WO2021249315A1

WO2021249315A1 - Method for operating rehabilitation robot, and rehabilitation robot and readable storage medium

Info

Publication number: WO2021249315A1
Application number: PCT/CN2021/098475
Authority: WO
Inventors: 宋涛; 高志军; 李志青; 田恬
Original assignee: 上海神泰医疗科技有限公司
Priority date: 2020-06-09
Filing date: 2021-06-04
Publication date: 2021-12-16
Also published as: CN111419644B; CN111419644A

Abstract

A method for operating a rehabilitation robot, and a rehabilitation robot and a readable storage medium. The method comprises: acquiring a first external force applied to a rehabilitation robot (S1); acquiring a feedback signal of a servo motor of the rehabilitation robot (S2); according to the feedback signal, and on the basis of a kinematics and dynamics model of the rehabilitation robot, performing calculation to obtain the magnitude and direction of the first external force applied to the rehabilitation robot (S3); according to the magnitude and direction of the first external force, compensating for the self weight and resistance of the rehabilitation robot, then driving the rehabilitation robot to move along with the first external force, so as to obtain a movement trajectory parameter of the rehabilitation robot, and obtaining a basic motion boundary parameter of a rehabilitation object (S4); and the rehabilitation robot moving repeatedly according to the trajectory parameter, so that the rehabilitation robot drives the rehabilitation object to exercise repeatedly (S5), wherein the basic motion boundary parameter is gradually increased according to a preset condition, so as to form a transition motion boundary parameter, and the transition motion boundary parameter compensates for the trajectory parameter.

Description

Operation method of rehabilitation robot, rehabilitation robot and readable storage medium

Technical field

The invention relates to the field of robot-assisted rehabilitation systems and methods, in particular to an operating method of a rehabilitation robot, a rehabilitation robot and a readable storage medium.

Background technique

Sports rehabilitation therapy is an effective means to improve the motor dysfunction of rehabilitation subjects caused by stroke, spinal cord injury, brain trauma and other reasons. The existing rehabilitation equipment mainly focuses on passive training, with a single training mode and limited motion trajectory. The intelligent rehabilitation robot products, although the closed-loop control of torque can be realized by adding sensors and other methods, and active rehabilitation training can be realized, but it is only a simple application of industrial technology; Correct the parameters related to different human limbs; on the other hand, only limit protection thresholds for torque, speed, position, etc. are set, and there is a lack of systematic safety protection methods for human limbs and joints. The above current situation causes the rehabilitation training process The comfort and safety are low.

Summary of the invention

The purpose of the present invention is to provide an operating method of a rehabilitation robot, a rehabilitation robot and a readable storage medium, so as to solve the problem of low comfort and safety of the existing rehabilitation robot.

In order to solve the above technical problems, according to the first aspect of the present invention, an operating method of a rehabilitation robot is provided, which includes:

Acquiring the first external force applied to the rehabilitation robot;

Acquiring the feedback signal of the servo motor of the rehabilitation robot;

According to the feedback signal, the magnitude and direction of the first external force received by the rehabilitation robot are calculated based on the kinematics and dynamics models of the rehabilitation robot;

According to the magnitude and direction of the first external force, the self-weight and resistance of the rehabilitation robot are compensated, and then the rehabilitation robot is driven to move with the first external force to obtain the trajectory parameters of the rehabilitation robot movement, and Basic activity boundary parameters of the rehabilitation object;

The rehabilitation robot repeats multiple motions according to the trajectory parameters, so that the rehabilitation robot drives the rehabilitation object to repeat multiple motions;

Wherein, when the rehabilitation robot drives the rehabilitation object to repeatedly move multiple times, the basic activity boundary parameters are gradually expanded according to preset conditions to form transitional activity boundary parameters, and the transitional activity boundary parameters are used to compensate for The trajectory parameters.

Optionally, the feedback signal of the servo motor includes: at least one of a current signal, a position signal, and a speed signal of the servo motor.

Optionally, the operation method of the rehabilitation robot further includes:

Based on the attribute parameters of the rehabilitation object, search for a suitable parameter bin in the preset database, and calculate the average value of each feature parameter as an additional parameter for at least one feature parameter in the parameter bin ；

The kinematics and dynamics model of the rehabilitation robot further includes the additional parameters.

Optionally, the operation method of the rehabilitation robot further includes:

Obtaining the characteristic parameters of the rehabilitation object through the movement of the rehabilitation robot;

The kinematics and dynamics model of the rehabilitation robot also includes the characteristic parameters.

Optionally, after obtaining the characteristic parameters of the rehabilitation subject, the characteristic parameters are supplemented into the adapted parameter bins of the database.

Optionally, the process of obtaining the additional parameters includes:

At least one feature parameter of multiple individuals whose deviation value from the attribute parameter of the rehabilitation object is within a predetermined range is retrieved in the parameter bin corresponding to the database, and the average value of each feature parameter is calculated as The additional parameters.

Optionally, the operating method of the rehabilitation robot includes setting the rehabilitation robot in a passive mode, and the passive mode is configured to cause the rehabilitation robot to ignore the second external force received from the rehabilitation object and pass the The servo motor drives the rehabilitation robot to move according to the trajectory parameter.

Optionally, the preset conditions include:

The expected activity boundary parameter of the rehabilitation object is obtained according to the attribute parameter or characteristic parameter of the rehabilitation object; the transition activity boundary parameter is not greater than the expected activity boundary parameter.

Optionally, the boundary parameters of the transition activity satisfy:

Wherein, Ω0 is the expected activity boundary parameter, Ω1 is the basic activity boundary parameter, Ω2 is the transition activity boundary parameter, n is the number of transitions from Ω1 to Ω0, and i is a natural number and not greater than n.

