CN114712170A - Gait correction system and method for regulating and controlling upper limb swing - Google Patents

Gait correction system and method for regulating and controlling upper limb swing Download PDF

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CN114712170A
CN114712170A CN202210262462.5A CN202210262462A CN114712170A CN 114712170 A CN114712170 A CN 114712170A CN 202210262462 A CN202210262462 A CN 202210262462A CN 114712170 A CN114712170 A CN 114712170A
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gait
arm
motor
upper limb
swing
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CN114712170B (en
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杨巍
余林繁
颜泽皓
徐铃辉
杨灿军
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Zhejiang University of Science and Technology ZUST
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Abstract

The invention discloses a gait correcting system for regulating and controlling the swing of an upper limb, which comprises a PID controller, two IMUs (inertial measurement units) connected with the PID controller and an arm driving mechanism, wherein the two IMUs are respectively fixed on two legs and used for collecting gait information of the legs, the arm driving mechanism respectively comprises an arm ring, a momentum wheel and a motor, the motor is fixed on the arm ring, the motor drives the momentum wheel to rotate, the arm ring is used for being fixed on an arm corresponding to an abnormal leg, the momentum wheel is used for providing a moment for the arm when rotating, so that the arm swings towards a swing direction by a set angle, and the motor is electrically connected with the PID controller. The invention also discloses a gait correction method for regulating and controlling the swing of the upper limb. The invention has small volume and low cost and realizes autonomous regulation.

Description

Gait correction system and method for regulating and controlling upper limb swing
Technical Field
The invention relates to the technical field of rehabilitation, in particular to a gait correction system and method for regulating and controlling upper limb swing.
Background
With the development of economy and the development of transportation industry, the physical disabilities caused by accidental injuries such as car accidents, building construction and the like account for 20-30% of the incidence rate of the physical disabilities, and the proportion tends to increase continuously. Some people only pay attention to treatment after the limb is disabled, and do not carry out rehabilitation training after the operation, the error recognition of the heavy operation for rehabilitation enables many people to become disabled people due to sequelae after accidental injury or cerebrovascular disease, and finally the functions of the limbs are lost.
Traditional rehabilitation training is mainly performed by rehabilitation doctors, and one-to-one programmed rehabilitation therapy is needed. The conventional rehabilitation training process usually consumes a lot of manpower, and the training effect is influenced by the level of a therapist. In addition, the conventional rehabilitation training process is difficult to organically combine the load, the step and the balance, and the abnormal gait of the patient is difficult to eliminate. At present, a plurality of rehabilitation devices for gait training exist, and the rehabilitation devices can be used for solving various problems existing in the rehabilitation training process of patients with lower limb injuries due to the characteristics of accurate and controllable training modes, repeated and stable motion input, timely and objective feedback and the like.
In walking and other movements, the movements of the upper limbs and the lower limbs of human beings affect each other, and various studies show that natural arm swing is helpful for taking a step, the stride of a patient is increased, the gait of the patient can be normalized by increasing arm swing in a rehabilitation plan, and the normal upper limb swing can better balance the angular momentum of the human body and maintain the balance state of the human body from the mechanical point of view. The regulation of the upper limbs may have the additional advantage of reducing the energy expenditure of the gait of the patient, thereby increasing the effort he/she takes to walk a certain distance and thus increasing the mobility of the patient.
ReWalk corporation introduced ReStore for the rehabilitation of stroke hemiplegia patients, which is an electrically powered, lightweight, flexible, externally-fitted device for gait rehabilitation of lower limb handicapped, as shown in figure one. The ReStore flexible design combines natural motion with plantarflexion and dorsiflexion assistance, adaptively synching with the patient's own gait to facilitate functional gait training. Real-time data feedback and adjustable levels of assistance enable the rehabilitation practitioner to optimize the course of treatment and track the progress of each patient, but are relatively complex and expensive to manufacture; the cooperation of doctors is still needed when in use; and the effect of the upper limbs on the movement is not taken into account.
In the invention patents disclosed at present, the lower limb rehabilitation robot proposed by the patent of the invention published by Shanghai university of transportation and currently under examination, namely a flexible lower limb rehabilitation robot for assisting a cerebral apoplexy patient to recover gait (application number: 202011358661.3), is composed of a plurality of mechanisms, a steel wire is driven by a motor to drive each joint so as to help the hemiplegic patient to return to normal gait, but the influence of upper limb movement on the whole gait is not considered, and like the patent of the invention published under examination, namely an upper limb swinging device and a walking rehabilitation training robot with the device (application number: 201710811001.8), an upper limb swinging device capable of lifting, retracting and extending outwards is used for simulating the swinging of the upper limb of a normal person in a walking state, so that the patient walks more harmoniously, the rehabilitation treatment effect is increased, but the swinging synthesized by the device is still different from normal swinging, moreover, the device cannot be carried and can only be used with corresponding medical equipment, which undoubtedly reduces the application space.
