CN108095985B

CN108095985B - Electric walking aid for multi-mode walking training and control method thereof

Info

Publication number: CN108095985B
Application number: CN201710051881.3A
Authority: CN
Inventors: 游忠煌
Original assignee: Fama Technology Consulting Co ltd
Current assignee: Fama Technology Consulting Co ltd
Priority date: 2016-11-24
Filing date: 2017-01-20
Publication date: 2020-11-20
Anticipated expiration: 2037-01-20
Also published as: TWI615137B; TW201818903A; CN108095985A

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

Electric walking aid for multi-mode walking training and control method thereof

Technical Field

The present invention relates to the field of electric walking aids, and more particularly, to an electric walking aid capable of providing walking training in multiple modes.

Background

Electric walking aids are important mobility aids for users who maintain walking ability but rely on support to maintain dynamic balance. However, the electric walking aid can provide various training modes to improve the walking ability of the user in addition to providing support. The improvement of walking ability includes a wide range of layers, which basically includes gait cycle, pace frequency, stride, pace speed, step position, and further includes muscle strength, which is not only related to legs, but also related to the related muscle groups of hands, waist and trunk, when the muscle strength and coordination control reach a certain standard, further direction control training can be performed, and all basic training and advanced training can generate obvious effect. Furthermore, the various training modes are based on human-oriented basis, and the training mode suitable for the user is selected according to his/her condition.

At present, the electric walking aid available on the market can only execute a single function, is suitable for a single situation, and cannot be used for personalized elastic adjustment of users under different conditions.

Disclosure of Invention

The main purpose of the present invention is to provide an electric auxiliary device capable of providing multi-mode walking training, which is used for users with different conditions and walking abilities to select the suitable training mode for personalized flexible adjustment.

An electric walking aid for multi-mode walking training, the aid comprising: a mobile platform, which is provided with a mobile device; a user area, which is a ground area adjacent to the mobile platform and is used for a user to stand; a gait sensing module, which is arranged on the mobile platform, senses the feet of the user by a non-contact sensing means and outputs the gait characteristic information of the user; the control system is arranged on the mobile platform, and all the modules of the assistive device and the mobile device are respectively electrically connected with the control system; the control system further includes a track program for controlling the moving platform to generate predetermined tracks such as linear movement, left-turn movement, right-turn movement, etc.; the control system obtains the information and data of all modules of the assistant and performs mixed analysis operation, and controls the assistant to generate a predetermined moving mode by using the result of the analysis operation.

The assistive device further comprises:

a resistance module installed on the mobile platform and electrically connected to the mobile device for adjusting the moving resistance of the auxiliary tool;

a multi-axis sensing module, the sensors of the multi-axis sensing module are respectively arranged on the left handle and the right handle, and are used for sensing the vector force applied to the left handle and the right handle by the left hand and the right hand of a user and correspondingly outputting the right hand vector force and the left hand vector force of the user;

an obstacle sensing module, including several sensors respectively arranged on the periphery of the mobile platform, for sensing whether the assistant tool meets the obstacle when moving, and obtaining the distance between the assistant tool and the obstacle;

a front and back inclination sensing module, the sensor of which is installed on the mobile platform for sensing the front and back inclination state of the mobile platform;

a stepping force sensing module, which is embedded in the sole and insole worn by the user or the training footpath for the user to walk, and the control system is electrically connected with the stepping force sensing module.

The invention further comprises a control method of the accessory, the control method makes the accessory execute the following moving mode, the moving mode comprises: a constant speed mode; a speed-adapting mode; a high frequency variable speed disturbance mode; low frequency variable speed perturbation mode.

The moving mode further includes: a muscle strengthening mode; a sick lateral foot weight bearing reinforcement mode; the affected hand bearing reinforcing mode; the affected side hands and feet bearing and strengthening mode; a direction control mode; a ramp mode.

The Constant speed mode is used to train the walking speed and speed control of the user.

The muscle Strengthening pattern (Strength Push/Pull) is used for training and Strengthening the muscle strength of the user, wherein the muscle strength is mainly the legs and the feet, and then the related muscle groups of the hands, the waist and the trunk.

The Weight bearing reinforcing mode (Weight bearing) comprises a diseased side foot Weight bearing reinforcing mode; the affected hand bearing reinforcing mode; the affected side hands and feet bear the weight and strengthen the mode. Training and improving the muscle strength of the affected hand and foot of the user, and assisting the user to control and coordinate the supporting and balancing abilities of the affected hand and foot and the healthy hand and foot.

