CN111388948A - Lower limb rehabilitation training system and method with multiple training modes - Google Patents
Lower limb rehabilitation training system and method with multiple training modes Download PDFInfo
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- CN111388948A CN111388948A CN202010139277.8A CN202010139277A CN111388948A CN 111388948 A CN111388948 A CN 111388948A CN 202010139277 A CN202010139277 A CN 202010139277A CN 111388948 A CN111388948 A CN 111388948A
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
- A63B22/0242—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation
- A63B22/025—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation electrically, e.g. D.C. motors with variable speed control
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
- A63B2024/0065—Evaluating the fitness, e.g. fitness level or fitness index
Abstract
The invention discloses a lower limb rehabilitation training system with multiple training modes and a method thereof, wherein the lower limb rehabilitation training system comprises a running platform system, a control module and an instruction receiving module, wherein the running platform system comprises a running platform and a controllable motor arranged in the running platform; a plurality of rehabilitation training modes and motor control parameters corresponding to each rehabilitation training mode are arranged in the control module; the instruction receiving module receives a mode setting instruction and transmits the mode setting instruction to the control module, the control module sets a corresponding rehabilitation training mode according to the mode setting instruction, corresponding motor control parameters are sent to the controllable motor based on the determined rehabilitation training mode, and the controllable motor drives the running belt on the running table to run according to the received motor control parameters. According to the invention, the existing lower limb rehabilitation robot running platform system is modified and designed, and the controllable motor is used for replacing the traditional motor, so that various controls on the motor can be realized, various rehabilitation training modes are designed, and the lower limb rehabilitation training modes are enriched.
Description
Technical Field
The invention relates to the field of robot control, in particular to a lower limb rehabilitation training system and method with multiple training modes.
Background
With the increasing number of aged patients with stroke and the like, rehabilitation medicine and robot technology are combined, the rehabilitation robot is designed to replace a therapist to complete weight reduction training of the patient and becomes a new research direction, and the lower limb rehabilitation robot can enable the patient to obtain walking ability again through the rehabilitation training. The lower limb rehabilitation robot can carry out parametric monitoring and recording on the rehabilitation process in the rehabilitation training, and conveniently master and guide the rehabilitation effect and the rehabilitation training of a patient by combining with an authoritative expert database, thereby ensuring the normalization and pertinence of the rehabilitation training to a greater extent.
Adopt at present to run the platform and carry out the recovered robot of low limbs of walking training, what mainly adopted is constant speed walking mode, set for and run platform operating speed, make and run the platform and move with fixed walking speed, and the patient follows and runs the platform and carry out the walking training, current recovered training mode is single, and the function is simple, and its leading cause is not to running the platform and carrying out the modified design, only can set up the regulation according to the characteristics of running platform self, mainly uses constant speed training mode as the owner. Meanwhile, in the lower limb rehabilitation training system, the existing commercial running table is basically adopted in the prior art, the running table does not need to be changed and assembled, the running table system can be used as an independent subsystem to operate, and the running table system and other sub-equipment of the whole training system lack data sharing and interaction, so that the control system cannot carry out data monitoring and motion control on the running table system.
Disclosure of Invention
The invention aims to overcome the defects that a lower limb rehabilitation robot in the prior art is single in rehabilitation training mode and lacks of good data interaction among devices, and provides a multi-training-mode lower limb rehabilitation training system and method.
The invention solves the technical problems through the following technical scheme:
the invention provides a lower limb rehabilitation training system with multiple training modes, which comprises a running platform system, a control module and an instruction receiving module, wherein the running platform system comprises a running platform and a controllable motor arranged in the running platform;
a plurality of rehabilitation training modes and motor control parameters corresponding to each rehabilitation training mode are arranged in the control module;
the instruction receiving module is used for receiving a mode setting instruction and transmitting the mode setting instruction to the control module, the control module is used for setting a corresponding rehabilitation training mode according to the mode setting instruction, and sending corresponding motor control parameters to the controllable motor based on the determined rehabilitation training mode, and the controllable motor is used for driving the running belt on the running table to run according to the received motor control parameters.
