CN111297629B - Rehabilitation training method for simulating going upstairs and downstairs and lower limb rehabilitation robot - Google Patents
Rehabilitation training method for simulating going upstairs and downstairs and lower limb rehabilitation robot Download PDFInfo
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- CN111297629B CN111297629B CN202010114859.0A CN202010114859A CN111297629B CN 111297629 B CN111297629 B CN 111297629B CN 202010114859 A CN202010114859 A CN 202010114859A CN 111297629 B CN111297629 B CN 111297629B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 24
- 230000005484 gravity Effects 0.000 claims abstract description 27
- 230000008859 change Effects 0.000 claims abstract description 19
- 230000001174 ascending effect Effects 0.000 claims abstract description 7
- 210000002414 leg Anatomy 0.000 claims description 62
- 210000002683 foot Anatomy 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 10
- 210000004394 hip joint Anatomy 0.000 claims description 9
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 6
- 210000000629 knee joint Anatomy 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 208000027418 Wounds and injury Diseases 0.000 abstract description 2
- 230000006378 damage Effects 0.000 abstract description 2
- 208000014674 injury Diseases 0.000 abstract description 2
- 238000004088 simulation Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 210000003423 ankle Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Classifications
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- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
Abstract
The invention discloses a rehabilitation training method for simulating ascending and descending of stairs, belongs to the technical field of lower limb movement injury rehabilitation treatment, and aims to increase the diversity of rehabilitation training and improve the training efficiency and the environment adaptability of patients. The method comprises the steps that two mechanical legs are fixed relative to a human leg and drive the human leg to move so as to simulate the motion of the human leg when the human leg goes up and down stairs, and the motion of the mechanical legs is carried out based on a leg motion model; when the legs of the user move, the back plate is fixed relative to the human body and drives the human body to move up and down so as to simulate the change of the gravity center position of the human body when the user goes up and down stairs. In order to realize the method, the invention also discloses a lower limb rehabilitation robot.
Description
Technical Field
The invention relates to the technical field of lower limb movement injury rehabilitation treatment, in particular to a rehabilitation training method for simulating ascending and descending of stairs and a lower limb rehabilitation robot.
Background
At present, patients with lower limb motor function impairment gradually increase year by year due to stroke, spinal cord injury and the like. Under the background of few domestic rehabilitation doctors, many patients choose to use the lower limb rehabilitation robot for training and treatment during rehabilitation and myoenergy rehabilitation training. The existing lower limb rehabilitation robot auxiliary training method is mostly based on two forms of walking or using a treadmill and the like. Aiming at the problem of single training mode of the lower limb rehabilitation robot at present, the diversity of rehabilitation training is necessary to be increased, and the rehabilitation training efficiency and the environmental adaptability of a patient are improved.
Disclosure of Invention
In order to increase the diversity of rehabilitation training and improve the rehabilitation training efficiency and the environmental adaptability of patients, one of the purposes of the invention is to disclose a rehabilitation training method for simulating going upstairs and downstairs, two mechanical legs are fixed relative to the legs of the people and drive the legs of the people to move so as to simulate the movement of the legs of the people when going upstairs and downstairs, and the movement of the mechanical legs is carried out based on a leg movement model; when the legs of the user move, the back plate is fixed relative to the human body and drives the human body to move up and down so as to simulate the change of the gravity center position of the human body when the user goes up and down stairs.
In an example of the present invention, the process of obtaining the leg movement model specifically includes: setting angle acquisition instruments at a hip joint, a knee joint and an ankle joint of a person, acquiring angle changes of the hip joint, the knee joint and the ankle joint when the person goes up and down stairs to obtain first data, filtering the first data by adopting a moving average method to obtain second data, and performing front-back average filling on abnormal values in the second data to obtain third data; fitting the third data with a Fourier or B-spline line to obtain a leg motion model.
In one example of the present invention, a similarity calculation is performed based on the pearson correlation coefficient or the DTW distance to determine the period of the leg movement model.
In an embodiment of the present invention, the back plate drives the human body to move up and down based on a variation curve of the center of gravity position of the human body, which is shown in the following formula:
wherein, ytRepresenting the position of the gravity center of the human body at the moment t;
a1、a2、a3、b1、b2、b3are all constants and vary according to different leg models.
In an example of the present invention, the process of obtaining the variation curve of the position of the center of gravity of the human body includes the following steps: s1, calculating the positions of the joint points from top to bottom by taking the head of the person as a starting point and judging the motion state of the human body based on the leg motion model and the real stair environment; s2, based on the positions of the joint points calculated in S1 and the motion state of the human body, calculating the positions of the joint points again from bottom to top by taking the lowest point of the human body as a starting point and drawing to obtain a second motion model; and S3, correcting and calculating to obtain a change curve of the position of the center of gravity of the human body based on the second motion model by taking the vertical position of the hip joint as the position of the center of gravity of the human body.
