CN111035896B - Lower limb rehabilitation training system - Google Patents
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- CN111035896B CN111035896B CN201911406944.8A CN201911406944A CN111035896B CN 111035896 B CN111035896 B CN 111035896B CN 201911406944 A CN201911406944 A CN 201911406944A CN 111035896 B CN111035896 B CN 111035896B
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- 238000012549 training Methods 0.000 title claims abstract description 114
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 19
- 230000003993 interaction Effects 0.000 claims abstract description 17
- 210000002414 leg Anatomy 0.000 claims description 94
- 238000011156 evaluation Methods 0.000 claims description 75
- 230000000694 effects Effects 0.000 claims description 38
- 238000006073 displacement reaction Methods 0.000 claims description 19
- 238000012417 linear regression Methods 0.000 claims description 12
- 201000010099 disease Diseases 0.000 claims description 11
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 claims description 11
- 210000000689 upper leg Anatomy 0.000 claims description 10
- 238000012937 correction Methods 0.000 claims description 6
- 210000003205 muscle Anatomy 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 3
- 210000003414 extremity Anatomy 0.000 claims 1
- 230000036544 posture Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 9
- 238000012545 processing Methods 0.000 description 4
- 206010019468 Hemiplegia Diseases 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000020431 spinal cord injury Diseases 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
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Abstract
The invention provides a lower limb rehabilitation training system which comprises a mechanical component, an actuating component, a sensing component, a control component and a man-machine interaction component, wherein a leg actuating device drives a leg actuating device of a patient to reciprocate up and down so as to enable the patient to perform simulated stepping movement, and the control component controls a vertical lifting push rod device of a bed surface, an integral overturning push rod device of the bed surface, an upper half overturning push rod device of the bed surface, a length adjusting push rod device of a bed body, and the push rod elongation of the weight-reducing upper and lower adjusting push rod device so as to enable the bed surface to vertically lift up and down, the integral overturning of the bed surface, the upper half overturning of the bed surface, the length adjusting of the bed body and the weight-reducing upper and lower adjusting. The invention can carry out lower limb rehabilitation training on various postures of patients from lying down to standing up.
Description
Technical Field
The invention relates to the technical field of rehabilitation therapy, in particular to a rehabilitation training system.
Background
In China, tens of millions of stroke patients exist, millions of new patients exist each year, and a large number of spinal cord injury patients exist, so that a large number of patients are hemiplegia, paralysis and long-term bedridden caused by the diseases such as stroke, spinal cord injury and the like. The traditional sports rehabilitation training is carried out under the manual assistance of a rehabilitation trainer, the overall efficiency is low, the training time and the training intensity depend on the physical strength of the rehabilitation trainer, the number of trainers cannot meet the requirements under the condition of more and more patients, on the other hand, when the trainer carries out rehabilitation evaluation, the patient is rated and scored based on an evaluation scale, the method is greatly influenced by the subjective factors of the trainers, the evaluation uncertainty is increased, the working time of the trainer is increased, and the evaluation is difficult to quantify and objectify.
Along with the development of intelligent robot technology, more and more intelligent rehabilitation devices for hemiplegia and paralysis patients are developed and applied at present, and the devices generally comprise a mechanical structure device fixed with the body of the patient, a sensor for monitoring the motion state of the mechanical structure, an actuator for driving the mechanical structure to move, and a controller for receiving the sensor signals and outputting motion signals to the actuator after calculation and processing.
However, when the device works, the system is lack of effective measurement, analysis and recording on the training process indexes, a rehabilitation trainer is still required to judge the stress condition and the activity range change of the patient after the training is finished, the trainer and the patient cannot systematically and quantitatively know the training index change of the training process, the patient cannot know the self rehabilitation data change in real time, and the enthusiasm of the patient on the training is reduced, so that the whole rehabilitation process of the patient is indirectly influenced. Therefore, there is a need for a rehabilitation training system that can perform rehabilitation training on a patient, monitor indexes such as a movement range and a stress degree in the training process in real time, and enable the patient and a trainer to quantitatively, objectively and real-time know the rehabilitation training condition.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a lower limb rehabilitation training system.
The technical scheme adopted for solving the technical problems is as follows: a lower limb rehabilitation training system comprises a mechanical component, an actuating component, a sensing component, a control component and a man-machine interaction component.