In summary, the following problems still exist in the current rehabilitation therapy:
1. or the whole volume is large, the structure is complex and the cost is high;
2. in addition, the existing exoskeleton rehabilitation equipment uses complex structures and algorithms in order to realize the simulation of complete lower limb movement, which increases the cost of the rehabilitation device;
3. meanwhile, the coordination movement of the human body is not considered thoroughly, the influence of the movement of the upper limb on the whole gait is not involved, or the simulation of the swing of the upper limb is not real enough.
In view of the above, further improvements are needed in the current rehabilitation therapies.
Disclosure of Invention
The invention aims to provide a gait correcting system and a gait correcting method for regulating and controlling the swing of an upper limb to overcome the defects of the prior art, which belong to a follow-up gait rehabilitation device with light overall structure and low manufacturing cost.
In order to achieve the above purpose, the gait correcting system for regulating and controlling the swing of the upper limb comprises a PID controller, two IMUs and an arm driving mechanism, wherein the two IMUs are connected with the PID controller, the two IMUs are respectively fixed on two legs and used for collecting gait information of the legs, the arm driving mechanism respectively comprises an arm ring, a momentum wheel and a motor, the motor is fixed on the arm ring, the motor drives the momentum wheel to rotate, the arm ring is used for being fixed on an arm corresponding to the abnormal leg, the momentum wheel is used for providing a moment for the arm when rotating, so that the arm swings towards the swing direction by a set angle, and the motor is electrically connected with the PID controller.
Preferably, for convenience of operation, an output shaft of the motor is connected with the momentum wheel.
Preferably, the output shaft of the motor is connected with a small bevel gear, the arm ring is connected with a large bevel gear, the large bevel gear is meshed with the small bevel gear, the motor is transversely arranged through the structure so as to reduce the weight of the whole device, meanwhile, the function of driving the arm to swing can be realized, the motor is rotated to drive the motor to swing to generate acting force in a corresponding direction, and then the small bevel gear rotates to drive the large bevel gear to rotate, so that torque is applied to the arm.
Preferably, the arm ring is arranged at the middle position of the small arm in order to ensure more accurate operation of the arm.
In order to facilitate the installation, more than two positioning rings are arranged on the arm ring.
Preferably, the motor is a motor with the model number of MAXON EC90, the rated rotating speed of the motor is 4000rpm, and the rated output torque of the motor is 15 N.m.
The invention also discloses a gait correction method for regulating and controlling the swing of the upper limb, which uses the principle of a reaction flywheel and specifically comprises the following steps:
s1, respectively installing the two IMUs at the positions of the two legs, installing the arm ring on the arm corresponding to the abnormal leg, and respectively reading the joint angle theta of the normal side leg through the two IMUs during gait training1And abnormal side joint angle theta2；
S2, comparing the gait difference values of the legs at two sides in a gait cycle, and taking the gait difference value as a control parameter of a motor;
s3, applying a certain acceleration a by a motor in the next gait cycle, and realizing the stability of the acceleration value by a PID control mode; due to the principle of angular momentum conservation, the motor and the momentum wheel apply certain torque to the arm at the moment, so that the arm can swing by a larger amplitude beta; and because of the linkage effect of the arms and the legs, the gait can also change, so that the gait of the abnormal side is closer to the gait of the normal side; and finally realize the correction of abnormal gait through continuous measurement and adjustment.
Compared with the prior art, the gait correcting system and the gait correcting method for regulating and controlling the swing of the upper limb, which are obtained by the invention, mainly aim at the patients who have hemiplegia due to apoplexy or other reasons and basically realize walking ability but still have abnormal gait after rehabilitation training, the gait of the patients can be regulated by the system to ensure that the patients can return to normal walking, in the using process, the patients buckle the arm rings on the arms at one side of the abnormal gait and are fixed by primary and secondary pastes, and the IMU for detecting the gait data is arranged at the proper position of the legs, in the using process, the equipment can detect the gait data normally detected by the patients, compare with the gait data at the abnormal side, indirectly influence the gait of the patients by regulating the arm swing amplitude at the abnormal side by the equipment, carry out continuous regulation in the walking process, ensure that the patients are separated from the influence of the abnormal gait, and have simpler integral structure compared with the existing equipment, small and exquisite, low cost can realize independently adjusting, need not the operation of professional, makes whole operation more convenient.
