CN113509349A

CN113509349A - Joint rehabilitation device and control method thereof

Info

Publication number: CN113509349A
Application number: CN202110388450.2A
Authority: CN
Inventors: 王启宁; 周志浩; 周亚雷; 张光帅; 张腾
Original assignee: Hangzhou Fengxing Medical Devices Co ltd
Current assignee: Hangzhou Fengxing Medical Devices Co ltd
Priority date: 2021-04-12
Filing date: 2021-04-12
Publication date: 2021-10-19

Abstract

The invention discloses a joint rehabilitation device and a control method thereof, wherein the joint rehabilitation device comprises: the exoskeleton system can be worn on a human body and used for executing joint rehabilitation training, and the driving system is connected with the exoskeleton system and used for providing power for the exoskeleton system to execute the joint rehabilitation training; the control system is connected with the driving system and is used for controlling the operation of the driving system; and the power supply system is connected with the control system and supplies power to the control system. The device has simple and light structure, can provide power for joint rehabilitation training, and is beneficial to joint rehabilitation training of patients.

Description

Joint rehabilitation device and control method thereof

Technical Field

The invention relates to joint rehabilitation equipment and a control method thereof, in particular to joint rehabilitation equipment driven by a steel wire rope.

Background

The rehabilitation system of human joints is divided into no power and power according to the existence of power. From a fixed mode, the wearable type and the non-wearable type can be generally divided. The wearable rehabilitation device is simple and light in structure and relatively simple to use, but generally cannot be integrated with a power device, so that the wearable rehabilitation device is generally unpowered and cannot be integrated with a control system. Non-wearable auxiliary rehabilitation systems usually have power, and because the controllability is strong, can feed back parameters and adjust resistance power, so that the system has many advantages in the rehabilitation treatment of joints, but the general joint power rehabilitation system is huge, the equipment is heavy, the movement is inconvenient, and the system is generally fixedly arranged in a certain area, so that a patient can only go to a designated area, which is very inconvenient for the patient who originally has inconvenient actions. In addition, the common system has less interactive design on equipment, patients and doctors, the rehabilitation training is boring, the training data acquisition is inconvenient, and the rehabilitation power of the patients and the efficiency of the doctors are influenced.

The power joint of a few wearable that see on the market at present assists rehabilitation system, rehabilitation institution dynamic structure is complicated, and owing to need battery powered, the battery leads to the total weight big in addition dynamic structure's weight, to patient's recovery, also has certain drawback, can't dress the activity for a long time moreover.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide a joint rehabilitation apparatus which is capable of providing power, is simple and lightweight, and can well interact with a patient and a doctor, and a control method thereof.

In order to achieve the purpose, the invention adopts the following technical scheme: a joint rehabilitation device comprising:

an exoskeleton system wearable between a stationary portion and a movable portion of a joint and configured to perform joint rehabilitation training;

a drive system coupled to the exoskeleton system and configured to provide power to the exoskeleton system in performing joint rehabilitation exercises;

a control system coupled to the drive system and configured to control operation of the drive system;

a power supply system connected with the control system and configured to supply power to the control system.

In some embodiments, the exoskeleton system comprises a first joint hoop, a second joint hoop, a push rod, and a drive rope; the first joint hoop is fixed on a fixed part of the joint; the second joint hoop is fixed on the movable part of the joint; the number of the push rods is at least one, each push rod comprises a sleeve and a telescopic rod movably arranged in the sleeve, the end part of each sleeve is hinged to the second joint hoop, and the end part of each telescopic rod is hinged to the first joint hoop; the middle part of the driving rope is fixed on the telescopic rod, and two ends of the driving rope respectively extend out of the vicinity of two end parts of the sleeve; the driving system comprises a motor and a rope wheel, wherein the rope wheel is fixed at the power output end of the motor, two U-shaped grooves are formed in the circumferential wall of the rope wheel in parallel, one end of the driving rope is clockwise wound in one U-shaped groove in the rope wheel, and the other end of the driving rope is anticlockwise wound on the other U-shaped groove in the rope wheel.

In some embodiments, the first joint hoop comprises a first hoop shell adapted to the shape of the fixed portion of the joint, and the second joint hoop comprises a second hoop shell adapted to the shape of the movable portion of the joint.

