TWI730726B - Hand-foot cooperative exercise machine and control method thereof - Google Patents

Abstract

A hand-foot cooperative exercise machine and its control method. The hand-foot cooperative exercise machine includes a frame, an upper limb movement mechanism, a first drive module, a lower limb movement mechanism, a second drive module, and a first rotational speed sensor , A second rotation speed sensor and a control module, the control module controls at least one of the first driving module and the second driving module according to the first rotation speed and the second rotation speed, so that the detected The difference between the first rotational speed and the second rotational speed is less than or equal to a predetermined difference, that is to say, the hand-foot cooperative exercise machine has the function of controlling the rotation of the first control element or the second control element to reduce the first control element or the second control element. The effect of the rotation speed difference between a control element and the second control element.

Description

Hand-foot cooperative exercise machine and control method thereof

The invention relates to sports equipment; in particular, it refers to a hand-foot cooperative exercise machine with auxiliary upper and lower limb movement and a control method thereof.

It is known that in order to improve the muscle strength of the upper and lower limbs of the user, a hand and foot exercise machine is usually used to assist the user to move the upper and lower limbs or perform postoperative rehabilitation of the upper and lower limbs. The conventional hand and foot exercise machine usually includes a frame, a chair seat, and a handle. , Pedals, etc. In use, after holding the handle with the hand or stepping on the pedal with the foot, the user’s upper or lower limbs exert force on the handle or pedal to perform periodic revolving movements to stretch and move the upper and lower limbs. And then achieve the exercise or rehabilitation of upper limb or lower limb muscle endurance.

However, muscular endurance exercises or rehabilitation treatment often need to be carried out continuously for a long time, the process is unavoidable and tedious, and when the user's upper or lower limbs have insufficient strength, they cannot smoothly turn the handles on their own strength. Or when pedaling, the user is likely to feel frustrated or uncomfortable during muscle endurance exercise or rehabilitation treatment, which will reduce the user’s willingness to operate the equipment, resulting in abandoning training in the middle, or , One of the upper and lower limbs is stronger and rotates at a faster speed, and the other is weaker and rotates at a slower speed, causing the upper and lower limbs to be uncoordinated.

Therefore, the conventional hand and foot exercise machine needs to be improved.

In view of this, the purpose of the present invention is to provide a hand-foot cooperative exercise machine and control method, which can assist the user's weak limbs to smoothly perform muscle endurance exercise or rehabilitation.

To achieve the above objective, the hand-foot cooperative exercise machine provided by the present invention includes a frame, an upper limb movement mechanism, a first drive module, a lower limb movement mechanism, a second drive module, and a first rotational speed sensor. , A second speed sensor and a control module.

The upper limb movement mechanism includes a first rotating member and a first operating member, the first rotating member is pivoted to the frame, the first operating member is connected to the first rotating member, and the first operating member is subjected to an external force Act to drive the first rotating member to rotate; the first driving module is coupled to the first rotating member and is controlled to drive the first rotating member to rotate; the lower limb movement mechanism includes a second rotating member and a second manipulation The second rotating member is pivoted to the frame, and the position of the second rotating member is lower than the first rotating member; the second operating member is connected to the second rotating member, and the second operating member is controlled by The external force acts to drive the second rotating member to rotate; the second driving module is coupled to the second rotating member and is controlled to drive the second rotating member to rotate; the first rotational speed sensor is coupled to the upper limb movement mechanism, Used to detect the rotational speed of the first rotating part; the second rotational speed sensor is coupled to the lower limb movement mechanism for detecting the rotational speed of the second rotating part; the control module is electrically connected to the first driving module Group, the second driving module, the first rotation speed sensor and the second rotation speed sensor, the control module obtains a first rotation speed from the rotation speed detected by the first rotation speed sensor, and is obtained by the second rotation speed sensor The detected rotation speed obtains a second rotation speed, and at least one of the first driving module and the second driving module is controlled according to the first rotation speed and the second rotation speed to make the first rotation speed and the second rotation speed A difference is less than or equal to a predetermined difference.

