CN114712170B

CN114712170B - Gait correction system and method for regulating and controlling upper limb swing

Info

Publication number: CN114712170B
Application number: CN202210262462.5A
Authority: CN
Inventors: 杨巍; 余林繁; 颜泽皓; 徐铃辉; 杨灿军
Original assignee: Zhejiang University of Science and Technology ZUST
Current assignee: Zhejiang University of Science and Technology ZUST
Priority date: 2022-03-17
Filing date: 2022-03-17
Publication date: 2023-10-17
Anticipated expiration: 2042-03-17
Also published as: CN114712170A

Abstract

The invention discloses a gait correction system for regulating and controlling upper limb swing, which comprises a PID controller, two IMUs and an arm driving mechanism, wherein the two IMUs are connected with the PID controller, the two IMUs are respectively fixed on two leg parts and are used for collecting gait information of leg parts, the arm driving mechanism respectively comprises an arm ring, a momentum wheel and a motor, wherein the motor is fixed on the arm ring and drives the momentum wheel to rotate, the arm ring is used for being fixed on an arm corresponding to an abnormal leg part, and the momentum wheel is used for providing a moment for the arm when rotating, so that the arm swings towards the swing direction by a set angle, and the motor is electrically connected with the PID controller. The invention also discloses a gait correction method for regulating and controlling the swing of the upper limb. The invention has small volume and low cost, and realizes autonomous adjustment.

Description

Gait correction system and method for regulating and controlling upper limb swing

Technical Field

The invention relates to the technical field of rehabilitation, in particular to a gait correction system and method for regulating and controlling swing of an upper limb.

Background

With the development of economy and the development of transportation industry, the occurrence rate of the limb disability caused by accident such as car accidents, building construction and the like is 20-30% of the occurrence rate of the whole limb disability, and the proportion has a continuous increasing trend. Some people only pay attention to treatment after limb disability, rehabilitation training is not performed after operation is finished, and the error knowledge of light rehabilitation of the heavy operation leads a plurality of people to become disabled people due to sequelae after accidental injury or cerebrovascular disease, and finally the function of the limbs is lost.

Traditional rehabilitation training is mainly performed by rehabilitation doctors, and one-to-one rehabilitation therapy needs to be programmed. The conventional rehabilitation training process often consumes a great deal of manpower, and the training effect is influenced by the level of therapists. In addition, the weight bearing, the stepping and the balancing are difficult to be organically combined in the conventional rehabilitation training process, and abnormal gait of a patient is difficult to be eliminated. At present, a plurality of rehabilitation devices for gait training exist, and the rehabilitation devices can be used for solving various problems existing in the rehabilitation training process of patients with lower limb injuries due to the characteristics of accurate and controllable training mode, repeated and stable motion input, timely and objective feedback and the like.

In the actions such as walking, the motions of the upper limb and the lower limb of the human body can be mutually influenced, and various researches show that the natural arm swing is helpful for walking, the stride of the patient is increased, the swing of the arm is increased in the rehabilitation plan, the gait of the patient can be normalized, and the normal upper limb swing can better balance the angular momentum of the human body from the mechanical aspect, and the balance state of the human body is maintained. Modulation of the upper limb may have the additional advantage of reducing the energy expenditure of the patient's gait, thereby increasing the effort he/she spends walking a certain distance and thus increasing the mobility of the patient.

Rewalk corporation has proposed a ReStore for rehabilitation of stroke hemiplegic patients, which is an electric, lightweight, soft, externally packaged, packaged device for gait rehabilitation of lower limb disabled persons, as shown in figure one. The ReStore compliant design combines natural motion with plantarflexion and dorsiflexion assistance, adaptively synchronized with the patient's own gait to facilitate functional gait training. Real-time data feedback and adjustable assistance levels enable a rehabilitation practitioner to optimize the course of treatment and track the progress of each patient, but are expensive due to their relatively complex structure; when in use, the doctor is still required to cooperate; and the effect of the upper limb on the movement is not considered.