Optionally, during the transition from Ω1 to Ω0, the value of i is determined according to the force and moment experienced by the rehabilitation robot.

Optionally, the operation method of the rehabilitation robot includes setting the rehabilitation robot to a power assist mode, and the power assist mode is configured to: when the magnitude of the second external force received by the rehabilitation robot from the rehabilitation object reaches a set value When the lower limit of the threshold interval and the direction of the second external force is within the set angle range, the servo motor drives the rehabilitation robot to complete a movement according to the trajectory parameters and return to the initial state; when the rehabilitation robot When the magnitude of the second external force received from the rehabilitation subject is less than the lower limit of the set threshold interval, or the direction of the second external force is outside the set angle range, the rehabilitation robot is made to ignore the received second external force from the rehabilitation The object's second external force maintains a static state.

Optionally, the movement speed of the rehabilitation robot is set to have a positive correlation with the magnitude of the second external force.

Optionally, the assist mode is further configured to: when the magnitude of the second external force received by the rehabilitation robot reaches the upper limit of the set threshold interval, the rehabilitation robot is driven by the servo motor to set Set the upper limit speed movement.

Optionally, the operation method of the rehabilitation robot includes setting the rehabilitation robot to an active mode, and the active mode is configured to enable the rehabilitation robot to be driven by a second external force from the rehabilitation subject according to the Trajectory parameter movement, wherein the servo motor provides resistance to the movement of the rehabilitation robot.

Optionally, the step of using the transition activity boundary parameter to compensate the trajectory parameter includes:

Set an offset for the trajectory parameter based on the transition activity boundary parameter;

The rehabilitation robot moves within the range of the offset according to the trajectory parameter.

Optionally, according to the feedback signal of the servo motor and based on the kinematics and dynamics model of the rehabilitation robot, the magnitude and direction of the second external force from the rehabilitation object received by the rehabilitation robot are calculated.

Optionally, the operation method of the rehabilitation robot further includes:

Recording joint information of the rehabilitation robot during the movement of the rehabilitation robot;

According to the joint information, the joint motion information of the rehabilitation object and the function curve of the second external force from the rehabilitation object corresponding to the trajectory parameters are calculated.

In order to solve the above technical problem, according to the second aspect of the present invention, a readable storage medium is also provided, on which a program is stored, and when the program is executed, the above-mentioned operating method of the rehabilitation robot is realized.

In order to solve the above technical problem, according to the third aspect of the present invention, a rehabilitation robot is also provided, which includes a processor and at least one servo motor, the servo motor is used to provide a feedback signal, and the processor is configured to Used to execute:

Acquiring the first external force applied to the rehabilitation robot;

Acquiring the feedback signal of the servo motor;

Compensate the weight and resistance of the rehabilitation robot according to the magnitude and direction of the first external force, and then drive the rehabilitation robot to move with the first external force, and obtain the trajectory parameters of the motion of the rehabilitation robot;

Repeating multiple motions according to the trajectory parameter to drive a rehabilitation object to repeat multiple motions through the rehabilitation robot.

Optionally, the servo motor is used to feed back at least one of a current signal, a position signal, and a speed signal.

Optionally, the rehabilitation robot includes a passive mode, an assist mode, and an active mode, and the processor is configured to execute one of the passive mode, the assist mode, and the active mode according to settings.

Optionally, the rehabilitation robot further includes casters, a locking pedal, a chassis, a base, a large arm, a small arm, and a fixed splint, and the servo motor is at least arranged on the base, the large arm and the small arm superior.

In summary, in the operating method of the rehabilitation robot, the rehabilitation robot, and the readable storage medium provided by the present invention, the operation method of the rehabilitation robot includes: obtaining the first external force applied to the rehabilitation robot; obtaining the rehabilitation The feedback signal of the servo motor of the robot; according to the feedback signal, the magnitude and direction of the first external force received by the rehabilitation robot are calculated based on the kinematics and dynamics models of the rehabilitation robot; according to the first external force The size and direction are used to compensate the weight and resistance of the rehabilitation robot, and then drive the rehabilitation robot to move with the first external force to obtain the trajectory parameters of the rehabilitation robot movement; and obtain the basic motion boundary parameters of the rehabilitation object The rehabilitation robot repeats multiple motions according to the trajectory parameters to drive the rehabilitation object through the rehabilitation robot to repeat multiple motions; wherein, in the process of the rehabilitation robot driving the rehabilitation object to repeat multiple motions , The basic activity boundary parameter is gradually expanded according to a preset condition to form a transition activity boundary parameter, and the transition activity boundary parameter is used to compensate the trajectory parameter.

With this configuration, on the one hand, the operator can obtain the motion trajectory parameters of the rehabilitation robot for rehabilitation training of the rehabilitation object through the drag operation, which is easy to operate and has high flexibility; on the other hand, the operator can obtain rehabilitation through the drag operation The basic activity boundary parameters of the object improve the accuracy of the data on which the trajectory parameters are based, and ensure the comfort and safety of rehabilitation training; on the other hand, the basic activity boundary parameters are used to limit the movement trajectory, and gradually according to the recovery situation of the rehabilitation object Letting go to form transitional activity boundary parameters and compensate for trajectory parameters can form a variable safety protection space for different rehabilitation stages, thereby ensuring safety.

