TWI601526B - Lower limb rehabilitation device control method and the implementation of the method of lower limb rehabilitation device - Google Patents

Description

Control method of lower limb rehabilitation device and method for implementing lower limb rehabilitation device

The invention relates to the control of a complex device, in particular to a method for controlling a lower limb rehabilitation device and a lower limb rehabilitation device for implementing the same.

For patients with lower extremity dyskinesia, there are two key factors in regaining the lower extremity motor function: (1) Task orientation: To enhance the motor function of the lower extremity to perform daily actions, it is necessary to practice daily actions, (2) active training. : Users must contribute their own strength during the training process to promote the recovery of nerve connections. There are two ways to train lower limbs today. One of them is to assist the lower limb movements of the patients by the rehabilitation teacher. However, the rehabilitation workers have insufficient manpower problems so that they cannot meet the needs of each patient. The way is to let the patient use a mechanical rehabilitation machine for rehabilitation, but the traditional mechanical rehabilitation machine has a more monotonous reciprocating motion, which is helpful for muscle strength recovery, but may not guide the nerve muscles to perform according to daily needs. The action task reshapes the neural connections and affects the recovery of the motion control functions.

In order to solve the above problem, the assisted exoskeleton robot disclosed in CN101791255 uses an exoskeleton composed of a suspension bracket and a plurality of joints to help the patient stand, and then the function between the lower limb and the exoskeleton is sensed by a plurality of different sensors. After the force and the action angle, the central processing module converts the sensing signals of the sensors to the motion control module, so that the motion control module controls the exoskeleton to drive the lower limbs to swing, thereby achieving the rehabilitation effect. However, in this conventional patent case, since it is necessary to use a plurality of sensors at the same time, In addition to the increase in cost, the construction of signal control and algorithm will be much more complicated. Overall, the practicality of this patent application is not ideal.

The main object of the present invention is to provide a control method for a lower limb rehabilitation device, which can control a mechanical exoskeleton to generate a corresponding action according to a myoelectric signal generated by a user when performing a specific action, so as to achieve clinical active training. Method of device control.

In order to achieve the above object, the method of controlling the lower limb rehabilitation device of the present invention comprises four steps. The first step first determines a specific action that the user wants to perform, and decomposes the action into a complex action phase, setting one of the trigger phases of the action phase; the second step uses the majority of the electromyography sensor to sense The electromyography signal of the specific muscle part of the user; the third step determines whether the sensing result meets the triggering condition of the action phase; the fourth step is that when the triggering condition of the action phase is met, the action generating unit sends a control The signal is sent to a control unit, so that the control unit controls the mechanical exoskeleton to perform the action of the action phase.

More preferably, in the third step, the signal receiving unit receives the myoelectric signal sensed by the majority of the myoelectric signal sensor, and then uses a signal processing unit to process the myoelectric signal received by the signal receiving unit. Finally, the results obtained are displayed in a human-machine interface.

More preferably, in the fourth step, the action generating unit does not send the control signal to the control unit when the previously set trigger condition is not met.

More preferably, in the control method of the lower limb rehabilitation device of the present invention, the action generating unit may additionally send a corresponding control signal to the control unit according to the set training parameter, so that the control unit controls the mechanical exoskeleton Perform specific passive training actions.

In addition, a second object of the present invention is to provide a lower limb rehabilitation device, which is mainly implemented by an action control module that captures a user's myoelectric signal and then controls the mechanical exoskeleton to generate clinical rehabilitation. Actions.

10‧‧‧ Lower limb rehabilitation device

20‧‧‧ Pedestal

30‧‧‧Support frame

40‧‧‧Acoustic

41‧‧‧With the same seat

42‧‧‧First mobile seat

43‧‧‧Second mobile seat

44‧‧‧Transverse guides

45‧‧‧Longitudinal guide

50‧‧‧Mechanical exoskeleton

60‧‧‧Action Control Module

70‧‧‧EMG signal sensor

80‧‧‧ controller

82‧‧‧Signal receiving unit

84‧‧‧Signal Processing Unit

86‧‧‧Action generating unit

88‧‧‧Control unit

90‧‧‧Human Machine Interface

Fig. 1 is a perspective view of a lower limb rehabilitation device of the present invention.

Figure 2 is a block diagram of the motion control module provided by the present invention.

Figure 3 is a flow chart showing the control of the active training of the present invention.

Figure 4 is a control flow chart of another active training of the present invention.

