CN110051978A - Four limbs linkage rehabilitation medical instrument, control method and exchange method - Google Patents

Abstract

The invention discloses a limb linkage rehabilitation medical device, a control method and an interaction method. The device includes a machine base, two linkage components, a motor and a control unit. The two linkage components are respectively installed on both sides of the base; The components all include a handrail, a pedal and a drive crank; the two drive cranks are installed with a phase difference of 180°; the motor is a double-shaft motor, and its body is fixedly installed on the base, and the two sides of the motor are protruding. Each of the motor shafts is fixed with a driving crank; the control unit is electrically connected with the motor. In the limb linkage rehabilitation medical device, the control method and the interaction method of the present invention, two sets of linkage components are arranged on the machine base, so that the user's limbs can coordinate the linkage movement, and the user can use the upper limb and the lower limb to drive the powerless one. In addition, the user can also choose to turn on the motor-assisted movement or completely driven by the motor to rotate. There are many functional modes and strong optionality, so that the user can independently and effectively exercise.

Description

Limb linkage rehabilitation medical device, control method and interaction method

technical field

The invention relates to the field of medical devices, in particular to a limb linkage rehabilitation medical device, a control method and an interaction method.

Background technique

Rehabilitation training is a very important part of rehabilitation for patients with upper and lower limb disorders who need rehabilitation. The main purpose of rehabilitation training is to activate the joints of the upper and lower limbs of patients and gradually restore their muscle function and nerve function. At present, rehabilitation training is mainly carried out by manual massage or with the help of necessary equipment. The manual massage method depends on the length of manual massage. Since there are few professional rehabilitation massage personnel, it is difficult to obtain stable and long enough rehabilitation training. Rehabilitation medical devices are also mostly simple, and they are generally used for rehabilitation training for the upper or lower limbs alone, which are inconvenient to use and have poor experience.

SUMMARY OF THE INVENTION

Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a limb linkage rehabilitation medical device, a control method and an interaction method that are easy to use and users can select a training mode on demand.

Technical scheme: In order to achieve the above purpose, the limb linkage rehabilitation medical device of the present invention includes:

a machine base;

Two linkage assemblies, which are respectively installed on both sides of the base; each set of the linkage assemblies includes a handrail and a footrest, and also includes a drive crank for power input; the two sets of linkage assemblies drive The cranks are installed with a phase difference of 180°;

a motor, which is a dual-shaft motor, the body of which is fixedly mounted on the base, and the drive crank is fixed on each of the motor shafts protruding from both sides; and

a control unit electrically connected to the motor.

Further, the linkage assembly also includes:

a first connecting rod, one end of which is hinged on the driving crank, and the footrest portion is fixed relative to the first connecting rod;

and

The middle of the second connecting rod is hinged on the base, the lower end of which is hinged with the first connecting rod, and the handholding portion is formed on the upper end thereof.

Further, the body of the motor includes a motor part and a commutation part;

the motor shaft protrudes from both end faces of the reversing portion;

The motor part is mounted on the reversing part, and the rotation axis of the rotor is perpendicular to the motor shaft.

further,

A fixing plate is fixed on each of the end faces of the two ends of the reversing portion;

There is a motor mounting rod on the base, and a gap for accommodating the motor is formed in the middle of the motor mounting rod, and the two fixing plates are respectively fixed on both sides of the motor mounting rod; each fixing plate spans the gap And the two ends are respectively fixed on the rod bodies on both sides of the vacancy.

In order to achieve the purpose of the invention, the present invention also provides a control method for a limb linkage rehabilitation medical device, which is applied to a control unit, and the control unit is also electrically connected to the sensor group and the information interaction unit, and the method includes:

Collect specific operating data in the current state through the sensor group; wherein, the specific operating data includes its own operating parameters and/or the user's physical parameters during the operation of the limb linkage rehabilitation medical device;

Monitor whether there is a control command input through the information interaction unit;

Determine whether a trigger condition for triggering a certain function mode is constituted according to the specific operation data, and if so, trigger the corresponding function mode; and

When a control command is input, execute the function mode corresponding to the control command according to the type of the control command;

The functional modes include a passive mode, an assist mode, and an active mode, and each functional mode corresponds to a set of control strategies for the motor, and the control strategies include startup, acceleration, deceleration, and stop.

