WO2018133050A1 - 多模式步行训练之电动步行辅具及该辅具之控制方法 - Google Patents

多模式步行训练之电动步行辅具及该辅具之控制方法 Download PDF

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Publication number
WO2018133050A1
WO2018133050A1 PCT/CN2017/071990 CN2017071990W WO2018133050A1 WO 2018133050 A1 WO2018133050 A1 WO 2018133050A1 CN 2017071990 W CN2017071990 W CN 2017071990W WO 2018133050 A1 WO2018133050 A1 WO 2018133050A1
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Prior art keywords
control system
accessory
user
mode
sensing module
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PCT/CN2017/071990
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English (en)
French (fr)
Inventor
游忠煌
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法玛科技顾问股份有限公司
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Priority to US16/479,314 priority Critical patent/US20200085668A1/en
Priority to PCT/CN2017/071990 priority patent/WO2018133050A1/zh
Publication of WO2018133050A1 publication Critical patent/WO2018133050A1/zh

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    • A—HUMAN NECESSITIES
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Definitions

  • the present invention relates to the field of electric walking aids, and more particularly, the electric walking aid of the present invention can provide multiple modes of walking training.
  • Electric walking aids are important mobility aids for users who have the ability to walk but rely on support to maintain dynamic balance.
  • electric walking aids can provide various training modes to enhance the user's walking ability.
  • the improvement of walking ability includes a wide range, including gait cycle, stride frequency, stride, pace and further including muscle strength, while muscle strength is not only related to the leg, but also related to the hand, waist and torso.
  • Muscle groups are also related. When muscle strength and coordinated control reach a certain standard, further direction control training can be done, and all basic training and advanced training can produce obvious effects.
  • various training modes must be returned to the people-oriented basis, and the training mode suitable for him/her can be selected according to the user's condition.
  • electric walking aids that are currently available on the market can only perform a single function, adapt to a single situation, and cannot make individualized elastic adjustments for users in different situations.
  • the main object of the present invention is to provide an electric accessory capable of providing multi-mode walking training for users of various conditions and walking ability. Suitable training mode, personal adjustment flexibility.
  • An electric walking assisting device for multi-mode walking training comprising: a mobile platform having a mobile device; a user area adjacent to a ground area of the mobile platform, the user area for a user to stand
  • the one-step sensing module is disposed on the mobile platform, and senses the user's feet by the non-contact sensing means and outputs the gait characteristic information of the user;
  • a control system is disposed on the mobile platform, and the auxiliary device All the modules and the mobile device are respectively electrically connected to the control system;
  • the control system further comprises a trajectory programming for controlling a predetermined trajectory such as a linear movement, a left-turn movement, and a right-turn movement of the mobile platform;
  • the control system acquires the auxiliary tool
  • the information and data of all the modules are mixed and analyzed, and the result of the analysis operation is used to control the accessory to generate a predetermined movement pattern.
  • the aids also include:
  • a resistance module is mounted on the mobile platform and electrically connected to the mobile device for adjusting the movement resistance of the auxiliary device;
  • a multi-axis sensing module wherein the sensors of the multi-axis sensing module are respectively disposed on the left grip and the right grip for sensing a vector force applied by the left and right hands of the user to the left and right grips. And correspondingly outputting the user's right hand vector force and left hand vector force;
  • An obstacle sensing module includes a plurality of sensors respectively disposed on a periphery of the moving platform to sense whether an obstacle is encountered when the accessory moves, and obtain a distance between the assisting device and the obstacle;
  • a front and rear tilt sensing module the sensor is mounted on the mobile platform, Used to sense the tilt state of the mobile platform before and after;
  • a pedaling sensing module is embedded in a sole, an insole, or a training walkway for the user to walk, and the control system is electrically connected to the pedaling sensing module.
  • the invention further includes a control method of the accessory, the control method causing the accessory to perform a movement mode including: a constant speed mode; a speed mode; a high frequency shift disturbance mode; and a low frequency shift perturbation mode.
  • the movement mode further includes: strengthening muscle mode; bearing side load-bearing strengthening mode; affected side hand-bearing strengthening mode; affected side hand-foot weight-enhancing mode; direction control mode;
  • the constant speed mode is used to train the user's walking speed and speed control.
  • the strengthening muscle mode trains and strengthens the muscle strength of the user, the muscle strength is mainly leg and foot, followed by the muscles of the hand, waist and trunk.
  • the weight bearing model includes a side bearing weight-enhancing mode; an affected side hand-bearing strengthening mode; and an affected side hand-bearing weight-enhancing mode. Train and enhance the muscle strength of the user's affected hands and feet, and assist the user in controlling and coordinating the support balance of the affected side of the hands and feet and the healthy side of the hands and feet.
  • the high frequency Disturbance Random Speed (A High Frequency Disturbance Random Speed) mode, in which the assisting device moves at a high frequency, can effectively control the walking speed of the user while having external disturbances.
  • the low frequency Perturbation Variable Speed (A Low Frequency Perturbation Variable Speed) mode is used to train the user to effectively control his walking speed according to external conditions.
  • the direction control mode controls the direction control of the user walking.
  • the user In the Slop mode, the user is trained to control the walking speed of the uphill and downhill slopes, the position of the center of gravity of the body, and the higher-order muscle strength training through the uphill and downhill slopes.
  • the first figure is a schematic structural view of the electric walking aid of the present invention.
  • the second figure is a block diagram of the module of the electric walking aid of the present invention.
  • front and rear tilt sensing module 26 track programming 27 control system
  • the grip and the user's elbow bending angle is 25°-35°.
  • the accessory further includes a gait sensing module 20, a resistance module 22, a multi-axis sensing module 23, an obstacle sensing module 24, a front-rear tilt sensing module 25, and a trajectory programming for causing the accessory to generate a predetermined movement trajectory ( The track program) 26; the modules described above are respectively electrically connected to the control system 27 of the accessory device; the control system 27 is further embedded in the sole, the insole worn by the user, or embedded in the training for the user to walk.
  • the pedaling force sensing module 28 for sensing the pedaling force of the user's feet is electrically connected; the control system acquires the information and data of each module and performs a hybrid analysis operation, and controls the accessory by using the result of the analysis operation. A predetermined movement pattern is generated.
  • the gait sensing module 20 senses the user's feet and outputs the gait feature information of the user through the non-contact sensing means.
  • the gait feature information includes but is not limited to gait cycle, stride frequency, stride, pace, and bipedal spacing a linear distance between the intermediate point and a specific point of the accessory (hereinafter referred to as the first human-machine distance d1), and whether the user is located in the aforementioned user area;
  • the non-contact sensing means includes, but is not limited to, an image, a laser, Infrared, ultrasonic, or any sensing module attached to the user's feet.
  • the resistance module 22 is electrically connected to the left wheel motor 161 and the right wheel motor 162 for increasing the internal resistance of the motor, reducing the motor speed to increase the motor torque, and causing the movement of the accessory to have an appropriate resistance.
  • the multi-axis sensing module 23 is configured to sense a vector force applied by the left and right hands of the user to the left and right grips, and correspondingly output a right-hand vector force (VFr) and a left-hand vector force (VF1) of the user. .
  • the obstacle sensing module 24 is configured to sense whether an obstacle is encountered when the accessory moves, and obtain a distance (Do) between the accessory and the obstacle.
  • the front and rear tilt sensing module 25 is configured to sense the state of the front and rear tilt of the mobile platform 10.
  • the backward tilting of the mobile platform 10 indicates that the assisting device is in an uphill state; Tilting the platform 10 forward indicates that the aid is in a downhill state.
  • the track program 26 refers to controlling the rotational speeds of the left wheel motor 161 and the right wheel motor 162 of the accessory, so that the accessory generates a linear movement, a left turn movement, and a right turn within a predetermined distance.
  • a program for moving a predetermined trajectory refers to controlling the rotational speeds of the left wheel motor 161 and the right wheel motor 162 of the accessory, so that the accessory generates a linear movement, a left turn movement, and a right turn within a predetermined distance.
  • the assisting device of the present invention generates the following training modes by the control of the control system.
