CN108095985B - Electric walking aid for multi-mode walking training and control method of the aid - Google Patents

Abstract

The invention discloses an electric walking assistive device for realizing multiple training modes, which comprises the following steps: the walking device comprises a constant speed mode, a moderate speed mode, a muscle strengthening mode, a weight bearing strengthening mode, a high-frequency variable speed disturbance mode, a low-frequency variable speed perturbation mode, a direction control mode and a slope mode, and is used for training the walking speed, the muscle strength, the supporting balance of the affected hand and foot and the healthy hand and foot of a user, controlling the walking speed by neglecting external interference, and adjusting the walking speed, the direction control and the slope walking capacity according to external conditions.

Description

Electric walking aid for multi-mode walking training and control method of the aid

technical field

The present invention relates to the field of electric walking aids. More specifically, the electric walking aids of the present invention can provide various modes of walking training.

Background technique

Electric walking aids are important mobility aids for users who maintain the ability to walk but rely on support to maintain dynamic balance. However, in addition to providing support, electric walking aids can also provide various training modes to improve the user's walking ability. The improvement of walking ability involves a wide range of levels, basically including gait cycle, cadence, stride, pace, stride, and further includes muscle strength, and muscle strength not only refers to the legs, but also to the hands, waist , The relevant muscle groups of the trunk are also related. When the muscle strength and coordination control reach a certain standard, further directional control training can be performed, and all basic training and advanced training can have obvious effects. Furthermore, various training modes must return to the people-oriented basis, and select the training mode suitable for him/her according to the user's condition.

At present, most of the electric walking aids available on the market can only perform a single function, adapt to a single situation, and cannot make personalized elastic adjustments for users in different situations.

SUMMARY OF THE INVENTION

The main purpose of the present invention is to provide an electric auxiliary device that can provide multi-mode walking training, so that users with different conditions and walking abilities can choose a suitable training mode and make individualized elastic adjustment.

An electric walking aid for multi-mode walking training, the aid comprises: a mobile platform, the mobile platform has a mobile device; a user area, which is a ground area adjacent to the mobile platform, and the user area is for a user to stand ; a gait sensing module, set on the mobile platform, senses the user's feet through non-contact sensing means and outputs the gait characteristic information of the user; a control system, set on the mobile platform, the auxiliary device All modules and the mobile device are respectively electrically connected to the control system; the control system further includes a trajectory programming for controlling the mobile platform to generate predetermined trajectories such as linear movement, left-turn movement, right-turn movement; the control system obtains the auxiliary device The information and data of all the modules are mixed and analyzed, and the result of the analysis is used to control the auxiliary device to generate a predetermined movement pattern.

The aids also include:

a resistance module installed on the mobile platform and electrically connected to the mobile device for adjusting the movement resistance of the auxiliary device;

a multi-axis sensing module, the sensors of the multi-axis sensing module are respectively arranged on the left grip and the right grip, for sensing the vector force exerted by the user's left and right hands on the left and right grips, And correspondingly output the user's right-hand vector force and left-hand vector force;

an obstacle sensing module, comprising a plurality of sensors respectively disposed on the periphery of the mobile platform, for sensing whether the assisting device encounters an obstacle when moving, and obtaining the distance between the assisting device and the obstacle;

a front and rear tilt sensing module, the sensor of which is installed on the mobile platform for sensing the front and rear tilt state of the mobile platform;

A pedaling force sensing module, the pedaling force sensing module is embedded in the sole, the insole worn by the user, or the training trail for the user to walk, and the control system is electrically connected with the pedaling force sensing module.

The present invention further includes a control method for an auxiliary device, the control method enables the auxiliary device to execute the following movement modes, the movement modes include: a constant speed mode; an appropriate speed mode; a high frequency variable speed disturbance mode; and a low frequency variable speed perturbation mode.

The movement mode further includes: strengthening muscle mode; weight-bearing strengthening mode of the affected side; strengthening mode of weight-bearing of the affected hand; strengthening mode of weight-bearing of the affected hand and foot; direction control mode; slope mode.

The constant speed mode is used to train the user's walking speed and speed control.

The strengthening muscle mode (Strengthening Push/Pull) trains and strengthens the user's muscle strength. The muscle strength is mainly in the legs and feet, followed by the related muscles of the hands, waist and trunk.

The weight bearing enhancement mode (Weight bearing) includes the ipsilateral foot enhancement mode; the ipsilateral hand enhancement mode; the ipsilateral hand and foot enhancement mode. Train and enhance the muscle strength of the affected hand and foot, and assist the user to control and coordinate the support and balance of the affected hand and the unaffected hand and foot.

The high-frequency variable-speed disturbance mode (High Frequency Disturbance Random Speed) trains the user to effectively control his own walking speed in the presence of external disturbances by moving the assistive device at a high-frequency variable speed.

The low frequency perturbation variable speed mode (Low Frequency Perturbation Variable Speed) is a mode in which the assistive device moves at a low frequency at a variable speed, so as to train the user to effectively control his walking speed according to the external conditions.

The direction control mode (Direction Control) is used to train the user to control the direction of walking.

In the above-mentioned Slop mode, the user is trained to control the walking speed and the position of the center of gravity of the uphill and downhill with the aids, and to perform higher-level muscle strength training through the uphill and downhill.

Description of drawings

FIG. 1 is a schematic structural diagram of the electric walking aid of the present invention.

FIG. 2 is a block diagram of a module of the electric walking aid of the present invention.

【Symbol Description】

10 Base 12 Left Grip 13 Right Grip 14 Front Wheel

15 rear wheel 151 left wheel 152 right wheel 161 left wheel motor

162 Right Wheel Motor 17 User Area 18 User 20 Gait Sensing Module

22 Resistance module 23 Multi-axis sensing module 24 Obstacle sensing module 25 Front and rear tilt sensing module

26 Track programming 27 Control system 28 Pedal force sensing module

Detailed ways

In order to facilitate the description of the central idea of the present invention expressed in the column of the above-mentioned summary of the invention, specific embodiments are hereby expressed. Various objects in the embodiments are drawn according to the proportions, sizes, deformations or displacements suitable for the description, rather than the scales of the actual components, which will be described first.

