CN116531225A - Rehabilitation training device, rehabilitation training control method and storage medium - Google Patents

Abstract

The application provides a rehabilitation training device, rehabilitation training control method and storage medium, the rehabilitation training device includes low limbs activity subassembly, drive assembly and controller, and the controller is configured to: determining a first control mode; based on the first control mode, determining a first motion strategy, and controlling the driving assembly to drive the training object to perform rehabilitation training according to a first motion mode according to the first motion strategy; determining a second control mode according to the received mode switching instruction; and determining a second movement strategy based on the second control mode, and controlling the driving assembly to drive the training object to perform rehabilitation training according to a second movement mode according to the second movement strategy. Different movement strategies are determined by adopting different control modes for the rehabilitation training device, and training objects are driven to perform different rehabilitation training according to the different movement strategies, so that different rehabilitation training requirements of different training objects can be met.

Description

Rehabilitation training equipment, rehabilitation training control method and storage medium

technical field

The present application relates to the technical field of rehabilitation training, and in particular to a rehabilitation training device, a rehabilitation training control method and a storage medium.

Background technique

Worldwide, there are a large number of patients with lower extremity movement disorders of varying degrees, and the quality of life of these patients is greatly affected due to the impairment of lower extremity movement ability. Clinical medical research shows that reasonable and effective rehabilitation training can restore the exercise capacity of some patients to a certain extent.

For patients with lower extremity movement disorders, the use of lower extremity exercise rehabilitation training equipment instead of manual labor can greatly improve the effect of rehabilitation training. However, in related technologies, rehabilitation training equipment can only assist patients in a single mode of rehabilitation training, and cannot meet the different rehabilitation training needs of different patients.

Contents of the invention

Embodiments of the present application provide a rehabilitation training device, a rehabilitation training control method, and a storage medium, which can meet different rehabilitation training requirements of different training objects.

In the first aspect, the embodiment of the present application provides a rehabilitation training device, the rehabilitation training device includes a lower limb activity assembly, a driving assembly and a controller, and the driving assembly drives the lower limb activity assembly under the control of the controller to drive To train a subject to perform rehabilitation training, the controller is configured to:

determining a first control mode;

Based on the first control mode, determine a first exercise strategy, and control the driving component according to the first exercise strategy to drive the training object to perform rehabilitation training according to the first exercise mode;

determining a second control mode according to the received mode switching instruction;

Based on the second control mode, a second exercise strategy is determined, and the drive assembly is controlled according to the second exercise strategy to drive the training object to perform rehabilitation training in a second exercise manner.

In the second aspect, the embodiment of the present application provides another rehabilitation training device, the rehabilitation training device includes a lower limb activity assembly, a drive assembly and a controller, and the drive assembly drives the lower limb activity assembly under the control of the controller Driving the training object to perform rehabilitation training, the controller is configured to:

selecting a first control mode from preset control modes according to the received first mode selection instruction;

determining a first motion strategy based on the first control mode;

According to the first exercise strategy, the drive assembly is controlled to drive the training object to perform rehabilitation training in a first exercise mode.

Optionally, the controller is also configured to:

Acquiring the training object parameters and training parameters to obtain target parameters; and

Based on the first control mode, the first motion strategy is determined in combination with the target parameter; and/or based on the second control mode, the second motion strategy is determined in combination with the target parameter.

Optionally, the first control mode includes one or more first control submodes, wherein different target parameters correspond to different first control submodes;

Based on the first control sub-pattern and in combination with corresponding target parameters, a corresponding first motion sub-strategy is determined.

Optionally, the second control mode includes one or more second control submodes, wherein different target parameters correspond to different second control submodes;

Based on the second control sub-mode and in combination with corresponding target parameters, a corresponding second movement sub-strategy is determined.

Optionally, the controller is also configured to:

updating the target parameter according to the received parameter modification instruction;

Updating the corresponding first control sub-strategy or second control sub-strategy according to the updated target parameters and the currently selected first control sub-mode or second control sub-mode;

According to the updated first control sub-strategy or the second control sub-strategy, the drive assembly is controlled to drive the training object to perform rehabilitation training.

In the third aspect, the embodiment of the present application provides a rehabilitation training control method, which is applied to rehabilitation training equipment, and the rehabilitation training equipment is used to provide lower limb rehabilitation training for training objects. The rehabilitation training control method includes:

determining a first control mode;

Based on the first control mode, determine a first exercise strategy, and control the rehabilitation training device to provide lower limb rehabilitation training for the training object according to the first exercise mode according to the first exercise strategy;

determining a second control mode according to the received mode switching instruction;

Based on the second control mode, a second exercise strategy is determined, and the rehabilitation training equipment is controlled according to the second exercise strategy to provide lower limb rehabilitation training for the training object according to the second exercise mode.

In the fourth aspect, the embodiment of the present application provides another rehabilitation training control method, which is applied to rehabilitation training equipment, and the rehabilitation training equipment is used to provide lower limb rehabilitation training for training objects. The rehabilitation training control method includes:

selecting a first control mode from preset control modes according to the received first mode selection instruction;

determining a first motion strategy based on the first control mode;

According to the first exercise strategy, the rehabilitation training equipment is controlled to provide lower limb rehabilitation training for the training object according to the first exercise mode.

Optionally, the method also includes:

Acquiring the training object parameters and training parameters to obtain target parameters; and

Based on the first control mode, the first motion strategy is determined in combination with the target parameter; and/or based on the second control mode, the second motion strategy is determined in combination with the target parameter.

Optionally, the first control mode includes one or more first control submodes, wherein different target parameters correspond to different first control submodes;

Based on the first control sub-pattern and in combination with corresponding target parameters, a corresponding first movement sub-strategy is determined.

Optionally, the second control mode includes one or more second control submodes, wherein different target parameters correspond to different second control submodes;

Based on the second control sub-mode and in combination with corresponding target parameters, a corresponding second movement sub-strategy is determined.

Optionally, the method also includes:

updating the target parameter according to the received parameter modification instruction;

Updating the corresponding first control sub-strategy or second control sub-strategy according to the updated target parameters and the currently selected first control sub-mode or second control sub-mode;

The rehabilitation training equipment is controlled according to the updated first control sub-strategy or the second control sub-strategy to provide lower limb rehabilitation training for the training object.

In the fifth aspect, the embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed on a computer, the computer is made to perform the rehabilitation training described in any one of the above Control Method.

The rehabilitation training equipment in the embodiment of the present application includes a lower limb activity component, a drive component and a controller, the drive component drives the lower limb movement component under the control of the controller to drive the training object to perform rehabilitation training, and the controller is configured to: determine the first control mode , based on the first control mode, determine the first exercise strategy, and control the driving component according to the first exercise strategy to drive the training object to perform rehabilitation training according to the first exercise mode. When receiving the mode switching instruction, determine according to the received mode switching instruction The second control mode, based on the second control mode, determines the second exercise strategy, and controls the driving component according to the second exercise strategy to drive the training object to perform rehabilitation training according to the second exercise mode. Therefore, by adopting different control modes for rehabilitation training equipment, determining different exercise strategies, and driving the training objects to perform rehabilitation training in different exercise modes according to different exercise strategies, different rehabilitation training needs of different training objects can be met.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative efforts.

For a more complete understanding of the present application and its beneficial effects, the following description will be made in conjunction with the accompanying drawings, wherein the same reference numerals in the following descriptions represent the same parts.

