CN108095985A - Electric walking aid for multi-mode walking training and control method thereof - Google Patents
Electric walking aid for multi-mode walking training and control method thereof Download PDFInfo
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- CN108095985A CN108095985A CN201710051881.3A CN201710051881A CN108095985A CN 108095985 A CN108095985 A CN 108095985A CN 201710051881 A CN201710051881 A CN 201710051881A CN 108095985 A CN108095985 A CN 108095985A
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- 238000000034 method Methods 0.000 title claims description 33
- 210000003205 muscle Anatomy 0.000 claims abstract description 27
- 230000003447 ipsilateral effect Effects 0.000 claims description 44
- 230000008859 change Effects 0.000 claims description 37
- 230000005021 gait Effects 0.000 claims description 37
- 230000004888 barrier function Effects 0.000 claims description 18
- 230000004048 modification Effects 0.000 claims description 4
- 238000012986 modification Methods 0.000 claims description 4
- 230000007935 neutral effect Effects 0.000 claims description 4
- 239000007858 starting material Substances 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000005728 strengthening Methods 0.000 abstract description 4
- 101100243558 Caenorhabditis elegans pfd-3 gene Proteins 0.000 description 3
- 101150029579 pfd-2 gene Proteins 0.000 description 3
- 101150075070 PFD1 gene Proteins 0.000 description 2
- 230000037396 body weight Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006742 locomotor activity Effects 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for disabled persons
- A61H2003/043—Wheeled walking aids for disabled persons with a drive mechanism
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for disabled persons
- A61H2003/046—Wheeled walking aids for disabled persons with braking means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
Abstract
The invention discloses an electric walking assistive device for realizing multiple training modes, which comprises the following steps: the walking device comprises a constant speed mode, a moderate speed mode, a muscle strengthening mode, a weight bearing strengthening mode, a high-frequency variable speed disturbance mode, a low-frequency variable speed perturbation mode, a direction control mode and a slope mode, and is used for training the walking speed, the muscle strength, the supporting balance of the affected hand and foot and the healthy hand and foot of a user, controlling the walking speed by neglecting external interference, and adjusting the walking speed, the direction control and the slope walking capacity according to external conditions.
Description
Technical field
The present invention relates to the fields of electric walking accessory, and in more detail, the electric walking accessory of the present invention can provide
The ambulation training of various modes.
Background technology
Electric walking accessory is very for possessing locomotor activity but need to be dependent on user of the support to maintain dynamic equilibrium
Important action accessory.However, electric walking accessory can more provide various training modes to be promoted in addition to providing and supporting
The walking ability of user.And the level that the promotion of walking ability includes is very wide, has consisted essentially of gait cycle, cadence, step
Width, leg speed, step further comprise muscle strength, and muscle strength does not refer to leg singly, to hand, waist, trunk it is related
Muscle group further relates to connect, and reaches certain standard when muscle strength is controlled with coordination, can just do further direction controlling training,
And all grounding and advanced training can be made all to bring about tangible results.Furthermore various training modes return to
On the basis of people-oriented, the situation selection according to user is suitble to his/her training mode.
Current electric walking accessory visible on the market mostly can only perform simple function, adapt to single feelings, can not be difference
The user of situation does individualized elasticity adjustment.
The content of the invention
The main purpose of the present invention is that the electronic accessory of multi-mode ambulation training can be provided in offer one kind, for various differences
The suitable training mode of the user of situation and walking ability selection does individualized elasticity adjustment.
A kind of electric walking accessory of multi-mode ambulation training, the accessory include：One mobile platform, the mobile platform have
One mobile device；One user area, is one of neighbouring mobile platform ground region, and the user region is stood for a user；One
Gait sensing module, arranged on the mobile platform, sense user's both feet by contactless sensing means and export the user it
Gait feature message；One control system, arranged on the mobile platform, all modules and the mobile device of the accessory respectively with the control
System processed is electrically connected；The control system further includes control mobile platform generation linear movement, mobile, right-hand rotation of turning left is moved
Wait the track programming of desired trajectories；The control system obtains the message of all modules of the accessory and data and carries out hybrid analysis
Computing, and the accessory generates predetermined Move Mode using the output control of analytic operation.
The accessory further includes：
One resistance module is installed on the mobile platform, and is electrically connected at the mobile device, to adjust the shifting of the accessory
Dynamic resistance；
One multiaxis sensing module, the sensor of the multiaxis sensing module are respectively arranged on the left handle and the right handle, to
Sensing user's left hand and right hand is applied to the vector force on the left and right handle, and corresponding output user's right hand vector force and left hand
Vector force；
One barrier sensing module is respectively arranged on the periphery of the mobile platform including several sensors, auxiliary to sense this
Whether tool runs into barrier when mobile, and obtains the distance between the accessory and the barrier；
One tilts forward and back sensing module, and sensor is installed on the mobile platform, front and rear to sense the mobile platform
Heeling condition；
One legpower sensing module, the legpower sensing module are embedded in sole, insole or the confession user that user wears and walk
Training pavement in, the control system and the legpower sensing module are electrically connected.
The present invention further includes the control method of accessory, which makes the accessory perform following Move Mode, the shifting
Dynamic model formula includes：Constant speed mode；Suitable fast mode；High-frequency speed change perturbation mode；Low frequency speed change Perturbational pattern.
The Move Mode further includes：Tone up the muscles pattern；Ipsilateral foot load-bearing enhancement mode；Ipsilateral hand load-bearing enhancement mode；
Ipsilateral trick load-bearing enhancement mode；Direction controlling pattern；Ramp mode.
The constant speed mode (Constant speed mode), to the walking speed and speed control of training user.
The pattern that tones up the muscles (Strengthening Push/Pull), training simultaneously strengthen the muscular force of user
Amount, the muscle strength are secondly hand, waist, the correlation muscle group of trunk based on leg foot.