As shown in Figures 1 and 2, the electric walking aid (hereinafter referred to as the aid) of the present invention includes: a mobile platform 10; a left handle 12 and a right handle 13 connected to the mobile platform 10; The moving device of the mobile platform 10, the moving device is a pair of front wheels 14 and a pair of rear wheels 15; the rear wheels 15 include a left wheel 151 and a right wheel 152, the left wheel 151 and the right wheel 152 are respectively driven by a left wheel motor 161 and a right wheel motor 162 are controlled; a user area 17 is the ground area adjacent to the mobile platform 10, a user 18 stands on the user area 17, and the user's left and right hands hold the left grip and right respectively. Grip, and the user's elbow flexion angle is 25°-35°.

The assistive device further includes a gait sensing module 20, a resistance module 22, a multi-axis sensing module 23, an obstacle sensing module 24, a front-to-back inclination sensing module 25, and a trajectory programming ( track program) 26; the above-mentioned modules are respectively electrically connected to a control system 27 of the auxiliary device; the control system 27 is further embedded in the soles and insoles worn by the user, or embedded in the training for the user to walk. The pedaling force sensing module 28 used to sense the pedaling force of the user's feet in the trail is electrically connected; the control system obtains the information and data of the above-mentioned modules and performs mixed analysis and calculation, and uses the results of the analysis and calculation to control the auxiliary device A predetermined movement pattern is generated.

The gait sensing module 20 senses the feet of the user through non-contact sensing means and outputs the gait characteristic information of the user. The gait feature information includes, but is not limited to, gait cycle, cadence, stride, stride speed, the straight-line distance between the midpoint of the distance between the feet and a specific point of the assistive device (hereinafter referred to as the first man-machine distance d1), and the Whether the user is located in the aforementioned user area; the non-contact sensing means includes but is not limited to image, laser, infrared, ultrasonic, or any sensing module attached to the user's feet.

The resistance module 22 is electrically connected to the left wheel motor 161 and the right wheel motor 162 to increase the internal resistance of the motor, reduce the motor speed and increase the motor torque, so that the movement of the auxiliary device has appropriate resistance.

The multi-axis sensing module 23 is used to sense the vector force exerted by the user's left and right hands on the left and right grips, and output the user's right-hand vector force (VFr) and left-hand vector force (VFl) correspondingly .

The obstacle sensing module 24 is used to sense whether the assisting device encounters an obstacle when moving, and obtain the distance (Do) between the assisting device and the obstacle.

The front and rear inclination sensing module 25 is used to sense the state of the front and rear inclination of the mobile platform 10. In the embodiment of the present invention, if the mobile platform 10 is inclined backward, it means that the auxiliary device is in an uphill state; the movement If the platform 10 is inclined forward, it means that the auxiliary device is in a downhill state.

The Track Program 26 refers to controlling the rotational speed of the left wheel motor 161 and the right wheel motor 162 of the auxiliary device, so that the auxiliary device can move linearly, turn left, and turn right within a predetermined distance. A program for a predetermined trajectory such as movement.

The assisting device of the present invention generates the following training modes through the control of the control system.

The training modes include: constant speed mode (hereinafter referred to as M1 mode); adaptive speed mode (hereinafter referred to as M2 mode); strengthening muscle mode (Strengthening Push/Pull) (hereinafter referred to as M5 mode) Mode); average weight bearing mode (Weightbearing) (hereinafter referred to as M6 mode, further including M6-1 mode, M6-2 mode, M6-3 mode); High Frequency Disturbance Random Speed (hereinafter referred to as DRS mode) ); Low Frequency PerturbationVariable Speed (hereinafter referred to as PVS mode); Direction Control by HandlePush/Pull Forces (hereinafter referred to as PFD mode, further including FPD-1 mode, PFD-2 mode) mode, PFD-3 mode); Slop mode (hereinafter referred to as SL mode).

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M1 mode is a constant speed mode, the auxiliary device and its control system implement the following control methods, including:

Step 1, the control system judges whether the user is located in the user area of the auxiliary device through the information of the gait sensing module; if so, go to step 2; if not, the auxiliary device does not move or stops moving, and the control system continues to judge ;

In step 2, the control system commands the auxiliary device to move at a predetermined speed (Vs). The predetermined speed (Vs) is built into the system or pre-inputted by the therapist through the operation interface of the control system;

Step 3: Repeat steps 1 and 2 until the training is over, or the machine is forced to stop due to other emergencies (such as a fall of the user).

In M1 mode, the user follows the predetermined speed of the assistive device to train the user's walking speed.

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The M2 mode is an appropriate speed mode. The assistive device and its control system implement the following control methods, including:

Step 1, the control system judges whether the user is located in the user area of the auxiliary device through the information of the gait sensing module; if so, go to step 2; if not, the auxiliary device does not move or stops moving, and the control system continues to judge ;

Step 2, the control system instructs the assistive device to move at a predetermined speed (Vs), and the user follows the assistive device to move on foot; wherein the predetermined speed (Vs) is built in the system, or the therapist uses an operation interface of the control system pre-input;

Step 3, the control system obtains the user's walking speed from the gait sensing module and calculates the user's average walking speed (Vn);

Step 4, the control system compares the predetermined speed (Vs) of the auxiliary device with the average walking speed (Vn) of the user; when {|Vn-Vs|>εV}, the control system calculates according to min(Vn, Vu) As a result, the preset speed (Vs1) of the auxiliary device is changed; when |Vn-Vs|≦εV, go back to step 2; wherein, Vu is the maximum speed value of the auxiliary device, which is the default value of the system according to the specification and rotation speed of the motor; ( εV) is the allowable error value;

Step 5: Repeat steps 1 to 4 until the training is over or the machine is stopped in other emergency situations (eg user falls).

