CN117180702A - Walking training method and system of lower limb training robot - Google Patents
Walking training method and system of lower limb training robot Download PDFInfo
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- CN117180702A CN117180702A CN202311403948.7A CN202311403948A CN117180702A CN 117180702 A CN117180702 A CN 117180702A CN 202311403948 A CN202311403948 A CN 202311403948A CN 117180702 A CN117180702 A CN 117180702A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 25
- 210000004197 pelvis Anatomy 0.000 claims abstract description 50
- 230000003993 interaction Effects 0.000 claims abstract description 16
- 238000001914 filtration Methods 0.000 claims description 24
- 230000003321 amplification Effects 0.000 claims description 4
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 4
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- 238000002560 therapeutic procedure Methods 0.000 abstract description 2
- 210000001624 hip Anatomy 0.000 description 3
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The invention belongs to the technical field of rehabilitation therapy, and particularly relates to a walking training method and system of a lower limb training robot, wherein the training method comprises the following steps: step 1, selecting a walking training mode and setting auxiliary force; step 2, acquiring actual pressure information between pelvis and lower limb training robot of a patient in real time; step 3, determining the intention movement direction of the patient according to the actual pressure information and the auxiliary force, and determining the indication movement direction of the lower limb training robot according to the man-machine interaction system and the set walking direction; if the indicated movement direction is inconsistent with the intended movement direction, stopping the patient from continuing to move according to the intended movement direction; the invention can basically meet the requirements of different training intensities by setting different auxiliary forces, and can meet the training requirements of patients in different rehabilitation periods.
Description
Technical Field
The invention belongs to the technical field of rehabilitation therapy, and particularly relates to a walking training method and system of a lower limb training robot.
Background
With the increasing aggravation of the aging society, more and more old people lose the autonomous walking function of lower limbs due to stroke, cardiovascular diseases and the like, great inconvenience is brought to daily life, and the quality of life is seriously reduced. Scientific researches show that the rehabilitation training given to early patients has very important effect on the recovery of the lower limb movement function.
Because the traditional lower limb rehabilitation training has large working strength of therapists, the treatment amount is difficult to standardize, and the treatment efficiency is low; meanwhile, for patients in different rehabilitation periods, training contents with different intensities cannot be provided, and the training requirements of the patients in different rehabilitation periods cannot be met; in addition, the movement of the patient is unstable in the training process, and secondary injury is easy to cause.
Disclosure of Invention
The invention aims to provide a walking training method and system of a lower limb training robot, which can basically meet the requirements of different training intensities and can meet the training requirements of patients in different rehabilitation periods by setting different auxiliary forces; through timely adjustment patient's intention direction of motion, guarantee training process's stability, guarantee patient's safety.
Based on the above purpose, the invention adopts the following technical scheme:
a walking training method of a lower limb training robot comprises the following steps:
step 1, selecting a walking training mode and setting auxiliary force; the assist force is a power assist value when it is greater than zero, and the assist force is a resistance value when it is less than zero.
Step 2, acquiring physical voltage information in real time through pressure sensors arranged on the left side and the right side of the pelvis of a patient, and performing filtering treatment, amplification treatment, double-benefit simulation treatment and bias removal treatment on the physical voltage information to obtain actual pressure information; the method for simulating the double-Fu comprises the following steps:
wherein A is L Is a real-time analog signal read according to the physical voltage information of the left side of the pelvis after filtering and amplifying, A R Is a real-time analog signal read according to the physical voltage information of the right side of pelvis after filtering and amplifying, F L Training a pressure signal between the left side of the pelvis of a patient and the lower limb of the robot, U L For voltage information on the left side of pelvis, F R For the pressure signal between the right side of the pelvis of the patient and the lower limb training robot, U R Is the voltage information on the right side of the pelvis.
Step 3, determining the intention movement direction of the patient according to the actual pressure information and the auxiliary force, and determining the indication movement direction of the lower limb training robot according to the man-machine interaction system and the set walking direction; if the indicated movement direction is inconsistent with the intended movement direction, stopping the patient from continuing to move according to the intended movement direction.
Further, the bias removal processing method comprises the following steps:
F L1 ＝F L -F L0
F R1 ＝F R -F R0
wherein F is L1 For the information of the actual pressure on the left side of the pelvis of the patient, F L0 For initial value of pressure obtained under empty condition of pressure sensor on left side of pelvis of patient, F R1 For the information of the actual pressure on the right side of the pelvis of the patient, F R0 The initial value of the pressure obtained for the pressure sensor on the right side of the patient's pelvis in the empty condition.
