阅读说明：本技术 一种基于单轴电机受力的游戏式主被动康复训练装置 (Game type active and passive rehabilitation training device based on single-shaft motor stress ) 是由 宋廷宇 冯雷 施雯 徐海东 于 2020-12-21 设计创作，主要内容包括：本发明公开了一种基于单轴电机受力的游戏式主被动康复训练装置,不在手柄/脚蹬上部署力传感器,而是通过采集单轴电机的受力,通过采集时机和计算准确得到左右侧的受力,并将该受力计算转换为游戏中的转弯角度来实现患者在游戏中的转弯,完成游戏化互动训练；本发明通过方向自动回正机制进一步提升了游戏的体验；本发明方法,将枯燥乏味的单调训练变成主动参与的游戏化互动训练,能够提高患者的主动训练意识,最终有效增强训练效果。(The invention discloses a game type active and passive rehabilitation training device based on single-shaft motor stress, which is characterized in that a force sensor is not arranged on a handle/pedal, the stress of the single-shaft motor is collected, the stress of the left side and the right side is accurately obtained through collecting opportunity and calculation, and the stress calculation is converted into the turning angle in a game to realize the turning of a patient in the game, so that the game interactive training is completed; the invention further improves the game experience through the direction automatic correction mechanism; the method changes boring monotonous training into active participatory game-based interactive training, can improve the active training consciousness of patients, and finally effectively enhances the training effect.)

1. The utility model provides a passive rehabilitation training device of recreation formula owner based on unipolar motor atress which characterized in that: the single-shaft motor is installed on the motor frame, the left connecting handle is installed at the left end of an output shaft of the single-shaft motor, the right connecting handle is installed at the right end of the output shaft of the single-shaft motor, the central line of the output shaft of the single-shaft motor is recorded as a straight line l, a force application point of the left connecting handle, a force application point of the right connecting handle and the straight line l are located in the same plane, and the distance between the force application point of the left connecting handle and the distance between the force application point of the right connecting handle and the straight line l are equal;

the force acquisition module calculates the stress of the output shaft through the stress torque of the output shaft of the single-shaft motor, one rotation circle of the output shaft of the single-shaft motor is recorded as a rotation period, the force acquisition module acquires the stress of the output shaft of the single-shaft motor once at equal rotation angle intervals, N times are acquired in each rotation period, and N is an even number; a Hall sensor I and a Hall sensor II are arranged on the motor frame, the Hall sensor I is used for detecting whether the force application point of the left connecting handle reaches the detection position, and the Hall sensor II is used for detecting whether the force application point of the right connecting handle reaches the detection position;

when the force application point of the left connecting handle reaches the detection position, the Hall sensor I is triggered, the rotation period begins, and the stress acquired by the force acquisition module is F₁The output shaft of the single-shaft motor rotates continuously, and the stress collected by the force collection module in sequence is F₂,F₃,…,F_(N/2)(ii) a When the force application point of the right connecting handle reaches the detection position, the Hall sensor II is triggered, the rotation period is over half, and the stress acquired by the force acquisition module is F_(N/2)+1The output shaft of the single-shaft motor rotates continuously, and the stress collected by the force collection module in sequence is F_(N/2)+2,F_(N/2)+3,…,F_N；

Recording the stress F sequentially acquired by the force acquisition module in the current rotation period₁,F₂,…,F_N(ii) a Recording the stress F sequentially acquired by the force acquisition module in the previous rotation period of the current rotation period₁',F₂',…,F_N'; continuously recording the acquisition value of the force acquisition module;

if the current time is in the first half of the rotation period after the Hall sensor I is triggered and before the Hall sensor II is triggered, the force of the force application point of the left connecting handle is fixed as F_left＝F₁The force of the force application point of the right connecting handle is fixed

If the current time is in the second half of the rotation period after the Hall sensor II is triggered and before the Hall sensor I is triggered, the force of the force application point of the right connecting handle is fixed as F_right＝F_(N/2)+1The force of the force application point of the left connecting handle is fixed