Description of the drawings

Those of ordinary skill in the art will understand that the accompanying drawings are provided for a better understanding of the present invention, and do not constitute any limitation on the scope of the present invention. in:

Fig. 1 is a schematic diagram of a use state of a rehabilitation robot provided by an embodiment of the present invention;

Figure 2 is a schematic diagram of a rehabilitation robot provided by an embodiment of the present invention;

3 is a schematic diagram of a training process of a rehabilitation robot provided by an embodiment of the present invention;

4a is a schematic diagram of the frontal direction of the basic activity boundary, transitional activity boundary, and expected activity boundary of the rehabilitation robot provided by an embodiment of the present invention;

Figure 4b is a schematic diagram of the top view directions of the basic activity boundary, transitional activity boundary, and expected activity boundary of the rehabilitation robot provided by an embodiment of the present invention;

4c is a three-dimensional schematic diagram of the basic activity boundary, transitional activity boundary, and expected activity boundary of the rehabilitation robot provided by an embodiment of the present invention;

FIG. 5 is a schematic diagram of the expansion of the basic activity boundary parameters of the rehabilitation robot in the assist mode or the active mode according to an embodiment of the present invention.

In the attached picture:

01-Rehabilitation robot; 02-Rehabilitation object; 03-patient bed; Ω0-expected activity boundary; Ω1-basic activity boundary; Ω2-transitional activity boundary;

1- casters; 2- chassis; 3- lock pedal; 4- base; 5- touch screen; 7- big arm; 8- forearm; 9- foot splint; 10- calf splint.

detailed description

In order to make the purpose, advantages and features of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are in a very simplified form and are not drawn to scale, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In addition, the structure shown in the drawings is often a part of the actual structure. In particular, the focus of each drawing needs to be displayed is different, and sometimes different scales are used.

As used in the present invention, the singular forms "a", "an" and "the" include plural objects. The term "or" is usually used to include "and/or", and the term "several" It is usually used to include "at least one", and the term "at least two" is usually used to include "two or more". In addition, the terms "first" and "first" Two" and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as “first”, “second”, and “third” may explicitly or implicitly include one or at least two of these features. The term “proximal end” usually refers to the end close to the operator. "Remote" usually refers to the end of the rehabilitation object near the lesion. "One end" and "the other end" and "proximal end" and "distal" usually refer to the corresponding two parts, which include not only the end point, unless the content is otherwise clear Point out.

The core idea of the present invention is to provide an operating method of a rehabilitation robot, a rehabilitation robot and a readable storage medium, so as to solve the problems of complex trajectory control and single training mode of the existing rehabilitation robot.

The description is given below with reference to the drawings.

Please refer to FIGS. 1 to 5, where FIG. 1 is a schematic diagram of a rehabilitation robot provided by an embodiment of the present invention, FIG. 2 is a schematic diagram of a rehabilitation robot provided by an embodiment of the present invention, and FIG. 3 is an embodiment of the present invention Example provides a schematic diagram of the training process of a rehabilitation robot. Figure 4a is a schematic diagram of the frontal direction of the basic activity boundary, transition activity boundary, and expected activity boundary of the rehabilitation robot provided by an embodiment of the present invention. Figure 4b is an embodiment of the present invention. A schematic diagram of the top view directions of the basic activity boundary, the transition activity boundary, and the expected activity boundary of the rehabilitation robot is provided. FIG. 4c is a three-dimensional schematic diagram of the basic activity boundary, the transition activity boundary, and the expected activity boundary of the rehabilitation robot according to an embodiment of the present invention. FIG. 5 is a schematic diagram of the expansion of the basic activity boundary parameters of the rehabilitation robot in the assist mode or the active mode according to an embodiment of the present invention.

An embodiment of the present invention provides a rehabilitation robot 01, which is used to perform rehabilitation training on a rehabilitation object 02. In an exemplary example, the rehabilitation training of the lower limbs of a rehabilitation object is taken as an example for description. It should be understood that the rehabilitation robot provided in this embodiment is not limited to being applied to the lower limbs of the rehabilitation object, and can also be applied to include upper limbs. , Neck, waist, finger parts and other parts. As shown in Figs. 1 and 2, the rehabilitation robot 01 includes: casters 1, a chassis 2, a locking pedal 3, a base 4, a large arm 7 and a small arm 8 and other components. A processor and other electronic devices are installed inside the chassis 2 to realize the control of the entire device; the locking pedal 3 is installed on the chassis 2, and the four casters 1 can be locked with one foot to ensure the stability of the device during operation; the base 4 is used for adjustment The overall height of the equipment is adapted to the height of the hospital bed 03; one end of the big arm 7 is installed on the base 4; one end of the small arm 8 is installed on the other end of the big arm 7; the foot splint 9 and the calf splint 10 are both installed on the other end of the forearm 8. One end is used to fix the feet and calves of the subject. In use, the rehabilitation object can lie flat on the hospital bed 03 or sit on the seat, and fix the affected side's lower limbs on the rehabilitation robot 01. The base 4, the connection between the big arm 7 and the base 4, the connection between the big arm 7 and the forearm 8, the connection between the forearm 8 and the foot splint 9, and the connection between the forearm 8 and the calf splint 10 are all rotatable joints At least one joint is provided with a servo motor, and the servo motor can feed back at least one of a current signal, a position signal, and a speed signal. Preferably, these joints have active rotation degrees of freedom and are driven by a servo motor; an absolute encoder is installed on the servo motor, which can record the rotation position, speed, acceleration and other movement information of the motor; the servo drive of the servo motor can realize torque control And position control. The servo motors are at least arranged on the base 4, the big arm 7 and the forearm 8, and the number of servo motors is preferably five. Optionally, the rehabilitation robot further includes a touch screen 5 through which the operator can input motion trajectory parameters, and display the motion trajectory parameters and other content through the touch screen 5.