Further, the operating parameters include the rotational speed of the motor and/or the operating current of the motor and/or the transmission torque between the motor shaft and the drive crank; the judgment according to the specific operating data constitutes a trigger to trigger a certain function mode. Conditions include:

Read the operating parameters and compare with the preset thresholds of each trigger condition;

If it is judged that the user has no voluntary movement ability or weak voluntary movement ability according to the operating parameters, the passive mode is executed;

If it is judged that the user's physical strength is insufficient according to the operating parameters, the assist mode is executed;

If it is determined that the user's physical strength is sufficient according to the operating parameters, the active mode is executed.

Further, the physical parameters include the user's heart rate and/or sweat rate and/or body temperature and/or calorie consumption and/or training time, and the judgment according to the specific operation data constitutes a trigger for triggering a certain function mode. Trigger conditions also include:

Determine whether the current functional mode or operating frequency matches the physical fitness of the user according to the physical parameters;

If the current functional mode or operating frequency does not match the user's physical fitness, switch to the matching functional mode or adjust the operating frequency accordingly.

In order to achieve the purpose of the invention, the present invention also provides an interaction method of limb linkage rehabilitation medical equipment, the control unit is connected to the display device in communication, and the method includes:

outputting interactive data to the display end of the display device, so that the display end of the display device displays the initial interactive screen;

After the user starts to use the limb linkage rehabilitation medical device, execute the above control method, and read the speed value of the motor;

The theoretical mileage value is calculated according to the rotational speed value, and the content of the interactive screen is updated accordingly, so that the user's movement situation is fed back to the user in a visual screen.

Further, before the outputting interactive data to the display device so that the display device displays the initial interactive picture, the method further includes:

Obtain the user's identity information;

Read corresponding user data according to the user's identity information, wherein the user data includes the user's rehabilitation training plan and training process;

Confirm the training content of this training according to the user data.

Further, confirming the training content of this training according to the user data includes:

Collect process data generated during the operation of the limb linkage rehabilitation medical device; wherein, the process data includes the user's physical parameters;

Read the parameters in the process data in turn, and compare each parameter with its corresponding preset threshold to determine whether a specific trigger condition is reached;

When the trigger condition is reached, the corresponding adjustment process is triggered to update the currently executing training content according to the achieved trigger condition; wherein the update method includes: increasing, increasing or decreasing the training phase and/or adjusting the training tasks in the training phase.

Beneficial effects: The limb linkage rehabilitation medical device, the control method and the interaction method of the present invention, by setting two sets of linkage components on the machine base, enables the user's limbs to coordinate the linkage action, and the user can use one of the upper and lower limbs with power To drive the one without power, in addition, the user can choose to turn on the motor-assisted movement or completely driven by the motor to rotate. There are many functional modes and strong optionality, so that the user can independently and effectively exercise.

Description of drawings

1 is a structural diagram of a limb linkage rehabilitation medical device according to Embodiment 1 of the present invention;

2 is a structural diagram of a motor according to Embodiment 1 of the present invention;

3 is a structural diagram of the connection between the motor, the crank and the base according to the first embodiment of the present invention;

4 is a schematic flowchart of a control method for a limb linkage rehabilitation medical device according to Embodiment 2 of the present invention;

FIG. 5 is a schematic flowchart of the interaction method of the limb linkage rehabilitation medical device according to the third embodiment of the present invention.

The names of the parts represented by the reference numbers in the accompanying drawings are as follows:

1-machine base; 11-motor installation rod; 12-seat adjustment and fixing rod; 2-linkage assembly; 21-drive crank; 22-first connecting rod; 23-second connecting rod; 24-pedal part; 25 -Rotating shaft; 26-Rotating bearing; 27-Coupling; 28-Handhold; 3-Motor; 31-Motor shaft; 32-Motor part; 33-Reversing part; 331-Screw hole; 4-Control unit; 5-fixed plate; 6-seat part; 61-slide seat; 7-information interaction unit; 8-projector.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

Example 1

In order to achieve the purpose of the present invention, the present invention firstly discloses a limb linkage rehabilitation medical device.

As shown in FIG. 1 , the limb linkage rehabilitation medical device includes a machine base 1 , two linkage components 2 , a motor 3 and a control unit 4 ; wherein, the two linkage components 2 are respectively installed on both sides of the base 1 . Each group of said linkage assembly 2 includes a handhold portion 28 and a footrest portion 24, and the handhold portion 28 and the footrest portion 24 produce a predetermined linkage action through a mechanical structure, that is, as long as the handhold portion 28 moves, the footrest portion 24 will move accordingly due to the linkage effect of the mechanical structure, so that users with different physical conditions can move their hands and feet at the same time through the linkage component 2. Some users have weak legs with trauma, and can use arm strength to drive their legs to move. In the same way, some users have weak arms due to trauma, and can drive the arm movement through the strength of the legs. In addition, the linkage assembly 2 also includes a drive crank 21 for power input. Users with weak legs can provide external assistance so that they can perform rehabilitation without obstacles; the driving cranks 21 of the two sets of linkage assemblies 2 are installed with a phase difference of 180°, which is more in line with the normal movement law of human beings.