Preferably, the lower limb rehabilitation training system further comprises a force sensor arranged on the hip of the rehabilitation subject, and the force sensor is used for transmitting the detected force data to the control module.
Preferably, the rehabilitation training mode comprises a follow-up training mode;
when the rehabilitation training mode set by the control module is a following training mode, the control module is further used for adjusting the motor control parameter according to the difference value between the force data detected by the force sensor and a preset target force, and adjusting at least one of the direction, the speed and the acceleration of the controllable motor according to the adjusted motor control parameter.
Preferably, the rehabilitation training mode comprises an impedance training mode;
and when the rehabilitation training mode set by the control module is an impedance training mode, the control module is also used for setting a resistance threshold, comparing the force data detected by the force sensor with the resistance threshold, and controlling the operation of the controllable motor according to the comparison result.
Preferably, the rehabilitation training mode comprises a perturbation training mode;
when the rehabilitation training mode set by the control module is a disturbance training mode, the control module is further used for periodically sending a disturbance control command to the motor, the disturbance control command comprises a direction parameter, a time parameter and an acceleration parameter, and the controllable motor is used for generating a corresponding section of disturbance displacement based on the disturbance control command.
Preferably, the rehabilitation training mode comprises a constant speed training mode;
when the rehabilitation training mode set by the control module is a constant speed training mode, the control module is used for sending a constant speed control command to the controllable motor, and the controllable motor is used for running at a fixed speed after receiving the constant speed control command.
Preferably, the control module is further configured to obtain operation parameter information of the controllable motor in real time, and convert the operation parameter information into motion data information for output and display.
Preferably, the control module is further configured to perform speed limit control on the controllable motor when detecting that the operating speed of the controllable motor reaches a speed threshold according to the operating parameter information.
The invention also provides a lower limb rehabilitation training method with multiple training modes, which is realized by using the lower limb rehabilitation training system, and the lower limb rehabilitation training method comprises the following steps:
receiving a mode setting instruction;
setting a corresponding rehabilitation training mode according to the mode setting instruction;
sending the corresponding motor control parameters to the controllable motor based on the determined rehabilitation training mode;
the controllable motor drives the running belt on the running platform to run according to the received motor control parameters.
The positive progress effects of the invention are as follows: according to the invention, the existing lower limb rehabilitation robot running platform system is modified and designed, and the controllable motor is used for replacing the traditional motor, so that various controls on the motor can be realized, various rehabilitation training modes are designed, and the lower limb rehabilitation training modes are enriched; the lower limb rehabilitation training system can acquire the motion data in the rehabilitation training process and can perform feedback control on the motor based on the acquired motion data, so that good interaction and sharing of data among modules in the system are ensured, and the system is favorable for forming the most suitable training control parameters according to the motion data of the running table.
Drawings
Fig. 1 is a block diagram of a multi-training-mode lower limb rehabilitation training system according to embodiment 1 of the present invention.
Fig. 2 is a schematic structural diagram of a treadmill system in a multi-training-mode lower limb rehabilitation training system according to embodiment 1 of the present invention.
Fig. 3 is a control block diagram of a follow-up training mode in the multi-training mode lower limb rehabilitation training system according to embodiment 1 of the present invention.
Fig. 4 is a flowchart of a multi-training-mode lower limb rehabilitation training method according to embodiment 2 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
The embodiment provides a lower limb rehabilitation training system with multiple training modes, as shown in fig. 1, which includes a running platform system 1, a control module 2 and an instruction receiving module 3, as shown in fig. 2, the running platform system 1 includes a running platform 11 and a controllable motor 12 arranged inside the running platform 11, compared with the existing running platform system, the embodiment adopts the controllable motor 12 to replace the original motor, thereby realizing multiple controls on the controllable motor 12; in addition, the instruction receiving module 3 may specifically be a touch display screen, and the touch display screen is used to receive a touch instruction, and may specifically be disposed right in front of the running platform 11 of the running platform system 1, so that a user can conveniently issue an instruction on the running platform through touch operation.
The control module 2 is in communication connection with the controllable electric machine 12 and the instruction receiving module 3, and the connection may be wired or wireless, and the control module 2 may be integrated inside the treadmill system or in a background server.
