CN112587364B - Sit-stand training robot, sit-stand training method and system for sit-stand training robot - Google Patents

Abstract

Translated fromChinese

本发明公开一种坐站训练机器人、坐站训练机器人的坐站训练方法及系统，涉及康复医疗技术领域，方法包括：获取实际骨盆高度范围；获取患者的当前骨盆高度；根据所述实际骨盆高度范围和所述当前骨盆高度判断患者的姿势；根据所述姿势确定目标运动方向；获取压力值和扭矩值；根据所述压力值和所述扭矩值确定意向运动方向；判断所述目标运动方向和所述意向运动方向是否一致；若是，则控制坐站训练机器人的水平运动机构和升降运动机构按所述目标运动方向运动；若否，则控制坐站训练机器人的水平运动机构和升降运动机构均停止运动。本发明能够实现一位医生同时看护多位患者进行训练，从而提高训练效率。

The invention discloses a sit-stand training robot, a sit-stand training method and a system for the sit-stand training robot, and relates to the technical field of rehabilitation medicine. The method includes: acquiring an actual pelvis height range; acquiring a patient's current pelvic height; range and the current pelvic height to determine the patient's posture; determine the target movement direction according to the posture; obtain the pressure value and torque value; determine the intended movement direction according to the pressure value and the torque value; determine the target movement direction and Whether the intentional movement direction is consistent; if so, control the horizontal movement mechanism and the lifting movement mechanism of the sit-stand training robot to move according to the target movement direction; if not, control the horizontal movement mechanism and the lifting movement mechanism of the sit-stand training robot Stop exercising. The present invention can realize that a doctor can simultaneously care for multiple patients for training, thereby improving the training efficiency.

Description

Sit-stand training robot, sit-stand training method and sit-stand training system of sit-stand training robot

Technical Field

The invention relates to the technical field of rehabilitation medical treatment, in particular to a sitting and standing training robot, a sitting and standing training method and a sitting and standing training system of the sitting and standing training robot.

Background

The cerebral apoplexy is an acute cerebrovascular disease, most of sequelae left by cardiovascular diseases are acute nervous hemiplegia, and the sequelae mainly comprise hemiparalysis and hemiparalysis of single limbs, and the cerebral apoplexy is characterized by wide disease population, high morbidity and high disability rate, and is one of three diseases threatening human health. The number of patients who die of cerebrovascular disease in China each year is about one hundred thirty-six million, the proportion of the aged population above sixty years in China will exceed twenty percent in about 2024, twenty-five percent in about 2030 and thirty-five percent in about 2050, wherein the article predicts that the number of the aged population above eighty years will exceed one hundred million in about 2050, and the higher the proportion of the aged population, the higher the prevalence of cerebral apoplexy is. However, the service level of the rehabilitation professionals is uneven, the recognition degree in the same row is not high, so that China lacks a large number of rehabilitation doctors, the cost of the rehabilitation doctors is very high, and many common families cannot bear the high cost, so that the best rehabilitation time is delayed.

Present tradition is sat-medical instrument of standing function training and is mostly ordinary square stool or seat, during the training, helps by medical personnel, needs the doctor to carry out the rehabilitation training one to one, and this kind of training is inefficient, and can't carry out corresponding regulation according to patient's pelvis height, also is difficult to give patient safety protection measure simultaneously, and the patient easily falls down, also is difficult to do the design training for patient's the seat of standing simultaneously to can't guarantee the quality of training.

Disclosure of Invention

The invention aims to provide a sitting and standing training robot, a sitting and standing training method and a sitting and standing training system of the sitting and standing training robot, which can realize that a doctor can nurse a plurality of patients for training at the same time, thereby improving the training efficiency.

In order to achieve the purpose, the invention provides the following scheme:

a sit-stand training method of a sit-stand training robot, the method comprising:

acquiring an actual pelvic height range; the actual pelvic height range comprises an actual pelvic height range corresponding to a sitting posture of the patient and an actual pelvic height range corresponding to a standing posture of the patient;

obtaining a current pelvic height of the patient;

determining the posture of the patient according to the actual pelvic height range and the current pelvic height; the postures comprise a sitting posture and a standing posture;

determining a target motion direction according to the gesture; the target movement direction comprises a target movement direction of a horizontal movement mechanism and a target movement direction of a lifting movement mechanism; the target movement direction of the horizontal movement mechanism comprises forward and backward; the target movement direction of the lifting movement mechanism comprises upward and downward;

acquiring a pressure value and a torque value;

determining an intended movement direction according to the pressure value and the torque value; the intended direction of motion includes a horizontal intended direction of motion of the patient and a vertical intended direction of motion of the patient; the patient's horizontally-intended direction of motion includes forward and backward; the patient's vertically intended direction of motion comprises up and down;

judging whether the target movement direction is consistent with the intention movement direction;

if so, controlling a horizontal movement mechanism and a lifting movement mechanism of the sitting station training robot to move according to the target movement direction;

if not, the horizontal movement mechanism and the lifting movement mechanism of the sitting station training robot are controlled to stop moving.

Optionally, the determining the posture of the patient according to the actual pelvic height range and the current pelvic height specifically includes:

when the current pelvis height is within the corresponding actual pelvis height range when the patient is in a sitting posture, determining the posture of the patient to be in the sitting posture;

and when the current pelvis height is within the range of the actual pelvis height corresponding to the standing posture of the patient, determining the posture of the patient as the standing posture.

