阅读说明：本技术 主被动康复多模式融合复合训练系统 (Active and passive rehabilitation multi-mode fusion composite training system ) 是由 冯雷 徐海东 于 2020-12-03 设计创作，主要内容包括：本申请公开了一种主被动康复多模式融合复合训练系统,包括：初始运动模块,用于作为康复人员初始阶段的运动控制单元,获取康复人员的身体数据；训练模块,包含有多个模式的训练模型；肢体实时力反馈监控模块,获取康复人员多个肢体部位的力反馈数据；模式切换模块,获取肢体实时力反馈监控模块所获取的力反馈数据后对训练模块中的不同训练模型进行平滑切换。本发明的有益之处在于：在三种训练模块的运行下,根据当前康复人员的力反馈数据进行模式的自动化调节,在整个运行过程中,模块切换模式根据所获取的实时力反馈数据对三种训练模型进行控制,实现速率的平稳切换以及调整,能够在长时间的康复训练下实现非常高效的康复效果。(The application discloses active and passive rehabilitation multi-mode fusion composite training system includes: the initial motion module is used as a motion control unit of the initial stage of the rehabilitation personnel to acquire the body data of the rehabilitation personnel; the training module comprises a training model with a plurality of modes; the limb real-time force feedback monitoring module is used for acquiring force feedback data of a plurality of limb parts of a rehabilitation worker; and the mode switching module is used for smoothly switching different training models in the training module after acquiring the force feedback data acquired by the limb real-time force feedback monitoring module. The invention has the advantages that: under the operation of the three training modules, automatic adjustment of modes is carried out according to force feedback data of current rehabilitation personnel, and in the whole operation process, the module switching mode controls the three training models according to the acquired real-time force feedback data, so that stable switching and adjustment of speed are realized, and a very efficient rehabilitation effect can be realized under long-time rehabilitation training.)

1. An active and passive rehabilitation multi-mode fusion composite training system is characterized by comprising:

the initial motion module is used as a motion control unit of the initial stage of the rehabilitation personnel to acquire the body data of the rehabilitation personnel;

the training module comprises a training model with a plurality of modes;

the limb real-time force feedback monitoring module is used for acquiring force feedback data of a plurality of limb parts of a rehabilitation worker;

and the mode switching module is used for smoothly switching different training models in the training module after acquiring the force feedback data acquired by the limb real-time force feedback monitoring module.

2. The active-passive rehabilitation multi-mode fusion composite training system according to claim 1, wherein an interaction module is arranged in the mode switching module and used for displaying training data of current rehabilitation training in real time; the interaction module is also used for acquiring artificial control data and feeding the artificial control data back to the mode switching module.

3. The active-passive rehabilitation multimodal fusion composite training system according to claim 1, wherein the training module comprises:

a passive training module for fixing the training speed;

the power-assisted training module applies positive acting force to the rehabilitation personnel and provides exercise assistance;

the resistance training module applies reverse acting force to the rehabilitation personnel and applies movement resistance.

4. The active-passive rehabilitation multi-mode fusion composite training system according to claim 1, wherein a passive training module of the training modules serves as an initial mode of initial training.

5. The active and passive rehabilitation multi-mode fusion composite training system as claimed in claim 3, wherein in the assisted training module, assisted speed and real-time force feedback data are in quadratic parabolic relationship.

6. The active-passive rehabilitation multi-mode fusion composite training system according to claim 3, wherein in the resistance training module, the impedance speed is in a linear relationship with real-time force feedback data.

7. The active and passive rehabilitation multi-mode fusion composite training system according to claim 3, wherein the mode switching module switches the current training mode from the passive training module to the assisted training module when the acquired force feedback data reaches a preset value.

8. The active and passive rehabilitation multi-mode fusion composite training system as claimed in claim 3, wherein the mode switching module counts the sum of times when the speed of the assisted training module reaches a preset speed value, and switches the current training mode from the assisted training module to the resistance training module after the sum exceeds the preset speed value.

9. The active and passive rehabilitation multi-mode fusion composite training system as claimed in claim 3, wherein during the operation of the assisted training module, the mode switching module periodically acquires the force feedback data of the force feedback monitoring module in real time and corrects the assisted parameters in the assisted training module.

10. The active and passive rehabilitation multi-mode fusion composite training system as claimed in claim 3, wherein during operation of the resistive training module, the mode switching module periodically acquires the force feedback data of the force feedback monitoring module in real time and corrects the resistive parameters in the resistive training module.

Technical Field

The invention relates to an active and passive rehabilitation multi-mode fusion composite training system, and relates to the technical field of rehabilitation training control.

Background

The active and passive rehabilitation training system has the function of intelligently adjusting the training mode according to the muscle force of the patient and needs the support of a matched mode switching algorithm. Although some existing devices are designed for the rehabilitation training, the targeted force and speed adjustment cannot be realized for the effect in practical use, and a good rehabilitation effect is difficult to achieve.