The load-bearing enhancement mode (Weight bearing), including Ipsilateral foot load-bearing enhancement mode；Ipsilateral hand load-bearing
Enhancement mode；Ipsilateral trick load-bearing enhancement mode.Training and the muscle strength for promoting user's Ipsilateral trick, and assisting user
Control and the support balanced capacity for coordinating Ipsilateral trick and healthy side hand foot.
The high-frequency speed change perturbation mode (High Frequency Disturbance Random Speed), it is auxiliary
For tool in a manner that high-frequency speed change moves, training user remains to the step effectively to draw oneself up in the case of with external disturbance
Scanning frequency degree.
The low frequency speed change Perturbational pattern (Low Frequency Perturbation Variable Speed),
The pattern that accessory is moved with low frequency speed change, the walking speed that training user effectively draws oneself up according to external circumstances according to this.
The direction controlling pattern (Direction Control), the direction controlling of training user's walking.
The ramp mode (Slop mode), by accessory training user control go up a slope and descending walking speed,
Centre of body weight position, and through the muscle strength training of upward slope and descending progress higher order.
Description of the drawings
Fig. 1 is the structure diagram of electric walking accessory of the present invention.
Fig. 2 is the module block diagram of electric walking accessory of the present invention.
【Symbol description】
10 pedestal, 12 left 13 right 14 front-wheel of handle of handle
15 trailing wheel, 151 revolver, 152 right wheel, 161 left wheel motor
162 right wheel motor, 17 user area, 18 user, 20 gait sensing module
22 resistance module, 23 multiaxis sensing module, 24 barrier sensing module 25 tilts forward and back sensing module
26 tracks program 27 control system, 28 legpower sensing module
Specific embodiment
For ease of illustration present invention central idea represented in one column of foregoing invention content, hereby with specific embodiment table
It reaches.Various difference Object Sides are described rather than in suitable for the ratio of explanation, size, deflection or displacement by reality in embodiment
The ratio of border component is drawn, and conjunction is first chatted bright.
As shown in Figure 1, 2, electric walking accessory (hereinafter referred to as accessory) of the present invention, including：One mobile platform 10；It is connected to
The left 12 and one right handle 13 of handle of one of the mobile platform 10；Arranged on the mobile device of the mobile platform 10, which is
A pair of of front-wheel 14 and a pair of rear wheels 15；The trailing wheel 15 includes a revolver 151 and a right wheel 152, the revolver 151 and the right wheel 152
It is controlled respectively by a left wheel motor 161 and a right wheel motor 162；One user area 17 is the ground of the neighbouring mobile platform 10
Region, a user 18 stands on the user region 17, and the left hand and right hand of the user holds the left handle and right handle respectively,
And the elbow bending angle of the user is 25 ° -35 °.
The accessory further includes gait sensing module 20, resistance module 22, multiaxis sensing module 23, barrier sensing
Module 24, the track for tilting forward and back sensing module 25 and accessory being made to generate predetermined motion track program (track program)
26；The module of the above is electrically connected respectively with one of accessory control system 27；The control system 27 is further with burying
Arranged on sole that user wears, insole or it is embedded in the training pavement for user's walking to sense user's both feet
The legpower sensing module 28 of pedal force be electrically connected；The message and data of the above-mentioned each module of control system acquisition are simultaneously mixed
Analytic operation is closed, and the accessory generates predetermined Move Mode using the output control of analytic operation.
The gait sensing module 20 senses user's both feet by contactless sensing means and exports the step of user
State feature message.The gait feature message is including but not limited to gait cycle, cadence, stride, leg speed, biped in the heart away from intermediate point
Whether it is located at foregoing use with the air line distance (the hereinafter referred to as first man-machine distance d1) of the specified point of accessory and the user
In the region of family；The contactless sensing means make including but not limited to image, laser, infrared ray, ultrasonic or any be additional to
The sensing module of user's both feet.
22 system of resistance module is electrically connected at left wheel motor 161 and right wheel motor 162, to increase in the motor
Portion's resistance, reducing motor rotary speed increases motor torque, makes the movement of accessory have appropriate resistance.
The multiaxis sensing module 23, to sense the vector that user's left hand and right hand is applied on the left and right handle
Power, and corresponding output user's right hand vector force (VFr) and left hand vector force (VFl).
Whether the barrier sensing module 24 runs into barrier to sense, and obtains and be somebody's turn to do during accessory movement
The distance between accessory and the barrier (Do).
Described tilts forward and back sensing module 25, to sense the state tilted forward and back of the mobile platform 10, in this hair
In bright embodiment, if the mobile platform 10, which tilts backwards, represents that the accessory is upward slope state；If the mobile platform 10 turns forward
It is descending state to represent the accessory.
Track programming (the Track Program) 26, refers to the left wheel motor 161 for controlling the accessory and right wheel motor
162 rotating speed makes accessory generate linear movement in a predetermined distance, mobile, the pre- orbit determination such as mobile of turning right of turning left according to this
The program of mark.
The accessory of the present invention generates following training mode by the control of the control system.
The training mode includes：Constant speed mode (Constant speed mode) (hereinafter referred to as M1 patterns)；Suitable speed
Pattern (Adaptive speed mode) (hereinafter referred to as M2 patterns)；The pattern that tones up the muscles (Strengthening Push/
Pull) (hereinafter referred to as M5 patterns)；Average load bearing manner (Weight bearing) (further wrap by hereinafter referred to as M6 patterns
Include M6-1 patterns, M6-2 patterns, M6-3 patterns)；High-frequency speed change perturbation mode (High Frequency Disturbance
Random Speed) (hereinafter referred to as DRS patterns)；Low frequency speed change Perturbational pattern (Low Frequency Perturbation
Variable Speed) (hereinafter referred to as PVS patterns)；Direction controlling pattern (Direction Control by Handle
Push/Pull Forces) (hereinafter referred to as PFD patterns further include FPD-1 patterns, PFD-2 patterns, PFD-3 patterns)；
Ramp mode (Slop mode) (hereinafter referred to as SL patterns).
