CN117959149A - Training mode control method and device of rehabilitation walking-aid robot and rehabilitation walking-aid robot - Google Patents
Training mode control method and device of rehabilitation walking-aid robot and rehabilitation walking-aid robot Download PDFInfo
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Abstract
The invention provides a training mode control method and device of a rehabilitation walking-aid robot and the rehabilitation walking-aid robot; wherein, in response to a user selection operation for a rehabilitation training mode, a target rehabilitation training mode is determined; wherein, rehabilitation training mode includes: an active rehabilitation aid training mode, a passive rehabilitation aid training mode, a sitting station switching rehabilitation training mode, an auxiliary rising rehabilitation training mode and an intelligent dynamic following rehabilitation training mode; the user includes: rehabilitation engineers and/or patients; the rehabilitation walking-assisting robot is controlled to run according to a target rehabilitation training mode so as to assist a patient to perform rehabilitation training. Above-mentioned control mode, before rehabilitation training, select target rehabilitation training mode from multiple rehabilitation training modes through rehabilitation teacher and/or patient to assist patient to carry out rehabilitation training according to target rehabilitation training mode, not only satisfied patient's multiple rehabilitation training demand, realized still that the rehabilitation helps the intellectuality of capable robot, had better practical value.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a training mode control method and device of a rehabilitation walking robot and the rehabilitation walking robot.
Background
At present, most of rehabilitation walker are purely mechanical or simple electromechanical combined frame auxiliary trainer, and four universal wheels are arranged at the bottom of the frame to realize the integral movement of the rehabilitation walker. In actual rehabilitation training, the training mode of current rehabilitation aid is single, only a pure walking assisting mode promptly, and rehabilitation training patient holds the handle of rehabilitation aid, and two arms drag on the support panel, and the people is in the middle of the rehabilitation aid, realizes simple walking and standing and assists, because rehabilitation training patient's training degree is different, consequently, current rehabilitation aid can't satisfy rehabilitation training patient's multiple rehabilitation training demand.
Disclosure of Invention
In view of the above, the invention aims to provide a training mode control method and device of a rehabilitation walker robot and the rehabilitation walker robot so as to alleviate the problems, not only meet various rehabilitation training requirements of patients, but also realize the intellectualization of the rehabilitation walker robot, and have better practical value.
In a first aspect, an embodiment of the present invention provides a training mode control method for a rehabilitation walker robot, where the method includes: determining a target rehabilitation training mode in response to a selection operation of a user for the rehabilitation training mode; wherein, rehabilitation training mode includes: an active rehabilitation aid training mode, a passive rehabilitation aid training mode, a sitting station switching rehabilitation training mode, an auxiliary rising rehabilitation training mode and an intelligent dynamic following rehabilitation training mode; the user includes: rehabilitation engineers and/or patients; the rehabilitation walking-assisting robot is controlled to run according to a target rehabilitation training mode so as to assist a patient to perform rehabilitation training.
Preferably, the rehabilitation aid robot comprises a support adjusting device, wherein a universal control rod is arranged on the support adjusting device; if the target rehabilitation training mode is an active rehabilitation walker training mode, controlling the rehabilitation walker robot to run according to the target rehabilitation training mode so as to assist the patient in performing rehabilitation training, comprising the following steps: generating active training control parameters in response to a control operation of the patient on the universal joystick; wherein the active training control parameters include: an active training operation direction and an active training operation speed; the rehabilitation aid robot is controlled to run according to the active training control parameters so as to assist the patient to perform active rehabilitation training.
Preferably, if the target rehabilitation training mode is a sitting-standing switching rehabilitation training mode, controlling the rehabilitation walker robot to operate according to the target rehabilitation training mode so as to assist the patient in performing rehabilitation training, including: in response to the ascending operation of the user on the support adjusting device, controlling the support adjusting device to conduct ascending movement so as to assist the patient to complete rising rehabilitation training from sitting to standing; and controlling the support adjustment device to perform descending movement in response to descending operation of the support adjustment device by a user so as to assist the patient in completing sitting rehabilitation training from standing posture to sitting posture.
Preferably, the method further comprises: when the support adjusting device moves to the upper limit position in the ascending movement process, generating first alarm information to prompt a patient to stop rising rehabilitation training; or when the support adjusting device moves to the lower limit position in the descending movement process, generating second alarm information to prompt the patient to stop sitting rehabilitation training.
Preferably, the support adjusting device is further provided with a bracelet, and if the target rehabilitation training mode is an auxiliary standing rehabilitation training mode, the rehabilitation walking-assisting robot is controlled to run according to the target rehabilitation training mode, so as to assist the patient in performing rehabilitation training, and the method comprises the following steps: and detecting the tension value of the patient pulling the bracelet in real time, and when the tension value is greater than a preset tension threshold value, controlling the support adjusting device to move upwards and controlling the rehabilitation walking aid robot to move forwards so as to pull the patient from a sitting posture to a standing state.
