CN116531225A

CN116531225A - Rehabilitation training device, rehabilitation training control method and storage medium

Info

Publication number: CN116531225A
Application number: CN202210083372.XA
Authority: CN
Inventors: 陈雅文; 段璞; 张帆; 辛小康
Original assignee: Shenzhen Xeno Dynamics Power Technology Co ltd
Current assignee: Shenzhen Xeno Dynamics Power Technology Co ltd
Priority date: 2022-01-25
Filing date: 2022-01-25
Publication date: 2023-08-04

Abstract

The application provides a rehabilitation training device, rehabilitation training control method and storage medium, the rehabilitation training device includes low limbs activity subassembly, drive assembly and controller, and the controller is configured to: determining a first control mode; based on the first control mode, determining a first motion strategy, and controlling the driving assembly to drive the training object to perform rehabilitation training according to a first motion mode according to the first motion strategy; determining a second control mode according to the received mode switching instruction; and determining a second movement strategy based on the second control mode, and controlling the driving assembly to drive the training object to perform rehabilitation training according to a second movement mode according to the second movement strategy. Different movement strategies are determined by adopting different control modes for the rehabilitation training device, and training objects are driven to perform different rehabilitation training according to the different movement strategies, so that different rehabilitation training requirements of different training objects can be met.

Description

Rehabilitation training device, rehabilitation training control method and storage medium

Technical Field

The application relates to the technical field of rehabilitation training, in particular to rehabilitation training equipment, a rehabilitation training control method and a storage medium.

Background

Worldwide, there are a large number of patients with lower limb dyskinesia who suffer to a large extent from impaired lower limb locomotor ability. Clinical medicine research shows that reasonable and effective rehabilitation training can recover the exercise capacity of partial patients to a certain extent.

For patients with lower limb dyskinesia, the lower limb movement rehabilitation training device is used for replacing manpower, so that the rehabilitation training effect can be greatly improved. However, in the related art, the rehabilitation training device can only assist the patient to perform the rehabilitation training in a single mode, and cannot meet different rehabilitation training requirements of different patients.

Disclosure of Invention

The embodiment of the application provides rehabilitation training equipment, a rehabilitation training control method and a storage medium, which can meet different rehabilitation training requirements of different training objects.

In a first aspect, embodiments of the present application provide a rehabilitation training device, the rehabilitation training device includes a lower limb movement assembly, a driving assembly and a controller, the driving assembly drives the lower limb movement assembly to drive a training object to perform rehabilitation training under the control of the controller, and the controller is configured to:

Determining a first control mode;

determining a first motion strategy based on the first control mode, and controlling the driving assembly to drive the training object to perform rehabilitation training according to a first motion mode according to the first motion strategy;

determining a second control mode according to the received mode switching instruction;

and determining a second motion strategy based on the second control mode, and controlling the driving assembly to drive the training object to perform rehabilitation training according to a second motion mode according to the second motion strategy.

In a second aspect, embodiments of the present application provide another rehabilitation training device, where the rehabilitation training device includes a lower limb movement component, a driving component and a controller, where the driving component drives the lower limb movement component to drive a training object to perform rehabilitation training under control of the controller, and the controller is configured to:

selecting a first control mode from preset control modes according to the received first mode selection instruction;

determining a first motion strategy based on the first control mode;

and controlling the driving assembly to drive the training object to perform rehabilitation training according to the first motion mode according to the first motion strategy.

Optionally, the controller is further configured to:

acquiring the training object parameters and the training parameters to obtain target parameters; and

determining the first motion strategy based on the first control mode in combination with the target parameter; and/or determining the second motion strategy in combination with the target parameter based on the second control mode.

Optionally, the first control modes include one or more first control sub-modes, where different target parameters correspond to different first control sub-modes;

and based on the first control sub-mode, combining corresponding target parameters to determine a corresponding first motion sub-strategy.

Optionally, the second control modes include one or more second control sub-modes, wherein different target parameters correspond to different second control sub-modes;

and based on the second control sub-mode, combining corresponding target parameters to determine a corresponding second motion sub-strategy.

Optionally, the controller is further configured to:

updating the target parameters according to the received parameter modification instruction;

updating the corresponding first control sub-strategy or second control sub-strategy according to the updated target parameters and the currently selected first control sub-mode or second control sub-mode;

And controlling the driving assembly to drive the training object to perform rehabilitation training according to the updated first control sub-strategy or second control sub-strategy.

In a third aspect, an embodiment of the present application provides a rehabilitation training control method applied to a rehabilitation training device, where the rehabilitation training device is used to provide lower limb rehabilitation training for a training object, and the rehabilitation training control method includes:

determining a first control mode;

determining a first movement strategy based on the first control mode, and controlling the rehabilitation training device to provide lower limb rehabilitation training for the training object according to a first movement mode according to the first movement strategy;

and determining a second movement strategy based on the second control mode, and controlling the rehabilitation training device to provide lower limb rehabilitation training for the training object according to a second movement mode according to the second movement strategy.

In a fourth aspect, an embodiment of the present application provides another rehabilitation training control method, applied to a rehabilitation training device, where the rehabilitation training device is used to provide lower limb rehabilitation training for a training subject, the rehabilitation training control method includes:

determining a first motion strategy based on the first control mode;

and controlling the rehabilitation training device to provide lower limb rehabilitation training for the training object according to the first movement mode according to the first movement strategy.

Optionally, the method further comprises:

and controlling the rehabilitation training device to provide lower limb rehabilitation training for the training object according to the updated first control sub-strategy or second control sub-strategy.

In a fifth aspect, embodiments of the present application provide a computer-readable storage medium having stored thereon a computer program which, when executed on a computer, causes the computer to perform a rehabilitation training control method according to any one of the above.

The rehabilitation training device in this application embodiment includes low limbs movable part, drive assembly and controller, and drive assembly drives low limbs movable part and drives training object under the control of controller and carry out rehabilitation training, and the controller is configured as: determining a first control mode, determining a first movement strategy based on the first control mode, controlling a driving component to drive a training object to perform rehabilitation training according to a first movement mode according to the first movement strategy, determining a second control mode according to the received mode switching instruction when the mode switching instruction is received, determining a second movement strategy based on the second control mode, and controlling the driving component to drive the training object to perform rehabilitation training according to a second movement mode according to the second movement strategy. Therefore, different motion strategies are determined by adopting different control modes for the rehabilitation training device, and the training object is driven to perform rehabilitation training according to different motion modes according to different motion strategies, so that different rehabilitation training requirements of different training objects can be met.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort for a person skilled in the art.

For a more complete understanding of the present application and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which like reference numerals represent like parts throughout the following description.

