CN111407590A - Upper and lower limb training device, system and method - Google Patents
Upper and lower limb training device, system and method Download PDFInfo
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- A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
- A63B22/0605—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers
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Abstract
The invention discloses an upper and lower limb training device, a system and a method. The upper and lower limb training system can realize high-interactivity upper and lower limb active and passive cooperative rehabilitation training under the induction of a virtual reality three-dimensional training scene, realize whole space perception closed-loop motion feedback of 'eyes-brain-upper limbs-lower limbs', and is beneficial to improving the training participation degree of a patient.
Description
Technical Field
The invention belongs to the field of medical equipment, and particularly relates to an upper and lower limb training device system and a method.
Background
Medical statistical data in recent years show that the number of patients with spinal cord injury, stroke diseases, heart and lung diseases and the like is in a trend of greatly increasing, and the injuries can directly or indirectly cause the damage or loss of the limb movement function of a human body, so that the key link of rehabilitation treatment of limb movement disorder patients or heart and lung disorder patients is to recover the limb movement function and strengthen auxiliary exercise. Medical theory and clinical medical data show that exercise training plays a very important role in the functional recovery process of patients with limb dyskinesia, and the method of assisting rehabilitation training by rehabilitation equipment is carried out at the same time.
However, the upper and lower limb rehabilitation devices in the prior art generally adopt a lower limb rehabilitation pedal and upper limb rotating crank matching structure or a lower limb rehabilitation pedal and upper and lower limb linkage structure, and the devices perform reciprocating linear motion or reciprocating circular motion on the limb of the affected limb during training. However, when the device is used for training, only one dimension of action is controllable, the training mode is single, monotonous movement can be performed repeatedly, the training mode is simple, and the interaction between a person and a bicycle is lacked, so that when a patient uses the device for rehabilitation training, the patient is easy to fatigue or lose training interest, and the training effect is poor.
Disclosure of Invention
To address the above-discussed problems in the prior art, the present invention provides an upper and lower limb training device, system and method. The technical problem to be solved by the invention is realized by the following technical scheme:
an upper and lower limb training device comprising:
a chassis;
a lower limb training part fixed on the chassis;
a lifting mechanism;
the upper limb training component is connected with the lower limb training component through a lifting mechanism so as to adjust the height of the upper limb training component through the lifting mechanism; wherein,
the upper limb training component comprises an upper limb training grip, a twisting mechanism and an upper limb fixing structure connected with the lifting component;
the upper limbs fixed knot constructs one end and has the cavity, be fixed with in the cavity wrench movement mechanism, and upper limbs training handle with wrench movement mechanism elastic connection, so that upper limbs training handle can be according to the angle deflection of predetermineeing in the wrench movement direction.
In one embodiment, the lower limb training element comprises:
the lower limb fixing structure is fixedly connected with the lifting component;
the belt wheel mechanism is fixed on the lower limb fixing structure and is provided with a hub wheel, and the pedal mechanism is hinged with the hub wheel so as to drive the hub wheel to rotate when the pedal mechanism rotates.
In one embodiment, the lower limb training unit further comprises a lower leg securing mechanism coupled to the footrest mechanism.
In one embodiment, the lower limb training element further comprises a foot securing mechanism coupled to the foot pedal mechanism.
In one embodiment, the apparatus further comprises: the motor and the controller are arranged on the chassis; the motor is electrically connected with the controller and the belt wheel mechanism and is used for driving the belt wheel mechanism to rotate according to the control signal sent by the controller.
In one embodiment, the lower limb training part further comprises a position sensor disposed on the belt mechanism, the position sensor being electrically connected to the controller for detecting rotational position information of the hub wheel and sending the position information to the controller.
In a specific embodiment, the upper limb training component further includes an angle sensor disposed on the twisting mechanism, and the angle sensor is electrically connected to the controller, and is configured to detect rotation angle information of the upper limb training grip and send the angle information to the controller.
In a specific embodiment, an emergency stop unit is further disposed in the cavity, and the emergency stop unit is electrically connected to the controller and is configured to send an emergency stop signal to the controller to stop supplying power to the motor.
In one embodiment, the upper limb training unit further comprises a horizontal adjustment mechanism for adjusting the extension and contraction of the upper limb fixing structure in the horizontal direction.
In a specific embodiment, the chassis is of a U-shaped structure, and clamping pieces are respectively arranged on two sides of the U-shaped structure so as to fix the wheelchair through the clamping pieces when the wheelchair passes through the inner side of the U-shaped structure.
The invention also provides an upper and lower limb training system, which can comprise the upper and lower limb training device, an information processing device connected to the upper and lower limb training device, and a display device connected to the information processing device;
the information processing equipment is specifically used for determining a motion mode and a training task, determining corresponding motion parameters according to the motion mode, and loading a corresponding motion scene according to the training task; receiving position information sent by a position sensor and/or receiving angle information sent by an angle sensor; feeding back the position information and/or the angle information to a corresponding motion scene;
the display device is used for displaying the motion scene, wherein the motion scene comprises a two-dimensional scene or a three-dimensional scene so as to realize a high-interactivity training task;
wherein the motion mode comprises a constant velocity motion mode, a passive motion mode, an assisted motion mode, or an active motion mode; the motion parameters comprise at least one of motion assisting force, motion resistance and motion speed limit when the user moves; the motion scenario includes an interactive display interface set for a user for a training task.
In a specific embodiment, the information processing apparatus is further configured to map scene motion information in the motion scene to the upper and lower limb training devices, so as to control the upper and lower limb training devices to adjust to corresponding states according to the scene motion information.
In a specific embodiment, the motion pattern is adjusted according to the motion behavior of the user in the motion scene.
In one embodiment, the information processing apparatus is further configured to control the motor to stop rotating when the motor current is detected to be greater than a preset threshold.
In one embodiment, the information processing apparatus is further configured to: acquiring a current angular speed parameter and a current parameter of a motor; and obtaining the motion parameter of the next moment according to the angular velocity parameter and the current parameter, and adjusting the rotating speed of the motor according to the motion parameter.
In a specific embodiment, if it is determined that the adjusted rotation speed of the motor is greater than the preset maximum speed limit, the rotation speed of the motor is adjusted to the preset maximum speed limit.