The invention also provides a lower limb rehabilitation robot, which is used for realizing the rehabilitation training method for simulating going upstairs and downstairs, and comprises a support frame, a control module, a driver, a back plate and two mechanical legs; the back plate is arranged on the support frame, and the driver is used for driving the back plate to move up and down; the mechanical legs are arranged at the bottom of the back plate, and foot pedals are arranged at the bottoms of the mechanical legs and are suspended in the air; the control module controls the two mechanical legs based on the leg movement model to simulate the leg movement when going upstairs and downstairs, and controls the driver based on the human body gravity center position change curve to enable the back plate to drive the human body to move up and down.
In an example of the present invention, the back plate is connected to the support frame through a slide rail to be movable in a vertical direction, the driver includes a ball screw and a driving motor, the ball screw is connected to the back plate, and the driving motor is fixed to the support frame.
In an example of the invention, the back plate is provided with a hanging strip for fixing relative to the human body.
In an example of the present invention, armrests are disposed on the back plate at positions corresponding to the upper part of the head and the left and right sides of the human body.
The invention has the beneficial effects that:
1) the invention provides a rehabilitation training method for simulating going upstairs and downstairs, which increases the diversity of rehabilitation training and is beneficial to the recovery of patients;
2) the simulation of the change of the gravity center position of the human body is added while the legs simulate going upstairs and downstairs, so that the fidelity of the rehabilitation training is higher, the rehabilitation training is more suitable for the upstairs and downstairs in the actual life, and the recovery of patients is facilitated;
3) the fitted leg motion model has high fidelity and is more close to the actual state of going upstairs and downstairs.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram showing the change of the three joint angle trajectories of the hip, knee and ankle when ascending stairs;
FIG. 2 is a schematic diagram showing the change of the hip, knee and ankle three-joint angle trajectory when going down stairs;
FIG. 3 is a schematic view of gait simulation during ascending stairs;
FIG. 4 is a schematic view of gait simulation during descending stairs;
FIG. 5 is a schematic view of a fitted curve of the center of gravity of a human body when going upstairs;
fig. 6 is a flowchart of a procedure when the lower limb rehabilitation robot performs rehabilitation training;
fig. 7 is a schematic configuration diagram of the lower limb rehabilitation robot.
Reference numerals: 1. a back plate; 2. a handrail; 3. a mechanical leg; 4. a foot pedal; 5. a drive motor; 6. a ball screw; 7. a support frame.
Detailed Description
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
Example 1:
the embodiment discloses a rehabilitation training method for simulating going upstairs and downstairs, wherein two mechanical legs are fixed relative to human legs and drive the human legs to move so as to simulate the motion of the human legs when going upstairs and downstairs, and the motion of the mechanical legs is carried out based on a leg motion model; when the legs of the user move, the back plate is fixed relative to the human body and drives the human body to move up and down so as to simulate the change of the gravity center position of the human body when the user goes up and down stairs.
Because the motion state of the legs of the user can not be accurately simulated to go up and down the stairs only by driving the legs of the user, the simulation of going up and down the stairs is more vivid after the adjustment of the gravity center of the human body is added in the simulation, and the recovery of the patient is facilitated. Aiming at the problem that the vertical movement of the lower limb rehabilitation robot is limited at present, dynamic gravity center adjustment is provided to ensure continuous and repeated movement.
The process of obtaining the leg movement model specifically comprises the following steps: setting angle acquisition instruments at hip joints, knee joints and ankle joints of a person, acquiring angle changes of the hip joints, the knee joints and the ankle joints when the person goes up and down stairs to obtain first data, performing filtering processing on the first data by adopting a moving average method to obtain second data, and performing front-back average filling on abnormal values in the second data to obtain third data; fitting the third data with a Fourier or B-spline line to obtain a leg motion model. The leg movement model is a variation curve, and fig. 1 and 2 show the leg movement model when going up and down stairs.
And performing similarity calculation according to the Pearson correlation coefficient or the DTW distance to judge the period of the leg movement model. This process is not described in detail herein.
