WO2022228030A1

WO2022228030A1 - Training control method and system based on robot, terminal, and storage medium

Info

Publication number: WO2022228030A1
Application number: PCT/CN2022/084632
Authority: WO
Inventors: 王红梅; 周铜; 刘谋云; 李志青
Original assignee: 上海神泰医疗科技有限公司
Priority date: 2021-04-30
Filing date: 2022-03-31
Publication date: 2022-11-03
Also published as: CN115252362A

Abstract

A training control method and system based on a robot, a terminal, and a storage medium. At least one of a movable angle range of a target joint, the holding time of the target joint in a training position, and an angular velocity of movement of the target joint is controlled to realize training control of a robot on the target joint, so that a training process is accurate and controllable and is more clinically oriented, and a better treatment effect is brought to a patient. Further, the increment of the movable angle of the target joint is controlled to gradually increase a tension angle, thereby reducing the muscle and joint training burden to the patient; the increment of the holding time of the target joint in the training position is controlled to improve the tension training effect of the target joint; the angular velocity of movement of the target joint within different angular intervals is controlled to precisely control the movement of the joint, so that the joint moves at a relative constant speed, the joint burden is reduced, and the time is saved.

Description

Robot training control method, system, terminal and storage medium

technical field

The present invention relates to the technical field of medical devices, in particular to a training control method, system, terminal and storage medium of a robot.

Background technique

According to statistics, there are about 2.7 million new cases of stroke in China every year, and the incidence rate is increasing at a rate of 13% every year. By 2030, it is expected that there will be 31.77 million stroke patients. Stroke has a high disability rate, and patients are often accompanied by functional impairments such as limb movement, and in severe cases, hemiplegia. The root cause of the disability is not the injury of the limb itself, but the injury of the central nervous system, which cannot form an effective control over the movement of the limb. Medical practice has proved that postoperative rehabilitation training for stroke patients is the most effective method to reduce the disability rate. In particular, early rehabilitation therapy has a great effect on the improvement of patients' motor function and daily life function.

Due to the disadvantages of traditional rehabilitation medical methods, patients need the help of doctors to perform rehabilitation training, which is labor-intensive, low in automation and low in treatment efficiency. At the same time, the intensity of training cannot be set for patients in different periods, and the rehabilitation needs of patients cannot be met. Rehabilitation robots have a significant effect in restoring the limb function of patients. The main function of the upper/lower limb rehabilitation robot is to perform rehabilitation training on the upper/lower limbs of the patient by simulating the normal upper limb movement and physiological gait pattern, and adopting different training methods according to the rehabilitation strategy to speed up the recovery speed of the patient.

Multi-dimensional and multi-stance rehabilitation for the upper/lower limbs of patients needs to be carried out step by step, while the existing upper/lower limb rehabilitation robots can only set one set of parameters for one treatment, the starting position and the ending position are fixed, and only one set of parameters can be set in one cycle. When moving in the same motion mode, the motion parameters cannot be adjusted in time during the running process. Therefore, for the current upper/lower extremity rehabilitation training, there is an urgent need for a training method that can adjust exercise parameters in a timely manner.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a training control method, system, terminal and storage medium of a robot, by controlling at least one of the movable angle range of the target joint, the holding time of the target joint in the training position and the angular velocity of the target joint movement To realize the training control of the target joint by the robot, make the training process accurate and controllable, and bring better treatment effect to the patient.

In order to achieve the above object, the present invention provides a training control method for a robot, comprising: realizing the robot by controlling at least one of the movable angle range of the target joint, the holding time of the target joint in the training position, and the angular velocity of the target joint movement. training control over the target joint, where,

Controlling the movable angle range of the target joint includes: controlling the angle of the target joint in the extension position to increase by a first angle increment and/or controlling the angle of the target joint in the flexion position to increase by a second angle increment;

Controlling the holding time of the target joint in the training position includes: controlling the holding time of the target joint in the extension position to increase by a first time increment and/or controlling the holding time of the target joint in the flexion position to increase by a second time increment ;as well as

Controlling the angular velocity of the movement of the target joint includes: controlling the target joint to run at a first angular velocity within a set angle interval, and to run at a second angular velocity outside the set angle interval.

Optionally, by controlling the angle of the target joint in the extension position to be incremented by the first angle increment and controlling the angle of the target joint in the flexion position to be incremented by the second angle increment alternately to achieve the desired result. Describes the control of the movable angle range of the target joint.

Optionally, the movable angle of the target joint ranges from 15° to 140°, wherein the starting angle of the target joint in the stretched position is 36°, and the ending angle of the target joint in the stretched position is 15° , the starting angle of the target joint in the flexion position is 50°, and the ending angle of the target joint in the flexion position is 140°.

Optionally, the first angular increment is -5°, and the second angular increment is 6°.

