CN111558202B - Upper limb training system and control method - Google Patents

Upper limb training system and control method Download PDF

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Publication number
CN111558202B
CN111558202B CN201910114392.7A CN201910114392A CN111558202B CN 111558202 B CN111558202 B CN 111558202B CN 201910114392 A CN201910114392 A CN 201910114392A CN 111558202 B CN111558202 B CN 111558202B
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torque
training
unit
training unit
motor
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CN111558202A (en
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谢富翰
黄钰雯
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Hiwin Technologies Corp
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Hiwin Technologies Corp
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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
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • 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

Abstract

The invention discloses an upper limb training system and a control method applied to the upper limb training system, wherein the upper limb training system is suitable for an upper limb of a user and comprises a body and a control unit. The body comprises a training unit and a plurality of motors. The training unit is connected to the upper limb, and the motors are coupled to the training unit. The control unit is electrically connected to the training unit and the motors, calculates a position of an end point of the training unit, and calculates a torque interval corresponding to each motor according to the torque of each motor.

Description

Upper limb training system and control method
Technical Field
The present invention relates to an upper limb training system and a control method thereof, and more particularly, to an upper limb training system and a control method thereof capable of providing an impedance torque to realize a safety protection mechanism.
Background
Upper limb training is a major subject of limb movement training. Generally, when a limb is trained, the auxiliary device is connected to the limb of a user, and the motion director guides the limb to move along a specific track, and then the auxiliary device moves the limb along the track guided by the motion director to achieve the training effect, and abnormal situations may occur during the training process, for example, a spasm phenomenon of the user due to muscle fatigue or other factors. Therefore, the motion instructor and the research and development of the auxiliary equipment also proceed to research the method for detecting or responding to the above abnormal condition, for example, patent No. TW I587843 discloses a method for detecting spasm of lower limbs, in which when a user has spasm, the lower limb support frame controls the motor to stop running, so as to stop the gait rehabilitation machine to stop the motion, thereby avoiding injury caused by the fact that the machine continues to drive the limbs after the spasm occurs.
However, the same mechanism cannot be applied directly to the upper limb training device because the motion pattern and range of the lower limb are simple. In addition, if the motor is stopped immediately when the user has spasm, the user may be injured because the tension of the limbs cannot be relieved, but if the motor is continuously operated, the user may drive the upper limb training device to hit the head or other body parts by mistake while relieving the tension of the upper limbs.
Disclosure of Invention
The invention provides an upper limb training system, wherein a control unit can calculate the torque of a motor and the position of an endpoint of a training unit and control the motor to provide impedance torque so as to relieve the tension of the upper limb of a user.
The upper limb training system is suitable for an upper limb of a user and comprises a body and a control unit. The body comprises a training unit and a plurality of motors. The training unit is connected to the upper limb, and the motors are coupled to the training unit. The control unit is electrically connected to the training unit and the motors, calculates a position of an end point of the training unit, and calculates a torque interval corresponding to each motor according to the torque of each motor. When the torque of at least one of the motors exceeds the corresponding torque interval and the end point of the training unit does not move to a preset position, the control unit controls each motor to output a first torque to the training unit. When the torque of at least one of the motors exceeds the corresponding torque interval and the end point of the training unit moves to the preset position, the control unit controls each motor to output a second torque to the training unit so as to enable the end point of the training unit to be far away from the preset position.
In addition, the invention also provides a control method suitable for the upper limb training system, which can prevent the user from mistakenly hitting the user to cause injury in the upper limb training process.
The control method is suitable for an upper limb training system, and the upper limb training system comprises a body and a control unit. The body comprises a training unit and a plurality of motors, and the training unit, the motors and the control unit are electrically connected with each other. The control method comprises a teaching step and a reproduction step. The teaching step comprises connecting the upper limb to the training unit, guiding the training unit to move and recording a moving track. The reproducing step includes using the training unit to drive the upper limb of the user to move, obtaining a torque interval corresponding to each motor, and executing a protection mechanism. The protection mechanism comprises a control unit, a training unit and a protection unit, wherein the control unit judges whether the torque of each motor exceeds the torque interval corresponding to each motor, calculates a position of an end point of the training unit, judges whether the end point of the training unit moves to a preset position, and controls each motor to output a first torque or a second torque to the training unit.