Referring to fig. 3 and 4, the back plate drives the human body to move up and down based on the change curve of the center of gravity position of the human body, and the process of acquiring the change curve of the center of gravity position of the human body comprises the following steps:
s1, calculating the positions of the joint points from top to bottom by taking the head of the person as a starting point and judging the motion state of the human body based on the leg motion model and the real stair environment;
s2, based on the positions of the joint points calculated in S1 and the motion state of the human body, calculating the positions of the joint points again from bottom to top by taking the lowest point of the human body as a starting point and drawing to obtain a second motion model;
fig. 3 and 4 show simulation results of the second motion model.
And S3, correcting and calculating to obtain a change curve of the position of the center of gravity of the human body based on the second motion model by taking the vertical position of the hip joint as the position of the center of gravity of the human body.
The change curve of the position of the center of gravity of the human body is shown in the formula (1):
wherein, ytRepresenting the position of the gravity center of the human body at the moment t;
a1、a2、a3、b1、b2、b3are all constants and vary according to different leg models.
The fitted curve to equation 1 is shown in fig. 5.
By using the method, the diversity of rehabilitation training can be increased, and the training efficiency and the environmental adaptability of the patient can be improved.
Example 2:
referring to fig. 7 and fig. 1, the present embodiment discloses a lower limb rehabilitation robot for implementing the rehabilitation training method for simulating ascending and descending stairs described in embodiment 1, which includes a base, a support frame, a control module, a driver, a back plate, and two mechanical legs. The control module is not shown in the drawings.
The support frame is fixed on the base, and the backplate passes through the slide rail with the support frame and is connected so that it can move in vertical direction. The driver comprises a ball screw and a driving motor, the ball screw is connected with the back plate, and the driving motor is fixed on the supporting frame. The driving motor drives the ball screw to do linear motion, and the driving motor indirectly drives the back plate to move up and down through the ball screw when in operation.
Two mechanical legs are arranged at the bottom of the back plate, in the embodiment, the original mechanical feet are replaced by the foot pedals, and the angle of the foot pedals can be controlled and changed like the mechanical feet, so that no structural and control improvement is made on the mechanical legs in the embodiment, however, the structure is simplified by replacing the mechanical feet by the foot pedals, and the adaptive change in replacing the foot pedals is essentially conventional technical means in the mechanical field.
Therefore, the structure and control of the mechanical legs are not described in detail, but in order to realize the simulation of going downstairs, the invention provides a pedal on which a person steps and a suspension arrangement of the pedal, which belong to the improvement points of the invention.
The control module controls the two mechanical legs based on the leg movement model to simulate the movement of the legs when going upstairs and downstairs, and simultaneously controls the driver based on the change curve of the gravity center position of the human body to enable the back plate to drive the human body to move up and down. The control module when executed follows the flow chart shown in fig. 6. The conversion of a curve into a signal for controlling a motor or other power components is known in the art, and the control module necessarily includes elements such as a processor and a memory, and the structure itself is not improved, so that the structure of the control module and the control process thereof need not be described in detail.
The lower limb rehabilitation robot adopts the joint data of the lower limbs when a person goes up and down stairs and applies the joint data, so that the legs of the person can better move up and down the stairs during rehabilitation training. And this embodiment has still added the control to human focus for the people carries out the motion of going up and down stairs more lifelike when the rehabilitation training.
Since some patients may not be able to stand, a harness is mounted on the back plate, which harness is not shown in the drawings. The straps are secured at their ends to the top of the backboard and are used to also lift the patient's body around the patient's two armpits, support the patient's body and move the body with the backboard.
For convenient use, armrests are arranged at positions of the back plate corresponding to the upper part of the head and the left side and the right side of the human body.
While the invention has been described with reference to a preferred embodiment, various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention, and particularly, features shown in the various embodiments may be combined in any suitable manner without departing from the scope of the invention. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
In the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, which indicate directions or positional relationships, are based on the directions or positional relationships shown in the drawings, which are for convenience of description only, and do not indicate or imply that the devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus.