Optionally, by controlling the holding time of the target joint in the extension position to increment by the first time increment and controlling the holding time of the target joint in the flexion position to increment by the second time increment alternately, The control of the holding time of the target joint in the training position is realized.

Optionally, the holding time of the target joint in the extension position and the flexion position is in the range of 1s to 9s, wherein the initial holding time of the target joint in the extension position and the flexion position are both 1s, and the target joint is in the extension position and the flexion position. The end hold time was 9 s in both extension and flexion positions.

Optionally, the first time increment is 2s, and the second time increment is 1s.

Optionally, the angle of the target joint in the extension position is less than or equal to the start angle of the set angle, and when the angle of the target joint in the flexion position is greater than or equal to the end angle of the set angle, the target joint The movement cycle of the joint is divided into three sections, including: running at the second angular velocity from the extension position to the starting angle of the set angle, running at the first angular velocity within the set angle interval, and starting from the set angle The end angle of the set angle to the flexion position operates at the second angular velocity.

Optionally, the angle of the target joint in the extension position is less than or equal to the starting angle of the set angle, and when the angle of the target joint in the flexion position is less than the ending angle of the set angle, the The movement cycle is divided into two sections, including: running at the second angular velocity from the extension position to the starting angle of the set angle, and running at the first angular velocity from the starting angle of the set angle interval to the flexion position.

Optionally, the angle of the target joint in the extension position is greater than the start angle of the set angle, and when the angle of the target joint in the flexion position is greater than or equal to the end angle of the set angle, the The movement cycle is divided into two sections, including: running at the first angular velocity from the extension position to the end angle of the set angle, and running at the second angular velocity from the end angle of the set angle interval to the flexion position.

Optionally, when the angle of the target joint in the extension position is greater than the start angle of the set angle, and when the angle of the target joint in the flexion position is less than the end angle of the set angle, the motion cycle of the target joint is Dividing into a segment, including: running at the first angular velocity from the extension position to the flexion position.

Optionally, the second angular velocity is greater than the first angular velocity.

Optionally, the set angle interval is 32°˜48°.

Optionally, the first angular velocity is 6°/s, and the second angular velocity is 8°/s.

Correspondingly, the present invention also provides a training control system for a robot, characterized in that it includes:

The angle control module is used to control the angle of the target joint in the extension position to increase by a first angle increment and/or control the angle of the target joint in the flexion position to increase by a second angle increment, so as to realize the movable angle of the target joint scope control;

The holding time control module is used to control the holding time of the target joint in the extension position to increase by a first time increment and/or control the holding time of the target joint in the flexion position to increase by a second time increment, so as to realize that the target joint is in the flexion position. Control of hold times for training positions, and,

a speed control module for controlling the target joint to run at a first angular velocity within a set angle interval, and to run at a second angular velocity outside the set angle interval, so as to control the angular velocity of the movement of the target joint;

Wherein, the training control system realizes the training control of the target joint by the robot by controlling at least one of the angle control module, the holding time control module and the speed control module.

The present invention also provides a terminal, the terminal includes:

one or more processors; and,

memory for storing one or more programs; and,

When the one or more programs are executed by the one or more processors, the one or more processors are made to implement any one of the above-mentioned training control methods for a lower limb rehabilitation robot.

The present invention also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements any one of the above-mentioned training control methods for a lower limb rehabilitation robot.

In summary, the present invention provides a training control method, system, terminal and storage medium for a robot, by controlling at least one of the movable angle range of the target joint, the holding time of the target joint in the training position, and the angular velocity of the target joint movement To achieve the training control of the target joint by the robot, the training process is accurate and controllable, closer to the clinic, and brings better treatment effects to patients.

Further, the present invention controls the movable angle range of the target joint by controlling the angle of the target joint in the extension position to increase by a first angle increment and/or controlling the angle of the target joint in the flexion position to increase by a second angle increment, Gradually adjust the training angle and gradually increase the tension angle, so as not to cause excessive burden on the patient's muscles and joints.

Further, the present invention controls the retention of the target joint in the training position by controlling the retention time of the target joint in the extension position to increase by a first time increment and/or controlling the retention time of the target joint in the flexion position to increase by a second time increment. By increasing the holding time gradually, the effect of the target joint tension training can be improved. Even for patients with stiff joints, the required tension can be easily obtained by gradually extending the holding time.

Further, in the present invention, the target joint is controlled to run at the first angular velocity within a set angle range, and run at the second angular speed outside the set angle range, which will not cause burden on the patient's muscles and joints compared to constant speed movement. , the use time is shorter, and the patients after artificial joint surgery who are worried about the safety of the joint can also use it with confidence.

