CN108031073B - Control system and training method of upper limb coordination rehabilitation training device - Google Patents

Abstract

The invention discloses a control system of an upper limb coordination rehabilitation training device and a training method thereof. The control system of the upper limb coordination rehabilitation training device includes a first pneumatic system and a second pneumatic system which are mutually symmetrical, and also includes a silent compressor, an air source A pressure sensor, an air storage tank and a mode switching solenoid valve, the first pneumatic system includes a first reversing solenoid valve, a first exhaust valve, a first one-way valve and a first proportional pressure regulating valve, and the second pneumatic system The system includes a second reversing solenoid valve, a second exhaust valve, a second one-way valve and a second proportional pressure regulating valve. The second end of the first proportional pressure regulating valve communicates with the silent compressor, the air source pressure sensor, and the air storage tank at the same time. The upper limb coordination rehabilitation training device control system and training method disclosed in the present invention can effectively assist rehabilitation personnel to complete rehabilitation training independently and autonomously, improve the independence and pertinence of upper limb rehabilitation training, and help rehabilitation personnel return to daily life and work.

Description

Control system and training method of upper limb coordination rehabilitation training device

technical field

The invention belongs to the technical field of rehabilitation equipment, and in particular relates to a control system of an upper limb coordination rehabilitation training device and a training method thereof.

Background technique

Rehabilitation is generally considered to alleviate physical injury through voluntary movement, physical intervention, etc. In the medical field, after an event such as a stroke, it is usually necessary to help the patient regain an independent living and working state as much as possible through rehabilitation.

It is worth noting that existing rehabilitation equipment usually needs to be supervised and guided by an instructor in order to help patients complete the rehabilitation process. Therefore, most rehabilitation equipment is only suitable for deployment in specific places such as rehabilitation centers. The applicable objects, applicable places, and conditions of use are relatively harsh, and it is difficult to independently and autonomously assist patients to complete the rehabilitation process. Among them, the existing active and passive training equipment generally adopts the mode of motor drive, but the motor drive may bring the risk of accidental injury caused by the motor out of control, and at the same time, the drive and control of the motor are not easy to be compliant, and the adaptability is not strong; There are also equipment driven by purely mechanical structure or gravity, the training method and effect are fixed, and the flexibility is not good.

The application number is 200610088011.5, and the subject name is an invention patent of an upper limb rehabilitation training device. The disclosed technical solution is that the upper limb rehabilitation training device includes a frame and a support plate located above the frame; ; There are two sets of planar linkage mechanisms whose motion planes are perpendicular to each other between the frame and the support plate; in this mechanism, one end of the crank is fixedly connected to the rotating shaft, the other end is linked with the connecting rod, and the other end of the connecting rod is hinged on the support plate; Two sets of planar linkages share a support rod, one end of the support rod is fixed on the frame, and the other end is connected with the support plate through a spherical pair; the connection between the connecting rod and the support plate is connected by a cross hinge. According to the above technical solution, the upper limb rehabilitation training device claimed in this invention patent has and only has a mechanical connection relationship between each component, for example, the support plate is fixedly connected to the longitudinal handle, and the connecting rod and the support plate are connected by a cross hinge. In order to achieve the purpose of upper limb rehabilitation training, it must be manually operated by participants in upper limb rehabilitation training or assisted by instructors, instead of setting up pneumatic equipment such as cylinders to achieve automatic control and independent setting, and it is impossible to accurately adjust the training parameters of each training mode.

Contents of the invention

Aiming at the state of the prior art, the present invention provides a control system of an upper limb coordination rehabilitation training device and a training method of the control system of an upper limb coordination rehabilitation training device.

The present invention adopts the following technical scheme, the control system of the upper limb coordination rehabilitation training device includes a first pneumatic system and a second pneumatic system that are symmetrical to each other, and also includes a mode switching solenoid valve, and the first pneumatic system includes a first reversing A solenoid valve, a first exhaust valve, and a first one-way valve, the second pneumatic system includes a second reversing solenoid valve, a second exhaust valve, and a second one-way valve, wherein:

The first branch of the mode switching solenoid valve communicates with the first end of the first reversing solenoid valve and the first end of the first exhaust valve at the same time;

The second branch of the mode switching solenoid valve communicates with the first end of the first reversing solenoid valve and the first end of the first one-way valve at the same time;

The third and fourth branches of the mode switching solenoid valve communicate with the first end of the second reversing solenoid valve and the first end of the second exhaust valve at the same time;

The fifth branch of the mode switching solenoid valve communicates with the first end of the second reversing solenoid valve and the first end of the second one-way valve at the same time.