  • the training mode includes: a constant speed mode (hereinafter referred to as M1 mode); an adaptive speed mode (hereinafter referred to as M2 mode); a strengthening muscle mode (Strengthening Push/Pull) (hereinafter referred to as M5) Mode); average weight bearing mode (hereinafter referred to as M6 mode, further including M6-1 mode, M6-2 mode, M6-3 mode); High Frequency Disturbance Random Speed (hereinafter referred to as High Frequency Disturbance Random Speed) DRS mode); Low Frequency Perturbation Variable Speed (hereinafter referred to as PVS mode); Direction Control by Handle Push/Pull Forces (hereinafter referred to as PFD mode, further including FPD-1 mode) , PFD-2 mode, PFD-3 mode); Slop mode (hereinafter referred to as SL mode).
  • M1 mode constant speed mode
  • M2 mode an adaptive speed mode
  • M5 Mode a strengthening muscle mode (Strengthening Push/Pull)
  • the M1 mode is a constant speed mode
  • the auxiliary device and its control system perform the following control methods, including:
  • Step 1 The control system determines whether the user is located in the user area of the accessory through the message of the gait sensing module; if yes, proceed to step 2; if not, the accessory does not move or pause the movement, and the control system continues to determine ;
  • step two the control system commands the accessory to move at a predetermined speed (Vs).
  • the predetermined speed (Vs) is pre-inputted by the system built-in or the therapist through the operation interface of the control system;
  • Step 3 repeat steps one and two until the end of training, or because other emergency conditions (such as the user falls) are forced to stop.
  • the user follows the predetermined speed of the accessory to train the user's walking speed.
  • the M2 mode is a moderate mode, and the accessory and its control system perform the following control methods, including:
  • Step 1 The control system determines whether the user is located in the user area of the accessory through the message of the gait sensing module; if yes, proceed to step 2; if not, the accessory does not move or pause the movement, and the control system continues to determine ;
  • Step 2 the control system commands the accessory to move at a predetermined speed (Vs), and the user follows the accessory to move by walking; wherein the predetermined speed (Vs) is an operation interface of the system built in, or the therapist passes the control system Enter in advance;
  • Step three the control system acquires the user walking speed from the gait sensing module and calculates the average walking speed (Vn) of the user;
  • step four the control system compares the predetermined speed (Vs) of the accessory with the average walking speed (Vn) of the user; when ⁇
  • Step 5 Repeat steps one through four until the end of training or other emergency situations (such as a user fall).
  • the accessory moves first at a predetermined speed (Vs), and then the user The walking speed is changed to adjust the predetermined speed (Vs1).
  • the accessory can be adjusted according to the user's walking speed.
  • the M5 mode is a fortified muscle mode, and the accessory and its control system perform the following control methods, including:
  • Step 1 The control system determines whether the user is located in the user area of the accessory through the message of the gait sensing module; if yes, proceed to step 2; if not, the accessory does not move or pause the movement, and the control system continues to determine ;
  • Step two the control system obtains a right grip reaction force value (
  • step three the control system combines the right grip reaction force value (
  • the comparison operation is performed, and the result is ⁇
  • Step 4 the control system acquires the first human-machine distance d1 through the gait sensing module
  • Step 5 The control system calculates and compares the first human-machine distance (d1), the right grip reaction force value Fr, and the left grip reaction force value (Fl). If the result is that the formula (1) is established, the user is represented. Applying a thrust to the auxiliary device, if the result is that the formula (2) is established, it means that the user applies a pulling force to the auxiliary device; if either the formula (1) or the formula (2) is established, the step 6 is performed; if the formula (1) and Formula (2) is not completed If you are standing, go back to step one;
  • Step 6 the auxiliary tool is retracted according to the thrust direction or the pulling direction at a predetermined speed (Vs);
  • Step 7 Repeat steps one through six until the end of training or other downtime.
  • control system can further control the aforementioned resistance module activation, increase the current of the motor, increase the reverse torque of the motor, and make the movement of the auxiliary tool have appropriate resistance, and the user pushes or pulls the auxiliary device. It must be increased to allow the accessory to move.
  • the user's leg muscles, waist muscles, trunk muscles, and hand muscles are all judged by the user's thrust and pulling force applied to the assisting device as the starting aid moves and drives the assisting device to continue moving.
  • the aids can be successfully pushed or pulled to train and strengthen the muscle strength of the user.
  • the M6-1 mode is a load-bearing reinforcement mode for the affected side.
  • the accessory and its control system perform the following control methods, including:
  • Step 1 The control system determines whether the user is located in the user area of the accessory through the message of the gait sensing module; if yes, proceed to step 2; if not, the accessory does not move or pause the movement, and the control system continues to determine ;
  • Step 2 the control system acquires the user's affected side pedaling force value (Ta) by the pedaling sensing module;
  • Step 3 The control system compares the affected side pedaling force value (Ta) with the pedaling force preset threshold value (Tth). If ⁇ Ta>Tth ⁇ is true, proceed to step 4; if not, return to step one
  • the default threshold (Tth) is built in by the system, or the therapist pre-entries through the operation interface of the control system;
  • Step 4 The control system detects the duration of ⁇ Ta>Tth ⁇ (Time _Ta), and compares the duration (Time_Ta) with a preset time (Time_th). If ⁇ Time_Ta ⁇ Time_th ⁇ , return to the step. If ⁇ Time_Ta ⁇ Time_th ⁇ , and the control system acquires the user's health side pedaling force value (Tc) by the pedaling force sensing module, the control system commands the accessory to move a predetermined distance at a predetermined speed (Vs).
  • the preset distance may be a step distance of the user, or the system is built in, or the therapist inputs the operation interface through the control system;
  • Step 5 repeat steps one through four until the end of training, or because of other emergency shutdowns.
  • the M6-2 mode is a one-sided hand-bearing reinforcement mode.
  • the accessory and its control system perform the following control methods, including:
  • Step one the control system judges by the message of the gait sensing module Whether the user is located in the user area of the accessory; if yes, proceeding to step 2; if not, the accessory does not move or pause the movement, and the control system continues to determine;
  • Step 2 the control system acquires the user's side hand vector force (Va) and the health side hand vector force (Vc) by the multi-axis sensing module;
  • step 3 the control system compares the ipsilateral hand vector force (Va) and the healthy side hand vector force (Vc) with the affected side hand preset threshold (Vath) and the healthy side hand preset threshold (Vcth); If ⁇ (Va ⁇ Vath)and(Vc ⁇ Vcth) ⁇ is true, proceed to step four, and if no, return to step one; where the preset threshold (Vath), (Vcth) is system built, or treated The teacher inputs in advance through the operation interface of the control system;
  • step four the accessory moves at a predetermined speed (Vs) by a predetermined distance.
  • the preset distance may be a step distance of the user, or the system is built in, or the therapist inputs the operation interface through the control system;
  • Step 5 repeat steps one through four until the end of training, or because of other emergency shutdowns.
  • the M6-3 mode is a load-bearing reinforcement mode for the affected side.
  • the accessory and its control system perform the following control methods, including:
  • Step 1 The control system determines whether the user is located in the user area of the accessory through the message of the gait sensing module; if yes, proceed to step 2; if not, the accessory does not move or pause the movement, and the control system continues to determine ;
  • Step 2 The control system acquires a user's affected side pedaling force value (Ta) by the pedaling sensing module; the control system acquires a user suffering by the multi-axis sensing module Lateral vector force (Va) and healthy side hand vector force (Vc);
  • step 3 the control system compares the affected side pedaling force value (Ta) with the pedaling force preset threshold value (Tth), and the control system will have the side hand vector force (Va) and the healthy side hand vector force (Vc). Compare with the pre-operative threshold (Vath) and the manual threshold (Vcth); if ⁇ Ta>Tth ⁇ and ⁇ (Va ⁇ Vath)and(Vc ⁇ Vcth) ⁇ are true, proceed Step 4; if not, return to step 1; the preset thresholds (Tth), (Vath), (Vcth) are system built-in, or the therapist pre-entries through the operation interface of the control system;
  • Step 4 The control system detects the duration of ⁇ Ta>Tth ⁇ (Time _Ta), and compares the duration (Time_Ta) with a preset time (Time_th). If ⁇ Time_Ta ⁇ Time_th ⁇ , return to the step. If ⁇ Time_Ta ⁇ Time_th ⁇ , and the control system acquires the user's health side pedaling force value (Tc) by the pedaling force sensing module, the control system commands the accessory to move a predetermined distance at a predetermined speed (Vs).
  • the preset distance may be a step distance of the user, or the system is built in, or the therapist inputs the operation interface through the control system;
  • Step 5 repeat steps one through four until the end of training, or because of other emergency shutdowns.