Fig. 1 is a schematic structural diagram of rehabilitation training device according to an embodiment of the present application.

Fig. 2 is a block diagram of a rehabilitation training device according to an embodiment of the present application.

Fig. 3 is a block diagram of another rehabilitation training device according to an embodiment of the present application.

Fig. 4 is a schematic flow chart of a rehabilitation training control method according to an embodiment of the present application.

Fig. 5 is a flowchart of another rehabilitation training control method according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

In order to solve the problem that the rehabilitation training device in the related art can only assist a patient to perform rehabilitation training in a single mode but cannot meet different rehabilitation training requirements of different patients, the embodiment of the application provides a rehabilitation training device, please refer to fig. 1, and fig. 1 is a schematic structural diagram of the rehabilitation training device provided in the embodiment of the application. The rehabilitation training device 10 is suitable for rehabilitation training of patients with lower limb movement disorder or training subjects with lower limb training requirements, for example, the rehabilitation training device 10 may be used for patients with impaired lower limb movement function and need proper training and movement, so that the patients improve the body functions of the lower limbs or increase the speed of lower limb recovery, which is not limited in the embodiment of the present application. Rehabilitation training device 10 may include a torso support securing assembly 11, a lower limb movement assembly 12, and a drive assembly 13. The torso support securing assembly 11 is wearable on the torso of the subject to support the upper torso of the subject to maintain the torso of the subject steady. Lower limb activity assembly 12 includes left leg training assembly 121 and right leg training assembly 122. The left leg training component 121 and the right leg training component 122 are respectively fixed with the left leg and the right leg of the training object, and can drive the left leg and the right leg of the training object to walk or move on the supporting surface of the training place. The driving component 13 can drive the lower limb moving component 12 to drive the training object to perform rehabilitation training.

Specifically, left leg training assembly 121 and right leg training assembly 122 are symmetrically disposed and each includes a hip joint assembly 201, a thigh bar 202, a knee joint assembly 203, a shank bar 204, an ankle joint assembly 205, and a foot support assembly 206, which are connected in sequence. Alternatively, hip assembly 201 is connected between torso support securing assembly 11 and thigh bar 202, knee assembly 203 is connected at one end to thigh bar 202 and at the other end to shank bar 204, and ankle assembly 205 is connected at one end to shank bar 204 and at the other end to foot support assembly 206.

Specifically, the hip joint assembly 201 and the torso support fixing assembly 11 are rotatably connected by a hip joint shaft, the axis of the hip joint shaft is parallel to the first direction a, the hip joint assembly 201 is rotatable about the hip joint shaft, the hip joint assembly 201 and the thigh lever 202 are rotatably connected by a thigh joint shaft, the axis direction of the thigh joint shaft is parallel to the second direction b, the thigh lever 202 is rotatable about the thigh joint shaft, and the thigh lever 202 is movable back and forth with respect to the hip joint assembly 201. The knee joint part 203 and the shank 204 are rotatably connected by a knee connecting shaft, the knee connecting shaft is parallel to the second direction b, the shank 204 can rotate around the knee connecting shaft, and the shank 204 can move back and forth relative to the knee joint part 203. The ankle joint assembly 205 and the foot support assembly 206 are pivotally coupled via an ankle connection, the foot support assembly 206 being pivotable about the ankle connection, the foot support assembly 206 being movable back and forth relative to the ankle joint assembly 205, wherein the second direction b is perpendicular to the first direction a. Through the setting, the action of rehabilitation training of a training object can be realized. Alternatively, two hip assemblies 201 are each connected to the torso support mount assembly 11. The hip assembly 201 is hinged to the thigh bar 202.

Accordingly, the hip, knee and ankle joints of the rehabilitation training device 10 have sagittal plane degrees of freedom, respectively. The thigh bar 202 can relatively rotate in the sagittal plane relative to the torso support fixing component 11 through the arrangement of the freedom degree of the hip joint component 201 in the sagittal plane; relative motion between thigh bar 202 and shank bar 204 in the sagittal plane is enabled by the provision of knee joint assembly 203 in the sagittal plane degrees of freedom; relative motion between foot support assembly 206 and shank 204 in the sagittal plane is achieved through the placement of ankle assembly 205 in the sagittal plane of freedom. It will be appreciated that the rehabilitation training device 10 is capable of driving a training subject to perform an articulated or walking rehabilitation training by providing sagittal degrees of freedom at the hip, knee and ankle joints, respectively. In addition, the hip joint may also have a degree of freedom in cross section. Through the setting of hip joint subassembly 201 in the degree of freedom of cross section for thigh pole 202 can rotate in the cross section at the fixed subassembly 11 of trunk support relatively, it is understood that rehabilitation training device 10 is through setting up the degree of freedom of cross section at the hip joint, so that thigh pole 202 can inside and outside rotation, also can drive the inside and outside rotation of all parts below thigh pole 202, in order to realize normal people's shank action, can drive the training object better and carry out straight line or turn rehabilitation training, or do follow the action according to the straight line or the turn intention of training object, realize the straight line or the turn rehabilitation training of training object.

The driving component 13 can be electrically connected with the controller, the controller controls the driving component 13 to drive the lower limb moving component 12 to drive the training object to perform rehabilitation training, specifically, a mode selection instruction or a mode switching instruction can be sent to the controller through rocker control, key control and other modes, the controller sends a control signal to the driving component 13 according to the instruction, and the driving component 13 responds to the control signal to drive the lower limb moving component 12 to drive the training object to perform straight-going or turning rehabilitation training. In addition, the intention of the training object can be detected through the detection device, if the training object has turning intention, the driving component 13 can be controlled to drive the lower limb movable component 12 to follow according to the turning intention of the object, so that the turning rehabilitation training of the training object is realized. By means of the arrangement, the freedom degree of the sagittal plane or the transverse plane required by the training object in rehabilitation training can be met, so that the requirements of different training objects on different rehabilitation training, such as straight running or turning, can be met.

Referring to fig. 2, fig. 2 is a block diagram of a rehabilitation training device according to an embodiment of the present application. Wherein the rehabilitation training device 10 comprises a lower limb movement assembly 12, a driving assembly 13 and a controller 14. The controller 14 can be respectively electrically connected with the lower limb movable assembly 12 and the driving assembly 13, and the driving assembly 13 can drive the lower limb movable assembly 12 to drive the training object to perform rehabilitation training under the control of the controller 14.

The controller 14 may be a processor or control chip, or the like, that is a control center of the rehabilitation training device 10 configured to: determining a first control mode, determining a first movement strategy based on the first control mode, and controlling the driving component 13 to drive the training object to perform rehabilitation training according to a first movement mode according to the first movement strategy; determining a second control mode according to the received mode switching instruction; based on the second control mode, a second movement strategy is determined, and the driving component 13 is controlled to drive the training object to perform rehabilitation training according to a second movement mode according to the second movement strategy.