Description of drawings

1 is a schematic diagram of a training control method for a robot according to an embodiment of the present invention;

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

3 is a schematic diagram of a knee joint in an extension position and a flexion position during training of a lower limb rehabilitation robot according to an embodiment of the present invention;

4 is a schematic diagram of a knee joint moving between an extension position and a flexion position during training of a lower limb rehabilitation robot according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of the angle control during the training process of the lower limb rehabilitation robot according to an embodiment of the present invention;

6 is a schematic diagram of a holding time control during training of a lower limb rehabilitation robot according to an embodiment of the present invention;

7 is a schematic diagram of speed control during training of a lower limb rehabilitation robot according to an embodiment of the present invention;

Among them, the reference numerals are:

10- robotic arm; 11- knee joint; 12- human-computer interface.

Detailed ways

The robot training control method, system, terminal and storage medium of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the accompanying drawings are all in a very simplified form and in inaccurate scales, and are only used to facilitate and clearly assist the purpose of explaining the embodiments of the present invention.

FIG. 1 is a schematic diagram of a training control method for a robot provided by the present embodiment. As shown in FIG. 1 , the present embodiment provides a training control method for a robot, including: by controlling the movable angle range of the target joint, the target joint is in training At least one of the holding time of the position and the angular velocity of the movement of the target joint is used to realize the training control of the target joint by the robot, wherein,

Controlling the holding time of the target joint in the training position includes: controlling the holding time of the target joint in the extension position to increase by a first time increment and/or controlling the holding time of the target joint in the flexion position to increase by a second time increment; as well as

The training control method of the robot provided in this embodiment can be used to perform rehabilitation training on the upper/lower limbs of the patient. The following is an example of the training method of the lower limb rehabilitation robot to describe the training control method of the robot provided in this embodiment in detail. Take the training control of the knee joint by the robot as an example.

FIG. 2 is a schematic structural diagram of a lower limb rehabilitation robot provided by the present embodiment, FIG. 3 is a schematic diagram of a knee joint in an extended position and a flexed position during training of the lower limb rehabilitation robot provided by the present embodiment, and FIG. 4 is a lower limb rehabilitation robot provided by the present embodiment. Schematic illustration of knee joint movement between extension and flexion during training of a rehabilitation robot.

First, the angle of the target joint-knee joint in the extension position is incremented by a first angle increment and/or the angle of the knee joint in the flexion position is controlled in increments of a second angle increment, so as to control the movable angle range of the knee joint. As shown in FIG. 2 and FIG. 3 , the knee joint 11 moves from the extension position A to the flexion position B under the driving of the mechanical arm 11 of the lower limb rehabilitation robot, wherein the movable angle of the knee joint ranges from 15° to 140°, wherein , the movable angle range of the stretched position is 15°～36°, that is, the starting angle of the stretched position is 36°, and the end angle of the stretched position is 15°, and 15°≤α≤36°; The movable angle range of the flexion position is 50°˜140°, that is, the starting angle of the flexion position is 50°, the ending angle of the flexion position is 140°, and 50°≤β≤140°.

Controlling the movable angle range of the knee joint includes: controlling the starting angle of the extension position to increase by a first angle increment Δα to the ending angle of the extension position, and controlling the starting angle of the flexion position to increase by a second angle. The amount Δβ is incremented to the end angle of the flexion position. In this embodiment, the angle of the extension position is incremented by the first angle increment Δα and the angle of the flexion position is incremented by the second angle increment Δβ alternately, that is, the knee joint moves to the extension position and the angle of the extension position is incremented. , the movement to the flexion position increases the angle of the flexion position, the increment of the angle of the knee joint in the extension position and the flexion position is alternately performed, and the reciprocating cycle is performed. In other embodiments of the present invention, the increment of the angle of the knee joint in the extension position and the increment of the angle in the flexion position may also be performed in other ways. For example, the knee joint moves to the extension position, the angle of the extension position is incremented, and the movement to the flexion position increases. Keep the angle of the flexion position unchanged, or move the knee joint to the extension position and keep the angle of the extension position unchanged, move to the flexion position to increase the flexion position, etc.

As shown in FIG. 4 , the extension position is gradually moved from position A1 to position A2, and the flexion position is gradually moved from position B1 to position B2. Wherein, the first angular increment Δα is -5°, and the second angular increment Δβ is 6°. And the knee joint repeats training M1 times for each angle of the extension position during the angle increasing process, and repeats training M2 times for each angle of the flexion position of the knee joint during the angle increasing process, wherein M1=4, M2=5 . In other embodiments of the present invention, the above-mentioned repeated training times M1 and M2 may also be set according to the specific conditions of the patient's body, which are not specifically limited herein.