The invention also provides an upper and lower limb training method, which can be applied to the upper and lower limb training system and comprises the following steps:
determining a motion mode and a training task, determining corresponding motion parameters according to the motion mode, and loading a corresponding motion scene according to the training task;
receiving position information sent by a position sensor and/or receiving angle information sent by an angle sensor;
feeding the position information and/or the angle information back to a corresponding motion scene, or mapping scene motion information in the motion scene to an upper and lower limb training device so as to control the upper and lower limb training device to adjust to a corresponding state according to the scene motion information, wherein the motion scene comprises a two-dimensional scene or a three-dimensional scene to realize a high-interactivity training task;
wherein the motion mode comprises a constant velocity motion mode, a passive motion mode, an assisted motion mode, or an active motion mode; the motion parameters comprise at least one of motion assisting force, motion resistance and motion speed limit when the user moves; the motion scenario includes an interactive display interface set for a user for a training task.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the upper and lower limb training device, the twisting mechanism is arranged in the upper limb training part, so that a user can complete multi-direction large-angle movement when training upper limbs, the defect of single training angle in the prior art is overcome, various training tasks can be completed, the training interest of the user is enhanced, and the training effect is improved.
2. The upper and lower limb training system can realize high-interactivity upper and lower limb active and passive cooperative rehabilitation training under the induction of a virtual reality three-dimensional training scene, realize whole space perception closed-loop motion feedback of 'eyes-brain-upper limbs-lower limbs', and is beneficial to improving the training participation degree of a patient.
Drawings
FIG. 1 is a schematic structural view of an upper and lower limb training device according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a lower limb training device provided in accordance with an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a twisting mechanism according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a twisting mechanism according to an embodiment of the present invention;
fig. 5 is a block diagram of a control portion module according to an embodiment of the present invention;
FIG. 6 is a block diagram of another control module according to an embodiment of the present invention;
FIG. 7 is a block diagram of a control section according to another embodiment of the present invention;
FIG. 8 is a block diagram of still another control section module according to an embodiment of the present invention;
FIG. 9a is a schematic structural view of an upper and lower limb training system (wheelchair not shown) according to an embodiment of the present invention;
FIG. 9b is a schematic structural view of an upper and lower limb training system (showing a wheelchair) according to an embodiment of the present invention;
FIG. 10 is a block diagram of an upper and lower limb training system module according to an embodiment of the present invention;
fig. 11 is a schematic flow chart of an upper and lower limb training method according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but the embodiments of the present invention are not limited thereto.
Example one
Referring to fig. 1, fig. 1 is a schematic structural view of an upper and lower limb training device implemented in the present invention, including:
a chassis 10;
a lower limb training part 20 fixed to the chassis 10;
a lifting mechanism 30;
an upper limb training member 40 connected to the lower limb training member 20 via an elevating mechanism 30, the upper limb training member 40 being adjusted in height by the elevating mechanism 30; wherein,
the upper limb training component 40 comprises an upper limb training grip 401, a twisting mechanism 402 and an upper limb fixing structure 403 connected with the lifting component;
the upper limb fixing structure 403 has a cavity 404 at one end, the twisting mechanism 402 is fixed in the cavity 404, and the upper limb training grip 401 and the twisting mechanism 402 are elastically connected, so that the upper limb training grip 401 can deflect at a preset angle in a preset twisting direction.
Preferably, the chassis 10 is U-shaped so that a user can pass a wheelchair inside the U-shaped when using an auxiliary tool such as a wheelchair. In order to further enhance the convenience of the device, a moving wheel can be further arranged at the bottom of the U-shaped structure, so that the device can be conveniently moved. In addition, a foot pad for supporting the chassis 10 can be further installed at the bottom of the U-shaped structure, so that the device is more stable. In consideration of the use safety of users and the prevention of the damage of the device, protective pads can be arranged at the protruding parts of the base (such as two end parts of the U-shaped structure) to avoid collision.
In one embodiment, the two sides of the U-shaped structure are respectively provided with a clamping piece so as to fix the wheelchair through the clamping pieces when the wheelchair passes through the inner side of the U-shaped structure. Specifically, in order to fix the wheelchair better, the distance between the two sides of the U-shaped structure is greater than the width of the wheelchair, so that the wheelchair can be directly pushed in, and a user can sit on the wheelchair for upper and lower limb training. When the wheelchair is put into use, the wheelchair enters the U-shaped structure, the position of the wheelchair is adjusted, and the clamping pieces are used for fixing the wheelchairs on the two sides respectively, so that the use safety and the stability of a user are guaranteed.
Specifically, referring to fig. 2, fig. 2 is a schematic structural diagram of a lower limb training element according to an embodiment of the present invention, where the lower limb training element 20 may include:
a belt wheel mechanism 201, a pedal mechanism 202, and a lower limb fixing structure 203 fixedly connected with the lifting component;
the belt wheel mechanism 201 is fixed on the lower limb fixing structure 203, and has a hub wheel 204, and the pedal mechanism 202 is hinged to the hub wheel 204, so that the pedal mechanism 202 rotates to drive the hub wheel 204 to rotate.
In one embodiment, the hub wheel 204 can be a pulley, the belt mechanism 201 can be a transmission mechanism consisting of a pulley and a belt, and the pedal mechanism 202 can be a rotation mechanism consisting of pedals and connecting rods, which are fixed by bearings, so as to ensure that the pedals can still rotate freely when the connecting rods rotate, and to match the movement of the ankle joint during training. The connecting rod and the belt pulley are fixed through bolts so as to ensure that the connecting rod can do circular motion around the belt pulley. The user steps on the pedal to perform the leg-kicking action, and at the moment, the pedal drives the connecting rod to rotate around the belt.
In one embodiment, the lower limb training unit 20 can further comprise a lower leg securing mechanism 205 and a foot securing mechanism 206, both connected to the footrest mechanism 202. Specifically, foot fixing mechanism 206 is connected to the footboard, when the user's foot steps on the footboard, foot fixing mechanism 206 fixes the user's foot, it is injured to prevent that the user from the landing when stepping on the leg action, simultaneously shank fixing mechanism 205 is connected on the connecting rod, and apart from the certain position of footboard, so that when the user's foot steps on the footboard, shank fixing mechanism 205 fixes the user's shank, preferably, shank fixing mechanism 205 is adjustable in position on the connecting rod (for example shank fixing mechanism 205 and connecting rod slidable connection), so that can both be accurate fix the shank to different users, with the position of the leg is suitable when guaranteeing low limbs sports training, can not turn up or turn over.