It should be noted that, the rehabilitation training device in the related art can only assist the training object to perform a single rehabilitation training, such as a straight rehabilitation training, and cannot meet different rehabilitation training requirements of the training object, such as a straight rehabilitation training and a turning rehabilitation training. The rehabilitation training device 10 in this embodiment has different control modes, so as to meet different rehabilitation training requirements of a training subject.

Specifically, the first control mode may be determined first when the rehabilitation training device 10 is powered up, and may be a straight control mode or a turning control mode. Wherein, an initial control mode can be selected as a first control mode by a training object and/or a user, such as a medical staff assisting the training object in rehabilitation training, and the mode adopted can be physical key operation, rocker operation, touch screen setting, and the like. For example, the user determines the first control mode through a touch mode switching key, and for example, the user determines the first control mode through shaking the rocker to a position corresponding to the first control mode. In addition, the control mode may be selected according to a preset rule of the system of the rehabilitation training device 10, for example, the first control mode is selected by default after the rehabilitation training device 10 is powered on, or the first control mode is selected by default according to a training object, or the like, and further, if the first control mode is a turning control mode, the first control mode may be determined according to turning parameters, such as a turning angle, a turning speed, and the like.

Specifically, when the rehabilitation training device 10 drives the training object to perform rehabilitation training in the first control mode, if a mode switching instruction is received, a second control mode is determined according to the received mode switching instruction, where the second control mode may be a turning control mode or a straight control mode. The mode switching instruction may be an active operation control of the training object and/or the user, and the active operation control manner may be physical key operation, rocker operation, touch screen setting, detecting an intention of the training object, or according to a preset switching rule, where the intention of the training object may be determined by analyzing a gait of the training object or detecting a force of a corresponding training portion, or the like. For example, the user switches the first control mode to the second control mode through the touch mode switching key, so as to determine the second control mode, for example, the user determines the second control mode through swinging the rocker to a position corresponding to the second control mode, for example, the rehabilitation training device 10 analyzes the gait of the training object or detects the force of the corresponding training part to determine that the training object has the intention of switching the control mode, for example, after the rehabilitation training device 10 works in the first control mode for a preset time period, the second control mode is automatically switched, for example, the preset time period can be 2 minutes, 5 minutes, 30 minutes, 60 minutes, and the like, and then, for example, after the rehabilitation training device 10 moves to a preset fixed position according to a preset walking track or a preset training scene, the second control mode is automatically switched. The corresponding setting may be performed according to the situation or requirement of the training object, or the setting mode of the control mode, etc., which is not particularly limited herein. Thus, by performing different mode controls, such as a straight control mode or a turn control mode, on the rehabilitation training device 10, different rehabilitation training requirements, such as straight rehabilitation training or turn rehabilitation training, of the training subject can be satisfied.

After determining the different control modes of the rehabilitation training device 10, different exercise strategies may be determined based on the different control modes in order to meet the different rehabilitation training requirements of the different training subjects. Specifically, training object parameters and training parameters can be obtained to obtain target parameters, and a first motion strategy is determined based on a first control mode and combined with the target parameters; and/or determining a second motion strategy based on the second control mode in combination with the target parameter.

The training parameters can be set correspondingly according to gait rules of normal people during walking as a standard, and the training parameters can be set correspondingly according to training requirements of training objects. For example, setting the training parameters may be setting one or more of a range of motion angles of a hip joint, a knee joint, or an ankle joint, a walking stride, and a walking pace.

Wherein the training object parameters may include a training object limb length, which may include one or more of thigh length, calf length, and ankle height, and at least the positions or relative positions of the hip joint, knee joint, and ankle joint of the training object may be confirmed. Further, the training object parameters may further include one or more of height, weight, waist circumference, pelvis width, thigh width, calf width, foot length, foot width, ankle width, etc., which may be used to calculate kinetic parameters, such as estimating mass, centroid, inertia, etc., of the respective limb, and may also optimize gait training. The training object parameters can be selected according to actual requirements or control requirements, or selected control models, algorithms and the like, and are not limited in the application.

The obtained training object parameters and target parameters obtained by the training parameters are input into a pre-trained gait design model, a motion strategy which is suitable for the training object and meets the training parameters is generated, namely, a motion time sequence relationship or a motion phase sequence relationship between the hip joint assembly 201, the knee joint assembly 203 and the ankle joint assembly 205 is generated, the motion time sequence relationship or the motion phase sequence relationship comprises an angle relationship or a torque relationship between the hip joint assembly 201, the knee joint assembly 203 and the ankle joint assembly 205 on a time sequence or a phase sequence, such as an angle relationship or a torque relationship between the hip joint assembly 201, the knee joint assembly 203 and the ankle joint assembly 205 at each moment or each phase, so that a motion strategy corresponding to the target parameters is determined, and the corresponding motion strategy is input into a gait control model, and the driving assembly 13 is controlled to drive the training object to perform rehabilitation training.

It should be noted that, because the hip joint assembly 201 has a degree of freedom of a cross section, when the sagittal plane angular relationship among the hip joint assembly 201, the knee joint assembly 203 and the ankle joint assembly 205 is designed in the gait design model, the stress condition of each joint can be optimized by adjusting the angular velocity and/or the angular acceleration of the joint, so that the internal force is reduced, the movement is more relaxed, the following action can be performed according to the straight movement or the turning intention of the training object, the straight movement or the turning rehabilitation training of the training object is realized, and the rehabilitation training is more in line with the walking requirement. Optionally, since the hip joint assembly 201 has a degree of freedom of a cross section, when the sagittal plane angle relationship among the hip joint assembly 201, the knee joint assembly 203 and the ankle joint assembly 205 is designed in the gait design model, the cross section angle relationship of the hip joint assembly 201 can be designed, so that the training object can be driven to perform straight or turning training better.

It should be noted that, the gait design model may generate the exercise strategy under the requirements of different training parameters, which is applicable to different training object parameters, that is, the gait design model may generate the exercise strategy under the requirements of different joint angle exercise ranges, walking stride and walking pace for the training objects with different heights and weights.