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M1 patterns system is a constant speed mode, and accessory and its control system perform following control method, including：
Step 1, the control system judge whether user is located at the user of the accessory by the message of the gait sensing module
In region；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system order accessory (Vs) movement at a predetermined velocity.The predetermined speed (Vs) is in system
It builds or therapist is pre-entered by the operation interface of the control system；
Step 3 is repeated Step 1: two, until terminating training or because of other emergency (such as user falls) quilts
Until forced-stopping machine.
M1 patterns, user follows the predetermined speed of accessory to advance, to the walking speed of training user.
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M2 patterns system is a suitable fast mode, and accessory and its control system perform following control method, including：
Step 1, the control system judge whether user is located at the user of the accessory by the message of the gait sensing module
In region；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system order accessory (Vs) movement at a predetermined velocity, user follow the accessory walking to move
It is dynamic；Wherein, which is that system is built-in or therapist is pre-entered by the operation interface of the control system；
Step 3, which obtains user's walking speed from the gait sensing module and to calculate user's walking that be averaged fast
It spends (Vn)；
Step 4, the control system are transported compared with the predetermined speed (Vs) of accessory is averaged walking speed (Vn) with user
It calculates；When | Vn-Vs |>ε V }, predetermined speed (Vs1) of the control system according to the result of calculation change accessory of min (Vn, Vu)；
When | Vn-Vs | ε V return to step 2；Wherein, Vu be the accessory movement maximum speed value, be system according to motor specification with
Rotating speed is given tacit consent to；(ε V) is admissible error value；
Step 5 repeats step 1 to four, is shut down until terminating training or other emergencies (such as user falls)
Until.
M2 patterns, first (Vs) is mobile at a predetermined velocity for accessory, afterwards again according to the pre- constant speed of walking speed change and adjustment of user
It spends (Vs1).Accessory can do corresponding adjustment cooperation according to the walking speed of user.
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M5 patterns system tones up the muscles pattern for one, and accessory and its control system perform following control method, including：
Step 1, the control system judge whether user is located at the user of the accessory by the message of the gait sensing module
In region；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system obtain right handle counterforce values (| Fr |) and left handle by the multiaxis sensing module
Counterforce values (| Fl |)；
Step 3, the control system is by right handle counterforce values (| Fr |) and left handle counterforce values (| Fl |) and one
Right side pre-set threshold value (Frth) and left side pre-set threshold value (Flth) are compared computing, result for | Fr |>Frth&|Fl|>
Flth } then carry out step four suddenly, if otherwise returning to step 1；Wherein, the pre-set threshold value (Frth), (Flth) for system it is built-in or
Therapist is pre-entered by the operation interface of the control system；
Step 4, the control system obtain the first foregoing man-machine distance d1 by the gait sensing module；
Step 5, control system is by the first man-machine distance (d1), right handle counterforce values Fr, the left handle reaction force
Value (Fl) carries out computing and compares, if result is set up for formula (1), represents that user applies thrust to the accessory, if result is formula
(2) set up, represent that user applies pulling force to the accessory；Formula (1) or formula (2) any establishment, that is, carry out step 6；If formula (1)
And formula (2) is not set up, then returns to step 1；
{(d1<dznu)&(Fr<0)&(Fl<0) } formula (1)
{(d1>dznl)&(Fr>0)&(Fl>0) } formula (2)
Wherein, (dznu) is man-machine apart from higher extreme value (upper limit of neutral distance)；(dznl)
For it is man-machine apart from lower limiting value (lower limit of neutral distance)；(dznu) and (dznl) is that system is write from memory
Recognize value；
Step 6, accessory at a predetermined velocity (Vs) according to thrust direction advance or direction of pull move back；
Step 7 repeats step 1 to six, until terminating training or being shut down because of other emergencies.
Six the M5 patterns the step of, which can further control foregoing resistance module to start, and increase the motor
Electric current, increase motor reactive torque, make the movement of accessory there is appropriate resistance, user must to the thrust or pulling force of accessory
It needs to increase, the beginning can allow accessory to move.
M5 patterns, by user be applied to accessory thrust and pulling force it is mobile and accessory is driven to continue to move as accessory is started
Dynamic Rule of judgment, when the strength of the leg muscle of user, waist muscle, muscle of trunk and hand muscle reaches expected
Standard and each other can coordinative role when, could successfully push or pull on accessory, thereby training and strengthen the muscle strength of user.
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M6-1 patterns system is an Ipsilateral foot load-bearing enhancement mode.Accessory and its control system perform following control method,
Including：
Step 1, the control system judge whether user is located at the user of the accessory by the message of the gait sensing module
In region；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system obtain user's Ipsilateral by the legpower sensing module and ride force value (Ta)；
Ipsilateral is ridden force value (Ta) computing compared with legpower pre-set threshold value (Tth) by step 3, the control system, if
{Ta>Tth } it is true, carry out step 4；If it is not, then return to step 1；Wherein, the default threshold (Tth) is built-in or control for system
Teacher is treated to pre-enter by the operation interface of the control system；
Step 4, control system detecting { Ta>Tth } duration (Time-_Ta), by the duration (Time_
Ta) the computing compared with a preset time (Time_th), if { Time_Ta<Time_th }, return to step 1；If { Time_
Ta Time_th }, and the control system obtains user by the legpower sensing module and is good for batter legpower value (Tc), control system life
Making the accessory, (Vs) moves a pre-determined distance at a predetermined velocity.The pre-determined distance can be in the steplength or system of user
It builds or therapist is pre-entered by the operation interface of the control system；
Step 5 repeats step 1 to four, until terminating training or being shut down because of other emergencies.
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M6-2 patterns system is an Ipsilateral hand load-bearing enhancement mode.Accessory and its control system perform following control method,
Including：
Step 1, the control system judge whether user is located at the user of the accessory by the message of the gait sensing module
In region；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system obtain user's Ipsilateral hand vector force (Va) and healthy side hand vector by the multiaxis sensing module
Power (Vc)；
Step 3, the control system is by Ipsilateral hand vector force (Va) and healthy side hand vector force (Vc) and Ipsilateral hand pre-set threshold value
(Vath) and healthy side hand pre-set threshold value (Vcth) is compared computing；If { (Va Vath) and (VcVcth) } is true, walked
Rapid four, it is no, returns to step 1；Wherein, the pre-set threshold value (Vath), (Vcth) are that system is built-in or therapist passes through the control
The operation interface of system processed pre-enters；
Step 4, (Vs) moves a pre-determined distance to accessory at a predetermined velocity.The pre-determined distance can be user stride away from
From or system is built-in or therapist is pre-entered by the operation interface of the control system；
Step 5 repeats step 1 to four, until terminating training or being shut down because of other emergencies.