Optionally, the determining a target motion direction according to the gesture specifically includes:

when the posture is a sitting posture, determining that the target movement direction of the horizontal movement mechanism is forward and the target movement direction of the lifting movement mechanism is upward;

and when the posture is a standing posture, determining that the target motion direction of the horizontal motion mechanism is backward and the target motion direction of the lifting motion mechanism is downward.

Optionally, the determining an intended movement direction according to the pressure value and the torque value specifically includes:

determining that the patient's horizontally-intended direction of motion is forward when the pressure value is positive;

determining that the patient's vertically-intended direction of motion is upward when the torque value is positive;

when the pressure value is a negative value, determining that the horizontal intended direction of motion of the patient is backwards;

determining that the patient's vertically-intended direction of motion is downward when the torque value is negative.

Optionally, the controlling of the horizontal movement mechanism and the lifting movement mechanism of the sitting station training robot moves in the target movement direction specifically includes:

controlling a horizontal movement mechanism of the sitting training robot to move according to the target movement direction of the horizontal movement mechanism;

and controlling a lifting movement mechanism of the sitting training robot to move according to the target movement direction of the lifting movement mechanism.

The invention also provides the following scheme:

a sit-stand training system of a sit-stand training robot, the system comprising:

an actual pelvic height range acquisition module for acquiring an actual pelvic height range; the actual pelvic height range comprises an actual pelvic height range corresponding to a sitting posture of the patient and an actual pelvic height range corresponding to a standing posture of the patient;

a current pelvic height acquisition module for acquiring a current pelvic height of the patient;

a posture judgment module for judging the posture of the patient according to the actual pelvic height range and the current pelvic height; the postures comprise a sitting posture and a standing posture;

the target movement direction determining module is used for determining a target movement direction according to the gesture; the target movement direction comprises a target movement direction of a horizontal movement mechanism and a target movement direction of a lifting movement mechanism; the target movement direction of the horizontal movement mechanism comprises forward and backward; the target movement direction of the lifting movement mechanism comprises upward and downward;

the pressure and torque value acquisition module is used for acquiring a pressure value and a torque value;

the intention movement direction determining module is used for determining the intention movement direction according to the pressure value and the torque value; the intended direction of motion includes a horizontal intended direction of motion of the patient and a vertical intended direction of motion of the patient; the patient's horizontally-intended direction of motion includes forward and backward; the patient's vertically intended direction of motion comprises up and down;

the movement direction consistency judging module is used for judging whether the target movement direction is consistent with the intention movement direction;

the control motion module is used for controlling the horizontal motion mechanism and the lifting motion mechanism of the sitting station training robot to move according to the target motion direction when the output result of the motion direction consistency judging module is positive;

and the control stop motion module is used for controlling the horizontal motion mechanism and the lifting motion mechanism of the sitting and standing training robot to stop motion when the output result of the motion direction consistency judging module is negative.

The invention also provides the following scheme:

a sit-stand training robot, the robot comprising:

the horizontal movement mechanism is horizontally parallel to the ground and is used for doing horizontal freedom degree movement;

the lifting movement mechanism is vertically fixed on the ground, is connected with the horizontal movement mechanism in a sliding manner, is used for doing movement with freedom degree in the direction vertical to the ground, and acquires the current pelvic height of the patient in real time in the movement process;

the waist mechanism is fixed at one end of the horizontal movement mechanism and is used for being worn on the waist of a patient;

the pressure sensor is arranged on the waist mechanism and used for acquiring the pressure value between the pelvis of the patient and the pressure sensor in real time;

the torque sensor is arranged on the lumbar mechanism and used for acquiring a torque value between the pelvis of the patient and the torque sensor in real time;

and the control system is respectively connected with the horizontal movement mechanism, the lifting movement mechanism, the pressure sensor and the torque sensor, and is used for acquiring the current pelvis height, the pressure value and the torque value in real time, and controlling the horizontal movement mechanism and the lifting movement mechanism to move and stop moving by using the sitting-station training method of the sitting-station training robot according to the current pelvis height, the pressure value and the torque value.

Optionally, the robot further comprises:

the human-computer interaction system is connected with the control system and is used for inputting the actual pelvic height range; the actual pelvic height range comprises an actual pelvic height range corresponding to a sitting posture of the patient and an actual pelvic height range corresponding to a standing posture of the patient.

Optionally, the robot further comprises:

the base is fixed on the ground and used for vertically fixing the lifting movement mechanism;

and the mechanical parking mechanisms are arranged at four corners of the base and used for moving the base to a target position on the ground and fixing the base on the ground after moving the base to the target position.

Optionally, the horizontal movement mechanism and the lifting movement mechanism both include hard limits, and the hard limits are used for limiting the distance of the front and back movement of the horizontal movement mechanism and the distance of the up and down movement of the lifting movement mechanism.

According to the specific embodiment provided by the invention, the invention discloses the following technical effects:

the sitting-station training robot and the sitting-station training method and system thereof disclosed by the invention have the advantages that the movement process is determined according to the height of the pelvis of each patient, the pressure value and the torque value between the pelvis of the patient and the sitting-station training robot, the dynamic adjustment performance and the individual adaptability of the lower limb hemiplegic patient in the sitting-station rehabilitation training process are improved, the sitting-station training robot carries out one-to-one rehabilitation training on the patient, a doctor can simultaneously take care of a plurality of patients for rehabilitation training, the intention movement direction of the patient can be adjusted according to the indicated movement direction of the sitting-station training robot, the patient is prevented from being injured secondarily in the rehabilitation training period, the defects existing in the traditional sitting-station training are effectively overcome, and the rehabilitation training efficiency is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