Fig. 1 is a schematic structural diagram of a rehabilitation training device provided by an embodiment of the present application.

Fig. 2 is a structural block diagram of a rehabilitation training device provided by an embodiment of the present application.

Fig. 3 is a structural block diagram of another rehabilitation training device provided by an embodiment of the present application.

Fig. 4 is a schematic flowchart of a method for controlling rehabilitation training provided by an embodiment of the present application.

Fig. 5 is a schematic flowchart of another rehabilitation training control method provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Apparently, the described embodiments are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of this application.

In order to solve the problem in the related art that rehabilitation training equipment can only assist patients in a single mode of rehabilitation training and cannot meet the different rehabilitation training needs of different patients, the embodiment of the present application provides a rehabilitation training equipment, please refer to Figure 1, Figure 1 is A schematic structural diagram of a rehabilitation training device provided in an embodiment of the present application. Among them, the rehabilitation training equipment 10 is suitable for patients with lower limb movement disorders or training objects with lower limb training needs to perform rehabilitation training. The patient improves the physical function of the lower limbs or improves the recovery speed of the lower limbs, which is not limited in this embodiment of the present application. The rehabilitation training device 10 may include a trunk supporting and fixing component 11 , a lower limb moving component 12 and a driving component 13 . The trunk supporting and fixing assembly 11 can be worn on the torso of the training object, so that the upper body of the training object can be supported, so as to keep the upper body of the training object stable. The lower body activity assembly 12 includes a left leg training assembly 121 and a right leg training assembly 122 . The left leg training component 121 and the right leg training component 122 are respectively fixed with the left leg and the right leg of the training object, and can drive the left leg and the right leg of the training object to walk or move on the supporting surface of the training place. The drive assembly 13 can drive the lower limb activity assembly 12 to drive the training object to perform rehabilitation training.

Specifically, the left leg training assembly 121 and the right leg training assembly 122 are arranged symmetrically, and each includes a hip joint assembly 201, a thigh bar 202, a knee joint assembly 203, a calf bar 204, an ankle joint assembly 205 and a foot support assembly connected in sequence 206. Optionally, the hip joint assembly 201 is connected between the trunk support fixing assembly 11 and the thigh bar 202, one end of the knee joint assembly 203 is connected to the thigh bar 202, the other end is hinged to the calf bar 204, and one end of the ankle joint assembly 205 is connected to the calf bar 204. connected, and the other end is hinged with the foot support assembly 206.

Specifically, the hip joint assembly 201 and the trunk support fixing assembly 11 are rotationally connected through the hip joint shaft, the axis of the hip joint shaft is parallel to the first direction a, the hip joint assembly 201 can rotate around the hip joint shaft, and the hip joint assembly 201 and the thigh rod 202 is connected through the rotation of the thigh connection shaft, the axial direction of the thigh connection shaft is parallel to the second direction b, the thigh rod 202 can rotate around the thigh connection shaft, and the thigh rod 202 can move back and forth relative to the hip joint assembly 201 . The knee joint assembly 203 and the calf bar 204 are rotationally connected through the knee joint shaft, the knee joint shaft is parallel to the second direction b, the calf bar 204 can rotate around the knee joint shaft, and the calf bar 204 can move back and forth relative to the knee joint assembly 203 . The ankle joint assembly 205 and the foot support assembly 206 are rotationally connected by the ankle connection shaft, the foot support assembly 206 can rotate around the ankle connection shaft, and the foot support assembly 206 can move back and forth relative to the ankle joint assembly 205, wherein the second direction b is perpendicular to the first direction a. Through this setting, the action of the training object performing rehabilitation training can be realized. Optionally, the two hip joint assemblies 201 are respectively connected to the trunk support and fixation assembly 11 . The hip joint assembly 201 is hinged to the thigh bar 202 .

Therefore, the hip joint, knee joint, and ankle joint of the rehabilitation training device 10 respectively have degrees of freedom in the sagittal plane. Through the setting of the degree of freedom of the sagittal plane of the hip joint assembly 201, the thigh bar 202 can be relatively rotated in the sagittal plane relative to the trunk support fixing assembly 11; 202 and the calf bar 204 in the sagittal plane relative movement; through the setting of the degree of freedom of the ankle joint assembly 205 in the sagittal plane, the relative movement between the foot support assembly 206 and the calf bar 204 in the sagittal plane can be realized. It can be understood that the rehabilitation training device 10 can drive the training object to carry out joint movement or walking rehabilitation training by setting the degrees of freedom in the sagittal plane at the hip joint, knee joint and ankle joint respectively. In addition, the hip joint can also have a transverse degree of freedom. Through the setting of the degree of freedom in the transverse plane of the hip joint assembly 201, the thigh bar 202 can be rotated in the transverse plane relative to the trunk support and fixing assembly 11. It can be understood that the rehabilitation training equipment 10 can make the The thigh rod 202 can rotate inside and outside, and can also drive all parts below the thigh rod 202 to rotate inside and outside, so as to realize the leg movements of normal people, and can better drive the training object to carry out straight or turning rehabilitation training, or according to the training object's straight or Turning intention to follow the action, to achieve straight or turning rehabilitation training of the training object.

The drive assembly 13 can be electrically connected to the controller, and the controller controls the drive assembly 13 to drive the lower limb activity assembly 12 to drive the training object to carry out rehabilitation training. Specifically, the mode selection instruction or mode can be sent to the controller through rocker control, button control, etc. Switching instructions, the controller sends a control signal to the drive assembly 13 according to the instruction, and the drive assembly 13 responds to the control signal to drive the lower limb activity assembly 12 to drive the training object to perform straight walking or turning rehabilitation training. In addition, the intention of the training object can also be detected by the detection device. If the training object has a turning intention, the driving assembly 13 can be controlled according to the object's turning intention to drive the lower limb movable assembly 12 to perform follow-up actions, thereby realizing the turning rehabilitation training of the training object. With the help of the above settings, the degree of freedom of the sagittal plane or transverse plane required by the training object in the rehabilitation training can be satisfied, so as to meet the needs of different training objects for different rehabilitation training, such as going straight or turning.

Please refer to FIG. 2 . FIG. 2 is a structural block diagram of a rehabilitation training device provided by an embodiment of the present application. Wherein, the rehabilitation training device 10 includes a lower limb activity assembly 12 , a driving assembly 13 and a controller 14 . The controller 14 can be electrically connected with the lower limb movable component 12 and the driving component 13 respectively, and under the control of the controller 14, the driving component 13 can drive the lower limb movable component 12 to drive the training object to perform rehabilitation training.

The controller 14 can be a processor or a control chip, etc., and is the control center of the rehabilitation training device 10, configured to: determine the first control mode, determine the first exercise strategy based on the first control mode, and control the exercise according to the first exercise strategy The drive assembly 13 drives the training object to carry out rehabilitation training according to the first exercise mode; the second control mode is determined according to the received mode switching instruction; based on the second control mode, the second exercise strategy is determined, and the drive assembly 13 is controlled according to the second exercise strategy Drive the training object to carry out rehabilitation training according to the second exercise mode.

It should be noted that the rehabilitation training equipment in the related art can only assist the training object to perform a single rehabilitation training, such as straight walking rehabilitation training, but cannot meet the different rehabilitation training needs of the training object, such as straight walking rehabilitation training and turning rehabilitation training. However, the rehabilitation training device 10 in this embodiment has different control modes, which can meet different rehabilitation training needs of the training objects.