In particular, the gait design model may be a gait trajectory planning model in combination with a kinematic model and/or a kinetic model. According to the input training object parameters, based on the statistical rules of a human body database and/or the parameter identification data of rehabilitation training equipment, calculating the dynamic parameters of a human-computer system, including one or more of the length, mass center position, inertia moment and the like of each limb; and calculating target parameters according to the input training parameters, wherein the target parameters comprise one or more training target parameters of a hip joint, a knee joint or an ankle joint, a walking stride, a walking pace and the like, and further comprise one or more moving target parameters of a walking stride frequency, a foot lifting height, a bipedal and/or lumbar movement position, a walking phase rule and the like, and further comprise power target parameters of a joint torque range and the like. Constructing a kinematic model to calculate the angle, angular velocity, angular acceleration, walking stride, walking pace and the like of each joint, and/or constructing a kinematic model to calculate the torque of each joint; and finally, calculating the time sequence relation or the phase relation, namely the movement strategy, among the hip joint, the knee joint and the ankle joint according to the data and the track planning model.

Of course, in order to further optimize the obtained motion strategy, since the gait with the minimum walking consumption accords with the motion characteristics of the human body, whether the designed motion strategy meets the standard can be judged by the walking consumption, the judgment can be also carried out by the average torque value, the maximum acceleration and the like, and the optimization of the gait design model is realized by reducing the values of the parameters.

In addition, the manner of determining the motion strategy by the target parameters is not limited to the above gait design model, but may be based on a gait database or an artificial intelligence learning model. The gait database here refers to invoking a motion strategy matching the target parameters in a database stored in a memory in the rehabilitation training device 10 according to the target parameters. The artificial intelligence learning model refers to inputting target parameters as sample data into the rehabilitation training device 10, and obtaining a motion strategy matched with the target parameters through multiple artificial intelligence learning by the artificial intelligence learning function of the rehabilitation training device 10. The specific acquisition mode may be set according to practical situations, and is not specifically limited herein.

After determining different movement strategies of the rehabilitation training device 10 in different control modes, the driving assembly is controlled by the different movement strategies to drive the training object to perform rehabilitation training according to different movement modes.

Specifically, based on the determined motion strategy, the gait control model is used to control the hip joint, the knee joint and the ankle joint to move according to the time sequence relationship or the phase relationship, so as to drive the training object to perform rehabilitation training according to the motion mode corresponding to the motion strategy, wherein after the motion strategy corresponding to the target parameter is determined, the corresponding motion strategy is input into the gait control model, and the driving component 13 is controlled to drive the training object to perform rehabilitation training. The gait control model may be provided in the drive assembly 13. Specifically, the hip joint assembly 201, the knee joint assembly 203 and the ankle joint assembly 205 of the rehabilitation training device 10 are provided with joint motion sensors and joint force sensors at corresponding positions, the data are periodically collected through the joint motion sensors and the joint force sensors, the collected data are subjected to filtering, operational amplification and data signal conversion processing, the processed data are input into a gait control model, and control signals of all joints are calculated. The time sequence relation or the phase sequence relation of each joint is subjected to feedback closed-loop control, and the movement of the hip joint power piece, the knee joint power piece and the ankle joint power piece is respectively controlled, so that the control of the driving assembly 13 is realized, and the training object is driven by the driving assembly 13 to perform rehabilitation training according to the movement mode corresponding to the movement strategy. The gait control model may also be provided in the controller 14. Specifically, the joint motion sensor and the joint force sensor periodically acquire data, the acquired data are transmitted to the controller 14, the controller 14 calculates control signals of all joints by using a gait control model, and the driving component 13 is controlled to drive the training object to perform rehabilitation training according to a motion mode corresponding to a motion strategy.

Additionally, the rehabilitation training device 10 may include one or more gait design models, and target parameters may be input into the different gait design models according to different control modes to determine different movement strategies; the target parameters can also be input into the same gait design model according to different control modes to determine different movement strategies. For example, based on a first control mode, such as a straight-going control mode, the target parameters can be input into the straight-going gait design model, a first motion strategy corresponding to the target parameters in the straight-going gait design model is determined, and a first motion mode corresponding to the straight-going of the training object can be obtained through the first motion strategy, so that the driving component 13 is controlled to drive the training object to perform rehabilitation training according to the first motion mode based on the first motion strategy; based on a second control mode, such as a turning control mode, the target parameters can be input into a turning gait design model, a second motion strategy corresponding to the target parameters in the turning gait design model is determined, and a second motion mode corresponding to the turning of the training object is obtained through the second motion strategy, so that the driving component 13 is controlled to drive the training object to perform rehabilitation training according to the second motion mode based on the second motion strategy; for another example, the rehabilitation training device 10 includes only one gait design model, and the target parameters may be input into the gait design model, and based on the first control mode, such as the straight control mode, a first movement strategy corresponding to the first control mode is determined, and a first movement mode corresponding to the straight movement of the training object is determined according to the first movement strategy; or based on the second control mode such as a turning control mode, determining a second movement strategy corresponding to the second control mode, and determining a second movement mode corresponding to the turning of the training object according to the second movement strategy.

Specifically, when the gait design model is a gait trajectory planning model combined with a kinematic model and/or a dynamic model, the rehabilitation training device 10 may input the target parameters into the gait trajectory planning model corresponding to the control mode based on different control modes, and calculate a motion strategy corresponding to the target parameters based on different control modes. For example, based on a first control mode, such as a straight-going control mode, inputting target parameters into a straight-going gait trajectory planning model, and calculating to obtain a motion time sequence relationship or a motion phase sequence relationship between the hip joint assembly 201, the knee joint assembly 203 and the ankle joint assembly 205, which move in a straight-going motion mode, so as to determine a first motion strategy; based on a second control mode, such as a turning control mode, the target parameters are input into a turning gait path planning model, and a motion time sequence relationship or a motion phase sequence relationship between the hip joint assembly 201, the knee joint assembly 203 and the ankle joint assembly 205, which move according to a turning motion mode, is calculated, so as to determine a second motion strategy.

Specifically, when the gait design model is based on a gait database, the database stored in the memory in the rehabilitation training device 10 may include relationship data for different motion strategies corresponding to different control modes. For example, a first motion strategy matched with the first control mode, such as a straight motion control mode, and the target parameter, may be found in the straight gait database, and a first motion mode of the training object may be determined according to the first motion strategy; a second motion strategy matching the second control mode, such as a turning control mode, and the target parameter may be found in the turning gait database, and a second motion pattern of the training object may be determined according to the second motion strategy.

Specifically, when the gait design model is based on the artificial intelligence learning model, the target parameters are input as sample data into the rehabilitation training device 10, and the motion strategy matching the target parameters is obtained through multiple artificial intelligence learning by the artificial intelligence learning function of the rehabilitation training device 10. For example, a first control mode such as a straight-line control mode and a target parameter are used as sample data to learn, and a first motion strategy and a first motion mode such as a straight-line motion mode corresponding to the straight-line control mode and the target parameter are obtained through multiple times of artificial intelligence learning; and learning a second control mode such as a turning control mode and target parameters as sample data, and obtaining a second motion strategy and a second motion mode such as a turning motion mode corresponding to the turning control mode and the target parameters through multiple times of artificial intelligence learning.