Based on the above, the upper limb training system and the control method provided by the invention can control each motor to output the first torque to the training unit by the control unit when an abnormal condition occurs in the training process, such as spasm of the user, so as to relieve the tension of the upper limbs of the user. In addition, when the user may hit himself, the control unit controls each motor to output the second torque to the training unit, so that the end point of the training unit is far away from the predetermined position to avoid injury.
In order to make the aforementioned and other features and advantages of the invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
Fig. 1 is a perspective view of an upper limb training system according to an embodiment of the present invention.
Fig. 2 is a functional block diagram of the upper limb training system of fig. 1.
Fig. 3 is a schematic diagram of a user performing upper limb training using the upper limb training system of fig. 1.
Fig. 4 is a schematic diagram of the position of an end point of the training unit of the upper limb training system of fig. 3.
FIG. 5 is the view of FIG. 4 taken along the first axis A1A top view of the direction.
FIG. 6 is a view of FIG. 4 taken along a second axis A2A side view of the direction.
FIG. 7 is a flowchart illustrating steps of a control method according to an embodiment of the invention.
Fig. 8 is a graph of the torque of the motor of the upper limb training system and the torque interval corresponding to the motor according to the embodiment of the present invention.
Fig. 9 is a schematic diagram of the upper limb training system and the virtual wall surface of fig. 3.
FIG. 10 is a flow diagram of the guard mechanism of FIG. 7.
Fig. 11 is a schematic diagram of a user performing upper limb training by using an upper limb training system according to another embodiment of the invention.
Fig. 12 is a schematic diagram of the upper limb training system and the virtual wall surface of fig. 11.
Description of reference numerals: 1000. 1000' -upper limb training system; 1100-body; 1110-a base; 1120-a training unit; 1122-a first link; 1124-a second link; 1140-a motor; 1200-a control unit; 1220-a teaching module; 1240-a recurrence module; 1260-calculation module; 1300-a drive unit; 1320-servo driver; 1340-an encoder; 1400. 1400' -a virtual wall surface; 2000-user; a. the1-a first shaft; a. the2-a second shaft; a. the3-a third axis; BT-chest thickness; c-value; d-distance; d. d1、d2、d3、d4、d5-a length; e-end point; g-gain ratio; g-adjusting the pre-gain ratio; kp-a distance weight; kv-a speed weight; r is1、r2-a radius; s100、S200、S210、S220、S230、S240、S250、S260、S270、S280、S290-a step; SA-safety margin; SW-shoulder width; t-torque; t is1-a first torque; t is2-a second torque; TIupper-an upper bound; TIlower-a lower bound; vd-a speed; x-intersection points; x is the number of0、y0、z0-a direction; theta1、θ2、θ3-an angle.
Detailed Description
The foregoing and other technical matters, features and effects of the present invention will be apparent from the following detailed description of preferred embodiments, which is to be read in connection with the accompanying drawings. It should be noted that the coupling and electrical connection mentioned in the following embodiments represent that electrical energy or data such as electrical signals, magnetic signals and command signals can be transmitted between the components in a direct or indirect, wired or wireless manner. Accordingly, the terminology used is intended to be in the nature of words of description rather than of limitation. In addition, in the following embodiments, the same or similar components will be given the same or similar reference numerals.
Fig. 1 is a perspective view of an upper limb training system according to an embodiment of the present invention, fig. 2 is a functional block diagram of the upper limb training system of fig. 1, and fig. 3 is a schematic view of a user performing upper limb training by using the upper limb training system of fig. 1, please refer to fig. 1 to fig. 3. The upper limb training system 1000 of the present embodiment includes a body 1100, a control unit 1200 and a driving unit 1300, wherein the body 1100 includes a base 1110, a training unit 1120 and a plurality of motors 1140, the training unit 1120 is connected to the base 1110, the motors 1140 are coupled to the training unit 1120, the control unit 1200 is electrically connected to the training unit 1120 and the motors 1140, and the driving unit 1300 is electrically connected to the training unit 1120, the motors 1140 and the control unit 1200.