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M6-3 patterns system is an Ipsilateral trick load-bearing enhancement mode.Accessory and its control system perform following controlling party
Method, including：
Step 1, the control system judge whether user is located at the user of the accessory by the message of the gait sensing module
In region；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system obtain user's Ipsilateral by the legpower sensing module and ride force value (Ta)；The control system
User's Ipsilateral hand vector force (Va) and healthy side hand vector force (Vc) are obtained by the multiaxis sensing module；
Ipsilateral is ridden force value (Ta) computing compared with legpower pre-set threshold value (Tth) by step 3, the control system, should
Control system is pre- by Ipsilateral hand vector force (Va) and healthy side hand vector force (Vc) and Ipsilateral hand pre-set threshold value (Vath) and healthy side hand
If threshold values (Vcth) is compared computing；If { Ta>Tth } and { (Va Vath) and (Vc Vcth) } be it is true, carry out step
Four；If it is not, then return to step 1；The pre-set threshold value (Tth), (Vath), (Vcth) are that system is built-in or therapist passes through the control
The operation interface of system processed pre-enters；
Step 4, control system detecting { Ta>Tth } duration (Time-_Ta), by the duration (Time_
Ta) the computing compared with a preset time (Time_th), if { Time_Ta<Time_th }, return to step 1；If { Time_
Ta Time_th }, and the control system obtains user by the legpower sensing module and is good for batter legpower value (Tc), control system life
Making the accessory, (Vs) moves a pre-determined distance at a predetermined velocity.The pre-determined distance can be in the steplength or system of user
It builds or therapist is pre-entered by the operation interface of the control system；
Step 5 repeats step 1 to four, until terminating training or being shut down because of other emergencies.
M6-1, M6-2 or M6-3 pattern, suitable for hand or foot or hand and the user of foot unilateral side hemiplegia.This one kind
User would generally be accustomed to strong side as main support, so that the muscle strength of Ipsilateral is more and more weak.It is instructed by M6-1 patterns
Practice and promoted the muscle strength of user's Ipsilateral foot, and assisting user control and the support balance energy for coordinating Ipsilateral foot and strong batter
Power.By M6-2 pattern drills and promoted user's Ipsilateral hand muscle strength, and assisting user control and coordinate Ipsilateral hand and
The support balanced capacity of healthy side hand.By M6-3 patterns, training and the muscle strength for promoting user's Ipsilateral trick, and assist to use
Person controls and coordinates Ipsilateral trick and the support balanced capacity of healthy side hand foot.
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DRS patterns system is a high-frequency speed change perturbation mode.Accessory and its control system perform following control method, bag
It includes：
Step 1, the control system judge whether user is located at the user of the accessory by the message of the gait sensing module
In region；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system control the accessory to switch predetermined speed (Vs) and random speed change in a manner of high-frequency
(Vrandom), the time of occurrence and duration of predetermined speed (Vs) and random speed change (Vrandom) by the control system with
Machine controls, so that the accessory generates the movement of high-frequency speed change；Predetermined speed (Vs) is fixed speed, random speed change
(Vrandom) then it is faster or slower than predetermined speed (Vs)；The predetermined speed (Vs) and random speed change (Vrandom) are built-in for system
Or therapist is pre-entered by the operation interface of the control system；Alternatively, the predetermined speed is that system is built-in or therapist is led to
The operation interface for crossing the control system pre-enters, the random speed change (Vrandom) for system based on the predetermined speed and
It randomly generates；
Step 3 is repeated Step 1: two, until terminating training or because other emergencies (such as user falls) are forced
Until shutdown.
DRS patterns, accessory is in a manner that high-frequency speed change moves, and user can not follow accessory walking, so that accessory
Movement interference is formed to the ambulation training of user, and user need to ignore this interference and be walked according to the walking speed of oneself
Row.According to this user is trained to remain to the walking speed effectively to draw oneself up in the case of with external disturbance.
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PVS patterns system is a low frequency speed change Perturbational pattern.Accessory and its control system perform following control method, bag
It includes：
Step 1, the control system judge whether user is located at the user of the accessory by the message of the gait sensing module
In region；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system control the accessory to switch predetermined speed (Vs) and variable velocity in a manner of low-frequency
(Vv), the time of occurrence and duration of predetermined speed (Vs) and variable velocity (Vv) be by the control system STOCHASTIC CONTROL, from
And the accessory is made to generate the movement of low frequency speed change；Predetermined speed (Vs) is fixed speed, and variable velocity (Vv) is then faster or slower than
Predetermined speed (Vs)；The predetermined speed (Vs) and variable velocity (Vv) are system is built-in or therapist passes through the control system behaviour
It is pre-entered as interface；Alternatively, the predetermined speed (Vs) is system is built-in or therapist passes through the control system operation interface
It pre-enters, which is randomly generated for system based on the predetermined speed by programming；
Step 3 is repeated Step 1: two, until terminating training or because other emergencies (such as user falls) are forced
Until shutdown.
PVS patterns, the pattern that accessory is moved with low frequency speed change allow user to follow constant speed, acceleration, the deceleration of accessory etc. micro-
Variation is disturbed to change the walking speed of oneself and accessory walking can be followed to move.According to this user is trained effectively to be controlled according to external circumstances
Make the walking speed of oneself.