In addition, in order to meet different walking capacities corresponding to different training object parameters and different training requirements of the same training object in different training phases, the first control mode and the second control mode can be divided into a plurality of sub-modes. Specifically, the first control mode may include one or more first control sub-modes, where different target parameters correspond to different first control sub-modes, and based on the first control sub-modes, a corresponding first motion sub-strategy is determined in combination with the corresponding target parameters; the second control pattern may comprise one or more second control sub-patterns, wherein different target parameters correspond to different second control sub-patterns, and based on the second control sub-patterns, in combination with corresponding target parameters, a corresponding second motion sub-strategy is determined. That is, on the premise of not changing the control mode of the rehabilitation training device 10, the output of the driving component 13 in the rehabilitation training device 10 can be adjusted by changing the training object parameters and different target parameters obtained by the training parameters, so as to adjust the walking gait of the training object driven by the driving component 13, thereby obtaining the control mode which meets different walking capacities corresponding to different training object parameters and different training requirements of the same training object in different training stages.

Specifically, the controller 14 may update the target parameter according to the received parameter modification instruction; updating the corresponding first control sub-strategy or second control sub-strategy according to the updated target parameters and the currently selected first control sub-mode or second control sub-mode; and controlling the driving component 13 to drive the training object to perform rehabilitation training according to the updated first control sub-strategy or the updated second control sub-strategy.

For example, when the same training object trains for 30 minutes in a first control sub-mode, such as a straight-line control sub-mode, the user considers that the current training of the rehabilitation training device 10 cannot meet the training requirement, and can generate a parameter modification instruction according to the new training requirement of the training object, so as to modify the training parameter, obtain an updated target parameter by modifying the training parameter, change the first control sub-mode of the rehabilitation training device 10, obtain an updated first movement sub-strategy according to the updated first control sub-mode, and control the driving component 13 according to the updated first movement sub-strategy to drive the training object to perform rehabilitation training, so as to meet the training requirement of the training object in the current state, and improve the rehabilitation training effect of the training object.

For another example, when the new training object performs rehabilitation training in the first control sub-mode, such as the straight control sub-mode, the rehabilitation training device 10 system still stores the target parameters of the straight control sub-mode corresponding to the previous training object, and because the previous training object is different from the training object parameters and/or training parameters of the new training object, the corresponding target parameters are different, so that the first motion sub-strategy corresponding to the previous training object may not be suitable for the current training object, so that to adapt to the current training object, the first motion sub-strategy may be updated according to the current training object parameters and/or training parameters, the updated first motion sub-strategy is obtained according to the updated first control sub-mode, and the driving component 13 is controlled to drive the current training object to perform rehabilitation training according to the updated first motion sub-strategy, so as to meet the training requirement of the new training object.

As can be seen from the foregoing, in this embodiment, the controller 14 determines the first control mode, determines the first movement strategy based on the first control mode, controls the driving component to drive the training object to perform rehabilitation training according to the first movement mode according to the first movement strategy, determines the second control mode according to the received mode switching instruction, determines the second movement strategy based on the second control mode, and controls the driving component to drive the training object to perform rehabilitation training according to the second movement mode according to the second movement strategy. By adopting different control modes for the rehabilitation training device 10, different movement strategies are determined, and the training object is driven to perform rehabilitation training according to different movement modes according to different movement strategies, different rehabilitation training requirements of different training objects can be met, for example, the training object is met to realize straight rehabilitation training or turning rehabilitation training.

In addition, another rehabilitation training device is provided in the embodiments of the present application, please refer to fig. 3, and fig. 3 is a block diagram of another rehabilitation training device provided in the embodiments of the present application. The rehabilitation training device 20 may include, among other things, a lower limb movement assembly 22, a drive assembly 23, and a controller 24. The lower limb movement assembly 22 and the driving assembly 23 are identical in structure and function to the lower limb movement assembly 12 and the driving assembly 13, and are not described in detail herein. The rehabilitation training device 20 differs from the rehabilitation training device 10 described above in that the manner in which the control mode is determined is different, and the first control mode mentioned below is not associated with the first control mode in the previous embodiment.

The controller 24 may be configured to: selecting a first control mode from preset control modes according to the received first mode selection instruction; determining a first motion strategy based on the first control mode; according to the first movement strategy, the driving component 23 is controlled to drive the training object to perform rehabilitation training according to the first movement mode. The preset control modes comprise a straight control mode and a turning control mode.

Specifically, after the rehabilitation training device 20 is powered on, a first mode selection instruction is received, and a straight control mode or a turning control mode can be selected from preset control modes according to the first mode selection instruction as the first control mode. The first mode selection instruction may be a training object and/or active operation control of a user, and the active operation control mode may be physical key operation, rocker operation, touch screen operation, or the like. For example, the straight-going control mode and the turning control mode respectively correspond to different physical keys, and the training object and/or the user can select the straight-going control mode from the preset control modes through the physical keys corresponding to the touch straight-going control mode or select the turning control mode from the preset control modes through the physical keys corresponding to the touch turning control mode; for example, the training object and/or the user may select the straight control mode by shaking the rocker to a position corresponding to the straight control mode or select the turning control mode by shaking the rocker to a position corresponding to the turning control mode. Thus, by selecting different control modes, such as a straight control mode or a turn control mode, for the rehabilitation training device 20, different rehabilitation training requirements of the training subject, such as straight rehabilitation training or turn rehabilitation training, can be met. Of course, according to actual needs, different preset control modes can be preset or stored according to different parameters of the target object and/or different training parameters. Further, if the first control mode is a turning control mode, the first control mode may be determined according to turning parameters such as a turning angle, a steering speed, and the like.

After determining the first control mode of the rehabilitation training device 20, a first exercise strategy may be determined based on the first control mode in order to meet different rehabilitation training requirements of different training subjects. Specifically, training object parameters and training parameters are obtained, and target parameters are obtained; based on the first control mode, a first motion strategy is determined in combination with the target parameter.

In addition, in order to meet different walking capacities corresponding to different training object parameters and different training requirements of the same training object in different training phases, the first control mode can be divided into a plurality of sub-modes. Specifically, the first control modes may include one or more different first control sub-modes, wherein different target parameters correspond to the different first control sub-modes, and the first motion sub-strategy is determined based on the first control sub-modes in combination with the corresponding target parameters. That is, on the premise of not changing the control mode of the rehabilitation training device 20, the output of the driving component 23 in the rehabilitation training device 20 can be adjusted by changing the training object parameters and different target parameters obtained by the training parameters, so as to adjust the gait of the training object driven by the driving component 23, thereby obtaining the control mode which meets different walking capacities corresponding to different training object parameters and different training requirements of the same training object in different training stages.