  • M6-1, M6-2, or M6-3 mode for users with hands, or feet, or one-sided hemiplegia of hands and feet. Users of this category are often accustomed to using the healthy side as the main support, so that the muscle strength of the affected side is getting weaker.
  • the M6-1 mode trains and enhances the muscle strength of the user's affected side, and assists the user in controlling and coordinating the support balance of the affected side and the healthy side.
  • M6-2 mode Train and enhance the muscle strength of the user's side hand and assist the user in controlling and coordinating the support balance of the affected side and the healthy side.
  • M6-3 mode the muscle strength of the user's affected hands and feet is trained and improved, and the user is assisted in controlling and coordinating the support balance of the affected side hands and the healthy side hands and feet.
  • the DRS mode is a high frequency variable speed disturbance mode.
  • the accessory and its control system perform the following control methods, including:
  • Step 1 The control system determines whether the user is located in the user area of the accessory through the message of the gait sensing module; if yes, proceed to step 2; if not, the accessory does not move or pause the movement, and the control system continues to determine ;
  • step two the control system controls the auxiliary device to switch the predetermined speed (Vs) and the random shift (Vrandom) in a high frequency manner, and the occurrence time and duration of the predetermined speed (Vs) and the random shift (Vrandom) are controlled by the control system.
  • the predetermined speed (Vs) is a fixed speed, and the random shift (Vrandom) is faster or slower than a predetermined speed (Vs);
  • the predetermined speed (Vs) and the random shift ( Vrandom) is pre-inputted by the system built-in or therapist through the operation interface of the control system; or the predetermined speed is pre-inputted by the system built-in or the therapist through the operation interface of the control system, and the random shift (Vrandom) is The predetermined speed is randomly generated based on the basis;
  • Step 3 repeat steps one and two until the end of training or forced downtime due to other emergencies (such as a user falling).
  • the accessory is moved at a high frequency, and the user has no
  • the method follows the walking aid so that the movement of the accessory interferes with the user's walking training, and the user needs to ignore the interference and walk at his own walking speed. According to the training user can still effectively control their walking speed with external interference.
  • the PVS mode is a low frequency shifting perturbation mode.
  • the accessory and its control system perform the following control methods, including:
  • Step 1 The control system determines whether the user is located in the user area of the accessory through the message of the gait sensing module; if yes, proceed to step 2; if not, the accessory does not move or pause the movement, and the control system continues to determine ;
  • Step two the control system controls the accessory to switch the predetermined speed (Vs) and the variable speed (Vv) in a low frequency manner, and the occurrence time and duration of the predetermined speed (Vs) and the variable speed (Vv) are
  • the control system is randomly controlled such that the aid produces a low frequency shifting movement;
  • the predetermined speed (Vs) is a fixed speed, and the variable speed (Vv) is faster or slower than a predetermined speed (Vs);
  • the predetermined speed (Vs) and The variable speed (Vv) is pre-inputted by the system built-in or the therapist through the operation interface of the control system; or the predetermined speed (Vs) is pre-inputted by the system built-in or the therapist through the operation interface of the control system,
  • Variable speed (Vv) is randomly generated by the system based on the predetermined speed;
  • Step 3 repeat steps one and two until the end of training or forced downtime due to other emergencies (such as a user falling).
  • the auxiliary mode shifts at a low frequency, allowing the user to follow With the perturbation changes such as constant speed, acceleration, and deceleration of the accessory, you can change your walking speed and follow the walking movement of the accessory. According to the training user to effectively control their walking speed according to external conditions.
  • the PFD-1 mode is an auxiliary direction control mode.
  • the accessory and its control system perform the following control methods, including:
  • Step 1 The control system determines whether the user is located in the user area of the accessory through the message of the gait sensing module; if yes, proceed to step 2; if not, the accessory does not move or pause the movement, and the control system continues to determine ;
  • Step 2 the control system commands the accessory to move according to a predetermined trajectory at a predetermined speed (Vs) or the aforementioned speed mode (M2) mode; wherein, the predetermined speed (Vs) and the mode of the mode (M2) mode are set and Producing the same as the foregoing;
  • the predetermined trajectory is that the control system programs the rotational speeds of the left and right wheel motors of the auxiliary device through the trajectory, so that the auxiliary tool generates a linear movement and a leftward movement within a predetermined distance. , the right to change the movement of the right;
  • Step 3 repeat steps one and two until the end of training or forced downtime due to other emergencies (such as a user falling).
  • the auxiliary device In the PFD-1 mode, the auxiliary device is used as the leader, and the linear movement, left turn or right turn movement of the auxiliary tool guides the user to walk and follow, and the user is controlled in the direction of walking.
  • the PFD-2 mode is a user direction control mode.
  • the accessory and its control system perform the following control methods, including:
  • Step 1 The control system determines whether the user is located in the user area of the accessory through the message of the gait sensing module; if yes, proceed to step 2; if not, the accessory does not move or pause the movement, and the control system continues to determine ;
  • Step 2 the control system acquires the user's right hand vector force VFr and the left hand vector force VFl by the multi-axis sensing module;
  • step three the control system compares the right hand vector force (VFr) and the left hand vector force (VFl) with a predetermined threshold (VFth); wherein the default threshold (VFth) is a system built-in, or therapist Pre-input through the operation interface of the control system; when the operation result is ⁇ (VFl-VFr)>VFth ⁇ , the control system commands the left-wheel motor of the accessory to accelerate, and the right-wheel motor decelerates to rotate the accessory to the right; When the operation result is ⁇ (VFr-VFl)>VFth ⁇ , the control system commands the right wheel motor of the accessory to accelerate, and the left wheel motor decelerates to turn the accessory to the left;
  • VFth a system built-in, or therapist Pre-input through the operation interface of the control system
  • Step 4 repeat steps one through three until the end of training, or because of other emergency shutdowns.
  • the user acts as the leader and controls the moving direction of the accessory with the thrust of the left and right hands.
  • the therapist can provide a S-shaped training track, a rectangular training track, or an obstacle on the training track, so that the user can control the auxiliary device to go straight, turn left, turn right, and avoid obstacles on the above training track. Wait for training in all directions.
  • the PFD-3 mode is a user-oriented, assistive direction control mode.
  • the accessory and its control system perform the following control methods, including:
  • Step 1 The control system determines whether the user is located in the user area of the accessory through the message of the gait sensing module; if yes, proceed to step 2; if not, the accessory does not move or pause the movement, and the control system continues to determine ;
  • Step 2 the control system acquires the user's right hand vector force VFr and the left hand vector force VFl by the multi-axis sensing module;
  • the control system compares the right hand vector force (VFr) and the left hand vector force (VFl) with a predetermined threshold (VFth); wherein the default threshold (VFth) is a system built-in, or therapist Pre-input through the operation interface of the control system; when the operation result is ⁇ (VFl-VFr)>VFth ⁇ , the control system commands the left-wheel motor of the accessory to accelerate, and the right-wheel motor decelerates to rotate the accessory to the right; When the operation result is ⁇ (VFr-VFl)>VFth ⁇ , the control system commands the right wheel motor of the accessory to accelerate, and the left wheel motor decelerates to turn the accessory to the left; the control system can be disposed on the accessory
  • the obstacle sensing module senses an obstacle on the action path of the accessory and obtains a distance (Do) between the accessory and the obstacle, the control system sets the distance (Do) with a preset valve
  • the upper limit value (Duth) and a preset lower limit value (Dlth) are compared
  • the control system controls the auxiliary device to stop moving back to step 2 or start.
  • Built automatic obstacle avoidance mode or activate built-in correction mode, so that the movement of the aid can avoid obstacles to continue
  • the control system can monitor the movement trajectory of the accessory and compare the movement trajectory with the preset trajectory. If the direction and angle of the movement trajectory deviate significantly from the default trajectory, the control system controls the auxiliary device to stop moving. Go back to step 2 or start the built-in correction mode Correct the direction of the moving track, and return the angle to the preset track to continue to travel;
  • Step 4 repeat steps one through three until the end of training, or because of other emergency shutdowns.
  • the user In the PFD-3 mode, the user is the dominant person, and the moving direction of the auxiliary device is dominant, but when the auxiliary device hits the obstacle or is too close or too far from the obstacle, or is too far away from the preset trajectory, the auxiliary device stops moving, so that The user can correct the direction of the accessory by itself, or the accessory automatically bypasses the obstacle or automatically corrects the direction of the angle to help the user correct the direction of the accessory, thereby training the user to have higher obstacle avoidance and obstacle resolution.