Further, the method for determining the intended movement direction of the patient comprises the following steps: when F L1 +F 0 >∈ L And F R1 +F 0 >∈ R When the user moves forwards, the intention movement direction is forward movement; when F L1 +F 0 ＜-∈ L And F R1 +F 0 ＜-∈ R When the user moves backward, the intention movement direction is backward movement; when F L1 +F 0 ＜-∈ L And F R1 +F 0 >∈ R When the user wants to move, the user wants to move left; when F L1 +F 0 >∈ L And F R1 +F 0 ＜-∈ R When the user wants to move, the user wants to move rightwards; f (F) 0 For assisting force, E L And E shaped R Is the set pressure threshold.
The walking training system of the lower limb training robot comprises a control subsystem, a man-machine interaction system connected with the control subsystem, a pressure sensor and a bottom wheel differential driving motor; the man-machine interaction system is used for selecting a training mode, setting auxiliary force and walking direction, and sending the auxiliary force and the walking direction to the control subsystem; the pressure sensor is used for collecting physical voltage information between the pelvis of the patient and the lower limb training robot in real time and sending the physical voltage information to the control subsystem; the control subsystem is used for calculating actual pressure information according to the physical voltage information, determining the intended movement direction of the patient according to the auxiliary force and the actual pressure information, determining the indicated movement direction according to the walking direction, and outputting a movement stopping instruction when the intended movement direction is inconsistent with the indicated movement direction; the bottom wheel differential drive motor is used for executing the instruction output by the control subsystem.
Further, the control subsystem comprises a filtering and amplifying module, a multiple-benefit analog quantity processing module, a bias removing module and a direction judging module; the filtering and amplifying module is used for carrying out filtering and amplifying processing on the physical voltage information acquired by the pressure sensor and sending the physical voltage information to the multiple-benefit analog quantity processing module, the multiple-benefit analog quantity processing module is used for reading real-time analog quantity signals according to the physical voltage information after the filtering and amplifying processing, converting the real-time analog quantity signals into pressure signals, then sending the pressure signals to the bias removing module, and the bias removing module is used for calculating actual pressure information according to the pressure signals and the pressure initial value in no-load; the direction judging module is used for judging the intended movement direction of the patient according to the actual pressure information and the auxiliary force.
Further, the control subsystem is used for outputting a continuous motion instruction when the intended motion direction is consistent with the indicated motion direction.
Further, two pressure sensors are arranged, and the two pressure sensors are respectively used for acquiring physical voltage information between the left side and the right side of the pelvis of the patient and the lower limb training robot in real time. The left pressure sensor and the right pressure sensor are respectively matched with the left side and the right side of the pelvis of the patient, the left pressure sensor is used for measuring physical voltage information between the left side of the pelvis of the patient and the lower limb training robot, and the right pressure sensor is used for measuring physical voltage information between the left side of the pelvis of the patient and the lower limb training robot.
Compared with the prior art, the invention has the following beneficial effects:
when the patient performs walking training, the invention can adjust the intention movement direction of the patient according to the instruction movement direction of the lower limb training robot, and when the intention movement direction of the patient is inconsistent with the instruction movement direction of the lower limb training robot, the patient training is stopped in time, the patient is prevented from being injured secondarily in the rehabilitation training period, and the rehabilitation training efficiency and safety are improved. The rehabilitation patient walking training device has the advantages that training contents with different intensities are provided by setting different auxiliary forces, so that the rehabilitation patient walking training device can be suitable for rehabilitation patient walking training in different periods. According to the invention, the actual pressure information is calculated through the data acquired by the calculation pressure sensor in real time, and the intended movement direction of the patient is judged according to the actual pressure information, so that the movement of the patient can be prejudged in advance, and the safety of the patient is ensured.
Drawings
FIG. 1 is a schematic view of a lumbar mechanism according to embodiment 1 of the present invention;
FIG. 2 is a block diagram of the walking training system according to embodiment 1 of the present invention;
fig. 3 is a flow chart of the walking training method of embodiment 2 of the present invention.
In the figure: a pressure sensor 1, a spline 2 and a safety belt eye-splice 3.