In some embodiments, the driving rope is a bowden cable structure, and comprises a steel wire rope, a plastic sleeve and a sleeve which are sequentially distributed from inside to outside; plastic tubing and sleeve pipe length equal, plastic tubing and sheathed tube one end are fixed jointly on the sleeve of push rod, plastic tubing and sheathed tube other end are fixed jointly on the outer lane of rope sheave, wire rope can for plastic tubing and sleeve pipe axial concertina movement, wire rope's one end is twined clockwise and is established a U-shaped inslot on the rope sheave, wire rope's the other end is twined anticlockwise and is established on another U-shaped groove on the rope sheave.

In some embodiments, the control system comprises a device start-stop module configured to control start-stop of the joint rehabilitation device according to the detected electric quantity of the power supply system and a preset electric quantity threshold;

the mode determining module is configured to control the joint rehabilitation equipment to enter a zero moment training mode or a position training mode according to an input P value in a starting state of the joint rehabilitation equipment;

the motor control module is configured to control the motor to drive the push rod to move when the countdown of the preset training time is started, drive the joint wearing the exoskeleton system to carry out rehabilitation training in a zero-torque training mode or a position training mode, and control the motor to stop moving when the countdown of the preset training time is finished.

In some embodiments, in the zero-moment training mode, the motor control module controls the operation of the motor according to the collected push-pull force on the push rod and a preset first push-pull force threshold, and when the collected push-pull force on the push rod is greater than the first push-pull force threshold, the motor drives the push rod to move, so that the resistance existing in the exoskeleton system during joint movement is overcome, and the joint wearing the exoskeleton system moves freely; when the collected push-pull force on the push rod is equal to a first push-pull force threshold value, stopping the motor;

in the position training mode, the motor control module controls the motor to drive the push rod to move to drive the joint with the exoskeleton system to move under a preset initial joint angle training curve to complete one-time rehabilitation training movement, and replans the joint angle training curve of the next rehabilitation movement according to the time of the current joint rehabilitation movement, the rest time of the current joint rehabilitation movement until the next rehabilitation movement is started, the push-pull force on the push rod and a preset second push-pull force threshold before the next rehabilitation movement is started, namely, the time used by the single rehabilitation movement is redetermined, and the joint angle training curve is updated according to the confirmed time; when the motor control module receives a trigger signal, wherein the trigger signal comprises a joint angle and a push-pull force signal, the motor control module controls the motor to drive the push rod to move so as to drive the joint wearing the exoskeleton system to move under the joint angle training curve which is re-planned;

the push-pull force on the push rod is acquired by a force sensor arranged at the connecting position of the telescopic rod and the sleeve; the joint angle signals are acquired by two inertial navigation sensors respectively arranged on a fixed part and a movable part of the joint.

In some embodiments, the control system further comprises a state determination module configured to determine the working state of the joint rehabilitation device according to the signal collected by the sensor and a preset threshold corresponding to the signal before the preset training time countdown is not ended, and transmit the working state signal to the motor control module; when the signal acquired by the sensor is greater than the corresponding preset threshold value, the joint rehabilitation equipment works abnormally, the state judgment module sends a signal to the motor control module, and the motor control module controls the motor to stop running; when the signal acquired by the sensor is smaller than the corresponding preset threshold value, the joint rehabilitation equipment normally operates, the state judgment module sends a signal to the motor control module, and the motor control module controls the motor to continue to operate;

the signals collected by the sensor comprise joint angle signals, push-pull force signals on the push rod, torque signals at the output end of the motor, angle signals for the rope wheel driven by the motor to rotate, and current and voltage signals of the motor; the joint angle signals are acquired by two inertial navigation sensors respectively arranged on a fixed part and a movable part of the joint; the push-pull force signal is acquired by a force sensor arranged at the connecting position of the telescopic rod and the sleeve; the torque signal is acquired by a torque sensor arranged between the motor and the rope pulley; the angle signal is acquired through an angle sensor arranged at the tail end of the output end of the motor, and the current and voltage signals on the motor are acquired through a current sensor and a voltage sensor arranged on the motor respectively.

The invention also provides a control method of the joint rehabilitation equipment, which comprises the following steps:

1) controlling the joint rehabilitation equipment to start and stop according to the detected electric quantity of the power supply system and a preset electric quantity threshold; when the detected electric quantity is larger than a preset electric quantity threshold value, the equipment start-stop module controls the joint rehabilitation equipment to start;

2) controlling the joint rehabilitation equipment to enter a zero moment training mode or a position training mode according to the input P value in the starting state of the joint rehabilitation equipment,

3) when the preset training time countdown is started, the motor drives the push rod to move to drive the joint wearing the exoskeleton system to perform rehabilitation training in a zero-torque training mode or a position training mode, and when the preset training time countdown is ended, the motor stops moving.