Specifically, the upper limb training system 1000 of the present embodiment is suitable for the upper limb of a user 2000. When the user 2000 performs upper limb training, the training unit 1120 is connected to the upper limb, wherein the training unit 1120 comprises a first link 1122 and a second link 1124 connected to the first link 1122. The first link 1122 is about a first axis A1And independently of the first axis A1A second axis A2Rotating, second link 1124 about an axis independent of first axis A1And a second axis A2A third axis A3And (4) rotating. In the present embodiment, the motors 1140 are three in total, and correspond to the rotation of the first link 1122 and the second link 1124 on the three axes, respectively, the first axis a1A vertical axis for the first link 1122 to assist in rotation of the shoulder joint when the user 2000 is performing upper limb exercises; second axis A2A horizontal axis for the first link 1122 to assist rotation of the shoulder joint when the user 2000 performs upper limb training; and a third axis A3The second link 1124 assists an axis of rotation of the elbow joint with respect to the first link 1122 when performing upper limb exercises for the user 2000. Therefore, when operating the upper limb training system 1000 for upper limb training, the shoulders of the user 2000 are located on the first axis a1And a second axis A2While the elbow of user 2000 is located on the third axis A3The above. Accordingly, the control unit 1200 can control the first link 1122 around the first axis a according to the lengths of the first link 1122 and the second link 11241And a second axis A2Angle of rotation and second link 1124 aroundThree axes A3The angle of rotation, the position of an end point E of training unit 1120 is calculated. It should be noted that the number of the first link 1122, the second link 1124, the motor 1140 and the corresponding rotating shafts is not limited thereto, and any link that can assist the user 2000 in upper limb training, a motor that provides power for the above-mentioned link during training and a rotating shaft that is necessary for performing the training operation are all within the scope of the present invention.
FIG. 4 is a schematic diagram of the position of an end point of the training unit of the upper limb training system of FIG. 3, and FIG. 5 is a schematic diagram of FIG. 4 along the first axis A1In a top view, FIG. 6 is a view from FIG. 4 taken along a second axis A2Please refer to fig. 4 to fig. 6 for the side view of the direction. Furthermore, if the position where the training unit 1120 is connected to the base 1110 is defined as the origin, the front, left and upper directions of the user 2000 performing upper limb training are respectively defined as x0、y0And z0The directions d are defined as the lengths of two rods connecting the first link 1122, the length of the second link 1124, and the distance from the second link 1124 to the end point E of the training unit 11201、d2、d3、d4And d5And will have a length d1And x0Horizontal angle between directions, first link 1122 and x0The vertical angle between the directions and the vertical angle of the second link 1124 with respect to the direction in which the first link 1122 extends are defined as θ1、θ2And theta3Wherein theta1、θ2And theta3With the clockwise direction in fig. 5 and 6 as positive, the x, y, and z coordinates of the end point E of the training unit 1120 relative to the origin can be calculated by the geometric formula:
x＝(d1-d5)cos(θ1)-[d3cos(θ2)+d4cos(θ2+θ3)sin(θ1)
y＝(d1-d5)sin(θ1)+[d3cos(θ2)+d4cos(θ2+θ3)]cos(θ1)
z＝d2-d3sin(θ2)-d4sin(θ2+θ3)
sin and cos are sine values and cosine values of included angles in brackets respectively. Accordingly, the upper limb training system 1000 can accurately calculate the position coordinates of the end point E relative to the part of the training unit 1120 connected to the body 1100 through the control unit 1200.