In M2 mode, the assistive device first moves at a predetermined speed (Vs), and then adjusts the predetermined speed (Vs1) according to the user's walking speed. The assistive device can be adjusted and matched according to the user's walking speed.

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M5 mode is a muscle strengthening mode. The assistive device and its control system implement the following control methods, including:

Step 1, the control system judges whether the user is located in the user area of the auxiliary device through the information of the gait sensing module; if so, go to step 2; if not, the auxiliary device does not move or stops moving, and the control system continues to judge ;

Step 2, the control system obtains the reaction force value of the right handle (|Fr|) and the reaction force value of the left handle (|Fl|) through the multi-axis sensing module;

Step 3: The control system compares the reaction force value of the right handle (|Fr|) and the reaction force value of the left handle (|Fl|) with a right preset threshold value (Frth) and a left preset threshold value (Flth ) to perform a comparison operation, and the result is {(|Fr|>Frth)&(|Fl|>Flth)}, then go to step 4, otherwise go back to step 1; wherein, the preset thresholds (Frth), (Flth) ) is built into the system or pre-input by the therapist through the operating interface of the control system;

Step 4, the control system obtains the aforementioned first man-machine distance d1 through the gait sensing module;

Step 5, the control system calculates and compares the first man-machine distance (d1), the right grip reaction force value Fr, and the left grip reaction force value (Fl), if the result is that formula (1) is established, it means that the user Apply a pushing force to the auxiliary device, if the result is that formula (2) is established, it means that the user applies a pulling force to the auxiliary device; if either formula (1) or formula (2) is established, step 6 is performed; if formula (1) and If the formula (2) is not established, then go back to step 1;

{(d1<dznu)&(Fr<0)&(Fl<0)} Formula (1)

{(d1>dznl)&(Fr>0)&(Fl>0)} Formula (2)

Among them, (dznu) is the upper limit of neutral distance between man and machine; (dznl) is the lower limit of neutral distance between man and machine; (dznu) and (dznl) are the default values of the system;

Step 6, the auxiliary device moves forward in the direction of thrust or retreats in the direction of pull at a predetermined speed (Vs);

Step 7: Repeat steps 1 to 6 until the training is over or the machine stops due to other emergencies.

In step 6 of the M5 mode, the control system can further control the activation of the aforementioned resistance module, increase the current of the motor, increase the reverse torque of the motor, and make the movement of the auxiliary device have appropriate resistance, and the user's pushing or pulling force on the auxiliary device It must be increased to allow the aids to move.

In M5 mode, the push and pull forces applied by the user to the assistive device are used as the judgment conditions to start the assistive device to move and drive the assistive device to continue to move. When the strength of the user's leg muscles, waist muscles, trunk muscles, and hand muscles are all When the desired standards are met and they work in harmony with each other, the assistive device can be successfully pushed or pulled, thereby training and strengthening the user's muscle strength.

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The M6-1 model is a weight-bearing strengthening model for the affected foot. The assistive device and its control system implement the following control methods, including:

Step 1, the control system judges whether the user is located in the user area of the auxiliary device through the information of the gait sensing module; if so, go to step 2; if not, the auxiliary device does not move or stops moving, and the control system continues to judge ;

Step 2, the control system obtains the pedal force value (Ta) on the affected side of the user from the pedal force sensing module;

Step 3, the control system compares the pedaling force value (Ta) of the affected side with the preset pedaling force threshold (Tth), if {Ta>Tth} is true, go to Step 4; if not, go back to Step 1 ; Wherein, the default threshold (Tth) is built-in in the system, or pre-input by the therapist through the operation interface of the control system;

Step 4, the control system detects the duration (Time_Ta) of {Ta>Tth}, and compares the duration (Time_Ta) with a preset time (Time_th), if {Time_Ta<Time_th}, go back to Step 1 ; If {Time_Ta≧Time_th}, and the control system obtains the user's unaffected pedal force value (Tc) from the pedal force sensing module, the control system commands the assistive device to move a preset distance at a predetermined speed (Vs). The preset distance can be the user's stride distance, built into the system, or pre-input by the therapist through the operation interface of the control system;

Step 5: Repeat steps 1 to 4 until the training is over or the machine stops due to other emergencies.

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The M6-2 model is a weight-bearing strengthening model for the affected hand. The assistive device and its control system implement the following control methods, including:

Step 1, the control system judges whether the user is located in the user area of the auxiliary device through the information of the gait sensing module; if so, go to step 2; if not, the auxiliary device does not move or stops moving, and the control system continues to judge ;

Step 2, the control system obtains the hand vector force (Va) on the affected side of the user and the hand vector force (Vc) on the unaffected side of the user from the multi-axis sensing module;

Step 3, the control system compares the vector force of the affected hand (Va) and the vector force of the unaffected hand (Vc) with the preset threshold of the affected hand (Vath) and the preset threshold of the unaffected hand (Vcth); If {(Va≧Vath)and(Vc≦Vcth)} is true, go to step 4, if no, go back to step 1; wherein, the preset thresholds (Vath) and (Vcth) are built-in or therapeutic The teacher pre-inputs through the operation interface of the control system;

In step 4, the auxiliary device moves a predetermined distance at a predetermined speed (Vs). The preset distance can be the user's stride distance, built into the system, or pre-input by the therapist through the operation interface of the control system;

Step 5: Repeat steps 1 to 4 until the training is over, or the machine is stopped due to other emergencies.