Disclosure of Invention

In order to solve the defects of the prior art, the invention aims to provide an active and passive rehabilitation multi-mode fusion composite training system to meet the functional requirements of various training modes required by the current active and passive devices.

In order to achieve the above object, the present invention adopts the following technical solutions:

an active and passive rehabilitation multi-mode fusion composite training system, comprising:

the initial motion module is used as a motion control unit of the initial stage of the rehabilitation personnel to acquire the body data of the rehabilitation personnel;

the training module comprises a training model with a plurality of modes;

the limb real-time force feedback monitoring module is used for acquiring force feedback data of a plurality of limb parts of a rehabilitation worker;

and the mode switching module is used for smoothly switching different training models in the training module after acquiring the force feedback data acquired by the limb real-time force feedback monitoring module.

Furthermore, an interaction module is arranged in the mode switching module and used for displaying the training data of the current rehabilitation training in real time; the interaction module is also used for acquiring artificial control data and feeding the artificial control data back to the mode switching module.

Further, the training module comprises:

a passive training module for fixing the training speed;

the power-assisted training module applies positive acting force to the rehabilitation personnel and provides exercise assistance;

the resistance training module applies reverse acting force to the rehabilitation personnel and applies movement resistance.

Further, a passive training module in the training modules serves as an initial mode of initial training.

Furthermore, in the power-assisted training module, the power-assisted speed and the real-time force feedback data are in a quadratic parabolic relation.

Further, in the resistance training module, the resistance speed and the real-time force feedback data are in a linear relation.

Further, the mode switching module switches the current training mode from the passive training module to the assisted training module when the acquired force feedback data reach a preset value.

Furthermore, the mode switching module counts the sum of times that the speed of the assisted training module reaches a preset speed value, and switches the current training mode from the assisted training module to the resistance training module after the sum exceeds the preset speed value.

Further, in the operation process of the power-assisted training module, the mode switching module periodically acquires the force feedback data of the force feedback monitoring module in real time, and corrects the power-assisted parameters in the power-assisted training module.

Further, in the operation process of the resistance training module, the mode switching module periodically acquires the force feedback data of the force feedback monitoring module in real time, and corrects the resistance parameters in the resistance training module.

The invention has the advantages that: in the embodiment of the application, under the operation of three training modules, automatic adjustment of modes is carried out according to force feedback data of current rehabilitation personnel, and in the whole operation process, the module switching mode controls three training models according to the acquired real-time force feedback data, so that stable switching and adjustment of speed are realized, and a very efficient rehabilitation effect can be realized under long-time rehabilitation training.

Drawings

FIG. 1 is a block diagram of the system of the present application.

Detailed Description

The invention is described in detail below with reference to the figures and the embodiments.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The application provides a new fusion training mode, which is applied to rehabilitation training equipment, and the upper limb and lower limb rehabilitation training equipment drives four limbs with dyskinesia to carry out continuous, repeated circumference and flexion-extension movement training through the driving of a motor so as to improve the aims of improving the muscle strength, joint mobility, cardiopulmonary function and the like of the limbs of a user. The active and passive rehabilitation training system comprises three training modes of passive, assistance and resistance, and cannot realize the mode switching function required by the patent system by depending on the existing control mode. The product has the advantages of resistance training mode, passive training mode, power-assisted training mode and intelligent switching training mode, is suitable for limb movement function barriers with different degrees, can cover multiple age groups by application objects, and is simple to operate and convenient to use.

The fusion composite training system comprises:

and the initial motion module is used as a motion control unit of the initial stage of the rehabilitation personnel to acquire the body data of the rehabilitation personnel. Generally, the initial motion module is used for recording data or calling data before rehabilitation training when rehabilitation personnel need to perform rehabilitation training, and assuming that each rehabilitation personnel has a corresponding unique database, the past data of all rehabilitation training and the injured data are recorded into the database, and when the rehabilitation personnel prepare the rehabilitation training each time, a proper initial motion speed can be given according to the past data.

The training module comprises a training model with a plurality of modes:

as a specific example, the training module includes three modules:

passive training module M1, fixed training speed: the speed can be always fixed and unchanged, or can be fixed according to the physical state of the rehabilitation personnel.

Helping hand training module M2, to exerting positive effort to recovered personnel, provide the motion helping hand: the power-assisted training module is used for applying a power-assisted speed to the rehabilitation personnel and reducing the process that the rehabilitation personnel need to actively exert force.

The resistance training module M3 applies reverse acting force to the rehabilitation personnel and applies movement resistance: the resistance training module belongs to the step-advancing type training and is used for applying a resistance to the rehabilitation personnel and improving the process of the rehabilitation personnel for actively exerting force.