Drawings
FIG. 1 is a schematic diagram of the gait modification system for controlling the swing of the upper limb according to the invention;
FIG. 2 is a schematic view showing the overall structure of a gait correction system for controlling the swing of the upper limb according to embodiment 1;
FIG. 3 is a schematic configuration diagram of an arm driving mechanism in embodiment 1;
FIG. 4 is a schematic flow chart of a gait modification method for controlling swing of an upper limb in embodiment 1;
FIG. 5 is a graph showing data on walking gait for a patient with impaired lower limb according to example 1;
FIG. 6 is a graph showing arm swing data of a patient with a damaged lower limb according to example 1.
Fig. 7 is a schematic structural view of the arm driving mechanism in embodiment 2.
In the figure: PID controller 1, IMU2, arm driving mechanism 3, arm ring 4, momentum wheel 5, motor 6, small bevel gear 7, large bevel gear 8 and positioning ring 9.
Detailed Description
The invention is further illustrated by the following figures and examples.
Example 1:
as shown in fig. 2 to 3, the gait correcting system for regulating and controlling the swing of the upper limb provided in this embodiment includes a PID controller 1, two IMUs 2 connected to the PID controller 1, and an arm driving mechanism 3, where the two IMUs 2 are respectively fixed to two legs and used for collecting gait information of the legs, the arm driving mechanism 3 respectively includes an arm ring 4, a momentum wheel 5, and a motor 6, where the motor 6 is fixed to the arm ring 4, the motor 6 drives the momentum wheel 5 to rotate, the arm ring 4 is used for being fixed to an arm corresponding to an abnormal leg, the momentum wheel 5 is used for providing a moment to the arm when rotating, so that the arm swings in a swing direction by a set angle, and the motor 6 is electrically connected to the PID controller 1.
Preferably, for convenience of operation, an output shaft of the motor 6 is connected to the momentum wheel 5.
In operation, two IMUs 2 are respectively arranged at two leg positions, the arm ring 4 is arranged on the arm corresponding to the abnormal leg, and the normal side leg joint angle theta is respectively read through the two IMUs 2 in gait training1And abnormal side joint angle theta2(ii) a Then, by comparing the gait difference values of the legs at two sides in a gait cycle, the gait difference value is used as a control parameter of the motor 6; in the next gait cycle, a certain acceleration a is applied by the motor 6, and the stability of the acceleration value is realized by a PID control mode; due to the principle of angular momentum conservation, the motor 6 and the momentum wheel 5 apply certain torque to the arm at the moment, so that the arm can swing by a larger amplitude beta; and because of the linkage effect of the arm and the leg, the gait changes, so that the gait of the abnormal side is closer to the gait of the normal side; and finally realize the correction of abnormal gait through continuous measurement and adjustment.
In order to ensure more accurate operation of the arm, the arm ring 4 is arranged at the middle position of the small arm.
In order to facilitate installation, the arm ring 4 is provided with more than two positioning rings 9, the positioning rings 9 are fixed by being passed through the primary and secondary pastes in the later period of the positioning rings 9, and the arm ring 4 is quickly installed on the arm.
The motor 6 is a motor 6 with the model of MAXON EC90, the rated rotating speed of the motor 6 is 4000rpm, and the rated output torque of the motor 6 is 15 N.m.
The IMU described in the present embodiment is an inertial sensor, which belongs to the conventional technology, and thus is not described in detail.
The gait correcting system for regulating and controlling the swing of the upper limb mainly uses the principle of a reaction flywheel, because the total amount of angular momentum of an isolated system is required to be kept unchanged, if one part of the system starts to rotate in one direction, the other part of the system is required to rotate in the opposite direction, otherwise, the total angular momentum is changed.
In order to normally regulate and control the gait of a human body, when the abnormal side is about to move to the limit each time, namely the third state and the fifth state in the figure 1, the motor 6 drives the momentum wheel 5 to rotate to apply force to the arm on the side corresponding to the leg part on the abnormal side, the time node is determined by the IMU installed on the leg part, and the motor 6 drives the momentum wheel 5 to apply force; when the arm pendulum reached foremost, motor 6 drove momentum wheel 5 clockwise and rotates, just will produce the rotatory moment of torsion of a clockwise, in order to make the momentum conservation, whole arm can receive the rotatory moment of torsion of an anticlockwise, so can swing bigger angle forward, again through the linkage of arm and shank, drive the shank and step forward farther distance, similar with previous process when the arm pendulum fell last, just the opposite direction for the effect of arm backward swing.