2. The active and passive rehabilitation training device for game based on single-shaft motor stress as claimed in claim 1, wherein: the device also comprises a turning judgment module which is connected according to the leftForce difference delta F between the force application point of the handle and the force application point of the right connecting handle is equal to F_left-F_rightJudging whether the training device is in a straight-going state or a turning state, comprising the following steps:

(1) calculating the force difference delta F between the force application point of the left connecting handle and the force application point of the right connecting handle as F_left-F_right；

(2) Calculating a turning angle A as delta f multiplied by a, wherein a is the turning angle corresponding to the unit force quantity difference;

(3) judging whether the turning angle A is larger than a turning angle threshold delta A: if the absolute value of A | > [ Delta ] A, the step (4) is carried out; otherwise, keeping the current direction and returning to the step (1);

(4) if A is greater than 0, judging that the training device is in a left-turning state; if A <0, the training device is judged to be in a right turning state, and the turning angle is | A |.

3. The active and passive rehabilitation training device for game based on single-shaft motor stress as claimed in claim 1, wherein: still include the automatic module of just returning of direction, turn and begin the automatic direction after the length of time T and return to just, the angular velocity that the direction was just returned is r, includes the following step:

(1) let the turning start time be t₀T at the current moment, and a deviation angle from the advancing direction at the current moment₀，△t＝t-t₀；

(2) If delta T is greater than T, starting the automatic direction correction, and entering the step (3); otherwise, returning to the step (1);

(3) the direction is adjusted back at an angular velocity r, and the adjusted angle delta r is continuously calculated as (t-t)₀-T) x r, if a₀-△r<R, considering that the direction correction is finished, wherein R is a direction correction threshold value; otherwise, continuing the step (3).

4. The active and passive rehabilitation training device for game based on single-shaft motor stress as claimed in claim 1, wherein: the force application point of the left connecting handle and the force application point of the right connecting handle are respectively a handle of a left hand or a handle of a right hand or a pedal of a left foot or a pedal of a right foot.

5. The active and passive rehabilitation training device for game based on single-shaft motor stress as claimed in claim 1, wherein: the detection positions are the highest positions of the force application points of the left connecting handle and the right connecting handle.

Technical Field

The invention relates to a game type active and passive rehabilitation training device based on single-shaft motor stress, which can provide symmetry training for hemiplegic patients and belongs to the upper and lower limb active and passive medical rehabilitation training technology.

Background

The rehabilitation training equipment for the upper limb and the lower limb is training equipment for driving four limbs with dyskinesia to perform continuous, repeated circumference and flexion-extension movement through motor drive, and is the rehabilitation training equipment for improving the muscle strength, the joint mobility, the heart and lung function and the like of the limbs of a user. The symmetry training of contrast two sides power is the important training mode of this training equipment, through this mode guide hemiplegia affected side initiative power, can effectively promote the recovery of hemiplegia affected side. But the action mode of the symmetry training is single, the training is boring, and the enthusiasm and the initiative of the patient training are difficult to improve; if the training device can provide a real-time dynamic game mode, the enthusiasm and the initiative of the patient training will be possibly greatly improved based on the interest of the game. Such as designing the training device to simulate a 3D game for bicycle riding, may provide the same experience as real world bicycle riding.

In a 3D game for simulating bicycle riding, the important turning function needs to analyze the stress conditions of handles at two sides or pedals, and the turning direction and amplitude are calculated according to the stress difference. In the existing 3D game for simulating bicycle riding, pressure sensors are arranged on a left handle/pedal and a right handle/pedal, so that left and right side forces can be accurately detected; but because the stressed handle/foot pedal is a rotating mechanism, the wiring is inconvenient; therefore, modifying the training device directly based on the existing 3D game will increase the difficulty of research and development and the difficulty of later maintenance, and will significantly increase the cost of the product.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a game type active and passive rehabilitation training device based on stress of a single-shaft motor, which directly uses the stress torque of the single-shaft motor to indirectly calculate the left and right side forces of a patient, creatively combines and improves rehabilitation training equipment and game experience equipment, can improve the interestingness of the rehabilitation process, and improves the enthusiasm and the initiative of patient training.