The High Frequency Disturbance mode (High Frequency Disturbance Random Speed mode) is assisted by a High Frequency variable Speed moving mode, and the user can still effectively control the self walking Speed under the condition of external interference.

The Low Frequency transmission Perturbation mode (Low Frequency transmission Variable Speed) is assisted by the Low Frequency transmission movement mode, so as to train the user to effectively control the self walking Speed according to the external situation.

The Direction Control mode (Direction Control) trains the Direction Control of the user walking.

The slope mode (slope mode) trains the user to control the walking speed and the body gravity center position of the ascending slope and the descending slope by the aid of the auxiliary tool, and carries out higher-order muscle strength training through the ascending slope and the descending slope.

Drawings

FIG. 1 is a schematic view of the electric walking aid of the present invention.

FIG. 2 is a block diagram of an electric walking aid according to the present invention.

[ notation ] to show

10 base 12 left handle 13 right handle 14 front wheel

15 rear wheel 151 left wheel 152 right wheel 161 left wheel motor

162 right wheel motor 17 user zone 18 user 20 gait sensing module

22 resistance module 23 multi-axis sensing module 24 obstacle sensing module 25 fore-aft tilt sensing module

26 trajectory programming 27 control system 28 pedal force sensing module

Detailed Description

To facilitate the explanation of the present invention, the central idea shown in the above summary is expressed in terms of specific embodiments. The various objects of the embodiments are depicted in terms of scale, dimensions, amounts of deformation or displacement suitable for illustration, rather than in terms of actual component proportions, as previously described.

As shown in fig. 1 and 2, the electric walking aid (hereinafter, referred to as an aid) of the present invention includes: a mobile platform 10; a left handle 12 and a right handle 13 connected to the mobile platform 10; a moving device disposed on the moving platform 10, the moving device being a pair of front wheels 14 and a pair of rear wheels 15; the rear wheel 15 includes a left wheel 151 and a right wheel 152, the left wheel 151 and the right wheel 152 being controlled by a left wheel motor 161 and a right wheel motor 162, respectively; a user area 17, which is the area of the ground adjacent to the mobile platform 10, a user 18 stands on the user area 17, and the left and right hands of the user respectively hold the left and right grips, and the elbow bending angle of the user is 25-35 °.

The aid further comprises a gait sensing module 20, a resistance module 22, a multi-axis sensing module 23, an obstacle sensing module 24, a forward-backward inclination sensing module 25, and a track program (track) 26 for causing the aid to generate a predetermined movement track; the above-mentioned modules are electrically connected to a control system 27 of the auxiliary device respectively; the control system 27 is further electrically connected to a tread force sensing module 28 embedded in a sole or an insole worn by the user or embedded in a training footpath for the user to walk for sensing the tread force of the feet of the user; the control system obtains the information and data of each module and performs mixed analysis and calculation, and controls the assistant to generate a preset moving mode by using the result of the analysis and calculation.

The gait sensing module 20 senses the feet of the user by a non-contact sensing means and outputs gait feature information of the user. The gait characteristics information includes, but is not limited to, gait cycle, pace frequency, stride length, pace speed, line distance between the center of the arch and a specific point of the assistive device (hereinafter referred to as the first human-machine distance d1), and whether the user is located in the aforementioned user area; the non-contact sensing means includes, but is not limited to, image, laser, infrared, ultrasonic, or any sensing module attached to the user's feet.

The resistance module 22 is electrically connected to the left wheel motor 161 and the right wheel motor 162 for increasing the internal resistance of the motors, decreasing the motor speed and increasing the motor torque, so that the auxiliary device has a suitable resistance to move.

The multi-axis sensing module 23 is used for sensing the vector force applied to the left and right grips by the left and right hands of the user, and outputting the right vector force (VFr) and the left vector force (VFl) of the user correspondingly.

The obstacle sensing module 24 is used for sensing whether the assistant device encounters an obstacle when moving, and obtaining a distance (Do) between the assistant device and the obstacle.

The front-rear tilt sensing module 25 is configured to sense a front-rear tilt state of the mobile platform 10, in an embodiment of the present invention, if the mobile platform 10 tilts backward, the auxiliary device is in an uphill state; if the mobile platform 10 is tilted forward, the accessory is in a downhill state.

The trajectory programming (Track Program)26 is a Program for controlling the rotation speed of the left wheel motor 161 and the right wheel motor 162 of the auxiliary device so as to generate a predetermined trajectory such as a linear movement, a left-turn movement, a right-turn movement, and the like for the auxiliary device within a predetermined distance.

The aid of the invention generates the following training patterns by the control of the control system.