Fig. 7 is a flowchart illustrating steps of a control method according to an embodiment of the invention, and fig. 8 is a graph illustrating torque of a motor and a torque interval corresponding to the motor of the upper limb training system according to an embodiment of the invention, please refer to fig. 2, fig. 7 and fig. 8. The control method of the embodiment is suitable for the above upper limb training system 1000, wherein the control unit 1200 of the upper limb training system 1000 comprises a teaching module 1220, a reproduction module 1240 and a calculation module 1260. Furthermore, the control unit 1200 further includes a module switching unit (not shown) for switching between modules according to different steps during upper limb training, and the control method includes executing a teaching step S100And performing a reproducing step S200. In a teaching step S100In this case, the user 2000 or the motion instructor connects the upper limb of the user 2000 to the training unit 1120, and then the motion instructor guides the upper limb of the user 2000 to move along a specific track, and drives the training unit 1120 to move by the upper limb, and at this time, the teaching module 1220 records and stores the movement track of the upper limb guided by the motion instructor.
In a teaching step S100After completion, the action instructor or user 2000 may operate the upper limb training system 1000 to perform the recurring step S200At this time, the reproduction module 1240 of the control unit 1200 reproduces the teaching module 1220 in the teaching step S100The recorded movement track. Specifically, the control unit 1200 transmits a command to the driving unit 1300, in the embodiment, the driving unit 1300 includes a servo driver 1320 and an encoder 1340, when the driving unit 1300 receives the command from the control unit 1200, the servo driver 1320 drives each motor 1140 to operate, and drives the training unit 1120 along the teaching module 1220 in the teaching step S100Moving track of middle record. It should be noted that the motor driver used by the driving unit 1300 is not limited to the servo driver 1320, as long as it can drive each motor 1140 to reproduce the recorded moving track, and linear drivers, step drivers and corresponding motors are also within the scope of the present invention.
After the upper limb training system 1000 drives the upper limb of the user 2000 and the training unit 1120 to move along the moving track for a plurality of times, the driving unit 1300 senses the torque T of each motor 1140, encodes the torque T of each motor 1140 during the movement of the training unit 1120 for a plurality of times into data through the encoder 1340, and transmits the data to the control unit 1200. After the control unit 1200 receives the data, the calculation module 1260 defines a torque average μ according to the average of the torque T of each motor 1140 when the training unit 1120 moves for a plurality of timesiAnd a standard deviation sigma of torque defined according to the standard deviation of torque T of each motor 1140 when the plurality of training units 1120 moveiAnd an upper bound TI corresponding to the torque interval of each motor 1140 is calculated by the following formulaupperAnd lower bound TIlower：
TIupper＝μi+(δ+w)σi
TIlower＝μi-(δ+w)σi
Where i is the number of each motor 1140; δ is a sensitivity parameter, theoretically a real number greater than zero, in the present embodiment between 0 and 15, and can be adjusted by the motion instructor according to the situation of different users 2000; w is a weight, which is 3 in the embodiment, but the invention is not limited thereto. In other words, in the teaching step S100In this embodiment, the motion instructor or user 2000 can move the training unit 1120 by using the upper limbs to obtain the torque intervals corresponding to the motors 1140, as shown in fig. 8.
In addition to this, in the reproducing step S200The control unit 1200 further executes a protection mechanism. Fig. 9 is a schematic diagram of the upper limb training system and the virtual wall of fig. 3, please refer to fig. 3 and fig. 9 at the same time. In this embodiment, the upper limb training system 1000 is more specifically positioned on the user 2000 and the end point E of the training unit 1120, wherein the virtual wall 1400 is two planes perpendicular to each other. Specifically, as shown in fig. 9, if the trunk of the user 2000 is simplified to an ellipse, the distance from the center of the ellipse to the end point of the right major axis is the shoulder width SW of the user 2000, and the distance from the center of the ellipse to the end point of the front minor axis is the chest thickness BT of the user 2000. The upper limb training system 1000 of this embodiment multiplies the human shoulder width SW and the chest thickness BT by the safety factors of 1.2 times respectively to obtain the distance between the two planes in the virtual wall 1400 and the user 2000, i.e. 1.2 times of the shoulder width SW and 1.2 times of the chest thickness BT in fig. 9, according to the 95 percent values of the human shoulder width SW and the chest thickness BT in the ergonomics.
