CN103519971B - Lower limb rehabilitation training mechanism self-adaption lift control method based on patient gait measurement - Google Patents

Abstract

The invention discloses a lower limb rehabilitation training mechanism self-adaption lift control method based on patient gait measurement. The lower limb rehabilitation training mechanism self-adaption lift control method comprises a gait measurement method based on triaxial accelerometer sensors and a lower limb rehabilitation training mechanism lift control method. The gait measurement method based on the triaxial accelerometer sensors is mainly used for measuring the bending angles of the thighs and the shanks of the lower limbs of a user according to the triaxial accelerometer sensors arranged on the outer sides of the thighs and the shanks of the lower limbs, the length information of the thighs and the shanks of the user is considered, and the measurement of gait information is achieved. The lower limb rehabilitation training mechanism lift control method is used for calculating the needed lifting height of the gravity center of a patient according to the gait information of the patient, and a stepping motor is controlled to rotate to adjust the height of a screw rod on a linear guide rail so that lower limb rehabilitation training mechanism self-adaption lift control can be achieved.

Description

Based on patient's Gait measurement lower limb rehabilitation training mechanism self adaptation lift control method

Technical field

The present invention relates to the lower limb rehabilitation training mechanism self adaptation lift control method based on patient's Gait measurement, alleviate burden during Rehabilitation training.

Background technology

In the daily life of people, balanced capacity is a critical function of people's normal activity, if various activities such as walking, stand is all using balance as basic guarantee in life.The patient of many lower extremity motor function obstacle class diseases in addition all shows gravity balance dysfunction in various degree, this seriously inhibits the rehabilitation training campaign of their lower limb.

Lower limb rehabilitation training mechanism is a kind of automedica equipment for auxiliary treatment lower extremity motor function obstacle class disease, primarily of gait motion mechanism, gravity center adjusting mechanism, gravitational equilibrium mechanism and control system composition.Each mechanism drives the walking mode of patient simulation's Healthy People to train by cooperation running, reaches the effect recovering lower extremity movement technical ability gradually.Recover the rehabilitation appliances of locomotor activity as a kind of assisting patients, during its walking of adaptive control, center of gravity lifting is very important.

Propose with a kind of control method of the lower limb rehabilitation training mechanism self adaptation lifting based on patient's Gait measurement herein, by measuring the gait information of patient, analyze the height that rehabilitation training mechanism needs lifting, carry out assisting patients's center-of-gravity regulating, carry out the rehabilitation training campaign of lower limb more easily.

Summary of the invention

The present invention is that rehabilitation training mechanism is difficult to the problem automatically regulating user height of C.G., provides a kind of lower limb rehabilitation training mechanism self adaptation lift control method based on patient's Gait measurement for user when lower limb rehabilitation training.

In order to solve the problems of the technologies described above, present invention employs following technical scheme:

The invention discloses a kind of lower limb rehabilitation training mechanism self adaptation lift control method based on patient's Gait measurement, comprise the Gait measurement method based on 3-axis acceleration flowmeter sensor and lower limb rehabilitation training mechanism lift control method.The main angle of bend according to being arranged on three axis accelerometer sensor measurement user lower limb thigh and calf four positions outside lower limb thigh and calf of Gait measurement method based on 3-axis acceleration flowmeter sensor, and the person's of being combined thigh and lower-leg length information, realize the measurement of gait information.Lower limb rehabilitation training mechanism lift control method, according to patient's gait information, calculates adjustable height needed for its center of gravity, control step electric machine rotation, to regulate the height of screw mandrel on line slideway, to realize lower limb rehabilitation training mechanism self adaptation elevating control.