The mechanical part comprises a bed surface, an upper body fixing device, 2 leg fixing devices and 2 foot fixing devices, the upper body of a rehabilitation training patient is clung to the bed surface, the upper body, the legs and the feet are respectively fixed by the upper body fixing device, the leg fixing devices and the foot fixing devices, and the foot fixing devices are connected with the bed surface through springs;
The actuating component comprises a leg actuating device, a bed surface vertical lifting push rod device, a bed surface integral overturning push rod device, a bed surface upper half overturning push rod device, a bed body length adjusting push rod device and a weight-reducing up-down adjusting push rod device, wherein 2 leg actuating devices are respectively connected with 1 leg fixing device to drive the leg fixing devices to move; the bed surface vertical lifting push rod device and the bed surface integral overturning push rod device drive the bed surface to lift and overturn under the drive of the control part respectively; the upper half part of the bed surface is turned over to adjust the included angle between the upper half part of the bed surface and the lower half part of the bed surface; the length adjusting push rod device of the lathe bed adjusts the distance between the upper half part of the lathe bed and the foot fixing device; the weight-reducing up-down adjusting push rod device is used for adjusting the distance between the upper body fixing device and the leg fixing device;
The sensing component comprises a pulling pressure sensing device, a distance measuring sensing device, an angular displacement sensing device, an myoelectricity sensing device and a push rod sensing control device, wherein the 2 pulling pressure sensing devices are respectively arranged on the leg fixing device and used for measuring force F LL、FLR born by the leg fixing device and representing the stretching and bending force of the leg of a patient; the 2 distance measuring sensor devices are respectively arranged at the rear ends of the 2 foot fixing devices, measure the up-and-down movement distance S L、SR of the foot fixing devices, indirectly measure the tensile force of the springs received by the foot fixing devices, and represent the force received by the soles of the patients; the 2 angular displacement sensing devices are respectively arranged on the leg fixing devices and are used for measuring a motion relative angle A L、AR between the leg fixing devices and the bed surface; the myoelectricity sensing device is stuck on the leg muscles of a patient and is used for measuring surface myoelectricity U 1、U2、U3、U4 generated when the legs of the patient move, and the push rod sensing control device is used for measuring the push rod elongation of the connection of the bed surface vertical lifting push rod device, the bed surface integral overturning push rod device, the bed surface upper half overturning push rod device, the bed body length adjusting push rod device and the weight-reducing up-down adjusting push rod device;
The control part receives the control command sent by the man-machine interaction part and the sensing signal sent by the sensing part, and generates a continuous control signal for the leg actuating device.
The control part calculates the stress degree of the patient in a set periodWherein the force exertion degree of the left leg and the right leg is respectivelyAndF LL max、FLL min is the maximum value and the minimum value measured by the left leg pulling pressure sensing device in a set period, F LR max、FLR min is the maximum value and the minimum value measured by the right leg pulling pressure sensing device in a set period, and F max、Fmin is the maximum value and the minimum value measured by the pulling pressure sensing device.
The control part calculates the degree of the force exertion intention of the patient in a set periodWherein, For the purpose of muscle force generation obtained by the surface myoelectricity U i, the value of n is the number of the used surface myoelectricity sensing devices, n is less than or equal to 4,U i max、Ui min and is the maximum value and the minimum value of the surface myoelectricity U i in an evaluation period, and U max、Umin is the maximum value and the minimum value which can be measured by the surface myoelectricity sensing devices.
The control part calculates the plantar load degree of the patient in a set period as
Wherein S L max、SL min is the maximum and minimum of the left foot up-down displacement in an evaluation period, S R max、SR min is the maximum and minimum of the right foot up-down displacement in an evaluation period, k is the stiffness of the spring connected with the foot fixing device, and G is the weight of the patient.
The control unit calculates the balance of the patient during a set period
The control unit calculates the degree of joint movement of the patient during a set period,Wherein, The joint movement degrees of the left leg and the right leg in an evaluation period are respectively represented by A L max、AL min, A R max、AR min and A max、Amin, wherein the A L max、AL min is respectively represented by the maximum value and the minimum value of the angle of lifting the left thigh in the evaluation period, the A R max、AR min is respectively represented by the maximum value and the minimum value of the angle of lifting the right thigh in the evaluation period, and the A max、Amin is respectively represented by the maximum value and the minimum value of the angle of lifting the thigh which can be measured by the angular displacement sensing device.
The control part calculates a training effect evaluation value of complete training as follows:
Wherein, For the average value of the leg exertion during training,For the average value of the leg force intent during training,For the average value of the plantar load level during training,To average the balance ability values during training,For the average of the degree of joint movement during training, V is the training speed, unit steps/min, k 0、k1、k2、k3、k4、k5、k6 is the linear regression coefficient,
The trainer obtains the rating score of the patient according to the evaluation standard of the rehabilitation scale, corrects the linear regression coefficient according to the rating score by a multiple linear regression model, and obtains the corrected training effect evaluation value as follows:
Wherein S 'is a training effect evaluation value of one complete training after correction, is a number between 0 and 100, k 0′、k1′、k2′、k3′、k4′、k5′、k6' is a linear regression coefficient after correction,
The man-machine interaction component is connected with the cloud platform through a network; defining that the patients with the same type of patients are patients with the age A ' and the age A of the patients, the absolute value of the difference between the age A ' and the age A of the patients is smaller than 5, the disease type M is the same, the difference between the disease time D ' and the disease time D of the patients is smaller than 2 years, and the cloud platform invokes training effect evaluation values of all the patients with the same type, and calculates the training effect contrast value of the patients in the patients with the same type as follows:
And the cloud platform sends the Q value and the training effect evaluation value of the same type of patients to the human-computer interaction component to generate corresponding curves of the number of the same type of patients under different training effect evaluation values.