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PFD-1 patterns system is an accessory direction controlling pattern.Accessory and its control system perform following control method, bag
It includes：
Step 1, the control system judge whether user is located at the user of the accessory by the message of the gait sensing module
In region；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system order accessory is according to desired trajectory (Vs) or foregoing suitable fast mode at a predetermined velocity
(M2) motion of defect modes；Wherein, predetermined speed (Vs) and suitable fast mode (M2) pattern setting and generate as foregoing；The pre- orbit determination
Mark is that the control system controls the left wheel motor of the accessory and the rotating speed of right wheel motor by track programming (program), according to
So that accessory generates linear movement, the various change for mobile movement of turning right of turning left in a predetermined distance；
Step 3 is repeated Step 1: two, until terminating training or because other emergencies (such as user falls) are forced
Until shutdown.
PFD-1 patterns, accessory is as leader, by the linear movement of accessory, left-hand rotation or mobile guiding user step of turning right
Row follows, and trains the direction controlling of user's walking according to this.
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PFD-2 patterns system is a user direction control model.Accessory and its control system perform following control method, bag
It includes：
Step 1, the control system judge whether user is located at the user of the accessory by the message of the gait sensing module
In region；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system obtain user right hand vector force VFr and left hand vector force by the multiaxis sensing module
VFl；
Step 3, the control system is by right hand vector force (VFr) and left hand vector force (VFl) and a pre-set threshold value (VFth)
It is compared computing；Wherein, which is system is built-in or therapist passes through the control system operation interface
It pre-enters；When operation result is { (VFl-VFr)>VFth }, the left wheel motor of the control system order accessory accelerates, right wheel
Motor slows down, and the accessory is made to turn right movement；When operation result is { (VFr-VFl)>VFth }, the control system order accessory
Right wheel motor accelerate, left wheel motor slow down, the accessory is made to turn left；
Step 4 repeats step 1 to three, until terminating training or being shut down because of other emergencies.
PFD-2 patterns, user control the moving direction of the accessory with the thrust of left hand and right hand as leader.In this pattern
In, therapist can provide the modes such as object of placing obstacles on S-shaped training road, rectangle training road or training road, make user's control auxiliary
The training of all directions such as tool is kept straight on above training road, turned left, right-hand rotation and avoidance.
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PFD-3 patterns system is that a user is leading, and accessory is the direction controlling pattern of assistance.Accessory and its control system are held
The following control method of row, including：
Step 1, the control system judge whether user is located at the user of the accessory by the message of the gait sensing module
In region；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system obtain user right hand vector force VFr and left hand vector force by the multiaxis sensing module
VFl；
Step 3, the control system is by right hand vector force (VFr) and left hand vector force (VFl) and a pre-set threshold value (VFth)
It is compared computing；Wherein, which is system is built-in or therapist passes through the control system operation interface
It pre-enters；When operation result is { (VFl-VFr)>VFth }, the left wheel motor of the control system order accessory accelerates, right wheel
Motor slows down, and the accessory is made to turn right movement；When operation result is { (VFr-VFl)>VFth }, the control system order accessory
Right wheel motor accelerate, left wheel motor slow down, the accessory is made to turn left；The control system can be by the obstacle that is arranged on the accessory
Object sensing module senses the barrier on the path of motion of the accessory, and obtains the distance between the accessory and the barrier
(Do), which compares the distance (Do) and a pre-set threshold value upper limit (Duth) and a pre-set threshold value lower limit (Dlth)
To judging, if { Do>Duth } or { Do<Dlth }, which controls accessory stopping to move back to Step 2: or in startup
The automatic obstacle-avoiding pattern built starts built-in modification model, and the movement avoiding obstacles of the accessory is enable to continue on；Or
Person, which can monitor the motion track of the accessory, and the motion track is compared with desired guiding trajectory, if moving rail
The direction of mark, angle deviate considerably from acquiescence track, which controls accessory stopping to move back to Step 2: or in startup
The modification model built corrects the direction of motion track, angle returns to desired guiding trajectory and continues on；
Step 4 repeats step 1 to three, until terminating training or being shut down because of other emergencies.
PFD-3 patterns using user as leader, dominate the moving direction of the accessory, but the accessory strikes obstacles or too
When approaching or deviateing very much barrier or deviate very much desired guiding trajectory, which stops movement, and user is allowed voluntarily to correct accessory side
To or accessory automatically bypass barrier or correct orientation angle automatically, user is helped to correct accessory direction, training according to this uses
The avoidance of person's higher order and the ability for meeting barrier solution.
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SL patterns system is a ramp mode.Accessory and its control system perform following control method, including：
Step 1, the control system judge whether user is located at the user of the accessory by the message of the gait sensing module
In region；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system tilt forward and back situation by what this tilted forward and back that sensing module senses the mobile platform,
If tilting backwards, represent that the accessory for upward slope state, carries out step 3；If turning forward, the accessory is represented as descending state, into
Row step 4；
Step 3, which obtains right handle counterforce values (Fr) by the multiaxis sensing module and left handle is anti-
Force value (Fl)；The control system is by right handle counterforce values (| Fr |) and left handle counterforce values (Fl) and a right side
The pre-set threshold value upper limit (Fru) and the left side pre-set threshold value upper limit (Flu) are compared computing；Wherein, the pre-set threshold value (Fru),
(Flu) it is that system is built-in or therapist is pre-entered by the operation interface of the control system；As operation result { Fr Fru>0&
Fl Flu>0 }, represent that user applies pulling force in the accessory, (Vs) is mobile at a predetermined velocity for the control system starter motor；
Step 4, which obtains right handle counterforce values (Fr) by the multiaxis sensing module and left handle is anti-
Force value (Fl)；The control system is pre- by right handle counterforce values (Fr) and left handle counterforce values (Fl) and a right side
If lower threshold (Frl) and left side pre-set threshold value (Fll) are compared computing；Wherein, the pre-set threshold value (Frl), (Fll) are to be
The built-in or therapist that unites is pre-entered by the operation interface of the control system；As operation result { Fr Frl<0&Fl Fll<
0) }, represent that user applies thrust in the accessory, (Vs) is mobile at a predetermined velocity for the control system starter motor；
Step 5 repeats step 1 to four, until terminating training or being shut down because of other emergencies.