Further, the embodiment of the present application further provides a rehabilitation training control method, referring to fig. 4, fig. 4 is a schematic flow chart of the rehabilitation training control method provided in the embodiment of the present application. The rehabilitation training control method is applied to rehabilitation training equipment, and the rehabilitation training equipment is used for providing lower limb rehabilitation training for a training object. The rehabilitation training control method comprises the following specific steps:

301, a first control mode is determined.

In this embodiment, when the rehabilitation training device is powered on, the first control mode is determined first, and the first control mode may be a straight control mode or a turning control mode. Wherein, an initial control mode can be selected as a first control mode by a training object and/or a user, such as a medical staff assisting the training object in rehabilitation training, and the mode adopted can be physical key operation, rocker operation, touch screen setting, and the like. For example, the user determines the first control mode through a touch mode switching key, and for example, the user determines the first control mode through shaking the rocker to a position corresponding to the first control mode. In addition, the control mode can be selected through a system preset rule of the rehabilitation training device, for example, the first control mode is selected by default after the rehabilitation training device is powered on, or the first control mode is selected by default according to a training object, and the like, and further, if the first control mode is a turning control mode, the first control mode can be determined according to turning parameters, such as turning angle, turning speed, and the like.

302, determining a first movement strategy based on the first control mode, and controlling rehabilitation training equipment to provide lower limb rehabilitation training for a training object according to a first movement mode according to the first movement strategy.

After determining the first control mode of the rehabilitation training device, a first movement strategy may be determined based on the first control mode. Specifically, training object parameters and training parameters are obtained, target parameters are obtained, and a first motion strategy is determined based on a first control mode and combined with the target parameters.

Inputting the obtained training object parameters and the target parameters obtained by the training parameters into a pre-trained gait design model, generating a motion strategy which is suitable for the training object and meets the target parameters, namely a motion time sequence relationship or a motion phase sequence relationship among the hip joint assembly, the knee joint assembly and the ankle joint assembly, wherein the motion time sequence relationship or the motion phase sequence relationship comprises an angle relationship or a torque relationship among the hip joint assembly, the knee joint assembly and the ankle joint assembly on a time sequence or a phase sequence, such as an angle relationship or a torque relationship among the hip joint assembly, the knee joint assembly and the ankle joint assembly at each moment or each phase, so as to determine the motion strategy corresponding to the target parameters, and inputting the corresponding motion strategy into a gait control model to control rehabilitation training equipment to provide lower limb rehabilitation training for the training object.

It should be noted that, because the hip joint assembly has a degree of freedom of a cross section, when the sagittal plane angle relation among the hip joint assembly, the knee joint assembly and the ankle joint assembly is designed in the gait design model, the stress condition of each joint can be optimized by adjusting the angular velocity and/or the angular acceleration of the joint, so that the internal force is reduced, the movement is more gentle, the following action can be performed according to the straight movement or turning intention of the training object, the straight movement or turning rehabilitation training of the training object is realized, and the rehabilitation training is more in line with the walking requirement. Optionally, as the hip joint component has a degree of freedom of a cross section, when the sagittal plane angle relation among the hip joint component, the knee joint component and the ankle joint component is designed in the gait design model, the cross section angle relation of the hip joint component can be designed, so that a training object can be driven to perform straight running or turning training better.

In addition, the manner of determining the motion strategy by the target parameters is not limited to the above gait design model, but may be based on a gait database or an artificial intelligence learning model. The gait database refers to invoking a motion strategy matched with the target parameter in a database stored in a memory of the rehabilitation training device according to the target parameter. The artificial intelligence learning model is used for inputting target parameters into rehabilitation training equipment as sample data, and obtaining a motion strategy matched with the target parameters through multiple artificial intelligence learning by the artificial intelligence learning function of the rehabilitation training equipment. The specific acquisition mode may be set according to practical situations, and is not specifically limited herein.

In addition, in order to meet different walking capacities corresponding to different training object parameters and different training requirements of the same training object in different training phases, the first control mode can be divided into a plurality of sub-modes. Specifically, the first control modes may include one or more first control sub-modes, wherein different target parameters correspond to different first control sub-modes, and based on the first control sub-modes, a corresponding first motion strategy is determined in combination with the corresponding target parameters. On the premise of not changing the control mode of the rehabilitation training device, the walking gait of the training object driven by the rehabilitation training device can be adjusted by changing the training object parameters and different target parameters obtained by the training parameters so as to obtain the control mode which meets different walking capacities corresponding to different training object parameters and different training requirements of the same training object in different training stages.

Specifically, the target parameter may be updated according to the received parameter modification instruction; updating the corresponding first control sub-strategy according to the updated target parameters and the currently selected first control sub-mode; and controlling rehabilitation training equipment to provide lower limb rehabilitation training for the training object according to the updated first control sub-strategy.

For example, when the same training object is trained for 30 minutes in a first control sub-mode, such as a straight-line control sub-mode, the user considers that the current training cannot meet the training requirement, and can generate a parameter modification instruction according to the new training requirement of the training object, so as to modify the training parameter, obtain an updated target parameter by modifying the training parameter, change the first control sub-mode of the rehabilitation training device, obtain an updated first movement sub-strategy according to the updated first control sub-mode, and control the rehabilitation training device according to the first movement sub-strategy, so as to meet the training requirement of the training object in the current state, and promote the rehabilitation training experience of the training object.

For example, when the rehabilitation training device is used by a new training object to perform rehabilitation training in a first control sub-mode, for example, a straight control sub-mode, the rehabilitation training device system still stores the target parameters of the straight control sub-mode corresponding to the previous training object, and because the previous training object is different from the training object parameters and/or training parameters of the new training object, the corresponding target parameters are different, so that the first motion sub-strategies corresponding to the previous training object are different, and the first motion sub-strategy of the previous training object may not be suitable for the current training object, so that to adapt to the current training object, the first motion sub-strategy can be updated according to the current training object parameters and/or training parameters, and the rehabilitation training device is controlled to drive the current training object to perform rehabilitation training according to the updated first motion sub-strategy, so as to meet the training requirement of the new training object.

303, determining a second control mode according to the received mode switching instruction.