When user uses lower limb rehabilitation training mechanism, wear a 3-axis acceleration flowmeter sensor respectively at left lower extremity thigh, left lower extremity shank, right lower extremity thigh, the little leg outer side of right lower extremity, its concrete steps are as follows:

Step 1: measure right lower extremity thigh length R ^u, right lower extremity lower-leg length R ^d, left lower extremity thigh length L ^u, left lower extremity lower-leg length L ^d;

Step 2: get the first 3-axis acceleration flowmeter sensor, the second 3-axis acceleration flowmeter sensor, the 3rd 3-axis acceleration flowmeter sensor and the 4th three axis accelerometer sensing data, described first 3-axis acceleration flowmeter sensor, the second 3-axis acceleration flowmeter sensor, the 3rd 3-axis acceleration flowmeter sensor and the 4th 3-axis acceleration flowmeter sensor are respectively used to gather right lower extremity thigh, right lower extremity shank, left lower extremity thigh, the angle of bend ω 1 of left lower extremity shank, ω 2, ω 3, ω 4;

Step 3: calculate user gait information, calculate the required height regulating lifting in conjunction with gait information, output motor control signal, detailed step is as follows:

Step 3.1: utilize the first 3-axis acceleration flowmeter sensor, the second 3-axis acceleration flowmeter sensor, the 3rd 3-axis acceleration flowmeter sensor and the 4th 3-axis acceleration flowmeter sensor to be respectively used to gather right lower extremity thigh, right lower extremity shank, left lower extremity thigh, the angle of bend ω 1 of left lower extremity shank, ω 2, ω 3, ω 4, and the person's of being combined thigh length, lower-leg length data R ^u, R ^d, L ^u, L ^d, according to following computing formula, calculate right lower extremity thigh, right lower extremity shank, left lower extremity thigh, the vertical height at left lower extremity shank four positions:

H ^ru＝R ^u×cos(ω1)，

H ^rd＝R ^d×cos(ω2)，

H ^lu＝L ^u×cos(ω3)，

H ^ld＝L ^d×cos(ω4)；

Wherein, H ^rurepresent the vertical height of right lower extremity thigh, H ^rdrepresent the vertical height of right lower extremity shank, H ^lurepresent the vertical height of left lower extremity thigh, H ^ldrepresent the vertical height of left lower extremity shank;

Step 3.2: the vertical height H utilizing right lower extremity thigh ^ru, right lower extremity shank vertical height H ^rd, left lower extremity thigh vertical height H ^lu, left lower extremity shank vertical height H ^ld, according to following formula, calculate the vertical height Hr of right lower extremity and the vertical height Hl of left lower extremity distance:

Hr＝H ^ru+H ^rd，

Hl＝H ^lu+H ^ld；

Step 3.3: compare the vertical height Hr of right lower extremity and the vertical height Hl of left lower extremity distance, by following formula, obtain Hc, Hc gets the maximum in Hr and Hl, because the high lower limb of vertical height in the two lower limb of user are for providing the lower limb of kinematic mount power, its height should be the height controlling lower limb rehabilitation training mechanism and should locate, and can be so just user center-of-gravity regulating, alleviate the burden of rehabilitation training

Hc＝max{Hl,Hr}；

Step 3.4: compare Hc and the current residing height H n of lower limb rehabilitation training mechanism, if Hc > is Hn, then export upper tonal signal, the straight line screw mandrel guide rail mechanism controlled based on motor rises, otherwise, then export dropping signal, the straight line screw mandrel guide rail mechanism controlled based on motor declines; The absolute value of the difference of control step motor movement step number signal delta Step and Hc and Hn is linear, and formula is as follows, and d is the distance that motor often makes a move,

$\mathrm{\ΔStep}=\frac{|\mathrm{Hc}-\mathrm{Hn}|}{d};$

Step 4: return step 2.

Compared with prior art, tool of the present invention has the following advantages:

(1) advantages such as control method of the present invention, has amount of calculation little, and algorithm complex is low, and real-time is good, adopt the control that simple processor just can realize lower limb rehabilitation training mechanism, reduce cost.

(2) the present invention is by regulating the lifting of lower limb rehabilitation training mechanism based on the straight line screw mandrel guide rail mechanism of motor, and structure is simple, is more easy to control.

(3) the present invention adopts three axis accelerometer to measure the gait information of user, is more prone to realize and cost is low.

Accompanying drawing explanation

Fig. 1 is specific embodiment of the invention block diagram.

Fig. 2 is that difference in height of the present invention calculates schematic diagram.