The training mode comprises: constant speed mode (hereinafter referred to as M1 mode); adaptive speed mode (hereinafter referred to as M2 mode); a strengthened muscle pattern (hereinafter referred to as M5 pattern); weight bearing mode (hereinafter referred to as M6 mode, further including M6-1 mode, M6-2 mode, M6-3 mode); high Frequency variable Disturbance mode (DRS mode) hereinafter; a Low Frequency shift Perturbation mode (hereinafter referred to as PVS mode); a Direction Control by Handle Push/Pull Forces (hereinafter referred to as PFD mode, further including FPD-1 mode, PFD-2 mode, and PFD-3 mode); ramp mode (Slop mode) (hereinafter referred to as SL mode).

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The M1 mode is a constant speed mode, and the auxiliary device and its control system execute the following control method, which includes:

step one, the control system judges whether a user is located in a user area of the assistive device or not through the information of the gait sensing module; if yes, performing the second step; if not, the auxiliary tool does not move or stops moving, and the control system continues to judge;

step two, the control system commands the accessory to move at a predetermined speed (Vs). The predetermined speed (Vs) is built in the system or pre-inputted by the therapist through the operation interface of the control system;

and step three, repeating the step one and the step two until the training is finished or the machine is forced to stop due to other emergency situations (such as falling of the user).

M1 mode, the user follows the predetermined speed of the assistive device to train the user's walking speed.

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The M2 mode is an adaptive speed mode, and the auxiliary device and its control system execute the following control method, which includes:

step two, the control system commands the assistive device to move at a preset speed (Vs), and a user moves in a walking way along with the assistive device; wherein the predetermined speed (Vs) is built in the system or pre-inputted by the therapist through the operation interface of the control system;

step three, the control system acquires the walking speed of the user from the gait sensing module and calculates the average walking speed (Vn) of the user;

step four, the control system compares the preset speed (Vs) of the auxiliary tool with the average walking speed (Vn) of the user; when { | Vn-Vs | > V }, the control system changes the predetermined speed (Vs1) of the accessory according to the calculation result of min (Vn, Vu); when | Vn-Vs | ≦ V, returning to the second step; wherein Vu is the maximum speed value of the auxiliary device, which is default for the system according to the specification and rotation speed of the motor; (V) is an allowable error value;

and step five, repeating the steps one to four until the training is finished or the machine is stopped in other emergency situations (such as falling of the user).

In the M2 mode, the auxiliary device moves at a predetermined speed (Vs), and then the predetermined speed (Vs1) is adjusted according to the walking speed change of the user. The assistant tool can be correspondingly adjusted and matched according to the walking speed of the user.

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The M5 mode is a muscle strengthening mode, and the assistive device and its control system execute the following control method, which includes:

step two, the control system obtains a right grip reaction force value (| Fr |) and a left grip reaction force value (| Fl |) through the multi-axis sensing module;

step three, the control system compares the right grip reaction force value (| Fr |) and the left grip reaction force value (| Fl |) with a right side preset threshold value (Frth) and a left side preset threshold value (Flth), and if the result is { (| Fr | > Frth) & (| Fl | > Flth) }, the step four is carried out, and if the result is not, the step one is returned; wherein, the preset threshold values (Frth) and (Flth) are built in the system or pre-input by the therapist through the operation interface of the control system;

step four, the control system acquires the first human-machine distance d1 through the gait sensing module;

step five, the control system calculates and compares the first human-machine distance (d1), the right grip reaction force value Fr and the left grip reaction force value (Fl), if the result is that the formula (1) is satisfied, the control system indicates that the user applies a pushing force to the auxiliary tool, and if the result is that the formula (2) is satisfied, the control system indicates that the user applies a pulling force to the auxiliary tool; if either the formula (1) or the formula (2) is established, performing a sixth step; if the formula (1) and the formula (2) are not satisfied, returning to the first step;

{ (d1< dznu) & (Fr <0) & (Fl <0) } formula (1)

{ (d1> dznl) & (Fr >0) & (Fl >0) } formula (2)

Wherein (dznu) is an upper limit of human distance (upper limit of neutral distance); (dznl) is the lower bound of the distance between humans (lower limit of neutral distance); (dznu) and (dznl) are both system defaults;

sixthly, the auxiliary tool advances in the thrust direction or retreats in the tension direction at a preset speed (Vs);

and step seven, repeating the steps one to six until the training is finished or the machine is stopped due to other emergency conditions.

In step six of the M5 mode, the control system can further control the aforementioned resistance module to activate, increase the current of the motor, increase the reverse torque of the motor, and provide the appropriate resistance to the movement of the accessory, so that the pushing force or pulling force of the user on the accessory must be increased to move the accessory.