SL patterns, by accessory, training user controls walking speed, the centre of body weight position of upward slope and descending, and penetrates
It goes up a slope and the muscle strength of descending progress higher order is trained.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in change or replacement, should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention described should be subject to the protection scope in claims.
Claims (17)
1. a kind of electric walking accessory of multi-mode ambulation training, the accessory include：
One mobile platform, the mobile platform have a mobile device；
One user area, is one of neighbouring mobile platform ground region, and the user region is stood for a user；
One gait sensing module, arranged on the mobile platform, by sensing means sensing user both feet and exporting the step of the user
State feature message；
One control system, arranged on the mobile platform, all modules and the mobile device of the accessory are electric with the control system respectively
Property connection；The control system further includes control mobile platform generation linear movement, mobile, the pre- orbit determination such as movement of turning right of turning left
The track programming of mark；The control system obtains the message of all modules of the accessory and data and carries out hybrid analysis computing, and
Using the output control of analytic operation, the accessory generates predetermined Move Mode.
2. the accessory as described in claims 1, further includes：
One resistance module is installed on the mobile platform, and is electrically connected at the mobile device, to adjust the movement of accessory resistance
Power；
One multiaxis sensing module, the sensor of the multiaxis sensing module is respectively arranged on the left handle and the right handle, to sense
User's left hand and right hand is applied to the vector force on the left and right handle, and corresponding output user's right hand vector force and left hand vector
Power；
One barrier sensing module is respectively arranged on the periphery of the mobile platform including several sensors, is moved to sense the accessory
Barrier whether is run into when dynamic, and obtains the distance between the accessory and the barrier；
One tilts forward and back sensing module, and sensor is installed on the mobile platform, to sense tilting forward and back for the mobile platform
State；
One legpower sensing module, the legpower sensing module are embedded in sole, insole or the instruction for user's walking that user wears
Practice in pavement, which is electrically connected with the legpower sensing module.
3. a kind of control method of accessory as described in claims 1, the control method make the accessory perform following Move Mode,
The Move Mode includes：Constant speed mode；Suitable fast mode；High-frequency speed change perturbation mode；Low frequency speed change Perturbational pattern.
4. a kind of control method of accessory as described in claims 1, the control method make the accessory perform following Move Mode,
The Move Mode includes：Tone up the muscles pattern；Ipsilateral foot load-bearing enhancement mode；Ipsilateral hand load-bearing enhancement mode；Ipsilateral trick is held
Weight enhancement mode；Direction controlling pattern；Ramp mode.
5. the control method of the constant speed mode of the accessory as described in claims 3, including：
Step 1, the control system judge whether user is located in the user region by the message of the gait sensing module；If
It is to carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system order accessory (Vs) movement at a predetermined velocity；The predetermined speed (Vs) for system it is built-in or
Therapist is pre-entered by the operation interface of the control system；
Step 3 is repeated Step 1: two, until terminating training or being shut down because of other emergencies.
6. the control method of the suitable fast mode of the accessory as described in claims 3, including：
Step 1, the control system judge whether user is located at the user area of the accessory by the message of the gait sensing module
In；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system order accessory (Vs) movement at a predetermined velocity, user follow the accessory walking to move；Its
In, which is that system is built-in or therapist is pre-entered by the operation interface of the control system；
Step 3, the control system obtain user's walking speed from the gait sensing module and calculate user and be averaged walking speed
(Vn)；
Step 4, computing compared with which is averaged walking speed (Vn) by the predetermined speed (Vs) of accessory with user；
When | Vn-Vs |>ε V }, predetermined speed (Vs1) of the control system according to the result of calculation change accessory of { min (Vn, Vu) }；When
| Vn-Vs | ε V }, return to step 2；Wherein, (Vu) is the maximum speed value of the accessory movement, is system according to allowing user most
Big safe speed is given tacit consent to；(ε V) is admissible error value；
Step 5 repeats step 1 to four, until terminating training or the shutdown of other emergencies.
7. the control method of the high-frequency speed change perturbation mode of the accessory as described in claims 3, including：
Step 1, the control system judge whether user is located at the user area of the accessory by the message of the gait sensing module
In；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system control the accessory to switch predetermined speed (Vs) and random speed change in a manner of high-frequency
(Vrandom), the time of occurrence and duration of predetermined speed (Vs) and random speed change (Vrandom) by the control system with
Machine controls, so that the accessory generates the movement of high-frequency speed change；Predetermined speed (Vs) is fixed speed, random speed change
(Vrandom) then it is faster or slower than predetermined speed (Vs)；The predetermined speed (Vs) and random speed change (Vrandom) are built-in for system
Or therapist is pre-entered by the operation interface of the control system；Alternatively, the predetermined speed is that system is built-in or therapist is led to
The operation interface for crossing the control system pre-enters, the random speed change (Vrandom) for system based on the predetermined speed and
It randomly generates；
Step 3 is repeated Step 1: two, until terminating training or being shut down because of other emergencies.
8. the control method of the low frequency speed change Perturbational pattern of the accessory as described in claims 3, including：
Step 1, the control system judge whether user is located at the user area of the accessory by the message of the gait sensing module
In；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system control the accessory to switch predetermined speed (Vs) and variable velocity (Vv) in a manner of low-frequency,
The time of occurrence and duration of predetermined speed (Vs) and variable velocity (Vv) are by the control system STOCHASTIC CONTROL, so that should
Accessory generates the movement of low frequency speed change；Predetermined speed (Vs) is fixed speed, and variable velocity (Vv) is then faster or slower than pre- constant speed
It spends (Vs)；The predetermined speed (Vs) and variable velocity (Vv) are system is built-in or therapist passes through the control system operation interface
It pre-enters；Alternatively, the predetermined speed (Vs) is that system is built-in or therapist is defeated in advance by the operation interface of the control system
Enter, which is randomly generated for system based on the predetermined speed by programming；
Step 3 is repeated Step 1: two, until terminating training or being shut down because of other emergencies.