In some embodiments, in the step 3), in the zero-moment training mode, the operation of the motor is controlled according to the collected push-pull force on the push rod and a preset first push-pull force threshold, when the collected push-pull force on the push rod is greater than the first push-pull force threshold, the motor drives the push rod to move, and the resistance existing in the exoskeleton system during joint movement is overcome, so that the joint wearing the exoskeleton system moves freely; when the collected push-pull force on the push rod is equal to a first push-pull force threshold value, stopping the motor;

in the step 3), in the position training mode, the motor drives the push rod to move first, so as to drive the joint with the exoskeleton system to move under a preset initial joint angle training curve, the joint completes one rehabilitation movement, and before the next rehabilitation movement is started, the joint angle training curve of the next rehabilitation movement is planned again according to the time of the current joint rehabilitation movement, the rest time from the end of the current joint rehabilitation movement to the start of the next rehabilitation movement, the push-pull force on the push rod and a preset second push-pull force threshold; when the trigger signal is received and comprises a joint angle signal and a push-pull force signal, the motor drives the push rod to move, the joint of the wearable exoskeleton system is driven to move under the joint angle training curve which is re-planned, and the motor stops running when the trigger signal is not received.

In some embodiments, in step 3), when the preset training time countdown is not finished, determining the working state of the joint rehabilitation device according to the signal acquired by the sensor and the preset threshold corresponding to the signal acquired by the sensor, when the signal acquired by the sensor is greater than the preset threshold corresponding to the signal acquired by the sensor, the joint rehabilitation device works abnormally, the motor stops running, and when the signal acquired by the sensor is less than the preset threshold corresponding to the signal acquired by the sensor, the motor continues running; the signals collected by the sensor comprise joint angles, push-pull force signals on the push rod, torque signals at the output end of the motor and angle signals for the motor to drive the rope pulley to rotate; the joint angle signals are acquired by two inertial navigation sensors respectively arranged on a fixed part and a movable part of the joint; the push-pull force signal is acquired by a force sensor arranged at the connecting position of the telescopic rod and the sleeve; the torque signal is acquired by a torque sensor arranged between the motor and the rope pulley; the angle signal is acquired by an angle sensor arranged at the tail end of the output end of the motor.

The invention adopts the following technical scheme, and has the following advantages: 1. the exoskeleton system can be worn on a human body, the control system controls the driving system to operate, and the driving system drives the exoskeleton system to execute joint rehabilitation training. 2. The exoskeleton system comprises the first joint hoop, the second joint hoop and the push rod, is simple and light in structure, and reduces the wearing burden of a patient. 3. The control system comprises an equipment start-stop module, a mode determination module and a motor control module, wherein the equipment start-stop module controls the joint rehabilitation equipment to start and stop according to the electric quantity of a power supply system and a preset electric quantity threshold value, the mode determination module controls the joint rehabilitation equipment to enter a zero-torque training mode or a position training mode according to an input P value, the motor control module controls a motor to drive a push rod to move when the countdown of preset training time begins, the joint wearing the exoskeleton system is driven to perform rehabilitation training in the zero-torque training mode or the position training mode, and the motor is controlled to stop moving when the countdown of the preset training time ends, so that a patient can perform rehabilitation training in different training modes, and the rehabilitation training of the patient is facilitated. 4. The driving system, the control system and the power supply system are integrated in the control cabinet body, and the control cabinet body is a walking cabinet body or a fixed cabinet body, so that the load of a patient is reduced, and the use of the patient under different conditions can be met. 5. The joint rehabilitation training system also comprises a display system, so that the equipment can well interact with a doctor and a patient, the doctor can conveniently monitor and adjust parameters of the joint rehabilitation training process in real time, the working efficiency of the doctor is improved, and the enthusiasm of the patient for rehabilitation exercise is improved.