FIG. 1 is a flow chart of an embodiment of a sit-up training method of the sit-up training robot of the present invention;

FIG. 2 is a block diagram of an embodiment of a sit-stand training system of the sit-stand training robot of the present invention;

FIG. 3 is a block diagram of an embodiment of the present invention for a chair training robot;

FIG. 4 is a schematic flow chart of the active sitting training of the present invention;

FIG. 5 is a schematic flow chart of the assisted sit-stand training of the present invention;

FIG. 6 is a diagram of a predetermined trajectory for an assisted sit-up training of the present invention;

FIG. 7 is a functional block diagram of a sit-stand training robot of the present invention;

fig. 8 is a general flow chart of the sitting training method of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention aims to provide a sitting and standing training robot, a sitting and standing training method and a sitting and standing training system, which can realize that a doctor can nurse a plurality of patients for training at the same time, thereby improving the training efficiency.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

Fig. 1 is a flowchart of an embodiment of a sitting training method of a sitting training robot according to the present invention, and fig. 8 is a general flowchart of the sitting training method according to the present invention. Referring to fig. 1 and 8, the sitting training method of the sitting training robot includes:

step 101: acquiring an actual pelvic height range; the actual pelvic height range comprises an actual pelvic height range corresponding to a sitting posture of the patient and an actual pelvic height range corresponding to a standing posture of the patient.

Instep 101, the actual pelvic height range, i.e., the leg length range.

Step 102: a current pelvic height of the patient is obtained.

Step 103: determining the posture of the patient according to the actual pelvic height range and the current pelvic height; the postures include a sitting posture and a standing posture.

Thestep 103 specifically includes:

determining that the current posture of the patient is a sitting posture when the current pelvic height is within a corresponding range of actual pelvic heights (580mm to 760mm) when the patient is a sitting posture.

Determining the current posture of the patient as a standing posture when the current pelvic height is within an actual pelvic height range (800mm to 1050mm) corresponding to the standing posture of the patient.

Step 104: determining a target motion direction according to the gesture; the target movement direction comprises a target movement direction of a horizontal movement mechanism and a target movement direction of a lifting movement mechanism; the target movement direction of the horizontal movement mechanism comprises forward and backward; the target movement direction of the elevating movement mechanism includes upward and downward.

Thestep 104 specifically includes:

when the current posture of the patient is a sitting posture, determining that the target movement direction of the horizontal movement mechanism is forward and the target movement direction of the lifting movement mechanism is upward.

And when the current posture of the patient is a standing posture, determining that the target movement direction of the horizontal movement mechanism is backward and the target movement direction of the lifting movement mechanism is downward.

Step 105: and acquiring a pressure value and a torque value.

Thestep 105 acquires pressure and torque values between the pelvis of the patient and the sitting-station training robot acquired by the pressure sensor and the torque sensor in real time.

Step 106: determining an intended movement direction according to the pressure value and the torque value; the intended direction of motion includes a horizontal intended direction of motion of the patient and a vertical intended direction of motion of the patient; the patient's horizontally-intended direction of motion includes forward and backward; the patient's vertically intended direction of motion includes up and down. The intended direction of motion, i.e., the patient's intent to move, is according to the patient's intent to move.

Thestep 106 specifically includes:

when the pressure value is positive, determining that the horizontal intended direction of motion of the patient is forward.

When the torque value is positive, determining that the patient's vertically-intended direction of motion is upward.

Determining that the patient's horizontally-intended direction of motion is backwards when the pressure value is negative.

Determining that the patient's vertically-intended direction of motion is downward when the torque value is negative.

Beforestep 106 is executed, the method further includes: and sequentially carrying out filtering processing, amplifying processing, simulating processing and bias removing processing on the pressure value and the torque value between the pelvis of the patient and the sitting station training robot. The processed pressure and torque values are then used to determine the patient's intended direction of motion.

Step 107: and judging whether the target movement direction is consistent with the intention movement direction.

If the determination result in thestep 107 is yes, execute the step 108: and controlling the horizontal movement mechanism and the lifting movement mechanism of the sitting training robot to move according to the target movement direction, namely assisting the patient to continue moving according to the original intended movement direction. Wherein the target motion direction is the indicated motion direction. When the target movement direction is consistent with the intention movement direction, the patient is considered to have movement intention, and the patient is assisted to move according to a preset track.

Thestep 108 specifically includes:

and controlling a horizontal movement mechanism of the sitting station training robot to move according to the target movement direction of the horizontal movement mechanism.

And controlling a lifting movement mechanism of the sitting training robot to move according to the target movement direction of the lifting movement mechanism.

If the determination result in thestep 107 is negative, execute step 109: the horizontal movement mechanism and the lifting movement mechanism of the sitting training robot are controlled to stop moving, namely, the patient is stopped to move according to the original intended movement direction, when the target movement direction is inconsistent with the intended movement direction, no movement intention is considered, and the machine stops moving.

Fig. 2 is a structural diagram of an embodiment of a sitting-station training system of the sitting-station training robot of the present invention, and fig. 7 is a functional block diagram of the sitting-station training robot of the present invention. Referring to fig. 2 and 7, the sitting training system of the sitting training robot includes:

an actual pelvic heightrange acquisition module 201, configured to acquire an actual pelvic height range; the actual pelvic height range comprises an actual pelvic height range corresponding to a sitting posture of the patient and an actual pelvic height range corresponding to a standing posture of the patient.

A current pelvicheight acquisition module 202 for acquiring a current pelvic height of the patient.