Furthermore, the virtual wall 1400 defines a safety range of the user 2000, when an abnormal condition occurs during upper limb training, such as spasm of the upper limb of the user 2000, if the end point E of the training unit 1120 is located at the inner side of the virtual wall 1400 relative to the user 2000, the user 2000 may drive the training unit 1120 to hit the head or the trunk by mistake due to the spasm. To do so, the control unit 1200 will provide a resistive torque corresponding to the training unit 1120 based on the depth of the training unit 1120 into the virtual wall 1400. That is, the deeper the depth of the training unit 1120 into the virtual wall surface is, the greater the resistance torque output from each motor 1140 to the training unit 1120 is controlled by the control unit 1200.
FIG. 10 is a flowchart of the protection mechanism shown in FIG. 7, please refer to FIG. 7 and FIG. 10. When the protection mechanism is activated, the control unit 1200 determines whether the torque T of each motor 1140 exceeds the torque interval corresponding to each motor 1140 during the process of the training unit 1120 reproducing the recorded moving track (step S)210). If the torque T does not exceed the torque interval, the training unit 1120 continues to move the upper limb (step S)220) (ii) a If the torque T of at least one of the motors 1140 exceeds the corresponding torque interval, which represents an abnormal situation, such as spasm of the upper limbs of the user 2000, the control unit 1200 calculates the position of the end point E of the training unit 1120 and determines whether the end point E of the training unit 1120 moves to a predetermined position (step S)230). In the present embodiment, it is preferred that,the predetermined position is located on the virtual wall 1400 or inside the virtual wall 1400 with respect to the user 2000. When the torque T of at least one of the motors 1140 exceeds the corresponding torque interval but the endpoint E of the training unit 1120 is not moved to the predetermined position, which indicates that the upper limb of the user 2000 is cramped but does not hit the user himself, the calculating module 1260 of the control unit 1200 calculates a first torque T for balancing the gravity at the position of the training unit 11201(step S)240) And drives each motor 1140 to output the first torque T by the servo driver 1320 of the driving unit 13001To training unit 1120 (step S)260). Due to the weight of the upper limbs of the user 2000 and the training unit 1120 by the first torque T1In balance, the upper limbs of the user 2000 are relieved of tension due to spasticity with low load to avoid injury.
However, when the torque T of at least one of the motors 1140 exceeds the corresponding torque interval and the endpoint E of the training unit 1120 moves to the position on the virtual wall 1400 or the predetermined position of the virtual wall 1400 relative to the inner side of the user 2000, which represents the possibility that the user 2000 may mistakenly hit the training unit 1120 due to the spasm of the upper limbs, the calculating module 1260 calculates the gravity for balancing the position of the training unit 1120 and a second torque T for resisting the training unit 1120 to continuously approach the body center of the user 20002Wherein the second torque T2From a gain ratio G and a raw torque ToriginalAnd (4) defining. Specifically, the second torque T2The following formula is satisfied:
T2＝G×Toriginal
when the end point E of the training unit 1120 is located at the inner side of the virtual wall 1400 with respect to the user 2000 and the distance D between the end point E of the training unit 1120 and the virtual wall 1400 is greater than the previous sensing distance between the end point E of the training unit 1120 and the virtual wall 1400, the upper limb of the user 2000 still moves toward the center of the body, and the gain ratio G is adjusted by an adjusted front gain ratio G, a distance D, and a distance weight KpThe velocity V of the end point E of the training unit 1120 relative to the virtual wall 1400dAnd a speed weight KvAnd (4) defining. Specifically, the gain ratio G described above satisfies the following formula:
G＝G*+Kp×D+Kv×Vd
when the end point E of the training unit 1120 is located on the inner side of the virtual wall 1400 with respect to the user 2000 and the distance D between the end point E of the training unit 1120 and the virtual wall 1400 is less than or equal to the previous sensing distance between the end point E of the training unit 1120 and the virtual wall 1400, the upper limb of the user 2000 gradually moves toward the outer side of the virtual wall 1400, and the gain ratio G is decreased by a certain value C before the adjustment. Specifically, the gain ratio G satisfies the following formula:
G＝G*-C
in other words, the calculation module 1260 of the control unit 1200 calculates the gain ratio G and the corresponding second torque T2(step S)250) And drives each motor 1140 to output the second torque T by the servo driver 1320 of the driving unit 13002To training unit 1120 (step S)270) The end point E of the training unit 1120 is moved to the outside of the virtual wall 1400. Therefore, in the process that the training unit 1120 moves along the recorded moving track and drives the upper limb of the user 2000, the user 2000 can be prevented from being injured by mistakenly hitting the user 2000 due to abnormal conditions, such as upper limb spasm, and the upper limb tension of the user 2000 due to spasm can be relieved. When the control unit 1200 determines that the end point E of the training unit 1120 moves to the outside of the virtual wall 1400 (step S)280) The action instructor can release the protection mechanism (step S)290) Returning the system to the general teaching step S100The teaching process of (1).