Illustratively, the lifting mechanism 30 may be a T-shaped structure, which has an upper end nested in the cavity 404 of the upper limb fixing structure 403 and a lower end extending into the shell of the lower limb fixing structure 203 to connect and fix the upper limb training component 40 through the T-shaped structure. In order to facilitate the lifting adjustment, a lifting adjusting part is arranged at the position, extending into the lower limb fixing structure 203, of the T-shaped structure, and specifically, the lifting adjusting part can be an adjusting knob. For example, a plurality of adjusting holes may be disposed at different positions on the T-shaped structure, when the adjusting knob is inserted into the corresponding adjusting hole, the adjusting knob is positioned to the corresponding position, and when the adjusting knob is rotated out of the adjusting hole, the T-shaped structure may move up and down to reselect the adjusting hole; or the T-shaped structure can be adjusted in a sliding mode, so that the T-shaped structure can be fixed at any position, and the lifting adjustment function is achieved.
Further, in order to facilitate horizontal adjustment, the upper limb training unit 40 may further include a horizontal adjustment mechanism 407 for adjusting the extension and contraction of the upper limb fixing structure 403 in the horizontal direction.
For example, a plurality of adjusting holes may also be disposed at the lower portion of the cavity 404 of the upper limb fixing structure 403, when the adjusting knob of the horizontal adjusting mechanism 407 is inserted into the corresponding adjusting hole, the upper limb training component 40 is positioned to the corresponding position, and when the adjusting knob is rotated out of the adjusting hole, the upper limb training component 40 can be horizontally moved along the T-shaped structure direction, so as to reselect the adjusting hole; alternatively, the upper limb training part 40 may be adjusted in a sliding manner so as to be fixed at any position, thereby performing a horizontal adjustment function.
For example, the shape of the upper limb training grip 401 may also be adjusted or changed according to different training scenes, for example, the training scene is bicycle simulation training, and the upper limb training grip 401 may be in a bicycle shape, so that the user has a real experience, and for example, the training scene is driving a car simulation training, and the upper limb training grip 401 may be in a car steering wheel shape.
Correspondingly, the adjustment mode of the twisting mechanism 402 can also be changed according to different training scenes, for example, if the training scene is bicycle simulation training, the controllable angle, twisting direction and rotation torque of the twisting mechanism 402 are adjusted to be consistent with the bicycle simulation scene (if the preset twisting direction can be horizontal direction and vertical direction, wherein the horizontal direction is preset at an angle of 180 degrees, and the vertical direction is preset at an angle of 10 degrees), or if the training scene is automobile simulation training, the controllable angle, twisting direction and rotation torque of the twisting mechanism 402 are adjusted to be consistent with the automobile simulation scene (if the twisting mechanism 402 is obliquely set at a fixed angle according to actual conditions, the preset twisting direction can only be horizontal direction, and the horizontal direction is preset at an angle of 540 degrees).
Specifically, referring to fig. 3, fig. 3 is a schematic structural diagram of a twisting mechanism according to an embodiment of the present invention, the twisting mechanism 402 may include an upper limb rotor 4021 connected to the upper limb training grip 401, an upper limb stator 4022 matched with the upper limb rotor 4021, a torsion spring 4024 and a bearing 4023 disposed between the upper limb rotor 4021 and the upper limb stator 4022, wherein one end of the torsion spring 4024 is connected to the upper limb rotor 4021, the other end is connected to the upper limb stator 4022, and an angle sensor 405 is disposed at one end of the upper limb rotor 4021 for detecting a rotation angle and a rotation amplitude of the upper limb rotor 4021. When the upper limb training grip 401 is in the initial position, the torsion spring 4024 generates no force. When the upper limb training grip 401 is rotated, the upper limb training grip 401 drives the torsion spring 4024 to rotate, and the torsion spring 4024 generates a reaction force.
Alternatively, referring to fig. 4, fig. 4 is a schematic structural diagram of another twisting mechanism provided in the embodiment of the present invention, the twisting mechanism 402 may include an upper limb rotor 4021 connected to the upper limb training grip 401, an upper limb stator 4022 matched with the upper limb rotor 4021, and a tension spring 4025 and a bearing 4023 disposed between the upper limb rotor 4021 and the upper limb stator 4022, wherein one end of the tension spring 4025 is connected to the upper limb rotor 4021, the other end is connected to the upper limb stator 4022, and an angle sensor 405 is disposed at one end of the upper limb rotor 4021 for detecting a rotation angle and a rotation amplitude of the upper limb rotor 4021. When the upper limb training grip 401 is in the initial position, the tension spring 4025 generates no force and is perpendicular to the plane of rotation. When the upper limb training grip 401 is rotated, the upper limb training grip 401 pulls the tension spring 4025, the tension spring 4025 stretches and the position of the pair of springs creates a symmetrical tilt, and the pair of tension springs 4025 now provides a torque on the plane of rotation in the opposite direction of the rotation of the upper limb training grip 401.
The upper and lower limb training device of the invention enables the user to complete multi-direction large-angle movement when training the upper limb by arranging the twisting mechanism 402 in the upper limb training part 40, overcomes the defect of single training angle in the prior art, thereby completing various types of training tasks, enhancing the training interest of the user and improving the training effect.
In addition, the upper limb training means 40 may be provided with a handle 408 for movement of the towing device, preferably the handle 408 is provided at the opposite end to the cavity 404.
In order to better cooperate with training systems such as VR (Virtual Reality), AR (Augmented Reality), and the like to complete training, please refer to fig. 5, where fig. 5 is a block diagram of modules of a control portion provided in an embodiment of the present invention, the apparatus of the embodiment further includes: a motor 50 and a controller 60 provided on the chassis 10; the motor 50 is electrically connected to the controller 60 and the belt pulley mechanism 201, and is configured to drive the belt pulley mechanism 201 to rotate according to a control signal sent by the controller 60.
The controller 60 is electrically connected to an external computer control device, and is configured to receive a control command sent by an external computer, so as to drive the motor 50 to complete rotation at a corresponding speed, so as to drive the pulley to rotate actively through the belt, thereby providing auxiliary power. The motor 50 and controller 60 are powered from a power adapter that is connected to a power outlet via a power cord. In order to better control the belt mechanism 201, the present embodiment may further include a speed reducer.
