CN-121971269-A - Intelligent control method of multifunctional lower limb rehabilitation training device

CN121971269ACN 121971269 ACN121971269 ACN 121971269ACN-121971269-A

Abstract

An intelligent control method of a multifunctional lower limb rehabilitation training device is provided with a plurality of training mechanisms, wherein the mechanisms are respectively provided with a high-precision servo motor and are electrically connected with an electric cabinet, and the training modes comprise a passive training mode, an active training mode and a power-assisted training mode. The AI model can timely and intelligently select a training mode, a rehabilitation training function and training parameters, collect motor data, patient stress data and control instructions timely after training is started, timely and dynamically adjust the training parameters according to the training condition of the patient, help the patient complete actions and promote the reconstruction of movement capacity, and the AI model overall process monitoring equipment operates. Is a full-automatic intelligent control method capable of performing self-adaptive adjustment. The dynamic adaptability can promote the rehabilitation of the patient more efficiently, the rehabilitation efficiency can be improved by 20% -30%, the patient can be supported to gradually transition from the passive training to the power-assisted training and the active training as soon as possible, and the requirements of different rehabilitation stages are met.

Inventors

CHEN XIAOHUA
Bao Shengyong
HU HAO
CHEN QIAOFENG
ZHAO YAN

Assignees

深圳市人民医院

Dates

Publication Date: 20260505
Application Date: 20250801

Claims (10)