  • the SL mode is a ramp mode.
  • the accessory and its control system perform the following control methods, including:
  • Step 1 The control system determines whether the user is located in the user area of the accessory through the message of the gait sensing module; if yes, proceed to step 2; if not, the accessory does not move or pause the movement, and the control system continues to determine ;
  • Step 2 The control system senses the front and rear tilting condition of the moving platform through the front and rear tilt sensing module. If tilting backward, indicating that the assisting device is in an uphill state, performing step three; if tilting forward, indicating the auxiliary device For the downhill state, proceed to step four;
  • Step 3 The control system acquires a right grip reaction force value (Fr) and a left grip reaction force value (Fl) through the multi-axis sensing module; the control system sets a right grip reaction force value (
  • Step 4 The control system acquires a right grip reaction force value (Fr) and a left grip reaction force value (Fl) through the multi-axis sensing module; the control system sets a right grip reaction force value (Fr) and a left grip Comparing the reaction force value (Fl) with a right preset threshold lower limit (Frl) and a left preset threshold value (F11); wherein the preset threshold values (Frl) and (F11) are within the system
  • the constructor or the therapist inputs in advance through the operation interface of the control system; when the operation result ⁇ Fr ⁇ Frl ⁇ 0&Fl ⁇ Fll ⁇ 0) ⁇ , indicating that the user applies a thrust to the assisting device, the control system starts the motor at a predetermined speed ( Vs) mobile;
  • Step 5 Repeat steps one through four until the end of training or downtime due to other emergencies.
  • the SL mode trains the user to control the walking speed of the uphill and downhill slopes, the position of the center of gravity of the body, and conduct higher-order muscle strength training through the upslope and downhill.

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Abstract

一种电动步行辅具，其可实现多种训练模式，包括：恒速模式、适速模式、强化肌肉模式、承重加强模式、高频率变速扰动模式、低频率变速微扰模式、方向控制模式、斜坡模式，根据训练用户的步行速度、肌肉力量、患侧手脚及健侧手脚的支撑平衡、忽略外部干扰控制步行速度、依据外部情况调整步行速度、方向控制以及斜坡步行能力。

Description

多模式步行训练之电动步行辅具及该辅具之控制方法 技术领域
本发明涉及电动步行辅具之领域，更详而言之，本发明之电动步行辅具可以提供多种模式之步行训练。
背景技术
电动步行辅具对于保有行走能力但需仰赖支撑以维持动态平衡的用户而言是很重要的行动辅具。然而，电动步行辅具除了提供支撑之外，更可以提供各种训练模式来提升用户的步行能力。而步行能力的提升包含的层面非常广，基本上包括了步态周期、步频、步幅、步速进一步还包括肌肉强度，而肌肉强度不单指腿部而已，与手、腰、躯干之相关肌群亦有关连，当肌肉强度和协调控制达到一定的标准，才能做再进一步的方向控制训练，并且可使所有的基础训练和进阶训练都产生明显的效果。再者，各种的训练模式都要回到以人为本的基础上，依照使用者的状况选择适合他/她的训练模式。
目前市面上可见的电动步行辅具多只能执行单一功能，适应单一情，无法为不同情况的用户做个人化弹性调整。
发明内容
本发明之主要目的是在提供一种可提供多模式步行训练之电动辅具，供各种不同状况和步行能力的用户选择 适合的训练模式，做个人化弹性调整。
一种多模式步行训练之电动步行辅具，该辅具包括：一移动平台，该移动平台具有一移动装置；一用户区域，为邻近该移动平台之一地面区域，该用户区域供一用户站立；一步态感测模块，设于该移动平台，通过非接触式感测手段感测使用者双脚并输出该用户之步态特征讯息；一控制系统，设于该移动平台，该辅具之所有模块及该移动装置分别与该控制系统电性连接；该控制系统更包含一控制该移动平台产生直线移动、左转移动、右转移动等预定轨迹之轨迹编程；该控制系统获取该辅具之所有模块之讯息和数据并进行混合分析运算，并利用分析运算的结果控制该辅具产生预定的移动模式。
该辅具更包括：
一阻力模块，安装于该移动平台，并电性连接于该移动装置，用以调整该辅具之移动阻力；
一多轴感测模块，该多轴感测模块之传感器分别设于该左握把及该右握把，用以感测使用者左、右手施加于该左、右握把上的向量力，并对应输出使用者右手向量力及左手向量力；
一障碍物感测模块，包括数个传感器分别设于该移动平台之外围，用以感测该辅具移动时是否遇到障碍物，并且取得该辅具与该障碍物之间的距离；
一前后倾斜感测模块，其传感器安装于该移动平台， 用以感测该移动平台之前后倾斜状态；
一踏力感测模块，该踏力感测模块埋设于用户穿着之鞋底、鞋垫，或供使用者行走之训练步道中，该控制系统与该踏力感测模块电性连接。
本发明更包括辅具之控制方法，该控制方法使该辅具执行以下之移动模式，该移动模式包括：恒速模式；适速模式；高频率变速扰动模式；低频率变速微扰模式。
该移动模式更包括：强化肌肉模式；患侧脚承重加强模式；患侧手承重加强模式；患侧手脚承重加强模式；方向控制模式；斜坡模式。
所述之恒速模式(Constant speed mode)，用以训练用户的步行速度及速度控制。
所述之强化肌肉模式(Strengthening Push/Pull)，训练并加强使用者的肌肉力量，所述的肌肉力量以腿足为主，其次为手、腰、躯干之相关肌群。
所述之承重加强模式(Weight bearing)，包括患侧脚承重加强模式；患侧手承重加强模式；患侧手脚承重加强模式。训练及提升使用者患侧手脚的肌肉力量，并协助使用者控制及协调患侧手脚及健侧手脚之支撑平衡能力。
所述之高频率变速扰动模式(High Frequency Disturbance Random Speed)，辅具以高频率变速移动的方式，训练使用者在具有外部干扰的情况下仍能有效控制自己的步行速度。
所述之低频率变速微扰模式(Low Frequency Perturbation Variable Speed)，辅具以低频率变速移动的模式，据以训练用户依照外部情况有效控制自己的步行速度。
所述之方向控制模式(Direction Control)，训练用户步行的方向控制。
所述之斜坡模式(Slop mode)，藉由辅具训练使用者控制上坡及下坡的步行速度、身体重心位置，并透过上坡及下坡进行更高阶的肌肉强度训练。