According to the above-mentioned rehabilitation robot, an embodiment of the present invention provides an operation method of the rehabilitation robot, which includes:

Step S1: Obtain a first external force applied to the rehabilitation robot;

Step S2: Obtain the feedback signal of the servo motor of the rehabilitation robot;

Step S3: According to the feedback signal, the magnitude and direction of the first external force received by the rehabilitation robot are calculated based on the kinematics and dynamics model of the rehabilitation robot;

Step S4: Compensate the weight and resistance of the rehabilitation robot according to the magnitude and direction of the first external force, and then drive the rehabilitation robot to move with the first external force to obtain the trajectory parameters of the rehabilitation robot movement ; And get the basic activity boundary parameters of the rehabilitation object;

Step S5: The rehabilitation robot repeats multiple movements according to the trajectory parameters, so as to drive the rehabilitation object through the rehabilitation robot to repeat multiple movements;

Preferably, in the rehabilitation robot, the processor is configured to execute steps S1 to S5 as described above.

Because the way of setting trajectory parameters by input is complicated on the one hand, and not intuitive on the other hand, the preset trajectory parameters often have poor matching with the rehabilitation object. In this embodiment, the operator can control the rehabilitation robot by dragging, and apply the first external force to the rehabilitation robot (mainly its end, such as the foot splint 9 or the calf splint 10, etc.). At this time, the servo motor of the rehabilitation robot is at a torque. Mode, which can feed back the feedback signal under the action of the first external force. In turn, the rehabilitation robot compensates the weight of the mechanical arm (including the big arm 7, the forearm 8, the foot splint 9 and the calf splint 10, etc.), the friction of the joint part, and the weight of the rehabilitation object (such as the weight of the leg, etc.) through the control algorithm. ); When the first external force acts on the robotic arm of the rehabilitation robot, the servo motors of each joint can feedback signal changes. Optionally, the feedback signal includes at least one of a current signal, a position signal, and a speed signal of the servo motor, and these feedback signals can all be provided by the servo motor itself without adding an external sensor collection device. Of course, in some other embodiments, the feedback signal can also be collected and provided in whole or in part by an external sensor collection device. Further, according to the feedback signal, the magnitude and direction of the first external force are calculated based on the transfer function of the mechanical arm, and the mechanical arm is driven to move in the direction of the first external force. As a result, the operator can easily drag the end of the rehabilitation robot (such as the foot splint 9 or the calf splint 10, etc.), and the robot arm moves according to the trajectory dragged by the operator and records the trajectory parameters; after the dragging is completed, The mechanical arm returns to the initial position. Further, by reproducing the track recorded just now, the rehabilitation treatment of the rehabilitated object is realized. The drag control method can customize a variety of rehabilitation motion curves, is easy to operate, has high flexibility, and is visualized when customizing the motion trajectory, which is very intuitive.

The inventor found that the existing rehabilitation training equipment needs to determine the characteristic parameters of the human body before rehabilitation, such as inputting parameters such as the size and quality of the limbs through software, to ensure that the trajectory of the device's movement coincides with or is relatively high. Small deviations ensure the comfort of rehabilitation training. However, the human body is very different, and accurate characteristic parameters cannot be obtained through intuitive measurement. For example, simple classification based on attributes such as height and gender of the rehabilitation object cannot ensure the comfort and safety in the rehabilitation process. It should be understood that the attribute parameters here mainly include the gender, age, height, weight and other parameters of the rehabilitation subject that are known or can be known by simple measurement.

Based on this, optionally, the operating method of the rehabilitation robot further includes: searching for a matching parameter bin in a preset database based on the attribute parameter of the rehabilitation object, and classifying at least one of the parameter bins For a feature parameter, the average value of each feature parameter is calculated as an additional parameter; the kinematics and dynamics model of the rehabilitation robot also includes the additional parameter. More preferably, the process of acquiring the additional parameter includes: searching for at least one characteristic parameter of a plurality of individuals whose deviation value from the attribute parameter of the rehabilitation object is within a predetermined range in the parameter bin corresponding to the database , Calculate the average value of each of the characteristic parameters as the additional parameter. The characteristic parameters here include the above-mentioned attribute parameters, as well as the size parameters of human limbs such as thigh length and calf length, as well as parameters such as thigh weight, calf weight, thigh centroid and calf centroid, which are not easily obtained by direct measurement.

Specifically, a database of body parameters of the human body is preset, including characteristic parameters such as gender, age, height, calf length, thigh length, weight, calf weight, and thigh weight. In an exemplary example, the database sets a parameter bin for every 10 years of age according to different genders. Set a number of first-level feature parameters in each parameter bin, such as the size parameters of human limbs including height, thigh length, calf length, etc.; then set the second-level feature parameters and second-level feature parameters under each first-level feature parameter table Mainly the inertia parameters of human limbs, such as the characteristic parameters including body weight, thigh weight, calf weight, thigh mass center and calf mass center. To ensure the accuracy of the data, an appropriate statistical base should be ensured. Before performing rehabilitation training, you can enter the known attributes of the rehabilitation object's gender, age, height, weight, etc. or through simple measurement, and retrieve the positive height deviation from the parameter file corresponding to the rehabilitation object in the database. The data of the first-level characteristic parameters of all individuals with a weight of minus 2cm are calculated for the average size parameter, and the data of the second-level characteristic parameters of all individuals with a weight deviation of plus or minus 2kg are used for the calculation of the average inertia parameter; the calculated size parameter and inertia are used The average value of the parameters is incorporated into the kinematics and dynamics model of the rehabilitation robot as an additional parameter of the rehabilitation object. If the specific characteristic parameters (including attribute parameters, size parameters, and inertial parameters) of the rehabilitation object are known, these characteristic parameters can be added to the database through customization. If the characteristic parameters of the rehabilitation object have been stored in the database, they can be called directly.