Preferably, if the target rehabilitation training mode is an intelligent dynamic following rehabilitation training mode, controlling the rehabilitation walker robot to operate according to the target rehabilitation training mode so as to assist the patient in performing rehabilitation training, including: acquiring detection parameters of a patient, and generating intelligent control parameters according to the detection parameters; wherein, the detection parameters include: the relative distance between the patient's leg and the rehabilitation walker robot, the wrist pressure value applied by the patient's wrist to the support adjustment device, and the elbow pressure value applied by the patient's elbow to the support adjustment device; the intelligent control parameters include: intelligent control speed, intelligent control direction and intelligent obstacle avoidance; the rehabilitation aid robot is controlled to run according to intelligent control parameters so as to assist a patient to finish rehabilitation training.
Preferably, if the target rehabilitation training mode is a passive rehabilitation walker training mode, controlling the rehabilitation walker robot to operate according to the target rehabilitation training mode so as to assist the patient in performing rehabilitation training, including: generating passive training control parameters in response to task setting operation of a user; wherein, the passive rehabilitation training parameters include: passive training operation direction, passive training operation time and passive training operation speed; the rehabilitation aid robot is controlled to run according to the passive training control parameters so as to assist the patient to perform passive rehabilitation training.
In a second aspect, an embodiment of the present invention further provides a training mode control device for a rehabilitation walker robot, where the device includes: the determining module is used for responding to the selection operation of the user for the rehabilitation training mode and determining a target rehabilitation training mode; wherein, rehabilitation training mode includes: an active rehabilitation aid training mode, a passive rehabilitation aid training mode, a sitting station switching rehabilitation training mode, an auxiliary rising rehabilitation training mode and an intelligent dynamic following rehabilitation training mode; the user includes: rehabilitation engineers and/or patients; the operation module is used for controlling the rehabilitation walking-aid robot to operate according to the target rehabilitation training mode so as to assist the patient to perform rehabilitation training.
In a third aspect, an embodiment of the present invention further provides a rehabilitation walker robot, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the steps of the training mode control method of the rehabilitation walker robot of the first aspect when executing the computer program.
In a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium, where a computer program is stored, and the computer program when executed by a processor performs the steps of the training mode control method of the rehabilitation walker robot of the first aspect.
The embodiment of the invention has the following beneficial effects:
The embodiment of the invention provides a training mode control method and device of a rehabilitation walking robot and the rehabilitation walking robot, wherein a target rehabilitation training mode is determined in response to a selection operation of a user on the rehabilitation training mode; wherein, rehabilitation training mode includes: an active rehabilitation aid training mode, a passive rehabilitation aid training mode, a sitting station switching rehabilitation training mode, an auxiliary rising rehabilitation training mode and an intelligent dynamic following rehabilitation training mode; the user includes: rehabilitation engineers and/or patients; the rehabilitation walking-assisting robot is controlled to run according to a target rehabilitation training mode so as to assist a patient to perform rehabilitation training. Above-mentioned control mode, before rehabilitation training, select target rehabilitation training mode from multiple rehabilitation training modes through rehabilitation teacher and/or patient to assist patient to carry out rehabilitation training according to target rehabilitation training mode, not only satisfied patient's multiple rehabilitation training demand, realized still that the rehabilitation helps the intellectuality of capable robot, had better practical value.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a training mode control method of a rehabilitation walker robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of calculation of intelligent speed control according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of calculation of an intelligent control direction according to an embodiment of the present invention;
FIG. 4 is a flowchart of another method for controlling a training mode of a rehabilitation walker robot according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a training mode control device of a rehabilitation walker robot according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments 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, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order to facilitate understanding of the present embodiment, a detailed description will be given below of a training mode control method for a rehabilitation walker robot provided in the embodiment of the present invention. The rehabilitation walking robot can also be called as a lower limb rehabilitation walking robot and is mainly used for rehabilitation training of patients with inconvenient lower limbs. In practical application, the rehabilitation walker robot mainly comprises: the device comprises a chassis walking device, a lifting upright post device, a supporting and adjusting device, a display operating device and an anti-toppling protection device; the chassis running gear includes a pair of AGV (Automated Guided Vehicle, automatic guided vehicle) drive wheel and 4 follow driving wheel to through control a pair of AGV drive wheel and 4 follow driving wheel realization rehabilitation helps the different motion modes of capable robot, such as the motion modes such as rotation in place, back and forth, left and right movement.
In addition, the one end fixed mounting of lift stand device is on chassis running gear, supports adjusting device and the one end sliding connection of lift stand device to adjust the vertical height who supports adjusting device, thereby satisfy different patient's height demand. And the anti-toppling protection device is arranged at the other end of the support adjusting device, the display operating device is arranged on the lifting upright post device and comprises a display unit such as a display screen and the like, and a rehabilitation engineer and/or a patient can realize the control of rehabilitation training through an interactive interface of the display screen. Therefore, for the rehabilitation walking-aid robot, through the hardware device and the electric control technology, various rehabilitation training, such as active rehabilitation training, passive rehabilitation training, intelligent dynamic following rehabilitation walking-aid training, sitting-station switching rehabilitation training, auxiliary lifting rehabilitation training and the like, of the lower limb weak-function patient group can be realized, so that various rehabilitation training requirements of patients are met, the intellectualization of the rehabilitation walking-aid robot is realized, and the rehabilitation walking-aid robot has good practical value.