Detailed Description
Example 1
The lower limb training robot mainly comprises a waist mechanism, a motion control module, a mobile platform and an upright post; the mobile platform comprises servo driving motor, speed reducer and chassis frame etc. and mobile platform can be to equidirectional removal and can turn to, and stand vertical setting and bottom are installed on mobile platform, and waist mechanism connects on the stand and is used for connecting patient's pelvis. As shown in fig. 1, the waist mechanism mainly comprises a left support handrail, a right support handrail, a pressure sensor 1, a safety belt eye-splice 3 and a spline 2, wherein the pressure sensor 1 and the spline 2 are arranged in the support handrail, the pressure sensor 1 is positioned at the front end of the spline 2, the safety belt eye-splice 3 is arranged outside the support handrail and is connected with a sleeve on the spline 2, the sleeve is in sliding connection with the spline 2, a spring is arranged between the sleeve and the pressure sensor 1, and the force of the pelvis of a patient is transmitted to the pressure sensor 1 through the safety belt eye-splice 3, the sleeve and the spring. The motion control module mainly comprises a ploidy module.
A walking training system of a lower limb training robot is shown in fig. 2, and comprises a control subsystem, a man-machine interaction system connected with the control subsystem, two pressure sensors 1 and a bottom wheel differential driving motor. The man-machine interaction system comprises a walking training mode selection module, an auxiliary force setting module, a walking direction setting module and a walking training start virtual button. The walking training mode selection module is used for selecting a walking training mode, the auxiliary force setting module is used for setting auxiliary force, the walking direction setting module is used for setting the walking direction of the system, and the walking training mode, the auxiliary force and the walking direction are sent to the control subsystem. The virtual button for starting the walking training is a trigger button, and when the patient clicks the virtual button for starting the walking training, the walking training system enters a training mode.
During the training mode, the pressure sensors 1 are used for collecting physical voltage information between the pelvis of the patient and the lower limb training robot in real time and sending the physical voltage information to the control subsystem, the two pressure sensors 1 are arranged left and right and are respectively matched with the left side and the right side of the pelvis of the patient, the left pressure sensor 1 is used for measuring the physical voltage information between the left side of the pelvis of the patient and the lower limb training robot, and the right pressure sensor 1 is used for measuring the physical voltage information between the right side of the pelvis of the patient and the lower limb training robot. And the bottom wheel differential driving motor is used for executing the lower motion instruction of the control subsystem to realize the walking training of the lower limb training robot.
The control subsystem is used for carrying out signal processing according to the physical voltage information, calculating the actual pressure information and determining the intended movement direction of the patient according to the auxiliary force and the actual pressure information. The control subsystem comprises a filtering and amplifying module, a multiple-benefit analog quantity processing module, a bias removing module and a movement direction judging module; the filtering and amplifying module is used for carrying out filtering and amplifying processing on the physical voltage information acquired by the pressure sensor 1 and sending the physical voltage information to the multiple-benefit analog quantity processing module, the multiple-benefit analog quantity processing module is used for reading real-time analog quantity signals according to the physical voltage information after the filtering and amplifying processing, converting the real-time analog quantity signals into pressure signals, then sending the pressure signals to the bias removing module, and the bias removing module is used for calculating actual pressure information according to the pressure signals and the pressure initial value in no-load; the direction judging module is used for judging the intention movement direction of the patient according to the actual pressure information and the auxiliary force information.
The control subsystem is also used for determining the indicated movement direction of the lower limb training robot according to the information sent by the man-machine interaction subsystem, outputting a movement stopping instruction when the indicated movement direction is inconsistent with the indicated movement direction, and sending the movement stopping instruction to the movement control module, wherein the movement control module controls the bottom wheel differential motor to stop so as to stop the patient from continuing to move according to the original movement direction. The control subsystem is also used for outputting a continuous movement instruction when the indicated movement direction is consistent with the intended movement direction, and sending the continuous movement instruction to the movement control module so as to assist the patient to continue movement according to the original intended movement direction.
And inputting the motion instruction processed by the method into a lower limb training robot, performing online motion control, and controlling each servo motor to realize expected rotation by combining the set auxiliary force, the walking motion direction and the acquired physical information, thereby finally realizing walking training based on the lower limb training robot.
Example 2
A walking training method of a lower limb training robot, as shown in figure 2, comprises the following steps:
step 1, connecting pelvis of patient with safety belt buckle by using safety belt, selecting walking training mode, setting walking direction and assisting force F 0 Training is started; the magnitude of the assisting force is set according to the rehabilitation period and the training intensity of the patient, when F 0 >0 is the power assisting value, when F 0 Resistance values are < 0.