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The M6-3 model is a weight-bearing strengthening model for the affected hand and foot. The assistive device and its control system implement the following control methods, including:

Step 1, the control system judges whether the user is located in the user area of the auxiliary device through the information of the gait sensing module; if so, go to step 2; if not, the auxiliary device does not move or stops moving, and the control system continues to judge ;

Step 2, the control system obtains the user's affected side pedal force value (Ta) from the pedal force sensing module; the control system obtains the user's affected side hand vector force (Va) and the unaffected side hand vector force from the multi-axis sensing module (Vc);

Step 3, the control system compares the pedal force value (Ta) of the affected side with the preset threshold value of pedal force (Tth), and the control system compares the vector force of the affected side (Va) and the vector force of the unaffected side (Vc). Compare with the preset threshold of the affected hand (Vath) and the preset threshold of the unaffected hand (Vcth); if {Ta>Tth} and {(Va≧Vath)and(Vc≦Vcth)} are true, perform Step 4; if not, go back to Step 1; the preset thresholds (Tth), (Vath), (Vcth) are built in the system, or pre-input by the therapist through the operation interface of the control system;

Step 4, the control system detects the duration (Time_Ta) of {Ta>Tth}, and compares the duration (Time_Ta) with a preset time (Time_th), if {Time_Ta<Time_th}, go back to Step 1 ; If {Time_Ta≧Time_th}, and the control system obtains the user's unaffected pedal force value (Tc) from the pedal force sensing module, the control system commands the assistive device to move a preset distance at a predetermined speed (Vs). The preset distance can be the user's stride distance, built into the system, or pre-input by the therapist through the operation interface of the control system;

Step 5: Repeat steps 1 to 4 until the training is over, or the machine is stopped due to other emergencies.

M6-1, M6-2, or M6-3 mode, suitable for users with hand, or foot, or unilateral hemiplegia of hand and foot. This type of user is usually accustomed to using the unaffected side as the main support, so that the muscle strength of the affected side becomes weaker and weaker. The M6-1 mode is used to train and enhance the muscle strength of the user's affected foot, and assist the user to control and coordinate the support and balance of the affected foot and the unaffected foot. The M6-2 mode is used to train and improve the muscle strength of the user's affected hand, and help the user to control and coordinate the support and balance of the affected hand and the unaffected hand. With the M6-3 mode, it can train and improve the muscle strength of the affected hand and foot, and help the user to control and coordinate the support and balance of the affected hand and the unaffected hand and foot.

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The DRS mode is a high frequency variable speed disturbance mode. The assistive device and its control system implement the following control methods, including:

Step 1, the control system judges whether the user is located in the user area of the auxiliary device through the information of the gait sensing module; if so, go to step 2; if not, the auxiliary device does not move or stops moving, and the control system continues to judge ;

In step 2, the control system controls the auxiliary device to switch between the predetermined speed (Vs) and the random speed change (Vrandom) in a high-frequency manner. The occurrence time and duration of the predetermined speed (Vs) and the random speed change (Vrandom) are determined by the control system. Random control, so that the auxiliary device can move with high frequency and variable speed; the predetermined speed (Vs) is a fixed speed, and the random speed change (Vrandom) is faster or slower than the predetermined speed (Vs); the predetermined speed (Vs) and the random speed change ( Vrandom) is built in the system or pre-input by the therapist through the operation interface of the control system; or, the predetermined speed is built in the system or pre-inputted by the therapist through the operation interface of the control system, the random speed (Vrandom) is the system based on randomly generated based on the predetermined speed;

Step 3: Repeat steps 1 and 2 until the training is ended or the machine is forced to stop due to other emergencies (such as a user's fall).

In DRS mode, the assistive device moves at a high frequency and at a variable speed. The user cannot walk with the assistive device, so that the movement of the assistive device interferes with the user's walking training. The user needs to ignore this interference and walk at his own walking speed. . According to the training, the user can still effectively control his own walking speed under the condition of external interference.

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The PVS mode is a low frequency variable speed perturbation mode. The assistive device and its control system implement the following control methods, including:

Step 1, the control system judges whether the user is located in the user area of the auxiliary device through the information of the gait sensing module; if so, go to step 2; if not, the auxiliary device does not move or stops moving, and the control system continues to judge ;

In step 2, the control system controls the auxiliary device to switch between the predetermined speed (Vs) and the variable speed (Vv) in a low-frequency manner, and the appearance time and duration of the predetermined speed (Vs) and the variable speed (Vv) are determined by the The control system is randomly controlled, so that the auxiliary device can move at a low frequency with variable speed; the predetermined speed (Vs) is a fixed speed, and the variable speed (Vv) is faster or slower than the predetermined speed (Vs); the predetermined speed (Vs) and The variable speed (Vv) is built in the system or pre-inputted by the therapist through the operation interface of the control system; or, the predetermined speed (Vs) is built in the system or pre-inputted by the therapist through the operation interface of the control system. The variable speed (Vv) is randomly generated by the system based on the predetermined speed according to the program;

Step 3: Repeat steps 1 and 2 until the training is ended or the machine is forced to stop due to other emergencies (such as a user's fall).

PVS mode is a mode in which the assistive device moves at a low frequency and at a variable speed, allowing users to follow the constant speed, acceleration, deceleration and other perturbation changes of the assistive device to change their walking speed and move with the assistive device. Accordingly, users are trained to effectively control their walking speed according to external conditions.

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The PFD-1 mode is an assistive device directional control mode. The assistive device and its control system implement the following control methods, including:

Step 1, the control system judges whether the user is located in the user area of the auxiliary device through the information of the gait sensing module; if so, go to step 2; if not, the auxiliary device does not move or stops moving, and the control system continues to judge ;

Step 2, the control system commands the auxiliary device to move at a predetermined speed (Vs) or the aforementioned appropriate speed mode (M2) according to a predetermined trajectory; wherein, the settings of the predetermined speed (Vs) and the appropriate speed mode (M2) mode and Generating is as described above; the predetermined trajectory is that the control system controls the rotational speed of the left wheel motor and the right wheel motor of the auxiliary device through the trajectory program, so that the auxiliary device can move linearly and turn left within a predetermined distance. , various changes of right turn movement;

Step 3: Repeat steps 1 and 2 until the training is ended or the machine is forced to stop due to other emergencies (such as a user's fall).

In PFD-1 mode, the auxiliary device is the leader, and the user is guided to walk and follow by the linear movement, left turn or right turn movement of the auxiliary device, so as to train the user to control the direction of walking.