Specifically, in addition to the handhold portion 28 and the footrest portion 24 , the above-mentioned linkage assembly 2 also includes a first connecting rod 22 and a second connecting rod 23 ; one end of the first connecting rod 22 is hinged on the driving crank 21 . , and the footrest portion 24 is fixed relative to it; the middle portion of the second link 23 is hinged on the base 1 , the lower end of the second link 23 is hinged with the first link 22 , and the handhold portion 28 is formed on the base 1 . upper end. Preferably, the hinge point of the first connecting rod 22 and the second connecting rod 23 is located between the pedal portion 24 and the driving crank 21, so that when the linkage assembly 2 operates as a whole (whether it is driven by the user or driven by an electric power element) ), the running track of the footrest portion 24 conforms to the walking gait of a person, and the linkage between the handhold portion 28 and the footrest portion 24 is relatively coordinated, conforming to the normal motion law of the human body, and can play a better rehabilitation training effect.

The above-mentioned electric power element is the motor 3, which is a double-shaft motor, the body of which is fixedly installed on the base 1, and the drive crank 21 is fixed on each of the motor shafts 31 extending from both sides; the control unit 4 Electrically connected with the motor 3, it can be controlled to drive the drive crank 21 to rotate, stop, accelerate, decelerate, etc., so that the linkage assembly 2 can actively move accordingly to drive the user to exercise.

Specifically, as shown in FIG. 2 , the body of the motor 3 includes a motor part 32 and a reversing part 33 ; the motor shaft 31 protrudes from both end faces of the reversing part 33 ; the motor part 32 It is installed on the reversing portion 33, and the rotation axis of the rotor is perpendicular to the motor shaft 31. The reversing portion 33 is provided with a reversing assembly, and the reversing assembly can be a bevel gear transmission to realize the transmission of the cross shaft, Preferably, the reversing assembly is a worm gear assembly, which not only realizes the transmission of the cross shaft, but also plays the role of decelerating and increasing the torque, so that the rotational speed range output by the motor 3 as a whole from the motor shaft 31 is small, and the output torque is large, It conforms to the operating conditions of the rehabilitation medical device of the present invention. In addition, the rotation axis of the rotor of the motor part 32 is made perpendicular to the motor shaft 31, and the longitudinal direction of the motor part 32 can be made perpendicular to the axial direction of the motor shaft 31, so that the connection between the motor 3 and the driving cranks 21 on both sides is made. The structure can be made more compact, and is not affected by the length of the motor part 32 .

Both ends of the reversing portion 33 are provided with screw holes 331, and a fixing plate 5 is fixed on each of the two end faces. As shown in FIG. 3, the fixing plate 5 is screwed into the screw holes 331. The end face of the reversing portion 33; the base 1 has a motor mounting rod 11, the middle of the motor mounting rod 11 is formed with a gap for accommodating the motor 2, and the two fixing plates 5 are respectively fixed on the motor mounting rod 11 on both sides; each fixing plate 5 spans the gap and the two ends are respectively fixed on the rod bodies on both sides of the gap. By adopting this structure, the installation of the motor 3 does not occupy extra space, so that the motor 3 and the driving cranks 21 on both sides are compactly and reliably installed on the machine base 1 .

The drive crank 21 can be directly and fixedly connected to the motor shaft 31, but preferably, as shown in FIG. A rotating bearing 26 is arranged therebetween; in addition, the rotating shaft 25 is connected to the motor shaft 31 by means of a coupling or the like. The above-mentioned second connection structure can reduce the load of the motor shaft 31 and has relatively high reliability.