Specifically, after the rehabilitation training device 10 is powered on, a first control mode may be determined first, and the first control mode may be a straight-going control mode or a turning control mode. Among them, an initial control mode can be selected as the first control mode through the training object and/or the user, such as medical staff who assist the training object in rehabilitation training, and the method adopted can be physical key operation, rocker operation, touch screen setting, etc. . For example, the user determines the first control mode by touching the mode switch button, or the user determines the first control mode by shaking the joystick to a position corresponding to the first control mode. In addition, the control mode can also be selected through the system preset rules of the rehabilitation training device 10, such as the first control mode is selected by default after the rehabilitation training device 10 is powered on, or the first control mode is selected by default according to the training object, etc. Further, if the second If the control mode is a turning control mode, the first control mode can be determined according to turning parameters, such as turning angle and steering speed.

Specifically, when the rehabilitation training device 10 drives the training object to perform rehabilitation training under the first control mode, if a mode switching instruction is received, the second control mode is determined according to the received mode switching instruction, and the second control mode can be Turning control mode or straight-going control mode. Wherein, the mode switching instruction can be the active operation control of the training object and/or the user, and the active operation control method can be physical button operation, rocker operation, touch screen setting, detection of the training object's intention or according to the preset switching rules, etc., wherein, can The intention of the training object is determined by analyzing the gait of the training object or detecting the force of the corresponding training part, etc. For example, the user switches the first control mode to the second control mode by touching the mode switching button to determine the second control mode. For example, the user determines the second control mode by shaking the joystick to the position corresponding to the second control mode, such as rehabilitation The training device 10 analyzes the gait of the training object or detects the force of the corresponding training part to determine that the training object has the intention to switch the control mode so as to switch to the second control mode, for example, when the rehabilitation training device 10 works in the first control mode for a preset period of time After that, it automatically switches to the second control mode, and the preset duration can be 2 minutes, 5 minutes, 30 minutes, 60 minutes, etc., and for example, when the rehabilitation training device 10 moves to a preset fixed position according to the preset walking track, or After the preset training scene, it will automatically switch to the second control mode. Corresponding settings may be made according to the conditions or needs of the training object, or the setting method of the control mode, etc., which are not specifically limited here. Therefore, by controlling the rehabilitation training device 10 in different modes, such as straight-going control mode or turning control mode, different rehabilitation training needs of the training object, such as straight-going rehabilitation training or turning rehabilitation training, can be met.

After determining the different control modes of the rehabilitation training device 10 , in order to meet the different rehabilitation training needs of different training objects, different exercise strategies can be determined based on the different control modes. Specifically, the training object parameters and training parameters can be obtained to obtain the target parameters, and based on the first control mode, combined with the target parameters, the first exercise strategy can be determined; and/or based on the second control mode, combined with the target parameters, the second exercise strategy can be determined .

Among them, the training parameters can be set according to the gait rules of normal people when walking as a standard, and of course the training parameters can also be set according to the training needs of the training objects. For example, setting the training parameters may be setting one or more parameters in the range of motion angles, walking strides, and walking paces of hip joints, knee joints, or ankle joints.

Among them, the training object parameters can include the limb length of the training object, and the limb length can include one or more items of thigh length, calf length, and ankle height, at least the position or relative position of the hip joint, knee joint, and ankle joint of the training object can be confirmed That's it. Further, the training object parameters can also include one or more of height, weight, waist circumference, pelvic width, thigh width, calf width, foot length, foot width, and ankle width, which can be used to calculate dynamic parameters, such as estimating The mass, center of mass, inertia, etc. of each limb can also optimize gait training. The parameters of the training object can be selected according to actual requirements or control requirements, or selected control models, algorithms, etc., which are not limited in this application.

Input the obtained training object parameters and the target parameters obtained by the training parameters into the pre-trained gait design model to generate a motion strategy suitable for the training object and satisfying the training parameters, that is, the hip joint assembly 201, the knee joint assembly 203 and the ankle joint component 205, the motion time series relationship or the motion phase sequence relationship, the motion time series relationship or the motion phase sequence relationship includes the hip joint component 201, the knee joint component 203 and the ankle joint component 205 in time The angular relationship or torque relationship on the sequence or phase sequence, such as the angular relationship or torque relationship between the hip joint assembly 201, the knee joint assembly 203 and the ankle joint assembly 205 at each moment or each phase, so as to determine the corresponding target parameters The exercise strategy, and input the corresponding exercise strategy into the gait control model, and control the driving component 13 to drive the training object to perform rehabilitation training.

It should be noted that, since the hip joint assembly 201 has a transverse plane degree of freedom, when designing the sagittal plane angle relationship among the hip joint assembly 201, the knee joint assembly 203 and the ankle joint assembly 205 in the gait design model, it can be By adjusting the angular velocity and/or angular acceleration of the joints to optimize the stress of each joint, the internal force becomes smaller and the movement is more relaxed. It can follow the training object's straight line or turning intention to achieve the training object's straight line or turning rehabilitation training. , making rehabilitation training more in line with walking needs. Optionally, since the hip joint assembly 201 has a transverse plane degree of freedom, when designing the sagittal plane angle relationship between the hip joint assembly 201, the knee joint assembly 203 and the ankle joint assembly 205 in the gait design model, it is also possible to The angle relationship of the cross-section of the hip joint assembly 201 is designed to better drive the training object to perform straight-line or turning training.

It should be noted that the gait design model can generate motion strategies suitable for different training object parameters and under different training parameter requirements, that is, the gait design model can generate training objects of different heights and different weights. Motion strategies for angular range of motion, walking stride, and walking pace requirements.

Specifically, the gait design model may be a gait trajectory planning model combined with a kinematics model and/or a dynamics model. According to the input training object parameters, based on the statistical laws of the human body database and/or the parameter identification data of the rehabilitation training equipment, calculate the dynamic parameters of the man-machine system, including one of the limb length, mass, center of mass position and moment of inertia, etc. or more; then calculate the target parameters according to the input training parameters, including one or more training target parameters in the range of motion angle of the hip joint, knee joint or ankle joint, walking stride, walking pace, etc., and can also include One or more motion target parameters in walking stride frequency, foot lift height, biped and/or waist motion position, walking phase law, etc., may also include dynamic target parameters such as joint torque range. Construct a kinematic model to calculate the angle, angular velocity, angular acceleration, walking stride, and walking speed of each joint, and/or construct a dynamic model to calculate the torque of each joint; finally, calculate the hip joint, knee The temporal relationship or phase relationship between joints and ankle joints, that is, the motion strategy.

Of course, in order to further optimize the obtained motion strategy, since the gait with the least walking consumption conforms to the characteristics of human motion, it can be judged whether the designed motion strategy is up to standard by walking consumption, and can also be judged by the average torque value and maximum acceleration. The values of the above parameters are adjusted to be small to realize the optimization of the gait design model.

In addition, the manner of determining the motion strategy through the target parameters is not limited to the above-mentioned gait design model, and may also be based on a gait database or an artificial intelligence learning model. Here, the gait database refers to invoking a motion strategy matching the target parameters in the database stored in the memory of the rehabilitation training device 10 according to the target parameters. Here, the artificial intelligence learning model means that the target parameters are input into the rehabilitation training device 10 as sample data, and through the artificial intelligence learning function of the rehabilitation training device 10 , a motion strategy matching the target parameters is obtained through multiple times of artificial intelligence learning. The specific acquisition method can be set according to the actual situation, and is not specifically limited here.