Drawings

Fig. 1 is a schematic view of a joint rehabilitation apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a rehabilitation apparatus for hip rehabilitation training provided by an embodiment of the present invention; fig. 2a is a side view of a rehabilitation device for hip rehabilitation training; fig. 2b is a front view of a rehabilitation device for hip rehabilitation training;

FIG. 3 is a schematic diagram of a rehabilitation apparatus for knee joint rehabilitation training according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a rehabilitation apparatus for ankle rehabilitation training provided by an embodiment of the present invention;

FIG. 5 is another schematic diagram of a rehabilitation apparatus for ankle rehabilitation training provided by an embodiment of the present invention; FIG. 5a is a side view of a rehabilitation apparatus for ankle rehabilitation training; FIG. 5b is a front view of a rehabilitation apparatus for ankle rehabilitation training;

FIG. 6 is a partial schematic view of the rehabilitation apparatus for hip rehabilitation training of FIG. 2;

FIG. 7 is a partial schematic view of the rehabilitation apparatus for ankle rehabilitation training of FIG. 5;

fig. 8 is a schematic diagram of a driving system in a joint rehabilitation apparatus according to an embodiment of the present invention;

FIG. 9 is a schematic view of a drive cord in a drive system of a joint rehabilitation apparatus according to an embodiment of the present invention;

fig. 10 is a block flow diagram of a control system in a joint rehabilitation apparatus according to an embodiment of the present invention;

fig. 11 is a control flow block diagram of a joint rehabilitation device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "inner", "outer", "transverse", "vertical", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the system or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used to define elements only for convenience in distinguishing between the elements, and unless otherwise stated have no special meaning and are not to be construed as indicating or implying any relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1, an embodiment of the present invention provides a joint rehabilitation apparatus, including:

an exoskeleton system 100 wearable between a stationary portion and a movable portion of a joint and configured to perform joint rehabilitation training;

a drive system 200 coupled to exoskeleton system 100 and configured to provide power to exoskeleton system 100 in performing joint rehabilitation exercises;

a control system 300 connected to the drive system 200 and configured to control operation of the drive system 200;

and a power supply system 400 connected to the control system 300 and configured to supply power to the control system 300.

In one example, as shown in fig. 1, 8, exoskeleton system 100 includes a first joint hoop 101, a second joint hoop 102, a push rod 103, and a drive rope 104; the first joint hoop 101 is fixed on a fixed part of the joint; the second joint hoop 102 is fixed on the movable part of the joint; at least one push rod 103 is provided, each push rod 103 comprises a sleeve and a telescopic rod movably arranged in the sleeve, the end part of each sleeve is hinged to the second joint hoop 102, and the end part of each telescopic rod is hinged to the first joint hoop 101; the middle part of the driving rope 104 is fixed on the telescopic rod, and two ends of the driving rope 104 respectively extend out of the vicinity of two end parts of the sleeve; the driving system 200 comprises a motor 201 and a rope pulley 202, the rope pulley 202 is fixed at the power output end of the motor 201, two U-shaped grooves are parallelly opened on the circumferential wall of the rope pulley 202, one end of the driving rope 104 is clockwise wound in one U-shaped groove on the rope pulley 202, and the other end of the driving rope 104 is anticlockwise wound on the other U-shaped groove on the rope pulley 202; therefore, when the motor 201 rotates in the forward and reverse directions, the rope pulley 201 is driven to rotate, the rope pulley 201 drives the driving rope and the telescopic rod to do axial telescopic movement relative to the sleeve, and then the joint between the first joint hoop 101 and the second joint hoop 102 rotates, so that automatic rehabilitation training of the joint is achieved.

In one example, the first joint hoop 101 comprises a first hoop housing 1011 conforming to the contour of the fixed portion of the joint, and the second joint hoop 102 comprises a second hoop housing 1021 conforming to the contour of the movable portion of the joint; for example, as shown in fig. 1-2, during the hip joint rehabilitation training, the first hoop shell 1011 is an annular structure adapted to the shape of the waist, and the second hoop shell 1021 is a conical ring adapted to the shape of the thigh; as shown in fig. 3, during the knee joint rehabilitation training, the first hoop shell 1011 is a conical ring adapted to the shape of the thigh, and the second hoop shell 1021 is a conical ring adapted to the shape of the shank; as shown in fig. 4 and 5, during the ankle rehabilitation training, the first hoop shell 1011 is a conical ring adapted to the shape of the lower leg, the second hoop shell 1021 is a heel shell adapted to the heel, or the second hoop shell 1021 is a toe shell adapted to the front sole; in order to achieve a better coating effect, the first hoop shell 1011 and the second hoop shell 1021 are scanned by a 3D scanner to generate a human body model, and 3D printing and manufacturing are adopted.

In some examples, the first and

second hoop housings

1011, 1021 are made of plastic.

In some examples, the first hoop housing 1011 and the second hoop housing 1021 are both semi-circular plastic housings, and the binding bands are arranged on two sides of the opening of the semi-circular plastic housings, so that when the joint hoop is used, the first joint hoop 101 is fixed on the fixed part of the joint by using the binding bands, and the second joint hoop 102 is fixed on the movable part of the joint by using the binding bands.