Optionally, the limb linkage rehabilitation medical device of the present invention further includes a seat portion 6, and the seat portion 6 can be adjusted in height and/or front and rear position relative to the machine base 1. In this embodiment, the seat portion 6 can be adjusted. The height and front and rear positions are synchronously adjusted relative to the machine base 1. The specific method is as follows: the machine base 1 is provided with an inclined seat adjustment fixing rod 12, the bottom of the seat portion 6 is formed with a sliding seat 61, and the sliding seat 61 is relative to the seat. The adjustment fixing rod 12 is slidably fitted, and a locking unit is installed on the sliding seat 61 so that it can be fixed relative to the seat adjustment fixing rod 12 . With the above structure, the user can adjust the height and the front-rear position of the seat portion 6 according to the length of the legs. Compared with the traditional solution that can only adjust the height or the front-rear position, the users of different heights in this solution use the apparatus. The sitting posture is more consistent and ergonomic.

Based on the above mechanical structure, the user can choose the training mode. One training mode is to keep the motor 3 off, and the user relies on his own strength to drive the two sets of linkage components 2 to run. Another training mode is to keep the motor 3 on, and the motor 3 The linkage assembly 2 is operated, and the user passively performs rehabilitation training. In a relatively simple embodiment, the control unit 4 can be a simple switch that controls the power on and off. Turning on the switch makes the motor 3 energize and rotate at a constant speed to drive the user to passively perform rehabilitation. train. In the preferred embodiment, in order to improve the user experience, the start and stop of the motor 3 will be controlled in a more intelligent way, so that the start and stop of the motor 3 and the rotation speed during startup match the actual situation of the user. This is illustrated in the examples below.

Embodiment 2

For the purpose of the present invention, the present invention also discloses a control method for a limb linkage rehabilitation medical device. The control method is based on the limb linkage rehabilitation medical device in the first embodiment and is applied to the control unit 4 of the limb linkage rehabilitation medical device. In the control method of this embodiment, a sensor group and an information interaction unit 7 are further configured on the limb linkage rehabilitation medical device, and the control unit 4 is electrically connected to the sensor group and the information interaction unit 7 . The control unit 4 itself mainly includes a processor and a memory, wherein the memory stores a program that can realize the control method of the limb linkage rehabilitation medical device, and the processor runs the program in the memory to realize the control of the limb linkage rehabilitation medical device.

Here, the sensor group includes sensors for detecting the operation parameters of the limb linkage rehabilitation medical device and/or sensors for detecting the physical parameters of the human body. Wherein, the sensors used to detect the operating parameters of the apparatus include but are not limited to current detection sensors that can detect the operating current of the motor 3, rotational speed detection sensors that can detect the output rotational speed of the motor 3 (which may be encoders or resolvers, etc.), A torque detection sensor that detects the transmission torque between the motor shaft 31 of the motor 3 and the drive crank 21 . Sensors for detecting physical parameters of the human body can be provided on the wearable device that can communicate with the control unit 4, including but not limited to heart rate sensors, sweat detection sensors, and body temperature detection sensors.

The information interaction unit 7 includes, but is not limited to, an instruction input module (such as a button, a touch screen, a voice command input microphone, etc.), an information display module (such as an indicator light, a digital tube, an LED light beam, a display screen, etc.).

As shown in FIG. 4 , the method includes the following steps A1-A4. It should be noted that the step numbers here do not limit the execution order of each step, but are only used to provide a reference for a preferred execution step. The steps can be reversed or executed synchronously without affecting the operation logic, and the technical solution of reversing or synchronously executing several steps of the present invention should also be regarded as falling within the protection scope of the present invention.

Step A1, collecting specific operating data in the current state through the sensor group; wherein, the specific operating data includes its own operating parameters and/or the user's physical parameters during the operation of the limb linkage rehabilitation medical device;

In this embodiment, the operating parameters include the rotational speed of the motor 3 and/or the operating current of the motor 3 and/or the transmission torque between the motor shaft 31 and the drive crank 21; the user's physical parameters include the user's heart rate and/or sweat rate and/or body temperature and/or calorie consumption and/or training time.

Back to Fig. 4, step A2, through the information interaction unit 7 to monitor whether there is a control command input;

This step can be performed synchronously with step A1, that is, the control unit 4 can synchronously collect the data of the sensor group and monitor whether the information interaction unit 7 has an instruction input. In addition, in this step, the control instruction input by the information interaction unit 7 may be a trigger signal input by a physical input device such as a button and a touch screen, or may be a voice instruction issued by the user.

