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WO2022228030A1 - Procédé et système de commande d'entraînement basés sur un robot, terminal et support de stockage - Google Patents

Procédé et système de commande d'entraînement basés sur un robot, terminal et support de stockage Download PDF

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Publication number
WO2022228030A1
WO2022228030A1 PCT/CN2022/084632 CN2022084632W WO2022228030A1 WO 2022228030 A1 WO2022228030 A1 WO 2022228030A1 CN 2022084632 W CN2022084632 W CN 2022084632W WO 2022228030 A1 WO2022228030 A1 WO 2022228030A1
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WIPO (PCT)
Prior art keywords
angle
target joint
training
flexion
angular velocity
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Ceased
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PCT/CN2022/084632
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English (en)
Chinese (zh)
Inventor
王红梅
周铜
刘谋云
李志青
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Shentai Medical Technology Shanghai Co Ltd
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Shentai Medical Technology Shanghai Co Ltd
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Publication of WO2022228030A1 publication Critical patent/WO2022228030A1/fr
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024—Knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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°.
  • the first angular increment is -5°
  • the second angular increment is 6°
  • 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.
  • the first time increment is 2s
  • the second time increment is 1s
  • 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.
  • 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.
  • 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.
  • 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.
  • the second angular velocity is greater than the first angular velocity.
  • the set angle interval is 32° ⁇ 48°.
  • the first angular velocity is 6°/s
  • the second angular velocity is 8°/s.
  • 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;
  • 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:
  • memory for storing one or more programs
  • the one or more processors 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.
  • 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
  • the training process is accurate and controllable, closer to the clinic, and brings better treatment effects to patients.
  • 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.
  • 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.
  • 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 concerned about the safety of the joint can also use it with confidence.
  • FIG. 1 is a schematic diagram of a training control method for a robot according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a lower limb rehabilitation robot provided by an embodiment of the present invention.
  • FIG. 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
  • FIG. 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
  • FIG. 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
  • FIG. 7 is a schematic diagram of speed control during training of a lower limb rehabilitation robot according to an embodiment of the present invention.
  • FIG. 1 is a schematic diagram of a training control method for a robot provided by the present embodiment.
  • 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 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 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
  • 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.
  • 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.
  • 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° ⁇ 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° ⁇ 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 ⁇ 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 ⁇ is incremented to the end angle of the flexion position.
  • the angle of the extension position is incremented by the first angle increment ⁇ and the angle of the flexion position is incremented by the second angle increment ⁇ 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.
  • 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.
  • 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.
  • 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.
  • the first angular increment ⁇ is -5°
  • the second angular increment ⁇ is 6°.
  • 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.
  • the starting angle of the extension position is 36°
  • the starting angle of the flexion position is 50°, that is, the knee joint starts to move from 36° to 50°.
  • the knee joint was trained 4 times at a starting angle of 36° in extension position.
  • 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°).
  • the angle to the extension position is increased by the first angle increment ⁇ 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.
  • ⁇ was increased to the end angle of the flexion position (140°), and the above-mentioned angular increments in extension and flexion were alternated.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the initial holding time of the extension position is controlled to be incremented by the first time increment ⁇ t1 to the end holding time of the extension position
  • the initial holding time of the flexion position is controlled to be incremented by the second time increment ⁇ t2 to the Termination hold time in flexion.
  • the holding time of the extension position is incremented by the first time increment ⁇ t1 and the holding time of the flexion position is incremented alternately by the second time increment ⁇ t2
  • 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.
  • 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.
  • the first time increment ⁇ t1 is 2s
  • the second time increment ⁇ t2 is 1s.
  • each holding time of the knee joint in the extension position is repeated N1 times
  • 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.
  • 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
  • the training is repeated 2 times with the holding time of 1 s.
  • 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 ⁇ t1 (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
  • 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 ⁇ t2 (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.
  • 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.
  • 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.
  • 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.
  • the knee joint moves at a first angular velocity ⁇ 1 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 ⁇ 2, and the second angular velocity ⁇ 2 is greater than the first angular velocity ⁇ 1, that is, ⁇ 2> ⁇ 1.
  • the first angular velocity ⁇ 1 is 6°/s
  • the second angular velocity ⁇ 2 is 8°/s.
  • the robotic arm drives the knee joint to pass through the set angle interval (here, for example, 36° ⁇ 50°) at the first angular velocity ⁇ 1 (6°/s).
  • 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 ⁇ 1 (8°/s), and the first angular velocity ⁇ 1 (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 ⁇ 2 (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 ⁇ 1 (8°/s).
  • the angle interval passes through the set angle interval (here, for example, 32° to 48°) at the first angular velocity ⁇ 1 (6°/s), and then the second angular velocity ⁇ 2 ( 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.
  • the set angle interval may also be other angle intervals, and the first angular velocity and the second angular velocity are also changed accordingly.
  • the target angle (angle of angular velocity change) of the knee joint in the extension position is 32°
  • 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.
  • the set angle interval here, for example, 32° ° ⁇ 48°
  • 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.
  • 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.
  • 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 ⁇ , the second angle increment ⁇ , 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 ⁇ t1, the second time increment ⁇ t2, 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 ⁇ 1 and the second angular velocity ⁇ 2.
  • 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
  • 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 .
  • 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 ⁇ , 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 ⁇ .
  • 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
  • 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.
  • the angle increment training ends. .
  • the corresponding repeated training is performed at each angle during the incremental process of the extension position and the flexion position.
  • 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.
  • 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 ⁇ t1, increase the hold time in flexion by the second time increment, increase the hold time in extension by the first time increment ⁇ t1 each time, and increase the hold time in the extension position by the second time increment each time.
  • 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
  • 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.
  • 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.
  • 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 ⁇ 2, 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 ⁇ 1, and the third segment runs at the second angular velocity ⁇ 2 from the end angle of the set angle interval to the flexion position (ie, 48°-50°).
  • the exercise cycle will be divided into two parts. There are two stages, the first stage runs at the second angular velocity ⁇ 2 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 ⁇ 1.
  • the exercise cycle is divided into sections. It runs at the first angular velocity ⁇ 1 from the extension position to the flexion position (ie, 36° to 42°).
  • 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 ⁇ 1, 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 ⁇ 2.
  • 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
  • this embodiment also provides a training control system for a robot, including:
  • 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 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;
  • 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.
  • this embodiment also provides a terminal for training control of the robot.
  • the terminal includes:
  • processors one or more processors
  • memory for storing one or more programs
  • one or more of the processors can implement the training control method of the robot as described above.
  • both the processor and the memory are one, and the processor and the memory may be connected by a bus or in other ways.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • the training process is accurate and controllable, closer to the clinic, and brings better treatment effects to patients.
  • 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.
  • 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 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 concerned about the safety of the joint can also use it with confidence.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