Embodiment one:
Based on the rehabilitation walker robot, as shown in fig. 1, the training mode control method of the rehabilitation walker robot provided by the embodiment of the invention comprises the following steps:
step S102, a target rehabilitation training mode is determined in response to the selection operation of a user for the rehabilitation training mode;
Wherein, rehabilitation training mode includes: an active rehabilitation aid training mode, a passive rehabilitation aid training mode, a sitting-standing switching rehabilitation training mode, an auxiliary rising rehabilitation training mode and an intelligent dynamic following rehabilitation training mode. Specifically, the active rehabilitation aid training mode refers to a mode of performing rehabilitation training according to subjective intention of a patient, the passive rehabilitation aid training mode refers to a mode of performing rehabilitation training by the patient by following the rehabilitation aid robot, the sitting station switching rehabilitation training mode refers to a training mode of switching between sitting postures and standing postures of the patient, the auxiliary rising rehabilitation training mode refers to a training mode of assisting a user to rise by the rehabilitation aid robot, and the intelligent dynamic following rehabilitation training mode refers to a mode of intelligently controlling the rehabilitation aid robot according to the running state of the patient so as to enable the running of the rehabilitation aid robot to be more in accordance with the training state of the patient. Therefore, the multiple rehabilitation training modes are set in the rehabilitation walking-assisting robot, and before each rehabilitation training, the target rehabilitation training mode is set according to the actual condition of the patient, so that the multiple rehabilitation training requirements of the patient are met, and the rehabilitation training effect of the patient is ensured.
Further, the user includes a rehabilitation engineer and/or a patient when setting the target rehabilitation training mode. Specifically, on one hand, a patient can set the target rehabilitation training mode on the interactive interface of the display screen before training, for example, the patient sets the target rehabilitation training mode of the current rehabilitation training according to the last target rehabilitation training mode, and a rehabilitation engineer does not need to assist at the side, so that the resource of the rehabilitation engineer is liberated; on the other hand, a rehabilitation engineer can set up by himself at the interactive interface of the display screen before training, for example, the rehabilitation engineer sets up a target rehabilitation training mode according to the rehabilitation degree of a patient, so that the target rehabilitation training mode accords with the rehabilitation degree of the patient, the patient is prevented from being dangerous when carrying out rehabilitation training according to the uncomfortable target rehabilitation training mode, and the safety of the rehabilitation training of the patient is ensured.
And under partial scenes, when the target rehabilitation training mode is determined, the selection operation can be carried out through a rehabilitation engineer and a patient together, so that the safety of the patient during rehabilitation training according to the target rehabilitation training mode is ensured, the patient participates in the setting, the interestingness of the rehabilitation training is improved, and the rehabilitation training effect of the patient is further improved.
Step S104, controlling the rehabilitation walker robot to operate according to the target rehabilitation training mode so as to assist the patient in rehabilitation training.
According to the training mode control method for the rehabilitation walking robot, before rehabilitation training, a target rehabilitation training mode is selected from multiple rehabilitation training modes by a rehabilitation engineer and/or a patient, and the patient is assisted to perform rehabilitation training according to the target rehabilitation training mode, so that multiple rehabilitation training requirements of the patient are met, the intellectualization of the rehabilitation walking robot is realized, and the rehabilitation walking robot has good practical value.
Preferably, a universal control rod and a bracelet are arranged on the support adjusting device of the rehabilitation aid robot; for different target rehabilitation training modes, the process of controlling the rehabilitation walker robot to run according to the target rehabilitation training modes so as to assist a patient to perform rehabilitation training is mainly divided into the following situations:
(1) If the target rehabilitation training mode is an active rehabilitation walking training mode; generating active training control parameters in response to a control operation of the patient on the universal joystick; wherein the active training control parameters include: an active training operation direction and an active training operation speed; the rehabilitation aid robot is controlled to run according to the active training control parameters so as to assist the patient to perform active rehabilitation training.
Specifically, when the target rehabilitation training mode is an active rehabilitation walking training mode, at this moment, a patient can control acceleration, deceleration, walking, steering and the like of the rehabilitation walking aid robot in any direction by operating the universal control rod, for example, the active training running direction and the active training running speed of the rehabilitation walking aid robot can be set by operating the universal control rod, when the rehabilitation walking aid robot runs according to the active training running direction and the active training running speed, the patient is assisted to finish the active rehabilitation training according to subjective intention, and compared with the training mode in the fixed direction, the rehabilitation training interestingness is increased, and therefore the rehabilitation training effect of the patient is improved.
In addition, in partial scenes, in order to ensure the safety of the rehabilitation training of the patient, the rehabilitation walking-aid robot is further provided with five speeds, is arranged in the controller of the rehabilitation walking-aid robot or software of the upper computer in advance and is bound with training data of the patient, at the moment, the patient can realize running in any direction only by operating the universal operating lever in the active rehabilitation training process, and the rehabilitation walking-aid robot runs according to the corresponding speed speeds, so that the active rehabilitation training of the patient is realized.