According to the above technical solution, the control system of the upper limb coordination rehabilitation training device also includes a silent compressor, an air source pressure sensor, and an air storage tank, the first pneumatic system also includes a first proportional pressure regulating valve, and the second pneumatic system The system also includes a second proportional pressure regulator, where:

The second end of the first one-way valve communicates with the first end of the first proportional pressure regulating valve, and the second end of the first proportional pressure regulating valve communicates with the silent compressor, the air source pressure sensor, and the air storage tank at the same time. connected;

The second end of the second one-way valve communicates with the first end of the second proportional pressure regulating valve, and the second end of the second proportional pressure regulating valve communicates with the silent compressor, the air source pressure sensor, and the air storage tank at the same time. connected.

According to the above technical solution, the first pneumatic system further includes a first air supply switching valve, and the second pneumatic system further includes a second air supply switching valve, wherein:

The first air supply switching valve communicates with the first end of the first one-way valve;

The second air supply switching valve communicates with the first end of the second one-way valve.

According to the above technical solution, the first pneumatic system further includes a first exhaust muffler, and the second pneumatic system further includes a second exhaust muffler, wherein:

The first exhaust muffler communicates with the second end of the first exhaust valve;

The second exhaust muffler communicates with the second end of the second exhaust valve.

According to the above technical solution, the first pneumatic system further includes a first actuator cylinder and a first damping adjustment valve, and the second pneumatic system further includes a second actuator cylinder and a second damping adjustment valve, wherein:

The first damping regulating valve communicates with the second end of the first reversing solenoid valve and the first actuator cylinder at the same time, and the first actuator cylinder is used to drive the first handle;

The second damping regulating valve communicates with the second end of the second reversing solenoid valve and the second actuator cylinder at the same time, and the second actuator cylinder is used to drive the second handle.

According to the above technical solution, both ends of the first actuator cylinder are respectively provided with a first cylinder tail pressure sensor and a first cylinder head pressure sensor, and the first handle is provided with a first cylinder displacement sensor;

Both ends of the second actuator cylinder are respectively provided with a second cylinder tail pressure sensor and a second cylinder head pressure sensor, and the second handle is provided with a second cylinder displacement sensor.

The present invention also discloses a training method for the control system of the upper limb coordination rehabilitation training device, including a damping training step and a resistance training step, wherein:

Described damping training step comprises the following steps:

Step A1: setting the first and second damping adjustment valves to preset positions;

Step A2: The first and second proportional regulating valves are set to preset output pressures;

Step A3: adjusting the openings of the orifices of the first and second damping regulating valves;

Step A4: adjusting the output pressures of the first and second proportional regulating valves;

Described resistance training step comprises the following steps:

Step B1: setting the first and second damping regulating valves to the closed position;

Step B2: The first and second proportional regulating valves are set to preset output pressures;

Step B3: Adjust the output pressures of the first and second proportional regulating valves.

According to the above technical solution, in the resistance training step, step B4 is also included, and the step B4 is located after step B3:

Step B4: Adjust the output pressures of the first and second proportional regulating valves according to the displacement data of the first and second cylinder displacement sensors and the preset position and pressure curves.

According to the above-mentioned technical scheme, it also includes a same-direction training step and a different-direction training step, wherein:

Described same direction training step comprises the following steps:

Step D1: setting the first and second damping regulating valves to closed positions;

Step D2: setting the first and second proportional regulating valves to a preset output pressure;

Step D3: Connect the space on the right side of the cylinder piston of the first execution cylinder with the space on the left side of the cylinder piston of the second execution cylinder through the first reversing solenoid valve, the mode switching solenoid valve, and the second reversing solenoid valve;

Step D4: Connect the space on the left side of the cylinder piston of the first execution cylinder with the space on the right side of the cylinder piston of the second execution cylinder through the first reversing solenoid valve, the mode switching solenoid valve, and the second reversing solenoid valve;

Described different direction training step comprises the following steps:

Step E1: setting the first and second damping regulating valves to the closed position;

Step E2: setting the first and second proportional regulating valves to a preset output pressure;

Step E3: Connect the space on the right side of the cylinder piston of the first execution cylinder with the space on the right side of the cylinder piston of the second execution cylinder through the first reversing solenoid valve, the mode switching solenoid valve, and the second reversing solenoid valve;

Step E4: Connect the left space of the cylinder piston of the first execution cylinder with the left space of the cylinder piston of the second execution cylinder through the first reversing solenoid valve, the mode switching solenoid valve and the second reversing solenoid valve.