M5 mode, the user's pushing force and pulling force applied to the auxiliary device are used as the judgment conditions for starting the auxiliary device to move and driving the auxiliary device to move continuously, when the user's leg muscles, waist muscles, trunk muscles and hand muscles all reach the expected standard and can act in coordination with each other, the auxiliary device can be pushed or pulled successfully, thereby training and strengthening the user's muscular strength.

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The M6-1 mode is a lateral foot weight-bearing reinforcement mode. The assistant and the control system thereof execute the following control method, comprising:

step two, the control system obtains the pedal force value (Ta) of the affected side of the user through the pedal force sensing module;

step three, the control system compares the pedal force value (Ta) of the affected side with a preset pedal force threshold value (Tth), and if the { Ta > Tth } is true, the control system performs step four; if not, returning to the first step; wherein the default threshold value (Tth) is built in the system or pre-inputted by the therapist through the operation interface of the control system;

step four, the control system detects the duration (Time _ Ta) of the { Ta > Tth }, compares the duration (Time _ Ta) with a preset Time (Time _ th), and returns to the step one if the { Time _ Ta < Time _ th }; if { Time _ Ta ≧ Time _ th }, and the control system obtains the user side pedaling force value (Tc) from the pedaling force sensing module, the control system commands the auxiliary tool to move a preset distance at a preset speed (Vs). The preset distance can be the stepping distance of the user, or the built-in system, or the pre-input of the therapist through the operation interface of the control system;

and step five, repeating the steps one to four until the training is finished or the machine is stopped due to other emergency conditions.

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The M6-2 mode is a lateral hand weight-bearing reinforcement mode. The assistant and the control system thereof execute the following control method, comprising:

step two, the control system obtains the vector force (Va) of the hand at the affected side and the vector force (Vc) of the hand at the healthy side of the user through the multi-axis sensing module;

step three, the control system compares the vector force (Va) of the hand at the affected side and the vector force (Vc) of the hand at the healthy side with a preset threshold value (Vath) of the hand at the affected side and a preset threshold value (Vcth) of the hand at the healthy side; if { (Va ≧ Vath) and (Vc ≦ Vcth) } are true, go to step four, if not, return to step one; wherein the preset threshold values (Vath) and (Vcth) are built in the system or pre-inputted by the therapist through the operation interface of the control system;

and step four, the auxiliary tool moves a preset distance at a preset speed (Vs). The preset distance can be the stepping distance of the user, or the built-in system, or the pre-input of the therapist through the operation interface of the control system;

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The M6-3 mode is a lateral hand and foot weight-bearing reinforcing mode. The assistant and the control system thereof execute the following control method, comprising:

step two, the control system obtains the pedal force value (Ta) of the affected side of the user through the pedal force sensing module; the control system obtains the vector force (Va) of the hand at the affected side and the vector force (Vc) of the hand at the healthy side of the user by the multi-axis sensing module;

step three, the control system compares the pedal force value (Ta) of the affected side with a preset pedal force threshold value (Tth), and the control system compares the vector force (Va) of the hand of the affected side and the vector force (Vc) of the hand of the healthy side with a preset valve value (Vath) of the hand of the affected side and a preset valve value (Vcth) of the hand of the healthy side; if { Ta > Tth } and { (Va ≧ Vath) and (Vc ≦ Vcth) } are true, performing step four; if not, returning to the first step; the preset threshold values (Tth), (Vath) and (Vcth) are built in the system or input by the therapist through the operation interface of the control system;

M6-1, M6-2, or M6-3 mode, is suitable for the users with unilateral hemiplegia of hand, foot, or hand and foot. Users of this type are often accustomed to having the healthy side as the primary support so that the muscle strength of the affected side is weaker and weaker. By means of the M6-1 mode, the muscle strength of the affected side foot of the user is improved, and the supporting balance ability of the affected side foot and the healthy side foot of the user is controlled and coordinated. By means of the M6-2 mode, the muscle strength of the affected hand of the user is improved, and the user is assisted to control and coordinate the supporting and balancing abilities of the affected hand and the healthy hand. By means of the M6-3 mode, the muscle strength of the affected hand and foot of the user is trained and enhanced, and the supporting balance ability of the affected hand and foot and the healthy hand and foot of the user is assisted and controlled.

