TW202030002A - Training system for upper limb and control method thereof - Google Patents

Abstract

A training system for an upper limb of a user includes a main body and a control unit. The main body includes a training unit connected to the upper limb and a plurality of motors coupled to the training unit. The control unit is connected to the training unit and the motors, and computes a position of an end of the training unit and a torque interval resulting from a torque generated by each of the motors. Besides, a control method for the upper limb adapted to the training system is also provided.

Description

Upper limb training system and control method

The invention relates to an upper limb training system and a control method, and more particularly to an upper limb training system and a control method that can provide an impedance torque to realize a safety protection mechanism.

Upper limb training is a major topic of body movement training. Generally speaking, during physical training, the user’s limbs are connected through an auxiliary device, and the motion instructor guides the limb to move along a specific trajectory. After that, the auxiliary device moves the limb along the trajectory guided by the motion instructor to achieve the training effect. Abnormal situations may occur during the training, such as the user's cramps due to muscle fatigue or other factors. To this end, motion instructors and assistive equipment developers have also begun to study methods to detect or respond to the above-mentioned abnormal conditions. For example, Taiwan Patent TW I587843 provides a method for detecting lower limb spasm. When the user has spasm, the lower limbs are supported. The frame control motor stops running, so that the gait rehabilitation machine ends, so as to avoid the machine continuing to drive the limbs and cause injury after the spasm occurs.

However, due to the relatively simple movement mode and range of the lower limbs, the same mechanism cannot be directly applied to the upper limb training device. In addition, if the motor is immediately stopped when the user has spasm, the user may be injured because the limb tension cannot be relieved. However, if the motor continues to run, the user may cause the upper limb training device to accidentally strike while relaxing the upper limb tension. Injury to the head or other parts of the torso.

The present invention provides an upper limb training system, the control unit of which can calculate the torque of the motor and the position of the end point of the training unit, and control the motor to provide impedance torque to relieve the tension of the user's upper limb.

The upper limb training system of the present invention is suitable for an upper limb of a user, and includes a body and a control unit. The main body includes a training unit and a plurality of motors. The training unit is connected to the upper limbs, and these motors are coupled to the training unit. The control unit is electrically connected to the training unit and the motors, and calculates a position of an end point of the training unit and calculates a torque interval corresponding to each motor according to the torque of each motor. When the torque of at least one of these motors exceeds the corresponding torque interval and the end point of the training unit does not move to a predetermined position, the control unit controls each motor to output a first torque to the training unit. When the torque of at least one of these motors exceeds the corresponding torque interval, and the end point of the training unit moves to a predetermined position, the control unit controls each motor to output a second torque to the training unit so that the end of the training unit Point away from the predetermined location.

In addition, the present invention also provides a control method suitable for the upper limb training system, which can prevent the user from accidentally hitting himself during upper limb training and causing injury.

The control method of the present invention is suitable for an upper limb training system, and the upper limb training system includes a body and a control unit. The main body includes a training unit and a plurality of motors, and the training unit, the motors and the control unit are electrically connected to each other. The control method includes performing a teaching step and a reproduction step. The teaching steps include connecting the upper limbs to the training unit, guiding the training unit to move and recording a movement track. The reproduction step includes driving the upper limbs of the user to move through the training unit, obtaining a torque interval corresponding to each motor, and implementing a protection mechanism. The protection mechanism includes the control unit judging whether the torque of each motor exceeds the torque interval corresponding to each motor, the control unit calculating a position of an end point of the training unit, and judging whether the end point of the training unit has moved to a predetermined position, and the control unit Control each motor to output a first torque or a second torque to the training unit.

Based on the above, the upper limb training system and control method provided by the present invention, when an abnormal situation occurs during training, such as a user's spasm, the control unit can control each motor to output the first torque to the training unit, so as to relieve the user Upper limb tension. In addition, when the user may hit himself by mistake, the control unit controls each motor to output the second torque to the training unit, so that the end point of the training unit is far away from the predetermined position to avoid injury.