The whole system is internally provided with a limb real-time force feedback monitoring module for acquiring real-time force feedback data of a plurality of limb parts of a rehabilitation worker, and fusing the real-time force feedback data into force feedback data, and the force feedback data is measured in real time, so that the feedback effect can be realized for three training modules, the internal speed can be adjusted, and the effect of the whole rehabilitation training can be improved as much as possible.

And the mode switching module is used for smoothly switching different training models in the training module after acquiring the force feedback data acquired by the limb real-time force feedback monitoring module. The module switching module counts all the time according to the data acquired by the limb real-time force feedback monitoring module so as to smoothly switch the three modules.

As a specific embodiment, an interactive module is arranged in the mode switching module and is used for displaying training data of the current rehabilitation training in real time; the interaction module is also used for acquiring artificial control data and feeding the artificial control data back to the mode switching module.

And a passive training module in the training modules is used as an initial mode of initial training. After the general training is started, firstly the passive training module starts to run, the training speed is set to be Vs by the training personnel, the unit rad/min is set, and the training speed Vs is simultaneously used as the speed Vp of the passive training mode under the current training.

And then, monitoring the real-time force of the user limb and feeding the real-time force back to the limb real-time force feedback monitoring module, wherein the front-end data acquisition of the limb real-time force feedback monitoring module basically adopts a plurality of mechanical sensors to acquire data.

And correcting whether the training mode needs to be adjusted according to the current force feedback data, and accordingly obtaining that the control mode which needs to be adjusted currently is the passive training module M1 or the assisted training module M2.

The mode switching module switches the current training mode from the passive training module M1 to the assisted training module M2 under the condition that the acquired force feedback data reach a preset value, and the speed is switched to Va.

After entering the assisted training module M2, in the control cycle of each assisted training module M2, the limb real-time force feedback monitoring module obtains the user real-time force measurement value, the assisted training module M2 adjusts the current running speed, the assisted speed in the assisted training module and the real-time force feedback data are in a quadratic parabolic relationship, specifically Va ═ Kt Vs + Ka × (Tn/Tm)²The method comprises the steps of setting power-assisted grades for rehabilitation personnel, setting Tn for real-time force measurement values of the rehabilitation personnel, setting Kt for basic speed coefficients of the power assistance, setting Kv for speed change rate, setting Tm for reference muscle force values, and fixing the Kt, the Kv and the Tm for the reference muscle force values in a mode of preset numerical values. The mode provides a basic speed as a power-assisted reference, and on the basis, the higher the power-assisted grade is, the easier the movement is; the real-time force is big more, and speed is fast more for the body is felt to the simulation helping hand, promotes the helping hand effect.

During the training process of the assisted training module M2, if the control mode is changed to the passive training module M1, the speed is changed to Vp, or when the real-time speed value is greater than 90rad/min, the counting variable p is accumulated, and after p is greater than 10 (10 is a preset number of times preset value, which is set to 10 in this embodiment according to the actual setting), the control mode is changed to the resistance training module M3, and the speed is changed to the resistance training speed Vr.

After entering the resistance training module M3, in each control period, the resistance training speed Vr is adjusted according to the real-time force measurement value of the user, and the resistance speed in the resistance training module and the real-time force feedback data are in a linear relation. Specifically, Vr ═ Vp + Tn L/(Kr/r)/Kt, wherein Tn represents real-time detection force, Kr represents resistance level and the value range is [1, r ], L represents actuator arm length, and Kt represents speed change rate; the target speed value is adjusted according to the resistance grade and the real-time detection force, the higher the resistance grade is, the slower the speed change rate is, and the harder the resistance movement is; the larger the real-time detection force is, the faster the speed is. Through the speed change, the training experience and the training effect are enhanced.

In the process, if the control mode changes to the passive training module M1, the speed changes to Vp. Therefore, the user can freely complete the switching among the passive mode, the assistance mode and the resistance mode in the training process, accompanying personnel such as therapists are not needed to participate, the good limb rehabilitation effect can be realized, and the evaluation and diagnosis of the therapists on the limb conditions of the user are facilitated.

The multi-mode fusion training algorithm that this patent provided, the difference lies in that current equipment exists that helping hand/anti resistance body feels not strong among the training process, and the motion is not consistent scheduling problem, and this patent is based on the control of speed, adjusts through the rate of change of speed, has realized smooth motion, and the training body feels more obvious to can be applied to the equipment that needs multi-mode switching motion similarly. The system can meet the mode switching function required by active and passive rehabilitation training equipment in the market, the training difficulty is set in a nonlinear gradient mode, the training modes are freely selected and combined, the mode switching is carried out according to the real-time feedback of the body strength of a user, and the user is helped to provide better training experience and rehabilitation training effect.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.