The present invention also provides a control method of a hand-foot cooperative exercise machine, the hand-foot cooperative exercise machine includes an upper limb movement mechanism, a first drive module, a lower limb movement mechanism, a second drive module, a first rotational speed sensor, A second rotational speed sensor and a control module, wherein the upper limb movement mechanism includes a first rotating member and a first operating member, the first operating member is connected to the first rotating member, and the first operating member The first rotating member is driven to rotate by an external force; the lower limb movement mechanism includes a second rotating member and a second manipulating member, the second manipulating member is connected to the second rotating member, and the second manipulating member is subjected to an external force To drive the second rotating member to rotate; the first rotational speed sensor is used to detect the rotational speed of the first rotational member, the second rotational speed sensor is used to detect the rotational speed of the second rotating member; the control method is determined by the The execution of the control module includes the following steps:

The rotation speeds of the first rotation component and the second rotation component are respectively detected through the first rotation speed sensor and the second rotation component to obtain a first rotation speed and a second rotation speed respectively; according to the first rotation speed and the second rotation speed The second rotation speed controls at least one of the first driving module and the second driving module so that a detected difference between the first rotation speed and the second rotation speed is less than or equal to a predetermined difference.

The effect of the present invention is that the control module controls at least one of the first drive module and the second drive module according to the first rotational speed and the second rotational speed, so that the detected first rotational speed and the A difference of the second rotation speed is less than or equal to a predetermined difference, that is, the hand-foot coordinated exercise machine has the function of controlling the rotation of the first control element or the second control element, so as to reduce the first control element and the second control element. The effect of the speed difference between the controls.

In order to explain the present invention more clearly, a few preferred embodiments are listed in detail in conjunction with the drawings as follows. Please refer to Figures 1 to 4, which is the hand-foot cooperative exercise machine 1 of the first preferred embodiment of the present invention, which includes a frame 10, an upper limb movement mechanism 20, a first drive module 30, and a lower limb movement mechanism 40. A second driving module 50, a first rotation speed sensor 60, a second rotation speed sensor 70, and a control panel 80.

The upper limb movement mechanism 20 includes a first rotating member 22 and a first operating member 24, the first rotating member 22 is pivoted to the frame 10, the first operating member 24 is connected to the first rotating member 22, and The first operating member 24 is driven by an external force to drive the first rotating member 22 to rotate. The first driving module 30 is coupled to the first rotating member 22 and controlled to drive the first rotating member 22 to rotate. In this embodiment, the first rotating member 22 includes two first pulleys 221 and a first belt 222, the first operating member 24 includes two grips 241 and two first cranks 242, and the first driving module 30 Contains a first motor 32, the first belt 222 bypasses the two first pulleys 221, and one of the two first pulleys 221 is connected to the first motor 32, and the left and right sides of the other are respectively connected There is a first crank 242, and each first crank 242 is connected with a grip 241 for the user to grasp, whereby the user can grasp each of the grips 241 and apply external force to drive the second crank A pulley 221 and the first belt 222 rotate. In addition, the first motor 32 can also assist in driving the first pulleys 221 and the first belt 222 to rotate, so that each of the first cranks 242 and each of the grips 241 can rotate, so that each of the grips can be grasped. The upper limbs of the user of 241 perform periodic revolving movements with the rotation of each of the first crank 242 and each of the grips 241.