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The DRS mode is a high frequency variable rate disturbance mode. The assistant and the control system thereof execute the following control method, comprising:

step two, the control system controls the auxiliary tool to switch a preset speed (Vs) and a random speed change (Vrandom) in a high-frequency mode, and the occurrence time and the duration time of the preset speed (Vs) and the random speed change (Vrandom) are both randomly controlled by the control system, so that the auxiliary tool generates high-frequency speed change movement; the predetermined speed (Vs) is a fixed speed, and the random gear shift (Vrandom) is faster or slower than the predetermined speed (Vs); the predetermined speed (Vs) and the random variable speed (Vrandom) are preset in the system or input by the therapist through the operation interface of the control system; alternatively, the predetermined speed is built-in or pre-input by the therapist through the operation interface of the control system, and the random speed change (Vrandom) is randomly generated by the system based on the predetermined speed;

In the DRS mode, the user cannot walk with the assistive device by moving the assistive device at a high frequency with a variable speed, so that the movement of the assistive device interferes with the user's walking training, and the user needs to ignore the interference and walk at his or her own walking speed. Therefore, the user can still effectively control the walking speed under the condition of external interference.

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The PVS mode is a low frequency variable perturbation mode. The assistant and the control system thereof execute the following control method, comprising:

step two, the control system controls the auxiliary device to switch a preset speed (Vs) and a variable speed (Vv) in a low-frequency mode, and the occurrence time and the duration time of the preset speed (Vs) and the variable speed (Vv) are randomly controlled by the control system, so that the auxiliary device generates low-frequency variable-speed movement; the predetermined speed (Vs) is a fixed speed, and the variable speed (Vv) is faster or slower than the predetermined speed (Vs); the predetermined speed (Vs) and the variable speed (Vv) are built in the system or pre-inputted by the therapist through the operation interface of the control system; alternatively, the predetermined speed (Vs) is built-in to the system or pre-input by the therapist through the operating interface of the control system, and the variable speed (Vv) is randomly generated by the system according to the program based on the predetermined speed;

The PVS mode is a mode of the auxiliary moving at a low frequency, so that the user can change the walking speed of the user along with the perturbation changes of the auxiliary such as constant speed, acceleration, deceleration and the like to move along with the walking of the auxiliary. Thereby training the user to effectively control the walking speed according to the external condition.

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The PFD-1 mode is an auxiliary directional control mode. The assistant and the control system thereof execute the following control method, comprising:

secondly, the control system commands the auxiliary device to move at a predetermined speed (Vs) or the aforementioned suitable speed mode (M2) according to a predetermined track; wherein the setting and generation of the predetermined speed (Vs) and the appropriate speed mode (M2) are the same as the above; the predetermined track is the rotation speed of the left wheel motor and the right wheel motor of the auxiliary tool controlled by the control system through the track programming (program), so as to make the auxiliary tool generate various changes of linear movement, left-turning movement and right-turning movement within a predetermined distance;

In the PFD-1 mode, the assistant is used as a leader, and the linear movement, left-turning movement or right-turning movement of the assistant guides the user to follow the walking so as to train the direction control of the user walking.

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The PFD-2 mode is a user direction control mode. The assistant and the control system thereof execute the following control method, comprising:

step two, the control system obtains the right-hand vector force VFr and the left-hand vector force VFl of the user through the multi-axis sensing module;

step three, the control system compares the right-hand vector force (VFr) and the left-hand vector force (VFl) with a preset threshold value (VFth); wherein the default threshold (VFth) is built in the system or pre-inputted by the therapist through the operation interface of the control system; when the operation result is { (VFl-VFr) > VFth }, the control system commands the left wheel motor of the auxiliary tool to accelerate and the right wheel motor to decelerate so as to make the auxiliary tool move to the right; when the operation result is { (VFr-VFl) > VFth }, the control system commands the right wheel motor of the auxiliary tool to accelerate and the left wheel motor to decelerate so as to make the auxiliary tool turn left;

and step four, repeating the steps one to three until the training is finished or the machine is stopped due to other emergency conditions.

PFD-2 mode, the user is the leader, and the left and right hand thrusts are used to control the moving direction of the assistant. In this mode, the therapist can provide the way of setting up obstacles on the S-shaped training way, the rectangular training way, or the training way, and let the user control the assistive device to perform the training in all directions such as going straight, turning left, turning right, and avoiding obstacles on the above training ways.