In order to make the above-mentioned features and advantages of the present invention more obvious and understandable, the following specific examples are given in conjunction with the accompanying drawings to describe in detail as follows.

The foregoing and other technical contents, features, and effects of the present invention will be clearly presented in the following detailed description of the preferred embodiment with reference to the drawings. It is worth mentioning that the coupling and electrical connection mentioned in the following embodiments mean that electrical energy or data such as electrical signals, magnetic signals, and command signals can be transmitted between components directly or indirectly, wired or wirelessly. Therefore, the connecting terms used are for illustration, not for limiting the present invention. In addition, in the following embodiments, the same or similar elements will use the same or similar reference numerals.

Fig. 1 is a three-dimensional schematic diagram of an upper limb training system according to an embodiment of the present invention, Fig. 2 is a functional block diagram of the upper limb training system in Fig. 1, and Fig. 3 is a user using the upper limb training system in Fig. 1 For the schematic diagram of upper limb training, please refer to Figure 1 to Figure 3. The upper limb training system 1000 of this embodiment includes a main body 1100, a control unit 1200, and a driving unit 1300. The main body 1100 includes a base 1110, a training unit 1120, and a plurality of motors 1140. The training unit 1120 is connected to the base 1110. The motors 1140 are coupled to the training unit 1120, the control unit 1200 is electrically connected to the training unit 1120 and the motors 1140, and the driving unit 1300 is electrically connected to the training unit 1120, the motors 1140 and the control unit 1200.

Specifically, the upper limb training system 1000 of this embodiment is applicable to the upper limbs of a user 2000. When the user 2000 performs upper limb training, the training unit 1120 needs to be connected to the upper limb. The training unit 1120 includes a first link 1122 and a second link 1124 connected to the first link 1122. A first link 1122 about the first axis A ₁ and A ₁ independently of the first axis and a second axis of rotation A _2, independently of the second link 1124 about a first axis A ₁ and A ₂ of the second shaft The third axis A ₃ rotates. In this embodiment, there are three motors 1140, which correspond to the rotation of the first connecting rod 1122 and the second connecting rod 1124 on the above-mentioned three axes. The first axis A ₁ is when the user 2000 performs upper limb training. A connecting rod 1122 assists the vertical axis of the shoulder joint rotation; the second axis A ₂ is the horizontal axis of the first connecting rod 1122 assisting the shoulder joint rotation when the user 2000 performs upper limb training; and the third axis A ₃ is the user 2000 performing During upper limb training, the second link 1124 assists an axis of rotation of the elbow joint relative to the first link 1122. Therefore, when operating the upper limb training system 1000 for upper limb training, the shoulder of the user 2000 is located at the intersection X of the first axis A ₁ and the second axis A ₂ , and the elbow of the user 2000 is located on the third axis A ₃ . Accordingly, the control unit 1200 can according to the length of the first link and the second link 1124 to 1122, 1122 around the first link angle A ₂ of the first rotation axis A ₁ and the second shaft about the first and second link 1124 The rotation angle of the three-axis A _{3 is} used to calculate the position of an end point E of the training unit 1120. It is worth mentioning that the number of the first link 1122, the second link 1124, the motor 1140 and the corresponding rotation axis is not limited to this, as long as it is a link that can assist the user 2000 in upper limb training and provides the above-mentioned connection. The motor that is powered by the rod during training and the rotating shaft required to perform the training action are both within the protection scope of the present invention.