For convenience of calculation, the arm is regarded as a rod member loaded with a circular weight, the weight of the weight (the arm driving mechanism 3) loaded thereon is about 1kg, the mass of the motor 6 in the device occupies most part, and may be approximated as the radius of the circular weight is 0.045m of the radius of the motor 6, and if the arm length of an adult male is about 0.733m, wherein the upper arm is 0.313m long, the forearm is 0.237m long, and the hand is 0.183m long, the loading position of the arm driving mechanism 3 is approximately at the middle position of the forearm, and the distance from the shoulder joint is about 0.43m, so that the moment of inertia J of the whole arm can be calculated0＝9×0.7332/3+1/2×1×0.0452+1/2×1×0.432Approximately equal to 1.8, the swing amplitude of the arm of the human body is approximately 45 degrees when the human body walks, approximately 90 steps can be walked in one minute when the human body walks at normal speed by normal adult men, and the swing of the arm can be regarded as free swing under the action of gravity when the human body walksThe uniform acceleration and the uniform deceleration movement, when the arm rotates to be close to the highest point, the angular velocity of the arm swing is minimum and the angular acceleration is maximum, and the angular velocity and the angular acceleration are calculated according to the formula
Figure BDA0003550588000000071
The angular acceleration is calculated to be about 7.0rad/s2The arm velocity at the end of the arm swing is approximately 0.14 rad/s. In the embodiment, the motor 6 is a MAXON EC90 motor, the rated rotating speed is 4000rpm, the rated output torque is 15N.m, and the moment of inertia J of the momentum wheel 5 around the rotating shaft is 6 multiplied by 10-4kg/m2The moment of rotation of the momentum wheel 5 is provided by the motor 6, so that when the motor 6 rotates at rated power, the momentum wheel generates 15N.m of acting moment on the isolated system of the arm, which is enough to drive the arm to rotate for a certain angle.
As shown in fig. 5 and 6, the abnormal side of the arm in the graph is the opposite side of the abnormal side of the leg, the data is a gait data and a hand movement data graph after the rehabilitation of a hemiplegic patient, it can be clearly seen that there is an obvious problem in the abnormal side leg and the arm swing data of the corresponding side of the patient, the data amplitude of the abnormal side leg is small and there is an obvious backward deviation, which indicates that when the patient takes a step forward in the walking process, the abnormal side leg is difficult to take a sufficient distance forward due to habitual problems, which results in that the angle of the abnormal side taken forward is smaller than that of the normal side; also, when the support leg is taken on the normal side, the abnormal side leg portion is difficult to support well, which causes the patient to involuntarily lean forward in the center of gravity to take the normal side leg portion farther, which results in the abnormal side backward movement at a larger angle than the normal side. Meanwhile, because the arms and the legs move in the walking process to have a certain linkage effect, the arm on one side corresponding to the abnormal side leg has the conditions of small movement amplitude and irregular angle change in the moving process, and therefore the movement adjustment of the corresponding arm can be realized through the invention, so that the movement adjustment of the leg is closer to the gait of normal side walking.
As shown in fig. 4, the present embodiment further discloses a gait correction method for regulating and controlling the swing of an upper limb, which includes using one of the above gait correction systems for regulating and controlling the swing of an upper limb, and the method uses the principle of a reaction flywheel, and specifically includes the following steps:
s1, firstly, two IMUs 2 are respectively arranged at two leg positions, the arm ring 4 is arranged on the arm corresponding to the abnormal leg, and the normal side leg joint angle theta is respectively read through the two IMUs 2 during gait training1And abnormal side joint angle theta2；
S2, comparing the gait difference values of the legs at two sides in a gait cycle, and taking the gait difference value as a control parameter of the motor 6;
s3, applying a certain acceleration a by the motor 6 in the next gait cycle, and realizing the stability of the acceleration value by a PID control mode; due to the principle of angular momentum conservation, the motor 6 and the momentum wheel 5 apply certain torque to the arm at the moment, so that the arm can swing by a larger amplitude beta; and because of the linkage effect of the arms and the legs, the gait can also change, so that the gait of the abnormal side is closer to the gait of the normal side; and finally realize the correction of abnormal gait through continuous measurement and adjustment.