In the aspect of the presently disclosed invention patent, the presently disclosed and filed invention patent (a flexible lower limb rehabilitation robot for assisting the recovery of gait of cerebral apoplexy patients) (application number: 202011358661.3) issued by Shanghai university is composed of a plurality of mechanisms, each joint is driven by a motor to drive a steel wire to help hemiplegic patients to return to normal gait, but the influence of upper limb movement on the whole gait is still not considered, and the invention patent (an upper limb swinging device and a walking rehabilitation training robot with the device) in the presently disclosed and filed invention (application number: 201710811001.8) uses an upper limb swinging device capable of lifting and adducting and abducting to simulate the upper limb swinging of the walking state of normal people, so that the walking of patients is more coordinated, the rehabilitation effect is improved, the swinging synthesized by the device is still different from the normal swinging, the device can not be carried, and can only be matched with corresponding medical equipment for use, and the application space of the device is certainly reduced.

In summary, the current rehabilitation therapy has the following problems:

1. or the whole volume is huge, the structure is complex, and the manufacturing cost is high;

2. in addition, in order to simulate the movement of the complete lower limb, the existing exoskeleton rehabilitation equipment uses complex structures and algorithms, so that the cost of the rehabilitation device is increased;

3. meanwhile, the coordination movement of the human body is not fully considered, the influence of the movement of the upper limbs on the whole gait is not involved, or the simulation of the swing of the upper limbs is not true enough.

In view of the above, there is a need for further improvements in current rehabilitation therapies.

Disclosure of Invention

The invention aims to solve the defects of the prior art and provides a gait correction system and method for regulating and controlling swing of an upper limb, which belong to a subsequent gait rehabilitation device with light overall structure and low manufacturing cost, and can realize autonomous regulation of equipment through an algorithm and a device without professional operation, so that the whole operation is more convenient.

In order to achieve the above purpose, the gait correction system for regulating and controlling the swing of the upper limb comprises a PID controller, two IMUs and an arm driving mechanism, wherein the two IMUs are connected with the PID controller and are respectively fixed on two leg parts and used for collecting gait information of the leg parts, the arm driving mechanism respectively comprises an arm ring, a momentum wheel and a motor, the motor is fixed on the arm ring and drives the momentum wheel to rotate, the arm ring is used for being fixed on an arm corresponding to an abnormal leg part, and the momentum wheel is used for providing a moment for the arm when rotating so that the arm swings towards the swing direction by a set angle, and the motor is electrically connected with the PID controller.

Preferably, for convenience of operation, the output shaft of the motor is connected with the momentum wheel.

Preferably, the output shaft of the motor is connected with a bevel pinion, the bevel pinion is meshed with the bevel pinion, the motor is transversely arranged through the structure, so that the weight of the whole equipment is reduced, meanwhile, the effect of driving the arm to swing can be achieved, the motor is rotated to drive the motor to swing to generate acting force in a corresponding direction, and then the bevel pinion is rotated to drive the bevel pinion to rotate, so that torque is applied to the arm.

Preferably, in order to ensure more accurate handling of the arm, the arm ring is mounted in the middle of the forearm.

For convenient installation, more than two positioning rings are arranged on the arm ring.

Preferably, the motor is a motor with the model MAXON EC90, the rated rotation speed of the motor is 4000rpm, and the rated output torque of the motor is 15N.m.

The invention also discloses a gait correction method for regulating and controlling the swing of the upper limb, which uses the principle of a reaction flywheel and specifically comprises the following steps:

s1, firstly, respectively installing two IMUs at two leg positions, installing an arm ring on an arm corresponding to an abnormal leg, and respectively reading a normal side leg joint angle theta through the two IMUs during gait training ₁ And an abnormal side joint angle theta ₂ ；

S2, comparing gait difference values of legs at two sides in a gait cycle, and taking the gait difference values as control parameters of a motor;

s3, applying a certain acceleration a by a motor in the next gait cycle, and stabilizing an acceleration value in a PID control mode; due to the principle of conservation of angular momentum, at the moment, a motor and a momentum wheel apply a certain moment to the arm, so that the arm can swing by a larger amplitude beta; due to the linkage effect of the arms and the legs, the gait can be changed, so that the gait at the abnormal side is more similar to the gait of normal measurement; and through continuous measurement and adjustment, the abnormal gait can be corrected finally.

Compared with the prior art, the gait correction system and method for regulating and controlling the swing of the upper limb, which are obtained by the invention, mainly aim at the patients with hemiplegia caused by apoplexy or other reasons, basically realize walking ability after rehabilitation training but still have abnormal gait, the patient can recover normal walking by regulating the gait of the patient through the system, in the use process, the patient buckles the arm ring on the arm at one side of the abnormal gait and fixes the IMU for detecting the gait data through the primary-secondary paste, in the use process, the equipment can detect the gait data of the normal measurement of the patient, compare with the gait data at the abnormal side, indirectly influence the gait of the patient through regulating the swing amplitude of the arm at the abnormal side by the equipment, continuously regulate the walking process, and lead the patient to be separated from the influence of the abnormal gait.