According to the above technical solution, the resistance calculation formula of the first executing cylinder L1 is:

F=(PL11×S1-PL12×S2)-fm;

Among them, F is the calculated resistance, PL11 is the reading of the pressure sensor L11 at the tail of the first cylinder, S1 is the area of the rod end of the cylinder piston, PL12 is the reading of the pressure sensor L12 at the head of the first cylinder, S2 is the area of the rod end of the cylinder piston, fm is the inherent friction of the cylinder.

The control system and training method of the upper limb coordination rehabilitation training device disclosed in the present invention have the beneficial effects of realizing automatic control and independent setting of the upper limb coordination rehabilitation training device through pneumatic equipment, and accurately adjusting the training parameters and valve settings of each training mode, effectively Assist rehabilitation personnel to complete rehabilitation training independently and autonomously, improve the independence and pertinence of upper limb rehabilitation training, and help rehabilitation personnel return to daily life and work. In other words, the upper limb coordination rehabilitation training device is driven by air pressure, and does not require external power to participate in the training process in the damping mode and synchronous mode, which is safe and reliable. In other resistance modes, even with the participation of external air source power, when the equipment control system fails, each control valve will automatically close the output without receiving the control signal, so as to ensure safety; the pneumatic drive is flexible and has a certain degree of self-control. Adaptability, there is no rigid impact, which effectively protects the safety of the training process and avoids secondary injuries.

Description of drawings

Fig. 1 is a gas circuit diagram of a preferred embodiment of the present invention.

Figure 2 is a partial system block diagram of the preferred embodiment of the present invention.

Fig. 3 is a partial system block diagram of the preferred embodiment of the present invention.

Reference signs include: silent compressor A1; air source pressure sensor A2; air storage tank A3; mode switching electromagnetic film A4; first execution cylinder L1; second execution cylinder R1; first damping adjustment valve L2; second damping adjustment Valve R2; first cylinder displacement sensor L3; second cylinder displacement sensor R3; first handle L4; second handle R4; first reversing solenoid valve L5; second reversing solenoid valve R5; first exhaust valve L6; second exhaust valve R6; first one-way valve L7; second one-way valve R7; first air supply switching valve L8; second air supply switching valve R8; first proportional pressure regulating valve L9; second proportional Pressure regulating valve R9; first exhaust muffler L10; second exhaust muffler R10; first cylinder tail pressure sensor L11; second cylinder tail pressure sensor R11; first cylinder head pressure sensor L12; second cylinder head Internal pressure sensor R12.

Detailed ways

The invention discloses a control system of an upper limb coordination rehabilitation training device and a training method of the control system of an upper limb coordination rehabilitation training device. The specific implementation modes of the invention will be further described below in combination with preferred embodiments.

Referring to Fig. 1 to Fig. 3 of the accompanying drawings, Fig. 1 shows the gas circuit connection relationship of the control system of the upper limb coordination rehabilitation training device, and Fig. 2 and Fig. 3 show the control system of the upper limb coordination rehabilitation training device system structure. Preferably, the control system of the upper limb coordination rehabilitation training device includes a first pneumatic system (left air circuit) and a second pneumatic system (right air circuit) that are symmetrical to each other, and also includes a silent compressor A1, an air source pressure Sensor A2, gas storage tank A3 and mode switching solenoid valve A4, wherein:

The first pneumatic system includes a first reversing solenoid valve L5, a first exhaust valve L6 and a first one-way valve L7;

The second pneumatic system includes a second reversing solenoid valve R5, a second exhaust valve R6 and a second one-way valve R7, wherein:

The first branch of the mode switching solenoid valve A4 communicates with the first end of the first reversing solenoid valve L5 and the first end of the first exhaust valve L6 at the same time;

The second branch of the mode switching solenoid valve A4 communicates with the first end of the first reversing solenoid valve L5 and the first end of the first one-way valve L7 at the same time;

The third and fourth branches of the mode switching solenoid valve A4 communicate with the first end of the second reversing solenoid valve R5 and the first end of the second exhaust valve R6 at the same time;

The fifth branch of the mode switching solenoid valve A4 communicates with the first end of the second reversing solenoid valve R5 and the first end of the second one-way valve R7 at the same time.