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The PFD-3 mode is a user-dominated, assisted, directional control mode. The assistant and the control system thereof execute the following control method, comprising:

step three, the control system compares the right-hand vector force (VFr) and the left-hand vector force (VFl) with a preset threshold value (VFth); wherein the default threshold (VFth) is built in the system or pre-inputted by the therapist through the operation interface of the control system; when the operation result is { (VFl-VFr) > VFth }, the control system commands the left wheel motor of the auxiliary tool to accelerate and the right wheel motor to decelerate so as to make the auxiliary tool move to the right; when the operation result is { (VFr-VFl) > VFth }, the control system commands the right wheel motor of the auxiliary tool to accelerate and the left wheel motor to decelerate so as to make the auxiliary tool turn left; the control system can sense the obstacle on the action path of the auxiliary tool through an obstacle sensing module arranged on the auxiliary tool and obtain the distance (Do) between the auxiliary tool and the obstacle, the control system compares the distance (Do) with a preset threshold upper limit (Duth) and a preset threshold lower limit (Dlth) for judgment, if { Do > Duth } or { Do < Dlth }, the control system controls the auxiliary tool to stop moving back to the step two, or starts a built-in automatic obstacle avoidance mode or a started built-in correction mode, so that the auxiliary tool can move continuously to avoid the obstacle; or the control system can monitor the moving track of the assistive device and compare the moving track with a preset track, and if the direction and the angle of the moving track obviously deviate from the default track, the control system controls the assistive device to stop moving and return to the step two, or starts a built-in correction mode to correct the direction and the angle of the moving track and return to the preset track to continue to move;

In the PFD-3 mode, a user is taken as a leader to lead the moving direction of the auxiliary tool, but when the auxiliary tool impacts an obstacle or is too close to or too deviated from the obstacle, or is too deviated from a preset track, the auxiliary tool stops moving, so that the user can automatically correct the direction of the auxiliary tool, or the auxiliary tool automatically bypasses the obstacle or automatically corrects the direction angle, the user is helped to correct the direction of the auxiliary tool, and accordingly the user is trained to have higher-order obstacle avoidance and obstacle solving capabilities.

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The SL mode is a ramp mode. The assistant and the control system thereof execute the following control method, comprising:

step two, the control system senses the front and back inclination condition of the mobile platform through the front and back inclination sensing module, if the mobile platform is inclined backwards, the auxiliary tool is in an uphill state, and step three is carried out; if the auxiliary tool inclines forwards, the auxiliary tool is in a downhill state, and the fourth step is carried out;

step three, the control system obtains a right grip reaction force value (Fr) and a left grip reaction force value (Fl) through the multi-axis sensing module; the control system compares the right grip reaction force value (| Fr |) and the left grip reaction force value (Fl) with a right preset threshold upper limit (Fru) and a left preset threshold upper limit (Flu); wherein, the preset threshold values (Fru) and (Flu) are built in the system or pre-input by the therapist through the operation interface of the control system; when the operation result { (Fr ≧ Fru >0) & (Fl ≧ Flu >0) } indicates that the user applies a pulling force to the auxiliary tool, the control system starts a motor to move at a predetermined speed (Vs);

step four, the control system obtains a right grip reaction force value (Fr) and a left grip reaction force value (Fl) through the multi-axis sensing module; the control system compares the right grip reaction force value (Fr) and the left grip reaction force value (Fl) with a lower limit (Frl) of a preset right threshold and a preset left threshold (Fll); wherein the preset threshold values (Frl), (Fll) are built in the system or pre-inputted by the therapist through the operation interface of the control system; when the operation result { (Fr ≦ Frl <0) & (Fl ≦ Fll <0) } indicates that the user applies a thrust to the auxiliary tool, the control system starts the motor to move at a predetermined speed (Vs);

In the SL mode, the user is trained by the aid to control the walking speed and the body gravity center position of the uphill slope and the downhill slope, and to perform higher-order muscle strength training through the uphill slope and the downhill slope.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A control method of electric walking aid for multi-mode walking training, the control method makes the aid execute the following moving mode, the moving mode includes: a constant speed mode, a suitable speed mode, a high-frequency variable speed disturbance mode and a low-frequency variable speed perturbation mode; wherein should assist the utensil and include:

a mobile platform, which is provided with a mobile device;

a user area, which is a ground area adjacent to the mobile platform and is used for a user to stand;

a gait sensing module, which is arranged on the mobile platform and senses the feet of the user by a sensing means and outputs the gait characteristic information of the user;

the control system is arranged on the mobile platform, and all the modules of the assistive device and the mobile device are respectively electrically connected with the control system; the control system further includes a track program for controlling the moving platform to generate predetermined tracks such as linear movement, left-turn movement, right-turn movement, etc.; the control system obtains the information and data of all modules of the assistant and performs mixed analysis operation, and controls the assistant to generate a predetermined moving mode by using the result of the analysis operation.