The lower limb movement mechanism 40 includes a second rotating member 42 and a second operating member 44, the second rotating member 42 is pivoted to the frame 10, the second operating member 44 is connected to the second rotating member 42, and The second manipulating element 44 is driven by an external force to rotate the second rotating element 42. The second driving module 50 is coupled to the second rotating element 42 and is controlled to drive the second rotating element 42 to rotate. In this embodiment In an example, the second rotating member 42 includes two second pulleys 421 and a second belt 422, and the second operating member 44 includes two pedals 441 and two second cranks 442. The second driving module 50 includes a second motor 52, the second belt 422 passes over the two second pulleys 421, and one of the two second pulleys 421 is connected to the second motor 52, and the other A second crank 442 is connected to the left and right sides of each second crank 442, and a pedal 441 is connected to each of the second cranks 442 for the user to step on, whereby the user can step on each of the pedals 441 and apply external force to Drive the two second pulleys 421 and the second belt 422 to rotate. The second motor 52 can also assist in driving the two second pulleys 421 and the second belt 422 to rotate, so that each of the second cranks 442 and each of the grips 241 rotate, thereby making the pedals 441 The user's lower limbs perform periodic revolving movements with the rotation of each of the second crank 442 and each of the pedals 441.

It is worth mentioning that the first manipulating member 24 can be acted on by an external force to drive the first rotating member 22 to rotate in a forward or reverse direction, and the second manipulating member 44 can be acted on by an external force to drive the second rotating member 42 to be normal. Rotate in the opposite direction or in the opposite direction, that is, the first operating member 24 and the second operating member 44 can respectively drive the first rotating member 22 and the second rotating member according to the direction of the force applied by the user 42 performs forward or reverse rotation.

The first rotation speed sensor 60 is coupled to the upper limb movement mechanism 20 for detecting the rotation speed of the first rotating member 22. The second rotation speed sensor 70 is coupled to the lower limb movement mechanism 40 for detecting the rotation speed of the second rotating member 42. The first rotational speed sensor 60 and the second rotational speed sensor 70 can be electromagnetic rotational speed sensors, photoelectric rotational speed sensors, or other sensors capable of sensing rotational speed. In this embodiment, the first rotational speed sensor 60 and the second rotational speed sensor 70 are illustrated by electromagnetic speed sensors as an example, but it is not limited to this, and may also be Hall sensors, photoelectric switches, proximity sensors, etc. switch. The first rotational speed sensor 60 is disposed at a position close to the first rotating member 22, and the second rotational speed sensor 70 is disposed at a position close to the second rotating member 42 to sense the first rotating member 22 and the second rotating member respectively. The rotation speed of the second rotating member 42. Preferably, the first rotation speed sensor 60 can detect the rotation direction of the first rotating member 22, and the second rotation speed sensor 70 can detect the rotation direction of the second rotating member 42.

The control panel 80 is disposed on the rack 10. The control panel 80 includes a display module 82, a control module 84, and a start switch 86. The control module 84 is electrically connected to the first drive module 30, The second driving module 50, the first rotation speed sensor 60, the second rotation speed sensor 70, the display module 82 and the start switch 86. In this embodiment, the display module 82 is a display installed on the frame 10, and the display can display the first rotation speed and the second rotation speed for the user to clearly understand the current rotation speed. The activation switch 86 can be a physical button for the user to operate. The user can activate the activation switch 86 or turn off the activation switch 86 by pressing. When the user activates the start switch 86, the control module 84 controls at least one of the first driving module 30 and the second driving module 50 according to the first rotational speed and the second rotational speed; when the user turns off When the switch 86 is activated, the control module 84 stops controlling the first driving module 30 and the second driving module 50. In practice, the display module 82 can be a touch display, and the start switch 86 can also be a virtual button displayed on the touch display for the user to click, and is electrically connected to the control module through the display module 82 Group 84 is not limited to the aforementioned physical buttons.