Preferably, the first pneumatic system further includes a first proportional pressure regulating valve L9, and the second pneumatic system further includes a second proportional pressure regulating valve R9, wherein:

The second end of the first one-way valve L7 communicates with the first end of the first proportional pressure regulating valve L9, and the second end of the first proportional pressure regulating valve L9 communicates with the silent compressor A1 and the air source pressure sensor at the same time. A2, gas storage tank A3 is connected;

The second end of the second one-way valve R7 communicates with the first end of the second proportional pressure regulating valve R9, and the second end of the second proportional pressure regulating valve R9 communicates with the silent compressor A1 and the air source pressure sensor at the same time. A2 and the gas storage tank A3 are connected.

Further, the first pneumatic system further includes a first air supply switching valve L8, and the second pneumatic system further includes a second air supply switching valve R8, wherein:

The first air supply switching valve L8 communicates with the first end of the first one-way valve L7;

The second air supply switching valve R8 communicates with the first end of the second one-way valve R7.

Further, the first pneumatic system further includes a first exhaust muffler L10, and the second pneumatic system further includes a second exhaust muffler R10, wherein:

The first exhaust muffler L10 communicates with the second end of the first exhaust valve L6;

The second exhaust muffler R10 communicates with the second end of the second exhaust valve R6.

Preferably, the first pneumatic system further includes a first actuator cylinder L1 and a first damping adjustment valve L2, and the second pneumatic system further includes a second actuator cylinder R1 and a second damping adjustment valve R2, wherein:

The first damping regulating valve L2 communicates with the second end of the first reversing solenoid valve L5 and the first actuator cylinder L1 at the same time, and the first actuator cylinder L1 is used to drive the first handle L4;

The second damping regulating valve R2 communicates with the second end of the second reversing solenoid valve R5 and the second actuator cylinder R1 at the same time, and the second actuator cylinder R1 is used to drive the second handle R4.

Wherein, the upper limbs of the rehabilitation personnel can hold the first and second handles L4 and R4 at the same time. When the first and second grips L4, R4 are driven to proper positions by the first and second actuating cylinders L1, R1, the first and second actuating cylinders L1, R1 can be shut down. At the same time, the rehabilitation personnel can also control the upper limb coordination rehabilitation training device to independently execute the rehabilitation training process through the host computer and other means.

Further, both ends of the first actuator cylinder L1 are respectively provided with a first cylinder tail pressure sensor L11 and a first cylinder head pressure sensor L12, and the first handle L4 is provided with a first cylinder displacement sensor L3.

Further, the two ends of the second actuator cylinder L2 are respectively provided with a second cylinder tail pressure sensor R11 and a second cylinder head pressure sensor R12, and the second handle R4 is provided with a second cylinder displacement sensor R3.

It is worth mentioning that the control system of the upper limb coordination rehabilitation training device can also establish a two-way communication connection with an external independent or integrated upper computer through a wireless/wired connection, so that the rehabilitation personnel can directly communicate with the upper limb coordination rehabilitation training device. Interaction, or facilitate the two-way interaction between the rehabilitation personnel and the upper limb coordination rehabilitation training device through the host computer, and further achieve the purpose of controlling the upper limb coordination rehabilitation training device to independently execute the rehabilitation training process.

According to the above-mentioned preferred embodiment, the patent application of the present invention also discloses the training method of the control system of the above-mentioned upper limb coordination rehabilitation training device, the training method of the control system of the above-mentioned upper limb coordination rehabilitation training device includes a damping training step, and the damping training step includes the following step:

Step A1: setting the first and second damping adjustment valves L2 and R2 to preset positions;

Step A2: The first and second proportional regulating valves L9 and R9 are set to preset output pressures;

Step A3: Adjust the openings of the orifices of the first and second damping regulating valves L2, R2;

Step A4: Adjust the output pressures of the first and second proportional regulating valves L9 and R9.