2. The control method of claim 1, further causing the accessory to perform a movement pattern comprising: a muscle strengthening mode, an affected side foot bearing strengthening mode, an affected side hand foot bearing strengthening mode, a direction control mode and a slope mode; wherein the assistive device further comprises:

a left handle and a right handle which are arranged on the mobile platform and are respectively held by the two hands of the user;

a multi-axis sensing module, the sensors of the multi-axis sensing module are respectively arranged on the left handle and the right handle and are used for sensing the vector force applied to the left handle and the right handle by the left hand and the right hand of the user and correspondingly outputting the right hand vector force and the left hand vector force of the user;

a stepping force sensing module, which is embedded in the sole and the insole worn by the user or the training footpath for the user to walk, and the control system is electrically connected with the stepping force sensing module.

3. The control method of claim 1, wherein the constant speed mode comprises:

step one, the control system judges whether the user is located in the user area or not through the information of the gait sensing module; if yes, performing the second step; if not, the auxiliary tool does not move or stops moving, and the control system continues to judge;

step two, the control system commands the accessory to move at a preset speed (Vs); the predetermined speed (Vs) is built in the system or pre-inputted by the therapist through the operation interface of the control system;

and step three, repeating the step one and the step two until the training is finished or the machine is stopped due to other emergency conditions.

4. The control method of claim 1, wherein the adaptive mode comprises:

step one, the control system judges whether the user is located in the user area of the assistive device or not through the information of the gait sensing module; if yes, performing the second step; if not, the auxiliary tool does not move or stops moving, and the control system continues to judge;

step two, the control system commands the assistive device to move at a preset speed (Vs), and the user moves along with the walking of the assistive device; wherein the predetermined speed (Vs) is built in the system or pre-inputted by the therapist through the operation interface of the control system;

step four, the control system compares the preset speed (Vs) of the auxiliary tool with the average walking speed (Vn) of the user; when { | Vn-Vs | > V }, the control system changes the predetermined speed (Vs1) of the accessory according to the calculation result of { min (Vn, Vu) }; when { | Vn-Vs | ≦ V }, returning to the step two; wherein, (Vu) is the maximum speed value of the auxiliary device movement, which is default by the system according to the maximum safety speed allowed for the user; (V) is an allowable error value;

and step five, repeating the steps one to four until the training or other emergency stop is finished.

5. The control method of claim 1, wherein the high frequency variable speed disturbance mode comprises:

6. The control method of claim 1, wherein the low frequency variable perturbation mode comprises:

7. The control method of claim 2, wherein the muscle-strengthening mode comprises:

step four, the control system acquires a first human-machine distance (d1) through the gait sensing module; the first human-machine distance (d1) is the linear distance between the midpoint of the user's arch and the specific point of the accessory;

step five, the control system calculates and compares the first human-machine distance (d1), the right grip reaction force value (Fr) and the left grip reaction force value (Fl), if the result is that the formula (1) is established, the user applies thrust to the auxiliary tool and the feet stride forwards, and if the result is that the formula (2) is established, the user applies tension to the auxiliary tool and the feet stride backwards; if either the formula (1) or the formula (2) is established, performing a sixth step; if the formula (1) and the formula (2) are not satisfied, returning to the first step; wherein, the formula (1) is { (d1< dznu) & (Fr <0) & (Fl <0) }, the formula (2) is { (d1> dznl) & (Fr >0) & (Fl >0) }, (dznu) is an upper limit of the human-machine distance (upper limit of the neutral distance), (dznl) is a lower limit of the human-machine distance (lower limit of the neutral distance), and (dznu) and (dznl) are both default values of the system;

8. The control method according to claim 7, wherein in step six, the control system controls the resistance module to activate to increase the moving resistance of the accessory.

9. The method of claim 2, wherein the lateral foot weight-bearing reinforcement pattern comprises:

step three, the control system compares the pedal force value (Ta) of the affected side with a preset pedal force threshold value (Tth), and if the { Ta > Tth } is true, the control system performs step four; if not, returning to the first step; wherein the preset threshold value (Tth) is built in the system or is input by the therapist through the operation interface of the control system;

step four, the control system detects the duration (Time _ Ta) of the { Ta > Tth }, compares the duration (Time _ Ta) with a preset Time (Time _ th), and returns to the step one if the { Time _ Ta < Time _ th }; if { Time _ Ta ≧ Time _ th }, and the control system obtains the user exercise side pedaling force value (Tc) from the pedaling force sensing module, the control system commands the auxiliary tool to move a preset distance at a preset speed (Vs); the preset distance can be the stepping distance of the user, or the preset distance is built in the system, or the preset distance is input by a therapist through an operation interface of the control system;