Step 2, acquiring actual pressure information between pelvis and lower limb training robot of a patient in real time: physical information Γ between the pelvis of the patient and the lower limb training robot is acquired in real time through pressure sensors arranged on the left side and the right side of the pelvis of the patient, wherein the physical information is physical voltage information generated by interaction force acting on the pressure sensors; and then sequentially carrying out filtering treatment, amplification treatment, double-Fu simulation treatment and bias removal treatment on the physical voltage information to obtain actual pressure information. The interaction force is generated when the patient moves, the patient transmits the interaction force to the safety belt eye-splice, and the safety belt eye-splice transmits the interaction force to the pressure sensor through the spline.
The filtering and amplifying processes are performed by a pressure sensor filtering and amplifying circuit; the double-Fu analog quantity processing is to read a real-time analog quantity signal A according to the physical information gamma of the left side and the right side after filtering and amplifying processing L And A R Then the real-time analog quantity signals A on the left side and the right side read by the multiple-benefit module L And A R Converted into pressure signals F on the left and right sides L And F R The formula of the double-Fu analog quantity processing is as follows:
wherein A is L Is a real-time analog signal read by a time-delay module according to the physical voltage information of the left side of the pelvis after filtering treatment and amplification treatment, A R Is a real-time analog signal read by the time-delay module according to the physical voltage information on the right side of pelvis after filtering treatment and amplifying treatment, F L Training a pressure signal between the left side of the pelvis of a patient and the lower limb of the robot, U L Based on real-time analog signals A for the left side of pelvis L Calculated voltage information, F R For the pressure signal between the right side of the pelvis of the patient and the lower limb training robot, U R Based on real-time analog signals A for the right side of pelvis R And (5) calculating voltage information.
The bias removing process is mainly to perform bias removing process on the pressure signals at the left side and the right side, and finally obtain the actual pressure information F of the patient L1 、F R1 The offset value is the initial value F of the pressure obtained under no-load condition L0 、F R0 The bias processing formula is as follows:
F L1 ＝F L -F L0
F R1 ＝F R -F R0
wherein F is L1 For the information of the actual pressure on the left side of the pelvis of the patient, F L0 For initial value of pressure obtained under empty condition of pressure sensor on left side of pelvis of patient, F R1 For the information of the actual pressure on the right side of the pelvis of the patient, F R0 The initial value of the pressure obtained for the pressure sensor on the right side of the patient's pelvis in the empty condition.
Step 3, determining the intention movement direction of the patient according to the actual pressure information, the auxiliary force and the pressure threshold value, and determining the indication movement direction of the lower limb training robot according to the man-machine interaction system and the set walking direction; if the indicated movement direction is inconsistent with the intended movement direction, stopping the patient from continuing to move according to the intended movement direction, and outputting a movement stopping instruction. If the indicated movement direction is consistent with the intended movement direction, the patient is assisted to continue moving according to the original intended movement direction, a continuous movement instruction is output, and the continuous movement instruction is sent to the movement control module to assist the patient to continue moving according to the original intended movement direction.
Setting the pressure threshold range as-epsilon L ～∈ L 、-∈ R ～∈ R In this embodiment, the E is set L ＝∈ R =5, the method of determining the direction of the intended movement of the patient is: when F L1 +F 0 >∈ L And F R1 +F 0 >∈ R When the user moves forwards, the intention movement direction is forward movement; when F L1 +F 0 ＜-∈ L And F R1 +F 0 ＜-∈ R When the user moves backward, the intention movement direction is backward movement; when F L1 +F 0 ＜-∈ L And F R1 +F 0 >∈ R When the user wants to move, the user wants to move left; when F L1 +F 0 >∈ L And F R1 +F 0 ＜-∈ R At this time, the intended movement direction is a rightward rotation. The training method of this embodiment may be implemented using the walking training system of the lower limb training robot of embodiment 1, or by other means.