In some examples, in order to meet the rehabilitation requirement of joints with multiple degrees of freedom, such as hip joints and ankle joints, a plurality of push rods 103 may be disposed between the first joint hoop 101 and the second joint hoop 102, and both ends of each push rod 103 are hinged to the first joint hoop 101 and the second joint hoop 102, respectively. For example, as shown in fig. 2, when performing hip joint rehabilitation training, the first joint hoop 101 is sleeved on the waist of a human body, the second joint hoop 102 is sleeved on the thigh of the human body, two push rods 103 are arranged between the first joint hoop 101 and the second joint hoop 102, the push rods 103 are hinged to the first joint hoop 101 or the second joint hoop 102 through a cross-shaped saddle, and the cross-shaped saddle is hinged to the first joint hoop 101 or the second joint hoop 102; when the two push rods 103 stretch simultaneously, the hip joint can be used for flexion and extension rehabilitation training; when one push rod 103 extends (contracts) and the other push rod 103 contracts (extends), the hip joint can do abduction (adduction) rehabilitation training. For another example, as shown in fig. 5, when performing ankle rehabilitation training, the first joint hoop 101 is sleeved on the shank of a human body, the second joint hoop 102 is sleeved on the palm of the front foot of the human body, two push rods 103 are arranged between the first joint hoop 101 and the second joint hoop 102, and when the two push rods 103 are simultaneously stretched, the ankle can perform flexion and extension rehabilitation training; when one push rod 103 is extended (contracted) and the other push rod 103 is contracted (extended), the ankle joint can be used for eversion (inversion) rehabilitation training.

In one example, as shown in fig. 9, the driving rope 104 is a bowden cable structure, which includes a steel wire 1041, a plastic sleeve 1042 and a sleeve 1043 that are sequentially distributed from inside to outside; the plastic pipe 1042 and the sleeve 1043 have the same length, one end of the plastic pipe 1042 and one end of the sleeve 1043 are fixed to the sleeve of the push rod 103, the other end of the plastic pipe 1042 and the other end of the sleeve 1043 are fixed to the outer ring of the rope pulley 202, the steel wire rope 1041 can axially extend and retract relative to the plastic pipe 1042 and the sleeve 1043, one end of the steel wire rope 1041 is clockwise wound in a U-shaped groove on the rope pulley 202, and the other end of the steel wire rope 1041 is counterclockwise wound in another U-shaped groove on the rope pulley 202.

In some examples, as shown in fig. 10, the control system 300 includes a device start-stop module configured to control start-stop of the joint rehabilitation device according to the detected power amount of the power supply system 400 and a preset power amount threshold;

and the motor control module is configured to drive the push rod 103 to move by the motor 201 when the preset training time countdown is started, drive the joint wearing the exoskeleton system 100 to perform rehabilitation training in the zero-torque training mode or the position training mode, and control the motor 201 to stop moving when the preset training time countdown is ended.

In some examples, in the zero-moment training mode, the motor control module controls the operation of the motor 201 according to the collected push-pull force on the push rod 103 and a preset first push-pull force threshold (i.e. zero value), when the collected push-pull force on the push rod 103 is greater than the first push-pull force threshold, the motor 201 drives the push rod 103 to move, and the resistance existing in the exoskeleton system 100 during joint movement is overcome, so that the joint wearing the exoskeleton system 100 moves freely; when the collected push-pull force on the push rod 103 is equal to the first push-pull force threshold, the motor 201 stops operating; the push-pull force on the push rod 103 is acquired by a force sensor arranged at the connection position of the telescopic rod and the sleeve.

In some examples, in the position training mode, the motor control module controls the motor 201 to drive the push rod 103 to move, so as to drive the joint wearing the exoskeleton system 100 to move under a preset initial joint angle training curve (a curve indicating that the joint angle changes along with the time taken by a single rehabilitation exercise (the time taken by the finger joint to bend and stretch once)), so as to complete one rehabilitation training exercise, and replan joint angle training curve of the next rehabilitation exercise is planned again according to the time of the current joint rehabilitation exercise, the rest time of the current joint rehabilitation exercise until the next rehabilitation exercise is started, the push-pull force on the push rod 103 and a preset second push-pull force threshold before the next rehabilitation exercise is started, namely, the time taken by the single rehabilitation exercise is redetermined, and the joint angle training curve is updated according to the determined time; when the motor control module receives a trigger signal, the trigger signal includes a joint angle signal and a push-pull force signal, the motor control module controls the motor 201 to drive the push rod 103 to move, and the joint wearing the exoskeleton system 100 is driven to move under the joint angle training curve which is re-planned.