10. The control method of claim 2, wherein the lateral hand weight-bearing reinforcement pattern comprises:

moving the assistive device at a preset speed (Vs) for a preset distance; the preset distance can be the stepping distance of the user, or the preset distance is built in the system, or the preset distance is input by a therapist through an operation interface of the control system;

11. The method of claim 2, wherein the weight-bearing enhancement mode of the affected hand and foot comprises:

step two, the control system obtains the pedal force value (Ta) of the affected side of the user through the pedal force sensing module; the control system obtains the vector force (Va) of the hand at the affected side and the vector force (Vc) of the hand at the healthy side of the user through the multi-axis sensing module;

12. The control method of claim 2, wherein the direction control mode comprises:

step two, the control system commands the assistive device to move at a preset speed (Vs) or in a moderate speed mode according to a preset track; the predetermined track is that the control system controls the assistive device to generate various changes of linear movement, left-turning movement and right-turning movement within a predetermined distance through the track programming (program);

13. The control method of claim 2, wherein the directional control mode is dominated by the user, comprising:

step two, the control system obtains the right-hand vector force (VFr) and the left-hand vector force (VFl) of the user through the multi-axis sensing module;

step three, the control system compares the right-hand vector force (VFr) and the left-hand vector force (VFl) with a preset threshold value (VFth); wherein the preset threshold (VFth) is built in the system or is input by the therapist through the operation interface of the control system; when the operation result is { (VFl-VFr) > VFth }, the control system commands the auxiliary device to move to the right; when the operation result is { (VFr-VFl) > VFth }, the control system commands the auxiliary device to move to the left;

and step four, repeating the steps one to three until the training is finished or the machine is forced to stop due to other emergency conditions.

14. The method of claim 2, wherein the directional control mode is assisted by the user as a dominant mode, comprising:

step three, the control system compares the right-hand vector force (VFr) and the left-hand vector force (VFl) with a preset threshold value (VFth); wherein the preset threshold (VFth) is built in the system or is input by the therapist through the operation interface of the control system; when the operation result is { (VFl-VFr) > VFth }, the control system commands the auxiliary device to move to the right; when the operation result is { (VFr-VFl) > VFth }, the control system commands the auxiliary device to move to the left; and the control system senses the obstacle on the action path of the auxiliary tool through the obstacle sensing module and obtains the distance (Do) between the auxiliary tool and the obstacle, the control system compares and judges the distance (Do) with a preset threshold upper limit (Duth) and a preset threshold lower limit (Dlth), if { Do > Duth } or { Do < Dlth }, the control system controls the auxiliary tool to stop moving back to the step two, or starts a built-in automatic obstacle avoidance mode or a built-in correction mode, so that the auxiliary tool can move continuously to avoid the obstacle; or the control system can monitor the moving track of the assistive device and compare the moving track with a preset track, and if the direction and the angle of the moving track obviously deviate from the default track, the control system controls the assistive device to stop moving and return to the step two, or starts a built-in correction mode to correct the direction and the angle of the moving track and return to the preset track to continue to move;

15. The control method of claim 2, wherein the ramp mode comprises:

step two, the control system senses the front and back inclination state of the mobile platform through the front and back inclination sensing module, and if the front and back inclination sensing module tilts backwards to indicate that the auxiliary tool is in an uphill state, the control system performs step three; if the forward inclination indicates that the auxiliary tool is in a downhill state, performing the fourth step;

step three, the control system obtains a right grip reaction force value (Fr) and a left grip reaction force value (Fl) through the multi-axis sensing module; the control system compares the right grip reaction force value (Fr) and the left grip reaction force value (Fl) with a right preset threshold upper limit (Fru) and a left preset threshold upper limit (Flu); wherein, the preset threshold values (Fru) and (Flu) are built in the system or pre-input by the therapist through the operation interface of the control system; when the operation result { (Fr ≧ Fru >0) & (Fl ≧ Flu >0) } indicates that the user applies a pulling force to the auxiliary tool, the control system starts a motor to move at a predetermined speed (Vs);

step four, the control system obtains a right grip reaction force value (Fr) and a left grip reaction force value (Fl) through the multi-axis sensing module; the control system compares the right grip reaction force value (Fr) and the left grip reaction force value (Fl) with a lower limit (Frl) of a preset right threshold and a preset left threshold (Fll); wherein the preset threshold values (Frl), (Fll) are built in the system or pre-inputted by the therapist through the operation interface of the control system; when the operation result { (Fr ≦ Frl <0) & (Fl ≦ Fll <0) } indicates that the user applies a thrust to the auxiliary tool, the control system starts a motor to move at a predetermined speed (Vs);