Return to Fig. 4, step A3, according to described specific operation data, judge whether constitutes the trigger condition that triggers a certain function mode, if constitutes, triggers the corresponding function mode;

In this step, a variety of functional modes are preset in the control unit 4, including a passive mode, an assist mode, and an active mode, and each functional mode corresponds to a set of control strategies for the motor 3, and the control strategies include startup, acceleration, and deceleration. and stop. Specifically, in the active mode, the control strategy for the motor 3 is to stop the motor 3. At this time, the user drives the motor 3 completely by his own strength, and the motor 3 is in a slave state; in the assist mode, the control strategy for the motor 3 is based on the actual situation. In the passive mode, the user completely relies on the motor 3 for rehabilitation training. At this time, the control strategy for the motor 3 is to control the motor 3 to run at a constant speed or intermittently start and stop or periodically adjust the speed. Mode allows the user's arms and legs to be fully exercised.

In this step, the switching strategy of the three functional modes according to the operating parameters in the specific operating data specifically includes the following steps B1-B4:

Step B1, read the operating parameters and compare with the preset thresholds of each trigger condition; if it is judged according to the operating parameters that the user has no voluntary movement ability or the voluntary movement ability is weak, step B2 is performed; if it is judged according to the operation parameters that the user If the user's physical strength is insufficient, go to step B3; if it is judged that the user's physical strength is sufficient according to the operating parameters, go to step B4;

In this step, the specific judgment criteria for each situation are:

When the control unit 4 receives an instruction to start the entire rehabilitation medical device and does not detect the rotational speed generated by the motor 3 for a period of time, or detects that the rotational speed generated by the motor 3 is slower than a certain value, or detects that the rotational speed of the motor 3 is greatly attenuated to a certain value The following and the control unit 4 does not receive an instruction to stop the entire rehabilitation medical device, it is determined that the user has no voluntary movement ability or weak voluntary movement ability;

When the motor speed parameter read by the control unit 4 shows a decreasing trend, and the deceleration range reaches a certain ratio, it is determined that the user's physical strength is insufficient; at this time, the motor 3 can be controlled to run to assist it;

When the motor speed parameter read by the control unit 4 is not lower than a specific value when the motor 3 is not started, or when the motor 3 rotates at a speed higher than the set value, it is detected that the motor shaft 31 of the motor 3 and the drive crank If the direction of the transmission torque between 21 and the rotation direction of the motor shaft 31 is the same, it is judged that the user's physical strength is sufficient. In the latter case above, it means that the rotational speed of the motor shaft 31 cannot keep up with the rotational speed that the user wants to achieve, and the rotational speed of the motor shaft 31 is already higher than a certain set value, which means that the user's physical strength is sufficient to make the rehabilitation medical device In the case of no power, it runs at a higher frequency, and no assistance is necessary.

Step B2, execute passive mode;

Step B3, execute the assist mode;

Step B4, executing the active mode.

In this step, the switching strategy of the three functional modes according to the physical parameters of the user specifically includes the following steps C1-C2:

Step C1, determine whether the current functional mode or operating frequency matches the physical fitness of the user according to the physical parameters; if it matches, maintain the current functional mode, if not, go to step C2;

Step C2, switch to the matching function mode or adjust the operating frequency accordingly.

Specifically, in this embodiment, the method for judging whether the functional mode matches the physical fitness of the user is as follows:

When the user's heart rate or sweat rate or body temperature exceeds the corresponding threshold, it means that the current exercise frequency of the rehabilitation medical device is too high, and the exercise frequency needs to be reduced or the rehabilitation medical device needs to stop exercising. Control strategies such as switching from passive mode to active mode. In addition, if task conditions are set for the user's single exercise or a stage of exercise in the preset training plan, the function mode or operating frequency will be switched after the task conditions are reached, such as when the user's calorie consumption or exercise time When the preset value is reached, the control unit 4 can stop the operation of the equipment according to the preset training plan, or switch to the functional mode of the next exercise stage, or adjust the operation frequency according to the exercise needs of the next stage.

In summary, by double monitoring the operating parameters of the rehabilitation medical equipment and the physical parameters of the user, the user can perform rehabilitation training in an appropriate functional mode, and the operating frequency can be accurately adjusted according to the actual situation of the user to achieve better rehabilitation. training effect.

Back to Fig. 4, step A4, when there is a control command input, execute the function mode corresponding to the control command according to the type of the control command;

This step and the above-mentioned step A3 have no order, that is, which step meets the condition first and which step is executed first. In this step, the control command may be a trigger signal input by a physical input device such as a button and a touch screen, or a voice command issued by the user, such as "active mode", "slow speed", "stop", etc., the control unit 4. Convert the voice command into an effective control signal and execute it accordingly.

Embodiment 3

In order to achieve the purpose of the present invention, the present invention also provides an interaction method of a limb linkage rehabilitation medical device.