Figure 5 is a flow chart of the passive training control of the present invention.

Please refer to FIG. 1 . The lower limb rehabilitation device 10 includes a base 20 , a support frame 30 , an actuator 40 , and a mechanical exoskeleton 50 . The support frame 30 is fixed to the base 20 . a rear end for providing a supporting effect to the user's body; the actuator 40 has two opposite fixing seats 41, two opposite first moving seats 42, and two opposite second moving seats 43, the fixing base 41 being fixed to the base The seat 20 has two parallel guiding grooves 44, and the first moving base 42 is assembled to the lateral guiding groove 44 of the fixing base 41, so that the first moving seat 42 can move back and forth relative to the base 20, and the first moving seat 42 has two parallel longitudinal guiding grooves 45, and the second moving seat 43 is assembled in the longitudinal guiding groove 45 of the first moving seat 42, so that the second moving seat 43 can follow The first moving base 42 can move up and down relative to the base 20 in addition to the base 20; the mechanical exoskeleton 50 is pivotally mounted on the support frame 30 and the second moving seat 43 of the actuator 40, so that the mechanical exoskeleton 50 The lower limbs of the user can be actuated by the drive of the actuator 40. In addition, the lower limb rehabilitation device 10 further includes a motion control module 60 and a human machine interface 90. The motion control module 60 has a plurality of myoelectric signal sensors 70 and a controller 80. The controller 80 is disposed on the base 20. The front end has a signal receiving unit 82, a signal processing unit 84, an action generating unit 86, and a control unit 88. As shown in FIG. 2, the signal receiving unit 82 is electrically connected to each of the myoelectric signal sensing. The signal processing unit 84 is electrically connected to the signal receiving unit 82. The action generating unit 86 is electrically connected to the signal processing unit 84. The control unit 88 is electrically connected to the action generating unit 86 and the actuator 40. The human machine interface 90 is disposed on the base. The controller 80 is electrically connected to the controller 80 of the motion control module 60 for use as an interactive medium between the user and the motion control module 60.

Please refer to Figures 1 and 3 again. The control method of the lower limb rehabilitation device 10 mainly includes the following steps:

Step a): determining a specific action task (such as walking or stepping) that the user wants to perform, and decomposing the action task into several task phases, and then affixing the myoelectric signal sensor 70 to the user to perform specific Specific muscle parts that are used during the movement task. For example, when performing walking training, the electromyography sensor 70 can be attached to the extension muscles of the knee joint and the extension muscles of the contraction muscle and the ankle joint according to the cycle of the walking motion. With the contraction muscle, the extension and contraction muscles of the knee joint, and the extension and contraction muscles of the hip joint, if the exercise training is selected, the myoelectric signal sensor 70 can be respectively attached to the cycle of the step movement. Idiomatic The contractile muscles of the feet and the contracting muscles of the non-dominant feet. After all the stickers are completed, the user is allowed to perform multiple test trainings according to the specific action task to be performed. During the test training, the myoelectric signal sensor 70 senses the user's myoelectric signal, and then The signal receiving unit 82 of the controller 80 receives the myoelectric signal sensed by the myoelectric signal sensor 70, and the signal processing unit 84 processes the myoelectric signal received by the signal receiving unit 82, and displays the test result on the person. Machine interface 90.

Step b): starting to execute a specific action task selected by the user. During the execution process, the action generating unit 86 sequentially generates an action phase, and the myoelectric signal sensor 70 senses the user's myoelectric signal, and then The signal receiving unit 82 of the controller 80 receives the myoelectric signal sensed by the myoelectric signal sensor 70.

Step c): The signal processing unit 84 receives the action phase information sent by the action generating unit, and processes the myoelectric signal received by the signal receiving unit 82, and simultaneously determines whether the result meets the trigger condition of the action phase set in step a). When the trigger condition of the action phase set in step a) is met, the signal processing unit 84 of the controller 80 triggers the action generating unit 86 of the controller 80, and the action generating unit 86 sends a control signal to the control of the controller 80. The unit 88 causes the control unit 88 to control the actuator 40 to start. At this time, the mechanical exoskeleton 50 generates the specific action selected by the user in the action phase by the driving of the actuator 40 until the entire training is completed. . On the other hand, if the result judged by the signal processing unit 84 of the controller 80 does not meet the trigger condition set in the step b), the action generating unit 86 of the controller 80 is not triggered, and the actuator 40 does not drive the machine. Exoskeleton 50.