The technical scheme is as follows: in order to achieve the purpose, the invention adopts the technical scheme that:

a game type active and passive rehabilitation training device based on single-shaft motor stress comprises a single-shaft motor, a motor frame, a left connecting handle and a right connecting handle, wherein the single-shaft motor is installed on the motor frame, the left connecting handle is installed at the left end of an output shaft of the single-shaft motor, the right connecting handle is installed at the right end of the output shaft of the single-shaft motor, the central line of the output shaft of the single-shaft motor is recorded as a straight line l, a force application point of the left connecting handle, a force application point of the right connecting handle and the straight line l are located in the same plane, and the distance between the force application point of the left connecting handle and the distance between the force;

the force acquisition module calculates the stress of the output shaft through the stress torque of the output shaft of the single-shaft motor, one rotation circle of the output shaft of the single-shaft motor is recorded as a rotation period, the force acquisition module acquires the stress of the output shaft of the single-shaft motor once at equal rotation angle intervals, N times are acquired in each rotation period, and N is an even number; a Hall sensor I and a Hall sensor II are arranged on the motor frame, the Hall sensor I is used for detecting whether the force application point of the left connecting handle reaches the detection position, and the Hall sensor II is used for detecting whether the force application point of the right connecting handle reaches the detection position;

when the force application point of the left connecting handle reaches the detection position, the Hall sensor I is triggered, the rotation period begins, and the stress acquired by the force acquisition module is F₁The output shaft of the single-shaft motor rotates continuously, and the stress collected by the force collection module in sequence is F₂,F₃,…,F_(N/2)(ii) a When the force application point of the right connecting handle reaches the detection position, the Hall sensor II is triggered, the rotation period is over half, and the stress acquired by the force acquisition module is F_(N/2)+1The output shaft of the single-shaft motor rotates continuously, and the stress collected by the force collection module in sequence is F_(N/2)+2,F_(N/2)+3,…,F_N；

Recording the stress F sequentially acquired by the force acquisition module in the current rotation period₁,F₂,…,F_N(ii) a In the previous rotation period recorded in the current rotation period, the force acquisition modules sequentially acquireTo a force of F₁',F₂',…,F_N'; continuously recording the acquisition value of the force acquisition module;

if the current time is in the first half of the rotation period after the Hall sensor I is triggered and before the Hall sensor II is triggered, the force of the force application point of the left connecting handle is fixed as F_left＝F₁The force of the force application point of the right connecting handle is fixed

If the current time is in the second half of the rotation period after the Hall sensor II is triggered and before the Hall sensor I is triggered, the force of the force application point of the right connecting handle is fixed as F_right＝F_(N/2)+1The force of the force application point of the left connecting handle is fixed

Preferably, the vehicle further comprises a turning judgment module, and the turning judgment module is used for judging that the force difference delta F is equal to F according to the force application point of the left connecting handle and the force application point of the right connecting handle_left-F_rightJudging whether the training device is in a straight-going state or a turning state, comprising the following steps:

(1) calculating the force difference delta F between the force application point of the left connecting handle and the force application point of the right connecting handle as F_left-F_right；

(2) Calculating a turning angle A as delta f multiplied by a, wherein a is the turning angle corresponding to the unit force quantity difference;

(3) judging whether the turning angle A is larger than a turning angle threshold delta A: if the absolute value of A | > [ Delta ] A, the step (4) is carried out; otherwise, keeping the current direction and returning to the step (1);

(4) if A is greater than 0, judging that the training device is in a left-turning state; if A <0, the training device is judged to be in a right turning state, and the turning angle is | A |.

Preferably, the automatic direction-correcting device further comprises a direction automatic-correcting module, the direction is automatically corrected after the turning start time is T, and the angular speed of the direction correction is r, and the automatic direction-correcting device comprises the following steps:

(1) let the turning start time be t₀T at the current moment, and a deviation angle from the advancing direction at the current moment₀，△t＝t-t₀；

(2) If delta T is greater than T, starting the automatic direction correction, and entering the step (3); otherwise, returning to the step (1);

(3) the direction is adjusted back at an angular velocity r, and the adjusted angle delta r is continuously calculated as (t-t)₀-T) x r, if a₀-△r<R, considering that the direction correction is finished, wherein R is a direction correction threshold value; otherwise, continuing the step (3).