In some examples, the joint angle signal is acquired by two inertial navigation sensors respectively arranged on a fixed part and a movable part of the joint; the push-pull force signal is acquired by a force sensor arranged at the connecting position of the telescopic rod and the sleeve.

In some examples, the control system 300 further includes a state determination module configured to determine an operating state of the joint rehabilitation device according to the signal collected by the sensor and a preset threshold corresponding thereto before the preset training time countdown is not over, and transmit the operating state signal to the motor control module; when the signal acquired by the sensor is greater than the preset threshold corresponding to the signal, the joint rehabilitation equipment works abnormally, the state judgment module sends a signal to the motor control module, and the motor control module controls the motor 201 to stop running; when the signal collected by the sensor is smaller than the preset threshold corresponding to the signal, the joint rehabilitation device normally operates, the state judgment module sends a signal to the motor control module, and the motor control module controls the motor 201 to continue to operate.

In some examples, the signals collected by the sensor include joint angles, push-pull force signals on the push rod 103, torque signals at the output end of the motor 201, angle signals for the motor 201 to drive the rope pulley to rotate, and current and voltage signals of the motor 201; the joint angle signals are acquired by two inertial navigation sensors respectively arranged on a fixed part and a movable part of the joint; the push-pull force signal is acquired by a force sensor arranged at the connecting position of the telescopic rod and the sleeve; the torque signal is acquired by a torque sensor arranged between the motor 201 and the rope pulley 202; the angle signal is acquired by an angle sensor arranged at the tail end of the output end of the motor 201, and the current and voltage signals on the motor 201 are acquired by a current sensor and a voltage sensor arranged on the motor 201 respectively.

In some examples, the joint rehabilitation apparatus further comprises a display system 600, the display system 600 comprising a control display 601 and an interactive display 602, each connected to the control system 300; the control display 601 is arranged facing a doctor, and the control display 601 is configured to input a P value and rehabilitation training parameters in the training process, wherein the rehabilitation training parameters comprise training time, an initial joint angle training curve and the like; the interactive display 602 is disposed facing the patient and is configured to display current training information, such as a joint angle training curve, training time, an interactive force between the human body and the push rod (i.e., a push-pull force applied to both ends of the push rod 103), and patient rehabilitation training evaluation information.

In a preferred embodiment, the present invention further includes a control cabinet 700, and the driving system 200, the control system 300 and the power supply system 400 are integrated in the control cabinet 700.

In a preferred embodiment, the control cabinet 700 is a walking cabinet, and the control cabinet 700 can move along with the patient during the floor training, and in this case, the interactive display 602 can be an AR interactive display.

In a preferred embodiment, the control cabinet 700 is a stationary cabinet, the patient exercises on the treadmill, and the interactive display 602 may be a conventional display and is mounted in front of the treadmill.

In a preferred embodiment, the power system 400 is comprised of a battery pack that provides power for the rehabilitation training system.

In a preferred embodiment, the power system 400 may be comprised of an AC power source, a DC power source, or the like.

Additionally, as shown in fig. 11, an embodiment of the present invention further provides a method for controlling a joint rehabilitation device, including the following steps:

1) controlling the joint rehabilitation equipment to start and stop according to the detected electric quantity of the power supply system 400 and a preset electric quantity threshold; when the detected electric quantity is larger than a preset electric quantity threshold value, controlling the joint rehabilitation equipment to start;

2) controlling the joint rehabilitation equipment to enter a zero-moment training mode or a position training mode according to an input P value in a starting state of the joint rehabilitation equipment;

3) when the preset training time countdown is started, the motor 201 drives the push rod 103 to move, the joint wearing the exoskeleton system 100 is driven to perform rehabilitation training in a zero-moment training mode or a position training mode, and when the preset training time countdown is ended, the motor 201 stops moving.

In some embodiments, preferably, in step 3), in the zero-moment training mode, the operation of the motor 201 is controlled according to the collected push-pull force on the push rod 103 and a preset first push-pull force threshold (i.e. zero value), when the collected push-pull force on the push rod 103 is greater than the first push-pull force threshold, the motor 201 drives the push rod 103 to move, and the resistance existing in the exoskeleton system 100 during joint movement is overcome, so that the joint wearing the exoskeleton system 100 moves freely; when the collected push-pull force on the push rod 103 is equal to the first push-pull force threshold, the motor 201 stops operating.