Fig. 11 is a schematic diagram of a user performing upper limb training by using an upper limb training system according to another embodiment of the invention, please refer to fig. 3 and fig. 11 at the same time. The main differences between the upper limb training system 1000' of the present embodiment and the upper limb training system 1000 of fig. 3 are: the virtual wall 1400 'defined by the upper limb training system 1000' is not two planes perpendicular to each other but a curved surface, so as to achieve the effect of preventing the user 2000 from accidentally hitting the user due to the spasm of the upper limbs.
Fig. 12 is a schematic diagram of the upper limb training system and the virtual wall of fig. 11, please refer to fig. 12. In detail, the virtual wall 1400 'of the upper limb training system 1000' of the present embodiment can have a plurality of different definitions. As shown in fig. 12, if the trunk of the user 2000 is simplified to an ellipse, the safety factor of 1.2 times is multiplied by the 95 percent value of the shoulder width SW in human factors engineering according to the above to obtain the trunk center of the user 2000 and the radius r of the 1.2 times of the shoulder width SW1The cylindrical virtual wall 1400'; in addition, the portion of the training unit 1120 connected to the body 1100 can be the center of a circle, and the radius r is the bevel edge obtained by the length d of the body 1100 and a safety margin SA2Obtaining another cylindrical virtual wall 1400'; alternatively, a virtual wall surface of an elliptic cylinder centered on the center of the trunk of the user 2000 can be obtained by using 1.2 times of the shoulder width SW as the semimajor axis length and 1.2 times of the chest thickness BT as the semiminor axis length. Since the virtual walls 1400 and 1400 'use the statistical data in human factors engineering as the design basis, the position of the virtual wall 1400 or 1400' will not be changed by different users, and the effect of defining the safety range of the user 2000 can be achieved.
In summary, the upper limb training system of the present invention calculates the torque intervals corresponding to the motors by the control unit, so as to detect whether the user has spasm during the upper limb training process. In addition, according to the upper limb training method of the invention, when the upper limb of the user is cramped during the training process, the control unit can control each motor to output the first torque or the second torque so as to relieve the tension of the upper limb of the user caused by the cramp, and prevent the user from driving the upper limb training device to mistakenly hit the head or other trunk parts caused by the cramp.
The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the present invention.

Claims (7)

1. An upper limb training system for an upper limb of a user, the upper limb training system comprising:
a body, comprising:
a training unit connected to the upper limb; and
a plurality of motors coupled to the training unit;
the control unit is electrically connected with the training unit and the motors, calculates a position of one end point of the training unit and calculates a torque interval corresponding to each motor according to the torque of each motor; and
a driving unit electrically connected to the training unit, the motors and the control unit,
when the torque of at least one of the motors exceeds the corresponding torque interval and the end point of the training unit does not move to a preset position, the control unit controls each motor to output a first torque to the training unit;
wherein, when the torque of at least one of the motors exceeds the corresponding torque interval and the end point of the training unit moves to the preset position, the control unit controls each motor to output a second torque to the training unit to enable the end point of the training unit to be far away from the preset position,
the driving unit senses the torque of each motor and transmits data to the control unit, wherein the data comprises the torque of each motor when the training unit moves for multiple times, the control unit calculates the torque interval corresponding to each motor according to the data, and the control unit drives each motor to output the first torque or the second torque to the training unit through the driving unit.