When the rehabilitation training device drives a training object to perform rehabilitation training according to a first movement mode in a first control mode, if a mode switching instruction is received, a second control mode is determined according to the received mode switching instruction, and the second control mode can be a turning control mode or a straight control mode. The mode switching instruction can be a training object and/or active operation control of a user, and the active operation control mode can be physical key operation, rocker operation, touch screen input, detection of the intention of the training object or according to preset switching rules and the like. The specific implementation manner is as described above and will not be described in detail. Therefore, by performing different mode control, such as a straight control mode or a turning control mode, on the rehabilitation training device, different rehabilitation training requirements of a training object, such as straight rehabilitation training or turning rehabilitation training, can be met.

304, determining a second movement strategy based on the second control mode, and controlling the rehabilitation training device to provide lower limb rehabilitation training for the training object according to a second movement mode according to the second movement strategy.

After determining the second control mode of the rehabilitation training device, a second movement strategy may be determined based on the second control mode. Specifically, the training object parameters and the training parameters are obtained, the target parameters are obtained, and the second motion strategy is determined based on the second control mode and combined with the target parameters.

The specific implementation of determining the motion policy by the control mode is described above in 302 and will not be described in detail.

It should be noted that the rehabilitation training device may include one or more gait design models, and may input the target parameters into the different gait design models according to different control modes to determine different movement strategies; the target parameters can also be input into the same gait design model according to different control modes to determine different movement strategies. For example, based on a first control mode, such as a straight control mode, target parameters can be input into a straight gait design model, a first motion strategy corresponding to the target parameters in the straight gait design model is determined, and a first motion mode corresponding to the straight movement of a training object can be obtained through the first motion strategy, so that rehabilitation training equipment is controlled to provide lower limb rehabilitation training for the training object according to the first motion mode based on the first motion strategy; based on a second control mode, such as a turning control mode, target parameters can be input into a turning gait design model, a second motion strategy corresponding to the target parameters in the turning gait design model is determined, and a second motion mode corresponding to the turning of the training object is obtained through the second motion strategy, so that rehabilitation training equipment is controlled to provide lower limb rehabilitation training for the training object according to the second motion mode based on the second motion strategy; for another example, the rehabilitation training device only includes a gait design model, and target parameters can be input into the gait design model, a first motion strategy corresponding to the first control mode is determined based on the first control mode, such as a straight control mode, and a first motion mode corresponding to straight movement of the training object is determined according to the first motion strategy; or based on the second control mode such as a turning control mode, determining a second movement strategy corresponding to the second control mode, and determining a second movement mode corresponding to the turning of the training object according to the second movement strategy.

Specifically, when the gait design model is a gait trajectory planning model combined with a kinematic model and/or a dynamic model, the rehabilitation training device can input target parameters into the gait trajectory planning model corresponding to the control mode based on different control modes, and calculate a motion strategy corresponding to the target parameters based on different control modes. For example, based on a first control mode, such as a straight-going control mode, inputting target parameters into a straight-going gait track planning model, and calculating to obtain a motion time sequence relationship or a motion phase sequence relationship between the hip joint component, the knee joint component and the ankle joint component, which move in a straight-going motion mode, so as to determine a first motion strategy; and inputting target parameters into a turning gait path planning model based on a second control mode such as a turning control mode, and calculating to obtain a motion time sequence relationship or a motion phase sequence relationship between the hip joint assembly, the knee joint assembly and the ankle joint assembly, which move according to a turning motion mode, so as to determine a second motion strategy.

Specifically, when the gait design model is based on a gait database, the database stored in the memory in the rehabilitation training device may include relationship data for different motion strategies corresponding to different control modes. For example, a first motion strategy matched with the first control mode, such as a straight motion control mode, and the target parameter, may be found in the straight gait database, and a first motion mode of the training object may be determined according to the first motion strategy; a second motion strategy matching the second control mode, such as a turning control mode, and the target parameter may be found in the turning gait database, and a second motion pattern of the training object may be determined according to the second motion strategy.

Specifically, when the gait design model is based on an artificial intelligence learning model, target parameters are input into rehabilitation training equipment as sample data, and a motion strategy matched with the target parameters is obtained through multiple artificial intelligence learning by the artificial intelligence learning function of the rehabilitation training equipment. For example, a first control mode such as a straight-line control mode and a target parameter are used as sample data to learn, and a first motion strategy and a first motion mode such as a straight-line motion mode corresponding to the straight-line control mode and the target parameter are obtained through multiple times of artificial intelligence learning; and learning a second control mode such as a turning control mode and target parameters as sample data, and obtaining a second motion strategy and a second motion mode such as a turning motion mode corresponding to the turning control mode and the target parameters through multiple times of artificial intelligence learning.

In addition, in order to meet different walking capacities corresponding to different training object parameters and different training requirements of the same training object in different training phases, the second control mode can be divided into a plurality of sub-modes. Specifically, the second control mode may include one or more second control sub-modes, wherein different target parameters correspond to different second control sub-modes, and the second sub-motion strategy is determined based on the second control sub-modes in combination with the corresponding target parameters. On the premise of not changing the control mode of the rehabilitation training device, the walking gait of the training object driven by the rehabilitation training device can be adjusted by changing the training object parameters and different target parameters obtained by the training parameters so as to obtain the control mode which meets different walking capacities corresponding to different training object parameters and different training requirements of the same training object in different training stages.

Specifically, the target parameter may be updated according to the received parameter modification instruction; updating the corresponding second control sub-strategy according to the updated target parameters and the currently selected second control sub-mode; and controlling rehabilitation training equipment to provide lower limb rehabilitation training for the training object according to the updated second control sub-strategy.

For example, when the same training object is trained for 30 minutes in a second control sub-mode, such as a turning control sub-mode, the user considers that the current training cannot meet the training requirement, and can generate a parameter modification instruction according to the new training requirement of the training object, so as to modify the training parameter, obtain an updated target parameter by modifying the training parameter, and control the rehabilitation training device according to the second motion sub-strategy, so as to meet the training requirement of the training object in the current state, and promote the rehabilitation training experience of the training object.

For example, when the new training object performs the rehabilitation training in the second control sub-mode, for example, the turning control sub-mode, the system of the rehabilitation training device still stores the target parameters of the turning control sub-mode corresponding to the previous training object, and because the previous training object is different from the training object parameters and/or the training parameters of the new training object, the corresponding target parameters are different, so that the second motion sub-strategies corresponding to the previous training object are different, and the second motion sub-strategy of the previous training object may not be suitable for the current training object, so that to adapt to the current training object, the second motion sub-strategy can be updated according to the current training object parameters and/or the training parameters, and the rehabilitation training device is controlled to drive the current training object to perform the rehabilitation training according to the updated second motion sub-strategy, so as to meet the training requirement of the new training object.