In some embodiments, preferably, in the step 3), in the position training mode, the motor 201 drives the push rod 103 to move to drive the joint with the exoskeleton system 100 to move under a preset initial joint angle training curve, the joint completes one rehabilitation exercise, and before the next rehabilitation exercise is started, the joint angle training curve of the next rehabilitation exercise is re-planned according to the time of the current joint rehabilitation exercise, the rest time from the end of the current joint rehabilitation exercise to the start of the next rehabilitation exercise, the push-pull force on the push rod 103 and a preset second push-pull force threshold, that is, the time used by the single rehabilitation exercise is re-determined, and the joint angle training curve is updated according to the determined time; when a trigger signal is received, the trigger signal includes a joint angle signal and a push-pull force signal, the motor 201 drives the push rod 103 to move, so as to drive the joint wearing the exoskeleton system 100 to move under the joint angle training curve which is re-planned, and when the trigger signal is not received, the motor 201 stops operating.

In some embodiments, preferably, the joint angle signal is acquired by two inertial navigation sensors respectively arranged on a fixed part and a movable part of the joint; the push-pull force signal is acquired by a force sensor arranged at the connecting position of the telescopic rod and the sleeve.

In some embodiments, in step 3), when the preset training time is not counted down, when the signal acquired by the sensor is greater than the preset threshold corresponding to the preset training time, the joint rehabilitation device works abnormally, the motor 201 is controlled to stop running, and when the signal acquired by the sensor is less than the preset threshold corresponding to the preset training time, the motor 201 continues running; the signals collected by the sensor comprise joint angles, push-pull force signals on the push rod 103, torque signals at the output end of the motor 201, angle signals for the motor 201 to drive the rope pulley to rotate, and current and voltage signals of the motor 201; the joint angle signals are acquired by two inertial navigation sensors respectively arranged on a fixed part and a movable part of the joint; the push-pull force signal is acquired by a force sensor arranged at the connecting position of the telescopic rod and the sleeve; the torque signal is acquired by a torque sensor arranged between the motor 201 and the rope pulley 202; the angle signal is acquired by an angle sensor arranged at the tail end of the output end of the motor 201, and the current and voltage signals on the motor 201 are acquired by a current sensor and a voltage sensor arranged on the motor 201 respectively.

The device of the invention can be applied to the rehabilitation training of joints such as hip joints, knee joints, ankle joints and the like, and can also be applied to the rehabilitation training of joints such as shoulder joints, elbow joints, wrist joints and the like; for example, when rehabilitation training of shoulder joints is performed, the first joint hoop 101 is fixed on the shoulder of a patient, and the second joint hoop 102 is fixed on the upper arm of the patient; when the rehabilitation training of the elbow joint is performed, the first joint hoop 101 is fixed on the upper arm of the patient, and the second joint hoop 102 is fixed on the lower arm of the patient. When the wrist joint rehabilitation training is performed, the first joint hoop 101 is fixed on the forearm of the patient, and the second joint hoop 102 is fixed on the palm of the patient.

The present invention has been described with reference to the above embodiments, and the structure, arrangement, and connection of the respective members may be changed. On the basis of the technical scheme of the invention, the improvement or equivalent transformation of the individual components according to the principle of the invention is not excluded from the protection scope of the invention.

Claims

1. A joint rehabilitation apparatus, comprising:

2. A joint rehabilitation device according to claim 1, characterized in that:

the exoskeleton system comprises a first joint hoop, a second joint hoop, a push rod and a driving rope; the first joint hoop is fixed on a fixed part of the joint; the second joint hoop is fixed on the movable part of the joint; the number of the push rods is at least one, each push rod comprises a sleeve and a telescopic rod movably arranged in the sleeve, the end part of each sleeve is hinged to the second joint hoop, and the end part of each telescopic rod is hinged to the first joint hoop; the middle part of the driving rope is fixed on the telescopic rod, and two ends of the driving rope respectively extend out of the vicinity of two end parts of the sleeve; the driving system comprises a motor and a rope wheel, wherein the rope wheel is fixed at the power output end of the motor, two U-shaped grooves are formed in the circumferential wall of the rope wheel in parallel, one end of the driving rope is clockwise wound in one U-shaped groove in the rope wheel, and the other end of the driving rope is anticlockwise wound on the other U-shaped groove in the rope wheel.