In this embodiment, a plurality of rehabilitation training modes and motor control parameters corresponding to each rehabilitation training mode are arranged in the control module 2, wherein different rehabilitation training modes correspond to different motor control parameters, so that different rehabilitation training modes can control the controllable motor differently;
specifically, a user can send a mode setting instruction through a touch operation interface to set a rehabilitation training mode, the instruction receiving module 3 is configured to receive the mode setting instruction and transmit the mode setting instruction to the control module 2, the control module 2 is configured to set a corresponding rehabilitation training mode according to the mode setting instruction and send a corresponding motor control parameter to the controllable motor 12 based on the determined rehabilitation training mode, and the controllable motor 12 is configured to drive the running belt on the running table 11 to run according to the received motor control parameter, so that the user performs rehabilitation training in a desired rehabilitation training mode.
In this embodiment, as shown in fig. 1, the lower limb rehabilitation training system may further include a force sensor 4 disposed on the hip of the rehabilitation subject to detect force data of the hip in real time during rehabilitation training of the user, and the force sensor 4 is configured to transmit the detected force data to the control module 2, so that the control module 2 can perform subsequent analysis and control according to the detected force data.
The rehabilitation training mode may include a following training mode, the user may send a mode setting instruction for selecting the following training mode through touch control, and when the rehabilitation training mode set by the control module 2 is the following training mode, the control module 2 is further configured to adjust the motor control parameter according to a difference between the force data detected by the force sensor 4 and a preset target force, and adjust at least one of a direction, a speed, and an acceleration of the controllable motor according to the adjusted motor control parameter; specifically, the force data detected by the force sensor 4 has directionality, a component force parallel to the running belt of the running table in the detected force data is resolved in the actual operation process, and through comparison between the component force and a preset target force, a set PD controller obtains a motion parameter and transmits the motion parameter to an actuator, namely the controllable motor, to drive a controlled object, namely the running belt of the running table, to perform motion control, so that a following training mode can be realized, and a specific control principle is shown in fig. 3.
The PID controller is composed of a proportional unit P, an integral unit I and a differential unit D, collected data are compared with a reference value through setting of three parameters Kp, Ki and Kd, then a compared difference value is used for calculating a new input value, the purpose of the new input value is to enable the data of the system to reach or keep the reference value, the control principle of the specific PID controller belongs to the mature prior art, and the detailed description is omitted here.
In connection with the embodiment, it is exemplified that if the preset desired target force is X, and the actual force data is collected by the force sensor, a certain difference exists between the actual force value and the preset target force, and the PD controller is to eliminate the difference by adjusting the Kp and Kd parameters, so that the actual output can always track to the preset target value.
Because the force has directionality, if the difference value between the preset target force data and the actual force data is negative, the speed value transmitted to the motor is calculated to be positive through PD control, and the acceleration value is positive, the treadmill can move towards the direction with the horizontal direction being positive to counteract the movement trend, so that the set value can be tracked; when the difference value between the preset target force data and the actual force data is positive, the speed value transmitted to the motor is negative through PD control calculation, and the acceleration value is negative, the treadmill can move towards the direction that the level is negative to counteract the movement trend, so that the set value can be tracked.
The rehabilitation training mode may include an impedance training mode, the user may send a mode setting instruction for selecting the impedance training mode through touch control, and when the rehabilitation training mode set by the control module 2 is the impedance training mode, the control module 2 is further configured to set a resistance threshold, compare the force data detected by the force sensor 4 with the resistance threshold, and control the operation of the controllable motor according to the comparison result, specifically, only when the force parallel to the running belt, which is resolved from the detected force data, is greater than the resistance threshold, the controllable motor is controlled to operate, and then normal rehabilitation training may be performed.
In the specific implementation process, the set resistance threshold can be dynamically adjusted, and the resistance threshold is adjusted in real time according to the difference of each rehabilitation object in the training process, namely the resistance thresholds can be different for different rehabilitation objects, and the resistance thresholds can be different for the same rehabilitation object in different rehabilitation stages, so that the best rehabilitation training effect can be ensured for each rehabilitation object and different rehabilitation stages of the same rehabilitation object.