Table 1 provides the specific settings of the knee joint angle, the knee joint retention time in the extension position and the flexion position, and the angular velocity of the knee joint movement during the training of the lower limb rehabilitation robot in this implementation. Specifically, the starting angle of the extension position is 36°, and the starting angle of the flexion position is 50°, that is, the knee joint starts to move from 36° to 50°. First, the knee joint was trained 4 times at a starting angle of 36° in extension position. Then, the angle of extension position was increased from the initial angle of 36° to 31°, and the training was repeated at the increased extension position (31°). 4 times, and so on, the angle to the extension position is increased by the first angle increment Δα to the end angle of the extension position (15°); Then, the angle of the flexion position is increased from the initial angle of 50° to 56°, and the training is repeated 5 times at the increased flexion position angle (56°), and so on, until the flexion position angle is incremented by the second angle. Δβ was increased to the end angle of the flexion position (140°), and the above-mentioned angular increments in extension and flexion were alternated.

It should be noted that, in this embodiment, the termination angles of the extension position and the flexion position of the lower limb rehabilitation training are set as the limit values (15°, 140°) of the movable angle of the knee joint. In other embodiments of the present invention, the extension position And the termination angle of the flexion position can also be set to any value within the range of the movable angle of the knee joint, such as the termination angle of the extension position of 15° and the termination angle of the flexion position of 134°. The starting angle can also be any value within the range of the movable angle of the knee joint, which can be specifically determined in combination with the specific physical condition of the patient. In addition, in this embodiment, the angles of the knee joint in the extension position and the flexion position are incremented according to the set angle increments. In other embodiments of the present invention, the angles of the knee joint in the extension position and the flexion position can also be adjusted according to other The way to realize the increment is not specifically limited here.

In this embodiment, during the lower limb rehabilitation training process, by adjusting the angle of the knee joint in the extension position and the flexion position, the movement angle of the knee joint is gradually increased, so that the movable angle range of the knee joint can be gradually increased during training, and the adjustment can be made step by step. The training angle is gradually increased, and the tension angle is gradually increased, so that it will not cause excessive burden on the muscles and joints of the patient.

Next, the retention time of the knee joint in the extension position is controlled to increase by the first time increment and/or the retention time of the knee joint in the flexion position is controlled to increase by the second time increment, so as to control the retention time of the knee joint in the training position. Specifically, the retention time of the knee joint in the extension position and the flexion position is in the range of 1s to 9s, wherein the initial retention time of the knee joint in the extension position and the flexion position are both 1s, and the knee joint is in the extension position. The termination hold time of the flexion position and the flexion position are both 9s. That is, the initial holding time of the extension position is controlled to be incremented by the first time increment Δt1 to the end holding time of the extension position, and the initial holding time of the flexion position is controlled to be incremented by the second time increment Δt2 to the Termination hold time in flexion. In this embodiment, the holding time of the extension position is incremented by the first time increment Δt1 and the holding time of the flexion position is incremented alternately by the second time increment Δt2, and the knee joint moves to the extension position at the last holding time Increase the holding time on the basis of the movement to the flexion position, increase the holding time on the basis of the last holding time, and alternately increase the holding time of the knee joint in the extension position and the flexion position, reciprocating cycle. In other embodiments of the present invention, the increment of the retention time of the knee joint in the extension position and the increment of the retention time in the flexion position can also be performed in other ways, for example, the knee joint moves to the extension position to increase the retention time, and moves to the flexion position to increase the retention time. Maintain the last hold time unchanged, or move the knee joint to the extension position to maintain the last hold time unchanged, move to the flexion position to increase the hold time, etc.

In this embodiment, the first time increment Δt1 is 2s, and the second time increment Δt2 is 1s. And each holding time of the knee joint in the extension position is repeated N1 times, and each holding time of the knee joint in the flexion position is repeated N2 times, wherein N1=2 and N2=3. In other embodiments of the present invention, the repetition times N1 and N2 of the above-mentioned holding time may also be set according to the specific conditions of the patient's body, which is not specifically limited here.

Exemplarily, as shown in Table 1, the initial holding time is the holding time of the extended position at the initial angle of 36°, the initial holding time of the knee joint in the extended position is 1 s, and the training is repeated 2 times with the holding time of 1 s. , and then, the holding time of the knee joint in the extension position is increased from the initial holding time (1s) to 3s, and the knee joint is in the extension position with the holding time (3s) repeat the training 2 times, and so on, until the knee joint is in the extension position. The holding time is increased by the first time increment Δt1 (2s) to the end holding time (9s) of the extension position; correspondingly, the initial holding time of the knee flexion position is 1s, and the training is repeated with the holding time of 1s 2 Then, the holding time of the knee joint in the flexion position is increased from the initial holding time (1s) to 2s, and the knee joint is in the flexion position with the holding time (2s) repeated 3 times, and so on, until the knee joint is in the flexion position The second time increment Δt2 (1s) is incremented to the end hold time (9s) of the flexion position. The above-mentioned increment of the holding time in the extension position and the increment of the holding time in the flexion position are performed alternately.

