CN113813136A - Linkage control system and method for upper and lower limb rehabilitation equipment - Google Patents

Linkage control system and method for upper and lower limb rehabilitation equipment Download PDF

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Publication number
CN113813136A
CN113813136A CN202110825440.0A CN202110825440A CN113813136A CN 113813136 A CN113813136 A CN 113813136A CN 202110825440 A CN202110825440 A CN 202110825440A CN 113813136 A CN113813136 A CN 113813136A
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lower limb
torque
motor
difference
restoring
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CN113813136B (en
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陈祥中
倪世佳
左旭辉
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Anhui Hagong Peugeot Medical And Health Industry Co ltd
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Anhui Hagong Peugeot Medical And Health Industry Co ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D17/00—Control of torque; Control of mechanical power
    • G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A61H2201/1269—Passive exercise driven by movement of healthy limbs
    • A61H2201/1276—Passive exercise driven by movement of healthy limbs by the other leg or arm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5079—Velocity sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention relates to the field of control of upper and lower limb rehabilitation equipment, in particular to a linkage control system and method of the upper and lower limb rehabilitation equipment. The system comprises a linkage controller, wherein the linkage controller is used for outputting a restoring moment and superposing the restoring moment on an upper limb motor and a lower limb motor. The invention has the beneficial effects that: according to the invention, the angle difference and the angular speed difference of the upper and lower limbs are obtained and combined with the linkage controller to output the restoring torque to be superposed on the upper limb motor and the lower limb motor, when the upper limb angle and the lower limb angle generate position deviation, the upper and lower limbs can be subjected to the restoring torque with equal magnitude and opposite directions to maintain the upper and lower limbs at the same angle position, and then the unequal distribution of the restoring torque of the upper and lower limbs is completed through the torque distributor, so that the mutual communication and adjustability of stress are realized, and the problem that the existing upper and lower limb rehabilitation equipment does not have the functions of upper and lower limb torque position binding and torque distribution is solved.

Description

Linkage control system and method for upper and lower limb rehabilitation equipment
Technical Field
The invention relates to the field of control of upper and lower limb rehabilitation equipment, in particular to a linkage control system and method of the upper and lower limb rehabilitation equipment.
Background
With the development of mechanical and electronic technologies, mechanical rehabilitation equipment plays an increasingly important role in the medical field. In the field of hemiplegia rehabilitation, the rehabilitation device for upper and lower limbs is used in cooperation with limb movement, which is a common rehabilitation treatment means and can help patients to recover the functions of nerves and muscles. At present, upper and lower limb rehabilitation equipment adopts the technical scheme that force is respectively applied to upper limbs and lower limbs through end handles of the upper limbs and the lower limbs so as to enable the upper limbs and the lower limbs to do circular motion. The existing upper and lower limb rehabilitation equipment cannot bind and distribute the torque and the position of the upper and lower limbs, and a patient can perform linkage training, can mobilize four limbs to move simultaneously, can exercise the coordination capacity of the four limbs of the patient well, can also exert the effect of the healthy limb of the patient, and drives the affected limb of the patient through the healthy limb, so that the training process is controlled autonomously.
Disclosure of Invention
In order to solve the problem that the upper and lower limb rehabilitation equipment in the prior art does not have the functions of upper and lower limb torque position binding and distribution, the invention provides a linkage control system and method for the upper and lower limb rehabilitation equipment, and the specific scheme is as follows:
a linkage control system for upper and lower limb rehabilitation equipment comprises an upper limb motor and a lower limb motor and is characterized by comprising a linkage controller, wherein the linkage controller is used for outputting a restoring torque and superposing the restoring torque on the upper limb motor and the lower limb motor.
Specifically, the device further comprises a torque distributor, wherein the torque distributor is used for distributing the restoring torque generated by the linkage controller and superposing the distributed restoring torque on the upper limb motor and the lower limb motor.
Specifically, still include the training controller, the training controller is connected with upper limbs motor and low limbs motor, and the training controller includes following work step: the training controller outputs torque according to a set training target and superposes the torque on the upper limb motor and the lower limb motor.