The rehabilitation training mode can comprise a disturbance training mode, a user can send a mode setting instruction for selecting the disturbance training mode through touch control operation, when the rehabilitation training mode set by the control module 2 is the disturbance training mode, the control module 2 is further used for periodically sending a disturbance control instruction to the motor, the disturbance control instruction comprises a direction parameter, a time parameter and an acceleration parameter, and the controllable motor is used for generating a corresponding section of disturbance displacement based on the disturbance control instruction.
The disturbance training mode can control the running platform to periodically generate a small section of disturbance displacement to detect the reaction capacity of the rehabilitation object by setting related control parameters, so that balance training and falling prevention training are provided for the rehabilitation object, meanwhile, the direction of the disturbance displacement can be set to be one-way or two-way, one section of disturbance displacement can be moved forward or moved backward, different control can be performed on displacement amount and displacement generation time through setting time and acceleration, and disturbance training under various conditions is achieved.
The rehabilitation training mode can comprise a constant speed training mode, a user can send a mode setting instruction for selecting the constant speed training mode through touch control operation, when the rehabilitation training mode set by the control module 2 is the constant speed training mode, the control module 2 is used for sending a constant speed control instruction to the controllable motor, and the controllable motor is used for running at a fixed speed after receiving the constant speed control instruction, so that the running belt of the running table is driven to run at the fixed speed.
Of course, in the constant speed training mode, the running speed of the running belt can be adjusted in real time, and a specific user can adjust the running speed to be increased or decreased through touch operation.
In a specific implementation process of the present invention, the control module 2 is further configured to obtain operation parameter information of the controllable motor in real time, convert the operation parameter information into motion data information, and output and display the motion data information, and preferably, the control module 2 is further configured to perform speed limit control on the controllable motor, and specifically, when it is detected that the operation speed of the controllable motor reaches a speed threshold according to the operation parameter information, perform speed limit control on the controllable motor, so as to ensure that a running belt driven by the controllable motor does not exceed a maximum speed threshold, so as to ensure safety of rehabilitation training.
The lower limb rehabilitation training system can be characterized in that an emergency stop button can be arranged on the treadmill, and when the emergency stop button is pressed down in an emergency, the treadmill belt on the treadmill can stop running, so that a rehabilitation object is protected; when the emergency stop button is pressed down, the whole system can be normally operated only after the emergency stop button is released and reset operation is carried out.
In a specific implementation process, the lower limb rehabilitation training system can be integrated in a lower limb rehabilitation robot.
By the lower limb rehabilitation training system, various rehabilitation training modes can be freely combined; the single constant-speed training mode of the existing running table system is changed, 4 rehabilitation training modes are designed, walking function training, balance training and falling prevention training are achieved, different rehabilitation training strategies can be appointed for different patients, and rehabilitation training is enabled to be more normative and specific; meanwhile, the data interaction capacity of the treadmill subsystem and the lower limb rehabilitation robot system is enhanced; through reequiping to having the race platform, can realize reading and operating the motion information of running platform system through rehabilitation robot control system to the motion state of running platform system in the guardianship training process that can be better, combine to run platform motion parameter simultaneously and can let control system formulate better rehabilitation strategy.
Example 2
The present embodiment provides a lower limb rehabilitation training method with multiple training modes, which is implemented by using the lower limb rehabilitation training system of embodiment 1, and specifically, as shown in fig. 4, the lower limb rehabilitation training method includes the following steps:
102, releasing an emergency stop button, resetting, and then executing 103;
and 106, driving the running belt on the running table to run by the controllable motor according to the received motor control parameters.
In the specific implementation process of the lower limb rehabilitation training method, the following operation procedures can be specifically included:
the rehabilitation training mode may include a following training mode, the user may send a mode setting instruction for selecting the following training mode through touch control, and when the rehabilitation training mode set by the control module is the following training mode, the control flow of the specific rehabilitation training is as follows:
the control module is further used for adjusting the motor control parameter according to a difference value between the force data detected by the force sensor and a preset target force, and adjusting at least one of the direction, the speed and the acceleration of the controllable motor according to the adjusted motor control parameter; specifically, the force data detected by the force sensor has directionality, a component force parallel to the running belt of the running table in the detected force data can be resolved in the actual operation process, and through comparison between the component force and a preset target force, a set PD controller obtains a motion parameter and transmits the motion parameter to an actuator, namely the controllable motor, to drive a controlled object, namely the running belt of the running table, to perform motion control, so that a following training mode can be realized, and a specific control principle is shown in fig. 3.