9. the control method of the pattern that tones up the muscles of the accessory as described in claims 4, including：
Step 1, the control system judge whether user is located at the user area of the accessory by the message of the gait sensing module
In；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, which obtains right handle counterforce values (| Fr |) by the multiaxis sensing module and left handle is counter makees
With force value (| Fl |)；
Step 3, the control system is by right handle counterforce values (| Fr |) and left handle counterforce values (| Fl |) and a right side
Pre-set threshold value (Frth) and left side pre-set threshold value (Flth) are compared computing, result for | Fr |>Frth&|Fl|>Flth } then
It is rapid to carry out step four, if otherwise returning to step 1；Wherein, the pre-set threshold value (Frth), (Flth) are that system is built-in or therapist is led to
The operation interface for crossing the control system pre-enters；
Step 4, the control system obtain the first man-machine distance (d1) by the gait sensing module；The first man-machine distance
(d1) it is user's biped air line distance away from intermediate point Yu the specified point of the accessory in the heart；
Step 5, control system is by the first man-machine distance (d1), right handle counterforce values (Fr), the left handle counterforce values
(Fl) carry out computing and comparing, if result is set up for formula (1), represent user to accessory application thrust and foot forward across, if
As a result set up for formula (2), represent user the accessory is applied pulling force and foot backward across；Formula (1) or formula (2) any establishment, i.e.,
Carry out step 6；If formula (1) and formula (2) are not set up, step 1 is returned to；Wherein, the formula (1) system is { (d1<
dznu)&(Fr<0)&(Fl<0) }, formula (2) system is { (d1>dznl)&(Fr>0)&(Fl>0) }, (dznu) is man-machine apart from upper pole
Limit value (upper limit of neutral distance), (dznl) be it is man-machine apart from lower limiting value (lower limit of
Neutral distance) and (dznu) and (dznl) be system default value；
Step 6, accessory at a predetermined velocity (Vs) according to thrust direction advance or direction of pull move back；
Step 7 repeats step 1 to six, until terminating training or being shut down because of other emergencies.
10. the control method of the pattern that tones up the muscles of the accessory as described in claims 9, wherein, step 6, control system control
The resistance module starts, and increases the moving resistance of the accessory.
11. the control method of the Ipsilateral foot load-bearing enhancement mode of the accessory as described in claims 4, including：
Step 1, the control system judge whether user is located at the user area of the accessory by the message of the gait sensing module
In；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system obtain user's Ipsilateral by the legpower sensing module and ride force value (Ta)；
Step 3, which rides force value (Ta) computing compared with legpower pre-set threshold value (Tth) by Ipsilateral, if { Ta>
Tth } it is true, carry out step 4；If it is not, then return to step 1；Wherein, the default threshold (Tth) is system is built-in or therapist
It is pre-entered by the operation interface of the control system；
Step 4, control system detecting { Ta>Tth } duration (Time-_Ta), by the duration (Time_Ta) with
One preset time (Time_th) is compared computing, if { Time_Ta<Time_th }, return to step 1；If { Time_Ta
Time_th }, and the control system obtains user by the legpower sensing module and is good for batter legpower value (Tc), the control system order
(Vs) moves a pre-determined distance to the accessory at a predetermined velocity；The pre-determined distance can be user steplength or system it is built-in,
Or therapist is pre-entered by the operation interface of the control system；
Step 5 repeats step 1 to four, until terminating training or being shut down because of other emergencies.
12. the control method of the Ipsilateral hand load-bearing enhancement mode of the accessory as described in claims 4, including：
Step 1, the control system judge whether user is located at the user area of the accessory by the message of the gait sensing module
In；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system obtain user's Ipsilateral hand vector force (Va) and healthy side hand vector force by the multiaxis sensing module
(Vc)；
Step 3, the control system is by Ipsilateral hand vector force (Va) and healthy side hand vector force (Vc) and Ipsilateral hand pre-set threshold value
(Vath) and healthy side hand pre-set threshold value (Vcth) is compared computing；If { (Va Vath) and (Vc Vcth) } is true, walked
Rapid four, it is no, returns to step 1；Wherein, the pre-set threshold value (Vath), (Vcth) are that system is built-in or therapist passes through the control
The operation interface of system processed pre-enters；
Step 4, (Vs) moves a pre-determined distance to accessory at a predetermined velocity；The pre-determined distance can be user steplength or
System is built-in or therapist is pre-entered by the operation interface of the control system；
Step 5 repeats step 1 to four, until terminating training or being shut down because of other emergencies.
13. the control method of the Ipsilateral trick load-bearing enhancement mode of the accessory as described in claims 4, including：
Step 1, the control system judge whether user is located at the user area of the accessory by the message of the gait sensing module
In；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system obtain user's Ipsilateral by the legpower sensing module and ride force value (Ta)；The control system is by this
Multiaxis sensing module obtains user's Ipsilateral hand vector force (Va) and healthy side hand vector force (Vc)；
Ipsilateral is ridden force value (Ta) computing compared with legpower pre-set threshold value (Tth), the control by step 3, the control system
Ipsilateral hand vector force (Va) and healthy side hand vector force (Vc) are preset valve by system with Ipsilateral hand pre-set threshold value (Vath) and healthy side hand
Value (Vcth) is compared computing；If { Ta>Tth } and { (Va Vath) and (Vc Vcth) } be it is true, carry out step 4；If
It is no, then return to step 1；The pre-set threshold value (Tth), (Vath), (Vcth) are that system is built-in or therapist is by the control
The operation interface of system pre-enters；
Step 4, control system detecting { Ta>Tth } duration (Time-_Ta), by the duration (Time_Ta) with
One preset time (Time_th) is compared computing, if { Time_Ta<Time_th }, return to step 1；If { Time_Ta
Time_th }, and the control system obtains user by the legpower sensing module and is good for batter legpower value (Tc), the control system order
(Vs) moves a pre-determined distance to the accessory at a predetermined velocity.The pre-determined distance can be user steplength or system it is built-in,
Or therapist is pre-entered by the operation interface of the control system；
Step 5 repeats step 1 to four, until terminating training or being shut down because of other emergencies.