After determining the different motion strategies of the rehabilitation training device 10 in different control modes, the driving components are controlled through different motion strategies to drive the training object to perform rehabilitation training in different motion modes.

Specifically, based on the determined motion strategy, the gait control model is used to control the movement of the hip joints, knee joints and ankle joints according to the sequence relationship or phase relationship, so as to drive the training object to perform rehabilitation training according to the movement mode corresponding to the movement strategy. After the exercise strategy corresponding to the target parameters is determined, the corresponding exercise strategy is input into the gait control model, and the driving component 13 is controlled to drive the training object to perform rehabilitation training. The gait control model can be provided in the drive assembly 13 . Specifically, joint motion sensors and joint force sensors are set at the corresponding positions of the hip joint assembly 201, knee joint assembly 203, and ankle joint assembly 205 of the rehabilitation training device 10, and the joint motion sensors and joint force sensors collect data periodically, and the The collected data is processed by filtering, op-amp and data signal conversion, and the processed data is input into the gait control model to calculate the control signals of each joint. By performing feedback closed-loop control on the time-series relationship or phase-sequence relationship of each joint, the movement of the dynamic parts of the hip joint, knee joint and ankle joint is controlled respectively, so as to realize the control of the drive assembly 13, and then the drive assembly 13 drives The training object carries out rehabilitation training according to the exercise method corresponding to the exercise strategy. The gait control model may also be provided in the controller 14 . Specifically, the data is periodically collected by joint motion sensors and joint force sensors, and the collected data is transmitted to the controller 14. The controller 14 uses the gait control model to calculate the control signals of each joint, and controls the drive assembly 13 to drive The training object carries out rehabilitation training according to the exercise method corresponding to the exercise strategy.

In addition, the rehabilitation training device 10 may include one or more gait design models, and according to different control modes, target parameters may be input into different gait design models to determine different exercise strategies; it may also be based on different control modes, Input the target parameters into the same gait design model to determine different locomotion strategies. For example, based on the first control mode such as the straight-going control mode, the target parameters can be input into the straight-going gait design model, and the first motion strategy corresponding to the target parameters in the straight-going gait design model can be determined, and the training can be obtained through the first motion strategy The first motion mode corresponding to the object going straight, so that the driving component 13 is controlled based on the first motion strategy to drive the training object to perform rehabilitation training according to the first motion mode; based on the second control mode such as the turning control mode, the target parameters can be input into the turning gait In the design model, determine the second motion strategy corresponding to the target parameter in the turning gait design model, and obtain the second motion mode corresponding to the training object's turn through the second motion strategy, so as to control the driving component 13 to drive the training object based on the second motion strategy Carry out rehabilitation training according to the second movement mode; for another example, the rehabilitation training equipment 10 only includes a gait design model, and the target parameters can be input into the gait design model, and based on the first control mode such as the straight control mode, determine the first The first exercise strategy corresponding to the control mode, and determine the first exercise method corresponding to the training object going straight according to the first exercise strategy; or based on the second control mode such as the turning control mode, determine the second exercise strategy corresponding to the second control mode, and According to the second exercise strategy, the second exercise mode corresponding to the turning of the training object is determined.

Specifically, when the gait design model is a gait trajectory planning model combined with a kinematics model and/or a dynamics model, the rehabilitation training device 10 can input target parameters into the gait trajectory corresponding to the control mode based on different control modes In the planning model, the motion strategies corresponding to different control modes combined with target parameters are calculated. For example, based on the first control mode such as the straight-running control mode, the target parameters are input into the straight-walking gait trajectory planning model, and the distance between the hip joint assembly 201, the knee joint assembly 203 and the ankle joint assembly 205 according to the straight-running motion mode is calculated. Motion time sequence relationship or motion phase sequence relationship, thereby determining the first motion strategy; based on the second control mode such as the turning control mode, input the target parameters into the turning gait trajectory planning model, and calculate the hip joint assembly 201, knee joint assembly 203 and the ankle joint component 205 are in a motion time series relationship or a motion phase sequence relationship according to the turning motion mode, so as to determine the second motion strategy.

Specifically, when the gait design model is based on the gait database, the database stored in the memory of the rehabilitation training device 10 may include relational data of different motion strategies corresponding to different control modes. For example, based on the first control mode such as the straight-ahead control mode and target parameters, the first motion strategy that matches it can be found in the straight-ahead gait database, and the first motion method of the training object can be determined according to the first motion strategy; it can be based on For the second control mode, such as the turning control mode and the target parameters, the second movement strategy matching it is found in the turning gait database, and the second movement mode of the training object is determined according to the second movement strategy.

Specifically, when the gait design model is based on the artificial intelligence learning model, the target parameters are input into the rehabilitation training device 10 as sample data, and through the artificial intelligence learning function of the rehabilitation training device 10, the target parameters are obtained through multiple times of artificial intelligence learning. Matching sports strategy. For example, the first control mode, such as the straight-going control mode, and the target parameters are used as sample data for learning, and the first motion strategy corresponding to the straight-going control mode and the target parameters and the first motion mode, such as the straight motion mode, are obtained through artificial intelligence learning; The second control mode, such as the turning control mode, and the target parameters are used as sample data for learning, and the second motion strategy and the second motion mode, such as the turning motion mode, corresponding to the turning control mode and target parameters are obtained through multiple artificial intelligence learning.

In addition, in order to meet different walking abilities corresponding to different training object parameters and different training requirements of the same training object at different training stages, the first control mode and the second control mode can be divided into multiple sub-modes. Specifically, the first control mode may include one or more first control sub-modes, wherein different target parameters correspond to different first control sub-modes, based on the first control sub-mode, combined with the corresponding target parameters, determine the corresponding The first motion sub-strategy; the second control mode may include one or more second control sub-modes, wherein different target parameters correspond to different second control sub-modes, based on the second control sub-mode, combined with the corresponding target parameters, A corresponding second motion sub-strategy is determined. That is, without changing the control mode of the rehabilitation training device 10, by changing the parameters of the training object and the different target parameters obtained from the training parameters, the output of the drive component 13 in the rehabilitation training device 10 can be adjusted, thereby adjusting the output of the drive component 13. Drive the walking gait of the training object to obtain a control mode that meets the different walking abilities corresponding to the parameters of different training objects and the different training requirements of the same training object in different training stages.

Specifically, the controller 14 may update the target parameters according to the received parameter modification instruction; update the corresponding first control sub-strategy according to the updated target parameters and the currently selected first control sub-mode or second control sub-mode Or the second control sub-strategy; according to the updated first control sub-strategy or the second control sub-strategy, the driving component 13 is controlled to drive the training object to perform rehabilitation training.

For example, when the same training object has been trained for 30 minutes in the first control sub-mode, such as the straight-going control sub-mode, and the user thinks that the current training of the rehabilitation training device 10 cannot meet the training requirements, a parameter modification instruction can be generated according to the new training requirements of the training object, Thereby modifying the training parameters, obtaining the updated target parameters by modifying the training parameters, changing the first control sub-mode of the rehabilitation training device 10, and obtaining the updated first motion sub-strategy according to the updated first control sub-mode, according to The updated first exercise sub-strategy controls the driving component 13 to drive the training object to perform rehabilitation training, so as to meet the training requirements of the training object in the current state and improve the effect of the training object's rehabilitation training.