Aposture determining module 203 for determining the posture of the patient according to the actual pelvic height range and the current pelvic height; the postures include a sitting posture and a standing posture.

A target motiondirection determination module 204, configured to determine a target motion direction according to the gesture; the target movement direction comprises a target movement direction of a horizontal movement mechanism and a target movement direction of a lifting movement mechanism; the target movement direction of the horizontal movement mechanism comprises forward and backward; the target movement direction of the elevating movement mechanism includes upward and downward. The target movementdirection determination module 204 determines a target movement direction of the sitting training robot according to the terminal position height and the current posture. The tail end position height refers to the current pelvis height, the current posture is judged according to the initial pelvis height, and the target movement direction is judged according to the current posture.

Theposture determining module 203 and the target movementdirection determining module 204 together form a posture determining module, and the posture determining module is used for determining an indicated movement direction (target movement direction, i.e. the direction to which the patient needs to arrive) of the sitting training robot according to the terminal height (terminal position height) of the initial machine. The posture determination module mainly comprises a patient posture state judgment module and a target motion direction. The posture state is judged as: and confirming the patient to be in a sitting posture or a standing posture according to the pelvis height of the patient and the current actual pelvis height. The target direction is: a horizontal moving mechanism (horizontal moving mechanism) target direction and a vertical moving mechanism (lifting moving mechanism) target direction. When the patient turns to the standing posture from the sitting posture, the target direction of the horizontal moving mechanism is forward, and the target direction of the vertical moving mechanism is upward; when the patient turns from a standing position to a sitting position, the target direction of the horizontal moving mechanism is backward, and the target direction of the vertical moving mechanism is downward. A posture determination module determines a patient posture from the pelvic height; determining the patient's posture from the actual pelvic height and a current pelvic height, the current pelvic height ranging from 580mm to 760mm, being a sitting posture; the current pelvic height is in the range of 800mm to 1050mm, and is in a standing posture.

A pressure and torquevalue acquisition module 205 to acquire pressure values and torque values. The pressure value is a pressure value between the pelvis of the patient and the pressure sensor, which is acquired by the pressure sensor of the sitting station training robot in real time; the torque value is a torque value between the pelvis of the patient and the torque sensor, which is acquired by the torque sensor of the sitting-station training robot in real time.

An intended direction ofmotion determination module 206 for determining an intended direction of motion based on the pressure value and the torque value; the intended direction of motion includes a horizontal intended direction of motion of the patient and a vertical intended direction of motion of the patient; the patient's horizontally-intended direction of motion includes forward and backward; the patient's vertically intended direction of motion includes up and down.

A preprocessing module is included between the pressure and torquevalue obtaining module 205 and the intended movementdirection determining module 206, and is used for sequentially performing filtering processing, amplification processing, simulation processing and bias removing processing on the pressure value and the torque value between the pelvis of the patient and the sitting station training robot. The pressure value between the pelvis of the patient and the sitting station training robot is sequentially subjected to filtering processing, amplification processing, simulation processing and offset removal processing, and the torque value between the pelvis of the patient and the sitting station training robot is sequentially subjected to filtering processing, amplification processing, simulation processing and offset removal processing.

The intention movementdirection determining module 206 is an intention identification module, and the intention identification module is used for determining the intention movement direction of the patient according to the pressure value and the torque value obtained by the preprocessing module, namely determining the front and back intention movement direction (horizontal intention movement direction) of the patient according to the pressure value and determining the vertical movement direction (vertical intention movement direction) of the patient according to the torque value. And when the pressure value is positive, the target direction of the horizontal moving mechanism is forward, and when the pressure value is negative, the target direction of the horizontal moving mechanism is backward. When the torque value is positive, the target direction of the vertical moving mechanism is upward, and when the torque value is negative, the target direction of the vertical moving mechanism is downward. Wherein, the pressure value is the pressure value with the pressure direction; the torque value is a torque value with a torque direction. Both the pressure direction and the torque direction include positive and negative.

A motion directionconsistency determining module 207, configured to determine whether the target motion direction is consistent with the intended motion direction.

And thecontrol movement module 208 is used for controlling the horizontal movement mechanism and the lifting movement mechanism of the sitting station training robot to move according to the target movement direction when the output result of the movement direction consistency judging module is yes.

And the controlstop motion module 209 is used for controlling the horizontal motion mechanism and the lifting motion mechanism of the sitting station training robot to stop motion and the machine to stop when the output result of the motion direction consistency judging module is negative.

The motion directionconsistency judging module 207, themotion control module 208 and the motion stoppingcontrol module 209 together form an active training control module and an auxiliary training control module.

And the active training control module is used for moving towards the target motion direction if the target motion direction is the same as the intention motion direction after receiving the information of the intention identification module, and stopping if the target motion direction is opposite to the intention motion direction.

The auxiliary training control module is used for judging whether the target motion direction is consistent with the information of the intention identification module (the information of the intention identification module is received after the posture is judged) according to the posture state of the patient after the information of the posture determination module is received, if the information of the intention identification module is consistent with the target motion direction, the information is regarded as a starting signal, the tail end of the machine (from the pressure sensor and the torque sensor to the worn part) moves along a preset track, and if the information is opposite to the target motion direction, the machine stops.

The auxiliary training control module performs a machine auxiliary training process: and determining the motion trail of the sitting-station training robot according to the initial terminal position height (initial pelvis height) and the current posture.

And acquiring the pressure value between the pelvis of the patient and the sitting-station training robot acquired by the pressure sensor in real time.

And acquiring a torque value between the pelvis of the patient and the sitting-station training robot acquired by the torque sensor in real time.