Fig. 3 is the straight line screw mandrel guide rail structure figure based on motor of the present invention.

Attached number in the figure is: base station 1, screw mandrel 2, slide block 3, line slideway 4, motor 5, lower limb rehabilitation training mechanism connecting device 6.

Detailed description of the invention

Fig. 1 is specific embodiment of the invention block diagram.

The present invention mainly comprises two parts, based on Gait measurement method and the lower limb rehabilitation training mechanism lift control method of 3-axis acceleration flowmeter sensor.Based on the Gait measurement method of 3-axis acceleration flowmeter sensor, measure the angle of bend information at left lower extremity thigh, left lower extremity shank, right lower extremity thigh, right lower extremity shank four positions, in conjunction with the length information of angle of bend information and lower limb thigh and calf, calculate the height of left and right lower limb.Lower limb rehabilitation training mechanism lift control method, the straight line screw mandrel guide rail mechanism based on motor comprises base station 1, screw mandrel 2, slide block 3, line slideway 4, motor 5 and lower limb rehabilitation training mechanism connecting device 6; Line slideway 4 is parallel with screw mandrel 2 to be fixedly installed on base station 1; Slide block 3 is socketed on line slideway 4 and screw mandrel 2; Motor 5 is arranged on above screw mandrel 2; Lower limb rehabilitation training mechanism connecting device 6 is fixedly mounted on slide block 3; According to the height of left and right lower limb, calculate the required height regulating lifting of user, control step motor 5 rotates, and to regulate the height of screw mandrel 2 on line slideway 4, realizes the Self Adaptive Control of lower limb rehabilitation training mechanism.Concrete steps based on the lower limb rehabilitation training mechanism self adaptation lift control method of patient's Gait measurement are as follows:

Step 1: measure right lower extremity thigh length R ^u, right lower extremity lower-leg length R ^d, left lower extremity thigh length L ^u, left lower extremity lower-leg length L ^d.

Step 2: get the first 3-axis acceleration flowmeter sensor, the second 3-axis acceleration flowmeter sensor, the 3rd 3-axis acceleration flowmeter sensor and the 4th three axis accelerometer sensing data, described first 3-axis acceleration flowmeter sensor, the second 3-axis acceleration flowmeter sensor, the 3rd 3-axis acceleration flowmeter sensor and the 4th 3-axis acceleration flowmeter sensor are respectively used to gather right lower extremity thigh, right lower extremity shank, left lower extremity thigh, the angle of bend ω 1 of left lower extremity shank, ω 2, ω 3, ω 4.

Step 3: calculate user gait information, calculate the required height regulating lifting in conjunction with gait information, output motor control signal, detailed step is as follows:

Step 3.1: utilize the first 3-axis acceleration flowmeter sensor, the second 3-axis acceleration flowmeter sensor, the 3rd 3-axis acceleration flowmeter sensor and the 4th 3-axis acceleration flowmeter sensor to be respectively used to gather right lower extremity thigh, right lower extremity shank, left lower extremity thigh, the angle of bend ω 1 of left lower extremity shank, ω 2, ω 3, ω 4, and the person's of being combined thigh length, lower-leg length data R ^u, R ^d, L ^u, L ^d, according to following computing formula, calculate right lower extremity thigh, right lower extremity shank, left lower extremity thigh, the vertical height at left lower extremity shank four positions.

H ^ru＝R ^u×cos(ω1)，

H ^rd＝R ^d×cos(ω2)，

H ^lu＝L ^u×cos(ω3)，

H ^ld＝L ^d×cos(ω4)；

H ^rurepresent the vertical height of right lower extremity thigh, H ^rdrepresent the vertical height of right lower extremity shank, H ^lurepresent the vertical height of left lower extremity thigh, H ^ldrepresent the vertical height of left lower extremity shank.

Step 3.2: the vertical height H utilizing right lower extremity thigh ^ru, right lower extremity shank vertical height H ^rd, represent the vertical height H of left lower extremity thigh ^lu, left lower extremity shank vertical height H ^ld, according to following formula, calculate the vertical height Hr of right lower extremity and the vertical height Hl of left lower extremity distance.