For another example, when a new training object uses the rehabilitation training device 10 to carry out rehabilitation training under the first control sub-mode such as the straight-going control sub-mode, the system of the rehabilitation training device 10 still retains the straight-going control sub-mode corresponding to the previous training object. The target parameters of the pattern, because the training object parameters and/or training parameters of the previous training object and the new training object are different, the corresponding target parameters are different, so that the first motion sub-strategy corresponding to the two is different, and the previous training object’s The first exercise sub-strategy may not be applicable to the current training object. Therefore, in order to adapt to the current training object, the first exercise sub-strategy can be updated according to the current training object parameters and/or training parameters. According to the updated first The control sub-mode obtains the updated first exercise sub-strategy, and the driving component 13 is controlled according to the updated first exercise sub-strategy to drive the current training object to perform rehabilitation training to meet the training needs of the new training object.

As can be seen from the above, in this embodiment, the controller 14 determines the first control mode, determines the first exercise strategy based on the first control mode, and controls the driving component according to the first exercise strategy to drive the training object to carry out rehabilitation training according to the first exercise method. The received mode switching instruction determines the second control mode, determines the second exercise strategy based on the second control mode, and controls the driving component according to the second exercise strategy to drive the training object to perform rehabilitation training in the second exercise mode. By using different control modes for the rehabilitation training equipment 10, different exercise strategies are determined, and according to different exercise strategies, the training objects are driven to carry out rehabilitation training according to different exercise modes, which can meet the different rehabilitation training needs of different training objects, such as meeting the training requirements. The object realizes straight line rehabilitation training or turning rehabilitation training, etc.

In addition, the embodiment of the present application also provides another rehabilitation training device, please refer to FIG. 3 , which is a structural block diagram of another rehabilitation training device provided in the embodiment of the present application. Wherein, the rehabilitation training device 20 may include a lower limb activity component 22 , a drive component 23 and a controller 24 . The structure and function of the lower limbs movable assembly 22 and the driving assembly 23 are the same as those of the lower limbs movable assembly 12 and the driving assembly 13 , and details are not repeated here. The difference between the rehabilitation training device 20 and the aforementioned rehabilitation training device 10 lies in the way of determining the control mode, and the first control mode mentioned below is not related to the first control mode in the previous embodiment.

The controller 24 may be configured to: select a first control mode from preset control modes according to the received first mode selection instruction; determine a first motion strategy based on the first control mode; and control according to the first motion strategy. The driving assembly 23 drives the training object to perform rehabilitation training according to the first exercise mode. Wherein, the preset control mode includes a straight-going control mode and a turning control mode.

Specifically, when the rehabilitation training device 20 is powered on, it receives a first mode selection command, and according to the first mode selection command, the straight-going control mode or the turning control mode can be selected as the first control mode from the preset control modes. Wherein, the first mode selection instruction may be the active operation control of the training object and/or the user, and the active operation control method may be physical button operation, joystick operation, touch screen operation, etc. For example, the straight-going control mode and the turning control mode correspond to different physical buttons, and the training object and/or the user can select the straight-going control mode from the preset control modes by touching the physical button corresponding to the straight-going control mode or touch the turning control mode. The corresponding physical button selects the turn control mode from the preset control modes; for example, the training object and/or the user can select the straight control mode by shaking the joystick to the position corresponding to the straight control mode or the joystick to the corresponding position of the turn control mode. Position selects turn control mode. Therefore, by selecting different control modes for the rehabilitation training device 20, such as straight-going control mode or turning control mode, different rehabilitation training needs of the training object, such as straight-going rehabilitation training or turning rehabilitation training, can be met. Of course, according to actual needs, different preset control modes may also be preset or stored for different parameters of the target object and/or training parameters. Further, if the first control mode is a turning control mode, the first control mode may be determined according to turning parameters, such as turning angle, steering speed, and the like.

After the first control mode of the rehabilitation training device 20 is determined, in order to meet different rehabilitation training needs of different training objects, a first exercise strategy can be determined based on the first control mode. Specifically, the training object parameter and the training parameter are acquired to obtain the target parameter; based on the first control mode and combined with the target parameter, the first exercise strategy is determined.

In addition, in order to meet different walking abilities corresponding to different training object parameters and different training requirements of the same training object at different training stages, the first control mode can be divided into multiple sub-modes. Specifically, the first control mode may include one or more different first control sub-modes, wherein different target parameters correspond to different first control sub-modes, based on the first control sub-mode, combined with the corresponding target parameters, determine The first movement sub-strategy. That is, under the premise of not changing the control mode of the rehabilitation training device 20, the output of the driving component 23 in the rehabilitation training device 20 can be adjusted by changing the training object parameters and different target parameters obtained by the training parameters, thereby adjusting the output of the driving component 23. The gait of the training object is driven to obtain a control mode that meets different walking abilities corresponding to different training object parameters and different training requirements of the same training object at different training stages.

Further, the embodiment of the present application also provides a rehabilitation training control method, please refer to FIG. 4 , which is a schematic flowchart of the rehabilitation training control method provided in the embodiment of the present application. Wherein, the rehabilitation training control method is applied to rehabilitation training equipment, and the rehabilitation training equipment is used to provide lower limb rehabilitation training for training objects. The concrete steps of this rehabilitation training control method are as follows:

301. Determine a first control mode.

In this embodiment, when the rehabilitation training device is powered on, the first control mode is first determined, and the first control mode may be a straight-going control mode or a turning control mode. Among them, an initial control mode can be selected as the first control mode through the training object and/or the user, such as medical staff who assist the training object in rehabilitation training, and the method adopted can be physical key operation, rocker operation, touch screen setting, etc. . For example, the user determines the first control mode by touching the mode switch button, or the user determines the first control mode by shaking the joystick to a position corresponding to the first control mode. In addition, the control mode can also be selected through the system preset rules of the rehabilitation training equipment. For example, the first control mode is selected by default after the rehabilitation training equipment is powered on, or the first control mode is selected by default according to the training object. Further, if the first control mode If the mode is a turning control mode, the first control mode may be determined according to turning parameters such as turning angle and steering speed.

302. Based on the first control mode, determine a first exercise strategy, and control the rehabilitation training device according to the first exercise strategy to provide lower limb rehabilitation training for the training object according to the first exercise mode.

After the first control mode of the rehabilitation training device is determined, a first exercise strategy can be determined based on the first control mode. Specifically, the training object parameter and the training parameter are obtained to obtain the target parameter, and based on the first control mode and combined with the target parameter, the first exercise strategy is determined.

Among them, the training parameters can be set according to the gait rules of normal people when walking as a standard, and of course the training parameters can also be set according to the training needs of the training objects. For example, setting the training parameters may be setting one or more parameters in the range of motion angles, walking strides, and walking paces of hip joints, knee joints, or ankle joints.

Among them, the training object parameters can include the limb length of the training object, and the limb length can include one or more items of thigh length, calf length, and ankle height, at least the position or relative position of the hip joint, knee joint, and ankle joint of the training object can be confirmed That's it. Further, the training object parameters can also include one or more of height, weight, waist circumference, pelvic width, thigh width, calf width, foot length, foot width, and ankle width, which can be used to calculate dynamic parameters, such as estimating The mass, center of mass, inertia, etc. of each limb can also optimize gait training. The parameters of the training object can be selected according to actual requirements or control requirements, or selected control models, algorithms, etc., which are not limited in this application.

