TW201626971A - Lower limb rehabilitation method and lower limb rehabilitation device for implementing the same - Google Patents

Abstract

A lower limb rehabilitation method includes the steps of firstly wearing a mechanical outer skeleton on a user's lower limb; next, configuring a trigger condition; then using an electromyogram signal sensor to sense an electromyogram signal for a specific muscle of the user while performing a specific action; subsequently, determining whether a sensed result of the electromyogram signal sensor conforms with the trigger condition configured initially or not. If the sensed result of the electromyogram signal sensor does not conform with the trigger condition, the outer mechanical skeleton is not activated and the trigger condition is required to be reconfigured. If the sensed result of the electromyogram signal sensor does conform with the trigger condition, an action generation unit is triggered to transmit a control signal to a control unit, thereby enabling the control unit to control the outer mechanical skeleton to drive the user's lower limb of the user with the specific action. Accordingly, a rehabilitation effect can be achieved.

Description

Lower limb rehabilitation method and method for implementing lower limb rehabilitation device

The invention relates to rehabilitation medical technology, in particular to a lower limb rehabilitation method and a lower limb rehabilitation device for implementing the lower limb rehabilitation method.

For patients with lower extremity dyskinesia, there are two key factors in regaining the lower extremity motor function: (1) Task orientation: To enhance the motor function of the lower extremity to perform daily actions, it is necessary to practice daily actions, (2) active training. : Users must contribute their own strength during the training process to promote the recovery of nerve connections. There are two ways to train lower limbs today. One of them is to assist the lower limb movements of the patients by the rehabilitation teacher. However, the rehabilitation workers have insufficient manpower problems so that they cannot meet the needs of each patient. The way is to let the patient use a mechanical rehabilitation machine for rehabilitation, but the traditional mechanical rehabilitation machine has a more monotonous reciprocating motion, which is helpful for muscle strength recovery, but may not guide the nerve muscles to perform according to daily needs. The action task reshapes the neural connections and affects the recovery of the motion control functions.

In order to solve the above problem, the assisted exoskeleton robot disclosed in CN101791255 uses an exoskeleton composed of a suspension bracket and a plurality of joints to help the patient stand, and then the function between the lower limb and the exoskeleton is sensed by a plurality of different sensors. After the force and the action angle, the central processing module converts the sensing signals of the sensors to the motion control module, so that the motion control module controls the exoskeleton to drive the lower limbs to swing, thereby achieving the rehabilitation effect. However, in this patent application, in addition to the need to use a plurality of sensors at the same time, in addition to the increase in cost, the construction of the signal control and the algorithm will be more complicated. Overall, the patent application Practicality is not ideal.

The main object of the present invention is to provide a lower limb rehabilitation method capable of controlling a mechanical exoskeleton to generate a corresponding action according to a myoelectric signal generated by a user when performing a specific action, so as to achieve an active training effect.

In order to achieve the above object, the lower limb rehabilitation method of the present invention comprises five steps. The first step first wears a mechanical exoskeleton on the user's lower limb; the second step sets a trigger condition; the third step uses a majority of the electromyography sensor to sense the user's specific muscle site to perform a specific The electromyography signal during the action; the fourth step determines whether the sensing result meets the previously set trigger condition; the fifth step is to trigger an action generating unit when the previously set trigger condition is met, the action generating unit will Sending a control signal to a control unit, so that the control unit controls the mechanical exoskeleton to drive the user's lower limb to perform a specific action, thereby achieving a rehabilitation effect.

More preferably, in the first step, the specific action that the user wants to perform is determined first, and then the majority of the myoelectric signal sensor is attached to a specific muscle part that the user uses when performing a specific action. After that, the user is allowed to perform multiple test training according to the specific action to be performed, so that the rehabilitation teacher sets the trigger condition according to the result of the test training.

More preferably, in the fourth step, the signal receiving unit receives the myoelectric signal sensed by the majority of the myoelectric signal sensor, and then uses a signal processing unit to process the myoelectric signal received by the signal receiving unit. Finally, the obtained result is displayed on a human-machine interface, and the rehabilitation engineer judges whether the trigger condition is met from the human-machine interface.

More preferably, in the fifth step, the action generating unit is not triggered when the previously set trigger condition is not met, and the rehabilitation engineer needs to reset the trigger condition before performing the next step.

More preferably, in the lower limb rehabilitation method of the present invention, different training parameters may be set in the human machine interface according to the capabilities and needs of different users. After the setting is completed, the motion generating unit may follow the set training. The parameter sends a corresponding control signal to the control unit, so that the control unit controls the mechanical exoskeleton to drive the lower limb of the user to achieve a passive training effect.

In addition, a second object of the present invention is to provide a lower limb rehabilitation device, which mainly uses a motion control module to capture a myoelectric signal when a user performs a specific action, and then controls the mechanical exoskeleton to drive The lower limbs of the user, in turn, achieve a healing effect.