In a specific embodiment, referring to fig. 6, fig. 6 is a block diagram of another control part provided by an embodiment of the present invention, and the lower limb training part 20 further includes a position sensor 207 disposed on the belt mechanism 201, and the position sensor 207 is electrically connected to the controller 60 and is configured to detect rotational position information of the hub wheel 204 and send the position information to the controller 60.
Specifically, the position sensor 207 is a sensor capable of detecting the rotation rate of the pulley, and the position sensor 207 sends the detection information to the controller 60, so that the training system can provide a real feedback picture according to the detection information, for example, when the position sensor 207 detects that the rotation rate of the pulley is gradually increased, the riding speed of the character operated by the user in the real-time display picture of the training system is increased.
In a specific embodiment, referring to fig. 7, fig. 7 is a block diagram of another control part provided in an embodiment of the present invention, the upper limb training component 40 further includes an angle sensor 405 disposed on the twisting mechanism 402, and the angle sensor 405 is electrically connected to the controller 60, and is configured to detect rotation angle information of the upper limb training grip 401 and send the angle information to the controller 60.
Specifically, the angle sensor 405 is a sensor capable of detecting a rotation angle and a rotation direction of the grip, and the position sensor 207 sends the detection information to the controller 60, so that the training system can provide a real feedback picture according to the detection information, for example, when the angle sensor 405 detects that the grip rotates a certain degree to the left, the training system correspondingly deflects the riding direction of the user-operated character in a real-time display picture.
In a specific embodiment, referring to fig. 8, fig. 8 is a block diagram of still another control part provided in an embodiment of the present invention, an emergency stop unit 406 is further disposed in the cavity 404, and the emergency stop unit 406 is electrically connected to the controller 60 and is configured to send an emergency stop signal to the controller 60 to stop supplying power to the motor 50, so as to ensure training safety. The emergency stop unit 406 may be an emergency stop button, which is disposed at a place easily reached by the hand of the user, for example, near the grip, and in addition, the wires related to the electrical connection in this embodiment may be routed through the inside of the housing of the lower limb training part 20, the lifting mechanism 30, and the upper limb training part 40, so as to be connected to the controller 60 or the motor 50.
The upper and lower limb training device can perform rich scene interaction with the training platform to complete a specific training task, solves the problem of monotonous training action of the traditional upper and lower limb training device, enhances the training participation of a patient, can be matched with training environments such as virtual reality, augmented reality and the like, induces and enhances the active movement idea of the patient through three-dimensional immersive scene interaction, and improves the rehabilitation training effect.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Example two
Referring to fig. 9(a, b) -10, fig. 9a-b are schematic structural diagrams of an upper and lower limb training system provided by an embodiment of the present invention, fig. 10 is a block diagram of an upper and lower limb training system module provided by an embodiment of the present invention, including the upper and lower limb training device of the present invention, further including an information processing apparatus (not shown) connected to the upper and lower limb training device 1, and a display apparatus 2 connected to the information processing apparatus;
the information processing equipment is specifically used for determining a motion mode and a training task, determining corresponding motion parameters according to the motion mode, and loading a corresponding motion scene according to the training task; receiving position information sent by a position sensor and/or receiving angle information sent by an angle sensor; feeding back the position information and/or the angle information to a corresponding motion scene;
the display device is used for displaying the motion scene, wherein the motion scene comprises a two-dimensional scene or a three-dimensional scene; for example, for a three-dimensional scene, the method can be implemented in devices such as VR and AR which can provide a high-interaction scene, so as to enhance the perception of a user to a three-dimensional stereoscopic environment, that is, through a corresponding training task, a three-dimensional somatosensory experience can be presented, so that a high-interactivity scene with more immersive and imitative properties is created, and meanwhile, the spatial perception capability of a patient is activated, and the motion capability of the patient in a complex stereoscopic environment is enhanced.
Wherein the motion mode comprises a constant velocity motion mode, a passive motion mode, an assisted motion mode, or an active motion mode; the motion parameters comprise at least one of motion assisting force, motion resistance and motion speed limit when the user moves; the motion scenario includes an interactive display interface set for a user for a training task.
In a specific embodiment, the information processing apparatus is further configured to map scene motion information in the motion scene to the upper and lower limb training devices, so as to control the upper and lower limb training devices to adjust to corresponding states according to the scene motion information. That is, the present application is able to control the state of the upper and lower limb training devices based on feedback of virtual pictures in a motion scene. For example, in the virtual scene in the training scene, if the vehicle driven by the user runs into the grass from the road, the information processing device controls the motor to provide corresponding resistance according to the change, so that the user really feels that riding in the grass is more strenuous. Or, for example, in a scene having an obstacle, when the user hits the obstacle to cause the vehicle to deflect, vibrate, or suddenly stop, etc., the information processing apparatus controls the grip or the steering wheel to feed back in accordance with the deflection or vibration of the scene, or controls the motor to stop rotating to feed back the sudden stop state, based on such a change. And when the user drives the vehicle again in the motion scene, the state in the picture is fed back to the upper and lower limb training device in real time, so that the whole space perception closed-loop motion feedback of 'eye-brain-upper limb-lower limb' is formed, the high-interactivity upper and lower limb main and passive cooperative rehabilitation training under the induction of the virtual reality three-dimensional training scene is realized, and the training participation degree of the patient is improved.
In one embodiment, the motion pattern may be adjusted according to the motion behavior of the user in the motion scene.
In one embodiment, the information processing apparatus is further configured to control the motor to stop rotating when the motor current is detected to be greater than a preset threshold. Generally, considering that a user may have lower limb spasm during use, which may affect normal use of the user, in order to ensure health and safety of the user, the training needs to be stopped immediately, and therefore, the training is stopped by controlling the motor to stop rotating when a sudden and large change in the motor current or a motor current value exceeding a preset spasm protection value is detected.
In one embodiment, the information processing apparatus is further configured to: acquiring a current angular speed parameter and a current parameter of a motor; and obtaining the motion parameter of the next moment according to the angular velocity parameter and the current parameter, and adjusting the rotating speed of the motor according to the motion parameter.
In a specific embodiment, if it is determined that the adjusted rotation speed of the motor is greater than the preset maximum speed limit, the rotation speed of the motor is adjusted to the preset maximum speed limit. When training begins, the angular velocity sensor or the position sensor firstly carries out velocity acquisition to ensure that the set lowest training velocity is reached, and then other motion parameters are obtained and adjusted to enable the upper and lower limb training device to work as required.