Input the obtained training object parameters and the target parameters obtained by the training parameters into the pre-trained gait design model, and generate a motion strategy suitable for the training object and satisfying the target parameters, that is, hip joint components, knee joint components and Motion time series relationship or motion phase sequence relationship between ankle joint components, the motion time series relationship or motion phase sequence relationship includes the time series or phase sequence relationship between hip joint components, knee joint components and ankle joint components Angle relationship or torque relationship, such as the angle relationship or torque relationship between the hip joint assembly, knee joint assembly and ankle joint assembly at each moment or each phase, so as to determine the motion strategy corresponding to the target parameters, and the corresponding motion The strategy is input into the gait control model, and the rehabilitation training equipment is controlled to provide lower limb rehabilitation training for the training object.

It should be noted that, since the hip joint component has a degree of freedom in the transverse plane, when designing the sagittal plane angle relationship among the hip joint component, knee joint component and ankle joint component in the gait design model, the joint angular velocity can be adjusted And/or angular acceleration to optimize the stress of each joint, so that the internal force becomes smaller and the movement is more relaxed. It can follow the training object's straight line or turn intention to perform follow-up actions, so as to realize the training object's straight line or turn rehabilitation training, making rehabilitation training More in line with walking needs. Optionally, since the hip joint component has a degree of freedom in the transverse plane, when designing the sagittal plane angle relationship among the hip joint component, knee joint component and ankle joint component in the gait design model, the hip joint component can also be designed The angle relationship of the cross-section can better drive the training object to go straight or turn.

It should be noted that the gait design model can generate motion strategies suitable for different training object parameters and under different training parameter requirements, that is, the gait design model can generate training objects of different heights and different weights. Motion strategies for angular range of motion, walking stride, and walking pace requirements.

Specifically, the gait design model may be a gait trajectory planning model combined with a kinematics model and/or a dynamics model. According to the input training object parameters, based on the statistical laws of the human body database and/or the parameter identification data of the rehabilitation training equipment, calculate the dynamic parameters of the man-machine system, including one of the limb length, mass, center of mass position and moment of inertia, etc. or more; then calculate the target parameters according to the input training parameters, including one or more training target parameters in the range of motion angle of the hip joint, knee joint or ankle joint, walking stride, walking pace, etc., and can also include One or more motion target parameters in walking stride frequency, foot lift height, biped and/or waist motion position, walking phase law, etc., may also include dynamic target parameters such as joint torque range. Construct a kinematic model to calculate the angle, angular velocity, angular acceleration, walking stride, and walking speed of each joint, and/or construct a dynamic model to calculate the torque of each joint; finally, calculate the hip joint, knee The temporal relationship or phase relationship between joints and ankle joints, that is, the motion strategy.

Of course, in order to further optimize the obtained motion strategy, since the gait with the least walking consumption conforms to the characteristics of human motion, it can be judged whether the designed motion strategy is up to standard by walking consumption, and can also be judged by the average torque value and maximum acceleration. The values of the above parameters are adjusted to be small to realize the optimization of the gait design model.

In addition, the manner of determining the motion strategy through the target parameters is not limited to the above-mentioned gait design model, and may also be based on a gait database or an artificial intelligence learning model. Here, the gait database refers to invoking a motion strategy matching the target parameters in the database stored in the memory of the rehabilitation training device according to the target parameters. Here, the artificial intelligence learning model refers to inputting the target parameters as sample data into the rehabilitation training equipment, and through the artificial intelligence learning function of the rehabilitation training equipment, a motion strategy matching the target parameters is obtained through multiple artificial intelligence learning. The specific acquisition method can be set according to the actual situation, and is not specifically limited here.

In addition, in order to meet different walking abilities corresponding to different training object parameters and different training requirements of the same training object at different training stages, the first control mode can be divided into multiple sub-modes. Specifically, the first control mode may include one or more first control sub-modes, wherein different target parameters correspond to different first control sub-modes, based on the first control sub-mode, combined with the corresponding target parameters, determine the corresponding First exercise strategy. That is to say, on the premise of not changing the control mode of the rehabilitation training equipment, by changing the parameters of the training object and the different target parameters obtained from the training parameters, the walking gait of the training object driven by the rehabilitation training equipment can be adjusted to obtain different training conditions. Control modes for different walking abilities corresponding to object parameters and different training requirements of the same training object at different training stages.

Specifically, the target parameter can be updated according to the received parameter modification instruction; the corresponding first control sub-strategy can be updated according to the updated target parameter and the currently selected first control sub-mode; according to the updated first control sub-mode The strategy control rehabilitation training equipment provides lower limb rehabilitation training for the training object.

For example, when the same training object has been trained for 30 minutes in the first control sub-mode, such as the straight-going control sub-mode, and the user thinks that the current training cannot meet the training requirements, a parameter modification instruction can be generated according to the new training requirements of the training object, thereby modifying the training parameters. The updated target parameters are obtained by modifying the training parameters, the first control sub-mode of the rehabilitation training equipment is changed, the updated first motion sub-strategy is obtained according to the updated first control sub-mode, and the control is performed according to the first motion sub-strategy Rehabilitation training equipment to meet the training needs of the training object in the current state and improve the rehabilitation training experience of the training object.

For another example, when a new training object uses the rehabilitation training equipment to carry out rehabilitation training under the first control sub-mode such as the straight-going control sub-mode, the rehabilitation training equipment system still saves the data of the straight-going control sub-mode corresponding to the previous training object. Target parameter, because the training object parameters and/or training parameters of the previous training object and the new training object are different, the corresponding target parameters are different, so that the first motion sub-strategy corresponding to the two is different, and the first motion sub-strategy of the previous training object is different. The exercise sub-strategy may not be applicable to the current training object. Therefore, in order to adapt to the current training object, the first exercise sub-strategy can be updated according to the current training object parameters and/or training parameters. According to the updated first exercise The sub-strategy controls the rehabilitation training equipment to drive the current training object to carry out rehabilitation training to meet the training needs of the new training object.

303. Determine a second control mode according to the received mode switching instruction.

When the rehabilitation training equipment drives the training object to carry out rehabilitation training according to the first exercise mode in the first control mode, if the mode switching instruction is received, the second control mode is determined according to the received mode switching instruction, and the second control mode can be It is the turning control mode or the straight-going control mode. Among them, the mode switching instruction can be the active operation control of the training object and/or the user, and the active operation control method can be physical button operation, joystick operation, touch screen input, detection of the training object's intention, or according to preset switching rules, etc. The specific implementation manner is as described above and will not be repeated here. Therefore, by controlling the rehabilitation training equipment in different modes, such as straight-going control mode or turning control mode, different rehabilitation training needs of the training object, such as straight-going rehabilitation training or turning rehabilitation training, can be met.

304. Based on the second control mode, determine a second exercise strategy, and control the rehabilitation training device according to the second exercise strategy to provide lower limb rehabilitation training for the training object according to the second exercise mode.

After the second control mode of the rehabilitation training device is determined, a second exercise strategy can be determined based on the second control mode. Specifically, the training object parameter and the training parameter are obtained to obtain the target parameter, and based on the second control mode and combined with the target parameter, the second exercise strategy is determined.

The specific implementation manner of determining the motion strategy through the control mode is as described in 302 above, and will not be repeated here.