Preferably, in the damping training step, step A0 is also included, and said step A0 is located before step A1:

Step A0: The spool of the first reversing solenoid valve L5 is set to the de-energized position (left position, current position), the spool of the first exhaust valve L6 is set to the de-energized position (lower position, current position), and the second The spool of the first air supply switching valve L8 is set to the energized position (upper position, opposite position), the spool of the second reversing solenoid valve R5 is set to the de-energized position (left position, current position), and the second row The spool of the gas valve R6 is set to the de-energized position (lower position, current position), the spool of the second air supply switching valve R8 is set to the energized position (upper position, opposite position), and the valve of the mode switching solenoid valve A4 The core is set to the de-energized position (neutral position, current position).

Wherein, when in the damping training step, when the rehabilitation person pulls the first and second grips L4, R4 to the right (pushes the first and second grips L4, R4 to the left), the gas in the cylinder is forced from right to The left side (from left to right) flows to the opposite side through the orifices of the first and second damping adjustment valves L2, R2, which hinders the speed of the first and second grips L4, R4, and the rehabilitation personnel feel that it is Certain resistance. By adjusting the different openings of the first and second damping regulating valves L2 and R2, the resistance is also different at the same speed. Adjusting the output pressure of the first and second proportional regulating valves L9 and R9, at the same speed and the opening of the first and second damping regulating valves L2 and R2, the rehabilitation personnel feel different first and second grips L4, Rigidity of R4.

According to the above-mentioned preferred embodiment, the training method of the control system of the above-mentioned upper limb coordination rehabilitation training device also includes a resistance training step, and the resistance training step includes the following steps:

Step B1: setting the first and second damping regulating valves L2 and R2 to closed positions;

Step B2: the first and second proportional regulating valves L9 and R9 are set to preset output pressures;

Step B3: Adjust the output pressures of the first and second proportional regulating valves L9 and R9.

Preferably, in the resistance training step, step B4 is also included, and said step B4 is located after step B3:

Step B4: According to the displacement data of the first and second cylinder displacement sensors L3, R3 and the preset position and pressure curves, timely adjust the output pressures of the first and second proportional regulating valves L9, R9, so that in each training cycle Internally realize the dynamic adjustment of resistance.

Preferably, in the resistance training step, step B0 is also included, and said step B0 is located before step B1:

Step B0: The spool of the first exhaust valve L6 is set to the energized position (upper position, opposite position), the spool of the first air supply switching valve L8 is set to the de-energized position (lower position, current position), and the second The spool of the second exhaust valve R6 is set to the energized position (upper position, opposite position), the spool of the second air supply switching valve R8 is set to the de-energized position (lower position, current position), and the mode switching solenoid valve A4 The spool is set to the de-energized position (neutral position, current position).

Wherein, when in the resistance training step, when the rehabilitation personnel pull the first and second grips L4, R4 to the right, the spools of the first and second reversing solenoid valves L5, R5 are set to the de-energized position (left position , current position), the set pressure gas acts on the cylinder piston, which produces constant leftward resistance to the first and second grips L4, R4, which the rehabilitation personnel feel as a constant pulling force. When the rehabilitation personnel pull the first and second handles L4 and R4 to the left, the spools of the first and second reversing solenoid valves L5 and R5 are set to the energized position (right position, opposite position), and the pressure is set Others act on the cylinder piston to produce a constant rightward thrust to the first and second grips L4 and R4, which the rehabilitation personnel feel as a constant thrust.

According to the above-mentioned preferred embodiment, the training method of the control system of the above-mentioned upper limb coordination rehabilitation training device also includes a passive power-assisted training step, and the passive power-assisted training step includes the following steps:

Step C1: setting the first and second damping regulating valves L2 and R2 to closed positions;

Step C2: the first and second proportional regulating valves L9 and R9 are set to preset output pressures;

Step C3: Adjust the output pressures of the first and second proportional regulating valves L9 and R9.

Preferably, in the step of passive power training, step C4 is also included, and said step C4 is located after step C3:

Step C4: According to the displacement data of the first and second cylinder displacement sensors L3, R3 and the preset position and pressure curves, timely adjust the output pressures of the first and second proportional regulating valves L9, R9, so that in each training cycle Internally realize the dynamic adjustment of resistance.