附图说明
第一图为本发明电动步行辅具之结构示意图。
第二图为本发明电动步行辅具之模块方块图。
【符号说明】
10底座              12左握把        13右握把
14前轮              15后轮          151左轮
152右轮             161左轮马达     162右轮马达
17用户区域          18使用者        20步态感测模块
22阻力模块          23多轴感测模块  24障碍物感测模块
25前后倾斜感测模块  26轨迹编程      27控制系统
28踏力感测模块
具体实施方式
为便于说明本发明于上述发明内容一栏中所表示的中心思想，兹以具体实施例表达。实施例中各种不同对象系按适于说明之比例、尺寸、变形量或位移量而描绘，而 非按实际组件的比例予以绘制，合先叙明。
如第一和第二图，本发明电动步行辅具(以下简称辅具)，包括：一移动平台10；连接于该移动平台10之一左握把12及一右握把13；设于该移动平台10的移动装置，该移动装置为一对前轮14及一对后轮15；该后轮15包括一左轮151和一右轮152，该左轮151和该右轮152分别被一左轮马达161和一右轮马达162控制；一用户区域17，为邻近该移动平台10之地面区域，一用户18站立于该用户区域17，并且该用户的左、右手分别握持该左握把及右握把，且该使用者的手肘弯曲角度为25°-35°。
该辅具更进一步包括步态感测模块20、阻力模块22、多轴感测模块23、障碍物感测模块24、前后倾斜感测模块25、以及使辅具产生预定移动轨迹之轨迹编程(track program)26；以上所述之模块分别与该辅具之一控制系统27电性连接；该控制系统27更进一步与埋设于使用者穿着之鞋底、鞋垫，或埋设于供使用者行走之训练步道中用以感测使用者双脚的踩踏力之踏力感测模块28电性连接；该控制系统获取上述各模块之讯息和数据并进行混合分析运算，并利用分析运算的结果控制该辅具产生预定的移动模式。
所述的步态感测模块20，通过非接触式感测手段感测使用者双脚并输出用户之步态特征讯息。该步态特征讯息包含但不限于步态周期、步频、步幅、步速、双足心间距 中间点与辅具之特定点的直线距离(以下简称第一人机距离d1)、以及该使用者是否位于前述的用户区域中；该非接触式感测手段包含但不限于影像、雷射、红外线、超音波、或任何附加于使用者双脚的感测模块。
所述阻力模块22系电性连接于左轮马达161和右轮马达162，用以增加该马达的内部阻力，降低马达转速增加马达扭力，使辅具之移动具有适当之阻力。
所述之多轴感测模块23，用以感测使用者左、右手施加于该左、右握把上的向量力，并对应输出使用者右手向量力(VFr)及左手向量力(VFl)。
所述之障碍物感测模块24，用以感测该辅具移动时是否遇到障碍物，并且取得该辅具与该障碍物之间的距离(Do)。
所述之前后倾斜感测模块25，用以感测该移动平台10的前后倾斜的状态，在本发明实施例中，该移动平台10若向后倾斜表示该辅具为上坡状态；该移动平台10若向前倾斜表示该辅具为下坡状态。
所述之轨迹编程(Track Program)26，是指控制该辅具之左轮马达161和右轮马达162的转速，据以使辅具在一段预定的距离内产生直线移动、左转移动、右转移动等预定轨迹的程序。
本发明之辅具通过该控制系统的控制产生以下之训练模式。
所述之训练模式包括：恒速模式(Constant speed mode)(以下简称M1模式)；适速模式(Adaptive speed mode)(以下简称M2模式)；强化肌肉模式(Strengthening Push/Pull)(以下简称M5模式)；平均承重模式(Weight bearing)(以下简称M6模式，更进一步包括M6-1模式、M6-2模式、M6-3模式)；高频率变速扰动模式(High Frequency Disturbance Random Speed)(以下简称DRS模式)；低频率变速微扰模式(Low Frequency Perturbation Variable Speed)(以下简称PVS模式)；方向控制模式(Direction Control by Handle Push/Pull Forces)(以下简称PFD模式，更进一步包括FPD-1模式、PFD-2模式、PFD-3模式)；斜坡模式(Slop mode)(以下简称SL模式)。
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M1模式系为一恒速模式，辅具及其控制系统执行以下之控制方法，包括：
步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
步骤二，该控制系统命令该辅具以预定速度(Vs)移动。该预定速度(Vs)为系统内建或治疗师通过该控制系统之操作界面预先输入；
步骤三，重复步骤一、二，直到结束训练、或因其他紧急状况(例如使用者跌倒)被迫停机为止。
M1模式，用户跟随辅具的预定速度前进，用以训练用户的步行速度。
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M2模式系为一适速模式，辅具及其控制系统执行以下之控制方法，包括：
步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
步骤二，该控制系统命令该辅具以预定速度(Vs)移动，使用者跟随该辅具步行移动；其中，该预定速度(Vs)为系统内建、或治疗师通过该控制系统之操作界面预先输入；
步骤三，该控制系统从该步态感测模块获取用户步行速度并计算用户平均步行速度(Vn)；
步骤四，该控制系统将辅具的预定速度(Vs)与用户平均步行速度(Vn)进行比较运算；当{|Vn-Vs|>εV}，该控制系统依据min(Vn,Vu)之计算结果变更辅具的预定速度(Vs1)；当|Vn-Vs|≦εV，回到步骤二；其中，Vu为该辅具移动之最大速度值，为系统依照马达之规格和转速所默认；(εV)为容许误差值；
步骤五，重复步骤一至四，直到结束训练或其他紧急状况(例如使用者跌倒)停机为止。
M2模式，辅具先以预定速度(Vs)移动，之后再依用户 的步行速度变更调整预定速度(Vs1)。辅具可依据用户的步行速度做对应的调整配合。
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M5模式系为一强化肌肉模式，辅具及其控制系统执行以下之控制方法，包括：
步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
步骤二，该控制系统通过该多轴感测模块获取右握把反作用力值(|Fr|)及左握把反作用力值(|Fl|)；
步骤三，该控制系统将右握把反作用力值(|Fr|)及左握把反作用力值(|Fl|)与一右侧预设阀值(Frth)及左侧预设阀值(Flth)进行比较运算，结果为{|Fr|>Frth&|Fl|>Flth}则进行步四骤，若否则回到步骤一；其中，该预设阀值(Frth)、(Flth)为系统内建、或治疗师通过该控制系统之操作界面预先输入；
步骤四，该控制系统通过该步态感测模块获取前述的第一人机距离d1；
步骤五，控制系统将该第一人机距离(d1)、右握把反作用力值Fr、左握把反作用力值(Fl)进行运算及比较，若结果为式(1)成立，表示使用者对该辅具施加推力，若结果为式(2)成立，表示使用者对该辅具施加拉力；式(1)或式(2)任一成立，即进行步骤六；若式(1)及式(2)均未成 立，则回到步骤一；
{(d1<dznu)&(Fr<0)&(Fl<0)}   式(1)
{(d1>dznl)&(Fr>0)&(Fl>0)}   式(2)
其中，(dznu)为人机距离上极限值(upper limit of neutral distance)；(dznl)为人机距离之下限值(lower limit of neutral distance)；(dznu)及(dznl)均为系统默认值；
步骤六，辅具以预定速度(Vs)按照推力方向前进或拉力方向退动；
步骤七，重复步骤一至六，直到结束训练、或因其他紧急状况停机为止。
在M5模式的步骤六，该控制系统可进一步控制前述的阻力模块启动，增加该马达的电流，增加马达反向扭矩，使辅具之移动具有适当之阻力，使用者对辅具的推力或拉力必需增加，始能让辅具移动。
M5模式，藉由用户施加在辅具的推力和拉力作为启动辅具移动及驱使辅具继续移动的判断条件，当使用者的腿部肌肉、腰部肌肉、躯干肌肉、及手部肌肉的力量均达到预期标准且彼此能协调作用时，才能成功推动或拉动辅具，藉此训练并加强使用者的肌肉力量。
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M6-1模式系为一患侧脚承重加强模式。辅具及其控制系统执行以下之控制方法，包括：
步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
步骤二，该控制系统由该踏力感测模块获取用户患侧脚踏力值(Ta)；
步骤三，该控制系统将患侧脚踏力值(Ta)与踏力预设阀值(Tth)进行比较运算，若{Ta>Tth}为真，进行步骤四；若否，则回到步骤一；其中，该默认阀值(Tth)为系统内建、或治疗师通过该控制系统之操作界面预先输入；