It should be noted that the rehabilitation training equipment may include one or more gait design models, and target parameters may be input into different gait design models to determine different motion strategies according to different control modes; In this mode, the target parameters are input into the same gait design model to determine different movement strategies. For example, based on the first control mode such as the straight-going control mode, the target parameters can be input into the straight-going gait design model, and the first motion strategy corresponding to the target parameters in the straight-going gait design model can be determined, and the training can be obtained through the first motion strategy The first movement mode corresponding to the object goes straight, so that the rehabilitation training equipment is controlled based on the first movement strategy to provide lower limb rehabilitation training for the training object according to the first movement mode; based on the second control mode such as the turning control mode, the target parameters can be input into the turning step In the gait design model, determine the second motion strategy corresponding to the target parameter in the turning gait design model, and obtain the second motion mode corresponding to the training object's turn through the second motion strategy, so as to control the rehabilitation training equipment for training based on the second motion strategy. The object provides lower limb rehabilitation training according to the second movement mode; for another example, the rehabilitation training equipment only includes a gait design model, and the target parameters can be input into the gait design model, and based on the first control mode such as the straight control mode, the second control mode is determined. A first exercise strategy corresponding to a control mode, and determine the first exercise method corresponding to the training object going straight according to the first exercise strategy; or based on a second control mode such as a turning control mode, determine a second exercise strategy corresponding to the second control mode, And according to the second exercise strategy, the second exercise mode corresponding to the training object's turning is determined.

Specifically, when the gait design model is a gait trajectory planning model combined with a kinematics model and/or a dynamics model, the rehabilitation training device can input target parameters into the gait trajectory planning corresponding to the control mode based on different control modes In the model, the motion strategies corresponding to different control modes combined with target parameters are calculated. For example, based on the first control mode such as the straight-going control mode, the target parameters are input into the straight-going gait trajectory planning model, and the motion time series of the hip joint component, the knee joint component and the ankle joint component moving in the straight-going motion mode are calculated relationship or motion phase sequence relationship, so as to determine the first motion strategy; based on the second control mode such as the turning control mode, input the target parameters into the turning gait trajectory planning model, and calculate the hip joint components, knee joint components and ankle joint components The motion time sequence relationship or the motion phase sequence relationship between them according to the turning motion mode, so as to determine the second motion strategy.

Specifically, when the gait design model is based on the gait database, the database stored in the memory of the rehabilitation training device may include relational data of different motion strategies corresponding to different control modes. For example, based on the first control mode such as the straight-ahead control mode and target parameters, the first motion strategy that matches it can be found in the straight-ahead gait database, and the first motion method of the training object can be determined according to the first motion strategy; it can be based on For the second control mode, such as the turning control mode and the target parameters, the second movement strategy matching it is found in the turning gait database, and the second movement mode of the training object is determined according to the second movement strategy.

Specifically, when the gait design model is based on the artificial intelligence learning model, the target parameters are input into the rehabilitation training equipment as sample data, and the artificial intelligence learning function of the rehabilitation training equipment is used to obtain the matching target parameters through multiple artificial intelligence learning. sports strategy. For example, the first control mode, such as the straight-going control mode, and the target parameters are used as sample data for learning, and the first motion strategy corresponding to the straight-going control mode and the target parameters and the first motion mode, such as the straight motion mode, are obtained through artificial intelligence learning; The second control mode, such as the turning control mode, and the target parameters are used as sample data for learning, and the second motion strategy and the second motion mode, such as the turning motion mode, corresponding to the turning control mode and target parameters are obtained through multiple artificial intelligence learning.

In addition, in order to meet different walking abilities corresponding to different training object parameters and different training requirements of the same training object at different training stages, the second control mode can be divided into multiple sub-modes. Specifically, the second control mode may include one or more second control sub-modes, wherein different target parameters correspond to different second control sub-modes, based on the second control sub-mode, combined with the corresponding target parameters, the second sub-movement strategy. That is to say, on the premise of not changing the control mode of the rehabilitation training equipment, by changing the parameters of the training object and the different target parameters obtained from the training parameters, the walking gait of the training object driven by the rehabilitation training equipment can be adjusted to obtain different training conditions. Control modes for different walking abilities corresponding to object parameters and different training requirements of the same training object at different training stages.

Specifically, the target parameter can be updated according to the received parameter modification instruction; the corresponding second control sub-strategy can be updated according to the updated target parameter and the currently selected second control sub-mode; according to the updated second control sub-mode The strategy control rehabilitation training equipment provides lower limb rehabilitation training for the training object.

For example, when the same training object has been trained for 30 minutes in the second control sub-mode, such as the turn control sub-mode, and the user believes that the current training cannot meet the training requirements, a parameter modification instruction can be generated according to the new training requirements of the training object, thereby modifying the training parameters. The updated target parameters are obtained by modifying the training parameters, and the rehabilitation training equipment is controlled according to the second motion sub-strategy to meet the training needs of the training objects in the current state and improve the rehabilitation training experience of the training objects.

For another example, when a new training object uses the rehabilitation training equipment to carry out rehabilitation training under the second control sub-mode such as the turning control sub-mode, the rehabilitation training equipment system still saves the information of the turning control sub-mode corresponding to the previous training object. Target parameters, because the training object parameters and/or training parameters of the previous training object and the new training object are different, the corresponding target parameters are different, so that the second motion sub-strategy corresponding to the two is different, and the second motion sub-strategy of the previous training object is different. The exercise sub-strategy may not be applicable to the current training object. Therefore, in order to adapt to the current training object, the second exercise sub-strategy can be updated according to the current training object parameters and/or training parameters. According to the updated second exercise The sub-strategy controls the rehabilitation training equipment to drive the current training object to carry out rehabilitation training to meet the training needs of the new training object.

As can be seen from the above, this embodiment determines the first control mode, determines the first exercise strategy based on the first control mode, and controls the rehabilitation training equipment to provide lower limb rehabilitation training for the training object according to the first exercise method according to the first exercise strategy. According to the received The received mode switching instruction determines the second control mode, determines the second exercise strategy based on the second control mode, and controls the rehabilitation training equipment to provide lower limb rehabilitation training for the training object according to the second exercise mode according to the second exercise strategy. By using different control modes for the rehabilitation training equipment, different exercise strategies are determined, and the rehabilitation training equipment is controlled according to different exercise strategies to provide lower limb rehabilitation training for the training objects according to different exercise methods, which can meet the different rehabilitation training needs of different training objects , such as satisfying the training object to realize straight line rehabilitation training or turning rehabilitation training.

In addition, the embodiment of the present application also provides another rehabilitation training control method, please refer to FIG. 5 , which is a schematic flowchart of another rehabilitation training control method provided in the embodiment of the present application. Wherein, the rehabilitation training control method is applied to rehabilitation training equipment, and the rehabilitation training equipment is used to provide lower limb rehabilitation training for training objects. The concrete steps of this rehabilitation training control method are as follows:

401. Select a first control mode from preset control modes according to a received first mode selection instruction.

In this embodiment, when the rehabilitation training device is powered on, it receives a first mode selection instruction, and can select a straight-going control mode or a turning control mode as the first control mode from the preset control modes according to the first mode selection instruction. Wherein, the first mode selection instruction can be the active operation control of the training object and/or the user, and the active operation control method can be physical button operation, joystick operation, touch screen input, detection of the training object intention, etc. Let me repeat. Therefore, by selecting different control modes for the rehabilitation training equipment, such as straight-going control mode or turning control mode, different rehabilitation training needs of the training object, such as straight-going rehabilitation training or turning rehabilitation training, can be met. Of course, according to actual needs, different preset control modes may also be preset or stored for different parameters of the target object and/or training parameters. Further, if the first control mode is a turning control mode, the first control mode may be determined according to turning parameters, such as turning angle, steering speed, and the like.