Claims (6)
1. The walking training method of the lower limb training robot is characterized by comprising the following steps of:
step 1, selecting a walking training mode and setting auxiliary force;
step 2, acquiring physical voltage information in real time through pressure sensors arranged on the left side and the right side of the pelvis of a patient, and performing filtering treatment, amplification treatment, double-benefit simulation treatment and bias removal treatment on the physical voltage information to obtain actual pressure information; the method for simulating the double-Fu comprises the following steps:
wherein A is L Is a real-time analog signal read according to the physical voltage information of the left side of the pelvis after filtering and amplifying, A R Is a real-time analog signal read according to the physical voltage information of the right side of pelvis after filtering and amplifying, F L Training a pressure signal between the left side of the pelvis of a patient and the lower limb of the robot, U L For voltage information on the left side of pelvis, F R For the pressure signal between the right side of the pelvis of the patient and the lower limb training robot, U R Voltage information on the right side of the pelvis;
step 3, determining the intention movement direction of the patient according to the actual pressure information and the auxiliary force, and determining the indication movement direction of the lower limb training robot according to the man-machine interaction system and the set walking direction; if the indicated movement direction is inconsistent with the intended movement direction, stopping the patient from continuing to move according to the intended movement direction.
2. The walking training method of a lower limb training robot according to claim 1, wherein the bias removal process comprises:
F L1 ＝F L -F L0
F R1 ＝F R -F R0
wherein F is L1 For the information of the actual pressure on the left side of the pelvis of the patient, F L0 For initial value of pressure obtained under empty condition of pressure sensor on left side of pelvis of patient, F R1 For the information of the actual pressure on the right side of the pelvis of the patient, F R0 The initial value of the pressure obtained for the pressure sensor on the right side of the patient's pelvis in the empty condition.
3. The walking training method of a lower limb training robot according to claim 2, wherein the method of determining the intended movement direction of the patient is: when F L1 +F 0 >∈ L And F R1 +F 0 >∈ R When the user moves forwards, the intention movement direction is forward movement; when F L1 +F 0 ＜-∈ L And F R1 +F 0 ＜-∈ R When the user moves backward, the intention movement direction is backward movement; when F L1 +F 0 ＜-∈ L And F R1 +F 0 >∈ R When the user wants to move, the user wants to move left; when F L1 +F 0 >∈ L And F R1 +F 0 ＜-∈ R When the user wants to move, the user wants to move rightwards; f (F) 0 For assisting force, E L And E shaped R Is the set pressure threshold.
4. The walking training system of the lower limb training robot is characterized by comprising a control subsystem, a man-machine interaction system, a pressure sensor and a bottom wheel differential driving motor, wherein the man-machine interaction system, the pressure sensor and the bottom wheel differential driving motor are connected with the control subsystem; the man-machine interaction system is used for selecting a training mode, setting auxiliary force and walking direction, and sending the auxiliary force and the walking direction to the control subsystem; the pressure sensor is used for collecting physical voltage information between the pelvis of the patient and the lower limb training robot in real time and sending the physical voltage information to the control subsystem; the control subsystem is used for calculating actual pressure information according to the physical voltage information, determining the intended movement direction of the patient according to the auxiliary force and the actual pressure information, determining the indicated movement direction according to the walking direction, and outputting a movement stopping instruction when the intended movement direction is inconsistent with the indicated movement direction; the bottom wheel differential driving motor is used for executing the instruction output by the control subsystem.
5. The walking training system of the lower limb training robot of claim 4, wherein the control subsystem comprises a filtering and amplifying module, a doubly-fuzhu analog processing module, a unbiasing module and a direction judging module; the filtering and amplifying module is used for carrying out filtering and amplifying processing on physical voltage information acquired by the pressure sensor and sending the physical voltage information to the multiple-benefit analog quantity processing module, the multiple-benefit analog quantity processing module is used for reading real-time analog quantity signals according to the physical voltage information after the filtering and amplifying processing, converting the real-time analog quantity signals into pressure signals and sending the pressure signals to the bias removing module, the bias removing module is used for calculating actual pressure information according to the pressure signals and pressure initial values in no-load, and the direction judging module is used for judging the intention movement direction of a patient according to the actual pressure information and auxiliary force.
6. The walking training system of a lower limb training robot of claim 5, wherein two pressure sensors are provided, and the two pressure sensors are respectively used for acquiring physical voltage information between the left side and the right side of the pelvis of the patient and the lower limb training robot in real time.
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| CN202311403948.7A CN117180702A (en) | 2023-10-26 | 2023-10-26 | Walking training method and system of lower limb training robot |
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| CN202311403948.7A CN117180702A (en) | 2023-10-26 | 2023-10-26 | Walking training method and system of lower limb training robot |
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