Drawings

FIG. 1 is a schematic diagram of the operation of a gait orthotic system for controlling upper extremity swing in accordance with the present invention;

FIG. 2 is a schematic overall structure of a gait correction system for controlling swing of an upper limb according to embodiment 1;

FIG. 3 is a schematic view of the arm driving mechanism in embodiment 1;

FIG. 4 is a flow chart of a gait correction method for controlling swing of an upper limb according to embodiment 1;

FIG. 5 is a graph of walking gait data of a patient with impaired lower limbs in example 1;

fig. 6 is a graph showing arm swing data of a patient with impaired lower limbs in example 1.

Fig. 7 is a schematic diagram of the arm driving mechanism in embodiment 2.

In the figure: the device comprises a PID controller 1, an IMU2, an arm driving mechanism 3, an arm ring 4, a momentum wheel 5, a motor 6, a small bevel gear 7, a large bevel gear 8 and a positioning ring 9.

Detailed Description

The invention is further described below with reference to the drawings and examples.

Example 1:

as shown in fig. 2-3, the gait correction system for controlling swing of an upper limb provided in this embodiment includes a PID controller 1, two IMUs 2 connected with the PID controller 1, and an arm driving mechanism 3, where the two IMUs 2 are respectively fixed on two legs and are used for collecting gait information of the legs, the arm driving mechanism 3 includes an arm ring 4, a momentum wheel 5, and a motor 6, where the motor 6 is fixed on the arm ring 4, the motor 6 drives the momentum wheel 5 to rotate, the arm ring 4 is used for being fixed on an arm corresponding to an abnormal leg, and when the momentum wheel 5 rotates, a moment is provided for the arm, so that the arm swings towards the swing direction by a set angle, and the motor 6 is electrically connected with the PID controller 1.

Preferably, for convenience of operation, the output shaft of the motor 6 is connected to the momentum wheel 5.

In operation, the two IMUs 2 are respectively mounted at two leg positions, the arm ring 4 is mounted on the arm corresponding to the abnormal leg, and the angle theta of the joint of the leg at the normal side is respectively read by the two IMUs 2 during gait training ₁ And an abnormal side joint angle theta ₂ The method comprises the steps of carrying out a first treatment on the surface of the Then, the gait difference values of the legs at the two sides in one gait cycle are compared and used as control parameters of the motor 6; and a certain acceleration a is applied by the motor 6 in the next gait cycle, and the stability of the acceleration value is realized by a PID control mode; due to the principle of conservation of angular momentum, the motor 6 and the momentum wheel 5 apply a certain moment to the arm, so that the arm can swing by a larger amplitude beta; and due to the linkage effect of the arms and the legs, gait is also achievedThe gait of the abnormal side is more similar to the gait of the normal measurement; and through continuous measurement and adjustment, the abnormal gait can be corrected finally.

In order to ensure more accurate arm operation, the arm ring 4 is arranged at the middle position of the forearm.

For convenient installation, arm ring 4 on be provided with more than two holding ring 9, pass holding ring 9 through primary and secondary subsides through setting up holding ring 9 later stage and fix, realize installing arm ring 4 on the arm fast.

The motor 6 adopts a motor 6 with the model MAXON EC90, the rated rotation speed of the motor 6 is 4000rpm, and the rated output torque of the motor 6 is 15N.m.

The IMU described in this embodiment is an inertial sensor, and belongs to a conventional technology, and therefore will not be described in detail.

The present embodiment discloses a gait correction system for controlling upper limb swing, which mainly uses the principle of a reaction flywheel, because for an isolated system, the total amount of angular momentum must remain unchanged, if a part of a system starts to rotate in one direction, the rest of the system must rotate in the opposite direction, otherwise, the total angular momentum changes, while in the present embodiment, we use an arm and a gait correction system for controlling upper limb swing as an isolated system, when the momentum wheel in the system rotates, a moment is provided for the arm, the moment can enable the arm to swing in the swing direction by a certain angle, and then we can control the lower limb on one side with abnormality by means of the arm swing, so that the gait can recover to a normal motion state.