The control unit 4 is connected in communication with a display device, and the display device may be a part of the information interaction unit 7 (such as a display screen, a touch screen, etc. installed on the base 1), or a peripheral display, a projector, etc. In the embodiment, the display device is the projector 8 installed on the base 1 . The display device (such as a projector) and the control unit 4 can be connected in a wired manner, or can be connected in a wireless manner, such as a WIFI connection manner.

In addition, there are three ways of linkage between the display device and the limb linkage rehabilitation medical device. One way is: the control unit 4 of the limb linkage rehabilitation medical device is used as the main control device, and the display device is only used as a screen output device; the second way is : The display device has its own control system, and the control system of the display device is used as the main control device. The control unit 4 of the limb linkage rehabilitation medical device performs its assigned tasks and provides the required data for the control system of the display device; the third type The method is as follows: the control unit 4 of the limb linkage rehabilitation medical device is only an interface or a signal transmitter and receiver that can import and export data, and all data processing processes are completed by the control system that comes with the display device. Regardless of whether the above-mentioned limb linkage rehabilitation medical device and display device are the main control or the assistance, the following interaction method will describe the control of the two as a whole.

Based on the above hardware facilities and descriptions, as shown in FIG. 5 , the interaction method includes the following steps D1-D3:

Step D1, output interactive data to the display end of the display device, so that the display end of the display device displays the initial interactive screen;

In this step, the display end of the display device represents the part of the display device that finally presents the visual image, which can be the screen part of the display screen or the part of the projected image of the projector. When the display device is used as the main control end, the interactive The data comes from its own control system. When the limb linkage rehabilitation medical device is used as the main control terminal, the interactive data comes from the control unit 4 . The initial interactive picture displayed on the display end of the display device is a game picture, and a number of game programs are stored in the memory of the control unit 4 or the control system of the display device, each group of game programs corresponds to a game mode, and the game mode can be racing. Game modes such as games, mission games, etc.

Step D2, after the user starts to use the limb linkage rehabilitation medical device, execute the above-mentioned control method, and read the rotational speed value of the motor 3;

In step D3, the theoretical mileage value is calculated according to the rotational speed value, and the content of the interactive screen is updated accordingly to feed back the user's movement situation to the user in a visual screen.

In steps D2-D3, when the user starts to perform the rehabilitation training task using the limb linkage rehabilitation medical device, the game program in the control unit 4 or the control system of the display device is started accordingly, and a character corresponding to the user is set in the game. In the interactive screen, the movement is synchronized with the user's own movement on the equipment, so that the user has a sense of substitution, enhances the interest of rehabilitation training, and enables the user to actively carry out rehabilitation training. For example, a racing game such as a bicycle race can be set up, and the user can participate in the bicycle race in the game by exercising on the equipment; in another example, a task game such as a treasure hunt game can be set, and the user can make the game character in the game by exercising on the equipment. Search for preset treasures by moving in the map of the interactive screen. These games allow users to rehabilitate and improve their physical fitness in a fun interaction.

When the display device is used as the main control terminal, the control unit 4 actively or passively (introduces the control signal of the main control terminal) executes the control method for the limb linkage rehabilitation medical device, and provides the collected rotational speed value of the motor 3 to the control system of the display device; When the limb linkage rehabilitation medical device is used as the main control terminal, the control unit 4 executes the control method and the data processing process of step D3, and only sends the data of the final updated interactive screen to the display device, and the display device decodes the data and finally presented.

Optionally, in order to facilitate user management, the following steps E1-E3 are further included before step D1:

Step E1, obtaining the identity information of the user;

Step E2, reading the corresponding user data according to the user's identity information, wherein the user data includes the user's basic data;

In this step, the user's basic data mainly includes two levels: the first is the user's condition data, including information on the type of obstacle (such as upper limb disorder, lower limb paraplegia, etc.), the level of the obstacle; the second is the user's exercise ability level data, The data can be entered by the appraiser after evaluating according to the preset grading standard, or it can be obtained by the system itself. After acquiring the user data, the control system (unit) of the main control device first determines whether the basic data is complete, and if not, triggers the exercise ability level test process.

The above-mentioned exercise ability level test process includes: first, test the exercise ability of the upper and lower limbs separately, and conduct a rating; specifically, issue specific instructions to the user through the information interaction unit or display device, such as the information interaction unit outputs voice data "Please separate below. Use the upper limb to exercise for 30 seconds", the control system (unit) of the main control device can count the number of complete cycles and peak frequency completed by the corresponding limb within the specified time by reading the rotation data of the motor 3, and estimate the movement ability of the corresponding limb Then, test and grade the cooperative movement ability of upper and lower limbs, the method is the same as above, by issuing specific instructions to the user and collecting the operation data of motor 3 to obtain the cooperative movement ability level of upper and lower limbs.