步骤四，该控制系统侦测{Ta>Tth}的持续时间(Time _Ta)，将该持续时间(Time_Ta)与一预设时间(Time_th)进行比较运算，若{Time_Ta<Time_th}，回到步骤一；若{Time_Ta≧Time_th}，且该控制系统由该踏力感测模块获取用户健侧脚踏力值(Tc)，该控制系统命令该辅具以预定速度(Vs)移动一预设距离。该预设距离可为使用者的跨步距离，或系统内建、或治疗师通过该控制系统之操作界面预先输入；
步骤五，重复步骤一至四，直到结束训练、或因其他紧急状况停机为止。
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M6-2模式系为一患侧手承重加强模式。辅具及其控制系统执行以下之控制方法，包括：
步骤一，该控制系统通过该步态感测模块之讯息判断 用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
步骤二，该控制系统由该多轴感测模块获取用户患侧手向量力(Va)及健侧手向量力(Vc)；
步骤三，该控制系统将患侧手向量力(Va)及健侧手向量力(Vc)与患侧手预设阀值(Vath)及健侧手预设阀值(Vcth)进行比较运算；若{(Va≧Vath)and(Vc≦Vcth)}为真，进行步骤四，为否，回到步骤一；其中，该预设阀值(Vath)、(Vcth)为系统内建、或治疗师通过该控制系统之操作界面预先输入；
步骤四，辅具以预定速度(Vs)移动一预设距离。该预设距离可为使用者的跨步距离，或系统内建、或治疗师通过该控制系统之操作界面预先输入；
步骤五，重复步骤一至四，直到结束训练，或因其他紧急状况停机为止。
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M6-3模式系为一患侧手脚承重加强模式。辅具及其控制系统执行以下之控制方法，包括：
步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
步骤二，该控制系统由该踏力感测模块获取用户患侧脚踏力值(Ta)；该控制系统由该多轴感测模块获取用户患 侧手向量力(Va)及健侧手向量力(Vc)；
步骤三，该控制系统将患侧脚踏力值(Ta)与踏力预设阀值(Tth)进行比较运算，该控制系统将患侧手向量力(Va)及健侧手向量力(Vc)与患侧手预设阀值(Vath)及健侧手预设阀值(Vcth)进行比较运算；若{Ta>Tth}以及{(Va≧Vath)and(Vc≦Vcth)}为真，进行步骤四；若否，则回到步骤一；该预设阀值(Tth)、(Vath)、(Vcth)为系统内建、或治疗师通过该控制系统之操作界面预先输入；
步骤四，该控制系统侦测{Ta>Tth}的持续时间(Time _Ta)，将该持续时间(Time_Ta)与一预设时间(Time_th)进行比较运算，若{Time_Ta<Time_th}，回到步骤一；若{Time_Ta≧Time_th}，且该控制系统由该踏力感测模块获取用户健侧脚踏力值(Tc)，该控制系统命令该辅具以预定速度(Vs)移动一预设距离。该预设距离可为使用者的跨步距离，或系统内建、或治疗师通过该控制系统之操作界面预先输入；
步骤五，重复步骤一至四，直到结束训练，或因其他紧急状况停机为止。
M6-1、M6-2、或M6-3模式，适用于手、或脚、或手及脚单侧偏瘫的使用者。这一类的使用者通常会习惯以健侧做为主要支撑，以致患侧的肌肉力量愈来愈弱。藉由M6-1模式训练及提升用户患侧脚的肌肉力量，并协助使用者控制及协调患侧脚及健侧脚之支撑平衡能力。藉由M6-2模式 训练及提升用户患侧手的肌肉力量，并协助使用者控制及协调患侧手及健侧手之支撑平衡能力。藉由M6-3模式，训练及提升用户患侧手脚的肌肉力量，并协助使用者控制及协调患侧手脚与健侧手脚之支撑平衡能力。
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DRS模式系为一高频率变速扰动模式。辅具及其控制系统执行以下之控制方法，包括：
步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
步骤二，该控制系统控制该辅具以高频率的方式切换预定速度(Vs)及随机变速(Vrandom)，预定速度(Vs)及随机变速(Vrandom)的出现时间和持续时间均由该控制系统随机控制，从而使该辅具产生高频率变速移动；预定速度(Vs)是固定速度，随机变速(Vrandom)则快于或慢于预定速度(Vs)；该预定速度(Vs)及随机变速(Vrandom)为系统内建或治疗师通过该控制系统之操作界面预先输入；或者，该预定速度为系统内建或治疗师通过该控制系统之操作界面预先输入，该随机变速(Vrandom)为系统以该预定速度为基础而随机产生；
步骤三，重复步骤一、二，直到结束训练或因其他紧急状况(例如使用者跌倒)被迫停机为止。
DRS模式，辅具以高频率变速移动的方式，使用者无 法跟随辅具步行，以致于辅具的移动对使用者的步行训练构成干扰，而使用者需忽视这个干扰并按照自己的步行速度步行。据以训练使用者在具有外部干扰的情况下仍能有效控制自己的步行速度。
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PVS模式系为一低频率变速微扰模式。辅具及其控制系统执行以下之控制方法，包括：
步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
步骤二，该控制系统控制该辅具以低频率的方式切换预定速度(Vs)及可变速度(Vv)，预定速度(Vs)及可变速度(Vv)的出现时间和持续时间均由该控制系统随机控制，从而使该辅具产生低频率变速移动；预定速度(Vs)是固定速度，可变速度(Vv)则快于或慢于预定速度(Vs)；该预定速度(Vs)及可变速度(Vv)为系统内建或治疗师通过该控制系统之操作界面预先输入；或者，该预定速度(Vs)为系统内建或治疗师通过该控制系统之操作界面预先输入，该可变速度(Vv)为系统以该预定速度为基础而按编程随机产生；
步骤三，重复步骤一、二，直到结束训练或因其他紧急状况(例如使用者跌倒)被迫停机为止。
PVS模式，辅具以低频率变速移动的模式，让用户跟 随辅具之等速、加速、减速等微扰变化改变自己的步行速度而能跟随辅具步行移动。据以训练使用者依照外部情况有效控制自己的步行速度。
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PFD-1模式系为一辅具方向控制模式。辅具及其控制系统执行以下之控制方法，包括：
步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
步骤二，该控制系统命令该辅具按照预定轨迹以预定速度(Vs)或前述之适速模式(M2)模式移动；其中，预定速度(Vs)及适速模式(M2)模式之设定及产生如同前述；该预定轨迹是该控制系统通过该轨迹编程(program)控制该辅具之左轮马达和右轮马达的转速，据以使辅具在一段预定的距离内产生直线移动、左转移动、右转移动之各种变化；
步骤三，重复步骤一、二，直到结束训练或因其他紧急状况(例如使用者跌倒)被迫停机为止。
PFD-1模式，辅具做为主导者，由辅具的直线移动、左转或右转移动引导使用者步行跟随，据以训练使用者步行的方向控制。
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PFD-2模式系为一用户方向控制模式。辅具及其控制系统执行以下之控制方法，包括：
步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
步骤二，该控制系统由该多轴感测模块获取用户右手向量力VFr及左手向量力VFl；
步骤三，该控制系统将右手向量力(VFr)及左手向量力(VFl)与一预设阀值(VFth)进行比较运算；其中，该默认阀值(VFth)为系统内建、或治疗师通过该控制系统之操作界面预先输入；当运算结果为{(VFl-VFr)>VFth}，该控制系统命令该辅具的左轮马达加速，右轮马达减速，使该辅具向右转移动；当运算结果为{(VFr-VFl)>VFth}，该控制系统命令该辅具的右轮马达加速，左轮马达减速，使该辅具向左转；
步骤四，重复步骤一至三，直到结束训练、或因其他紧急状况停机为止。
PFD-2模式，用户做为主导者，以左、右手的推力控制该辅具的移动方向。在此模式中，治疗师可提供S形训练道、矩形训练道、或训练道上设置障碍物等方式，让使用者控制辅具在以上的训练道上进行直行、左转、右转、及避障等各方向的训练。
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PFD-3模式系为一用户为主导，辅具为协助之方向控制模式。辅具及其控制系统执行以下之控制方法，包括：
步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
步骤二，该控制系统由该多轴感测模块获取用户右手向量力VFr及左手向量力VFl；