In order to normally regulate the gait of a human body, when the abnormal side is about to move to the limit, namely, in the third and fifth states in fig. 1, the momentum wheel 5 is driven by the motor 6 to rotate to apply force to the arm on the side corresponding to the abnormal side leg, the time node is determined by the IMU installed on the leg, and the momentum wheel 5 is driven by the motor 6 to apply force; when the arm swings to the forefront end, the motor 6 drives the momentum wheel 5 to rotate clockwise, a clockwise rotating torque is generated, in order to ensure that the momentum is conserved, the whole arm receives the counterclockwise rotating torque, and therefore the whole arm swings forwards by a larger angle, the leg is driven to swing forwards by the linkage of the arm and the leg to a longer distance, and when the arm swings to the last, the moment is similar to the former process, but the directions are opposite, so that the arm swings backwards.

For the convenience of calculation, the arm is regarded as a rod member loaded with a circular weight, the weight of the upper loaded weight (the arm driving mechanism 3) is about 1kg, the mass of the motor 6 in the device is most, the radius of the circular weight can be approximated to be 0.045m of the radius of the motor 6, if the arm length of an adult male is about 0.733m, the upper arm length is 0.313m, the forearm length is 0.237m, the hand length is 0.183m, the loading position of the arm driving mechanism 3 is about the middle position of the forearm, and the distance from the shoulder joint is about 0.43m, so that the moment of inertia J of the whole arm can be calculated ₀ ＝9×0.733 ² /3+1/2×1×0.045 ² +1/2×1×0.43 ² The swing amplitude of the human arm is about 45 degrees when walking and about 90 steps can be taken in one minute when normal adult male walks at normal speed, the swing of the arm can be regarded as free swing under the action of gravity to do uniform acceleration and uniform deceleration movement, when the arm rotates to be close to the highest point, the angular speed of the swing of the arm is minimum and the angular acceleration is maximum, and the formula is adoptedCalculated angular acceleration of about 7.0rad/s ² The velocity of the arm at the end of the arm swing is approximately 0.14rad/s. In this embodiment the motor 6 is a MAXON EC90 motor rated at 4000rpm, rated output torque 15n.m, moment of inertia of the momentum wheel 5 about the axis of rotation j=6×10 ^-4 kg/m ² The moment of rotation of the momentum wheel 5 is provided by the motor 6, so that when the motor 6 rotates at rated power, the momentum wheel generates a moment of action on the arm, namely the isolated system, of 15n.m, which is sufficient to drive the arm to rotate a certain angle.

As shown in fig. 5 and 6, the abnormal side of the arm is the opposite side of the abnormal side of the leg, the data is the gait data and the hand movement data diagram of a hemiplegic patient after rehabilitation, and it can be obviously seen that the abnormal side leg of the patient and the arm swing data of the corresponding side of the patient have obvious problems, the data amplitude of the abnormal side leg is smaller and the condition of obvious backward deviation exists, which indicates that when the patient steps forward in the walking process, the abnormal side leg is difficult to take a sufficient distance forward due to the habit problem, and the angle of the abnormal side forward swing is smaller than that of the normal side; also, when the support leg is used as a support leg for a normal side swing, it is difficult for the abnormal side leg to perform a good support function, so that the patient may involuntarily tilt the center of gravity forward to make the normal side leg take a longer step, which results in the abnormal side moving rearward at a greater angle than the normal side. Meanwhile, because the movement of the arms and the legs in the walking process has a certain linkage effect, the movement amplitude of the arm at one side corresponding to the abnormal side leg part is small and the angle change is irregular in the movement process, so the movement adjustment of the corresponding arm can be realized through the movement adjustment of the invention, and the movement adjustment of the legs is more similar to the gait of normal side walking.

As shown in fig. 4, this embodiment also discloses a gait correction method for controlling swing of an upper limb, which includes adopting one of the aforementioned gait correction systems for controlling swing of an upper limb, and the method uses the principle of a reaction flywheel, and specifically includes the following steps:

s1, firstly, respectively installing two IMUs 2 at two leg positions, installing an arm ring 4 on an arm corresponding to an abnormal leg, and respectively reading the joint angle theta of the leg at the normal side through the two IMUs 2 during gait training ₁ And an abnormal side joint angle theta ₂ ；

S2, comparing gait difference values of legs at two sides in a gait cycle, and taking the gait difference values as control parameters of the motor 6;

s3, applying a certain acceleration a by using the motor 6 in the next gait cycle, and stabilizing an acceleration value in a PID control mode; due to the principle of conservation of angular momentum, the motor 6 and the momentum wheel 5 apply a certain moment to the arm, so that the arm can swing by a larger amplitude beta; due to the linkage effect of the arms and the legs, the gait can be changed, so that the gait at the abnormal side is more similar to the gait of normal measurement; and through continuous measurement and adjustment, the abnormal gait can be corrected finally.