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The PFD-2 mode is a user direction control mode. The assistive device and its control system implement the following control methods, including:

Step 1, the control system judges whether the user is located in the user area of the auxiliary device through the information of the gait sensing module; if so, go to step 2; if not, the auxiliary device does not move or stops moving, and the control system continues to judge ;

Step 2, the control system obtains the user's right-hand vector force VFr and left-hand vector force VFl from the multi-axis sensing module;

Step 3, the control system compares the right-hand vector force (VFr) and the left-hand vector force (VFl) with a preset threshold (VFth); wherein, the default threshold (VFth) is a built-in system or a therapist Input in advance through the operation interface of the control system; when the operation result is {(VFl-VFr)>VFth}, the control system commands the left wheel motor of the auxiliary device to accelerate, and the right wheel motor to decelerate, so that the auxiliary device turns and moves to the right; When the operation result is {(VFr-VFl)>VFth}, the control system commands the right wheel motor of the auxiliary device to accelerate and the left wheel motor to decelerate, so that the auxiliary device turns to the left;

Step 4: Repeat steps 1 to 3 until the training is over or the machine is stopped due to other emergencies.

In PFD-2 mode, the user acts as the leader and controls the movement direction of the assistive device with the thrust of the left and right hands. In this mode, the therapist can provide an S-shaped training track, a rectangular training track, or set up obstacles on the training track, allowing the user to control the aids to go straight, turn left, turn right, and avoid obstacles on the training track above. Training in all directions.

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The PFD-3 mode is a directional control mode in which the user is dominant and the assistive device is assisted. The assistive device and its control system implement the following control methods, including:

Step 1, the control system judges whether the user is located in the user area of the auxiliary device through the information of the gait sensing module; if so, go to step 2; if not, the auxiliary device does not move or stops moving, and the control system continues to judge ;

Step 2, the control system obtains the user's right-hand vector force VFr and left-hand vector force VFl from the multi-axis sensing module;

Step 3, the control system compares the right-hand vector force (VFr) and the left-hand vector force (VFl) with a preset threshold (VFth); wherein, the default threshold (VFth) is a built-in system or a therapist Input in advance through the operation interface of the control system; when the operation result is {(VFl-VFr)>VFth}, the control system commands the left wheel motor of the auxiliary device to accelerate, and the right wheel motor to decelerate, so that the auxiliary device turns and moves to the right; When the calculation result is {(VFr-VFl)>VFth}, the control system commands the right wheel motor of the auxiliary device to accelerate, and the left wheel motor to decelerate, so that the auxiliary device turns to the left; the control system can be set on the auxiliary device by The obstacle sensing module senses the obstacles on the action path of the auxiliary device, and obtains the distance (Do) between the auxiliary device and the obstacle, and the control system associates the distance (Do) with a preset valve The upper limit value (Duth) and a lower limit value (Dlth) are compared and judged. If {Do>Duth} or {Do<Dlth}, the control system controls the auxiliary device to stop moving back to step 2, or to start The built-in automatic obstacle avoidance mode is activated, or the built-in correction mode is activated, so that the movement of the auxiliary device can avoid obstacles and continue to travel; alternatively, the control system can monitor the movement trajectory of the auxiliary device, and compare the movement trajectory with the prediction. Set the trajectory for comparison, if the direction and angle of the movement trajectory deviate significantly from the default trajectory, the control system controls the assistive device to stop moving back to step 2, or activate the built-in correction mode to correct the direction and angle of the movement trajectory back to the default The trajectory continues;

Step 4: Repeat steps 1 to 3 until the training is over or the machine is stopped due to other emergencies.

In the PFD-3 mode, the user is the leader and controls the moving direction of the aid, but when the aid hits an obstacle or is too close to or too deviate from the obstacle, or too deviates from the preset trajectory, the aid stops moving, allowing the aid to stop moving. The user can correct the direction of the assistive device by himself, or the assistive device can automatically bypass the obstacle or automatically correct the direction angle to help the user to correct the direction of the assistive device, so as to train the user's higher-level obstacle avoidance and obstacle solving ability.

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The SL mode is a ramp mode. The assistive device and its control system implement the following control methods, including:

Step 1, the control system judges whether the user is located in the user area of the auxiliary device through the information of the gait sensing module; if so, go to step 2; if not, the auxiliary device does not move or stops moving, and the control system continues to judge ;

In step 2, the control system senses the front and rear inclination of the mobile platform through the front and rear inclination sensing module. If it is tilted backward, it means that the auxiliary device is in an uphill state, and then go to step 3; if it is inclined forward, it means that the auxiliary device is in an uphill state. For the downhill state, go to step 4;

Step 3, the control system obtains the reaction force value of the right grip (Fr) and the reaction force value of the left grip (Fl) through the multi-axis sensing module; the control system obtains the reaction force value of the right grip (|Fr|) and the The left grip reaction force value (Fl) is compared with a right preset threshold upper limit (Fru) and a left preset threshold upper limit (Flu); wherein, the preset thresholds (Fru), (Flu) It is built into the system, or pre-inputted by the therapist through the operation interface of the control system; when the calculation result is {(Fr≧Fru>0)&(Fl≧Flu>0)}, it means that the user exerts a pulling force on the aid, the The control system starts the motor to move at a predetermined speed (Vs);

Step 4, the control system obtains the reaction force value of the right grip (Fr) and the reaction force value of the left grip (Fl) through the multi-axis sensing module; Comparing the reaction force value (F1) with a lower limit of a right preset threshold (Frl) and a left preset threshold (Fll); wherein, the preset thresholds (Frl) and (Fll) are in the system Physician or therapist input in advance through the operation interface of the control system; when the calculation result is {(Fr≦Frl<0)&(Fl≦Fll<0)}, it means that the user exerts a thrust on the aid, and the control system is activated The motor moves at a predetermined speed (Vs);

Step 5: Repeat steps 1 to 4 until the training ends or the machine stops due to other emergencies.