The method for the upper and lower limb rehabilitation equipment linkage control system comprises the following steps:
s1, obtaining angles and angular velocities of the upper and lower limbs, and calculating to obtain an angle difference and an angular velocity difference of the upper and lower limbs;
s2, outputting a restoring moment by the linkage controller according to the angle difference and the angular speed difference of the upper and lower limbs;
and S3, the torque distributor distributes the restoring torque and respectively superposes the restoring torque on the upper limb motor and the lower limb motor.
Specifically, the upper and lower limb angular difference and the angular velocity difference are the angular difference and the angular velocity difference of the rotation of the upper limb end handle and the lower limb end handle of the rehabilitation device.
Specifically, step S2 specifically includes:
s2.1, outputting F through proportional control of angle differencep：
Fp＝kpΔθ；
The angular difference is simultaneously output F through integral controli：
Fi＝ki∫Δθdt；
The angular velocity difference is output F through differential controld：
Fd＝kdΔω；
S2.2, adding Fp、Fi、FdSuperposing to obtain a return torque;
F＝kpΔθ+kdΔω+ki∫Δθdt；
wherein k ispThe strength of the influence of the angular difference on the restoring force, kiThe strength of the influence of the accumulation of the angular difference on the restoring force, kdIn order to determine the influence strength of the angular difference on the system damping, Δ θ is the angular difference, and Δ ω is the angular velocity difference.
Specifically, step S2.3 is further included after step S2.2, specifically, amplitude modulation is performed on the output of the linkage controller, and the threshold value is set to a value that allows the upper limb motor and the lower limb motor to operate at the maximum rated current.
Specifically, step S3 specifically includes: the torque distributor distributes the restoring torque to an upper limb motor and a lower limb motor;
the moment superposed on the upper limb motor is n.F;
the moment superposed on the lower limb motor is (1-n) F;
wherein n is a moment distribution coefficient in the range of [ 0; 1],; f is the restoring moment.
The invention has the beneficial effects that:
(1) according to the invention, the angle difference and the angular speed difference of the upper limb and the lower limb are obtained and combined with the linkage controller to output the restoring torque to be superposed on the upper limb motor and the lower limb motor, when the upper limb angle and the lower limb angle generate position deviation, the upper limb and the lower limb can be subjected to the restoring torque with equal magnitude and opposite directions to enable the upper limb and the lower limb to be maintained at the same angle position, and then the unequal distribution of the restoring torque of the upper limb and the lower limb is completed through the torque distributor, so that the mutual communication and the adjustability of stress are realized, and the problem that the existing upper limb and lower limb rehabilitation equipment does not have the functions of upper limb and lower limb torque position binding and torque distribution is solved.
(2) The training process can be controlled independently by a patient by arranging a training controller to superpose torque on the upper limb motor and the lower limb motor.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a flow chart of the method of the present invention.
The labels in the figure are specifically:
1. a linkage controller; 2. a torque distributor; 3. an upper limb motor; 4. a lower limb motor; 5. a training controller.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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.
The invention discloses a linkage control system and a method for upper and lower limb rehabilitation equipment, which specifically comprise the following steps:
as shown in fig. 1, the linkage control system for upper and lower limb rehabilitation devices comprises a linkage controller 1, wherein the linkage controller 1 is used for outputting a restoring torque and superposing the restoring torque on an upper limb motor 3 and a lower limb motor 4.
The device further comprises a torque distributor 2, wherein the torque distributor 2 is used for distributing the restoring torque generated by the linkage controller 1 and superposing the distributed restoring torque on the upper limb motor 3 and the lower limb motor 4.
Still include training controller 5, training controller 5 is connected with upper limbs motor 3 and low limbs motor 4, and training controller 5 includes following work step: the training controller 5 outputs a torque according to a set training target, and the torque output from the training controller 5 is applied to the upper and lower limbs by the upper limb motor 3 and the lower limb motor 4.
As shown in fig. 2, the method for the above system comprises the steps of:
s1, obtaining angles and angular velocities of the upper and lower limbs, and calculating to obtain an angle difference and an angular velocity difference of the upper and lower limbs;
s2, the linkage controller 1 outputs a restoring moment according to the angle difference and the angular speed difference of the upper and lower limbs;
and S3, the torque distributor 2 distributes the restoring torque and respectively superposes the restoring torque on the upper limb motor 3 and the lower limb motor 4 to enable the upper limb angle and the lower limb angle to be the same.