A schematic end point position of the upper limb training means training system according to the fourth graph of FIG 3, the fifth graph of FIG. 4 toward a first axial _direction A of the plan view 4 of the graph in FIG 6 toward the second axis A _For the side view in ₂ directions, please refer to Figure 4 to Figure 6. Furthermore, if the connection of the training unit 1120 to the base 1110 is defined as the origin, the front, left, and upper positions of the user 2000 during upper limb training are defined as x ₀ , y ₀ and z ₀ directions, respectively. The length of the two rods connecting the first link 1122, the length of the first link 1122, the length of the second link 1124, and the distance from the second link 1124 to the end point E of the training unit 1120 are respectively defined as d ₁ , d _2, d _3, d is the angle between the horizontal and _{d. 4. 5,} and the lever length d ₁ and x ₀ direction, the vertical angle between the direction of x ₀ and 1122 and the first link 1124 relative to the second link The vertical included angles in the extending direction of the first link 1122 are respectively defined as θ ₁ , θ ₂ and θ ₃ , where θ ₁ , θ ₂ and θ ₃ are positive in the clockwise direction in Figures 5 and 6, then the training unit The x, y and z coordinates of the end point E of 1120 relative to the origin can be calculated by the geometric formula:

Where sin and cos are the sine and cosine values of the angle in the brackets. Thereby, the upper limb training system 1000 can accurately calculate the position coordinates of the end point E relative to the part of the training unit 1120 connected to the main body 1100 through the control unit 1200.

Figure 7 is a flow chart of the steps of the control method of an embodiment of the present invention. Figure 8 is a graph of the torque of the motor and the corresponding motor torque range of the upper limb training system of an embodiment of the present invention. Please also Refer to Figure 2, Figure 7, and Figure 8. The control method of this embodiment is applicable to the upper limb training system 1000 described above, wherein the control unit 1200 of the upper limb training system 1000 includes a teaching module 1220, a reproduction module 1240, and a calculation module 1260. Still further, the control unit 1200 further comprises a switching unit module (not shown) may correspond to the different steps to switch between upper limb training module, and the control method includes performing a step S ₁₀₀ teaching and performing a reproducing Step S ₂₀₀ . Teaching step S _100, the user operation guide 2000 or 2000 will have a user connected to the upper extremity training unit 1120, after the operation guide 2000 guides the user who moves along a particular track upper and driven by the upper limb training unit 1120 Move, at this time, the teaching module 1220 records and stores the movement track of the upper limb guided by the action instructor.

After the teaching step S ₁₀₀ ends, the operation guide or user operable upper limb training system 2000 1000 Step S _{200 is} executed to reproduce, at this time the control unit 1200 may reproduce the reproduction module 1240 module teaching in the teaching step S 1220 Movement track recorded in ₁₀₀ . Specifically, the control unit 1200 transmits a command to the drive unit 1300. In this embodiment, the drive unit 1300 includes a servo driver 1320 and an encoder 1340. When the drive unit 1300 receives a command from the control unit 1200, 1320 servo drive motors 1140 drive each operation unit 1120 and the drive train is moved along the movement locus teaching module 1220 in the recording instruction step ₁₀₀ S. It is worth mentioning that the motor driver used in the drive unit 1300 is not limited to the servo driver 1320, as long as it can drive each motor 1140 to reproduce the recorded movement track, such as linear drivers, stepper drivers and their corresponding motors are also based The scope of protection of the invention.

When the upper limb training system 1000 drives the upper limbs of the user 2000 and the training unit 1120 to move multiple times along the aforementioned movement track, the drive unit 1300 senses the torque T of each motor 1140, and uses the encoder 1340 to perform the multiple training units 1120. When moving, the torque T of each motor 1140 is encoded into a data, and then the data is transmitted to the control unit 1200. After the control unit 1200 receives this data, the calculation module 1260 defines a torque average value μ _i according to the average value of the torque T of each motor 1140 when the multiple training unit 1120 moves, and moves according to the multiple training unit 1120. When the standard deviation of the torque T of each motor 1140 defines a torque standard deviation σ _i , the upper bound TI _upper and the lower bound TI _lower corresponding to the torque interval of each motor 1140 are calculated by the following formula:

Where i is the number of each motor 1140; δ is a sensitivity parameter, theoretically a real number greater than zero, in this embodiment between 0 and 15, and can be adjusted by the action instructor according to the conditions of different users 2000 ; W is a weight, which is 3 in this embodiment, but the present invention is not limited to this. In other words, the teaching step S _100, the operation guide 2000 may be driven by a person or user by the mobile unit 1120 and the upper limb training interval corresponding to the respective torque motors made in 1140, as shown in FIG. 8.