In the SL mode, the user can control the walking speed and the position of the body's center of gravity on the uphill and downhill with the aids, and perform higher-level muscle strength training through the uphill and downhill.

The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited to this. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention. should be included within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (15)

1. A control method of electric walking aid for multi-mode walking training, the control method makes the aid execute the following moving mode, the moving mode includes: a constant speed mode, a suitable speed mode, a high-frequency variable speed disturbance mode and a low-frequency variable speed perturbation mode; wherein should assist the utensil and include:

a mobile platform, which is provided with a mobile device;

a user area, which is a ground area adjacent to the mobile platform and is used for a user to stand;

a gait sensing module, which is arranged on the mobile platform and senses the feet of the user by a sensing means and outputs the gait characteristic information of the user;

the control system is arranged on the mobile platform, and all the modules of the assistive device and the mobile device are respectively electrically connected with the control system; the control system further includes a track program for controlling the moving platform to generate predetermined tracks such as linear movement, left-turn movement, right-turn movement, etc.; the control system obtains the information and data of all modules of the assistant and performs mixed analysis operation, and controls the assistant to generate a predetermined moving mode by using the result of the analysis operation.

2. The control method of claim 1, further causing the accessory to perform a movement pattern comprising: a muscle strengthening mode, an affected side foot bearing strengthening mode, an affected side hand foot bearing strengthening mode, a direction control mode and a slope mode; wherein the assistive device further comprises:

a left handle and a right handle which are arranged on the mobile platform and are respectively held by the two hands of the user;

a multi-axis sensing module, the sensors of the multi-axis sensing module are respectively arranged on the left handle and the right handle and are used for sensing the vector force applied to the left handle and the right handle by the left hand and the right hand of the user and correspondingly outputting the right hand vector force and the left hand vector force of the user;

a resistance module installed on the mobile platform and electrically connected to the mobile device for adjusting the moving resistance of the auxiliary tool;

an obstacle sensing module, including several sensors respectively arranged on the periphery of the mobile platform, for sensing whether the assistant tool meets the obstacle when moving, and obtaining the distance between the assistant tool and the obstacle;

a front and back inclination sensing module, the sensor of which is installed on the mobile platform for sensing the front and back inclination state of the mobile platform;

a stepping force sensing module, which is embedded in the sole and the insole worn by the user or the training footpath for the user to walk, and the control system is electrically connected with the stepping force sensing module.

3. The control method of claim 1, wherein the constant speed mode comprises:

step one, the control system judges whether the user is located in the user area or not through the information of the gait sensing module; if yes, performing the second step; if not, the auxiliary tool does not move or stops moving, and the control system continues to judge;

step two, the control system commands the accessory to move at a preset speed (Vs); the predetermined speed (Vs) is built in the system or pre-inputted by the therapist through the operation interface of the control system;

and step three, repeating the step one and the step two until the training is finished or the machine is stopped due to other emergency conditions.

4. The control method of claim 1, wherein the adaptive mode comprises:

step one, the control system judges whether the user is located in the user area of the assistive device or not through the information of the gait sensing module; if yes, performing the second step; if not, the auxiliary tool does not move or stops moving, and the control system continues to judge;

step two, the control system commands the assistive device to move at a preset speed (Vs), and the user moves along with the walking of the assistive device; wherein the predetermined speed (Vs) is built in the system or pre-inputted by the therapist through the operation interface of the control system;

step three, the control system acquires the walking speed of the user from the gait sensing module and calculates the average walking speed (Vn) of the user;

step four, the control system compares the preset speed (Vs) of the auxiliary tool with the average walking speed (Vn) of the user; when { | Vn-Vs | > V }, the control system changes the predetermined speed (Vs1) of the accessory according to the calculation result of { min (Vn, Vu) }; when { | Vn-Vs | ≦ V }, returning to the step two; wherein, (Vu) is the maximum speed value of the auxiliary device movement, which is default by the system according to the maximum safety speed allowed for the user; (V) is an allowable error value;

and step five, repeating the steps one to four until the training or other emergency stop is finished.

5. The control method of claim 1, wherein the high frequency variable speed disturbance mode comprises:

step one, the control system judges whether the user is located in the user area of the assistive device or not through the information of the gait sensing module; if yes, performing the second step; if not, the auxiliary tool does not move or stops moving, and the control system continues to judge;

step two, the control system controls the auxiliary tool to switch a preset speed (Vs) and a random speed change (Vrandom) in a high-frequency mode, and the occurrence time and the duration time of the preset speed (Vs) and the random speed change (Vrandom) are both randomly controlled by the control system, so that the auxiliary tool generates high-frequency speed change movement; the predetermined speed (Vs) is a fixed speed, and the random gear shift (Vrandom) is faster or slower than the predetermined speed (Vs); the predetermined speed (Vs) and the random variable speed (Vrandom) are preset in the system or input by the therapist through the operation interface of the control system; alternatively, the predetermined speed is built-in or pre-input by the therapist through the operation interface of the control system, and the random speed change (Vrandom) is randomly generated by the system based on the predetermined speed;

and step three, repeating the step one and the step two until the training is finished or the machine is stopped due to other emergency conditions.

6. The control method of claim 1, wherein the low frequency variable perturbation mode comprises:

step one, the control system judges whether the user is located in the user area of the assistive device or not through the information of the gait sensing module; if yes, performing the second step; if not, the auxiliary tool does not move or stops moving, and the control system continues to judge;

step two, the control system controls the auxiliary device to switch a preset speed (Vs) and a variable speed (Vv) in a low-frequency mode, and the occurrence time and the duration time of the preset speed (Vs) and the variable speed (Vv) are randomly controlled by the control system, so that the auxiliary device generates low-frequency variable-speed movement; the predetermined speed (Vs) is a fixed speed, and the variable speed (Vv) is faster or slower than the predetermined speed (Vs); the predetermined speed (Vs) and the variable speed (Vv) are built in the system or pre-inputted by the therapist through the operation interface of the control system; alternatively, the predetermined speed (Vs) is built-in to the system or pre-input by the therapist through the operating interface of the control system, and the variable speed (Vv) is randomly generated by the system according to the program based on the predetermined speed;

and step three, repeating the step one and the step two until the training is finished or the machine is stopped due to other emergency conditions.