3. A joint rehabilitation device according to claim 2, characterized in that: the first joint hoop comprises a first hoop shell matched with the shape of a fixed part of the joint, and the second joint hoop comprises a second hoop shell matched with the shape of a movable part of the joint.

4. A joint rehabilitation device according to claim 2, characterized in that:

the driving rope is of a Bowden wire structure and comprises a steel wire rope, a plastic sleeve and a sleeve which are sequentially distributed from inside to outside; plastic tubing and sleeve pipe length equal, plastic tubing and sheathed tube one end are fixed jointly on the sleeve of push rod, plastic tubing and sheathed tube other end are fixed jointly on the outer lane of rope sheave, wire rope can for plastic tubing and sleeve pipe axial concertina movement, wire rope's one end is twined clockwise and is established a U-shaped inslot on the rope sheave, wire rope's the other end is twined anticlockwise and is established on another U-shaped groove on the rope sheave.

5. A joint rehabilitation device according to claim 2, characterized in that: the control system comprises a device start-stop module, and is configured to control the start-stop of the joint rehabilitation device according to the detected electric quantity of the power supply system and a preset electric quantity threshold value;

6. A joint rehabilitation device according to claim 5, characterized in that: in a zero-moment training mode, the motor control module controls the operation of the motor according to the collected push-pull force on the push rod and a preset first push-pull force threshold, when the collected push-pull force on the push rod is greater than the first push-pull force threshold, the motor drives the push rod to move, and the resistance existing in the exoskeleton system during joint movement is overcome, so that the joint wearing the exoskeleton system freely moves; when the collected push-pull force on the push rod is equal to a first push-pull force threshold value, stopping the motor;

7. A joint rehabilitation device according to claim 5, characterized in that: the control system also comprises a state judgment module which is configured to judge the working state of the joint rehabilitation equipment according to the signals collected by the sensor and the corresponding preset threshold value before the preset training time countdown is not finished, and transmit the working state signals to the motor control module; the motor control module controls the motor to stop or continue to operate according to the received working state signal;

8. A control method of a joint rehabilitation apparatus according to any one of claims 2 to 7, characterized by comprising the steps of:

9. The control method of a joint rehabilitation apparatus according to claim 8, characterized in that: in the step 3), in a zero-moment training mode, controlling the operation of the motor according to the collected push-pull force on the push rod and a preset first push-pull force threshold, and when the collected push-pull force on the push rod is greater than the first push-pull force threshold, driving the push rod to move by the motor, overcoming the resistance of the exoskeleton system in the joint movement process, and enabling the joint wearing the exoskeleton system to move freely; when the collected push-pull force on the push rod is equal to a first push-pull force threshold value, stopping the motor;

in the step 3), in the position training mode, the motor drives the push rod to move first, so as to drive the joint with the exoskeleton system to move under a preset initial joint angle training curve, the joint completes one rehabilitation movement, and before the next rehabilitation movement is started, the joint angle training curve of the next rehabilitation movement is re-planned according to the time of the current joint rehabilitation movement, the rest time from the end of the current joint rehabilitation movement to the start of the next rehabilitation movement, the push-pull force on the push rod and a preset second push-pull force threshold value, namely the time used by the single rehabilitation movement is re-determined, and the joint angle training curve is updated according to the determined time; when the trigger signal is received and comprises a joint angle signal and a push-pull force signal, the motor drives the push rod to move, the joint of the wearable exoskeleton system is driven to move under the joint angle training curve which is re-planned, and the motor stops running when the trigger signal is not received.

10. The control method of a joint rehabilitation apparatus according to claim 8, characterized in that: in the step 3), when the preset training time countdown is not finished, judging the working state of the joint rehabilitation equipment according to the signal acquired by the sensor and the preset threshold corresponding to the signal acquired by the sensor, when the signal acquired by the sensor is greater than the preset threshold corresponding to the signal acquired by the sensor, the joint rehabilitation equipment works abnormally, the motor stops running, and when the signal acquired by the sensor is less than the preset threshold corresponding to the signal acquired by the sensor, the motor continues running; the signals collected by the sensor comprise joint angles, push-pull force signals on the push rod, torque signals at the output end of the motor and angle signals for the motor to drive the rope pulley to rotate; the joint angle signals are acquired by two inertial navigation sensors respectively arranged on a fixed part and a movable part of the joint; the push-pull force signal is acquired by a force sensor arranged at the connecting position of the telescopic rod and the sleeve; the torque signal is acquired by a torque sensor arranged between the motor and the rope pulley; the angle signal is acquired by an angle sensor arranged at the tail end of the output end of the motor.