It should be additionally noted that, in the foregoing first embodiment, the control method of the lower limb rehabilitation device of the present invention is mainly task-oriented, that is, the user first decides Subsequent operations are performed after a step, walk, or other training task. However, in the second embodiment, the specific muscle group is mainly emphasized. As shown in Fig. 4, the difference from the first embodiment is that the user decides the specific muscle part to be strengthened before starting the operation. (such as the surrounding muscles of the knee joint or the surrounding muscles of the hip joint) and the specific actions required to be performed, and then the EMG sensor 70 is attached to these muscles, and then the follow-up is performed as the first Implement the active training described in Li. On the other hand, in the third embodiment, as shown in FIG. 5, the rehabilitation engineer can also set the training parameters (such as walking time, step length or walking speed, etc.) in the human-machine interface 90 according to the user's ability and needs. After the setting is completed, the action generating unit 86 of the controller 80 generates a corresponding control signal to the control unit 88 of the controller 80 according to the set training parameters, so that the control unit 88 of the controller 80 controls the actuator 40. The mechanical exoskeleton 50 is driven to cause the mechanical exoskeleton 50 to spontaneously generate the lower limb training action, thereby achieving device control in accordance with the clinical passive training method.

In summary, the control method of the lower limb rehabilitation device of the present invention can perform a corresponding motion control method according to different muscles selected by the user or different muscle groups to be strengthened, and capture the user's The myoelectric signal is used as a basis for judgment, and then device control conforming to the clinical active or passive rehabilitation method is achieved.

Claims (6)

A method for controlling a lower limb rehabilitation device includes the following steps: a) first determining a specific action desired by the user, and decomposing the specific action into a plurality of action phases, and then performing a plurality of test trainings, according to the test training As a result, one of the triggering conditions of the action phase is set; b) an action generating unit sequentially generates each of the action phases, and uses a majority of the electromyographic signal sensor to sense the muscle telecommunications of the specific muscle part of the user when performing a specific action. No. c) determining whether the sensing result of step b) meets the triggering condition of the action phase set in step a); and d) when the sensing result conforming to step b) meets the triggering condition of the action phase, the action is generated The unit sends a control signal to a control unit, so that the control unit controls a mechanical exoskeleton to drive the user's lower limb to produce the action of each action phase. The control method of the lower limb rehabilitation device of the lower limb rehabilitation device according to claim 1, in step a), first determining a specific action to be performed by the user, and decomposing the specific action into a plurality of action phases, and then The majority of the myoelectric signal sensor is attached to a specific muscle part that the user uses when performing a specific action, and then the user performs multiple test training according to the specific action to be performed, and is set according to the result of the test training. The trigger condition for each action phase. In the control method of the lower limb rehabilitation device according to claim 1 or 2, in step d), the action generating unit does not transmit the control signal when the trigger condition set in step b) is not met. The control method of the lower limb rehabilitation device according to claim 1, wherein in step b), a signal receiving unit receives the myoelectric signal sensed by the majority of the myoelectric signal sensor, and then processes the signal using a signal processing unit. The signal receiving unit receives the myoelectric signal, and finally displays the obtained result in a human-machine interface of the lower limb rehabilitation device. A lower limb rehabilitation device according to the control method of claim 1, comprising: a base; a support frame disposed on the base; an actuator disposed on the base and adjacent to the support frame a mechanical exoskeleton pivotally disposed on the support frame and the actuator; and an action control module having at least one myoelectric signal sensor and a controller for sensing a muscle a signal, the controller is disposed on the base and electrically connected to the actuator and the myoelectric signal sensor for receiving and processing the myoelectric signal of the myoelectric signal sensor, and according to the myoelectric signal The sensing result of the sensor controls the actuator to drive the mechanical exoskeleton; and a human machine interface is disposed on the base and electrically connected to the controller of the motion control module. The lower limb rehabilitation device according to claim 5, wherein the controller has a signal receiving unit, a signal processing unit, an action generating unit, and a control unit, The signal receiving unit is electrically connected to the myoelectric signal sensor for receiving the myoelectric signal of the myoelectric signal sensor, and the signal processing unit is electrically connected to the signal receiving unit for processing the signal receiving unit Receiving the myoelectric signal, the action generating unit is electrically connected to the signal processing unit, and configured to send a control signal according to the processing result of the signal processing unit, the control unit is electrically connected to the action generating unit and the mechanical exoskeleton, And receiving the control signal of the action generating unit to control the actuator to drive the mechanical exoskeleton.