14. the control method of the direction controlling pattern of the accessory as described in claims 4, including：
Step 1, the control system judge whether user is located at the user area of the accessory by the message of the gait sensing module
In；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, according to desired trajectory, (Vs) or suitable fast mode move the control system order accessory at a predetermined velocity；This is pre-
Fixed track is that the control system controls the accessory to generate straight line in a predetermined distance by track programming (program)
Mobile, mobile movement of turning right of turning left various change；
Step 3 is repeated Step 1: two, until terminating training or being shut down because of other emergencies.
15. the control method of the direction controlling pattern of the user of the accessory as described in claims 4, including：
Step 1, the control system judge whether user is located at the user area of the accessory by the message of the gait sensing module
In；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system obtain user's right hand vector force (VFr) and left hand vector force by the multiaxis sensing module
(VFl)；
Step 3, the control system carry out right hand vector force (VFr) and left hand vector force (VFl) with a pre-set threshold value (VFth)
Comparison operation；Wherein, which is that system is built-in or therapist is advance by the operation interface of the control system
Input；When operation result is { (VFl-VFr)>VFth }, the control system order accessory is turned right movement；When operation result is
{(VFr-VFl)>VFth }, the control system order accessory is turned left movement；
Step 4 repeats step 1 to three, until terminate training or because of other emergencies by forced-stopping machine until.
16. the control method of the direction controlling pattern of the accessory as described in claims 4, direction control model are based on user
Lead and accessory for assist；The control method includes：
Step 1, the control system judge whether user is located at the user area of the accessory by the message of the gait sensing module
In；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system obtain user's right hand vector force (VFr) and left hand vector force by the multiaxis sensing module
(VFl)；
Step 3, the control system carry out right hand vector force (VFr) and left hand vector force (VFl) with a pre-set threshold value (VFth)
Comparison operation；Wherein, which is that system is built-in or therapist is advance by the operation interface of the control system
Input；When operation result is { (VFl-VFr)>VFth }, the control system order accessory is turned right movement；When operation result is
{(VFr-VFl)>VFth }, the control system order accessory is turned left movement；And the control system is by being arranged on the obstacle
Object sensing module senses the barrier on the path of motion of the accessory, and obtains the distance between the accessory and the barrier
(Do), which compares the distance (Do) and a pre-set threshold value upper limit (Duth) and a pre-set threshold value lower limit (Dlth)
To judging, if { Do>Duth } or { Do<Dlth }, which controls accessory stopping to move back to Step 2: or in startup
The automatic obstacle-avoiding pattern built starts built-in modification model, and the movement avoiding obstacles of the accessory is enable to continue on；Or
Person, which can monitor the motion track of the accessory, and the motion track is compared with desired guiding trajectory, if moving rail
The direction of mark, angle deviate considerably from acquiescence track, which controls accessory stopping to move back to Step 2: or in startup
The modification model built corrects the direction of motion track, angle returns to desired guiding trajectory and continues on；
Step 4 repeats step 1 to three, until terminating training or being shut down because of other emergencies.
17. the control method of the ramp mode of the accessory as described in claims 4, including：
Step 1, the control system judge whether user is located at the user area of the accessory by the message of the gait sensing module
In；If so, carry out step 2；If it is not, the accessory does not move or suspend movement, which continues to judge；
Step 2, the control system tilt forward and back state by what this tilted forward and back that sensing module senses the mobile platform, if to
Rear-inclined represents that the accessory for upward slope state, carries out step 3；It represents that the accessory is descending state if turning forward, carries out step
Four；
Step 3, the control system obtain right handle counterforce values (Fr) and left handle reaction by the multiaxis sensing module
Force value (Fl)；Right handle counterforce values (Fr) and left handle counterforce values (Fl) are preset valve by the control system with a right side
The value upper limit (Fru) and the left side pre-set threshold value upper limit (Flu) are compared computing；Wherein, the pre-set threshold value (Fru), (Flu) are to be
The built-in or therapist that unites is pre-entered by the operation interface of the control system；As operation result { Fr Fru>0&Fl Flu>
0 }, represent that user applies pulling force in the accessory, (Vs) is mobile at a predetermined velocity for the control system starter motor；
Step 4, the control system obtain right handle counterforce values (Fr) and left handle reaction by the multiaxis sensing module
Force value (Fl)；Right handle counterforce values (Fr) and left handle counterforce values (Fl) are preset valve by the control system with a right side
Value lower limit (Frl) and left side pre-set threshold value (Fll) are compared computing；Wherein, the pre-set threshold value (Frl), (Fll) is in systems
It builds or therapist is pre-entered by the operation interface of the control system；As operation result { Fr Frl<0&Fl Fll<0) }, table
Show that user applies thrust in the accessory, (Vs) is mobile at a predetermined velocity for the control system starter motor；
Step 5 repeats step 1 to four, until terminating training or being shut down because of other emergencies.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW105138707 | 2016-11-24 | ||
| TW105138707A TWI615137B (en) | 2016-11-24 | 2016-11-24 | Electric walking assisting device for multi-mode walking training and control method of the same |
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| Publication Number | Publication Date |
|---|---|
| CN108095985A true CN108095985A (en) | 2018-06-01 |
| CN108095985B CN108095985B (en) | 2020-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710051881.3A Active CN108095985B (en) | 2016-11-24 | 2017-01-20 | Electric walking aid for multi-mode walking training and control method thereof |
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| TW (1) | TWI615137B (en) |
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| CN112999026A (en) * | 2019-12-19 | 2021-06-22 | 沈阳新松机器人自动化股份有限公司 | Self-adaptive control method applied to rehabilitation walking-aid robot |
| CN114272086A (en) * | 2020-09-28 | 2022-04-05 | 纬创资通股份有限公司 | Active walking aid |
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| CN108926459B (en) * | 2018-05-31 | 2021-12-10 | 广东智爱机器人科技有限公司 | Method for controlling omnidirectional walking training device |
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| TW201818903A (en) | 2018-06-01 |
| TWI615137B (en) | 2018-02-21 |
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