In addition, in the reproduction step S _200, the control unit 1200 further performs a defense mechanism. Figure 9 is a schematic diagram of the upper limb training system and virtual wall in Figure 3, please refer to Figure 3 and Figure 9 at the same time. In this embodiment, the upper limb training system 1000 further defines a virtual wall surface 1400 between the head of the user 2000 and the end point E of the training unit 1120, wherein the virtual wall surface 1400 is two planes perpendicular to each other. Specifically, as shown in Figure 9, if the torso of the user 2000 is simplified as an ellipse, the distance from the center of the ellipse to the end of the long axis on the right side is the shoulder width SW of the user 2000, and the center of the ellipse is to the front side The distance between the end points of the short axis is the chest thickness BT of the user 2000. The upper limb training system 1000 of this embodiment is based on the 95th percentile of human shoulder width SW and chest thickness BT in human factors engineering, and multiplying them by a safety factor of 1.2 times to obtain the two planes and the user in the virtual wall 1400. The distance between 2000, which is 1.2 times the shoulder width SW and 1.2 times the chest thickness BT in Figure 9.

Furthermore, the virtual wall surface 1400 defines a safety range of the user 2000. An abnormal situation occurs during upper limb training, for example, the upper limb of the user 2000 has spasm. At this time, if the end point E of the training unit 1120 is located on the virtual wall surface 1400 Compared to the inside of the user 2000, the user 2000 may drive the training unit 1120 to hit the head or torso by mistake due to spasm. To this end, the control unit 1200 will provide the impedance torque corresponding to the training unit 1120 according to the depth of the training unit 1120 entering the virtual wall 1400. That is, when the training unit 1120 enters the virtual wall surface deeper, the control unit 1200 controls each motor 1140 to output the impedance torque of the training unit 1120 to be larger.

Figure 10 is a flowchart of the protection mechanism in Figure 7. Please refer to Figures 7 and 10. When the protection mechanism is activated, the control unit 1200 determines whether the torque T of each motor 1140 exceeds the torque interval of each motor 1140 when the training unit 1120 reproduces the recorded movement track (step _S210 ). If the torque T does not exceed the torque interval, the training unit 1120 continues to drive the upper limb to move (step _S220 ); if the torque T of at least one of these motors 1140 exceeds the corresponding torque interval, it means that an abnormal situation has occurred. For example, the upper limbs of the user 2000 have spasms. After that, the control unit 1200 calculates the position of the end point E of the training unit 1120, and determines whether the end point E of the training unit 1120 has moved to a predetermined position (step _S230 ). In this embodiment, the predetermined position is located on the virtual wall surface 1400 or the inner side of the virtual wall surface 1400 relative to the user 2000. When the torque T of at least one of the motors 1140 exceeds the corresponding torque range, but the end point E of the training unit 1120 does not move to the predetermined position, it means that the user 2000 will have spasms in the upper limbs, but will not hit by mistake. At this time, the calculation module 1260 of the control unit 1200 calculates a first torque T ₁ of the gravity at the position of the balance training unit 1120 (step S ₂₄₀ ), and drives each motor 1140 through the servo driver 1320 of the drive unit 1300 a first output torque T ₁ to the training unit 1120 (step S _260). Since the user 2000 and the training of the upper unit 1120 of gravity is balanced by a first torque T _1, 2000 to relieve the user limb spasticity due to tension generated under low load situations and avoid injury.