7. The control method of claim 2, wherein the muscle-strengthening mode comprises:

step one, the control system judges whether the user is located in the user area of the assistive device or not through the information of the gait sensing module; if yes, performing the second step; if not, the auxiliary tool does not move or stops moving, and the control system continues to judge;

step two, the control system obtains a right grip reaction force value (| Fr |) and a left grip reaction force value (| Fl |) through the multi-axis sensing module;

step three, the control system compares the right grip reaction force value (| Fr |) and the left grip reaction force value (| Fl |) with a right side preset threshold value (Frth) and a left side preset threshold value (Flth), and if the result is { (| Fr | > Frth) & (| Fl | > Flth) }, the step four is carried out, and if the result is not, the step one is returned; wherein, the preset threshold values (Frth) and (Flth) are built in the system or pre-input by the therapist through the operation interface of the control system;

step four, the control system acquires a first human-machine distance (d1) through the gait sensing module; the first human-machine distance (d1) is the linear distance between the midpoint of the user's arch and the specific point of the accessory;

step five, the control system calculates and compares the first human-machine distance (d1), the right grip reaction force value (Fr) and the left grip reaction force value (Fl), if the result is that the formula (1) is established, the user applies thrust to the auxiliary tool and the feet stride forwards, and if the result is that the formula (2) is established, the user applies tension to the auxiliary tool and the feet stride backwards; if either the formula (1) or the formula (2) is established, performing a sixth step; if the formula (1) and the formula (2) are not satisfied, returning to the first step; wherein, the formula (1) is { (d1< dznu) & (Fr <0) & (Fl <0) }, the formula (2) is { (d1> dznl) & (Fr >0) & (Fl >0) }, (dznu) is an upper limit of the human-machine distance (upper limit of the neutral distance), (dznl) is a lower limit of the human-machine distance (lower limit of the neutral distance), and (dznu) and (dznl) are both default values of the system;

sixthly, the auxiliary tool advances in the thrust direction or retreats in the tension direction at a preset speed (Vs);

and step seven, repeating the steps one to six until the training is finished or the machine is stopped due to other emergency conditions.

8. The control method according to claim 7, wherein in step six, the control system controls the resistance module to activate to increase the moving resistance of the accessory.

9. The method of claim 2, wherein the lateral foot weight-bearing reinforcement pattern comprises:

step one, the control system judges whether the user is located in the user area of the assistive device or not through the information of the gait sensing module; if yes, performing the second step; if not, the auxiliary tool does not move or stops moving, and the control system continues to judge;

step two, the control system obtains the pedal force value (Ta) of the affected side of the user through the pedal force sensing module;

step three, the control system compares the pedal force value (Ta) of the affected side with a preset pedal force threshold value (Tth), and if the { Ta > Tth } is true, the control system performs step four; if not, returning to the first step; wherein the preset threshold value (Tth) is built in the system or is input by the therapist through the operation interface of the control system;

step four, the control system detects the duration (Time _ Ta) of the { Ta > Tth }, compares the duration (Time _ Ta) with a preset Time (Time _ th), and returns to the step one if the { Time _ Ta < Time _ th }; if { Time _ Ta ≧ Time _ th }, and the control system obtains the user exercise side pedaling force value (Tc) from the pedaling force sensing module, the control system commands the auxiliary tool to move a preset distance at a preset speed (Vs); the preset distance can be the stepping distance of the user, or the preset distance is built in the system, or the preset distance is input by a therapist through an operation interface of the control system;

and step five, repeating the steps one to four until the training is finished or the machine is stopped due to other emergency conditions.

10. The control method of claim 2, wherein the lateral hand weight-bearing reinforcement pattern comprises:

step one, the control system judges whether the user is located in the user area of the assistive device or not through the information of the gait sensing module; if yes, performing the second step; if not, the auxiliary tool does not move or stops moving, and the control system continues to judge;

step two, the control system obtains the vector force (Va) of the hand at the affected side and the vector force (Vc) of the hand at the healthy side of the user through the multi-axis sensing module;

step three, the control system compares the vector force (Va) of the hand at the affected side and the vector force (Vc) of the hand at the healthy side with a preset threshold value (Vath) of the hand at the affected side and a preset threshold value (Vcth) of the hand at the healthy side; if { (Va ≧ Vath) and (Vc ≦ Vcth) } are true, go to step four, if not, return to step one; wherein the preset threshold values (Vath) and (Vcth) are built in the system or pre-inputted by the therapist through the operation interface of the control system;

moving the assistive device at a preset speed (Vs) for a preset distance; the preset distance can be the stepping distance of the user, or the preset distance is built in the system, or the preset distance is input by a therapist through an operation interface of the control system;

and step five, repeating the steps one to four until the training is finished or the machine is stopped due to other emergency conditions.

11. The method of claim 2, wherein the weight-bearing enhancement mode of the affected hand and foot comprises:

step one, the control system judges whether the user is located in the user area of the assistive device or not through the information of the gait sensing module; if yes, performing the second step; if not, the auxiliary tool does not move or stops moving, and the control system continues to judge;

step two, the control system obtains the pedal force value (Ta) of the affected side of the user through the pedal force sensing module; the control system obtains the vector force (Va) of the hand at the affected side and the vector force (Vc) of the hand at the healthy side of the user through the multi-axis sensing module;

step three, the control system compares the pedal force value (Ta) of the affected side with a preset pedal force threshold value (Tth), and the control system compares the vector force (Va) of the hand of the affected side and the vector force (Vc) of the hand of the healthy side with a preset valve value (Vath) of the hand of the affected side and a preset valve value (Vcth) of the hand of the healthy side; if { Ta > Tth } and { (Va ≧ Vath) and (Vc ≦ Vcth) } are true, performing step four; if not, returning to the first step; the preset threshold values (Tth), (Vath) and (Vcth) are built in the system or input by the therapist through the operation interface of the control system;

step four, the control system detects the duration (Time _ Ta) of the { Ta > Tth }, compares the duration (Time _ Ta) with a preset Time (Time _ th), and returns to the step one if the { Time _ Ta < Time _ th }; if { Time _ Ta ≧ Time _ th }, and the control system obtains the user exercise side pedaling force value (Tc) from the pedaling force sensing module, the control system commands the auxiliary tool to move a preset distance at a preset speed (Vs); the preset distance can be the stepping distance of the user, or the preset distance is built in the system, or the preset distance is input by a therapist through an operation interface of the control system;

and step five, repeating the steps one to four until the training is finished or the machine is stopped due to other emergency conditions.