步骤三，该控制系统将右手向量力(VFr)及左手向量力(VFl)与一预设阀值(VFth)进行比较运算；其中，该默认阀值(VFth)为系统内建、或治疗师通过该控制系统之操作界面预先输入；当运算结果为{(VFl-VFr)>VFth}，该控制系统命令该辅具的左轮马达加速，右轮马达减速，使该辅具向右转移动；当运算结果为{(VFr-VFl)>VFth}，该控制系统命令该辅具的右轮马达加速，左轮马达减速，使该辅具向左转；该控制系统可通过设于该辅具上的障碍物感测模块感测该辅具之动作路径上的障碍物，并且取得该辅具与该障碍物之间的距离(Do)，该控制系统将该距离(Do)与一预设阀值上限(Duth)及一预设阀值下限(Dlth)进行比对判断，若{Do>Duth}或{Do<Dlth}，该控制系统控制该辅具停止移动回到步骤二、或启动内建的自动避障模式、或启动内建的修正模式，使该辅具之移动得以避开障碍物继续行进；或者，该控制系统可监测该辅具的移动轨迹，并将该移动轨迹与预设轨迹进行比对，若移动轨迹的方向、角度明显偏离默认轨迹，该控制系统控制该辅具停止移动回到步骤二、或启动内建的修正模式 修正移动轨迹的方向、角度回到预设轨迹继续行进；
步骤四，重复步骤一至三，直到结束训练、或因其他紧急状况停机为止。
PFD-3模式，以用户为主导者，主导该辅具的移动方向，但该辅具撞击障碍物或太接近或太偏离障碍物，或者太偏离预设轨迹时，该辅具停止移动，让使用者自行修正辅具方向，或辅具自动绕过障碍物或自动修正方向角度，帮助使用者修正辅具方向，据以训练使用者更高阶的避障及遇障解决之能力。
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SL模式系为一斜坡模式。辅具及其控制系统执行以下之控制方法，包括：
步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
步骤二，该控制系统通过该前后倾斜感测模块感测该移动平台的前后倾斜状况，若向后倾斜，表示该辅具为上坡状态，进行步骤三；若向前倾斜，表示该辅具为下坡状态，进行步骤四；
步骤三，该控制系统通过该多轴感测模块获取右握把反作用力值(Fr)及左握把反作用力值(Fl)；该控制系统将右握把反作用力值(|Fr|)及左握把反作用力值(Fl)与一右侧预设阀值上限(Fru)及左侧预设阀值上限(Flu)进行 比较运算；其中，该预设阀值(Fru)、(Flu)为系统内建、或治疗师通过该控制系统之操作界面预先输入；当运算结果{Fr≧Fru>0&Fl≧Flu>0}，表示使用者施加拉力于该辅具，该控制系统启动马达以预定速度(Vs)移动；
步骤四，该控制系统通过该多轴感测模块获取右握把反作用力值(Fr)及左握把反作用力值(Fl)；该控制系统将右握把反作用力值(Fr)及左握把反作用力值(Fl)与一右侧预设阀值下限(Frl)及左侧预设阀值(Fll)进行比较运算；其中，该预设阀值(Frl)、(Fll)为系统内建、或治疗师通过该控制系统之操作界面预先输入；当运算结果{Fr≦Frl<0&Fl≦Fll<0)}，表示使用者施加推力于该辅具，该控制系统启动马达以预定速度(Vs)移动；
步骤五，重复步骤一至四，直到结束训练或因其他紧急状况停机为止。
SL模式，藉由辅具训练使用者控制上坡及下坡的步行速度、身体重心位置，并透过上坡及下坡进行更高阶的肌肉强度训练。

Claims (17)

  1. 一种多模式步行训练之电动步行辅具，该辅具包括：
    一移动平台，该移动平台具有一移动装置；
    一用户区域，为邻近该移动平台之一地面区域，该用户区域供一用户站立；
    一步态感测模块，设于该移动平台，通过感测手段感测使用者双脚并输出该用户之步态特征讯息；
    一控制系统，设于该移动平台，该辅具之所有模块及该移动装置分别与该控制系统电性连接；该控制系统更包含一控制该移动平台产生直线移动、左转移动、右转移动等预定轨迹之轨迹编程；该控制系统获取该辅具之所有模块之讯息和数据并进行混合分析运算，并利用分析运算的结果控制该辅具产生预定的移动模式。
  2. 如请求项1所述之辅具，其更包括：
    一阻力模块，安装于该移动平台，并电性连接于该移动装置，用以调整该辅具之移动阻力；
    一多轴感测模块，该多轴感测模块之传感器分别设于该左握把及该右握把，用以感测使用者左、右手施加于该左、右握把上的向量力，并对应输出使用者右手向量力及左手向量力；
    一障碍物感测模块，包括数个传感器分别设于该移动平台之外围，用以感测该辅具移动时是否遇到障碍物，并且取得该辅具与该障碍物之间的距离；
    一前后倾斜感测模块，其传感器安装于该移动平台，用以感测该移动平台之前后倾斜状态；
    一踏力感测模块，该踏力感测模块埋设于用户穿着之鞋底、鞋垫，或供使用者行走之训练步道中，该控制系统与该踏力感测模块电性连接。
  3. 一种如请求项1所述之辅具之控制方法，该控制方法使该辅具执行以下之移动模式，该移动模式包括：恒速模式；适速模式；高频率变速扰动模式；低频率变速微扰模式。
  4. 一种如请求项1所述之辅具之控制方法，该控制方法使该辅具执行以下之移动模式，该移动模式包括：强化肌肉模式；患侧脚承重加强模式；患侧手承重加强模式；患侧手脚承重加强模式；方向控制模式；斜坡模式。
  5. 如请求项3所述之辅具之恒速模式之控制方法，包括：
    步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
    步骤二，该控制系统命令该辅具以预定速度(Vs)移动；该预定速度(Vs)为系统内建或治疗师通过该控制系统之操作界面预先输入；
    步骤三，重复步骤一、二，直到结束训练、或因其他紧急状况停机为止。
  6. 如请求项3所述之辅具之适速模式之控制方法，包括：
    步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
    步骤二，该控制系统命令该辅具以预定速度(Vs)移动，使用者跟随该辅具步行移动；其中，该预定速度(Vs)为系统内建、或治疗师通过该控制系统之操作界面预先输入；
    步骤三，该控制系统从该步态感测模块获取用户步行速度并计算用户平 均步行速度(Vn)；
    步骤四，该控制系统将辅具的预定速度(Vs)与用户平均步行速度(Vn)进行比较运算；当{|Vn-Vs|>εV}，该控制系统依据{min(Vn,Vu)}之计算结果变更辅具的预定速度(Vs1)；当{|Vn-Vs|≦εV}，回到步骤二；其中，(Vu)为该辅具移动之最大速度值，为系统依照容许用户最大安全速度所默认；(εV)为容许误差值；
    步骤五，重复步骤一至四，直到结束训练或其他紧急状况停机为止。
  7. 如请求项3所述之辅具之高频率变速扰动模式之控制方法，包括：
    步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
    步骤二，该控制系统控制该辅具以高频率的方式切换预定速度(Vs)及随机变速(Vrandom)，预定速度(Vs)及随机变速(Vrandom)的出现时间和持续时间均由该控制系统随机控制，从而使该辅具产生高频率变速移动；预定速度(Vs)是固定速度，随机变速(Vrandom)则快于或慢于预定速度(Vs)；该预定速度(Vs)及随机变速(Vrandom)为系统内建或治疗师通过该控制系统之操作界面预先输入；或者，该预定速度为系统内建或治疗师通过该控制系统之操作界面预先输入，该随机变速(Vrandom)为系统以该预定速度为基础而随机产生；
    步骤三，重复步骤一、二，直到结束训练或因其他紧急状况停机为止。
  8. 如请求项3所述之辅具之低频率变速微扰模式之控制方法，包括：
    步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该 控制系统继续判断；
    步骤二，该控制系统控制该辅具以低频率的方式切换预定速度(Vs)及可变速度(Vv)，预定速度(Vs)及可变速度(Vv)的出现时间和持续时间均由该控制系统随机控制，从而使该辅具产生低频率变速移动；预定速度(Vs)是固定速度，可变速度(Vv)则快于或慢于预定速度(Vs)；该预定速度(Vs)及可变速度(Vv)为系统内建或治疗师通过该控制系统之操作界面预先输入；或者，该预定速度(Vs)为系统内建或治疗师通过该控制系统之操作界面预先输入，该可变速度(Vv)为系统以该预定速度为基础而按编程随机产生；
    步骤三，重复步骤一、二，直到结束训练或因其他紧急状况停机为止。
  9. 如请求项4所述之辅具之强化肌肉模式之控制方法，包括：
    步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
    步骤二，该控制系统通过该多轴感测模块获取右握把反作用力值(|Fr|)及左握把反作用力值(|Fl|)；
    步骤三，该控制系统将右握把反作用力值(|Fr|)及左握把反作用力值(|Fl|)与一右侧预设阀值(Frth)及左侧预设阀值(Flth)进行比较运算，结果为{|Fr|>Frth&|Fl|>Flth}则进行步四骤，若否则回到步骤一；其中，该预设阀值(Frth)、(Flth)为系统内建、或治疗师通过该控制系统之操作界面预先输入；
    步骤四，该控制系统通过该步态感测模块获取第一人机距离(d1)；该第一人机距离(d1)为使用者双足心间距中间点与该辅具之特定点的直线距离；