And judging the movement intention of the patient according to the pressure value and the torque value.

Before determining the intended direction of motion of the patient according to the pressure values, the method further comprises the following steps: and sequentially carrying out filtering processing, amplifying processing, simulating processing and bias removing processing on the pressure value between the pelvis of the patient and the sitting station training robot.

Prior to determining the patient's intended direction of motion from the torque value, further comprising: and sequentially carrying out filtering processing, amplification processing, simulation processing and bias removal processing on the torque value between the pelvis of the patient and the sitting station training robot.

Fig. 6 is a diagram of the predetermined trajectory for the training of the auxiliary sitting station of the present invention. Referring to fig. 6, in order to keep the center of gravity of the body of the patient stable and balanced during the sitting and standing process, the sitting and standing process is divided into a first stage, a second stage and a third stage, wherein the first stage is that the body of the patient leans forward and the hip joint moves for a certain distance, the second stage is that the knee joint is used as the center, the hip joint moves circularly around the knee joint until the hip joint and the foot are in the same vertical direction, and the third stage is that the knee joint rotates to enable the hip joint of the patient to vertically rise until the patient stands.

The calculation formula of the motion trail of the robot for the sitting station training in the three stages of the robot-assisted training is as follows:

the first-stage motion formula is as follows:

the second-stage motion formula is as follows:

the third-stage motion formula is as follows:

wherein, X₁Is a first stageAbscissa of machine end, Y₁Is the ordinate, X, of the end of the first stage machine₂As abscissa, Y, of the end of the second stage machine₂Is the ordinate, X, of the end of the second stage machine₃Is the abscissa, Y, of the end of the third stage machine₃The longitudinal coordinate of the tail end of the machine in the third stage is shown, L is a leg length value, the unit is cm, the leg length value refers to the pelvis height of the patient and is a fixed value, the pelvis height is input by a human-computer interaction system, the current pelvis height is a change value, and a numerical value is acquired by a motor; t is₁Time of movement of the machine end of the first stage, T₂Time of end-of-machine movement, T, of the second stage₃The time of the end movement of the machine in the third stage is t, the current time is s, the current time is timed by the control system, and the time is reset after each time. The time of the three-stage movement can be input through a man-machine interaction system.

Fig. 3 is a structural diagram of an embodiment of the sitting and standing training robot of the invention, and fig. 7 is a functional block diagram of the sitting and standing training robot of the invention. Referring to fig. 3 and 7, the sitting and standing training robot comprises ahorizontal movement mechanism 301, alifting movement mechanism 302, awaist mechanism 303, apressure sensor 304, atorque sensor 305, a control system (not shown in the figure because the control system is not fixed in position), a human-computer interaction system (not shown in the figure because the human-computer interaction system is not fixed in position), abase 308 and amechanical parking mechanism 309.

Thehorizontal movement mechanism 301 is horizontally parallel to the ground, and thehorizontal movement mechanism 301 is used for making horizontal freedom degree movement.

Thelifting movement mechanism 302 is vertically fixed on the ground, thelifting movement mechanism 302 is connected with thehorizontal movement mechanism 301 in a sliding manner, and thelifting movement mechanism 302 is used for performing movement with freedom degree in a direction perpendicular to the ground and acquiring the current pelvic height of the patient in real time in the movement process.

Thehorizontal movement mechanism 301 and thelifting movement mechanism 302 both include ahard limit 310, thehard limit 310 is a mechanical structure for limiting up and down, and thehard limit 310 is used for limiting the distance of the front and back movement of thehorizontal movement mechanism 301 and the distance of the up and down movement of thelifting movement mechanism 302. The hard limit on the mechanical mechanism is used for double protection under special conditions such as failure of the soft limit and the like, and secondary injury of a patient caused by too low pelvis position or too large retroversion distance of the patient is prevented.

Thehorizontal movement mechanism 301 and thelifting movement mechanism 302 together form a mechanical movement mechanism (movement control mechanism) of a rehabilitation robot (sitting-station training robot). The mechanical moving mechanism comprises a mechanical moving mechanism with a moving freedom degree in the direction vertical to the ground and a moving freedom degree in the horizontal direction. Thehorizontal movement mechanism 301 realizes the movement of the robot with horizontal freedom degree, the sliding block of thehorizontal movement mechanism 301 is fixedly connected with the sliding block in thelifting movement mechanism 302, thehorizontal movement mechanism 301 is a ball screw or a transmission belt, a gear rack structure, and the tail end of the machine (the tail end of the machine from thetorque sensor 305 and the pressure sensor 304) is connected with the sliding block of thehorizontal movement mechanism 301, so as to realize the horizontal movement. The liftingmotion mechanism 302 realizes the motion of the robot perpendicular to the ground direction freedom degree, the liftingmotion mechanism 302 is fixedly connected on therobot base 308 and is a ball screw, a transmission belt or a gear rack mechanism, the movement in the vertical direction can be carried out, and the sliding block is connected with the sliding block of thehorizontal motion mechanism 301, so that the vertical direction motion of the tail end of the robot is realized.