Optionally, the operation method of the rehabilitation robot further includes: obtaining characteristic parameters of the rehabilitation object through the movement of the rehabilitation robot; the kinematics and dynamics model of the rehabilitation robot further includes the characteristic parameters. In addition to obtaining additional parameters by querying the database, the rehabilitation robot can also directly identify the characteristic parameters of the rehabilitation object. In some embodiments, the rehabilitation robot drives the rehabilitation object to move to obtain the characteristic parameters of the rehabilitation object. These obtained characteristic parameters can be directly used to participate in the calculation of the kinematics and dynamics models of the rehabilitation robot to obtain trajectory parameters; these obtained characteristic parameters can also be added to the database to be used to modify the search and dynamics in the database. The additional parameters obtained by averaging. The method of obtaining the characteristic parameters of the rehabilitation object through the movement of the rehabilitation robot can be used for situations in which the data volume is insufficient at the initial stage of the database establishment, or the physical fitness of the rehabilitation object is beyond the normal range (for example, severe obesity). When the additional parameters obtained through database retrieval and averaging are applied to the kinematics and dynamics models, the motion of the rehabilitation robot driven by the rehabilitation object may cause discomfort or even damage to the rehabilitation object. The characteristic parameters obtained through the motion of the rehabilitation robot can ensure rehabilitation training The safety and comfort. Further, after obtaining the characteristic parameters of the rehabilitation subject, the characteristic parameters can be supplemented into the adapted parameter bins of the database to supplement and expand the data volume of the database and further improve the accuracy of the data .

In an example, the rehabilitation robot works in the torque mode. First, the lower limbs of the rehabilitation object are in a state of straightening, and the operator drags the lower limbs to perform sagittal flexion and extension. At this time, the lower limbs move in a circular arc centered on the hip joint. . The end of the rehabilitation robot follows the lower limbs of the human body to move in a circular arc, so the length of the entire lower limb is the radius of the arc R0. Then, keeping the hip joint of the lower limbs still, the operator drives the knee joint to rotate. At this time, the end of the rehabilitation robot follows the arc of the foot with the knee joint as the center, and the length of the calf is the arc radius R1. Thigh length R2=R0-R1.

In another example, the rehabilitation robot works in the position mode. First, the lower limbs of the rehabilitation object are in a straightened state. In the static state, the end of the rehabilitation robot can calculate the magnitude of the force F1; When the acceleration is moving, the end of the rehabilitation robot can calculate the size of the force F2; according to F1 and F2, the mass size and center of mass position of the lower limbs can be calculated. Similarly, when only the calf is allowed to move passively, the mass and centroid position of the calf can be calculated; then the mass and centroid position of the thigh can be calculated.

Based on the above example, it can be known that the characteristic parameters of the rehabilitation object can be obtained through the movement of the rehabilitation robot. This part includes the characteristic parameters of size parameters and inertial parameters, which can improve the pertinence of the rehabilitation robot when setting trajectory parameters, and ensure the comfort and safety of rehabilitation training. Further, after performing rehabilitation training on a large number of rehabilitation subjects, the data in the database can be supplemented in a large amount. In this way, the data in the database can be statistically analyzed, and data with large differences in personalization can be identified, and this type of data can be shielded during personal data matching to further improve reliability.

Preferably, the operating method of the rehabilitation robot includes setting the rehabilitation robot to one of a passive mode, an assist mode and an active mode. The passive mode is configured to make the rehabilitation robot ignore the second external force received from the rehabilitation object, and drive the rehabilitation robot to move according to the trajectory parameter through the servo motor. The assist mode is configured to pass when the magnitude of the second external force received by the rehabilitation robot from the rehabilitation object reaches the lower limit of the set threshold interval, and the direction of the second external force is within the set angle range. The servo motor drives the rehabilitation robot to complete a movement according to the trajectory parameters and return to the initial state; when the magnitude of the second external force from the rehabilitation object received by the rehabilitation robot is less than the lower limit of the set threshold interval, or When the direction of the second external force is outside the set angle range, the rehabilitation robot ignores the second external force received from the rehabilitation object and maintains a static state. The active mode is configured to cause the rehabilitation robot to move according to the trajectory parameter driven by a second external force from the rehabilitation object, wherein the servo motor provides resistance to the motion of the rehabilitation robot. Correspondingly, the rehabilitation robot includes a passive mode, an assist mode and an active mode, and the processor is configured to execute one of the passive mode, the assist mode and the active mode according to settings.

The inventor found that the existing rehabilitation training equipment mainly considers the safe angle boundary of the normal joint range of motion, and guarantees training safety by limiting the speed and the upper limit of the torque. However, for rehabilitation subjects who need rehabilitation, the range of motion of each joint is less than the normal value, and the safe range of motion needs to be assessed. In addition, in the assisted and active modes, it is difficult for the rehabilitation subject to control the magnitude and direction of the output at the same time. It is necessary to restrict the movement trajectory and gradually release it. Therefore, it is necessary to set up variable safety protection space for different rehabilitation stages of the rehabilitation object, and gradually expand it according to the recovery situation of the rehabilitation object to ensure safety.