When the system of the embodiment is implemented, the upper and lower limb training device needs to be connected to an information processing device, the information processing device is connected to a display device, and the information processing device is used for receiving the motor parameters, the position information, the angle information and the like sent by the upper and lower limb training device, sending corresponding motion control commands to the motor, and feeding back the processed motor parameters, the position information and the angle information in an image picture manner.
In order to more clearly illustrate the embodiments of the present embodiment, the following description is made by way of example:
in this scenario, the information processing apparatus may be a processor having data processing capability and image processing capability, and of course, depending on the complexity of the image processing task, the processor may integrate image processing functions, or may be provided with a dedicated graphics processor such as GPGPU (General-purpose computing on graphics processing units) or the like for processing. The display device may be a general-purpose display device, or may be a display device with higher interactivity such as VR, AR, 3D imaging device, and the like, and the category of the display device may be determined according to a motion pattern and a training task, for example.
When training the upper and lower limbs, the exercise modes can be divided into a constant-speed exercise mode, a passive exercise mode, an assisted exercise mode and an active exercise mode, wherein each corresponding exercise mode corresponds to different exercise parameters, and the information processing equipment controls the motion of the motor according to the exercise parameters; the training tasks can be divided according to the training content of the user, for example, the training task for training only the upper limb, the training task for training only the lower limb, or the training task for training both the upper limb and the lower limb, and under each training task, a corresponding motion scene is provided, so as to realize the human-computer interaction in the training process of the user. Of course, when performing a training task in which the upper and lower limbs are trained simultaneously, different exercise patterns may be adopted for the upper and lower limbs alone, for example, an upper limb constant velocity exercise pattern may be matched with a lower limb assist exercise pattern.
Specifically, the isokinetic exercise mode may be to control the motor to rotate at a constant angular velocity during exercise to provide a constant exercise force to the user, to control the lower limb pulley or the foot pedal to rotate at a constant velocity, and to control the upper limb horizontal reciprocating rotation mechanism or the vertical rotation mechanism to move at a constant cycle. If the training task is lower limb training and the training scene is user's horizontal constant speed riding, then in human-computer interaction, the bicycle goes forward at constant speed on a straight road in the scene, if the training task is upper limb training, the training task is user's use of hand-operated bicycle to go at constant speed (divided into horizontal reciprocating rotation hand-operated and rotary hand-operated according to the upper limb apparatus form), then in human-computer interaction, the bicycle goes forward at constant speed on a straight road, if the training task is upper and lower limb training, the training scene is still user's riding, then in human-computer interaction, the bicycle goes forward at constant speed on a regularly curved road in the scene, the upper and lower limb mechanisms run at constant speed, and regular left and right turning is performed according to the movement of the upper limb mechanism (specifically, if the upper limb horizontal reciprocating mechanism is used, the lower limb drives the forward speed, the upper limb drives the left and right turning, and, the lower limb drives the advancing speed, the phase of the upper limb rotation represents the turning direction, for example, the left hand at the top represents the left turning, and the steering amplitude is maximum when the left hand at the top and the right hand at the bottom). For the training effect of the user, the isokinetic movement mode can be used for the patient with impaired consciousness of the upper limbs or the lower limbs and impaired motor dysfunction which can not be well matched with the training task.
Specifically, the passive exercise mode may be that the motor is controlled to rotate at different angular speeds according to different exercise scenes during exercise, so as to control the pulley or the pedal device to rotate at different speeds, so that the user experiences the effect generated by different lower limb strength; the upper limb reciprocating and rotating mechanism or the rotating mechanism is controlled to move in a non-constant cycle, so that the user can experience the effect generated by different upper limb forces. If the training task is lower limb training and the training scene is that a user rides on a rough road, an uphill scene and a downhill scene can be performed in the human-computer interaction, the bicycle provides constant movement force for the user on a horizontal road to advance at a normal speed, and on the road needing uphill, in the actual scene, as the uphill resistance is increased and the speed is decreased, the corresponding speed is calculated according to the gradient in the training scene, the rotating speed of the motor is adjusted to be decreased, so that the user advances at a lower speed, and on the road needing downhill, as the downhill resistance is decreased and the speed is increased, the corresponding speed is calculated according to the gradient, the rotating speed of the motor is adjusted to be increased, so that the user advances at a higher speed. If the training task is an upper limb task, the training task is a passive training mode that the user uses a hand-operated bicycle to move on an undulating road, and the specific mode is similar to that of a single lower limb. Similarly, if the training task is upper and lower limb training, the user is driven by the upper and lower limb devices to complete an irregular curve complex road task, the lower limbs are on the same level, the lower limbs rotate rapidly as in a sharp curve task, and the lower limbs rotate slowly as in a slow curve task. For the training effect of the user, the passive movement mode can be used for normal consciousness, but the movement function of the limbs is recovered at an early stage, and the passive movement mode can not be actively matched with the impaired movement function of the training task for use. It should be noted that the normal speed may be a motion parameter preset by the user, or may be a speed set by the processor according to the condition of the user's consciousness.
Specifically, the assisted exercise mode may be a mode that the user can sense the normal exercise force of the leg by providing additional assisting force during exercise and combining the real exercise force of the lower limb of the user. If the training task is lower limb training and the training scene is that the user rides on a rough road, in human-computer interaction, an uphill and a downhill scene may be performed, the bicycle provides a user with a movement force matched with the user's real lower limb movement power on a horizontal road surface, so that the user can move forward at a normal speed at a constant speed, and on a road surface requiring an uphill, in the training scenario, when the user's actual lower limb movement power is not changed, the uphill speed should be decreased, accordingly, the assisting exercise force provided to the user on the ascending road should become small, so that the user's riding speed displayed in the scene becomes slow, when the user increases the real lower limb movement power in order to keep a higher riding speed in an uphill scene, the current data of the motor changes, and the processor controls the motor to move the bicycle according to the change, the rotating speed of the motor is correspondingly increased, so that a user can sense the change of the movement speed in the display equipment. Similarly, when the exercise force of the real lower limb exercise force of the user is not changed, the downhill speed should be increased, and correspondingly, the auxiliary exercise force provided to the user on the downhill road should be increased, so that the riding speed of the user displayed in the scene is increased, and when the electric bicycle is used in the downhill scene, in order to ensure that the riding speed is not too high, the real lower limb exercise force is deliberately reduced or the deceleration operations such as starting, braking and the like are performed, so that the rotation speed of the belt pulley is reduced, at this time, the current data of the motor is changed, and the processor correspondingly reduces the rotation speed of the motor according to the change, so that the user can perceive that the exercise speed is also correspondingly changed due to the fact that the user adopts a deceleration means in the display device. The scenes of the upper limb movement training in the independent assistance mode similar to the corresponding upper limb movement participation task interaction are not repeated herein. The upper and lower limbs power-assisted mode is as above. The user needs to control the upper limb training grip to control the bicycle to move according to the road turning direction according to the bending direction in the scene, the size change of the upper limb assistance can correspond to the road surface shape in the scene, if the upper limb assistance is reduced in sand, and the upper limb assistance is increased in asphalt road. For the training effect of the user, the power-assisted movement mode can be used for patients with normal consciousness, recovered limb movement function and impaired motor dysfunction with weak strength matched with the training task.