Hr＝H ^ru+H ^rd，

Hl＝H ^lu+H ^ld；

Step 3.3: compare the vertical height Hr of right lower extremity and the vertical height Hl of left lower extremity distance, by following formula, obtain Hc, Hc gets the maximum in Hr and Hl.Because the high lower limb of vertical height in the two lower limb of user are for providing the lower limb of kinematic mount power, its height should be the height controlling lower limb rehabilitation training mechanism and should locate, and can be so just user center-of-gravity regulating, alleviate the burden of rehabilitation training.

Hc＝max{Hl,Hr}；

Step 3.4: compare Hc and the current residing height H n of lower limb rehabilitation training mechanism, if Hc > is Hn, then export upper tonal signal, the straight line screw mandrel guide rail mechanism controlled based on motor rises, otherwise, then export dropping signal, the straight line screw mandrel guide rail mechanism controlled based on motor declines.The absolute value of the difference of control step motor 5 motion step number signal delta Step and Hc and Hn is linear, and formula is as follows, and d is the distance that motor 5 often makes a move.

$\mathrm{\ΔStep}=\frac{|\mathrm{Hc}-\mathrm{Hn}|}{d};$

Step 4: return step 2.

Fig. 2 is that difference in height of the present invention calculates schematic diagram.

R ^u, R ^d, L ^u, L ^drefer to right lower extremity thigh length, right lower extremity lower-leg length, left lower extremity thigh length and left lower extremity lower-leg length respectively, they pass through Operation system setting.The angle-data that ω 1, ω 2, ω 3, ω 4 are the first three axis accelerometer respectively, the second three axis accelerometer, the 3rd three axis accelerometer, the 4th three axis accelerometer four sensors record.

Hr refers to right lower extremity vertical height, by right lower extremity thigh vertical height H ^ruwith right lower extremity shank vertical height H ^rdsummation obtains, and Hl refers to, by left lower extremity thigh vertical height H ^luwith left lower extremity shank vertical height H ^ldsummation obtains.Wherein, right lower extremity thigh vertical height H ^ruobtained by the cosine product of lower limb thigh length and ω 1, right lower extremity shank vertical height H ^rdobtained by the cosine product of lower limb lower-leg length and ω 2, left lower extremity thigh vertical height H ^luobtained by the cosine product of lower limb thigh length and ω 3, left lower extremity shank vertical height H ^ldobtained by the cosine product of lower limb lower-leg length and ω 4.

Hc is the maximum of left lower extremity vertical height Hl and right lower extremity vertical height Hr, using the height of maximum value data as the rehabilitation training mechanism regulated needed for electronic controlled height adjustment.

H ^ru＝R ^u×cos(ω1)，

H ^rd＝R ^d×cos(ω2)，

H ^lu＝L ^u×cos(ω3)，

H ^ld＝L ^d×cos(ω4)，

Hr＝H ^ru+H ^rd，

Hl＝H ^lu+H ^ld，

Hc＝max{Hl,Hr}；

Fig. 3 is the straight line screw mandrel guide rail mechanism figure based on motor of the present invention.

Motor 5 rotates under control, and motor 5 rotating band movable wire bar 2 rotates, and screw mandrel 2 drives rehabilitation training mechanism to move up and down along guide rail up and down, can regulate the position of centre of gravity of user.

Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (2)

1. the lower limb rehabilitation training mechanism self adaptation lift control method based on patient's Gait measurement, comprise Gait measurement method, measure left lower extremity thigh, left lower extremity shank, right lower extremity thigh, the angle of bend information at right lower extremity shank four positions, in conjunction with the length information of angle of bend information and lower limb thigh and calf, calculate patient's gait information, it is characterized in that: described Gait measurement method adopts four 3-axis acceleration flowmeter sensors, the described lower limb rehabilitation training mechanism self adaptation lift control method based on patient's Gait measurement also comprises rehabilitation training mechanism lift control method, according to patient's gait information, calculate the required height regulating lifting of user, control step electric machine rotation, to regulate the height of screw mandrel on guide rail, realize the Self Adaptive Control of lower limb rehabilitation training mechanism.