1. An intelligent control method of a multifunctional lower limb rehabilitation training device is provided with a base (100), a flexion and extension support (200), a hip knee joint flexion and extension training control mechanism (300), an ankle joint dorsiflexion and plantar flexion training mechanism (400), a hip ankle joint inward and outward rotation training mechanism (500) and a hip joint inward and outward extension self-training mechanism (600), and is provided with a first motor (710) for automatic flexion and extension training, a second motor (720) for automatic dorsiflexion and plantar flexion training, a third motor (730) for automatic inward and outward rotation training and a fourth motor (740) for automatic inward and outward extension training, wherein the motors are respectively electrically connected with an electric cabinet (700) to realize system control, the electric cabinet is provided with a control display screen (701) and/or a control button (702), and autonomous training functions comprise hip knee joint flexion and extension training, ankle joint dorsiflexion and inward and outward rotation training of the hip joint, and hip joint inward and outward extension training; the training system is characterized in that the training modes comprise a passive training mode, an active training mode and a power-assisted training mode, wherein the passive training mode is to perform function selection through a control button or a control display screen and run through a motor with a corresponding function so as to drive limbs of a patient to perform passive training; the control system includes an AI model; the AI model can intelligently select training modes, rehabilitation training functions and training parameters in good time; After training, the AI model timely collects motor data, patient stress data and control instructions, timely and dynamically adjusts training parameters according to patient training conditions, helps the patient complete actions, and promotes exercise capacity reconstruction; The AI model overall process monitoring device operates.
2. The intelligent control method of the multifunctional lower limb rehabilitation training device according to claim 1, wherein the AI model dynamically adjusts training parameters in due time according to the training conditions of patients, and sequentially comprises the following steps: A. Collecting and preprocessing training data; B. extracting and analyzing characteristics of the preprocessed data, and outputting training data by an AI model; C. dynamically adjusting a training scheme according to the condition of the output training data of the AI model; D. according to the adjusted training scheme, the multiple motors are cooperatively controlled to continue training; E. repeating the above steps.
3. The intelligent control method of the multifunctional lower limb rehabilitation training device according to claim 1, wherein the intelligent control system further comprises a man-machine voice dialogue module, a user can select or switch a training mode, a rehabilitation training function and adjust training parameters through the man-machine voice dialogue module, and the contents can be reflected on a control display screen.
4. The intelligent control method of the multifunctional lower limb rehabilitation training device according to claim 1, wherein the rehabilitation training function further comprises relaxation training, ankle pump training, impedance training, shank elevation training, antispasmodic training and one-key start training of preset initial training parameters; When the hip-knee joint flexion and extension training and the ankle joint dorsiflexion and plantar flexion training are synchronously triggered, a first motor and a third motor are started at the same time, and natural gait training is simulated; when the ankle joint dorsum extension plantarflexion training and the hip ankle joint internal and external rotation training are triggered successively, the second motor and the third motor are started successively to perform relaxation training; when the ankle joint dorsum extension plantar flexion training and the hip ankle joint internal and external rotation training are triggered successively, the second motor and the third motor are started successively, and the rotation angle of the second motor achieves the effect of rotating the ankle joint, so that ankle pump training is performed; When the resistance training is triggered, the first motor is started, and the adjustable resistance larger than 0 and smaller than 100N is dynamically output through the motor, so that the roller 231 for bending and stretching is driven to operate by rubbing the adjustable resistance surface 140 in the linear guide rail 110, and the smooth resistance training is realized; When the first motor is started to bend the bending and stretching bracket to a set angle and maintain the set time, the leg lifting training is carried out; when triggering the antispasmodic training, the first motor is started to bend and stretch the hip-knee joint under the condition of maintaining the dorsi stretching of-5 DEG to-10 deg.
5. The method according to any one of claims 1 to 4, wherein in the step A, the training data acquisition includes acquisition of a current training mode, a current training time, a current joint activity, and a current training speed.
6. The intelligent control method of the multifunctional lower limb rehabilitation training device according to claim 5, wherein the first motor (710), the second motor (720), the third motor (730) and the fourth motor (740) are all high-precision servo motors, a controller and an encoder are integrated, the intelligent control method has an intelligent function, training data can be automatically fed back to an AI and a central processing unit timely, and the training data comprise, but are not limited to, motor rotation time, angle and speed.
7. The intelligent control method of the multifunctional lower limb rehabilitation training device according to claim 6, wherein the preprocessing in the step A comprises classifying data according to the information of the positions or functional areas of different motors, the rotation average frequency, the rotation angle, the rotation time, the rotation speed and the like of each motor, further analyzing the classified data, and further converting the classified data into data characteristics processed by an AI model through an algorithm; In the step B, the method comprises the steps of extracting the relevant data characteristics of the motor rotation angle, the average training speed characteristics of the motor rotation frequency, the relevant data characteristics of abnormal motor rotation, the relevant data characteristics of the motor position and the like into training data of joint activity, training time, training speed, equipment safety degree, training mode and the like through the characteristics. And finally outputting training data to the intelligent operation system for dynamically adjusting the training scheme after the AI model is analyzed.
8. The intelligent control method of the multifunctional lower limb rehabilitation training device according to claim 1, wherein the operation of the AI model monitoring equipment comprises the following steps: A. After a power switch is turned on, the state of the equipment is automatically detected, whether the equipment fails or not is judged, when the equipment fails, the equipment performs tactile reminding including but not limited to vibration, starts motor torque limitation and then stops emergently; B. In the training process, the equipment is automatically monitored to run, whether the equipment is in fault or not is judged, when the equipment is in fault, the tactile reminding including but not limited to vibration is carried out, the motor torque limitation is started, then the emergency stop is carried out, and when the equipment is in fault, the training is continued until a pause or stop training button is pressed.
9. The intelligent control method of the multifunctional lower limb rehabilitation training device according to claim 1, wherein before training, training function selection is performed, and then activity, training speed and training time are set; The function selection is to select one of hip-knee joint flexion and extension training, ankle joint plantar flexion and extension training, hip-ankle joint internal and external rotation training, hip-ankle joint internal and external extension training, relaxation training, ankle pump training, impedance training, shank elevation training, antispasmodic training and one-key start training through a control button; and after training, automatically storing training data, and uploading the training data to a management party for updating and adjusting the AI model.
10. The intelligent control method of the multifunctional lower limb rehabilitation training device according to claim 1, wherein the AI model is trained by the following steps: the sensor network collects training data, including motion data, mechanical data, Data cleaning, dynamic wavelet big noise, automatic outlier elimination, The data marking, the labeling treatment, Monitoring feature extraction, CNN extracting out-of-control feature, biLSTM capturing long-term motion dependency, Supervised learning branches, action classification, rehabilitation stage prediction, Strengthening the learning branch, optimizing a motor control strategy and a reward function by DDPG algorithm, The cross-mechanism cooperative training protects the differential privacy of privacy, The lightweight model is deployed at the edge of the vehicle, Outputting an AI model; Or is trained by the following steps: the sensor network collects training data, including motion data, mechanical data, Unsupervised feature learning, extracting potential operation modes and t-SNE visual clusters from the encoder VAE by variation; Unsupervised learning branches, deep clustering DeepCluster automatically divides the movement mode and encourages forest anomaly detection; Strengthening the learning branch, optimizing a motor control strategy and a reward function by DDPG algorithm, The cross-mechanism cooperative training protects the differential privacy of privacy, The lightweight model is deployed at the edge of the vehicle, And outputting the AI model.