(2) If the target rehabilitation training mode is a passive rehabilitation walking training mode; generating passive training control parameters in response to task setting operation of a user; wherein, the passive rehabilitation training parameters include: passive training operation direction, passive training operation time and passive training operation speed; the rehabilitation aid robot is controlled to run according to the passive training control parameters so as to assist the patient to perform passive rehabilitation training.
Specifically, in the passive rehabilitation walker training mode, a user performs task setting operation through an interactive interface of a display screen so as to set passive training control parameters of the rehabilitation walker robot in advance; if the passive training running direction, the passive training running time and the passive training running speed of the rehabilitation walking-assisting robot are set in advance, namely, the path of the rehabilitation walking-assisting robot is set in advance, when the rehabilitation walking-assisting robot runs according to the passive training control parameters, a user passively follows the rehabilitation walking-assisting robot to walk, and the passive rehabilitation training of a patient is realized.
In the task setting operation, only the rehabilitation engineer may perform the setting operation, only the patient may perform the setting operation, or the rehabilitation engineer and the patient may perform the setting operation together. After the passive training control parameters are set, a user presses a start key on an interactive interface, the rehabilitation walking-assisting robot operates according to the passive training control parameters, an autonomous cruising mode is started, and a patient follows the rehabilitation walking-assisting robot to perform passive walking-assisting rehabilitation training.
In addition, still be provided with the pause button on interactive interface, in passive rehabilitation helps capable in-process, if patient's rehabilitation training appears uncomfortable like tired out or walking difficulty, at this moment, the rehabilitation engineer is through pressing the pause button, and the passive rehabilitation training that helps has guaranteed patient's rehabilitation training security. And a physical stop button can be arranged above the universal control rod, and when a patient feels uncomfortable in the passive walking rehabilitation training, the passive walking rehabilitation training is suspended by actively pressing the physical stop button. Therefore, the safety of the passive walking aid rehabilitation training of the patient is ensured through two suspension modes.
After the patient has a rest for a certain period of time and relieves discomfort, the rehabilitation walking robot can be controlled to run again according to the passive rehabilitation walking training mode by pressing a recovery key on the interactive interface or pressing a physical stop key again by the patient, so that the passive walking rehabilitation training of the patient is recovered.
(3) If the target rehabilitation training mode is a sitting station switching rehabilitation training mode; in response to the ascending operation of the user on the support adjusting device, controlling the support adjusting device to conduct ascending movement so as to assist the patient to complete rising rehabilitation training from sitting to standing; and controlling the support adjustment device to perform descending movement in response to descending operation of the support adjustment device by a user so as to assist the patient in completing sitting rehabilitation training from standing posture to sitting posture.
Specifically, for the switching of the sitting position and standing position rehabilitation training mode, the rehabilitation walking-assisting robot body keeps a fixed state, and the support adjusting device assists a patient in rising rehabilitation training from sitting position to standing position and sitting rehabilitation training from standing position to sitting position. Wherein, for the support adjusting device, an ascending physical key and a descending physical key are arranged at the armrest of the support adjusting device, when a patient presses the ascending physical key, the support adjusting device is controlled to perform ascending movement so as to assist the patient to complete rising rehabilitation training from sitting posture to standing posture; when the patient presses down the descending physical key, the supporting and adjusting device is controlled to conduct descending movement so as to assist the patient to complete sitting rehabilitation training from standing posture to sitting posture.
In addition, the interactive interface can be provided with a rising button and a falling button of the supporting and adjusting device, when a rehabilitation engineer presses the rising button of the supporting and adjusting device, the supporting and adjusting device is controlled to perform rising movement so as to assist a patient to complete rising rehabilitation training from sitting to standing; when a rehabilitation engineer presses a descending button of the support adjusting device, the support adjusting device is controlled to conduct descending movement so as to assist a patient to complete sitting rehabilitation training from standing posture to sitting posture.
And, the method further comprises: when the support adjusting device moves to the upper limit position in the ascending movement process, generating first alarm information to prompt a patient to stop rising rehabilitation training; or when the support adjusting device moves to the lower limit position in the descending movement process, generating second alarm information to prompt the patient to stop sitting rehabilitation training. When the supporting and adjusting device reaches the upper limit position or the lower limit position, the controller or the upper computer of the rehabilitation walker robot also generates alarm information, and the alarm information is displayed on the interactive interface to prompt a user to stop the rising rehabilitation training or the sitting rehabilitation training, so that the safety of the rehabilitation training of the patient is ensured.
Particularly, for switching the rehabilitation training mode of sitting and standing, an automatic sitting and standing mode can be set, namely, the automatic sitting and standing time is set in the interactive interface in advance, the corresponding highest value and the corresponding lowest value are set according to the height of a patient, after the automatic sitting and standing mode is started, the rehabilitation walking assisting robot assists the patient to perform repeated automatic training up and down, and the robot automatically stops after the training time is reached; in addition, in the automatic standing mode, the position of the whole rehabilitation walking-aid robot needs to be kept to be locked, the AGV motion function is enabled to be closed, the automatic standing mode can be stopped at any time on an interface, the AGV motion function is controlled to be enabled to be opened after stopping, and at the moment, the position of the rehabilitation walking-aid robot can be moved.