The PID controller is composed of a proportional unit P, an integral unit I and a differential unit D, collected data are compared with a reference value through setting of three parameters Kp, Ki and Kd, then a compared difference value is used for calculating a new input value, the purpose of the new input value is to enable the data of the system to reach or keep the reference value, the control principle of the specific PID controller belongs to the mature prior art, and the detailed description is omitted here.
In connection with the embodiment, it is exemplified that if the preset desired target force is X, and the actual force data is collected by the force sensor, a certain difference exists between the actual force value and the preset target force, and the PD controller is to eliminate the difference by adjusting the Kp and Kd parameters, so that the actual output can always track to the preset target value.
Because the force has directionality, if the difference value between the preset target force data and the actual force data is negative, the speed value transmitted to the motor is calculated to be positive through PD control, and the acceleration value is positive, the treadmill can move towards the direction with the horizontal direction being positive to counteract the movement trend, so that the set value can be tracked; when the difference value between the preset target force data and the actual force data is positive, the speed value transmitted to the motor is negative through PD control calculation, and the acceleration value is negative, the treadmill can move towards the direction that the level is negative to counteract the movement trend, so that the set value can be tracked.
The rehabilitation training mode may include an impedance training mode, the user may send a mode setting instruction for selecting the impedance training mode through touch control, and when the rehabilitation training mode set by the control module is the impedance training mode, the control flow of the specific rehabilitation training is as follows:
the control module is further used for setting a resistance threshold, comparing the force data detected by the force sensor with the resistance threshold, and controlling the operation of the controllable motor according to the comparison result, specifically, only when the force parallel to the running belt, which is resolved from the detected force data, is greater than the resistance threshold, the controllable motor is controlled to operate, and then normal rehabilitation training can be performed.
In the specific implementation process, the set resistance threshold can be dynamically adjusted, and the resistance threshold is adjusted in real time according to the difference of each rehabilitation object in the training process, namely the resistance thresholds can be different for different rehabilitation objects, and the resistance thresholds can be different for the same rehabilitation object in different rehabilitation stages, so that the best rehabilitation training effect can be ensured for each rehabilitation object and different rehabilitation stages of the same rehabilitation object.
The rehabilitation training mode may include a disturbance training mode, the user may send a mode setting instruction for selecting the disturbance training mode through touch control, and when the rehabilitation training mode set by the control module is the disturbance training mode, the control flow of the specific rehabilitation training is as follows:
the control module is further used for periodically sending a disturbance control instruction to the motor, the disturbance control instruction comprises a direction parameter, a time parameter and an acceleration parameter, and the controllable motor is used for generating a corresponding section of disturbance displacement based on the disturbance control instruction.
The disturbance training mode can control the running platform to periodically generate a small section of disturbance displacement to detect the reaction capacity of the rehabilitation object by setting related control parameters, so that balance training and falling prevention training are provided for the rehabilitation object, meanwhile, the direction of the disturbance displacement can be set to be one-way or two-way, one section of disturbance displacement can be moved forward or moved backward, different control can be performed on displacement amount and displacement generation time through setting time and acceleration, and disturbance training under various conditions is achieved.
The rehabilitation training mode may include a constant speed training mode, the user may send a mode setting instruction for selecting the constant speed training mode through touch control, and when the rehabilitation training mode set by the control module is the constant speed training mode, the specific control flow of the rehabilitation training is as follows:
the control module is used for sending a constant speed control instruction to the controllable motor, and the controllable motor is used for running at a fixed speed after receiving the constant speed control instruction, so that the running belt of the running table is driven to run at the fixed speed.
Of course, in the constant speed training mode, the running speed of the running belt can be adjusted in real time, and a specific user can adjust the running speed to be increased or decreased through touch operation.