Specifically, the force application point of the left connecting handle and the force application point of the right connecting handle are respectively a handle of a left hand or a handle of a right hand or a pedal of a left foot or a pedal of a right foot.

Specifically, the detection position is the highest position of the force application point of the left connecting handle and the force application point of the right connecting handle.

Has the advantages that: the game type active and passive rehabilitation training device based on the stress of the single-shaft motor can collect left and right side forces only through the stress of the single-shaft motor on a handle/pedal arranged without a sensor, obtain the left/foot and right/foot forces of a patient, convert the left/foot and right/foot forces into turning operation in a game through calculation, enable boring cyclic reciprocating rehabilitation training to be gamified and immersed in joy of the game, enable the patient to be happy to perform rehabilitation training, improve the training enthusiasm and further improve the effect of active and passive rehabilitation training; the direction automatic correction mechanism in the scheme reduces the difficulty of turning operation, enables the direction of a user to be more controllable, and further improves the game experience; meanwhile, because a sensor is not required to be installed on the handle/pedal, the difficulty of engineering research and development and later maintenance is reduced, the cost of the product is greatly reduced, the product can be pushed to the market at a lower price, and more patients are benefited.

Drawings

FIG. 1 is a schematic flow chart of a method for detecting lateral force;

FIG. 2 is a schematic flow chart of a turn determination module;

FIG. 3 is a schematic flow chart of the direction auto-righting module.

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.

In the scheme, the rehabilitation training equipment is fused with the game experience equipment, the rehabilitation training equipment is modified based on a 3D game for simulating bicycle riding, and a single-shaft motor is designed to be used for detecting the left and right side forces of a patient in order to avoid excessive use of sensors and convenient wiring; it is easy to think that the force torque of the single-shaft motor is directly used to indirectly calculate the force on the left and right sides of the patient, but one shaft of the single-shaft motor is simultaneously forced on both sides, so that the force on the left and right sides needs to be distinguished to calculate the difference between the force on the left and right sides. If the left-right force calculation method is incorrect, the left force value is calculated when the patient exerts force on the left side, or the left force value is calculated when the patient exerts force on the right side, and the situation that the bicycle turns to the right when the patient wants to turn to the left or turns to the left when the patient wants to turn to the right is reflected in the game, and the actual turning direction is opposite to the intention of the patient. If the left and right force calculation is not accurate, the left and right force difference calculation is not accurate, and the turning amplitude is not matched with the force of the patient in the game. The game experience of the patient can be seriously influenced in the two conditions, the patient is frustrated, the training enthusiasm of the patient is reduced, and the rehabilitation training effect is influenced.

In view of the above analysis, detecting the left and right forces of the patient based on the force applied by the single-shaft motor is an important consideration in the design; based on this, the design scheme in this case is as follows:

the utility model provides a passive rehabilitation training device of recreation formula owner based on unipolar motor atress, including the unipolar motor, the motor frame, left side connection handle and right connection handle, the unipolar motor is installed on the motor frame, the left end at unipolar motor output shaft is installed to left side connection handle, the right-hand member at unipolar motor output shaft is installed to right side connection handle, the central line of note unipolar motor output shaft is sharp l, the point of application of force (left handle or left pedal) of left side connection handle, the point of application of force (right handle or right pedal) and the sharp l of right side connection handle are located the coplanar, and the point of application of force of left side connection handle, the point of application of force and the distance of sharp l of right side connection handle equal.

The force acquisition module calculates the stress of the output shaft through the stress torque of the output shaft of the single-shaft motor, one rotation circle of the output shaft of the single-shaft motor is recorded as a rotation period, the force acquisition module acquires the stress of the output shaft of the single-shaft motor once at equal rotation angle intervals, N times are acquired in each rotation period, and N is an even number; the motor frame is provided with a Hall sensor I and a Hall sensor II, the Hall sensor I is used for detecting whether the force application point of the left connecting handle reaches a detection position, and the Hall sensor II is used for detecting whether the force application point of the right connecting handle reaches the detection position (based on human engineering, the human body has the maximum force when in the highest position, so that the detection position is selected as the highest position to which the force application point can move).