The mechanical moving mechanism is connected with the control system, the motor rotates when receiving a motion signal, and the mechanism realizes linear motion through the transmission structure. Thehorizontal movement mechanism 301 and thelifting movement mechanism 302 both comprise a transmission mechanism and a motor; the transmission mechanism comprises a ball screw structure, a transmission belt structure and a gear rack structure; the motor is respectively connected with the control system and the transmission mechanism, and the motor is used for driving the transmission mechanism to move under the control of the control system and acquiring the current pelvic height of the patient in the moving process. After the control system sends speed and steering information to the motor, the motor realizes up-down movement and back-and-forth movement of the mechanism through the transmission mechanism, namely when receiving a movement signal, the motor drives the transmission mechanism to realize horizontal linear movement and vertical linear movement of thehorizontal movement mechanism 301 and thelifting movement mechanism 302. When the transmission mechanism is a ball screw, the motor of thelifting movement mechanism 302 is arranged on thebase 308, the output shaft of the motor is connected with the screw, the motor shaft is vertical to the ground, thehorizontal movement mechanism 301 motor is arranged on the ball sliding block, the motor shaft and the sliding block are simultaneously the sliding block of thehorizontal movement mechanism 301, and the tail end of the screw is connected with the tail end of the machine. When the transmission mechanism is a transmission belt, the motor of thelifting movement mechanism 302 is arranged on thebase 308, the motor shaft is horizontal to the ground, meanwhile, the motor shaft is a driving shaft of the transmission belt, the motor of thehorizontal movement mechanism 301 is arranged on the transmission belt of thelifting movement mechanism 302, the motor shaft is horizontal to the ground and is vertical to the motor shaft of thelifting movement mechanism 302, the motor of thehorizontal movement mechanism 301 is a driving shaft, and the tail end of the machine is fixed on the transmission belt. When the transmission mechanism is a gear rack, a shaft of a motor of thelifting movement mechanism 302 is fixedly connected with the gear, a motor shaft is horizontal to the ground, a motor of thehorizontal movement mechanism 301 is fixed on the gear rack, a shaft of a motor of thehorizontal movement mechanism 301 is fixedly connected with the gear, the motor shaft is horizontal to the ground and parallel to the motor shaft of thelifting movement mechanism 302, and the gear rack is connected with the tail end of the machine.

Thewaist mechanism 303 is fixed at one end of thehorizontal movement mechanism 301, and thewaist mechanism 303 is worn on the waist of the patient.Waist mechanism 303 is the waistband that the end of machine is used for wearing, wraps up two thighs and waist, is dressed by the doctor assistance patient, can dress under the state that the patient stands or sits. Thelumbar mechanism 303 is used to house apressure sensor 304 and atorque sensor 305.

Thepressure sensor 304 is arranged on thewaist mechanism 303, and is specifically a position connected with the tail end of a screw rod of the horizontal movement mechanism; thepressure sensor 304 is used to acquire pressure values between the patient's pelvis and thepressure sensor 304 in real time.

Thetorque sensor 305 is arranged on thewaist mechanism 303, specifically at a position connected with the tail end of a screw rod of the horizontal movement mechanism; thetorque sensor 305 is used to acquire a torque value between the patient's pelvis and thetorque sensor 305 in real time. Thepressure sensor 304 and thetorque sensor 305 jointly form an information acquisition mechanism, thepressure sensor 304 and thetorque sensor 305 are both arranged on a sliding block of thehorizontal movement mechanism 301, and thetorque sensor 305 and thepressure sensor 304 respectively measure the pressure and the torque of the human hip joint on a machine. Thepressure sensor 304 is used for acquiring pressure values between the patient and the sitting-station training robot in real time during each training mode (namely, the pelvis of the patient applies force to the tail end of the machine, the force is transmitted to thepressure sensor 304 by the tail end of the machine, and the pressure values acquired by the pressure sensor 304) and transmitting the pressure values to the control system. Thetorque sensor 305 is used to collect the torque value between the patient's pelvis and the sitting-station training robot (i.e., the torque value between the pelvis and the torque sensor 305) in real time during each training mode and send the torque value to the control system.

The control system is connected to thehorizontal movement mechanism 301, thelifting movement mechanism 302, thepressure sensor 304 and thetorque sensor 305, and is configured to obtain the current pelvic height, the pressure value and the torque value in real time, and control thehorizontal movement mechanism 301 and thelifting movement mechanism 302 to move and stop moving by using the sitting-station training method of the sitting-station training robot according to the current pelvic height, the pressure value and the torque value. The control system can also control thehorizontal movement mechanism 301 and thelifting movement mechanism 302 to move and stop moving by using the sitting station training system of the sitting station training robot. The method specifically comprises the following steps: the sitting and standing training system of the sitting and standing training robot is combined into the control system, namely, all modules contained in the sitting and standing training system of the sitting and standing training robot are combined into the control system, so that the control system controls thehorizontal movement mechanism 301 and thelifting movement mechanism 302 to move and stop moving by utilizing the sitting and standing training system of the sitting and standing training robot.

The human-computer interaction system is connected with the control system and is used for inputting an actual pelvic height range; the actual pelvic height range comprises an actual pelvic height range corresponding to a sitting posture of the patient and an actual pelvic height range corresponding to a standing posture of the patient. Click through the man-machine interaction system and get into the mode of dress, the waistband can be dressed to the patient to liftingmovement mechanism 302 can move, andhorizontal movement mechanism 301 is fixed, waits to click to dress after the patient dresses and accomplishes. By using the human-computer interaction system, a patient can select a sitting training mode (an active training mode and a machine-assisted training mode), different movement time is set, and after training is finished, the robot stops moving. The pelvis height of the patient is input by a man-machine interaction system, and the current actual pelvis height is obtained by a motor in thelifting movement mechanism 302. The human-computer interaction system comprises an upper computer interface and a computer, the human-computer interaction system is mainly connected with the control system through the computer, the computer is used for a doctor to issue instructions to the machine, the instructions comprise mode selection, training parameter setting and training time setting, and meanwhile the computer is connected with the control system through a network cable.