Optionally, please refer to Figures 4a to 4c. In the passive mode, the operator can drag the lower limbs of the rehabilitation object to measure the degree of mobility to obtain the basic activity boundary parameter Ω1 of the rehabilitation object. The basic activity boundary parameter Ω1 is gradually expanded according to preset conditions, and a transition activity boundary parameter Ω2 is formed to compensate for the trajectory parameter. Preferably, the preset condition includes obtaining the expected activity boundary parameter Ω0 of the rehabilitation object according to the attribute parameter or characteristic parameter of the rehabilitation object; the transition activity boundary parameter Ω2 is not greater than the expected activity boundary parameter Ω0 . Here, the expected motion boundary parameter Ω0 can be understood as the boundary parameter corresponding to the range of motion of each joint of the lower limbs of the rehabilitation subject in the normal state. Understandably, Ω1∈Ω0, and Ω2=Ω0-Ω1. As the rehabilitation progresses, the basic activity boundary parameter Ω1 gradually expands, forming a transitional activity boundary parameter Ω2, and gradually recovers to the expected activity boundary parameter Ω0.

Preferably, a linear transition method may be used, and the boundary parameters of the transition activity satisfy:

Among them, Ω0 is the expected activity boundary parameter, Ω1 is the basic activity boundary parameter, Ω2 is the transition activity boundary parameter, n is the number of transitions from Ω1 to Ω0, which can be specifically set according to the condition of the rehabilitation object, n The larger the training transition, the smoother the transition, i is a natural number and not greater than n. By setting the above increasing exercise safety zone, the rehabilitation object can be protected more safely, and the joint mobility of the rehabilitation object can be gradually increased. More preferably, during the transition from Ω1 to Ω0, the value of i is determined according to the force and moment experienced by the rehabilitation robot. Specifically, through the signals fed back by the servo motors on the joints of the rehabilitation robot, the magnitude of the force and moment received by the end of the rehabilitation robot can be calculated. Among them, the value of i should ensure that the force and moment received by the end of the rehabilitation robot are within the safety threshold allowed by the current stage of rehabilitation training. The safety threshold is based on the value of the torque of each joint of the normal limb and the weight of the human limb. Calculate, the rehabilitation robot adjusts its end according to the current pose. Specifically, when i=0, the rehabilitation object is in Ω1. After the rehabilitation object has trained for a certain period, for example, after 5 cycles, the value of i is +1, and the rehabilitation object gradually transitions to Ω0; when i increases, the rehabilitation object During the training process, if the rehabilitation robot detects that the force and torque received by its end are greater than the safety threshold, it will stop driving the rehabilitation object to move in that direction; after further training for a certain period, if the rehabilitation robot detects that the force and torque received are safe Within the threshold, i will further increase by 1, and continue the exercise training for the rehabilitation object.

The inventor found that in the initial stage of the assisted mode or active mode, it is difficult for the rehabilitation object to control the magnitude and direction of the lower limbs at the same time. Therefore, it is difficult to control the motion trajectory of the rehabilitation robot. The rehabilitation process is dangerous and needs to be performed in this state. safety protection. Therefore, in the process that the transitional activity boundary parameter is used to compensate for the trajectory parameter, an offset δ is set for the trajectory parameter based on the transitional activity boundary parameter; Movement within the range of the offset δ.

Please refer to FIG. 5, in the assist mode or the active mode, the trajectory parameters can be acquired or set first (as the aforementioned operator obtains by dragging), and the offset δ can be set based on the trajectory parameters. It is understandable that in the assist mode or the active mode, the basic activity boundary parameter Ω1 should be understood as the demonstration range of the rehabilitation object following the movement of the trajectory parameter. In the initial stage of rehabilitation training in the assist mode or active mode, the offset δ can be set to 0, and the rehabilitation object can only train the output force according to the motion trajectory expressed by the trajectory parameter, but cannot control the direction of the force; After the rehabilitation object is trained for a certain period, the offset δ can be set to a small non-zero value to train the rehabilitation object to control the direction of the force. Preferably, it can also output image or sound information to help the rehabilitation object make corrections; After a good recovery, the offset δ can be completely released, and the recovered object can more accurately control the magnitude and direction of the output force. It is understandable that in the assist mode or the active mode, the setting boundary of the offset δ forms the transition activity boundary parameter. In addition, it should be noted that the above offset δ is all within the maximum space range in which the rehabilitation object can move normally, and the speed and torque boundary values are set for protection. With such a setting, adaptive protection can be carried out according to the ability and recovery situation of the rehabilitation object, the safety and comfort of the training process can be ensured, and the training efficiency can be improved.

Further, in the assisted mode, the speed of the rehabilitation robot movement is set to be in a positive correlation with the magnitude of the second external force; further, the assisted mode is also configured such that when the rehabilitation robot is subjected to When the magnitude of the second external force reaches the upper limit of the set threshold interval, the rehabilitation robot moves at the set upper limit speed. In the assist mode, the magnitude of the second external force exerted by the rehabilitation object is unstable, and the movement speed of the rehabilitation robot changes with the magnitude of the second external force to achieve better results. In particular, when the magnitude of the second external force reaches the upper limit of the set threshold interval, the rehabilitation robot should set an upper limit speed to prevent the rehabilitation object from moving beyond the speed required for treatment and causing injury.

The operation method of the rehabilitation robot provided in this embodiment is preferably a progressive rehabilitation treatment. The following is an exemplary description with the lower limb as the rehabilitation object. The passive mode training refers to the passive rehabilitation exercise of the lower limbs of the affected side according to the trajectory parameters obtained by the aforementioned drag operation, without the need for the rehabilitation object to exert force, and is mainly suitable for the early treatment stage. When the rehabilitated object recovers to a certain level, it can be trained in a booster mode. In the assist mode, the lower limbs of the affected side move according to the path of the predetermined trajectory parameters. When the magnitude and direction of the lower limb exertion of the rehabilitation subject triggers a certain threshold interval (that is, when the magnitude and direction of the second external force reaches the lower limit of the set threshold interval), The robotic arm will drive the affected lower limbs to complete all or part of the movement of the path, and finally complete the entire rehabilitation action, helping the rehabilitation object to initially participate in the active rehabilitation training and gradually restore the exertion function. In the active mode, the lower limbs of the rehabilitation object actively drive the robotic arm to move in accordance with the path of the predetermined trajectory parameters. During the training process, the resistance in the direction of movement can be gradually increased to enhance the recovery strength of the rehabilitation object.