When the user is an old user, the control system (unit) of the main control device updates the basic data of the user according to the data of this training after each user completes the training, mainly to increase or decrease the user's athletic ability level data, In case there is newer basic data for reference in the next run, it is convenient for the system to formulate suitable training content for users.

Step E3, confirming the training content of this training according to the user data.

Wherein, the training content includes multiple training stages, each training stage has training tasks and incentive measures for each training stage, and the incentive measures take the set incentive conditions as trigger conditions; the control system (unit) of the main control device is in In the process of interacting with the user, the above-mentioned steps D1-D3 are executed, and during the interaction process, a specific value (such as mileage, average motion speed) is converted according to the collected rotation data of the motor 3, and it is judged whether the specific value satisfies the excitation conditions. , if the corresponding incentive measures are met, it can continuously give the user a sense of participation and freshness, improve the user's initiative, and make the training no longer boring. Example: For example, in a game, game characters earn gold coins (incentives) through racing competitions to upgrade game equipment to improve their rank.

When the system executes the above process, the control system (unit) of the main control device executes the following steps F1-F, 3 to realize process monitoring and dynamic adjustment to the user:

Step F1, collecting process data generated during the operation of the limb linkage rehabilitation medical device; wherein, the process data includes the physical parameters of the user;

Step F2, read the parameters in the process data in turn, and compare each parameter with its corresponding preset threshold to determine whether a specific trigger condition is reached; when the trigger condition is reached, go to step F3;

Step F3: Trigger the corresponding adjustment process to update the training content currently being executed according to the achieved triggering conditions; wherein the updating method includes: increasing, adding or decreasing the training phase and/or adjusting the training tasks in the training phase.

In this step, an example of the update method is as follows: when the user is performing the current training content, when the user's heart rate exceeds the threshold or continues to maintain a high state, a training phase with less intensity or pause can be added, in order not to affect the game experience. , you can use the intervention element in the game to make the user take a break for a while. The intervention element, such as setting up a stormy scene in the game, makes the current treasure hunt activity unable to continue, and the user's role in the game can go to the roadside shop to hide from the rain Rest, colleagues and users can get a rest. When the system detects that the user's heart rate is maintained at a low frequency, it will end the current intervention element, so that the user's sense of substitution in the game will not be interrupted, and the game experience will not be interrupted. When the user re-enters the training, if the signs and characteristics are abnormal again soon, the system can judge that the user's exercise has reached the limit, and can reduce the training stage, end the training content in advance, and update it according to the data such as the duration and intensity of the training. User's basic data.

For another example, when the user is physically strong, the training stage can be appropriately increased. For example, the following intervention elements can be added to the game: when the user is in the walking stage, there will be sudden criminal activities in the surrounding area, and the game screen will prompt incentives to catch criminals (such as rewards). Gold coins), users can participate in the game of chasing criminals and receive corresponding rewards after completing the task. In this way, the user can complete a short-term training with high intensity, so that the training process can be relaxed.

Based on the above training content update method, the training tasks can be dynamically adjusted according to the user's physical data, and the training of each user can be dynamically adjusted and managed without affecting the game experience, so as to achieve the training purpose.

Through the above steps, targeted management can be effectively carried out for each user, so that the user's rehabilitation training can be systematic, achieve better system training, and facilitate the user to manage the game process. By setting a game with a longer passing time, It enables users to actively participate in rehabilitation training and improves the efficiency of rehabilitation training.

The above is only the preferred embodiment of the present invention, it should be pointed out that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can also be made, and these improvements and modifications are also It should be regarded as the protection scope of the present invention.