(4) If the target rehabilitation training mode is an auxiliary rising rehabilitation training mode; and detecting the tension value of the patient pulling the bracelet in real time, and when the tension value is greater than a preset tension threshold value, controlling the support adjusting device to move upwards and controlling the rehabilitation walking aid robot to move forwards so as to pull the patient from a sitting posture to a standing state.
Specifically, in the auxiliary lifting rehabilitation training mode, when the patient pulls the hand ring with two hands, a tension sensor is respectively arranged in the left hand ring and the right hand ring and used for detecting the tension value of the patient pulling the hand ring in real time, and when the tension value is larger than a preset tension threshold value, the user is judged to tighten the hand ring, at the moment, the controller or the upper computer controls the support adjusting device to move upwards and controls the rehabilitation walking aid robot to move forwards so as to pull the patient from a sitting posture to a standing state, such as the patient is slowly pulled from a wheelchair to the standing state, thereby assisting the patient with difficult lifting to complete the lifting rehabilitation training.
(5) If the target rehabilitation training mode is an intelligent dynamic following rehabilitation training mode; acquiring detection parameters of a patient, and generating intelligent control parameters according to the detection parameters; wherein, the detection parameters include: the relative distance between the patient's leg and the rehabilitation walker robot, the wrist pressure value applied by the patient's wrist to the support adjustment device, and the elbow pressure value applied by the patient's elbow to the support adjustment device; the intelligent control parameters include: intelligent control speed, intelligent control direction and intelligent obstacle avoidance; the rehabilitation aid robot is controlled to run according to intelligent control parameters so as to assist a patient to finish rehabilitation training.
Specifically, a detection device is further arranged on the rehabilitation walker robot, wherein the detection device comprises but is not limited to: pressure sensors, distance sensors, laser rangefinders, radars, IMUs (Inertial Measurement Unit, inertial measurement units), etc. to detect the patient's intent to move, i.e., detection parameters, where detection parameters include, but are not limited to: the relative distance between the patient's leg and the rehabilitation walker robot, the wrist pressure value, and the elbow pressure value; in addition, intelligent control parameters are generated according to the detection parameters of the patient, and the rehabilitation walking-assisting robot is controlled to run according to the intelligent control parameters so as to assist the patient to finish rehabilitation training, so that intelligent following control on the walking paths of the rehabilitation walking-assisting robot, such as speed, steering, safety obstacle avoidance and the like, is realized through the intelligent control parameters, and the walking path of the rehabilitation walking-assisting robot accords with the movement intention of the patient.
Wherein, for intelligent control speed, can be according to the relative distance between patient's shank and the recovered robot of helping a walk. For example, the distance between the leg of the patient and the rehabilitation walker robot is detected by a plurality of distance sensors, and the minimum distance is taken as the relative distance, and then the intelligent control speed of the rehabilitation walker robot is generated according to the relative distance. Here, constraint conditions are set: ① The measurement range of the forward distance sensor is set to be 60cm, the driving speed of the ② rehabilitation walking-aid robot is generally smaller than 0.5m/s, and the specific driving speed is generally about 0.4m/s under the household condition, so that the intelligent control speed is only required to be set to be an acceptable maximum speed value of a patient, falling of the patient in the rehabilitation training process due to overlarge driving speed is avoided, and the safety of the rehabilitation training of the patient is ensured.
In practical application, when the legs of a patient move, the relative positions of the leg contours and the rehabilitation walking robot are necessarily reduced, and the driving speed of the rehabilitation walking robot is generated according to the reduction condition measured by the sensor. Similarly, when the user moves backwards, the relative position of the leg outline and the rehabilitation walker robot becomes larger, and the driving speed of the rehabilitation walker robot is generated according to the enlargement condition measured by the sensor. Here, a case where the intelligent control speed includes a forward driving speed and a left driving speed is exemplified, in which the Gain1 of the forward driving speed is calculated as follows:
Wherein y 1 represents the forward driving speed of the rehabilitation walker robot, x 1 represents the relative distance between the leg of the patient and the front side of the rehabilitation walker robot, and k 1 represents a first coefficient, the size of which can be adjusted according to the running speed of the rehabilitation walker robot. Therefore, the forward driving speed of the rehabilitation walker robot is determined through the formula (1), so that the running flexibility of the rehabilitation walker robot can be improved.
Similarly, the Gain2 of the left drive speed is calculated as follows:
Wherein y 2 represents the left side driving speed of the rehabilitation walker robot, x 2 represents the relative distance between the leg of the patient and the left side of the rehabilitation walker robot, and k 2 represents a second coefficient, the size of which can be adjusted according to the running speed of the rehabilitation walker robot. Therefore, as the transverse space of the rehabilitation walking robot is relatively narrow, the left driving speed of the rehabilitation walking robot is determined through the formula (2), collision between the two legs of a patient and the rehabilitation walking robot can be avoided, and the safety of rehabilitation training of the patient is ensured.