Please cooperate with FIG. 5, which is the control method of the hand-foot cooperative exercise machine 1 provided by the present invention, which is executed by the above-mentioned control module 84. The control method of the hand-foot cooperative exercise machine 1 includes the following steps:

In S201, the user activates or deactivates the activation switch 86. When the activation switch 86 is activated, the control module 84 controls the first driving module 30 and the second driving module 50 according to the first rotational speed and the second rotational speed At least one of them. When the start switch 86 is turned off, the control module 84 stops controlling the first drive module 30 and the second drive module 50, that is, when the user needs the hand-foot cooperative exercise machine 1 to provide auxiliary functions, use It is necessary to activate the start switch 86 so that the control module 84 controls at least one of the first motor 32 and the second motor 52 to assist the user to perform periodic orbiting movements of at least one of the upper limbs and the lower limbs. When the user does not need the hand-foot cooperative exercise machine 1 to provide auxiliary functions, the user needs to turn off the start switch 86 to make the control module 84 stop controlling the first motor 32 and the second motor 52. At this time, the user The first control element 24 and the second control element 44 are controlled completely by one's own force, and the rotation speeds of the first rotation element 22 and the second rotation element 42 are controlled according to the degree of the user's force.

S202: The control module 84 obtains the first rotational speed from the rotational speed detected by the first rotational speed sensor 60 and the second rotational speed from the rotational speed detected by the second rotational speed sensor 70; preferably, step S202 further includes The display module 82 displays the first rotation speed and the second rotation speed. Preferably, step S202 further includes the first rotation speed sensor 60 detecting the rotation direction of the first rotating member 22, and the second rotation speed sensor 70 detecting Measure the direction of rotation of the second rotating member 42, wherein the first rotational speed sensor 60 detects that the direction of rotation of the first rotating member 22 is a first direction, the first direction is forward or reverse, and the second The rotation speed sensor 70 detects that the rotation direction of the second rotating member 42 is a second direction, and the second direction is forward or reverse, and displays the first direction and the second direction through the display module 82, For example, when the user uses the upper limbs to drive the first rotating member to rotate 20 times per minute, and uses the lower limbs to drive the second rotating member to rotate backwards and rotate 15 times per minute, the The display module 82 displays that the first rotation speed is 20 RPM, the first direction is defined as forward and the second rotation speed is defined as 15 RPM, and the second direction is defined as reverse. Arrows can also be used for the forward or reverse direction. The indicating direction may be displayed on the display module 82 with signs such as +/-, so that the user can clearly understand the current rotation speed and direction of the first rotating member 22 and the second rotating member 42 to facilitate self-adjustment The degree of force applied.

S203 The control module 84 controls at least one of the first driving module 30 and the second driving module 50 according to the first rotation speed and the second rotation speed, so that the detected first rotation speed and the second rotation speed are A difference ΔV of the rotation speed is less than or equal to a predetermined difference ΔVa. Preferably, the control module 84 controls the first driving module 30 according to the first direction detected by the first rotational speed sensor 60 and the second direction detected by the second rotational speed sensor 70 The first motor 32 drives the first rotating member 22 to increase the rotational speed in the same direction along the first direction, or controls the second motor 52 of the second drive module 50 to drive the second rotating member 42 in the same direction along the second direction Increase the rotation speed. For example, the predetermined difference ΔVa is 5 RPM, and the first rotation speed of the first rotating member 22 driven by the user is 20 RPM and the first direction is positive and the second rotation member 42 When the second rotation speed is 10 RPM and the second direction is reverse, the difference ΔV between the first rotation speed and the second rotation speed is 10 RPM. At this time, the control module 84 controls the second drive module 50, The second rotating member 42 is driven to increase the rotational speed in the reverse direction to increase the second rotational speed, so that the difference ΔV between the first rotational speed and the second rotational speed is less than or equal to the predetermined difference ΔVa, thereby assisting in increasing use The weaker lower limbs perform periodic revolving motions to approach the revolving speed of the upper limbs. In one embodiment, the control module 84 controls at least one of the first driving module 30 and the second driving module 50 according to the first rotation speed and the second rotation speed, so that the difference ΔV is zero. That is, the control module 84 controls at least one of the first driving module 30 and the second driving module 50 to drive the first rotating member 22 or the second rotating member 42 to increase the rotational speed and increase the first The rotation speed or the second rotation speed makes the rotation speed of the first rotation speed and the second rotation speed equal, thereby promoting the user's weaker upper limbs or lower limbs to perform periodic revolving motions to match the stronger upper limbs or lower limbs Revolving speed.