The invention mainly aims at the patients with hemiplegia caused by apoplexy or other reasons, basically realizes walking ability after rehabilitation training but still has abnormal gait, the gait of the patients is regulated by the system to enable the patients to recover normal walking, in the use process, the patients buckle the arms on the arms at one side of the abnormal gait and fix the arms through the primary-secondary paste, the IMU for detecting gait data is arranged at a proper position of the legs, in the use process, the equipment can detect the gait data of the patients normally measured, the equipment is compared with the gait data at the abnormal side, the gait of the patients is indirectly influenced by regulating the swing amplitude of the arms at the abnormal side through the equipment, and the continuous regulation is carried out in the walking process, so that the patients are separated from the influence of the abnormal gait.

Example 2:

as shown in fig. 7, in the gait correction system for controlling swing of an upper limb provided in this embodiment, as a preferable mode, the output shaft of the motor 6 is connected with a bevel pinion 7, the arm ring 4 is connected with a bevel pinion 8, the bevel pinion 8 is meshed with the bevel pinion 7, through the above structure, the motor is transversely arranged, the motor is longitudinally arranged after being installed, the weight of the whole device can be finally reduced, and meanwhile, the effect of driving the arm to swing can be realized, the swing of the motor drives the motor to swing to generate acting force in a corresponding direction, and then the bevel pinion 7 rotates to drive the bevel pinion 8 to rotate, so as to apply torque to the arm.

Claims

1. A gait correction system for regulating swing of an upper limb, characterized by: the device comprises a PID controller (1), two IMUs (2) connected with the PID controller (1) and an arm driving mechanism (3), wherein the two IMUs (2) are respectively fixed on two legs and are used for collecting gait information of the legs, the arm driving mechanism (3) respectively comprises an arm ring (4), a momentum wheel (5) and a motor (6), the motor (6) is fixed on the arm ring (4), the motor (6) drives the momentum wheel (5) to rotate, the arm ring (4) is used for being fixed on an arm corresponding to an abnormal leg, the momentum wheel (5) is used for providing a moment for the arm when rotating, so that the arm swings towards the swinging direction by a set angle, and the motor (6) is electrically connected with the PID controller (1), so that the normal side leg joint angle theta 1 and the abnormal side joint angle theta 2 are respectively read through the two IMUs (2) when gait training is realized; then, the gait difference values of the legs at the two sides in one gait cycle are compared and used as control parameters of a motor (6); in the next gait cycle, a certain acceleration a is applied by a motor (6), and the stability of an acceleration value is realized by a PID control mode; due to the principle of conservation of angular momentum, the motor (6) and the momentum wheel (5) apply a certain moment to the arm, so that the arm can swing by a larger amplitude beta; due to the linkage effect of the arms and the legs, the gait can be changed, so that the gait at the abnormal side is more similar to the gait of normal measurement; and through continuous measurement and adjustment, the abnormal gait can be corrected finally.

2. A gait correction system for regulating swing of an upper limb as claimed in claim 1, wherein: an output shaft of the motor (6) is connected with the momentum wheel (5).

3. Gait correction system for regulating swing of an upper limb according to claim 1, wherein the output shaft of the motor (6) is connected with a bevel pinion (7), and a bevel gear (8) is connected to the arm ring (4), and the bevel pinion (8) is meshed with the bevel pinion (7).

4. Gait correction system for controlling swing of an upper limb according to claim 1, wherein the arm ring (4) is mounted in a mid-position of the forearm.

5. A gait correction system for regulating swing of an upper limb as claimed in claim 1, wherein: more than two positioning rings (9) are arranged on the arm ring (4).

6. A gait correction system for regulating swing of an upper limb according to claim 2, wherein: the motor (6) adopts a motor with the model MAXONEC90, the rated rotation speed of the motor (6) is 4000rpm, and the rated output torque of the motor (6) is 15N.m.