When the force application point of the left connecting handle reaches the detection position, the Hall sensor I is triggered, the rotation period begins, and the stress acquired by the force acquisition module is F₁The output shaft of the single-shaft motor rotates continuously, and the stress collected by the force collection module in sequence is F₂,F₃,…,F_(N/2)(ii) a When the force application point of the right connecting handle reaches the detection position, the Hall sensor II is triggered, the rotation period is over half, and the stress acquired by the force acquisition module is F_(N/2)+1The output shaft of the single-shaft motor rotates continuously, and the stress collected by the force collection module in sequence is F_(N/2)+2,F_(N/2)+3,…,F_N。

Recording the stress F sequentially acquired by the force acquisition module in the current rotation period₁,F₂,…,F_N(ii) a Recording the stress F sequentially acquired by the force acquisition module in the previous rotation period of the current rotation period₁',F₂',…,F_N'; and continuously recording the acquisition value of the force acquisition module.

If the current moment is in the first half rotation period after the Hall sensor I is triggered and before the Hall sensor II is triggered: the force of the force application point of the left connecting handle is fixed as F_left＝F₁The force of the force application point of the right connecting handle is fixedIn other words, in the first half of the rotation period, the stress of the left connecting handle force application point is fixed as the stress at the starting time of the current period, and the stress of the right connecting handle force application point is fixed as the stress average value of the second half of the previous rotation period of the current rotation period.

If the current time is in the second half of the rotation period after the Hall sensor II is triggered and before the Hall sensor I is triggered, the force of the force application point of the right connecting handle is fixed as F_right＝F_(N/2)+1The force of the force application point of the left connecting handle is fixedIn the second half of the rotation period, the stress of the right connecting handle force application point is fixed as the stress at the over-half moment of the current period, and the stress of the left connecting handle force application point is fixed as the stress average value of the previous half period of the previous rotation period of the current rotation period.

The force collection module feeds back the stress value to the system once every time the stress value is collected (F)_left,F_right) Therefore, the response speed of the system is maintained, and the experience of the game is improved.

The stress of a left force application point and a right force application point is calculated by using an instant stress value, but the operation fluctuation of simulation equipment is large on the basis, and the effect is poor; the fixed value of the half period is adopted, the effect of stable use of a patient can be completely achieved, the requirement on a system is lowered, and the equipment cost is lowered.

Turning judgment module rootAccording to the force difference delta F between the force application point of the left connecting handle and the force application point of the right connecting handle as F_left-F_rightJudging whether the training device is in a straight-going state or a turning state, comprising the following steps:

(1) calculating the force difference delta F between the force application point of the left connecting handle and the force application point of the right connecting handle as F_left-F_right；

(2) Calculating a turning angle A as delta f multiplied by a, wherein a is the turning angle corresponding to the unit force quantity difference;

(3) judging whether the turning angle A is larger than a turning angle threshold delta A: if the absolute value of A | > [ Delta ] A, the step (4) is carried out; otherwise, keeping the current direction and returning to the step (1);

(4) if A is greater than 0, judging that the training device is in a left-turning state; if A <0, the training device is judged to be in a right turning state, and the turning angle is | A |.

The automatic direction correcting module automatically corrects the direction after the turning start time T, the angular speed of the direction correction is r, and the automatic direction correcting module comprises the following steps:

(1) let the turning start time be t₀T at the current moment, and a deviation angle from the advancing direction at the current moment₀，△t＝t-t₀；

(2) If delta T is greater than T, starting the automatic direction correction, and entering the step (3); otherwise, returning to the step (1);

(3) the direction is adjusted back at an angular velocity r, and the adjusted angle delta r is continuously calculated as (t-t)₀-T) x r, if a₀-△r<R, considering that the direction correction is finished, wherein R is a direction correction threshold value; otherwise, continuing the step (3).

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.