Preferably, in the step of passive power-assisted training, a step C0 is also included, and the step C0 is located before the step C1:

Step C0: The spool of the first exhaust valve L6 is set to the energized position (upper position, opposite position), the spool of the first air supply switching valve L8 is set to the de-energized position (lower position, current position), and the second The spool of the second exhaust valve R6 is set to the energized position (upper position, opposite position), the spool of the second air supply switching valve R8 is set to the de-energized position (lower position, current position), and the mode switching solenoid valve A4 The spool is set to the de-energized position (neutral position, current position).

Wherein, when in the passive power training step, the spools of the first and second reversing solenoid valves L5 and R5 are set to the de-energized position (left position, current position), and the set pressure gas acts on the right side of the cylinder piston, The first and second handles L4 and R4 produce a constant leftward thrust, and the first and second handles L4 and R4 drive the rehabilitation personnel to move to the left, which the rehabilitation personnel feel as a constant pulling force. The spools of the first and second reversing solenoid valves L5 and R5 are set to the energized position (right position, opposite position), and the set pressure acts on the left side of the cylinder piston, and the first and second handles L4 , R4 produce a constant rightward thrust, the first and second grips L4, R4 drive the rehabilitation personnel to move to the right, and the rehabilitation personnel feel the constant thrust.

According to the above-mentioned preferred embodiment, the training method of the control system of the above-mentioned upper limb coordination rehabilitation training device also includes a step of training in the same direction, and the step of training in the same direction includes the following steps:

Step D1: setting the first and second damping regulating valves L2 and R2 to closed positions;

Step D2: the first and second proportional regulating valves L9 and R9 are set to preset output pressures;

Step D3: Through the first reversing solenoid valve L5, the mode switching solenoid valve A4, and the second reversing solenoid valve R5, the space on the right side of the cylinder piston of the first execution cylinder L1 is connected to the left side of the cylinder piston of the second execution cylinder R1 spatial connectivity;

Step D4: through the first reversing solenoid valve L5, the mode switching solenoid valve A4, and the second reversing solenoid valve R5, the left space of the cylinder piston of the first execution cylinder L1 is connected to the right side of the cylinder piston of the second execution cylinder R1 Spatial connectivity.

Preferably, in the step of training in the same direction, step D0 is also included, and said step D0 is located before step D1:

Step D0: The spool of the first reversing solenoid valve L5 is set to the de-energized position (left position, current position), the spool of the first exhaust valve L6 is set to the de-energized position (lower position, current position), and the second The spool of the first gas supply switching valve L8 is set to the energized position (upper position, opposite position), the spool of the second reversing solenoid valve R5 is set to the de-energized position (left position, current position), and the second row The spool of the air valve R6 is set to the de-energized position (lower position, current position), the spool of the second air supply switching valve R8 is set to the energized position (upper position, opposite position), and the valve of the mode switching solenoid valve A4 The core is set to the left bit position.

Among them, when the training steps are in the same direction, the rehabilitation personnel pull or push the first and second grips L4, R4 arbitrarily, and the cylinder pistons move in the same direction synchronously. The user feels that any hand pushes/pulls the grip while the other hand The hand can feel the push/pull effect synchronously, which can be used for the healthy hand of the hemiplegic patient to drive the affected hand to perform synchronous rehabilitation training in the same direction.

According to the above-mentioned preferred embodiment, the training method of the control system of the above-mentioned upper limb coordination rehabilitation training device also includes a different direction training step, and the different direction training step includes the following steps:

Step E1: setting the first and second damping regulating valves L2 and R2 to closed positions;

Step E2: setting the first and second proportional regulating valves L9 and R9 to preset output pressures;

Step E3: through the first reversing solenoid valve L5, the mode switching solenoid valve A4, and the second reversing solenoid valve R5, connect the space on the right side of the cylinder piston of the first execution cylinder L1 to the right side of the cylinder piston of the second execution cylinder R1 spatial connectivity;

Step E4: Through the first reversing solenoid valve L5, the mode switching solenoid valve A4, and the second reversing solenoid valve R5, connect the left space of the cylinder piston of the first execution cylinder L1 to the left side of the cylinder piston of the second execution cylinder R1 Spatial connectivity.