It should be noted that, in this embodiment, the control for increasing the holding time and the control for increasing the angle are both in an angle interval (here, for example, 36°˜50°), that is, the starting angle of the extension position is 36° °. The starting angle of the flexion position is 50° as the starting point for counting, and the angle interval (for example, 15° to 140°), that is, the end angle of the extension position is 15°, and the end angle of the flexion position is 140°. Points are counted, and the two are counted separately and in parallel without affecting each other. In addition, in this embodiment, the retention time of the knee joint in the extension position and the flexion position is increased according to the set time increment. In other embodiments of the present invention, the retention time of the knee joint in the extension position and the flexion position is also increased. The increment can be implemented in other ways, which are not specifically limited here.

In this embodiment, during the rehabilitation training of the lower limb robot, by gradually increasing the holding time of the knee joint in the extension position and the flexion position, the effect of the target joint tension training is improved. Time to get the desired tension easily.

Next, the target joint is controlled to run at a first angular velocity within a set angle interval, and to run at a second angular velocity outside the set angle interval, so as to control the angular velocity of the movement of the target joint. Specifically, the knee joint moves at a first angular velocity ω1 within a set angle interval (here, for example, 32° to 48°), and within the set angle interval (here, for example, 32° to 48°) The outside moves at a second angular velocity ω2, and the second angular velocity ω2 is greater than the first angular velocity ω1, that is, ω2>ω1. Optionally, the first angular velocity ω1 is 6°/s, and the second angular velocity ω2 is 8°/s. For example, in the angle interval of the first stage (here, for example, 36°～50°), the robotic arm drives the knee joint to pass through the set angle interval (here, for example, 36°～50°) at the first angular velocity ω1 (6°/s). 48°), and then pass through the angle interval outside the set angle interval (for example, 48°～50°) with the second angular velocity ω2 (8°/s); when the angle of the extension position is from the starting angle to 36° increases to 31°, the robotic arm drives the knee joint to pass through the angle interval outside the set angle interval (for example, 31°～32°) at the second angular velocity ω1 (8°/s), and the first angular velocity ω1 (6°/s) passes through the set angle interval (here, for example, 32°～48°), and then passes through the angle interval outside the set angle interval at the second angular velocity ω2 (8°/s) (here, for example, 48°～50°); correspondingly, when the angle of the flexion position increases from the initial angle of 50° to 56°, the robotic arm drives the knee joint to pass outside the set angle range at the second angular velocity ω1 (8°/s). The angle interval (here, for example, 31° to 32°), passes through the set angle interval (here, for example, 32° to 48°) at the first angular velocity ω1 (6°/s), and then the second angular velocity ω2 ( 8°/s) through an angle interval outside the set angle interval (here, for example, 48°˜56°), and so on, until reaching the end angles of the extension position and the flexion position, respectively. In other embodiments of the present invention, the set angle interval may also be other angle intervals, and the first angular velocity and the second angular velocity are also changed accordingly.

In this embodiment, the target angle (angle of angular velocity change) of the knee joint in the extension position is 32°, and the target angle (angle of change of angular velocity) of the knee joint in the flexion position is 48°, that is, the set angle interval (here, for example, 32° °～48°), the knee joint slows down the movement speed in the angle range outside the set angle range, and increases the movement speed in the set angle range. Compared with constant speed movement, it will not burden the patient's muscles and joints, and the time is shorter. , and patients who are concerned about the safety of their joints can also use it with confidence.

It should be noted that, in this embodiment, the control of the movable angle range of the target joint, the control of the holding time of the target joint in the training position, and the control of the angular velocity of the movement of the target joint are combined to perform rehabilitation training for the lower limbs. In other embodiments of the present invention, any one of the control of the movable angle range of the target joint, the control of the holding time of the target joint in the training position, and the control of the angular velocity of the movement of the target joint can be implemented independently, or the above three can be combined. Any combination of these controls can be used to realize the training control of the robot.

In addition, in this embodiment, before the lower limb rehabilitation training is performed, corresponding parameters can be set through the human-computer interaction interface 12 of the lower limb rehabilitation robot, such as the respective starting angles and ending angles of the extension position and the flexion position, the first angle increment Δα, the second angle increment Δβ, the number of angular repetitions M1, M2, the initial hold time and the end hold time of the knee joint in extension and flexion positions, the first time increment Δt1, the second time increment Δt2, the hold The number of times of repeated training N1 and N2 in time, the setting of the angle interval, the setting of parameters such as the first angular velocity ω1 and the second angular velocity ω2. For a training trajectory of the knee joint, through appropriate parameter settings, the robotic arm can control the gradual increase of the angle, the gradual increase of the holding time and the change of the movement speed according to the set parameters, so as to accurately control the rehabilitation training of the lower limbs, so that the patients can achieve better the therapeutic effect.