Thebase 308 is fixed on the ground, and thebase 308 is used for vertically fixing thelifting movement mechanism 302.

Themechanical parking mechanisms 309 are disposed at four corners of thebase 308, and themechanical parking mechanisms 309 are used for moving the base 308 to a target position on the ground and fixing the base 308 on the ground after moving the base 308 to the target position. Themechanical parking mechanism 309 is used for fixing the sitting-standing training robot at the target position when the sitting-standing training robot moves to the target position, so as to prevent the sitting-standing training robot from moving to cause secondary injury to the patient. And when the pelvis height is the same as the target position height, determining that the sitting-station training robot moves to the target position. The mechanical parking mechanism is a universal wheel with a brake, and a vacuum sucker with an adjustable vertical direction fixes the position of the machine before the machine operates by braking the universal wheel and adjusting the vacuum sucker.

Thehard limit 310, the mechanical parking mechanism (machine parking mechanism) 309 and the stop module connected to the control system together constitute a safety protection mechanism. A stopping module connected with the control system is used as a soft limit; the stopping module functions to immediately stop the power of the elevatingmovement mechanism 302 and thehorizontal movement mechanism 301. The stopping module is used for stopping the machine after the machine reaches the soft limit; and the stopping module is used for setting the speeds of the two motors to zero after the training is finished, so that the machine stops moving. The soft limit is connected with a stop module of the control system, the soft limit is used for limiting the movement range of the machine by a program, the soft limit is used for setting a front-back distance limit when the initial posture of the patient is determined, and the movement is stopped when the tail end of the machine reaches the limit. The method for determining the limit of the front-back distance comprises the following steps: the initial posture is a sitting posture, the front distance is 500mm, the initial posture is a standing posture, and the back distance is 500 mm. The mechanical moving mechanism, the information acquisition mechanism, the safety protection mechanism and the human-computer interaction system are all connected with the control system.

Fig. 4 is a schematic flow chart of the active sitting and standing training of the present invention, and fig. 5 is a schematic flow chart of the auxiliary sitting and standing training of the present invention. Referring to fig. 4 and 5, the sitting and standing training method of the sitting and standing training robot is an active sitting and standing training method and an auxiliary sitting and standing training method, and can be suitable for rehabilitation patients in different periods. The active sitting and standing training method and the auxiliary sitting and standing training method respectively correspond to two modes of active training and passive training (machine auxiliary training), and the active sitting and standing training method comprises the following steps: and after the initial posture is determined, intention recognition is carried out, then an active sitting and standing control module is entered, the expected target movement direction is compared with the intention direction of the patient, if the expected target movement direction is consistent with the intention direction of the patient, the patient moves forwards towards the target movement direction, and if the expected target movement direction is not consistent with the intention direction of the patient, the patient stops moving until the patient reaches the target position. The auxiliary sitting and standing training method comprises the following steps: after determining the initial posture, performing intention recognition, entering an auxiliary training sitting station control module, and after obtaining a starting signal, moving the tail end of the machine to a target position. The active sitting and standing training method and the auxiliary sitting and standing training method can help patients in different periods to carry out targeted training, not only can assist the rehabilitation sitting and standing training according to machines when the lower limbs of the patients are completely weak in the early rehabilitation period, but also can carry out active sitting and standing training to strengthen the training sitting and standing according to the later rehabilitation period of the patients.

The existing instrument needs doctors to perform rehabilitation training one to one, the training quality cannot be guaranteed, and meanwhile, safety protection measures for patients are few. The invention can enable a doctor to nurse a plurality of patients for training, and simultaneously has soft limit, hard limit, safety protection mechanisms and the like to protect the patients from recovery, and simultaneously has safety protection measures to prevent the patients from being injured during training; the invention can also limit the limit of up-down and back-and-forth movement from the mechanical and control aspects, and further prevent the secondary injury of the patient during the rehabilitation training period.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.

The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (5)