12. The control method of claim 2, wherein the direction control mode comprises:

step one, the control system judges whether the user is located in the user area of the assistive device or not through the information of the gait sensing module; if yes, performing the second step; if not, the auxiliary tool does not move or stops moving, and the control system continues to judge;

step two, the control system commands the assistive device to move at a preset speed (Vs) or in a moderate speed mode according to a preset track; the predetermined track is that the control system controls the assistive device to generate various changes of linear movement, left-turning movement and right-turning movement within a predetermined distance through the track programming (program);

and step three, repeating the step one and the step two until the training is finished or the machine is stopped due to other emergency conditions.

13. The control method of claim 2, wherein the directional control mode is dominated by the user, comprising:

step one, the control system judges whether the user is located in the user area of the assistive device or not through the information of the gait sensing module; if yes, performing the second step; if not, the auxiliary tool does not move or stops moving, and the control system continues to judge;

step two, the control system obtains the right-hand vector force (VFr) and the left-hand vector force (VFl) of the user through the multi-axis sensing module;

step three, the control system compares the right-hand vector force (VFr) and the left-hand vector force (VFl) with a preset threshold value (VFth); wherein the preset threshold (VFth) is built in the system or is input by the therapist through the operation interface of the control system; when the operation result is { (VFl-VFr) > VFth }, the control system commands the auxiliary device to move to the right; when the operation result is { (VFr-VFl) > VFth }, the control system commands the auxiliary device to move to the left;

and step four, repeating the steps one to three until the training is finished or the machine is forced to stop due to other emergency conditions.

14. The method of claim 2, wherein the directional control mode is assisted by the user as a dominant mode, comprising:

step one, the control system judges whether the user is located in the user area of the assistive device or not through the information of the gait sensing module; if yes, performing the second step; if not, the auxiliary tool does not move or stops moving, and the control system continues to judge;

step two, the control system obtains the right-hand vector force (VFr) and the left-hand vector force (VFl) of the user through the multi-axis sensing module;

step three, the control system compares the right-hand vector force (VFr) and the left-hand vector force (VFl) with a preset threshold value (VFth); wherein the preset threshold (VFth) is built in the system or is input by the therapist through the operation interface of the control system; when the operation result is { (VFl-VFr) > VFth }, the control system commands the auxiliary device to move to the right; when the operation result is { (VFr-VFl) > VFth }, the control system commands the auxiliary device to move to the left; and the control system senses the obstacle on the action path of the auxiliary tool through the obstacle sensing module and obtains the distance (Do) between the auxiliary tool and the obstacle, the control system compares and judges the distance (Do) with a preset threshold upper limit (Duth) and a preset threshold lower limit (Dlth), if { Do > Duth } or { Do < Dlth }, the control system controls the auxiliary tool to stop moving back to the step two, or starts a built-in automatic obstacle avoidance mode or a built-in correction mode, so that the auxiliary tool can move continuously to avoid the obstacle; or the control system can monitor the moving track of the assistive device and compare the moving track with a preset track, and if the direction and the angle of the moving track obviously deviate from the default track, the control system controls the assistive device to stop moving and return to the step two, or starts a built-in correction mode to correct the direction and the angle of the moving track and return to the preset track to continue to move;

and step four, repeating the steps one to three until the training is finished or the machine is stopped due to other emergency conditions.

15. The control method of claim 2, wherein the ramp mode comprises:

step one, the control system judges whether the user is located in the user area of the assistive device or not through the information of the gait sensing module; if yes, performing the second step; if not, the auxiliary tool does not move or stops moving, and the control system continues to judge;

step two, the control system senses the front and back inclination state of the mobile platform through the front and back inclination sensing module, and if the front and back inclination sensing module tilts backwards to indicate that the auxiliary tool is in an uphill state, the control system performs step three; if the forward inclination indicates that the auxiliary tool is in a downhill state, performing the fourth step;

step three, the control system obtains a right grip reaction force value (Fr) and a left grip reaction force value (Fl) through the multi-axis sensing module; the control system compares the right grip reaction force value (Fr) and the left grip reaction force value (Fl) with a right preset threshold upper limit (Fru) and a left preset threshold upper limit (Flu); wherein, the preset threshold values (Fru) and (Flu) are built in the system or pre-input by the therapist through the operation interface of the control system; when the operation result { (Fr ≧ Fru >0) & (Fl ≧ Flu >0) } indicates that the user applies a pulling force to the auxiliary tool, the control system starts a motor to move at a predetermined speed (Vs);

step four, the control system obtains a right grip reaction force value (Fr) and a left grip reaction force value (Fl) through the multi-axis sensing module; the control system compares the right grip reaction force value (Fr) and the left grip reaction force value (Fl) with a lower limit (Frl) of a preset right threshold and a preset left threshold (Fll); wherein the preset threshold values (Frl), (Fll) are built in the system or pre-inputted by the therapist through the operation interface of the control system; when the operation result { (Fr ≦ Frl <0) & (Fl ≦ Fll <0) } indicates that the user applies a thrust to the auxiliary tool, the control system starts a motor to move at a predetermined speed (Vs);

and step five, repeating the steps one to four until the training is finished or the machine is stopped due to other emergency conditions.

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