FIG. 5 is a schematic diagram of the angle control in the training process of the lower limb rehabilitation robot provided by this embodiment, FIG. 6 is a schematic diagram of the holding time control in the training process of the lower limb rehabilitation robot provided by this embodiment, and FIG. 7 is the lower limb rehabilitation robot provided by this embodiment. Schematic diagram of speed control during rehabilitation robot training. The following describes the training control method of the lower limb rehabilitation robot in this embodiment in detail with reference to FIGS. 5-7 .

As shown in Figure 5, the angle increment setting is made. First, determine whether the angle increasing function is enabled. For example, the angle increasing function can be enabled or disabled through the angle increasing switch button on the human-computer interaction interface 12. After it is enabled, set the starting angle of the current lower limb rehabilitation robot training to be equal to the starting angle of the stretch position. angle, the termination angle is equal to the termination angle of the flexion position, that is, the training starts from the angle range (for example, 36°～50°); then, the starting angle of the training of the lower limb rehabilitation robot is increased by the first angle increment Δα, Increase the training termination angle of the lower limb rehabilitation robot by the second angle increment, each time the training start angle is increased by the first angle increment and the end angle of the training is increased each time by the second angle increment Δβ. The starting angle and the ending angle are judged: if the starting angle after the increase is greater than the ending angle of the extension position, and the ending angle after the increase is greater than or equal to the ending angle of the flexion position, for example, the training angle is increased to the angle range (in the For example, 21°～146°), then let the end angle be the end angle of the flexion position, and continue to increase the angle of the extension position; if the increased start angle is smaller than the end angle of the extension position, and the increased end angle If the training angle is smaller than the end angle of the flexion position, if the training angle is increased to the angle range (for example, 10°～134°), the starting angle is set as the end angle of the extension position, and the angle of the flexion position is continued to increase; The starting angle is less than the ending angle of the extension position, and the increased ending angle is greater than or equal to the ending angle of the flexion position. If the training angle increases to the angle range (for example, 10°～146°), the angle increment training ends. . During the above training process, the corresponding repeated training is performed at each angle during the incremental process of the extension position and the flexion position. At the end of the training, the starting angle of the lower limb rehabilitation robot is the starting angle of the extension position + the increment of the extension position angle. The end angle of the lower limb rehabilitation robot is the initial angle of the flexion position + the increment of the flexion position angle.

As shown in Figure 6, the hold time increment setting is performed. First, determine whether the holding time increasing function is enabled. For example, turn on or off the holding time increasing function through the holding time increasing switch button on the human-computer interaction interface 12. The holding time in the extension position once) is equal to the initial holding time in extension (1s), and the end holding time (holding time in the flexion position for the first time) is equal to the initial holding time in flexion (1s); then, press Increase the hold time in extension by the first time increment Δt1, increase the hold time in flexion by the second time increment, increase the hold time in extension by the first time increment Δt1 each time, and increase the hold time in the extension position by the second time increment each time. When the time increment Δt2 increases, the holding time in the flexion position should be judged on the extension and flexion holding time after the increase: if the holding time in the extension position after the increase (for example, 6s) is less than the end holding time in the extension position (9s) ), and the increased holding time in flexion (for example, 10s) is greater than or equal to the termination holding time in flexion (9s), then let the holding time in flexion be the termination holding time in flexion, and the holding time in extension Continue to increment; if the holding time in extension (for example, 10s) after the increase is greater than the end holding time in extension (9s), and the holding time in flexion (for example, 5s) after the increase is less than the final holding time in flexion (9s) ), then let the hold time in the extension position be the termination hold time in the extension position, and continue to increase the hold time in the flexion position; if the increased hold time in the extension position (for example, 11s) is greater than the termination hold time in the extension position ( 9s), and the holding time (for example, 12s) in the flexion position after the increase is greater than or equal to the termination holding time (9s) in the flexion position, the holding time increasing training ends. During the above training process, during the process of increasing the holding time, the corresponding repeated training is performed at each holding time in the extension position and the flexion position. The increment of the holding time in the extension position, the holding time of the lower limb rehabilitation robot in the flexion position is the initial hold time in the flexion position + the increment of the hold time in the flexion position.

As shown in Figure 7, the speed ramp setting is made. First, determine whether the angle increasing function is enabled. If it is enabled, as shown in Figure 5, perform segment settings for the angle increasing; determine whether the holding time increasing function is enabled. If the function of increasing the angle and increasing the holding time are not enabled, the speed setting will be disabled, and the exercise cycle will be divided into one segment. Cycles run at the same angular velocity without segment processing.

If both the angle increasing function and the holding time increasing function are enabled, the speed increasing setting will be enabled.