2. the lower limb rehabilitation training mechanism self adaptation lift control method based on patient's Gait measurement according to claim 1, it is characterized in that: when user uses lower limb rehabilitation training mechanism, wear a 3-axis acceleration flowmeter sensor respectively at left lower extremity thigh, left lower extremity shank, right lower extremity thigh, the little leg outer side of right lower extremity, its concrete steps are as follows:

Step 1: measure right lower extremity thigh length R ^u, right lower extremity lower-leg length R ^d, left lower extremity thigh length L ^u, left lower extremity lower-leg length L ^d;

Step 2: get the first 3-axis acceleration flowmeter sensor, the second 3-axis acceleration flowmeter sensor, the 3rd 3-axis acceleration flowmeter sensor and the 4th three axis accelerometer sensing data, described first 3-axis acceleration flowmeter sensor, the second 3-axis acceleration flowmeter sensor, the 3rd 3-axis acceleration flowmeter sensor and the 4th 3-axis acceleration flowmeter sensor are respectively used to gather right lower extremity thigh, right lower extremity shank, left lower extremity thigh, the angle of bend ω 1 of left lower extremity shank, ω 2, ω 3, ω 4;

Step 3: calculate user gait information, calculate the required height regulating lifting in conjunction with gait information, output motor control signal, detailed step is as follows:

Step 3.1: utilize the first 3-axis acceleration flowmeter sensor, the second 3-axis acceleration flowmeter sensor, the 3rd 3-axis acceleration flowmeter sensor and the 4th 3-axis acceleration flowmeter sensor to gather right lower extremity thigh, right lower extremity shank, left lower extremity thigh respectively, the angle of bend ω 1 of left lower extremity shank, ω 2, ω 3, ω 4, and the person's of being combined thigh length, lower-leg length data R ^u, R ^d, L ^u, L ^d, according to following computing formula, calculate right lower extremity thigh, right lower extremity shank, left lower extremity thigh, the vertical height at left lower extremity shank four positions:

H ^ru＝R ^u×cos(ω1)，

H ^rd＝R ^d×cos(ω2)，

H ^lu＝L ^u×cos(ω3)，

H ^ld＝L ^d×cos(ω4)；

Wherein, H ^rurepresent the vertical height of right lower extremity thigh, H ^rdrepresent the vertical height of right lower extremity shank, H ^lurepresent the vertical height of left lower extremity thigh, H ^ldrepresent the vertical height of left lower extremity shank;

Step 3.2: the vertical height H utilizing right lower extremity thigh ^ru, right lower extremity shank vertical height H ^rd, left lower extremity thigh vertical height H ^lu, left lower extremity shank vertical height H ^ld, according to following formula, calculate the vertical height Hr of right lower extremity and the vertical height Hl of left lower extremity distance:

Hr＝H ^ru+H ^rd，

Hl＝H ^lu+H ^ld；

Step 3.3: compare the vertical height Hr of right lower extremity and the vertical height Hl of left lower extremity distance, by following formula, obtain Hc, Hc gets the maximum in Hr and Hl, because the high lower limb of vertical height in the two lower limb of user are for providing the lower limb of kinematic mount power, its height should be the height controlling lower limb rehabilitation training mechanism and should locate, and can be so just user center-of-gravity regulating, alleviate the burden of rehabilitation training

Hc＝max{Hl,Hr}；

Step 3.4: compare Hc and the current residing height H n of lower limb rehabilitation training mechanism, if Hc > is Hn, then export upper tonal signal, the straight line screw mandrel guide rail mechanism controlled based on motor rises, otherwise, then export dropping signal, the straight line screw mandrel guide rail mechanism controlled based on motor declines; The absolute value of the difference of control step motor movement step number signal delta Step and Hc and Hn is linear, and formula is as follows, and d is the distance that motor often makes a move,

$\mathrm{\ΔStep}=\frac{|\mathrm{Hc}-\mathrm{Hn}|}{d};$

Step 4: return step 2.