In addition, the leg tibia position of the patient can be detected through the laser range finder, and the intelligent control speed of the rehabilitation walking robot can be determined according to the leg tibia position. Specifically, as shown in fig. 2, a desired center O 0 is set, where O 0 is the initial standing human body center of the patient, and a coordinate system x 0O0y0 is established; then, the left leg tibia position p L and the right leg tibia position p R of the patient are detected by a laser range finder, when the human body center coordinate is determined to be O 1 according to the left leg tibia position p L and the right leg tibia position p R, the intelligent control speed v 1 of the rehabilitation aid robot is determined, for example, the intelligent control speed v 1 is determined based on PID according to the position errors of O 1 and O 0; when the human body center coordinates are determined to be O 2 according to the left leg tibia position p L and the right leg tibia position p R, the intelligent control speed of the rehabilitation walker robot is determined to be v 2.
And, in actual practice, the wrist pressure values include left and right wrist pressure values, and the elbow pressure values include left and right elbow pressure values. Specifically, as shown in fig. 3, four pressure sensors are further provided in the armrest of the support adjustment device, the pressure sensor 1 is used for detecting a left wrist pressure value p_fl applied to the support adjustment device by the left wrist of the patient, the pressure sensor 3 is used for detecting a right wrist pressure value p_fr applied to the support adjustment device by the right wrist of the patient, the pressure sensor 2 is used for detecting a left elbow pressure value p_bl applied to the support adjustment device by the left elbow of the patient, and the pressure sensor 4 is used for detecting a right elbow pressure value p_br applied to the support adjustment device by the right elbow of the patient, at this time, the controller or the upper computer determines the intelligent control direction of the rehabilitation walker robot according to the left wrist pressure value p_fl, the right wrist pressure value p_fr, the left elbow pressure value p_bl and the right elbow pressure value p_br when the patient performs rehabilitation training.
At this time, the four pressure synthesizing force vectors are f (f, θ), wherein the magnitude f is calculated as follows:
similarly, the calculation formula of the angle θ is as follows:
For the above formula (3) and formula (4), fl_bl=p_fl-p_br, and fl_br=p_fr-p_bl. Therefore, the intelligent control direction of the rehabilitation aid robot is determined according to the resultant force direction, so that the running direction intention of a patient is met when the rehabilitation aid robot runs according to the intelligent control direction.
Further, a plurality of radars can be arranged on the front and the side of the rehabilitation walking robot and used for detecting peripheral obstacles of the rehabilitation walking robot, and the controller or the upper computer controls the rehabilitation walking robot to conduct intelligent obstacle avoidance, so that safety of a patient in a rehabilitation training process is guaranteed. It should be noted that, the calculation process in the intelligent obstacle avoidance may refer to the existing obstacle avoidance method, and the embodiments of the present invention are not described in detail herein.
In summary, the training mode control method of the rehabilitation walker robot provided by the embodiment of the invention selects the target rehabilitation training mode from a plurality of rehabilitation training modes by a rehabilitation engineer and/or a patient before rehabilitation training, and assists the patient to perform rehabilitation training according to the target rehabilitation training mode, thereby not only meeting various rehabilitation training requirements of the patient, but also recording the training process, planning a safe path and the like, realizing the intellectualization of the rehabilitation walker robot, and having better practical value.
Embodiment two:
On the basis of the training mode control method of the rehabilitation walker robot, the embodiment of the invention provides another training mode control method of the rehabilitation walker robot, as shown in fig. 4, which comprises the following steps:
(1) Starting the rehabilitation walking-aid robot to enter interactive software, and at the moment, logging in by a rehabilitation engineer and selecting a patient to be subjected to rehabilitation training;
(2) The rehabilitation engineer selects a training mode on the interactive interface; the training modes comprise a mode 1 (namely an active rehabilitation walker training mode), a mode 2 (namely a passive rehabilitation walker training mode), a mode 3 (namely a sitting station switching rehabilitation training mode), a mode 4 (namely an auxiliary rising rehabilitation training mode) and a mode 5 (namely an intelligent dynamic following rehabilitation training mode);
(3) After the training mode is determined, if the rehabilitation engineer does not confirm the selection, the training mode selection state is continuously maintained, and if the rehabilitation engineer confirms the selection, the rehabilitation walking-aid robot starts to operate according to the selected training mode so as to assist the patient to complete rehabilitation training.
Therefore, the training mode control method of the rehabilitation aid robot selects the training mode through the rehabilitation engineer before rehabilitation training and controls the rehabilitation aid robot to assist the patient to perform rehabilitation training according to the selected training mode, so that not only are the multiple rehabilitation training requirements of the patient met, but also the intellectualization of the rehabilitation aid robot is realized, and the rehabilitation aid robot has good practical value.