If the extension angle (eg 25°) is less than or equal to the start angle (32°) of the set interval, and the flexion angle (eg 50°) is greater than or equal to the end angle (48°) of the set interval, the exercise will The cycle is divided into three sections. The first section runs from the extension position to the start angle of the set angle interval (ie, 25°~32°) at the second angular velocity ω2, and the second section runs from the start angle of the set angle section to the set angle section. The end angle (ie, 32°-48°) of the first segment runs at the first angular velocity ω1, and the third segment runs at the second angular velocity ω2 from the end angle of the set angle interval to the flexion position (ie, 48°-50°).

If the extension angle (for example, 25°) during training is less than or equal to the start angle (32°) of the set interval, and the flexion angle (for example, 42°) is less than the end angle (48°) of the set interval, the exercise cycle will be divided into two parts. There are two stages, the first stage runs at the second angular velocity ω2 from the extension position to the start angle of the set angle interval (ie 25°~32°), and the second stage runs from the start angle of the set angle range to the flexion position (ie 32°). ~42°) at a first angular velocity ω1.

If the extension angle (eg 36°) is greater than the start angle (32°) of the set interval during training, and the flexion angle (eg 42°) is smaller than the end angle (48°) of the set interval, then the exercise cycle is divided into sections. It runs at the first angular velocity ω1 from the extension position to the flexion position (ie, 36° to 42°).

If the extension angle (such as 36°) during training is greater than the start angle (32°) of the set interval, and the flexion angle (such as 54°) is greater than or equal to the end angle (48°) of the set interval, the exercise cycle will be divided into two parts. Two sections, the first section runs from the extension position to the end angle of the set angle interval (ie 36°~48°) at the first angular velocity ω1, and the second section runs from the end angle of the set angle section to the flexion position (ie 48°). ~54°) at the second angular velocity ω2.

Table 1 shows the specific settings of the angle of the knee joint, the holding time of the knee joint in the extension position and the flexion position and the angular velocity of the knee joint movement during the training process of the lower limb rehabilitation robot

Correspondingly, this embodiment also provides a training control system for a robot, including:

A speed control module, for controlling the target joint to run with the first angular velocity in a set angle interval, and to run with the second angular velocity outside the set angle interval, to realize the control of the angular velocity of the movement of the target joint;

Further, this embodiment also provides a terminal for training control of the robot. The terminal includes:

one or more processors;

memory for storing one or more programs;

When one or more programs are executed by one or more of the processors, one or more of the processors can implement the training control method of the robot as described above.

In this embodiment, both the processor and the memory are one, and the processor and the memory may be connected by a bus or in other ways.

As a computer-readable storage medium, the memory can be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the robot training control method in the embodiment of the present invention. The processor executes various functional applications and data processing of the terminal by running the software programs, instructions and modules stored in the memory, that is, the above-mentioned training control method for the robot is implemented.

The memory may mainly include a stored program area and a stored data area, wherein the stored program area may store an operating system and an application program required for at least one function; the stored data area may store data created according to the use of the terminal, and the like. In addition, the memory of the training control method for the lower limb rehabilitation robot may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage devices . In some instances, the memory may further include memory located remotely relative to the processor, the remote memory being connectable to the terminal through a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The terminal proposed in this embodiment and the robot training control method proposed in the above-mentioned embodiment belong to the same inventive concept. For the technical details not described in detail in this embodiment, please refer to the above-mentioned embodiment, and this embodiment and the above-mentioned embodiment can refer to the above-mentioned embodiment. have the same beneficial effect.

This embodiment also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by the processor, implements the above-mentioned method for training and controlling a robot.

From the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented by means of software and necessary general-purpose hardware, and of course can also be implemented only by hardware, but in many cases the former is a better implementation Way. Based on such understanding, the technical solutions of the present invention can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in a computer-readable storage medium, such as a floppy disk of a computer , read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disk, etc., including several instructions to make a computer device (which can be a personal computer , server, or network device, etc.) to execute the methods of various embodiments of the present invention.

Further, the present invention controls the movement of the target joint in the training position by controlling the holding time of the target joint in the extension position to increase by a first time increment and/or controlling the holding time of the target joint in the flexed position to increase by a second time increment. The holding time, the increasing holding time, improves the effect of the target joint tension training. Even for patients with stiff joints, the required tension can be easily obtained by gradually extending the holding time.

The above description is only a description of the preferred embodiments of the present invention, and does not limit the scope of the rights of the present invention. Any person skilled in the art can use the methods and technical contents disclosed above to improve the present invention without departing from the spirit and scope of the present invention. The technical solutions are subject to possible changes and modifications. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solutions of the present invention belong to the technical solutions of the present invention. protected range.