Preferably, step S203 further includes that the control module 84 controls the first drive when the difference ΔV between the first rotational speed and the second rotational speed is greater than a first predetermined difference. At least one of the module 30 and the second driving module 50 makes the difference ΔV less than or equal to the predetermined difference ΔVa, wherein the control module 84 when the first rotation speed is less than the second rotation speed, the The control module 84 controls the first driving module 30 to drive the first rotating member 22 to increase the rotation speed to increase the first rotation speed; when the second rotation speed is less than the first rotation speed, the control module 84 controls The second driving module 50 drives the second rotating member 42 to increase the rotational speed to increase the second rotational speed. For example, the first predetermined difference is 10 RPM, and the user drives the first rotating member 22 to make the first The rotation speed is 20 RPM and the second rotating member 42 is driven to make the second rotation speed 5 RPM. At this time, the difference ΔV is 15 RPM and is greater than the first predetermined difference 10 RPM, and the second rotation speed is less than the first Therefore, the control module 84 controls the second driving module 50 to increase the second rotation speed so that the difference ΔV between the first rotation speed and the second rotation speed is less than or equal to 5 RPM of the predetermined difference ΔVa .

In S204, after a predetermined time, the control module determines the difference between the difference ΔV between the first rotation speed and the second rotation speed and the predetermined difference ΔVa.

S205 When the difference ΔV between the first rotation speed and the second rotation speed is less than or equal to the predetermined difference ΔVa, the control module 84 stops controlling the first drive module 30 or the second drive module 50, and Step S204 is executed after step S205; when the difference ΔV between the first rotation speed and the second rotation speed is greater than the predetermined difference ΔVa, step S203 is executed. For example, when the predetermined difference ΔVa is 5 RPM, and the user drives the first rotating member 22 to make the first rotational speed 20 RPM and drives the second rotating member 42 to make the second rotational speed 10 RPM, the first The difference between a rotating speed and the second rotating speed is 10 RPM. At this time, the control module 84 controls the second driving module 50 to drive the second rotating member 42 to increase the rotating speed to increase the second rotating speed so that The difference ΔV (10 RPM) between the first rotation speed and the second rotation speed is less than or equal to the predetermined difference ΔVa (5 RPM), and then after the predetermined time (for example, five minutes), the control module 84 according to the The difference between the difference ΔV and the predetermined difference ΔVa is determined to execute step S204 or step S203. When the difference ΔV between the first rotation speed and the second rotation speed is less than or equal to the predetermined difference ΔVa, it means that the user is The revolving speeds of the upper limbs and lower limbs are close to match each other. In step S205, the control module 84 stops controlling the second driving module 50. At this time, the lower limb movement mechanism 40 returns to the user to control the second driving module with his own force. The two control elements 44 control the mode of the rotation speed of the second rotating element 42 according to the degree of force applied by the user. When the difference ΔV between the first rotation speed and the second rotation speed is greater than the predetermined difference ΔVa (5 RPM), for example, when the rotation speed of the user's upper limbs slows down so that the first rotation speed drops to 10 RPM, The difference ΔV between the first rotational speed and the second rotational speed is greater than 5 RPM of the predetermined difference ΔVa, and the control module 84 controls the first driving module 30 to increase the first rotational speed so that the first rotational speed is equal to The difference ΔV of the second rotation speed is less than or equal to 5 RPM of the predetermined difference ΔVa, so as to assist the lifting of the user's upper limbs to perform periodic orbiting movements, and to make the upper limbs' orbiting speed close to the lower limbs' orbiting speed.

Fig. 6 is a block diagram of the hand-foot cooperative exercise machine of the second preferred embodiment of the present invention, which has substantially the same structure as the hand-foot cooperative exercise machine 1 of the first preferred embodiment, except that the control panel 80 It includes a first start switch 861 and a second start switch 862. The first start switch 861 and the second start switch 862 are electrically connected to the control module 84.