The upper limb angle difference and the lower limb angle difference are the angle difference and the angle speed difference of the rotation of the upper limb terminal handle and the lower limb terminal handle of the rehabilitation equipment.
Step S2 specifically includes:
s2.1, outputting F through proportional control of angle differencep：
Fp＝kpΔθ；
The effect that this link produced is that produce and let upper and lower limbs to the return moment of similar direction motion, the deviation is bigger, and the restoring force that produces is stronger.
Parameter kpRepresenting the intensity of the influence of the angular difference on the restoring force, kpThe larger the recovery, the stronger the recovery.
The angular difference is simultaneously output F through integral controli：
Fi＝ki∫Δθdt；
The output torque of the link can be increased along with the accumulation of the angle difference, and the static difference caused by the long-time angle difference can be eliminated.
Parameter kiRepresenting the intensity of the effect of the accumulation of angular differences on the restoring force, kiThe larger the recovery, the stronger the recovery.
The angular velocity difference is output F through differential controld：
Fd＝kdΔω；
The output torque of the link can block the change of the angle difference of the upper and lower limbs, the damping is added in the system, and the stability of the system is improved.
Parameter kdIndicating the strength of the effect of the angular difference on the damping of the system, kdThe larger the damping, the stronger the system damping.
S2.2, adding Fp、Fi、FdSuperposing to obtain a return torque;
F＝kpΔθ+kdΔω+ki∫Δθdt；
wherein k ispThe strength of the influence of the angular difference on the restoring force, kiThe strength of the influence of the accumulation of the angular difference on the restoring force, kdIn order to determine the influence strength of the angular difference on the system damping, Δ θ is the angular difference, and Δ ω is the angular velocity difference.
The restoring moment generated by the linkage controller 1 keeps the upper and lower limb motors 4 at the same angle, and when position deviation occurs, the upper and lower limbs are subjected to the action of equal and opposite moments to bind the moment and the position of the upper and lower limbs, and the forces are mutually communicated.
Step S2.3 is further included after step S2.2, specifically, amplitude modulation is performed on the output of the linkage controller 1, and the threshold value is set to a value at which the upper limb motor 3 and the lower limb motor 4 operate at the maximum rated current.
Step S3 specifically includes: the torque distributor 2 distributes the restoring torque to an upper limb motor 3 and a lower limb motor 4;
the moment superposed on the upper limb motor 3 is n · F;
the torque superimposed on the lower limb motor 4 is (1-n) · F;
when the torque is 0.5, the torques distributed to the upper and lower limbs are the same;
when the torque is larger than 0.5, the moment distributed to the upper limb is larger; when the torque is equal to 1, all the torque is distributed to the upper limb;
when the torque is less than 0.5, the torque distributed to the lower limbs is large; equal to 0, all moments are distributed to the lower limbs.
Wherein n is a moment distribution coefficient in the range of [ 0; 1 ]; f is the restoring moment.
The moment distributor distributes the restoring moment, distributes the restoring moment on the basis of binding the moment and the position of the linkage controller 1, carries out customized adjustment on the rehabilitation degrees of the upper limbs and the lower limbs of different patients, amplifies the strength of the affected limbs of the patients, realizes the coordination training of the affected limbs of the healthy limbs, and fully mobilizes the training initiative of the patients.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (8)

1. The utility model provides a recovered equipment coordinated control system of upper and lower limbs, includes upper limbs motor (3), low limbs motor (4), its characterized in that, including coordinated controller (1), coordinated controller (1) is used for outputting the restoring moment and superposes on upper limbs motor (3), low limbs motor (4).
2. The coordinated control system of upper and lower limb rehabilitation devices according to claim 1, characterized by further comprising a torque distributor (2), wherein the torque distributor (2) is used for distributing the restoring torque generated by the coordinated controller (1) and superposing the distributed restoring torque on the upper limb motor (3) and the lower limb motor (4).