La présente invention concerne un procédé et un système de commande d'entraînement basés sur un robot, un terminal et un support de stockage. Au moins l'un parmi une plage d'angle de déplacement d'une articulation cible, le temps de l'articulation cible dans une position d'entraînement, et une vitesse angulaire de déplacement de l'articulation cible est régulé pour réaliser une commande d'entraînement d'un robot sur l'articulation cible, de sorte qu'un processus d'apprentissage est précis et contrôlable et est plus cliniquement orienté, et un meilleur effet de traitement est apporté à un patient. En outre, l'incrément de l'angle de déplacement de l'articulation cible est régulé de façon à augmenter progressivement un angle de tension, de façon à réduire la charge d'entraînement musculaire et articulaire pour le patient ; l'incrément du temps de maintien de l'articulation cible dans la position d'entraînement est régulé de façon à améliorer l'effet d'entraînement en tension de l'articulation cible ; la vitesse angulaire de déplacement de l'articulation cible dans différents intervalles angulaires est régulée de façon à commander avec précision le déplacement de l'articulation, de sorte que l'articulation se déplace à une vitesse relativement constante, la charge sur l'articulation est réduite, et du temps est économisé.
PCT/CN2022/084632 2021-04-30 2022-03-31 Procédé et système de commande d'entraînement basés sur un robot, terminal et support de stockage Ceased WO2022228030A1 (fr)

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WO2020049164A1 (fr) * 2018-09-06 2020-03-12 Myoswiss Ag Dispositif portable d'aide active
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US20180085276A1 (en) * 2015-04-01 2018-03-29 Rb Patents Sarl Device for driving the lower limbs of a person in dorsal or partial decubitus combined with driving walking in vertical position
CN106618957A (zh) * 2016-12-16 2017-05-10 南通大学 一种上肢康复机器人的体感控制方法及康复训练策略
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