Claims (6)
1. The lower limb rehabilitation robot is characterized by being used for realizing a rehabilitation training method for simulating ascending and descending of stairs, wherein the rehabilitation training method for simulating ascending and descending of stairs comprises the following steps: the two mechanical legs are relatively fixed with the legs of the person and drive the legs of the person to move so as to simulate the actions of the legs of the person when the person goes upstairs and downstairs, and the movement of the mechanical legs is carried out based on a leg movement model; when the legs of the person move, the back plate is fixed relative to the human body and drives the human body to move up and down so as to simulate the change of the gravity center position of the human body when the person goes up and down stairs;
the lower limb rehabilitation robot comprises a support frame, a control module, a driver, a back plate and two mechanical legs;
the back plate is arranged on the support frame, and the driver is used for driving the back plate to move up and down;
the mechanical legs are arranged at the bottom of the back plate, and foot pedals are arranged at the bottoms of the mechanical legs and are suspended in the air; the control module controls the two mechanical legs based on the leg movement model to simulate the leg movement when going upstairs and downstairs, and controls the driver based on the change curve of the gravity center position of the human body to enable the back plate to drive the human body to move up and down;
the process of obtaining the change curve of the position of the center of gravity of the human body comprises the following steps: s1, calculating the positions of the joint points from top to bottom by taking the head of the person as a starting point and judging the motion state of the human body based on the leg motion model and the real stair environment; s2, based on the positions of the joint points calculated in S1 and the motion state of the human body, calculating the positions of the joint points again from bottom to top by taking the lowest point of the human body as a starting point and drawing to obtain a second motion model; and S3, correcting and calculating to obtain a change curve of the position of the center of gravity of the human body based on the second motion model by taking the vertical position of the hip joint as the position of the center of gravity of the human body.
2. The lower limb rehabilitation robot of claim 1, wherein: the back plate is connected with the support frame through a sliding rail so as to be capable of moving in the vertical direction, the driver comprises a ball screw and a driving motor, the ball screw is connected with the back plate, and the driving motor is fixed on the support frame.
3. The lower limb rehabilitation robot of claim 1, wherein: the back plate is provided with a hanging strip which is used for being fixed relative to the human body.
4. The lower limb rehabilitation robot of claim 1, wherein: armrests are arranged at the positions, corresponding to the upper part of the head and the left side and the right side of the human body, of the back plate.
5. The lower limb rehabilitation robot of claim 1, wherein: the change curve of the position of the center of gravity of the human body is shown as the following formula:
wherein, ytRepresenting the position of the gravity center of the human body at the moment t;
a1、a2、a3、b1、b2、b3are all constants and vary according to different leg models.
6. The lower limb rehabilitation robot of claim 1, wherein: the process of obtaining the leg movement model specifically comprises the following steps: setting angle acquisition instruments at a hip joint, a knee joint and an ankle joint of a person, acquiring angle changes of the hip joint, the knee joint and the ankle joint when the person goes up and down stairs to obtain first data, filtering the first data by adopting a moving average method to obtain second data, and performing front-back average filling on abnormal values in the second data to obtain third data; fitting the third data with a Fourier or B-spline line to obtain a leg motion model.
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| CN103462781B (en) * | 2013-08-22 | 2015-07-08 | 上海交通大学 | Lower limb rehabilitation training robot |
| CN104800041B (en) * | 2015-03-20 | 2016-11-09 | 中国科学院自动化研究所 | A kind of Multi-position lower limb rehabilitation training robot |
| US20190336383A1 (en) * | 2015-12-03 | 2019-11-07 | National Chiao Tung University | Movement assistance system and method thereof |
| CN106217353A (en) * | 2016-08-17 | 2016-12-14 | 尖叫智能科技（上海）有限公司 | Exoskeleton robot gait control method based on multi-shaft acceleration transducer |
| CN106955217B (en) * | 2017-03-01 | 2023-04-28 | 广州兴龙智慧医疗科技有限公司 | Rehabilitation training robot |
| CN106726358A (en) * | 2017-03-16 | 2017-05-31 | 沈阳艾克申机器人技术开发有限责任公司 | A kind of vertical lower limbs rehabilitation training robot |
| CN107126344B (en) * | 2017-07-05 | 2023-08-18 | 天津科技大学 | Exoskeleton rehabilitation robot for rehabilitation of lower limb walking function and control system and method |
| WO2019060791A1 (en) * | 2017-09-22 | 2019-03-28 | North Carolina State University | Hip exoskeleton |
| CN107854281A (en) * | 2017-11-30 | 2018-03-30 | 湖南妙手机器人有限公司 | Lower limb rehabilitation robot |
| CN108245380A (en) * | 2018-03-13 | 2018-07-06 | 西安交通大学 | A kind of human body lower limbs recovery exercising robot |
| CN109223434B (en) * | 2018-08-06 | 2020-01-07 | 北京航空航天大学 | Exoskeleton rehabilitation robot |
| CN110123329B (en) * | 2019-05-17 | 2024-04-02 | 浙大城市学院 | Intelligent mechanical frame for matching with exercise-assisted lower limb exoskeleton to adjust human body position and control method thereof |
| CN110025455A (en) * | 2019-05-22 | 2019-07-19 | 掣京机器人科技（上海）有限公司 | A kind of four limbs exoskeleton rehabilitation robot |
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