    步骤五，控制系统将该第一人机距离(d1)、右握把反作用力值(Fr)、左握把反作用力值(Fl)进行运算及比较，若结果为式(1)成立，表示使用者对该辅具施加推力且脚往前跨，若结果为式(2)成立，表示使用者对该辅具施加拉力且脚往后跨；式(1)或式(2)任一成立，即进行步骤六；若式(1)及式(2)均未成立，则回到步骤一；其中，所述之式(1)系为{(d1<dznu)&(Fr<0)&(Fl<0)}，式(2)系为{(d1>dznl)&(Fr>0)&(Fl>0)}，(dznu)为人机距离上极限值(upper limit of neutral distance)，(dznl)为人机距离之下限值(lower limit of neutral distance)且(dznu)及(dznl)均为系统默认值；
    步骤六，辅具以预定速度(Vs)按照推力方向前进或拉力方向退动；
    步骤七，重复步骤一至六，直到结束训练、或因其他紧急状况停机为止。
  10. 如请求项9所述该辅具之强化肌肉模式之控制方法，其中，步骤六，该控制系统控制该阻力模块启动，增加该辅具之移动阻力。
  11. 如请求项4所述之辅具之患侧脚承重加强模式之控制方法，包括：
    步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
    步骤二，该控制系统由该踏力感测模块获取用户患侧脚踏力值(Ta)；
    步骤三，该控制系统将患侧脚踏力值(Ta)与踏力预设阀值(Tth)进行比较运算，若{Ta>Tth}为真，进行步骤四；若否，则回到步骤一；其中，该默认阀值(Tth)为系统内建、或治疗师通过该控制系统之操作界面预先输入；
    步骤四，该控制系统侦测{Ta>Tth}的持续时间(Time_Ta)，将该持续时间(Time_Ta)与一预设时间(Time_th)进行比较运算，若{Time_Ta< Time_th}，回到步骤一；若{Time_Ta≧Time_th}，且该控制系统由该踏力感测模块获取用户健侧脚踏力值(Tc)，该控制系统命令该辅具以预定速度(Vs)移动一预设距离；该预设距离可为使用者的跨步距离，或系统内建、或治疗师通过该控制系统之操作界面预先输入；
    步骤五，重复步骤一至四，直到结束训练、或因其他紧急状况停机为止。
  12. 如请求项4所述之辅具之患侧手承重加强模式之控制方法，包括：
    步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
    步骤二，该控制系统由该多轴感测模块获取用户患侧手向量力(Va)及健侧手向量力(Vc)；
    步骤三，该控制系统将患侧手向量力(Va)及健侧手向量力(Vc)与患侧手预设阀值(Vath)及健侧手预设阀值(Vcth)进行比较运算；若{(Va≧Vath)and(Vc≦Vcth)}为真，进行步骤四，为否，回到步骤一；其中，该预设阀值(Vath)、(Vcth)为系统内建、或治疗师通过该控制系统之操作界面预先输入；
    步骤四，辅具以预定速度(Vs)移动一预设距离；该预设距离可为使用者的跨步距离，或系统内建、或治疗师通过该控制系统之操作界面预先输入；
    步骤五，重复步骤一至四，直到结束训练，或因其他紧急状况停机为止。
  13. 如请求项4所述之辅具之患侧手脚承重加强模式之控制方法，包括：
    步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
    步骤二，该控制系统由该踏力感测模块获取用户患侧脚踏力值(Ta)；该控制系统由该多轴感测模块获取用户患侧手向量力(Va)及健侧手向量力(Vc)；
    步骤三，该控制系统将患侧脚踏力值(Ta)与踏力预设阀值(Tth)进行比较运算，该控制系统将患侧手向量力(Va)及健侧手向量力(Vc)与患侧手预设阀值(Vath)及健侧手预设阀值(Vcth)进行比较运算；若{Ta>Tth}以及{(Va≧Vath)and(Vc≦Vcth)}为真，进行步骤四；若否，则回到步骤一；该预设阀值(Tth)、(Vath)、(Vcth)为系统内建、或治疗师通过该控制系统之操作界面预先输入；
    步骤四，该控制系统侦测{Ta>Tth}的持续时间(Time_Ta)，将该持续时间(Time_Ta)与一预设时间(Time_th)进行比较运算，若{Time_Ta<Time_th}，回到步骤一；若{Time_Ta≧Time_th}，且该控制系统由该踏力感测模块获取用户健侧脚踏力值(Tc)，该控制系统命令该辅具以预定速度(Vs)移动一预设距离。该预设距离可为使用者的跨步距离，或系统内建、或治疗师通过该控制系统之操作界面预先输入；
    步骤五，重复步骤一至四，直到结束训练，或因其他紧急状况停机为止。
  14. 如请求项4所述之辅具之方向控制模式之控制方法，包括：
    步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
    步骤二，该控制系统命令该辅具按照预定轨迹以预定速度(Vs)或适速模式移动；该预定轨迹是该控制系统通过该轨迹编程(program)控制该辅具在一段预定的距离内产生直线移动、左转移动、右转移动之各种变化；
    步骤三，重复步骤一、二，直到结束训练或因其他紧急状况停机为止。
  15. 如请求项4所述之辅具之用户之方向控制模式之控制方法，包括：
    步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
    步骤二，该控制系统由该多轴感测模块获取用户右手向量力(VFr)及左手向量力(VFl)；
    步骤三，该控制系统将右手向量力(VFr)及左手向量力(VFl)与一预设阀值(VFth)进行比较运算；其中，该默认阀值(VFth)为系统内建、或治疗师通过该控制系统之操作界面预先输入；当运算结果为{(VFl-VFr)>VFth}，该控制系统命令该辅具向右转移动；当运算结果为{(VFr-VFl)>VFth}，该控制系统命令该辅具向左转移动；
    步骤四，重复步骤一至三，直到结束训练或因其他紧急状况被迫停机为止。
  16. 如请求项4所述之辅具之方向控制模式之控制方法，该方向控制模式是以用户为主导而辅具为协助；该控制方法包括：
    步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
    步骤二，该控制系统由该多轴感测模块获取用户右手向量力(VFr)及左手向量力(VFl)；
    步骤三，该控制系统将右手向量力(VFr)及左手向量力(VFl)与一预设阀值(VFth)进行比较运算；其中，该默认阀值(VFth)为系统内建、或治疗师通 过该控制系统之操作界面预先输入；当运算结果为{(VFl-VFr)>VFth}，该控制系统命令该辅具向右转移动；当运算结果为{(VFr-VFl)>VFth}，该控制系统命令该辅具向左转移动；以及，该控制系统通过设于该障碍物感测模块感测该辅具之动作路径上的障碍物，并且取得该辅具与该障碍物之间的距离(Do)，该控制系统将该距离(Do)与一预设阀值上限(Duth)及一预设阀值下限(Dlth)进行比对判断，若{Do>Duth}或{Do<Dlth}，该控制系统控制该辅具停止移动回到步骤二、或启动内建的自动避障模式、或启动内建的修正模式，使该辅具之移动得以避开障碍物继续行进；或者，该控制系统可监测该辅具的移动轨迹，并将该移动轨迹与预设轨迹进行比对，若移动轨迹的方向、角度明显偏离默认轨迹，该控制系统控制该辅具停止移动回到步骤二、或启动内建的修正模式修正移动轨迹的方向、角度回到预设轨迹继续行进；
    步骤四，重复步骤一至三，直到结束训练、或因其他紧急状况停机为止。
  17. 如请求项4所述之辅具之斜坡模式之控制方法，包括：
    步骤一，该控制系统通过该步态感测模块之讯息判断用户是否位于该辅具的用户区域中；若是，进行步骤二；若否，该辅具不移动或暂停移动，该控制系统继续判断；
    步骤二，该控制系统通过该前后倾斜感测模块感测该移动平台的前后倾斜状态，若向后倾斜表示该辅具为上坡状态，进行步骤三；若向前倾斜表示该辅具为下坡状态，进行步骤四；
    步骤三，该控制系统通过该多轴感测模块获取右握把反作用力值(Fr)及左握把反作用力值(Fl)；该控制系统将右握把反作用力值(Fr)及左握把反作用力值(Fl)与一右侧预设阀值上限(Fru)及左侧预设阀值上限(Flu)进行比 较运算；其中，该预设阀值(Fru)、(Flu)为系统内建、或治疗师通过该控制系统之操作界面预先输入；当运算结果{Fr≧Fru>0&Fl≧Flu>0}，表示使用者施加拉力于该辅具，该控制系统启动马达以预定速度(Vs)移动；
    步骤四，该控制系统通过该多轴感测模块获取右握把反作用力值(Fr)及左握把反作用力值(Fl)；该控制系统将右握把反作用力值(Fr)及左握把反作用力值(Fl)与一右侧预设阀值下限(Frl)及左侧预设阀值(Fll)进行比较运算；其中，该预设阀值(Frl)、(Fll)为系统内建、或治疗师通过该控制系统之操作界面预先输入；当运算结果{Fr≦Frl<0&Fl≦Fll<0)}，表示使用者施加推力于该辅具，该控制系统启动马达以预定速度(Vs)移动；
    步骤五，重复步骤一至四，直到结束训练或因其他紧急状况停机为止。
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