Translated fromChinese

1.一种坐站训练机器人的坐站训练系统，其特征在于，所述系统包括：1. a sit-stand training system of a sit-stand training robot, wherein the system comprises:实际骨盆高度范围获取模块，用于获取实际骨盆高度范围；所述实际骨盆高度范围包括患者为坐姿时对应的实际骨盆高度范围和患者为站姿时对应的实际骨盆高度范围；The actual pelvis height range acquisition module is used to obtain the actual pelvis height range; the actual pelvis height range includes the actual pelvic height range corresponding to the patient in the sitting position and the actual pelvic height range corresponding to the patient standing posture;当前骨盆高度获取模块，用于获取患者的当前骨盆高度；The current pelvic height acquisition module is used to acquire the current pelvic height of the patient;姿势判断模块，用于根据所述实际骨盆高度范围和所述当前骨盆高度判断患者的姿势；所述姿势包括坐姿和站姿；a posture judging module for judging the patient's posture according to the actual pelvic height range and the current pelvic height; the posture includes a sitting posture and a standing posture;目标运动方向确定模块，用于根据所述姿势确定目标运动方向；所述目标运动方向包括水平运动机构的目标运动方向和升降运动机构的目标运动方向；所述水平运动机构的目标运动方向包括向前和向后；所述升降运动机构的目标运动方向包括向上和向下；The target movement direction determination module is used to determine the target movement direction according to the posture; the target movement direction includes the target movement direction of the horizontal movement mechanism and the target movement direction of the lift movement mechanism; the target movement direction of the horizontal movement mechanism includes the forward and backward; the target movement direction of the lifting motion mechanism includes upward and downward;压力和扭矩值获取模块，用于获取压力值和扭矩值；The pressure and torque value acquisition module is used to obtain the pressure value and torque value;意向运动方向确定模块，用于根据所述压力值和所述扭矩值确定意向运动方向；所述意向运动方向包括患者的水平意向运动方向和患者的竖直意向运动方向；所述患者的水平意向运动方向包括向前和向后；所述患者的竖直意向运动方向包括向上和向下；Intentional movement direction determination module, for determining the intentional movement direction according to the pressure value and the torque value; the intentional movement direction includes the patient's horizontal intentional movement direction and the patient's vertical intentional movement direction; the patient's horizontal intentional movement direction The direction of movement includes forward and backward; the direction of vertical intentional movement of the patient includes upward and downward;运动方向一致判断模块，用于判断所述目标运动方向和所述意向运动方向是否一致；a movement direction consistency judgment module, used for judging whether the target movement direction and the intended movement direction are consistent;控制运动模块，用于当所述运动方向一致判断模块的输出结果为是时，控制坐站训练机器人的水平运动机构和升降运动机构按所述目标运动方向运动；a control movement module, used for controlling the horizontal movement mechanism and the lifting movement mechanism of the sitting-stand training robot to move according to the target movement direction when the output result of the movement direction consistency judgment module is yes;控制停止运动模块，用于当所述运动方向一致判断模块的输出结果为否时，控制坐站训练机器人的水平运动机构和升降运动机构均停止运动。The control and stop motion module is used to control both the horizontal motion mechanism and the lift motion mechanism of the sit-stand training robot to stop motion when the output result of the motion direction consistency judgment module is no.2.一种坐站训练机器人，其特征在于，所述机器人包括：2. A sit-stand training robot, wherein the robot comprises:水平运动机构，水平平行于地面，用于做水平自由度的运动；Horizontal motion mechanism, horizontally parallel to the ground, used for horizontal degree of freedom movement;升降运动机构，垂直固定于地面，与所述水平运动机构滑动连接，用于做垂直于地面方向自由度的运动，并在运动过程中实时采集患者的当前骨盆高度；The lifting motion mechanism, which is vertically fixed on the ground, is slidably connected with the horizontal motion mechanism, and is used for motion perpendicular to the degree of freedom of the ground, and real-time collection of the patient's current pelvic height during the motion;腰部机构，固定于所述水平运动机构的一端，用于穿戴在患者的腰部；a waist mechanism, fixed at one end of the horizontal motion mechanism, for wearing on the waist of the patient;压力传感器，设置于所述腰部机构上，用于实时采集患者骨盆与所述压力传感器之间的压力值；a pressure sensor, arranged on the waist mechanism, for collecting the pressure value between the patient's pelvis and the pressure sensor in real time;扭矩传感器，设置于所述腰部机构上，用于实时采集患者骨盆与所述扭矩传感器之间的扭矩值；a torque sensor, arranged on the waist mechanism, for collecting the torque value between the patient's pelvis and the torque sensor in real time;控制系统，分别与所述水平运动机构、所述升降运动机构、所述压力传感器和所述扭矩传感器连接，用于实时获取所述当前骨盆高度、所述压力值和所述扭矩值，根据所述当前骨盆高度、所述压力值和所述扭矩值，利用权利要求1所述的坐站训练系统控制所述水平运动机构和所述升降运动机构运动和停止运动。A control system, respectively connected with the horizontal motion mechanism, the lifting motion mechanism, the pressure sensor and the torque sensor, is used to acquire the current pelvis height, the pressure value and the torque value in real time, according to the The current pelvic height, the pressure value and the torque value are used to control the movement and stop of the horizontal movement mechanism and the lift movement mechanism by using the sit-stand training system of claim 1 .3.根据权利要求2所述的坐站训练机器人，其特征在于，所述机器人还包括：3. The sit-stand training robot according to claim 2, wherein the robot further comprises:人机交互系统，与所述控制系统连接，用于输入实际骨盆高度范围；所述实际骨盆高度范围包括患者为坐姿时对应的实际骨盆高度范围和患者为站姿时对应的实际骨盆高度范围。The human-computer interaction system is connected to the control system for inputting the actual pelvis height range; the actual pelvic height range includes the actual pelvic height range corresponding to the sitting position of the patient and the corresponding actual pelvic height range when the patient is standing.4.根据权利要求2所述的坐站训练机器人，其特征在于，所述机器人还包括：4. The sit-stand training robot according to claim 2, wherein the robot further comprises:底座，固定于地面上，用于垂直固定所述升降运动机构；a base, fixed on the ground, for vertically fixing the lifting motion mechanism;机械停驻机构，设置于所述底座的四个角，用于在地面上移动所述底座至目标位置，以及在移动所述底座至目标位置后将所述底座固定于地面上。The mechanical parking mechanism is arranged at four corners of the base, and is used for moving the base to a target position on the ground, and fixing the base on the ground after moving the base to the target position.5.根据权利要求2所述的坐站训练机器人，其特征在于，所述水平运动机构和所述升降运动机构均包括硬限位，所述硬限位用于限制所述水平运动机构前后运动的距离以及所述升降运动机构上下运动的距离。5 . The sit-stand training robot according to claim 2 , wherein the horizontal motion mechanism and the lift motion mechanism both comprise hard limits, and the hard limits are used to restrict the front and rear movement of the horizontal motion mechanism. 6 . distance and the distance of the up-and-down movement of the lift motion mechanism.

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