In one scene, in order to realize the riding effect of different road surface states, different power assistance can be set, for example, if a user selects riding on an asphalt road, a larger power assistance is provided, and if the user selects riding on a sandy soil road, a smaller power assistance is provided, that is, different power assistance grades and power assistance coefficients can be set through different scenes to provide real user experience.
For the adjustment mode of the speed change in the assisted exercise mode, the embodiment provides an adjustment algorithm, and the lower limb algorithm specifically includes:
ωt＝ωt-1+kmkωΔIt-1
wherein, wtAngular velocity of the motor at time t, wt-1The angular speed of the motor at the moment t-1;
ΔIt-1the value of the human body acting force current (sensor signal value) is represented as the current value I of the motor at the moment t-1t-1Under the condition of no external force on the motor, the motor rotates at an angular speed omegat-1Motor current I during rotationωt-1Difference of (I), i.e. Δ It-1＝It-1-Iωt-1。ΔIt-1The force direction can be divided into positive and negative values, wherein the positive value represents that the motor receives positive acting force, and the negative value represents that the motor receives negative acting force.
Km is a power assisting coefficient (environmental task parameter) and is positively correlated with a power assisting grade, the positive value is always obtained, and the higher the power assisting grade is, the higher the Km is, and the Km is changed along with a set task scene.
kωThe angular velocity coefficient (coefficient in algorithm) is assisted by more than 0, and the absolute value sum w of the angular velocity coefficient and the coefficientt-1Is inversely correlated with the absolute value of wt-1The larger the absolute value of (a), kωThe smaller the value of (c).
KaIs the inertia coefficient (difficulty coefficient) representing the difficulty of accelerationEase of use. The smaller the value, the more difficult the acceleration.
When the training is started and the user does not exert force, the current value delta I of the acting force of the human body ist-1Equal to 0, the system speed is maintained at a set minimum speed (the minimum speed may be 0), at which the assist angular velocity coefficient is maximized and acceleration is facilitated. When the force starts to be exerted in the positive direction, kmkωΔIt-1Increase of omegat＞ωt-1The angular velocity wt can be rapidly increased even with a slight force. Coefficient of assistance k in this processωThe decrease indicates that as the system speed increases, the boost decreases until the system limit speed is reached, and the speed no longer increases. (for the upper limb horizontal reciprocating rotary mechanism, when the mechanism moves to the limit angle, the speed is reduced to 0).
If the rapid movement state cannot be maintained later, the limbs will generate reverse acting force, so as to enable delta It-1Is a negative value, wtAnd decreases. Until Δ I when the user can maintain the same speed as the training devicet-1At 0, the system speed is no longer changing, if the user is not exerting force, Δ I due to the inertia of the limbt-1Negative until the system speed is gradually reduced to 0, back to the initial lowest speed (the lowest speed may be 0).
The reverse force application process is similar, and the assisting movement mode is realized through the process.
Specifically, the active exercise mode may be to provide no additional assisting force during exercise, and only provide resistance to feed back a real exercise scene, so that the user can perceive a real exercise feeling under a real exercise force of the leg in combination with a real lower limb exercise force of the user. If the training task is lower limb training and the training scene is that the user rides on a rough road, an uphill scene and a downhill scene can be performed in the human-computer interaction. The bicycle provides resistance corresponding to the state of the road surface to a user on a horizontal road surface so that the user can feel real riding effect, on the road surface needing to ascend, in a training scene, when the movement force of the real lower limb movement force of the user is not changed, the ascending speed should be reduced, correspondingly, the resistance provided to the user on the ascending road surface should be increased, so that the riding speed of the user displayed in the scene is reduced, and when the user keeps higher riding speed in the ascending scene, the real lower limb movement force is deliberately increased, at the moment, the current data of the motor changes, and the processor correspondingly reduces the rotating speed of the motor according to the change, so that the user can sense the change of the movement speed in the display device. Similarly, when the exercise force of the real lower limb exercise force of the user is not changed, the downhill speed should be increased, and correspondingly, the resistance provided to the user on the downhill road should be decreased, so that the riding speed of the user displayed in the scene is increased, and when the user is in the downhill scene, in order to ensure that the riding speed is not too high, the real lower limb exercise force is deliberately reduced or the deceleration operations such as starting, braking and the like are performed, so that the rotation speed of the belt pulley is reduced, at this time, the current data of the motor is changed, and the processor correspondingly reduces the rotation speed of the motor according to the change, so that the user can perceive that the exercise speed is also correspondingly changed due to the fact that the user adopts a deceleration means in the display device. The situation that the upper limbs or the lower limbs are similar to the resistance mode and the task interaction corresponding to the movement of the upper limbs is not repeated herein for the training effect of the user, the active movement mode can be used for patients with normal consciousness, good recovery of the movement function of the limbs, and the motor dysfunction damage caused by the strong strength matching with the training task.
For the adjustment mode of the speed change in the active movement mode, the embodiment provides an adjustment algorithm, which specifically includes:
ωt＝ωt-1+kaΔIt-1-kmkω
wherein, wtAngular velocity of the motor at time t, wt-1Is the angular velocity of the motor at time t-1.