In a specific implementation process of the present invention, the control module is further configured to obtain operation parameter information of the controllable motor in real time, convert the operation parameter information into motion data information, output and display the motion data information, and preferably, the control module is further configured to perform speed limit control on the controllable motor, specifically, when it is detected that the operation speed of the controllable motor reaches a speed threshold according to the operation parameter information, perform speed limit control on the controllable motor, and ensure that a running belt driven by the controllable motor does not exceed a maximum speed threshold, so as to ensure safety of rehabilitation training.
Through the steps, the rehabilitation object can perform lower limb rehabilitation training on the running platform, whether the corresponding training mode is normally executed or not can be observed in real time in the actual training process, the training data and the training state in the training process are observed at the same time, response and processing can be timely performed aiming at various abnormal states in the training process, and finally, after the training time is over, the patient is assisted to get off the machine, so that the one-time complete rehabilitation training mode is completed.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (9)
1. The lower limb rehabilitation training system with multiple training modes is characterized by comprising a running platform system, a control module and a command receiving module, wherein the running platform system comprises a running platform and a controllable motor arranged in the running platform;
a plurality of rehabilitation training modes and motor control parameters corresponding to each rehabilitation training mode are arranged in the control module;
the instruction receiving module is used for receiving a mode setting instruction and transmitting the mode setting instruction to the control module, the control module is used for setting a corresponding rehabilitation training mode according to the mode setting instruction, and sending corresponding motor control parameters to the controllable motor based on the determined rehabilitation training mode, and the controllable motor is used for driving the running belt on the running table to run according to the received motor control parameters.
2. The lower limb rehabilitation training system of claim 1, further comprising a force sensor located at the hip of the rehabilitation subject for transmitting the sensed force data to the control module.
3. The lower extremity rehabilitation training system of claim 2, wherein the rehabilitation training mode includes a follow-up training mode;
when the rehabilitation training mode set by the control module is a following training mode, the control module is further used for adjusting the motor control parameter according to the difference value between the force data detected by the force sensor and a preset target force, and adjusting at least one of the direction, the speed and the acceleration of the controllable motor according to the adjusted motor control parameter.
4. The lower extremity rehabilitation training system of claim 2, wherein the rehabilitation training mode includes an impedance training mode;
and when the rehabilitation training mode set by the control module is an impedance training mode, the control module is also used for setting a resistance threshold, comparing the force data detected by the force sensor with the resistance threshold, and controlling the operation of the controllable motor according to the comparison result.
5. The lower extremity rehabilitation training system of claim 1 or 2, wherein the rehabilitation training mode includes a perturbation training mode;
when the rehabilitation training mode set by the control module is a disturbance training mode, the control module is further used for periodically sending a disturbance control command to the motor, the disturbance control command comprises a direction parameter, a time parameter and an acceleration parameter, and the controllable motor is used for generating a corresponding section of disturbance displacement based on the disturbance control command.
6. The lower extremity rehabilitation training system of claim 1 or 2, wherein the rehabilitation training mode includes a constant speed training mode;
when the rehabilitation training mode set by the control module is a constant speed training mode, the control module is used for sending a constant speed control command to the controllable motor, and the controllable motor is used for running at a fixed speed after receiving the constant speed control command.
7. The lower limb rehabilitation training system of claim 1 or 2, wherein the control module is further configured to acquire operation parameter information of the controllable motor in real time, and convert the operation parameter information into motion data information for output and display.
8. The lower limb rehabilitation training system of claim 7, wherein the control module is further configured to limit the speed of the controllable motor when the operating speed of the controllable motor reaches a speed threshold value as detected from the operating parameter information.
9. A lower limb rehabilitation training method in multiple training modes, which is implemented by using the lower limb rehabilitation training system according to any one of claims 1 to 8, and comprises the following steps:
receiving a mode setting instruction;
setting a corresponding rehabilitation training mode according to the mode setting instruction;
sending the corresponding motor control parameters to the controllable motor based on the determined rehabilitation training mode;
the controllable motor drives the running belt on the running platform to run according to the received motor control parameters.
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| CN114904213A (en) * | 2022-05-18 | 2022-08-16 | 河南翔宇医疗设备股份有限公司 | Control method and device of rehabilitation training equipment and rehabilitation training equipment |
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