However, when the torque T of at least one of the motors 1140 exceeds the corresponding torque interval, and the end point E of the training unit 1120 moves to be located on the virtual wall 1400 or the virtual wall 1400 relative to the inner side of the user 2000 When the predetermined position of the user 2000, it means that the user 2000 may drive the training unit 1120 to accidentally hit itself due to upper limb spasm. At this time, the calculation module 1260 calculates the gravity at the location of the balance training unit 1120 and the resistance training unit 1120 to the center of the user 2000 body A second torque T ₂ that continues to approach, where the second torque T _{2 is} defined by a gain ratio G and an original torque T _original . Specifically, the second torque T ₂ satisfies the following formula:

When the end point E of the training unit 1120 is located at the inner side of the virtual wall 1400 relative to the user 2000, and the distance D between the end point E of the training unit 1120 and the virtual wall 1400 is greater than the previous end of the end E of the training unit 1120 and the virtual wall 1400 When the distance is sensed, the upper limbs of the user 2000 are still moving toward the center of the body. At this time, the gain ratio G is changed from a pre-adjusted gain ratio G*, a distance D, a distance weight K _p , and the end point E of the training unit 1120 relative to The velocity V _{d of the} virtual wall 1400 and a velocity weight K _{v are} defined. Specifically, the aforementioned gain ratio G satisfies the following formula:

When the end point E of the training unit 1120 is located on the inner side of the virtual wall 1400 with respect to the user 2000, and the distance D between the end E of the training unit 1120 and the virtual wall 1400 is less than or equal to the distance between the end E of the training unit 1120 and the virtual wall 1400 When the distance was sensed last time, the upper limbs of the representative user 2000 gradually moved toward the outer side of the virtual wall 1400. At this time, the gain ratio G is the gain ratio G* before the adjustment decreased by a certain value C. Specifically, the gain ratio G satisfies the following formula:

In other words, the calculation module 1260 of the control unit 1200 calculates the gain ratio G and the corresponding second torque T ₂ (step S ₂₅₀ ), and drives each motor 1140 to output the second torque T ₂ through the servo driver 1320 of the drive unit 1300 To the training unit 1120 (step _S270 ), the end point E of the training unit 1120 is moved to the outside of the virtual wall 1400. In this way, during the process of the training unit 1120 moving along the recorded movement trajectory and driving the upper limbs of the user 2000, the user 2000 can be prevented from being injured due to abnormal conditions, such as upper limb spasm, and accidentally hitting himself and causing injury, and it can also relieve the user. 2000 Upper limb tension due to spasm. When the control unit 1200 determines the endpoint of training unit 1120 is moved to the outside of the virtual wall surface E 1400 (step S _280), the operation may be canceled defenses Guides (step S _290), cause the system to general teaching of the step S ₁₀₀ Teaching process.

FIG. 11 is a schematic diagram of a user performing upper limb training using the upper limb training system of another embodiment of the present invention. Please refer to FIGS. 3 and 11 at the same time. The main difference between the upper limb training system 1000' of this embodiment and the upper limb training system 1000 of FIG. 3 is that the virtual wall surface 1400' defined by the upper limb training system 1000' is not two mutually perpendicular planes but a curved surface. It can achieve the effect of preventing the user 2000 from accidentally hitting himself and causing injury due to upper limb spasm.

Figure 12 is a schematic diagram of the upper limb training system and virtual wall in Figure 11. Please refer to Figure 12. In detail, the virtual wall surface 1400' of the upper limb training system 1000' of this embodiment may have a variety of different definitions. As shown in Figure 12, if the torso of the user 2000 is simplified as an ellipse, the 95th percentile value of the human shoulder width SW in human factors engineering can be multiplied by a safety factor of 1.2 to obtain The torso center of the user 2000 is the center of the circle, and the 1.2 times the shoulder width SW is the cylindrical virtual wall surface 1400' with the radius r ₁ ; in addition, the part where the training unit 1120 connects to the main body 1100 can be the center of the circle. The length d of the main body 1100 and a The safety margin SA is two strands, and the hypotenuse obtained is the radius r ₂ to obtain another cylindrical virtual wall surface 1400'; alternatively, 1.2 times the shoulder width SW can be used as the semi-major axis length and 1.2 times the chest thickness BT as the semi-short The axis length is an elliptical cylindrical virtual wall centered on the torso center of the user 2000. The above-mentioned virtual walls 1400 and 1400' use statistical data in human factors engineering as the design basis, so the position of the virtual walls 1400 or 1400' will not change depending on the user, and both can reach the defined user 2000 safety range Effect.