402. Determine a first exercise strategy based on the first control mode.

After determining the first control mode of the rehabilitation training equipment, in order to meet different training demands of different training objects, the first exercise strategy can be determined based on the first control mode. Specifically, the training object parameter and the training parameter are acquired to obtain the target parameter; based on the first control mode and combined with the target parameter, the first exercise strategy is determined.

In addition, in order to meet different walking abilities corresponding to different training object parameters and different training requirements of the same training object at different training stages, the first control mode can be divided into multiple sub-modes. Specifically, the first control mode includes one or more different first control sub-modes, wherein different target parameters correspond to different first control sub-modes, based on the first control sub-mode, combined with the corresponding target parameters, determine the first A sports sub-strategy. That is, on the premise of not changing the control mode of the rehabilitation training equipment, by changing the parameters of the training object and the different target parameters obtained by the training parameters, the gait training of the training object driven by the rehabilitation training equipment can be adjusted to obtain different training conditions. Control modes for different walking abilities corresponding to object parameters and different training requirements of the same training object at different training stages.

403. According to the first exercise strategy, control the rehabilitation training device to provide lower limb rehabilitation training for the training object according to the first exercise mode.

Wherein, if the first movement strategy is the straight movement strategy corresponding to the straight movement control mode, then control the rehabilitation training equipment to provide straight movement rehabilitation training for the training object; if the first movement strategy is the turning movement strategy corresponding to the turning control mode, then control the rehabilitation training equipment Provide turning rehabilitation training for training subjects.

The embodiment of the present application also provides a computer-readable storage medium, which stores a plurality of computer programs that can be loaded by a processor to execute any of the rehabilitation training control methods provided in the embodiments of the present application. step. Wherein, the storage medium may include: a read only memory (ROM, Read Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and other media capable of storing program codes.

Because the computer program stored in the storage medium can execute the steps in any rehabilitation training control method provided in the embodiments of the present application, therefore, it can realize any rehabilitation training control method provided in the embodiments of the present application. For the beneficial effects that can be achieved, see the previous embodiments for details, and will not be repeated here.

The rehabilitation training equipment and the rehabilitation training control method provided by the embodiments of the present application have been introduced in detail above. The principles and implementation methods of the application have been explained by using specific examples in this paper. The descriptions of the above embodiments are only used to help understand the present invention. The method of application and its core idea; at the same time, for those skilled in the art, according to the idea of this application, there will be changes in the specific implementation and application scope. limits.

Claims (13)

1. A kind of rehabilitation training equipment, it is characterized in that, described rehabilitation training equipment comprises lower limbs activity assembly, drive assembly and controller, described drive assembly drives described lower limbs activity assembly to drive training object to carry out under the control of described controller rehabilitation training, the controller is configured to: determining a first control mode; Based on the first control mode, determine a first exercise strategy, and control the driving component according to the first exercise strategy to drive the training object to perform rehabilitation training according to the first exercise mode; determining a second control mode according to the received mode switching instruction; Based on the second control mode, a second exercise strategy is determined, and the drive assembly is controlled according to the second exercise strategy to drive the training object to perform rehabilitation training in a second exercise manner. 2. A kind of rehabilitation training equipment, it is characterized in that, described rehabilitation training equipment comprises lower limbs activity assembly, drive assembly and controller, described drive assembly drives described lower limbs activity assembly to drive training object to carry out under the control of described controller. rehabilitation training, the controller is configured to: selecting a first control mode from preset control modes according to the received first mode selection instruction; determining a first motion strategy based on the first control mode; According to the first exercise strategy, the drive assembly is controlled to drive the training object to perform rehabilitation training in a first exercise mode. 3. The rehabilitation training device according to claim 1 or 2, wherein the controller is further configured to: Acquiring the training object parameters and training parameters to obtain target parameters; and Based on the first control mode, in combination with the target parameters, determine the first motion strategy; and/or Based on the second control mode and in combination with the target parameter, the second exercise strategy is determined. 4. The rehabilitation training device according to claim 3, wherein the first control mode comprises one or more first control sub-modes, wherein different target parameters correspond to different first control sub-modes ; Based on the first control sub-pattern and in combination with corresponding target parameters, a corresponding first movement sub-strategy is determined. 5. The rehabilitation training device according to claim 3, wherein the second control mode comprises one or more second control sub-modes, wherein different target parameters correspond to different second control sub-modes ; Based on the second control sub-mode and in combination with corresponding target parameters, a corresponding second movement sub-strategy is determined. 6. The rehabilitation training device according to claim 4 or 5, wherein the controller is further configured to: updating the target parameter according to the received parameter modification instruction; Updating the corresponding first control sub-strategy or second control sub-strategy according to the updated target parameters and the currently selected first control sub-mode or second control sub-mode; According to the updated first control sub-strategy or the second control sub-strategy, the drive assembly is controlled to drive the training object to perform rehabilitation training. 7. A rehabilitation training control method, applied to rehabilitation training equipment, the rehabilitation training equipment is used to provide lower limb rehabilitation training for training objects, it is characterized in that, the rehabilitation training control method comprises: determining a first control mode; Based on the first control mode, determine a first exercise strategy, and control the rehabilitation training device to provide lower limb rehabilitation training for the training object according to the first exercise mode according to the first exercise strategy; determining a second control mode according to the received mode switching instruction; Based on the second control mode, a second exercise strategy is determined, and the rehabilitation training equipment is controlled according to the second exercise strategy to provide lower limb rehabilitation training for the training object according to the second exercise mode. 8. A rehabilitation training control method, applied to rehabilitation training equipment, the rehabilitation training equipment is used to provide lower limb rehabilitation training for training objects, it is characterized in that, the rehabilitation training control method comprises: selecting a first control mode from preset control modes according to the received first mode selection instruction; determining a first motion strategy based on the first control mode; According to the first exercise strategy, the rehabilitation training equipment is controlled to provide lower limb rehabilitation training for the training object according to the first exercise mode. 9. The rehabilitation training control method according to claim 7 or 8, wherein the method further comprises: Acquiring the training object parameters and training parameters to obtain target parameters; and Based on the first control mode, in combination with the target parameters, determine the first motion strategy; and/or Based on the second control mode and in combination with the target parameter, the second exercise strategy is determined. 10. The rehabilitation training control method according to claim 9, wherein the first control mode comprises one or more first control sub-modes, wherein different target parameters correspond to different first control sub-modes model; Based on the first control sub-pattern and in combination with corresponding target parameters, a corresponding first motion sub-strategy is determined. 11. The rehabilitation training control method according to claim 9, wherein the second control mode includes one or more second control sub-modes, wherein different target parameters correspond to different second control sub-modes model; Based on the second control sub-mode and in combination with corresponding target parameters, a corresponding second movement sub-strategy is determined. 12. according to claim 10 or 11 described rehabilitation training control methods, it is characterized in that, described method also comprises: updating the target parameter according to the received parameter modification instruction; Updating the corresponding first control sub-strategy or second control sub-strategy according to the updated target parameters and the currently selected first control sub-mode or second control sub-mode; The rehabilitation training equipment is controlled according to the updated first control sub-strategy or the second control sub-strategy to provide lower limb rehabilitation training for the training object. 13. A computer-readable storage medium, on which a computer program is stored, characterized in that, when the computer program is executed on a computer, the computer is made to execute the method according to any one of claims 7 to 12. Rehabilitation training control methods.