Embodiment III:
Corresponding to the above method embodiment, the embodiment of the present invention further provides a training mode control device of a rehabilitation walker robot, as shown in fig. 5, where the device includes: a determination module 51 and a run module 52; wherein each module functions as follows:
A determining module 51, configured to determine a target rehabilitation training mode in response to a selection operation of the user for the rehabilitation training mode; wherein, rehabilitation training mode includes: an active rehabilitation aid training mode, a passive rehabilitation aid training mode, a sitting station switching rehabilitation training mode, an auxiliary rising rehabilitation training mode and an intelligent dynamic following rehabilitation training mode; the user includes: rehabilitation engineers and/or patients;
The operation module 52 is configured to control the rehabilitation walker robot to operate according to the target rehabilitation training mode, so as to assist the patient in performing rehabilitation training.
According to the training mode control device for the rehabilitation walking robot, provided by the embodiment of the invention, before rehabilitation training, a target rehabilitation training mode is selected from a plurality of rehabilitation training modes by a rehabilitation engineer and/or a patient, and the patient is assisted to perform rehabilitation training according to the target rehabilitation training mode, so that not only are the various rehabilitation training requirements of the patient met, but also the intellectualization of the rehabilitation walking robot is realized, and the device has a good practical value.
Preferably, the rehabilitation aid robot comprises a support adjusting device, wherein a universal control rod is arranged on the support adjusting device; if the target rehabilitation training mode is the active rehabilitation walker training mode, the operation module 52 is further configured to: generating active training control parameters in response to a control operation of the patient on the universal joystick; wherein the active training control parameters include: an active training operation direction and an active training operation speed; the rehabilitation aid robot is controlled to run according to the active training control parameters so as to assist the patient to perform active rehabilitation training.
Preferably, if the target rehabilitation training mode is the sitting switching rehabilitation training mode, the operation module 52 is further configured to: in response to the ascending operation of the user on the support adjusting device, controlling the support adjusting device to conduct ascending movement so as to assist the patient to complete rising rehabilitation training from sitting to standing; and controlling the support adjustment device to perform descending movement in response to descending operation of the support adjustment device by a user so as to assist the patient in completing sitting rehabilitation training from standing posture to sitting posture.
Preferably, the apparatus further comprises: when the support adjusting device moves to the upper limit position in the ascending movement process, generating first alarm information to prompt a patient to stop rising rehabilitation training; or when the support adjusting device moves to the lower limit position in the descending movement process, generating second alarm information to prompt the patient to stop sitting rehabilitation training.
Preferably, the support adjusting device is further provided with a bracelet, and if the target rehabilitation training mode is an auxiliary lifting rehabilitation training mode, the operation module 52 is further configured to: and detecting the tension value of the patient pulling the bracelet in real time, and when the tension value is greater than a preset tension threshold value, controlling the support adjusting device to move upwards and controlling the rehabilitation walking aid robot to move forwards so as to pull the patient from a sitting posture to a standing state.
Preferably, if the target rehabilitation training mode is the intelligent dynamic follow-up rehabilitation training mode, the operation module 52 is further configured to: acquiring detection parameters of a patient, and generating intelligent control parameters according to the detection parameters; wherein, the detection parameters include: the relative distance between the patient's leg and the rehabilitation walker robot, the wrist pressure value applied by the patient's wrist to the support adjustment device, and the elbow pressure value applied by the patient's elbow to the support adjustment device; the intelligent control parameters include: intelligent control speed, intelligent control direction and intelligent obstacle avoidance; the rehabilitation aid robot is controlled to run according to intelligent control parameters so as to assist a patient to finish rehabilitation training.
Preferably, if the target rehabilitation training mode is a passive rehabilitation walker training mode, the operation module 52 is further configured to: generating passive training control parameters in response to task setting operation of a user; wherein, the passive rehabilitation training parameters include: passive training operation direction, passive training operation time and passive training operation speed; the rehabilitation aid robot is controlled to run according to the passive training control parameters so as to assist the patient to perform passive rehabilitation training.
The training mode control device of the rehabilitation walker robot provided by the embodiment of the invention has the same technical characteristics as the training mode control method of the rehabilitation walker robot provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
The embodiment of the invention also provides a rehabilitation walking-aid robot, which comprises a processor and a memory, wherein the memory stores machine executable instructions which can be executed by the processor, and the processor executes the machine executable instructions to realize the training mode control method of the rehabilitation walking-aid robot.
The embodiment also provides a machine-readable storage medium, wherein the machine-readable storage medium stores machine-executable instructions, and when the machine-executable instructions are called and executed by a processor, the machine-executable instructions cause the processor to realize the training mode control method of the rehabilitation walker robot.
The method and device for controlling the training mode of the rehabilitation walker robot and the computer program product of the rehabilitation walker robot provided by the embodiments of the present invention include a computer readable storage medium storing program codes, and the instructions included in the program codes may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment and will not be described herein.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
In addition, in the description of embodiments of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A training mode control method for a rehabilitation walker robot, the method comprising:
Determining a target rehabilitation training mode in response to a selection operation of a user for the rehabilitation training mode; wherein, the rehabilitation training mode includes: an active rehabilitation aid training mode, a passive rehabilitation aid training mode, a sitting station switching rehabilitation training mode, an auxiliary rising rehabilitation training mode and an intelligent dynamic following rehabilitation training mode; the user includes: rehabilitation engineers and/or patients;
and controlling the rehabilitation walker robot to run according to the target rehabilitation training mode so as to assist the patient to perform rehabilitation training.