Preferably, in the different direction training step, a step E0 is also included, and the step E0 is located before the step E1:

Step E0: The spool of the first reversing solenoid valve L5 is set to the de-energized position (left position, current position), the spool of the first exhaust valve L6 is set to the de-energized position (lower position, current position), and the second The spool of the first air supply switching valve L8 is set to the energized position (upper position, opposite position), the spool of the second reversing solenoid valve R5 is set to the de-energized position (left position, current position), and the second row The spool of the air valve R6 is set to the de-energized position (lower position, current position), the spool of the second air supply switching valve R8 is set to the energized position (upper position, opposite position), and the valve of the mode switching solenoid valve A4 The core is set to the left bit position.

Among them, during the training steps in different directions, the rehabilitation personnel pull or push the first and second grips L4 and R4 arbitrarily, and the cylinder pistons move in different directions synchronously. The user feels that any hand pushes/pulls the grip while the other The hand feels the pull/push effect synchronously, which can be used for the healthy hand of the hemiplegic patient to drive the affected hand autonomously to perform synchronous rehabilitation training in different directions. By adjusting the output pressures of the first and second proportional pressure regulating valves L9 and R9, the rehabilitation personnel feel the difference in stiffness of the synchronous movement of the first and second grips L4 and R4.

Among them, by detecting the first and second cylinder tail pressure sensors L11, R11 and the first and second cylinder head pressure sensors L12, R12 on both sides of the first and second actuating cylinders L1, R1. By multiplying the values of the two sensors by the area of the cylinder piston, the calculated two pressures can be subtracted to obtain the resistance acting on the cylinder piston in the direction of tension and compression. According to the direction of movement, subtract the fixed frictional resistance of the cylinder to obtain the net resistance acting on the grip. This net resistance is the force of the rehabilitation personnel acting on the grip, and can be used for feedback and evaluation of rehabilitation training.

Wherein, the resistance calculation formula of the first executing cylinder L1 (the second executing cylinder R1) is:

F=(PL11×S1-PL12×S2)-fm;

Among them, F is the calculated resistance, PL11 is the reading of the pressure sensor L11 at the tail of the first cylinder, S1 is the area of the rod end of the cylinder piston, PL12 is the reading of the pressure sensor L12 at the head of the first cylinder, S2 is the area of the rod end of the cylinder piston, fm is the inherent friction of the cylinder.

For those skilled in the art, it is still possible to modify the technical solutions described in the foregoing embodiments, or to perform equivalent replacements for some of the technical features. Any modifications made within the spirit and principles of the present invention, Equivalent replacements, improvements, etc., should all be included in the protection scope of the present invention.

Claims (8)