As can be seen from the foregoing, in this embodiment, by determining the first control mode, determining the first movement strategy based on the first control mode, controlling the rehabilitation training device according to the first movement strategy to provide lower limb rehabilitation training for the training object according to the first movement mode, determining the second control mode according to the received mode switching instruction, determining the second movement strategy based on the second control mode, and controlling the rehabilitation training device according to the second movement strategy to provide lower limb rehabilitation training for the training object according to the second movement mode. Different movement strategies are determined by adopting different control modes for the rehabilitation training device, and the rehabilitation training device is controlled to provide lower limb rehabilitation training for a training object according to different movement modes according to different movement strategies, so that different rehabilitation training requirements of different training objects can be met, such as straight rehabilitation training or turning rehabilitation training for the training object is met.

In addition, another rehabilitation training control method is provided in the embodiments of the present application, please refer to fig. 5, and fig. 5 is a schematic flow chart of another rehabilitation training control method provided in the embodiments of the present application. The rehabilitation training control method is applied to rehabilitation training equipment, and the rehabilitation training equipment is used for providing lower limb rehabilitation training for a training object. The rehabilitation training control method comprises the following specific steps:

401, selecting a first control mode from preset control modes according to the received first mode selection instruction.

In this embodiment, after the rehabilitation training device is powered on, a first mode selection instruction is received, and a straight control mode or a turning control mode can be selected from preset control modes according to the first mode selection instruction to be used as a first control mode. The first mode selection instruction may be a training object and/or active operation control of a user, and the active operation control manner may be physical key operation, rocker operation, touch screen input, detection of intention of the training object, etc., which are described above and will not be repeated. Therefore, by selecting different control modes, such as a straight control mode or a turning control mode, for the rehabilitation training device, different rehabilitation training requirements of a training object, such as straight rehabilitation training or turning rehabilitation training, can be met. Of course, according to actual needs, different preset control modes can be preset or stored according to different parameters of the target object and/or different training parameters. Further, if the first control mode is a turning control mode, the first control mode may be determined according to turning parameters such as a turning angle, a steering speed, and the like.

A first motion strategy is determined based on the first control mode 402.

After determining the first control mode of the rehabilitation training device, a first movement strategy may be determined based on the first control mode in order to meet different training requirements of different training subjects. Specifically, training object parameters and training parameters are obtained, and target parameters are obtained; based on the first control mode, a first motion strategy is determined in combination with the target parameter.

In addition, in order to meet different walking capacities corresponding to different training object parameters and different training requirements of the same training object in different training phases, the first control mode can be divided into a plurality of sub-modes. Specifically, the first control mode includes one or more different first control sub-modes, wherein different target parameters correspond to the different first control sub-modes, and the first motion sub-strategy is determined based on the first control sub-modes in combination with the corresponding target parameters. On the premise of not changing the control mode of the rehabilitation training device, the gait training of the training object driven by the rehabilitation training device can be adjusted by changing the training object parameters and different target parameters obtained by the training parameters so as to obtain the control mode which meets different walking capacities corresponding to different training object parameters and different training requirements of the same training object in different training stages.

403, controlling the rehabilitation training device to provide lower limb rehabilitation training for the training object according to the first movement mode according to the first movement strategy.

If the first motion strategy is a straight motion strategy corresponding to the straight motion control mode, controlling rehabilitation training equipment to provide straight motion rehabilitation training for a training object; and if the first movement strategy is a turning movement strategy corresponding to the turning control mode, controlling rehabilitation training equipment to provide turning rehabilitation training for the training object.

The present embodiments also provide a computer readable storage medium having stored therein a plurality of computer programs that can be loaded by a processor to perform the steps of any of the rehabilitation training control methods provided by the embodiments of the present application. Wherein the storage medium may include: a Read Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or the like, which can store a program code.

The steps in any rehabilitation training control method provided in the embodiments of the present application may be executed by the computer program stored in the storage medium, so that the beneficial effects that any rehabilitation training control method provided in the embodiments of the present application may be achieved are detailed in the previous embodiments and are not described herein.

The rehabilitation training device and the rehabilitation training control method provided by the embodiment of the application are described in detail, and specific examples are applied to the description of the principle and the implementation of the application, and the description of the above examples is only used for helping to understand the method and the core idea of the application; meanwhile, as those skilled in the art will vary in the specific embodiments and application scope according to the ideas of the present application, the contents of the present specification should not be construed as limiting the present application in summary.

Claims

1. The utility model provides a rehabilitation training device which characterized in that, rehabilitation training device includes low limbs movable component, drive assembly and controller, drive the drive assembly drive training object carries out rehabilitation training under the control of controller, the controller is configured to:

determining a first control mode;

2. The utility model provides a rehabilitation training device which characterized in that, rehabilitation training device includes low limbs movable component, drive assembly and controller, drive the drive assembly drive training object carries out rehabilitation training under the control of controller, the controller is configured to:

determining a first motion strategy based on the first control mode;

3. The rehabilitation training device of claim 1 or 2 wherein the controller is further configured to:

determining the first motion strategy based on the first control mode in combination with the target parameter; and/or

And determining the second motion strategy based on the second control mode in combination with the target parameter.

4. The rehabilitation training device of claim 3 wherein the first control mode comprises one or more first control sub-modes, wherein different ones of the target parameters correspond to different ones of the first control sub-modes;

5. The rehabilitation training device of claim 3 wherein the second control mode comprises one or more second control sub-modes, wherein different ones of the target parameters correspond to different ones of the second control sub-modes;

6. The rehabilitation training device of claim 4 or 5 wherein the controller is further configured to:

7. The utility model provides a rehabilitation training control method, is applied to rehabilitation training equipment, rehabilitation training equipment is used for providing low limbs rehabilitation training for training the object, its characterized in that, rehabilitation training control method includes:

determining a first control mode;

8. The utility model provides a rehabilitation training control method, is applied to rehabilitation training equipment, rehabilitation training equipment is used for providing low limbs rehabilitation training for training the object, its characterized in that, rehabilitation training control method includes:

Determining a first motion strategy based on the first control mode;

9. The rehabilitation training control method according to claim 7 or 8, characterized in that the method further comprises:

10. The rehabilitation training control method according to claim 9, characterized in that the first control pattern comprises one or more first control sub-patterns, wherein different ones of the target parameters correspond to different ones of the first control sub-patterns;

11. The rehabilitation training control method according to claim 9, characterized in that the second control pattern comprises one or more second control sub-patterns, wherein different ones of the target parameters correspond to different ones of the second control sub-patterns;

12. The rehabilitation training control method according to claim 10 or 11, characterized in that the method further comprises:

13. A computer-readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed on a computer, causes the computer to perform the rehabilitation training control method according to any one of claims 7 to 12.