To sum up, the upper limb training system of the present invention can detect whether the user has spasms during the upper limb training process by calculating the torque interval corresponding to each motor by the control unit. In addition, according to the upper limb training method of the present invention, when the user's upper limbs spasm during training, the control unit can control each motor to output the first torque or the second torque to relieve the user's upper limb tension due to the spasm , And prevent the user from accidentally hitting the head or other parts of the torso by driving the upper limb training device due to spasm. The foregoing descriptions are only preferred embodiments of the present invention, and all equivalent changes and modifications made in accordance with the scope of the patent application of the present invention shall fall within the scope of the present invention.

1000, 1000': Upper limb training system 1100: Main body 1110: Base 1120: Training unit 1122: First link 1124: Second link 1140: Motor 1200: Control unit 1220: Teaching module 1240: Reproduction module 1260 : Calculation module 1300: Drive unit 1320: Servo drive 1340: Encoder 1400, 1400': Virtual wall 2000: User A ₁ : First axis A ₂ : Second axis A ₃ : Third axis BT: Chest thickness C : Value D: distance d, d ₁ , d ₂ , d ₃ , d ₄ , d ₅ : length E: end point G: gain ratio G*: gain ratio before adjustment K _p : distance weight K _v : speed weight r ₁ , R ₂ : Radius S ₁₀₀ , S ₂₀₀ , S ₂₁₀ , S ₂₂₀ , S ₂₃₀ , S ₂₄₀ , S ₂₅₀ , S ₂₆₀ , S ₂₇₀ , S ₂₈₀ , S ₂₉₀ : Step SA: Safety margin SW: Shoulder width T: Torque T ₁ : First torque T ₂ : Second torque TI _upper : Upper bound TI _lower : Lower bound V _d : Speed X: Intersection point x ₀ , y ₀ , z ₀ : Direction θ ₁ , θ ₂ , θ ₃ : Angle

Figure 1 is a three-dimensional schematic diagram of an upper limb training system according to an embodiment of the present invention. Figure 2 is a functional block diagram of the upper limb training system shown in Figure 1. Figure 3 is a schematic diagram of a user using the upper limb training system of Figure 1 for upper limb training. Figure 4 is a schematic diagram of the position of an end point of the training unit of the upper limb training system in Figure 3. 5 graph of FIG. 4 a top view of the first shaft toward the direction A ₁ in FIG. 6 graph of FIG. 4 toward a side view of the second axis A ₂ direction. Figure 7 is a flow chart of the steps of a control method according to an embodiment of the present invention. Fig. 8 is a graph of the torque of the motor and the torque interval of the corresponding motor of the upper limb training system according to an embodiment of the present invention. Figure 9 is a schematic diagram of the upper limb training system and virtual wall in Figure 3. Figure 10 is a flowchart of the protection mechanism in Figure 7. FIG. 11 is a schematic diagram of a user performing upper limb training by using the upper limb training system of another embodiment of the present invention. Figure 12 is a schematic diagram of the upper limb training system and virtual wall in Figure 11.

1000: Upper limb training system

1100: body

1120: Training Unit

1140: Motor

1200: control unit

1220: Teaching Module

1240: Reproduction module

1260: Computing Module

1300: drive unit

1320: Servo drive

1340: encoder

Claims (10)