1. A control system for an upper limb coordination rehabilitation training device, characterized in that it includes a first pneumatic system and a second pneumatic system that are symmetrical to each other, and also includes a mode switching solenoid valve, wherein: The first pneumatic system includes a first reversing solenoid valve, a first exhaust valve, and a first one-way valve, and the second pneumatic system includes a second reversing electromagnetic valve, a second exhaust valve, and a second one-way valve. valve; The first branch of the mode switching solenoid valve communicates with the first end of the first reversing solenoid valve and the first end of the first exhaust valve at the same time; the second branch of the mode switching solenoid valve communicates with the first end of the first exhaust valve simultaneously. The first end of the reversing solenoid valve communicates with the first end of the first one-way valve; the third and fourth branches of the mode switching solenoid valve are simultaneously connected with the first end of the second reversing solenoid valve and the second row The first end of the air valve is communicated; the fifth branch of the mode switching solenoid valve is simultaneously communicated with the first end of the second reversing electromagnetic valve and the first end of the second one-way valve; The first pneumatic system further includes a first air supply switching valve, and the second pneumatic system further includes a second air supply switching valve, wherein: The first air supply switching valve communicates with the first end of the first one-way valve; The second air supply switching valve communicates with the first end of the second check valve; The first pneumatic system also includes a first actuator cylinder and a first damping regulating valve, and the second pneumatic system further includes a second actuator cylinder and a second damping regulating valve, wherein: The first damping regulating valve communicates with the second end of the first reversing solenoid valve and the first actuator cylinder at the same time, and the first actuator cylinder is used to drive the first handle; The second damping regulating valve communicates with the second end of the second reversing solenoid valve and the second actuator cylinder at the same time, and the second actuator cylinder is used to drive the second handle. 2. the control system of the upper limb coordination rehabilitation training device according to claim 1, characterized in that, the control system of the upper limb coordination rehabilitation training device also includes a silent compressor, an air source pressure sensor, an air storage tank, and the first A pneumatic system further includes a first proportional pressure regulating valve, and the second pneumatic system further includes a second proportional pressure regulating valve, wherein: The second end of the first one-way valve communicates with the first end of the first proportional pressure regulating valve, and the second end of the first proportional pressure regulating valve communicates with the silent compressor, the air source pressure sensor, and the air storage tank at the same time. connected; The second end of the second one-way valve communicates with the first end of the second proportional pressure regulating valve, and the second end of the second proportional pressure regulating valve communicates with the silent compressor, the air source pressure sensor, and the air storage tank at the same time. connected. 3. The control system of the upper limb coordination rehabilitation training device according to claim 1, wherein the first pneumatic system also includes a first exhaust muffler, and the second pneumatic system also includes a second exhaust muffler device, of which: The first exhaust muffler communicates with the second end of the first exhaust valve; The second exhaust muffler communicates with the second end of the second exhaust valve. 4. The control system of the upper limb coordination rehabilitation training device according to claim 1, characterized in that: Both ends of the first actuator cylinder are respectively provided with a first cylinder tail pressure sensor and a first cylinder head pressure sensor, and the first handle is provided with a first cylinder displacement sensor; Both ends of the second actuator cylinder are respectively provided with a second cylinder tail pressure sensor and a second cylinder head pressure sensor, and the second handle is provided with a second cylinder displacement sensor. 5. according to the training method of the control system of the upper limb coordination rehabilitation training device described in any one of claim 1-4, it is characterized in that, comprise damping training step and resistance training step, wherein: Described damping training step comprises the following steps: Step A1: setting the first and second damping adjustment valves to preset positions; Step A2: The first and second proportional regulating valves are set to preset output pressures; Step A3: adjusting the openings of the orifices of the first and second damping regulating valves; Step A4: adjusting the output pressures of the first and second proportional regulating valves; Described resistance training step comprises the following steps: Step B1: setting the first and second damping regulating valves to the closed position; Step B2: The first and second proportional regulating valves are set to preset output pressures; Step B3: Adjust the output pressures of the first and second proportional regulating valves. 6. the training method of the control system of upper limb coordination rehabilitation training device according to claim 5, is characterized in that: In the resistance training step, step B4 is also included, said step B4 is located after step B3: Step B4: Adjust the output pressures of the first and second proportional regulating valves according to the displacement data of the first and second cylinder displacement sensors and the preset position and pressure curves. 7. the training method of the control system of upper limb coordination rehabilitation training device according to claim 5, is characterized in that, also comprises same direction training step and different direction training step, wherein: Described same direction training step comprises the following steps: Step D1: setting the first and second damping regulating valves to closed positions; Step D2: setting the first and second proportional regulating valves to preset output pressures; Step D3: Connect the space on the right side of the cylinder piston of the first execution cylinder with the space on the left side of the cylinder piston of the second execution cylinder through the first reversing solenoid valve, the mode switching solenoid valve, and the second reversing solenoid valve; Step D4: Connect the space on the left side of the cylinder piston of the first execution cylinder with the space on the right side of the cylinder piston of the second execution cylinder through the first reversing solenoid valve, the mode switching solenoid valve, and the second reversing solenoid valve; Described different direction training step comprises the following steps: Step E1: setting the first and second damping regulating valves to the closed position; Step E2: setting the first and second proportional regulating valves to a preset output pressure; Step E3: Connect the space on the right side of the cylinder piston of the first execution cylinder with the space on the right side of the cylinder piston of the second execution cylinder through the first reversing solenoid valve, the mode switching solenoid valve, and the second reversing solenoid valve; Step E4: Connect the left space of the cylinder piston of the first execution cylinder with the left space of the cylinder piston of the second execution cylinder through the first reversing solenoid valve, the mode switching solenoid valve and the second reversing solenoid valve. 8. the training method of the control system of upper limb coordination rehabilitation training device according to claim 7, is characterized in that, the resistance calculating formula of described first execution cylinder L1 is: F=(PL11×S1-PL12×S2)-fm; Among them, F is the calculated resistance, PL11 is the reading of the pressure sensor L11 at the tail of the first cylinder, S1 is the area of the rod end of the cylinder piston, PL12 is the reading of the pressure sensor L12 at the head of the first cylinder, S2 is the area of the rod end of the cylinder piston, fm is the inherent friction of the cylinder.

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