Please refer to FIG. 1 . The lower limb rehabilitation device 10 includes a base 20 , a support frame 30 , an actuator 40 , and a mechanical exoskeleton 50 . The support frame 30 is fixed to the base 20 . a rear end for providing a supporting effect to the user's body; the actuator 40 has two opposite fixing seats 41, two opposite first moving seats 42, and two opposite second moving seats 43, the fixing base 41 being fixed to the base The seat 20 has two parallel guiding grooves 44, and the first moving base 42 is assembled to the lateral guiding groove 44 of the fixing base 41, so that the first moving seat 42 can move back and forth relative to the base 20, and the first moving seat 42 has two longitudinal guide grooves 45 parallel to each other, and the second movable seat 43 is assembled in the longitudinal guide groove 45 of the first movable seat 42 so that the second movable seat 43 can be moved forward and backward with respect to the base 20 with the first movable seat 42 In addition to the movement, the base 20 can be moved up and down with respect to the base 20; the mechanical exoskeleton 50 is pivotally mounted on the support frame 30 and the second moving seat 43 of the actuator 40, so that the mechanical exoskeleton 50 can be driven by the drive 40. The lower limbs act. In addition, the lower limb rehabilitation device 10 further includes a motion control module 60 and a human machine interface 90. The motion control module 60 has a plurality of myoelectric signal sensors 70 and a controller 80. The controller 80 is disposed on the base 20. The front end has a signal receiving unit 82, a signal processing unit 84, an action generating unit 86, and a control unit 88. As shown in FIG. 2, the signal receiving unit 82 is electrically connected to each of the myoelectric signal sensing. The signal processing unit 84 is electrically connected to the signal receiving unit 82. The action generating unit 86 is electrically connected to the signal processing unit 84. The control unit 88 is electrically connected to the action generating unit 86 and the actuator 40. The human machine interface 90 is disposed on the base. The controller 80 is electrically connected to the controller 80 of the motion control module 60 for use as an interactive medium between the user and the motion control module 60.

Please refer to the first and third figures. When the lower limb rehabilitation device 10 is operated on the lower limbs of the user, the following steps are mainly included:

Step a): The mechanical exoskeleton 50 is first worn on the lower limb of the user to keep the user in a standing position, and the support frame 30 can be supported to avoid accidental fall after the wearing is completed.

Step b): determining a specific action task (such as walking or stepping) that the user wants to perform, and attaching the myoelectric signal sensor 70 to a specific muscle part that the user uses when performing a specific action task. For example, when performing walking training, the myoelectric signal sensor 70 can be attached to the extension muscle and the contraction muscle of the knee joint, the extension muscle and the contraction muscle of the ankle joint, the extension muscle of the knee joint, and the contraction according to the cycle of the walking motion. Muscle, as well as the extension and contraction muscles of the hip joint, if you choose to perform the step-up training, you can attach the myoelectric signal sensor 70 to the contraction muscle of the conventional foot and the contraction of the non-dominant foot according to the cycle of the stepping action. muscle. After all the stickers are completed, the user is allowed to perform multiple test trainings according to the specific action task to be performed. During the test training, the myoelectric signal sensor 70 senses the user's myoelectric signal, and then The signal receiving unit 82 of the controller 80 receives the myoelectric signal sensed by the myoelectric signal sensor 70, and the signal processing unit 84 processes the myoelectric signal received by the signal receiving unit 82, and displays the test result on the person. Machine interface 90, at this time the rehabilitation engineer can set a trigger condition according to the test result.

Step c): starting to execute a specific action task selected by the user. During the execution, the myoelectric signal sensor 70 senses the user's myoelectric signal, and then the signal receiving unit 82 of the controller 80 receives the myoelectric signal. The electromyographic signal sensed by the sensor 70, after which the signal processing unit 84 processes the myoelectric signal received by the signal receiving unit 82 and simultaneously determines whether the result meets the trigger condition set in step b).

Step d): When the trigger condition set in step b) is met, the signal processing unit 84 of the controller 80 triggers the action generating unit 86 of the controller 80, and the action generating unit 86 sends a control signal to the control of the controller 80. The unit 88 causes the control unit 88 to control the actuation of the actuator 40. At this time, the mechanical exoskeleton 50 drives the lower limbs of the user to perform a specific motion task selected by the user by driving the actuator 40 until the entire training is completed. . On the other hand, if the result judged by the signal processing unit 84 of the controller 80 does not meet the trigger condition set in the step b), the action generating unit 86 of the controller 80 is not triggered, and the actuator 40 does not drive the machine. Exoskeleton 50, the condition that the trigger condition set in step b) may exceed the user's ability to exercise, so that the rehabilitation engineer must reset the trigger condition from the human machine interface 90 before performing step c). .