2. The method of claim 1, wherein the rehabilitation walker robot comprises a support adjustment device, wherein the support adjustment device has a universal joystick disposed thereon;
If the target rehabilitation training mode is the active rehabilitation walker training mode, controlling the rehabilitation walker robot to run according to the target rehabilitation training mode so as to assist the patient in performing rehabilitation training, including:
Generating active training control parameters in response to control operations of the patient on the universal joystick; wherein the active training control parameters include: an active training operation direction and an active training operation speed;
and controlling the rehabilitation walker robot to run according to the active training control parameters so as to assist the patient to perform active rehabilitation training.
3. The method of claim 2, wherein if the target rehabilitation training mode is the station switching rehabilitation training mode, the step of controlling the rehabilitation walker robot to operate according to the target rehabilitation training mode to assist the patient in rehabilitation training comprises:
Controlling the support adjusting device to perform ascending movement in response to ascending operation of the user on the support adjusting device so as to assist the patient to complete rising rehabilitation training from sitting posture to standing posture; and controlling the support adjustment device to perform descending movement in response to descending operation of the support adjustment device by the user so as to assist the patient in completing sitting rehabilitation training from standing posture to sitting posture.
4. A method according to claim 3, characterized in that the method further comprises:
when the support adjusting device moves to the upper limit position in the ascending movement process, generating first alarm information to prompt the patient to stop the rising rehabilitation training; or when the support adjusting device moves to the lower limit position in the descending movement process, generating second alarm information to prompt the patient to stop the sitting rehabilitation training.
5. The method of claim 2, wherein the support adjustment device is further provided with a bracelet, and the step of controlling the rehabilitation walker robot to operate in accordance with the target rehabilitation training mode to assist the patient in performing rehabilitation training if the target rehabilitation training mode is the auxiliary lift rehabilitation training mode comprises:
And detecting the pulling force value of the patient pulling the bracelet in real time, and controlling the support adjusting device to move upwards and controlling the rehabilitation walking-aid robot to move forwards when the pulling force value is larger than a preset pulling force threshold value so as to pull the patient from a sitting position to a standing state.
6. The method of claim 2, wherein if the target rehabilitation training mode is the intelligent dynamic follow-up rehabilitation training mode, the step of controlling the rehabilitation walker robot to operate according to the target rehabilitation training mode to assist the patient in rehabilitation training comprises:
Acquiring detection parameters of the patient, and generating intelligent control parameters according to the detection parameters; wherein the detection parameters include: the relative distance between the patient's leg and the rehabilitation walker robot, the wrist pressure value applied by the patient's wrist to the support adjustment device, and the elbow pressure value applied by the patient's elbow to the support adjustment device; the intelligent control parameters include: intelligent control speed, intelligent control direction and intelligent obstacle avoidance;
And controlling the rehabilitation aid robot to run according to the intelligent control parameters so as to assist the patient to finish rehabilitation training.
7. The method of claim 1, wherein if the target rehabilitation training mode is the passive rehabilitation training mode, the step of controlling the rehabilitation walker robot to operate according to the target rehabilitation training mode to assist the patient in rehabilitation training comprises:
Generating passive training control parameters in response to the task setting operation of the user; wherein the passive rehabilitation training parameters include: passive training operation direction, passive training operation time and passive training operation speed;
And controlling the rehabilitation walker robot to run according to the passive training control parameters so as to assist the patient to perform passive rehabilitation training.
8. A training mode control device for a rehabilitation walker robot, the device comprising:
The determining module is used for responding to the selection operation of the user for the rehabilitation training mode and determining a target rehabilitation training mode; wherein, the rehabilitation training mode includes: an active rehabilitation aid training mode, a passive rehabilitation aid training mode, a sitting station switching rehabilitation training mode, an auxiliary rising rehabilitation training mode and an intelligent dynamic following rehabilitation training mode; the user includes: rehabilitation engineers and/or patients;
the operation module is used for controlling the rehabilitation walking-aid robot to operate according to the target rehabilitation training mode so as to assist a patient to perform rehabilitation training.
9. A rehabilitation walker robot comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, realizes the steps of the training mode control method of a rehabilitation walker robot according to any one of the preceding claims 1-7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the training mode control method of a rehabilitation walker robot according to any one of the preceding claims 1-7.
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| CN202410147615.0A CN117959149A (en) | 2024-02-01 | 2024-02-01 | Training mode control method and device of rehabilitation walking-aid robot and rehabilitation walking-aid robot |
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| CN202410147615.0A CN117959149A (en) | 2024-02-01 | 2024-02-01 | Training mode control method and device of rehabilitation walking-aid robot and rehabilitation walking-aid robot |
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