Claims

A training control method for a robot, comprising: by controlling at least one of the movable angle range of the target joint, the holding time of the target joint at the training position and the angular velocity of the target joint movement, the robot can control the target joint. training control, where,

Controlling the movable angle range of the target joint includes: controlling the angle of the target joint in the extension position to increase by a first angle increment and/or controlling the angle of the target joint in the flexion position to increase by a second angle increment;

Controlling the holding time of the target joint in the training position includes: controlling the holding time of the target joint in the extension position to increase by a first time increment and/or controlling the holding time of the target joint in the flexion position to increase by a second time increment ;as well as,

Controlling the angular velocity of the movement of the target joint includes: controlling the target joint to run at a first angular velocity within a set angle interval, and to run at a second angular velocity outside the set angle interval.
The training control method of the robot according to claim 1, wherein the angle of the target joint in the extension position is controlled to be incremented by the first angle increment and the angle of the target joint in the flexion position is controlled to be incremented according to the predetermined angle. The second angle increment is incrementally and alternately performed to realize the control of the movable angle range of the target joint.
The training control method for a robot according to claim 1 or 2, wherein the movable angle of the target joint ranges from 15° to 140°, wherein the starting angle of the target joint in the extended position is 36° °, the termination angle of the target joint in the extension position is 15°, the initial angle of the target joint in the flexion position is 50°, and the termination angle of the target joint in the flexion position is 140°.
The training control method for a robot according to claim 3, wherein the first angular increment is -5°, and the second angular increment is 6°.
The training control method of the robot according to claim 1, wherein the holding time of the target joint in the flexion position is controlled by increasing the first time increment by controlling the holding time of the target joint in the extension position The second time increment is incrementally and alternately performed to realize the control of the holding time of the target joint in the training position.
The training control method for a robot according to claim 1 or 5, wherein the holding time of the target joint in the extension position and the flexion position ranges from 1s to 9s, wherein the target joint is in the extension position and the flexion position. The initial holding time of the flexion position was 1 s, and the end holding time of the target joint in the extension position and the flexion position were both 9 s.
The method for training and controlling a robot according to claim 6, wherein the first time increment is 2s, and the second time increment is 1s.
The robot training control method according to claim 1, wherein the angle of the target joint in the extension position is less than or equal to the starting angle of the set angle, and the angle of the target joint in the flexion position is greater than or equal to At the end angle of the set angle, the motion cycle of the target joint is divided into three sections, including: running at the second angular speed from the stretch position to the start angle of the set angle, and at the set angle The movement is carried out at the first angular velocity within the interval, and the movement is carried out at the second angular velocity from the ending angle of the set angle to the flexion position.
The robot training control method according to claim 1, wherein the angle of the target joint in the extension position is less than or equal to the starting angle of the set angle, and the angle of the target joint in the flexion position is smaller than the angle of the target joint in the flexion position. When the ending angle of the angle is set, the motion cycle of the target joint is divided into two sections, including: running at the second angular velocity from the extension position to the starting angle of the set angle, and in the set angle interval The start angle to flexion is run at the first angular velocity.
The robot training control method according to claim 1, wherein the angle of the target joint in the extension position is greater than the starting angle of the set angle, and the angle of the target joint in the flexion position is greater than or equal to the When the end angle of the angle is set, the motion cycle of the target joint is divided into two sections, including: running at the first angular velocity from the extension position to the end angle of the set angle, and at the end of the set angle interval. The end angle to flexion is run at the second angular velocity.
The training control method of a robot according to claim 1, wherein the angle of the target joint in the extension position is greater than the starting angle of the set angle, and the angle of the target joint in the flexion position is smaller than the set angle When the angle ends, the motion cycle of the target joint is divided into one segment, including: running at the first angular velocity from the extension position to the flexion position.
The training control method for a robot according to claim 1, wherein the second angular velocity is greater than the first angular velocity.
The training control method for a robot according to claim 12, wherein the set angle interval is 32° to 48°.
The training control method for a robot according to claim 13, wherein the first angular velocity is 6°/s, and the second angular velocity is 8°/s.
A training control system for a robot, comprising:

The angle control module is used to control the angle of the target joint in the extension position to increase by a first angle increment and/or control the angle of the target joint in the flexion position to increase by a second angle increment, so as to realize the movable angle of the target joint scope control;

The holding time control module is used to control the holding time of the target joint in the extension position to increase by a first time increment and/or control the holding time of the target joint in the flexion position to increase by a second time increment, so as to realize that the target joint is in the flexion position. Control of hold times for training positions, and,

a speed control module for controlling the target joint to run at a first angular velocity within a set angle interval, and to run at a second angular velocity outside the set angle interval, so as to control the angular velocity of the movement of the target joint;

Wherein, the training control system realizes the training control of the target joint by the robot by controlling at least one of the angle control module, the holding time control module and the speed control module.
A terminal, characterized in that the terminal comprises:

one or more processors; and,

memory for storing one or more programs; and,

When the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the training control method of a robot according to any one of claims 1-14.
A computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the training control method for a robot according to any one of claims 1-14 is implemented.