An upper limb training system is suitable for an upper limb of a user. The upper limb training system includes: An ontology, including: A training unit connected to the upper limb; and A plurality of motors, coupled to the training unit; and A control unit electrically connected to the training unit and the motors, the control unit calculates a position of an end point of the training unit and calculates a torque interval corresponding to each motor according to the torque of each motor; Wherein, when the torque of at least one of the motors exceeds the corresponding torque interval, and the end point of the training unit does not move to a predetermined position, the control unit controls each motor to output a first rotation Moment to the training unit; Wherein, when the torque of at least one of the motors exceeds the corresponding torque interval, and the end point of the training unit moves to the predetermined position, the control unit controls each motor to output a second torque To the training unit, make the end point of the training unit away from the predetermined position. The upper limb training system as described in claim 1, further including: A driving unit electrically connected to the training unit, the motors, and the control unit. The driving unit senses the torque of each of the motors and transmits a data to the control unit, wherein the data includes a plurality of movement of the training unit The control unit calculates the torque interval corresponding to each motor according to the data, and the control unit drives each motor to output the first torque or the second torque through the drive unit To this training unit. The upper limb training system according to claim 2, wherein an upper bound and a lower bound of the torque interval are defined by a torque average value, a weight, and a torque standard deviation of each motor, and the torque average value is The average value of the torque of each motor when the training unit moves the plurality of times, and the torque standard deviation is the standard deviation of the torque of each motor when the training unit moves the plurality of times. The upper limb training system according to claim 1, further defines a virtual wall surface, the virtual wall surface is located between a head of the user and the end point of the training unit, and the predetermined position is located on the virtual wall surface or the virtual wall surface. The wall surface is opposite to the inner side of the user, and the end point of the training unit moves away from the predetermined position and moves to the outer side of the virtual wall surface. The upper limb training system according to claim 4, wherein the virtual wall surface includes an arc surface or two planes perpendicular to each other. The upper limb training system according to claim 4, wherein the second torque is defined by a gain ratio and an original torque; Wherein, when the end of the training unit is located on the inner side of the virtual wall with respect to the user, and a distance between the end of the training unit and the virtual wall is greater than the distance between the end of the training unit and the virtual wall When calculating a distance last time, the gain ratio is defined by a gain ratio before adjustment, the distance, a distance weight, a speed of the end point of the training unit relative to the virtual wall, and a speed weight; Wherein, when the end point of the training unit is located on the inner side of the virtual wall with respect to the user, and the distance between the end point of the training unit and the virtual wall is less than or equal to the end point of the training unit and the virtual wall When calculating the distance last time, the gain ratio is the gain ratio before adjustment reduced by a certain value. A control method is suitable for an upper limb training system, and the upper limb training system is suitable for an upper limb of a user. The upper limb training system includes a body and a control unit. The body includes a training unit and a plurality of motors. The training unit, the motors, and the control unit are electrically connected to each other, and the control method includes: Performing a teaching step includes connecting the upper limb to the training unit, guiding the training unit to move and recording a movement track; and Performing a reproducing step includes driving the upper limb to move by the training unit, obtaining a torque interval corresponding to each of the motors, and implementing a protection mechanism, the protection mechanism including: The control unit determines whether the torque of each motor exceeds the torque interval corresponding to each motor; The control unit calculates a position of an end point of the training unit, and determines whether the end point of the training unit moves to a predetermined position; and The control unit controls each motor to output a first torque or a second torque to the training unit. The control method according to claim 7, wherein the upper limb training system further includes a driving unit electrically connected to the training unit, the motors and the control unit, and the reproduction step further includes: The driving unit senses the torque of each motor and transmits a data including the torque of each motor when the training unit moves multiple times to the control unit; and The control unit calculates the torque interval corresponding to each motor according to the data, and drives each motor through the drive unit to output the first torque or the second torque to the training unit. The control method according to claim 7, wherein the protection mechanism further includes: When the control unit determines that the torque of at least one of the motors exceeds the torque interval corresponding to each motor and the end point of the training unit does not move to the predetermined position, the control unit controls each motor Output the first torque to the training unit; and When the control unit determines that the torque of at least one of the motors exceeds the torque interval corresponding to each motor and the end point of the training unit moves to the predetermined position, the control unit controls each motor to output The second torque reaches the training unit so that the end point of the training unit is far away from the predetermined position. The control method according to claim 7, wherein the protection mechanism further includes defining a virtual wall between a head of the user and the end point of the training unit, and the predetermined position is located on the virtual wall or the The virtual wall is relative to the inner side of the user, and when the control unit controls each of the motors to output the second torque to the training unit, the end point of the training unit moves to the outer side of the virtual wall.

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