Claims (10)

1. Limb linkage rehabilitation medical equipment, is characterized in that, comprises: a machine base; Two linkage assemblies, which are respectively installed on both sides of the base; each set of the linkage assemblies includes a handrail and a footrest, and also includes a drive crank for power input; the two sets of linkage assemblies drive The cranks are installed with a phase difference of 180°; a motor, which is a dual-shaft motor, the body of which is fixedly mounted on the base, and the drive crank is fixed on each of the motor shafts protruding from both sides; and a control unit electrically connected to the motor. 2. The limb linkage rehabilitation medical device according to claim 1, wherein the linkage assembly further comprises: a first connecting rod, one end of which is hinged on the driving crank, and the pedal portion is fixed relative to it; and The middle of the second connecting rod is hinged on the base, the lower end of which is hinged with the first connecting rod, and the handholding portion is formed on the upper end thereof. 3. The limb linkage rehabilitation medical device according to claim 1, wherein the body of the motor comprises a motor part and a commutation part; the motor shaft protrudes from both end faces of the reversing portion; The motor part is mounted on the reversing part, and the rotation axis of the rotor is perpendicular to the motor shaft. 4. The limb linkage rehabilitation medical device according to claim 3, characterized in that, A fixing plate is fixed on each of the end faces of the two ends of the reversing portion; There is a motor mounting rod on the base, and a gap for accommodating the motor is formed in the middle of the motor mounting rod, and the two fixing plates are respectively fixed on both sides of the motor mounting rod; each fixing plate spans the gap And the two ends are respectively fixed on the rod bodies on both sides of the vacancy. 5. A control method for a limb linkage rehabilitation medical device, which is applied to a control unit, wherein the control unit is also electrically connected to a sensor group and an information interaction unit, and the method includes: Collect specific operating data in the current state through the sensor group; wherein, the specific operating data includes its own operating parameters and/or the user's physical parameters during the operation of the limb linkage rehabilitation medical device; Monitor whether there is a control command input through the information interaction unit; Determine whether a trigger condition for triggering a certain function mode is constituted according to the specific operation data, and if so, trigger the corresponding function mode; and When a control command is input, execute the function mode corresponding to the control command according to the type of the control command; The functional modes include a passive mode, an assist mode, and an active mode, and each functional mode corresponds to a set of control strategies for the motor, and the control strategies include startup, acceleration, deceleration, and stop. 6 . The control method for limb linkage rehabilitation medical equipment according to claim 5 , wherein the operating parameters include the rotational speed of the motor and/or the operating current of the motor and/or the transmission torque between the motor shaft and the drive crank. 7 . ;Determining whether a trigger condition for triggering a certain function mode according to the specific operation data comprises: Read the operating parameters and compare with the preset thresholds of each trigger condition; If it is judged that the user has no voluntary movement ability or weak voluntary movement ability according to the operating parameters, the passive mode is executed; If it is judged that the user's physical strength is insufficient according to the operating parameters, the assist mode is executed; If it is determined that the user's physical strength is sufficient according to the operating parameters, the active mode is executed. 7. The method for controlling a limb linkage rehabilitation medical device according to claim 5, wherein the physical parameters include the user's heart rate and/or sweat rate and/or body temperature and/or calorie consumption and/or training time, the determining whether a trigger condition for triggering a certain function mode is constituted according to the specific operating data further includes: Determine whether the current functional mode or operating frequency matches the physical fitness of the user according to the physical parameters; If the current functional mode or operating frequency does not match the user's physical fitness, switch to the matching functional mode or adjust the operating frequency accordingly. 8. An interaction method for a limb linkage rehabilitation medical device, characterized in that the control unit is communicatively connected to a display device, and the method comprises: outputting interactive data to the display end of the display device, so that the display end of the display device displays the initial interactive screen; After the user starts to use the limb linkage rehabilitation medical device, execute the control method according to any one of claims 6-8, and read the rotational speed value of the motor; The theoretical mileage value is calculated according to the rotational speed value, and the content of the interactive screen is updated accordingly, so that the user's movement situation is fed back to the user in a visual screen. 9 . The interaction method for limb linkage rehabilitation medical equipment according to claim 8 , wherein the outputting interaction data to the display device so as to cause the display device to display the initial interaction screen further comprises: 10 . Obtain the user's identity information; Read corresponding user data according to the user's identity information, wherein the user data includes the user's rehabilitation training plan and training process; Confirm the training content of this training according to the user data. 10 . The interaction method for limb linkage rehabilitation medical equipment according to claim 9 , wherein the confirming the training content of this training according to the user data comprises: 10 . Collect process data generated during the operation of the limb linkage rehabilitation medical device; wherein, the process data includes the user's physical parameters; Read the parameters in the process data in turn, and compare each parameter with its corresponding preset threshold to determine whether a specific trigger condition is reached; When the trigger condition is reached, the corresponding adjustment process is triggered to update the currently executing training content according to the achieved trigger condition; wherein the update method includes: increasing, increasing or decreasing the training phase and/or adjusting the training tasks in the training phase.