The hand-foot cooperative exercise machine of this embodiment can also apply the control method of the first embodiment. The difference is that the control module 84 controls the first activation switch 861 and the second activation switch 862 according to whether the first activation switch 861 and the second activation switch 862 are open or closed. A driving module 30 or the second driving module 50. In more detail, when the user activates the first activation switch 861, the control module 84 controls the first driving module 30 according to the first rotational speed and the second rotational speed. When the user activates the second activation switch At 862, the control module 84 controls the second driving module 50 according to the first rotational speed and the second rotational speed. When the user turns off the first start switch 861, the control module 84 stops controlling the first drive module 30. When the user turns off the second start switch 862, the control module 84 stops controlling the second drive module. Module 50. The first activation switch 861 and the second activation switch 862 may be physical buttons for user operation, or virtual buttons displayed on the display module 82, and are electrically connected to the control module 84 through the display module 82 .

For example, when the user does not need the hand-foot cooperative exercise machine to provide the upper limb assist function, but only needs the hand-foot cooperative exercise machine to provide the lower limb assist function, the user can turn off the first activation switch 861 and activate the second activation switch 862 , The control module 84 stops controlling the first drive module 30, that is, the first motor 32. At this time, the user completely controls the first control member 24 by his own force, and controls it according to the degree of the user’s force The rotation speed of the first rotating member 22, and the control module 84 can still control the second driving module 50, so that the detected difference ΔV between the first rotation speed and the second rotation speed is less than or equal to the The predetermined difference ΔVa, that is, the control module 84 can control the second driving module 50 to drive the second rotating member 42 to increase the rotation speed to increase the second rotation speed, so that the difference between the first rotation speed and the second rotation speed The value ΔV is less than or equal to the predetermined difference ΔVa, thereby achieving the effect of assisting the lower limbs to perform periodic orbiting movements.

The above are only the preferred and feasible embodiments of the present invention. Any equivalent changes made by applying the specification of the present invention and the scope of the patent application should be included in the patent scope of the present invention.

[this invention]

1: Hand-foot cooperative exercise machine

10: Rack

20: Upper limb movement mechanism

22: The first rotating part

221: first pulley

222: The first belt

24: The first control piece

241: Handle

242: first crank

30: The first drive module

32: The first motor

40: Lower limb movement mechanism

42: The second rotating part

421: second pulley

422: second belt

44: second control

441: Pedal

442: second crank

50: The second drive module

52: second motor

60: The first speed sensor

70: The second speed sensor

80: control panel

82: display module

84: control module

86: Start switch

861: First Start Switch

862: second start switch

ΔV: Difference

ΔVa: predetermined difference

S201~S205: steps

Fig. 1 is a perspective view of the hand-foot cooperative exercise machine according to the first preferred embodiment of the present invention. Figure 2 is a side view of the hand-foot cooperative exercise machine of the above preferred embodiment. Figure 3 is a schematic diagram of part of the components of Figure 2. Fig. 4 is a block diagram of the hand-foot cooperative exercise machine of the above-mentioned preferred embodiment. Fig. 5 is a flow chart of the control method of the hand-foot cooperative exercise machine in the above preferred embodiment. Fig. 6 is a block diagram of the hand-foot cooperative exercise machine according to the second preferred embodiment of the present invention.

