second adjustment rate. Wherein, the second adjustment rate is greater than the first adjustment rate, and when a button release operation is detected at any stage, the adjustment of the current adjustment parameter is immediately stopped.

3. The button adjustment method for the rehabilitation training device according to claim 1, characterized in that, The step of forcibly reducing the adjustment rate of the current adjustment parameter to a preset safe adjustment rate when the boundary distance is less than or equal to a preset distance threshold also includes: While forcibly reducing the current adjustment rate to the preset safe adjustment rate, a tactile feedback signal or an auditory prompt signal is output.

4. The button adjustment method for the rehabilitation training device according to claim 1, characterized in that, When the current parameter value of the current adjustment parameter reaches the safety boundary value, stopping the adjustment of the current adjustment parameter further includes: Disable the same-direction operation of the currently adjusted button and maintain the parameter value of the currently adjusted parameter unchanged.

5. The button adjustment method for the rehabilitation training device according to claim 1, characterized in that, When the current adjustment parameter is the rotation speed parameter, the associated parameter is the tilt angle parameter; the preset safety coupling function is: the first safety coupling function between the rotation speed and the maximum allowable tilt angle; When the current adjustment parameter is the tilt angle parameter, the associated parameter is the rotation speed parameter; The preset safety coupling function is a second safety coupling function between the current tilt angle and the maximum allowable rotation speed.

6. The button adjustment method for the rehabilitation training device according to claim 1, characterized in that, The security response operation includes at least one of the following: Reject the current adjustment instruction; Adjust the current adjustment parameter and / or the associated parameter to the target value within the safe coupling range; Send a notification message to the user.

7. The button adjustment method for the rehabilitation training device according to any one of claims 1-6, characterized in that, Also includes: Detect the remaining time in the timed training mode; When the remaining time is less than or equal to a preset time threshold, the current adjustment parameter is controlled to decrease to zero in a linear manner.

8. A button adjustment device for a rehabilitation training equipment, characterized in that, include: The detection module is used to detect the duration of the current adjustment button press and to obtain the current adjustment parameter and at least one associated parameter corresponding to the adjustment button. The adjustment module is used to divide the adjustment process of the current adjustment parameter into at least three stages based on the comparison results of the button press duration and at least two time thresholds. The at least three stages correspond to different adjustment rates, and the adjustment rate increases sequentially with the increase of the button press duration. The monitoring module is used to calculate in real time the boundary distance between the current parameter value and the safety boundary value of the current adjustment parameter; The deceleration module is used to force the adjustment rate of the current adjustment parameter to a preset safe adjustment rate when the boundary distance is less than or equal to a preset distance threshold. A protection module is used to stop adjusting the current adjustment parameter when the current parameter value of the current adjustment parameter reaches the safety boundary value; The linkage constraint module is used to detect in real time whether the current adjustment parameter and the associated parameter exceed the safety coupling range according to the preset safety coupling function between the current adjustment parameter and the associated parameter, and to perform a safety response operation on the current adjustment parameter and / or the associated parameter when it is determined that the safety coupling range is exceeded.

9. A button adjustment device for a rehabilitation training equipment, characterized in that, include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the button adjustment method of the rehabilitation training device as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the button adjustment method for the rehabilitation training device as described in any one of claims 1 to 7.

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