3. The coordinated control system for upper and lower limb rehabilitation equipment according to claim 1, further comprising a training controller (5), wherein the training controller (5) is connected with the upper limb motor (3) and the lower limb motor (4), and the training controller (5) comprises the following working steps: the training controller (5) outputs torque according to a set training target and superposes the torque on the upper limb motor (3) and the lower limb motor (4).
4. A method for use in a coordinated control system for upper and lower limb rehabilitation devices according to claims 1-3, characterized by the steps of:
s1, obtaining angles and angular velocities of the upper and lower limbs, and calculating to obtain an angle difference and an angular velocity difference of the upper and lower limbs;
s2, the linkage controller (1) outputs a restoring moment according to the angle difference and the angular speed difference of the upper and lower limbs;
and S3, the torque distributor (2) distributes the restoring torque and respectively superposes the restoring torque on the upper limb motor (3) and the lower limb motor (4).
5. The coordinated control system for upper and lower limb rehabilitation devices according to claim 1, wherein the angular difference and angular velocity difference between the upper limb end handle and the lower limb end handle of the rehabilitation device are angular difference and angular velocity difference of the rotation of the upper limb end handle and the lower limb end handle.
6. The coordinated control system for upper and lower limb rehabilitation equipment according to claim 1, wherein step S2 is specifically:
s2.1, outputting F through proportional control of angle differencep：
Fp＝kpΔθ；
The angular difference is simultaneously output F through integral controli：
Fi＝ki∫Δθdt；
The angular velocity difference is output F through differential controld：
Fd＝kdΔω；
S2.2, adding Fp、Fi、FdSuperposing to obtain a return torque;
F＝kpΔθ+kdΔω+ki∫Δθdt；
wherein k ispThe strength of the influence of the angular difference on the restoring force, kiThe strength of the influence of the accumulation of the angular difference on the restoring force, kdIn order to determine the influence strength of the angular difference on the system damping, Δ θ is the angular difference, and Δ ω is the angular velocity difference.
7. The coordinated control system for upper and lower limb rehabilitation devices according to claim 1, characterized in that after step S2.2, a step S2.3 is further included, specifically, amplitude modulation is performed on the output of the coordinated controller (1), and the threshold value is set to a value that enables the upper limb motor (3) and the lower limb motor (4) to operate at the maximum rated current.
8. The coordinated control system for upper and lower limb rehabilitation equipment according to claim 1, wherein step S3 is specifically: the torque distributor (2) distributes the restoring torque to the upper limb motor (3) and the lower limb motor (4);
the moment superposed on the upper limb motor (3) is n.F;
the moment superposed on the lower limb motor (4) is (1-n) F;
wherein n is a moment distribution coefficient and ranges from [0, 1 ]; f is the restoring moment.
CN202110825440.0A 2021-07-21 2021-07-21 Upper and lower limb rehabilitation equipment linkage control system and method Active CN113813136B (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019082271A1 (en) * 2017-10-24 2019-05-02 日本精工株式会社 Electric power steering apparatus
CN111759669A (en) * 2020-07-28 2020-10-13 常州锦澄医疗设备有限公司 Upper and lower limb cooperative intelligent rehabilitation robot system based on electrical stimulation and working method thereof
WO2021117063A1 (en) * 2019-12-11 2021-06-17 Abhishek Rai A multi-joint rehabilitation system
CN112999011A (en) * 2019-12-19 2021-06-22 沈阳新松机器人自动化股份有限公司 Control method of upper and lower limb rehabilitation training device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019082271A1 (en) * 2017-10-24 2019-05-02 日本精工株式会社 Electric power steering apparatus
WO2021117063A1 (en) * 2019-12-11 2021-06-17 Abhishek Rai A multi-joint rehabilitation system
CN112999011A (en) * 2019-12-19 2021-06-22 沈阳新松机器人自动化股份有限公司 Control method of upper and lower limb rehabilitation training device
CN111759669A (en) * 2020-07-28 2020-10-13 常州锦澄医疗设备有限公司 Upper and lower limb cooperative intelligent rehabilitation robot system based on electrical stimulation and working method thereof

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