1: Hand-foot cooperative exercise machine

10: Rack

20: Upper limb movement mechanism

22: The first rotating part

24: The first control piece

241: Handle

242: first crank

40: Lower limb movement mechanism

44: second control

441: Pedal

442: second crank

80: control panel

82: display module

Claims (19)

A hand-foot cooperative exercise machine, comprising: a frame; an upper limb movement mechanism, comprising a first rotating part and a first manipulating element, the first rotating element is pivoted to the frame, and the first manipulating element is connected to the frame A first rotating member, and the first operating member is actuated by an external force to drive the first rotating member to rotate; a first driving module coupled to the first rotating member and controlled to drive the first rotating member to rotate; The lower limb movement mechanism includes a second rotating member and a second operating member, the second rotating member is pivoted to the frame, and the position of the second rotating member is lower than the first rotating member; the second operating member Connected to the second rotating member, and the second operating member is driven by an external force to rotate the second rotating member; a second driving module is coupled to the second rotating member and is controlled to drive the second rotating member A first rotational speed sensor, coupled to the upper limb movement mechanism, to detect the rotational speed of the first rotating member; a second rotational speed sensor, coupled to the lower limb movement mechanism, to detect the second The rotational speed of the rotating part; a control module electrically connected to the first drive module, the second drive module, the first rotational speed sensor and the second rotational speed sensor, and the control module is controlled by the first rotational speed The rotational speed detected by the sensor obtains a first rotational speed and the rotational speed detected by the second rotational speed sensor obtains a second rotational speed. The first driving module and the second rotational speed are controlled according to the first rotational speed and the second rotational speed. At least one of the two driving modules makes a difference between the first rotation speed and the second rotation speed less than or equal to a predetermined difference. The hand-foot cooperative exercise machine according to claim 1, wherein the difference is zero. The hand-foot cooperative exercise machine according to claim 1, wherein the control module controls the first drive when the difference between the first rotational speed and the second rotational speed is greater than a first predetermined difference At least one of the module and the second driving module makes the difference less than or equal to the predetermined difference. The hand-foot cooperative exercise machine according to claim 3, wherein the control module controls the first driving module when the first rotation speed is less than the second rotation speed, and drives the first rotating member to increase the rotation speed to increase the rotation speed. The first rotational speed; wherein the control module controls the second driving module when the second rotational speed is less than the first rotational speed, and drives the second rotating member to increase the rotational speed to increase the second rotational speed. The hand-foot cooperative exercise machine according to claim 1, wherein the first control element is acted on by an external force to drive the first rotating element to rotate in a forward or reverse direction, and the second control element is acted on by an external force to drive the second rotating element Rotate forward or reverse. The hand-foot cooperative exercise machine according to claim 5, wherein the first rotation speed sensor detects that the rotation direction of the first rotating member is a first direction, the first direction is forward or reverse, and the second rotation speed The sensor detects that the rotation direction of the second rotating member is a second direction, and the second direction is forward or reverse. The control module detects the first direction and the second direction according to the first rotation speed sensor. The second direction detected by two rotational speed sensors controls the first drive module to drive the first rotating member to increase the rotational speed in the same direction along the first direction, or controls the second drive module to drive the second rotational member to move along the same direction The second direction increases the speed in the same direction. The hand-foot cooperative exercise machine according to claim 1 includes a display module that displays the first rotational speed and the second rotational speed. The hand-foot cooperative exercise machine according to claim 1, wherein the control module controls at least one of the first drive module and the second drive module and after a predetermined time, when The difference between the first rotational speed and the second rotational speed is less than or equal to the predetermined difference, and the control module stops controlling the first driving module or the second driving module. The hand-foot cooperative exercise machine according to claim 1, comprising a start switch which is electrically connected to the control module. When the start switch is started, the control module controls the control module according to the first rotation speed and the second rotation speed. At least one of the first drive module and the second drive module; when the start switch is turned off, the control module stops controlling the first drive module and the second drive module. The hand-foot cooperative exercise machine according to claim 1, comprising a first activation switch and a second activation switch, the first activation switch and the second activation switch are electrically connected to the control module, and the first activation switch is activated When the control module controls the first drive module according to the first rotational speed and the second rotational speed, when the second start switch is activated, the control module controls the second drive module