ΔIt-1The value of the human body acting force current (sensor signal value) is represented as the current value I of the motor at the moment t-1t-1Under the condition of no external force on the motor, the motor rotates at an angular speed omegat-1The difference of the motor current I ω t-1, i.e. Δ I, at constant speed rotationt-1＝It-1-Iωt-1。ΔIt-1According to the fact thatThe force direction can be divided into positive and negative values, wherein the positive value represents that the motor receives positive acting force, and the negative value represents that the motor receives negative acting force.
KaThe inertia coefficient (difficulty coefficient) represents the difficulty of acceleration. The smaller the value, the more difficult the acceleration.
KmThe drag coefficient (environmental task parameter) is positively correlated with the drag level, and is always a positive value, and the higher the drag level, the higher Km is, and the change is made according to the set task scenario.
kωFor a drag angular velocity coefficient (intra-algorithm coefficient) of 0 or more, the absolute value of which changes with the change in the absolute value of wt-1, a positive correlation mode, i.e., w, can be selectedt-1The larger the absolute value of (a), kωThe larger.
In the resistive mode, kaIt-1Representing human body's force, kmkωRepresenting real-time resistance.
At the beginning of the training, if the user is not doing his effort at this time, Δ It-1Is 0, kωAt 0, the system speed is maintained at a set minimum speed (the minimum speed may be 0).
When the user exerts force on the training device, such as when the user actively exerts force in the positive direction at time t-1, the motor acting force current delta It-1Increase the angular velocity w of the motortAnd is increased. With angular velocity wtIncreasing resistance angular velocity coefficient kωIncreasing, with increasing real-time resistance, requires more force to maintain or increase the current speed until the system-limited speed is reached, and the speed no longer increases. (for the upper limb horizontal reciprocating rotary mechanism, when the mechanism moves to the limit angle, the speed is reduced to 0).
The higher the speed the greater the resistance, if the user exerts less force, Δ It-1Is reduced so that kaΔIt-1Less than kmkωThen w istAnd reducing until the speed is stable when the resistance and the active force maintain balance. If the main power drops to 0, the system speed also drops and remains at the set minimum speed. The reverse force process is similar, and the resistance mode is realized through the process.
Of course, the embodiment does not limit the specific motion scene or the specific training task, for example, some obstacle settings, auxiliary settings, rewards, and other ways of increasing the difficulty of training and increasing the interest may be added in the training scene to provide a better training effect. In a bicycle riding scene, modes such as pedestrians, vehicles and roadblocks are added, or collection tasks (such as gold coin eating) are added in a user scene, so that the matching feeling of upper and lower limbs of a training user is improved; or help the user to be familiar with the training scene by adding route guidance and the like; or a lowest speed lower limit is set to improve the training intensity of the user.
In addition, on the display device, the current exercise content of the user can be added, so that the user can know the training progress conveniently, such as training time, training speed, training progress and the like, and after the training is finished, a corresponding training report can be generated according to the training data for the user to refer. Of course, the present application is not limited to displaying the above information, and all results after processing the parameters acquired or obtained by the apparatus of the present application may be displayed and stored.
The overall training process of the present invention is described below in a more specific embodiment.
Firstly, a user fixes limbs on the upper and lower limb training equipment by using the leg fixing mechanism and the foot fixing mechanism, adjusts the display equipment to a proper position, and then can open the upper and lower limb training equipment, the information processing equipment and the display equipment.
And selecting a proper motion mode and a proper training task according to the consciousness state and the rehabilitation stage of the user, for example, when a patient with serious motion function damage or an early patient recovers to use the system, selecting a low-level task scene, reducing the number and the precision of control instructions, limiting the highest motion speed, for example, only selecting single lower limb training or single upper limb training, and ensuring the control experience of the user. The user with less damage to the motion function or the user in the middle recovery period can select a high-level task, control the upper limb and the lower limb to cooperatively act to complete more precise complex actions, and start formal training after all the motion parameters are adjusted.
It is worth mentioning that, in the exercise mode and training task selection stage, a registration mechanism such as user account creation may be set to provide more complete services, for example, the user may import/input the self-consciousness state and the rehabilitation stage at this stage to assist the information processing device to provide corresponding training suggestions, or provide training suggestions according to the user historical training data to complete the training process.
Step three, in the embodiment, the user selects the power-assisted exercise mode, the training task is an upper and lower limb training task, and the exercise scene is a bicycle riding scene. The training begins, the display device displays the current riding road and the virtual riding character, the task guides the user to collect gold coins on the riding road, and when the gold coins are collected to a certain amount, the challenge is completed. The user exerts force on the pedal to control the belt pulley to rotate, and the information processing equipment provides corresponding assistance according to the assistance algorithm, so that the motor rotates according to a set angular speed to drive the belt pulley to perform assistance. When the gold coin is positioned on another lane or a turning mark is arranged on the current riding road, at the moment, a user needs to actively improve the muscle strength of an upper limb, the upper limb training grip is rotated by a proper angle in a corresponding direction and is maintained, a person in a virtual reality task scene is controlled to maintain a corresponding direction to rotate a riding state to pass through a turning road section, an angle sensor arranged at the upper limb training grip collects the data of a rotation angle and a rotation direction and sends the data to an information processing device, and the information processing device adjusts the virtual riding person on a display device to rotate according to the corresponding angle and direction according to the rotation angle and the rotation direction so as to collect the gold coin positioned on another lane or complete curve training; or when the task indicates to strengthen the muscle strength of the lower limbs (if a riding character passes through an uphill road section interaction scene in a virtual reality scene), the auxiliary force is reduced, the damping is increased, and the user is more difficult to move. Of course, if the scene is a downhill, the adjustment is performed according to the above description, and the details are not repeated herein.
After the current training task is completed, the user can choose to continue the next task scene or repeatedly train the current task scene, or increase the task amount and difficulty in the current scene, so that the user can be guaranteed to obtain sufficient iterative intensity training.
And step four, after the training of the user is finished, the information processing equipment can store all training data, and meanwhile, a training report is issued according to all indexes in the training process (for example, the state of the change process of the training power of the affected limb of the user in the training process is reflected in the report, and the change of the training effect score in the rehabilitation treatment course is provided according to the parameters), so that the user can obtain the feedback of the rehabilitation training process, and a training strategy can be made more specifically according to the training feedback.