It should be additionally noted that, in the foregoing first embodiment, the lower limb rehabilitation method of the present invention is based on task orientation, that is, after the user first decides to perform a step, walk or other training task. Start the follow-up operation. However, in the second embodiment, the specific muscle group is mainly emphasized. As shown in Fig. 4, the difference from the first embodiment is that the user decides the specific muscle part to be strengthened before starting the operation. (such as the surrounding muscles of the knee joint or the surrounding muscles of the hip joint), and then the EMG sensor 70 is attached to these muscles, and then the follow-up active training is started. On the other hand, in the third embodiment, as shown in FIG. 5, the rehabilitation engineer can also set the training parameters (such as walking time, step length or walking speed, etc.) in the human-machine interface 90 according to the user's ability and needs. After the setting is completed, the action generating unit 86 of the controller 80 generates a corresponding control signal to the control unit 88 of the controller 80 according to the set training parameters, so that the control unit 88 of the controller 80 controls the actuator 40. The mechanical exoskeleton 50 is driven to allow the mechanical exoskeleton 50 to drive the lower limbs of the user to achieve passive training.

In summary, the lower limb rehabilitation method of the present invention can establish a corresponding training mode according to different muscles selected by the user or different muscle groups to be strengthened, and take the user's myoelectric signal as a process. Determine the basis, and then achieve active or passive rehabilitation.

10‧‧‧ Lower limb rehabilitation device
20‧‧‧ Pedestal
30‧‧‧Support frame
40‧‧‧Acoustic
41‧‧‧ Fixed seat
42‧‧‧First mobile seat
43‧‧‧Second mobile seat
44‧‧‧Transverse guides
45‧‧‧Longitudinal guide
50‧‧‧Mechanical exoskeleton
60‧‧‧Action Control Module
70‧‧‧EMG signal sensor
80‧‧‧ controller
82‧‧‧Signal receiving unit
84‧‧‧Signal Processing Unit
86‧‧‧Action generating unit
88‧‧‧Control unit
90‧‧‧Human Machine Interface

Fig. 1 is a perspective view of a lower limb rehabilitation device of the present invention. Figure 2 is a block diagram of the motion control module provided by the present invention. Figure 3 is a flow chart of the active training of the present invention. Figure 4 is another flow chart of the active training of the present invention. Figure 5 is a flow chart of passive training of the present invention.

Claims (6)

A lower limb rehabilitation device for lower limb rehabilitation includes the following steps: a) wearing a mechanical exoskeleton of one of the lower limb rehabilitation devices on the lower limb of the user; b) setting a trigger condition; c) using most of the myoelectric signals The sensor senses the myoelectric signal of the specific muscle part of the user when performing a specific action; d) determining whether the sensing result of step c) meets the triggering condition set in step b); and e) when step b) is met When the set trigger condition is triggered, an action generating unit is triggered, and the action generating unit sends a control signal to a control unit, so that the control unit controls the mechanical exoskeleton to drive the user's lower limb to perform the specific action of step c). In the lower limb rehabilitation method of the lower limb rehabilitation device according to claim 1, in step b), the specific action that the user wants to perform is determined first, and then the majority of the myoelectric signal sensor is attached to the user. The specific muscle part that is used when performing a specific action, and then the user performs multiple test training according to the specific action to be performed, so that the rehabilitation teacher sets the trigger condition according to the result of the test training. The lower limb rehabilitation method of the lower limb rehabilitation device according to claim 1 or 2, in step e), when the trigger condition set in step b) is not met, the action generating unit is not triggered, and the rehabilitation engineer needs to reset After the trigger condition of step b), step c) is performed. In the lower limb rehabilitation method of the lower limb rehabilitation device according to claim 1, in step d), a signal receiving unit receives the myoelectric signal sensed by the majority of the myoelectric signal sensor, and then uses a signal processing. The unit processes the myoelectric signal received by the signal receiving unit, and finally displays the obtained result in a human-machine interface of the lower limb rehabilitation device, so that the rehabilitation engineer determines whether the trigger condition set in step b) is met. A lower limb rehabilitation device according to claim 1, comprising: a base; a support frame disposed on the base; an actuator disposed on the base and adjacent to the base a support frame; a mechanical exoskeleton pivotally disposed on the support frame and the actuator; and an action control module having at least one myoelectric signal sensor and a controller for sensing the myoelectric signal sensor a muscle electrical signal, the controller is disposed on the base and electrically connected to the actuator and the myoelectric signal sensor for receiving and processing the myoelectric signal of the myoelectric signal sensor, and according to the muscle The sensing result of the electrical signal sensor controls the actuator to drive the mechanical exoskeleton; and a human machine interface is disposed on the base and electrically connected to the controller of the motion control module. The lower limb rehabilitation device of claim 5, wherein the controller has a signal receiving unit, a signal processing unit, an action generating unit, and a control unit, the signal receiving unit is electrically connected to the myoelectric signal sensor Receiving a myoelectric signal of the myoelectric signal sensor, the signal processing unit is electrically connected to the signal receiving unit for processing the myoelectric signal received by the signal receiving unit, and the action generating unit is electrically connected to the The signal processing unit is configured to send a control signal according to the processing result of the signal processing unit, and the control unit is electrically connected to the motion generating unit and the mechanical exoskeleton for receiving the control signal of the motion generating unit to control the transmission The mechanical exoskeleton is driven.