Description

Intelligent control method of multifunctional lower limb rehabilitation training device Technical Field The invention relates to medical equipment, in particular to an intelligent control method of a multifunctional lower limb rehabilitation training device. Background Of a large number of patients suffering from nervous system diseases, cerebrovascular diseases, strokes, hip fractures or operative patients, lower limb dyskinesias of different degrees occur in 70 to 80%, but the elderly suffering from three-level or less muscle force, parkinsonism, hip fractures or operative patients are particularly difficult to perform early effective rehabilitation training, and have a difficult promotion effect on the recovery of muscle tension, so that it is difficult to recover a standing posture, and further rehabilitation training is difficult to perform. In order to enable the crowds to perform multi-joint, multi-degree of freedom, passive, power-assisted, active and other multi-mode lower limb core muscle group rehabilitation training as early as possible in the lying position, and simulate gait training in the lying position, early rehabilitation of a patient is effectively promoted, the inventor obtains a rigid-flexible integrated multifunctional lower limb rehabilitation training device through years of practice and research and development, and the inventor applies for China with publication number of CN119406029A, application number of 202411549544.3 and application name of the rigid-flexible integrated multifunctional lower limb rehabilitation training device. The above-mentioned device disclosed in this application is shown in fig. 1-5, and the rigid-flexible fusion multifunctional lower limb rehabilitation training device comprises a base 100, a flexion and extension bracket 200, a hip-knee joint flexion and extension autonomous training control mechanism 300, an ankle joint dorsi extension plantarflexion training mechanism 400, a hip-ankle joint internal and external rotation autonomous training mechanism 500, and a hip joint internal and external extension autonomous training mechanism 600. A first motor 710 for automatic flexion and extension training, a second motor 720 for automatic dorsiflexion and extension plantar flexion training, a third motor 730 for automatic internal and external rotation training, and a fourth motor 740 for automatic adduction and abduction training are provided, and are connected with an electric cabinet 700 for realizing control, wherein the electric cabinet is provided with a control display screen 701 and a control button 702. When the device is used for passive training, the corresponding motor can be started by directly pressing keys to train corresponding functions. When the integral rehabilitation training function is started by one key, the hip and knee joint flexion and extension training is firstly carried out for 10 minutes, then the ankle joint dorsiflexion and plantarflexion training is carried out for 10 minutes, then the hip and ankle joint inward and outward rotation training is carried out for 3 minutes, then the hip joint abduction and adduction training is carried out for 3 minutes, and finally the relaxation training is carried out for 1-2 minutes, wherein the whole process is about 30 minutes and the whole process automatically operates. The electric drive training of the device is performed according to preset specific time, rotation speed and rotation angle, the training parameters cannot be automatically adjusted according to the actual conditions of different patients, and the recovery effect is not efficient enough. Disclosure of Invention The application aims to solve the technical problem of providing a full-automatic intelligent control method capable of adaptively adjusting according to actual conditions such as muscle strength of a patient aiming at a multifunctional lower limb rehabilitation training device. The intelligent control method for the multifunctional lower limb rehabilitation training device is characterized in that the rehabilitation training device comprises a base, a flexion and extension support, a hip knee joint flexion and extension training control mechanism, an ankle joint dorand extension and plantar flexion training mechanism, a hip ankle joint inward and outward rotation training mechanism and a hip joint inward and outward extension self-training mechanism, a first motor for automatic flexion training, a second motor for automatic dorand plantar flexion training, a third motor for automatic inward and outward rotation training and a fourth motor for automatic inward and outward rotation training are arranged, the motors are respectively and electrically connected with an electric control box to realize system control, the electric control box is provided with a control display screen and/or a control button, rehabilitation training functions comprise hip knee joint flexion and extension training, ankle joint dorand plan