The upper and lower limb training system can realize active and passive cooperative rehabilitation training of the upper and lower limbs under the induction of a virtual reality three-dimensional training scene, realize whole space perception closed-loop motion feedback of 'eyes-brain-upper limbs-lower limbs', and is beneficial to improving the training participation degree of a patient.
EXAMPLE III
Referring to fig. 10, fig. 10 is a schematic flow chart of an upper and lower limb training method according to an embodiment of the present invention, which can be applied to the upper and lower limb training system, including:
determining a motion mode and a training task, determining corresponding motion parameters according to the motion mode, and loading a corresponding motion scene according to the training task;
receiving position information sent by a position sensor and/or receiving angle information sent by an angle sensor;
feeding back the position information and/or the angle information to a corresponding motion scene, wherein the motion scene is a three-dimensional scene, or mapping scene motion information in the motion scene to an upper and lower limb training device so as to control the upper and lower limb training device to adjust to a corresponding state according to the scene motion information;
wherein the motion mode comprises a constant velocity motion mode, a passive motion mode, an assisted motion mode, or an active motion mode; the motion parameters comprise at least one of motion assisting force, motion resistance and motion speed limit when the user moves; the motion scenario includes an interactive display interface set for a user for a training task.
Those skilled in the art will appreciate that embodiments of the present application provide methods in the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.
This application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein. A computer program stored/distributed on a suitable medium supplied together with or as part of other hardware, may also take other distributed forms, such as via the Internet or other wired or wireless telecommunication systems.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. An upper and lower limb training device, comprising:
a chassis (10);
a lower limb training member (20) secured to the chassis (10);
an elevating mechanism (30);
an upper limb training member (40) connected to the lower limb training member (20) via an elevating mechanism (30) so that the height of the upper limb training member (40) can be adjusted by the elevating mechanism (30); wherein,
the upper limb training component (40) comprises an upper limb training grip (401), a twisting mechanism (402) and an upper limb fixing structure (403) connected with the lifting component;
the upper and lower limb training device further comprises: a motor (50) and a controller (60) arranged on the chassis (10); the motor (50) is electrically connected with the controller (60) and the belt pulley mechanism (201) and is used for driving the belt pulley mechanism (201) to rotate according to a control signal sent by the controller (60);
the lower limb training part (20) further comprises a position sensor (207) arranged on the belt wheel mechanism (201), wherein the position sensor (207) is electrically connected with the controller (60) and is used for detecting the rotation position information of the hub wheel (204) and sending the position information to the controller (60);
the upper limb training component further comprises an angle sensor (405) arranged on the twisting mechanism (402), wherein the angle sensor (405) is electrically connected with the controller (60) and used for detecting the rotation angle information of the upper limb training grip (401) and sending the angle information to the controller (60).
2. Upper and lower limb training device according to claim 1, wherein the lower limb training element (20) comprises:
a belt wheel mechanism (201), a pedal mechanism (202) and a lower limb fixing structure (203) fixedly connected with the lifting component (30);
the belt wheel mechanism (201) is fixed on the lower limb fixing structure (203) and is provided with a hub wheel (204), and the pedal mechanism (202) is hinged with the hub wheel (204) so that the hub wheel (204) is driven to rotate when the pedal mechanism (202) rotates;
the lower limb training part (20) also comprises a lower leg fixing mechanism (205) which is connected with the pedal mechanism (202);
the lower limb training element (20) further comprises a foot fixing mechanism (206) connected to the foot pedal mechanism (202).
3. The upper and lower limb training device of claim 1, wherein an emergency stop unit (406) is further disposed within the cavity (404), the emergency stop unit (406) being electrically connected to the controller (60) for sending an emergency stop signal to the controller (60) to stop the power supply to the motor (50).
4. An upper and lower limb training system comprising an upper and lower limb training device, further comprising an information processing apparatus connected to the upper and lower limb training device, and a display apparatus connected to the information processing apparatus;
the information processing equipment is specifically used for determining a motion mode and a training task, determining corresponding motion parameters according to the motion mode, and loading a corresponding motion scene according to the training task; receiving position information sent by a position sensor and/or receiving angle information sent by an angle sensor; feeding back the position information and/or the angle information to a corresponding motion scene;
the display device is used for displaying the motion scene, wherein the motion scene comprises a two-dimensional scene or a three-dimensional scene so as to realize a high-interactivity training task;
wherein the motion mode comprises a constant velocity motion mode, a passive motion mode, an assisted motion mode, or an active motion mode; the motion parameters comprise at least one of motion assisting force, motion resistance and motion speed limit when the user moves; the motion scenario includes an interactive display interface set for a user for a training task.
5. The upper and lower limb training system of claim 4, wherein the information processing apparatus is further configured to map scene motion information in the motion scene to the upper and lower limb training devices to control the upper and lower limb training devices to adjust to corresponding states according to the scene motion information.
6. The upper and lower limb training system of claim 4 wherein the movement pattern is adjusted according to the user's movement behavior in the motion scene.
7. The upper and lower limb training system of claim 4, wherein the information processing device is further configured to control the motor to stop rotating when the detected motor current is greater than a preset threshold.
8. The upper and lower limb training system of claim 4, wherein the information processing device is further configured to: acquiring a current angular speed parameter and a current parameter of a motor; and obtaining the motion parameter of the next moment according to the angular velocity parameter and the current parameter, and adjusting the rotating speed of the motor according to the motion parameter.
9. The upper and lower limb training system of claim 8, wherein the rotational speed of the motor is adjusted to the preset maximum limit if it is determined that the adjusted rotational speed of the motor is greater than the preset maximum limit.
10. A method of upper and lower limb training comprising:
determining a motion mode and a training task, determining corresponding motion parameters according to the motion mode, and loading a corresponding motion scene according to the training task;
receiving position information sent by a position sensor and/or receiving angle information sent by an angle sensor;
feeding the position information and/or the angle information back to a corresponding motion scene, or mapping scene motion information in the motion scene to an upper and lower limb training device so as to control the upper and lower limb training device to adjust to a corresponding state according to the scene motion information, wherein the motion scene comprises a two-dimensional scene or a three-dimensional scene to realize a high-interactivity training task;
wherein the motion mode comprises a constant velocity motion mode, a passive motion mode, an assisted motion mode, or an active motion mode; the motion parameters comprise at least one of motion assisting force, motion resistance and motion speed limit when the user moves; the motion scenario includes an interactive display interface set for a user for a training task.
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