The invention mainly aims at the patients who basically realize walking ability but still have abnormal gait after rehabilitation training due to apoplexy or other reasons, the gait of the patients is adjusted by the system to ensure that the patients can recover normal walking, in the using process, the patients buckle the arm ring on the arm at one side of the abnormal gait and are fixed by the primary-secondary paste, and the IMU for detecting the gait data is arranged at the proper position of the leg, in the using process, the equipment detects the gait data normally detected by the patients and compares the gait data with the gait data at the abnormal side, the gait of the patients is indirectly influenced by adjusting the arm swing amplitude at the abnormal side by the equipment, the continuous adjustment is carried out in the walking process to ensure that the patients are separated from the influence of the abnormal gait, compared with the prior equipment, the invention has simpler overall structure, small size and low cost, and can finally realize the autonomous adjustment, the operation of professional personnel is not needed, and the whole operation is more convenient.
Example 2:
as shown in fig. 7, in the gait correcting system for regulating and controlling the swing of the upper limb provided in the embodiment, preferably, the output shaft of the motor 6 is connected with the small bevel gear 7, the arm ring 4 is connected with the large bevel gear 8, the large bevel gear 8 is meshed with the small bevel gear 7, by the above structure, the motor is transversely arranged, and after being installed, the motor is longitudinally arranged, so that the weight of the whole equipment can be finally reduced, and meanwhile, the function of driving the arm to swing can be realized, the motor rotates to drive the motor to swing to generate the acting force in the corresponding direction, and then the small bevel gear 7 rotates to drive the large bevel gear 8 to rotate, so as to apply the moment to the arm.

Claims (7)

1. A gait correction system for regulating and controlling upper limb swing is characterized in that: the leg gait monitoring device comprises a PID controller (1), two IMUs (2) and an arm driving mechanism (3), wherein the two IMUs (2) are connected with the PID controller (1), the two IMUs (2) are fixed on two legs respectively and used for collecting gait information of the legs, the arm driving mechanism (3) comprises an arm ring (4), a momentum wheel (5) and a motor (6), the motor (6) is fixed on the arm ring (4), the motor (6) drives the momentum wheel (5) to rotate, the arm ring (4) is used for being fixed on an arm corresponding to an abnormal leg, the momentum wheel (5) is used for providing a moment for the arm when rotating, so that the arm swings towards a swinging direction by a set angle, and the motor (6) is electrically connected with the PID controller (1).
2. A gait modification system for regulating upper limb swing according to claim 1, characterized in that: the output shaft of the motor (6) is connected with the momentum wheel (5).
3. A gait modification system for regulating upper limb swing according to claim 1, characterized in that a small bevel gear (7) is connected to the output shaft of the motor (6), a large bevel gear (8) is connected to the arm ring (4), and the large bevel gear (8) is meshed with the small bevel gear (7).
4. A gait modification system for regulating upper limb swing according to claim 1, characterized in that the arm ring (4) is mounted on the middle of the lower arm.
5. A gait modification system for regulating upper limb swing according to claim 1, characterized in that: more than two positioning rings (9) are arranged on the arm ring (4).
6. A gait modification system for regulating upper limb swing according to claim 2, characterized in that: the motor (6) is a motor with the model number of MAXON EC90, the rated rotating speed of the motor (6) is 4000rpm, and the rated output torque of the motor (6) is 15 N.m.
7. A gait correction method for regulating and controlling the swing of the upper limb, which comprises adopting the gait correction system for regulating and controlling the swing of the upper limb of any one of claims 1 to 6, characterized in that the method uses the principle of a reaction flywheel, and comprises the following steps:
s1, firstly, respectively installing the two IMUs (2) at the positions of the two legs, installing the arm ring (4) on the arm corresponding to the abnormal leg, and respectively reading the joint angle theta of the normal side leg through the two IMUs (2) during gait training1And abnormal side joint angle theta2；
S2, comparing the gait difference values of the legs at two sides in a gait cycle, and taking the gait difference value as a control parameter of the motor (6);
s3, applying a certain acceleration a by the motor (6) in the next gait cycle, and realizing the stability of the acceleration value by a PID control mode; due to the principle of angular momentum conservation, the motor (6) and the momentum wheel (5) can apply a certain moment to the arm at the moment, so that the arm can swing by a larger amplitude beta; and because of the linkage effect of the arms and the legs, the gait can also change, so that the gait of the abnormal side is closer to the gait of the normal side; and finally realize the correction of abnormal gait through continuous measurement and adjustment.
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