according to the first rotational speed and the second rotational speed. Drive module; when the first start switch is turned off, the control module stops controlling the first drive module, and when the second start switch is turned off, the control module stops controlling the second drive module. A control method of a hand-foot cooperative exercise machine, the hand-foot cooperative exercise machine comprising an upper limb movement mechanism, a first driving module, a lower limb movement mechanism, a second driving module, a first rotational speed sensor, and a second rotational speed The sensor and a control module, wherein the upper limb movement mechanism includes a first rotating member and a first manipulating member, the first manipulating member is connected to the first rotating member, and the first manipulating member is affected by an external force Drive the first rotating member to rotate; the lower limb movement mechanism includes a second rotating member and a second operating member, the second operating member is connected to the second rotating member, and the second operating member is driven by an external force The second rotating part rotates; the first rotating speed sensor is used to detect the rotating speed of the first rotating part, the second rotating speed sensor is used to detect the rotating speed of the second rotating part; the control method is controlled by the control module Implementation includes the following steps: The rotation speeds of the first rotation component and the second rotation component are respectively detected through the first rotation speed sensor and the second rotation component to obtain a first rotation speed and a second rotation speed respectively; according to the first rotation speed and the second rotation speed The second rotation speed controls at least one of the first driving module and the second driving module so that a detected difference between the first rotation speed and the second rotation speed is less than or equal to a predetermined difference. The control method of a hand-foot cooperative exercise machine according to claim 11, wherein the control module controls at least one of the first drive module and the second drive module according to the first rotational speed and the second rotational speed, so that The difference is zero. The hand-foot cooperative exercise machine according to claim 11, wherein the control module controls the first drive when the difference between the first rotational speed and the second rotational speed is greater than a first predetermined difference. At least one of the module and the second driving module makes the difference less than or equal to the predetermined difference. The control method of a hand-foot cooperative exercise machine according to claim 13, wherein the control module controls the first driving module when the first rotation speed is less than the second rotation speed to drive the first rotating member to increase the rotation speed, To increase the first rotation speed; wherein when the second rotation speed is less than the first rotation speed, the control module controls the second driving module to drive the second rotating member to increase the rotation speed to increase the second rotation speed. The control method of a hand-foot cooperative exercise machine according to claim 11, wherein the first control member is acted on by an external force to drive the first rotating member to rotate in a forward or reverse direction, and the second manipulator is acted on by an external force to drive the The second rotating part rotates forward or backward; wherein the first rotation speed sensor detects that the rotation direction of the first rotating part is a first direction, the first direction is forward or reverse, and the second rotation speed sensor The device detects that the rotation direction of the second rotating member is a second direction, and the second direction is forward or reverse. The control module detects the first direction and the second direction according to the first rotation speed sensor. The second direction detected by the speed sensor controls the first drive The module drives the first rotating member to increase the rotational speed in the same direction along the first direction, or controls the second driving module to drive the second rotational member to increase the rotational speed in the same direction along the second direction. The control method of the hand-foot cooperative exercise machine according to claim 1, including displaying the first rotation speed and the second rotation speed through a display module. The control method of a hand-foot cooperative exercise machine according to claim 11, wherein the control module controls at least one of the first driving module and the second driving module and after a predetermined time, when the first rotational speed The difference between the second rotational speed and the second rotational speed is less than or equal to the predetermined difference, and the control module stops controlling the first driving module or the second driving module. The control method of the hand-foot cooperative exercise machine according to claim 11, including when a start switch is activated, the control module controls the first driving module and the second driving module according to the first rotational speed and the second rotational speed At least one of the group; when the start switch is turned off, the control module stops controlling the first drive module and the second drive module. The control method of a hand-foot cooperative exercise machine according to claim 11, including when a first start switch is activated, the control module controls the first driving module according to the first rotation speed and the second rotation speed; When the second start switch is activated, the control module controls the second driving module according to the first rotation speed and the second rotation speed; when the first start switch is turned off, the control module stops controlling the first driving module, When the second start switch is turned off, the control module stops controlling the second driving module.

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