Preferably, the magnitude and direction of the second external force from the rehabilitation object received by the rehabilitation robot is calculated based on the feedback signal of the servo motor of the rehabilitation robot and based on the kinematics and dynamics model of the rehabilitation robot. Preferably, all of the above rehabilitation training uses information such as current, position or speed of the servo motor to calculate whether the affected leg is exerting force, without adding additional sensor collection devices, the system is simple, and the cost is low.

Further, the operation method of the rehabilitation robot further includes: recording joint information of the rehabilitation robot during the movement of the rehabilitation robot; and calculating the joint motion information of the rehabilitation object and the information from the rehabilitation object according to the joint information. The second external force is a function curve corresponding to the trajectory parameter. The joint motion information of the rehabilitation object includes information such as the position, motion angle, speed or torque of the human joint of the rehabilitation object; the joint information of the rehabilitation robot includes the position, speed or torque information of the joint of the rehabilitation robot, etc. According to the joint information, The function curve corresponding to the force of the rehabilitation object and the trajectory parameter can be converted and calculated, and the function curve can be used for the evaluation of the current training of the rehabilitation object. After a lot of training, a large amount of data can be formed to analyze and view the rehabilitation of the rehabilitation object during the entire rehabilitation treatment process. At the same time, these large amounts of data can also provide a basis for subsequent treatment plans.

The following is an exemplary description of the training process of the rehabilitation robot provided in this embodiment with reference to FIG. 3.

1. Place the rehabilitation robot on the side of the lower limb that needs treatment and start the rehabilitation robot;

2. If the rehabilitation object is the first treatment, it is necessary to create the relevant information of the rehabilitation object, such as name, gender, affected lower limbs, height, leg length, weight, etc.; if the rehabilitation object is not the first treatment, the information of the rehabilitation object can be directly identified through Scan the treatment ring on the arm of the rehabilitation object, face recognition and other methods, etc.;

3. Initialize the rehabilitation robot; set the position of the lower limb to be treated, such as the left/right side, and adjust the splint posture; adjust the equipment height and splint position to a suitable position, and fix the treatment lower limb to the splint;

4. Setting the treatment program mainly refers to defining the trajectory parameters of the rehabilitation exercise and selecting the mode of rehabilitation training; if you choose the previous program for treatment, directly call the existing program for rehabilitation;

5. Motion parameter setting refers to the trajectory parameters that define the rehabilitation exercise, including the motion path, speed, treatment cycle of the robotic arm, etc.; the definition of the motion trajectory can be controlled by dragging; single trajectory treatment can be performed, or combined Various trajectories for treatment;

6. The choice of training mode refers to the choice of one of three training modes: passive, assisted or active;

7. After all the settings are completed, confirm the program and start the rehabilitation treatment;

8. After the treatment program of one action cycle is finished, the robot will return to the initial movement position. Preferably, the doctor can confirm whether to end this treatment or enter another movement treatment session;

9. After each treatment, the device will record the exercise data and give a training evaluation;

10. After the treatment is over, the rehabilitation object is separated from the splint; and the rehabilitation robot is completely retracted through the program control, and the rehabilitation robot is closed.

In order to solve the technical problem of the present invention, this embodiment also provides a readable storage medium on which a program is stored, and when the program is executed, the above-mentioned operating method of the rehabilitation robot is realized. In practice, the above program can be integrated into a hardware device, for example, the program can be integrated into a rehabilitation robot.

The foregoing description is only a description of the preferred embodiments of the present invention, and does not limit the scope of the present invention in any way. Any changes or modifications made by a person of ordinary skill in the field of the present invention based on the foregoing disclosure shall fall within the protection scope of the claims.

Claims

A method for operating a rehabilitation robot, which is characterized in that it includes:

Acquiring the first external force applied to the rehabilitation robot;

Acquiring the feedback signal of the servo motor of the rehabilitation robot;

According to the feedback signal, the magnitude and direction of the first external force received by the rehabilitation robot are calculated based on the kinematics and dynamics models of the rehabilitation robot;

According to the magnitude and direction of the first external force, the self-weight and resistance of the rehabilitation robot are compensated, and then the rehabilitation robot is driven to move with the first external force to obtain the trajectory parameters of the rehabilitation robot movement, and Basic activity boundary parameters of the rehabilitation object;

The rehabilitation robot repeats multiple movements according to the trajectory parameter, so that the rehabilitation robot drives the rehabilitation object to repeat multiple movements;

Wherein, when the rehabilitation robot drives the rehabilitation object to repeatedly move multiple times, the basic activity boundary parameters are gradually expanded according to preset conditions to form transitional activity boundary parameters, and the transitional activity boundary parameters are used to compensate for The trajectory parameters.
The operating method of the rehabilitation robot according to claim 1, wherein the feedback signal of the servo motor comprises: at least one of a current signal, a position signal and a speed signal of the servo motor.
The operating method of the rehabilitation robot according to claim 1, wherein the operating method of the rehabilitation robot further comprises:

Based on the attribute parameters of the rehabilitation object, search for a suitable parameter bin in the preset database, and calculate the average value of each feature parameter as an additional parameter for at least one feature parameter in the parameter bin ；

The kinematics and dynamics model of the rehabilitation robot further includes the additional parameters.
The operating method of the rehabilitation robot according to claim 3, wherein the operating method of the rehabilitation robot further comprises:

Obtaining the characteristic parameters of the rehabilitation object through the movement of the rehabilitation robot;

The kinematics and dynamics model of the rehabilitation robot also includes the characteristic parameters.
The operating method of the rehabilitation robot according to claim 4, wherein after obtaining the characteristic parameters of the rehabilitation object, the characteristic parameters are supplemented into the adapted parameter bins of the database.
The operating method of a rehabilitation robot according to claim 3, wherein the process of acquiring the additional parameters comprises:

At least one feature parameter of multiple individuals whose deviation value from the attribute parameter of the rehabilitation object is within a predetermined range is retrieved in the parameter bin corresponding to the database, and the average value of each feature parameter is calculated as The additional parameters.
The operation method of the rehabilitation robot according to claim 1, wherein the operation method of the rehabilitation robot comprises setting the rehabilitation robot to a passive mode, the passive mode being configured to make the rehabilitation robot ignore all The second external force is received from the rehabilitation object, and the rehabilitation robot is driven to move according to the trajectory parameter through the servo motor.
The operating method of a rehabilitation robot according to claim 7, wherein the preset conditions include:

The expected activity boundary parameter of the rehabilitation object is obtained according to the attribute parameter or characteristic parameter of the rehabilitation object; the transition activity boundary parameter is not greater than the expected activity boundary parameter.
The operating method of a rehabilitation robot according to claim 8, wherein the boundary parameters of the transition activity satisfy:

Wherein, Ω0 is the expected activity boundary parameter, Ω1 is the basic activity boundary parameter, Ω2 is the transition activity boundary parameter, n is the number of transitions from Ω1 to Ω0, and i is a natural number and not greater than n.
The operating method of the rehabilitation robot according to claim 9, wherein the value of i is determined according to the force and torque experienced by the rehabilitation robot during the transition from Ω1 to Ω0.
The operation method of the rehabilitation robot according to claim 1, wherein the operation method of the rehabilitation robot comprises setting the rehabilitation robot to a power assist mode, and the power assistance mode is configured to: When the magnitude of the second external force from the rehabilitation subject reaches the lower limit of the set threshold interval, and the direction of the second external force is within the set angle range, the rehabilitation robot is driven by the servo motor to complete according to the trajectory parameter One movement and return to the initial state; when the magnitude of the second external force from the rehabilitation object received by the rehabilitation robot is less than the lower limit of the set threshold interval, or the direction of the second external force is outside the set angle range, The rehabilitation robot is made to ignore the second external force received from the rehabilitation object and maintain a static state.
The operating method of the rehabilitation robot according to claim 11, wherein the speed of movement of the rehabilitation robot is set to have a positive correlation with the magnitude of the second external force.
The operating method of the rehabilitation robot according to claim 11, wherein the assist mode is further configured to: when the magnitude of the second external force received by the rehabilitation robot reaches the upper limit of the set threshold interval , The rehabilitation robot is driven to move at a set upper limit speed through the servo motor.
The operation method of the rehabilitation robot according to claim 1, wherein the operation method of the rehabilitation robot comprises setting the rehabilitation robot to an active mode, and the active mode is configured to: Driven by the second external force of the rehabilitation object, the rehabilitation object moves according to the trajectory parameter, wherein the servo motor provides resistance to the motion of the rehabilitation robot.
The operating method of a rehabilitation robot according to any one of claims 11 to 14, wherein the step of using the transitional activity boundary parameter to compensate the trajectory parameter comprises:

Set an offset for the trajectory parameter based on the transition activity boundary parameter;

The rehabilitation robot moves within the range of the offset according to the trajectory parameter.
The method for operating a rehabilitation robot according to any one of claims 11 to 14, wherein the calculation is performed according to the feedback signal of the servo motor and based on the kinematics and dynamics model of the rehabilitation robot. The magnitude and direction of the second external force received by the rehabilitation robot from the rehabilitation object.
The operating method of the rehabilitation robot according to claim 1, wherein the operating method of the rehabilitation robot further comprises:

Recording joint information of the rehabilitation robot during the movement of the rehabilitation robot;

According to the joint information, the joint motion information of the rehabilitation object and the function curve of the second external force from the rehabilitation object corresponding to the trajectory parameters are calculated.
A readable storage medium having a program stored thereon, wherein the program is executed to realize the operation method of the rehabilitation robot according to any one of claims 1-17.
A rehabilitation robot is characterized by comprising a processor and at least one servo motor, the servo motor is used to provide a feedback signal, and the processor is configured to execute:

Acquiring the first external force applied to the rehabilitation robot;

Acquiring the feedback signal of the servo motor;

According to the feedback signal, the magnitude and direction of the first external force received by the rehabilitation robot are calculated based on the kinematics and dynamics models of the rehabilitation robot;

Compensate the weight and resistance of the rehabilitation robot according to the magnitude and direction of the first external force, and then drive the rehabilitation robot to move with the first external force, and obtain the trajectory parameters of the motion of the rehabilitation robot;

Repeating multiple motions according to the trajectory parameter to drive a rehabilitation object to repeat multiple motions through the rehabilitation robot.
The rehabilitation robot according to claim 19, wherein the servo motor is used to feed back at least one of a current signal, a position signal, and a speed signal.
The rehabilitation robot according to claim 19, wherein the rehabilitation robot comprises a passive mode, an assist mode, and an active mode, and the processor is configured to execute one of the passive mode, the assist mode, and the active mode according to settings A sort of.
The rehabilitation robot according to claim 19, wherein the rehabilitation robot further comprises casters, a locking pedal, a chassis, a base, a large arm, a small arm, and a fixed splint, and the servo motor is at least installed on the base , On the big arm and the forearm.