2. The upper extremity training system of claim 1, wherein an upper bound and a lower bound of said torque interval are defined by a torque mean, a weight, and a standard deviation of torque of each said motor, said torque mean being the mean of the torque of each said motor over said plurality of said training unit movements, and said standard deviation of torque being the standard deviation of the torque of each said motor over said plurality of said training unit movements.
3. The upper limb training system of claim 1, further defining a virtual wall between a head of the user and the end point of the training unit, the predetermined position being on the virtual wall or inside the virtual wall relative to the user, and the end point of the training unit being away from the predetermined position and moving outside the virtual wall.
4. The upper limb training system of claim 3, wherein the virtual wall comprises a curved surface or two planes perpendicular to each other.
5. The upper limb training system of claim 3, wherein the second torque is defined by a gain ratio and a raw torque;
wherein, when the end point of the training unit is located inside the virtual wall relative to the user and a distance between the end point of the training unit and the virtual wall is greater than a previously calculated distance between the end point of the training unit and the virtual wall, the gain ratio is redefined by a pre-adjustment gain ratio, the distance, a distance weight, a velocity of the end point of the training unit relative to the virtual wall, and a velocity weight;
when the end point of the training unit is located at the inner side of the virtual wall surface relative to the user and the distance between the end point of the training unit and the virtual wall surface is smaller than or equal to the distance between the end point of the training unit and the virtual wall surface calculated last time, the gain ratio is reduced by a certain value for the gain ratio before adjustment.
6. A control method is suitable for an upper limb training system, the upper limb training system is suitable for an upper limb of a user, the upper limb training system comprises a body and a control unit, the body comprises a training unit and a plurality of motors, wherein the training unit, the motors and the control unit are electrically connected with each other, and the control method is characterized by comprising the following steps:
executing a teaching step, including connecting the upper limb to the training unit, guiding the training unit to move and recording a moving track; and
executing a reproduction step including driving the upper limb to move by the training unit, obtaining a torque interval corresponding to each motor, and executing a protection mechanism, wherein the protection mechanism includes:
the control unit judges whether the torque of each motor exceeds the torque interval corresponding to each motor;
the control unit calculates a position of an end point of the training unit and judges whether the end point of the training unit moves to a preset position; and
the control unit controls each motor to output a first torque or a second torque to the training unit,
the upper limb training system further comprises a driving unit electrically connected to the training unit, the plurality of motors and the control unit, and the reproducing step further comprises:
the driving unit senses the torque of each motor and transmits data comprising the torque of each motor when the training unit moves for a plurality of times to the control unit; and
the control unit calculates the torque interval corresponding to each motor according to the data, and drives each motor to output the first torque or the second torque to the training unit by the driving unit,
the protection mechanism further comprises:
when the control unit judges that the torque of at least one of the motors exceeds the torque interval corresponding to each motor and the end point of the training unit does not move to the preset position, the control unit controls each motor to output the first torque to the training unit; and
when the control unit judges that the torque of at least one of the motors exceeds the torque interval corresponding to each motor and the end point of the training unit moves to the preset position, the control unit controls each motor to output the second torque to the training unit so that the end point of the training unit is far away from the preset position.
7. The control method as claimed in claim 6, wherein the guarding mechanism further comprises defining a virtual wall between a head of the user and the end of the training unit, the predetermined position is located on the virtual wall or inside the virtual wall relative to the user, and the end of the training unit moves to outside of the virtual wall when the control unit controls the motors to output the second torque to the training unit.
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