The man-machine interaction component is connected with the cloud platform through a network; and sending the training effect evaluation value of the patient to a cloud platform, and sending the training effect evaluation value of the patient for one month to a man-machine interaction part by the cloud platform, so as to generate and display a training effect evaluation value change curve of the patient for one month.
The beneficial effects of the invention are as follows: the lower limb rehabilitation training can be carried out on patients from lying to standing in various postures, the stress condition, the stress intention, the joint movement angle and the training overturning angle information of the patient training process are acquired in real time through various sensing components, the information is displayed on the all-in-one machine, and the training condition can be accurately and quantitatively acquired by a trainer without intervention of the trainer.
The patient training effect evaluation value is obtained based on the processing and calculation of the sensing information values acquired by the various sensing components, so that accurate and objective training effect evaluation references are provided for a large number of trainers, and the existing rehabilitation training evaluation method is enriched.
The method comprises the steps of providing a change trend curve of a patient and the patient with the same type, namely a training contrast value and a self training effect evaluation value, enabling a patient system to master the comprehensive change effect and training process of self stress, stress intention, joint movement angle and training turning angle, knowing rehabilitation training differences between the patient and the patient with the same type, prompting patient rehabilitation confidence, promoting patient active rehabilitation training enthusiasm, and accelerating patient rehabilitation.
Drawings
FIG. 1 is a schematic view of the structure and a partial enlarged view of the structure of the present invention;
FIG. 2 is a schematic diagram of the structure of the present invention;
FIG. 3 is a block diagram of a component connection of the present invention;
In the figure, 1-bed surface, 2-upper body fixing device, 3-angular displacement sensing device (1 each of left and right leg fixing devices), 4-leg fixing device (1 each of left and right leg fixing devices), 5-pulling pressure sensing device (1 each of left and right leg fixing devices), 6-foot fixing device (2 each of left and right leg fixing devices), 7-ranging sensing device (1 each of left and right foot fixing devices), 8-spring (1 each of left and right leg fixing devices), 9-bed board support, 10-myoelectric sensing device jack, 11-bed length adjusting push rod device, 12-leg actuating device (1 each of left and right leg fixing devices), 13-integrated machine, 14-hand controller, 15-bed surface integral overturning push rod device, 16-bed surface vertical lifting push rod device, 17-main controller, 18-push rod sensing control device, 19-bed surface upper half overturning push rod device, 20-weight reducing push rod device.
Detailed Description
The invention will be further illustrated with reference to the following figures and examples, which include but are not limited to the following examples.
The invention provides a lower limb rehabilitation training system which comprises a mechanical component, an actuating component, a sensing component, a control component, a man-machine interaction component and a cloud platform.
The mechanical part comprises a bed board support, a bed surface, an upper body fixing device, 2 leg fixing devices and 2 foot fixing devices, wherein a rehabilitation training patient lies on the bed surface, and the upper body, the two legs and the two feet are respectively fixed with the upper body fixing device, the 2 leg fixing devices and the 2 foot fixing devices.
The actuating component comprises 2 leg actuating devices, a bed surface vertical lifting push rod device, a bed surface integral overturning push rod device, a bed surface upper half overturning push rod device, a bed body length adjusting push rod device and a weight-reducing up-down adjusting push rod device, wherein the 2 leg actuating devices are respectively connected with the 2 leg fixing devices, so that the leg actuating devices can drive the leg fixing devices to move.
The sensing component comprises 2 pulling pressure sensing devices, 2 ranging sensing devices, 2 angular displacement sensing devices, 4 groups of myoelectricity sensing devices and a push rod sensing control device.
The 2 tension and pressure sensing devices are respectively arranged on the 2 leg fixing devices, and the pressure and the tension applied to the leg fixing devices are measured to represent the stretching and bending forces of the legs of the patient.
The 2 distance measuring sensor devices are respectively arranged behind the 2 foot fixing devices, the foot fixing devices are connected with the bed board support through springs, the distance measuring sensor devices measure the distance of the foot fixing devices moving up and down, namely the stretching amount of the springs, the tension of the springs received by the foot fixing devices is indirectly measured, and the tension of the springs received by the foot fixing devices represents the force received by the soles of the patient.
The 2 angular displacement sensing devices are respectively arranged on the 2 leg fixing devices, and the relative motion angle between the leg fixing devices and the bed surface is measured to represent the thigh lifting angle of the patient.
The myoelectricity sensing device comprises a myoelectricity sensing patch, a myoelectricity patch wire and a myoelectricity sensing device processing board, wherein the myoelectricity sensing patch is adhered to leg muscles of a patient, the myoelectricity sensing patch is connected with the myoelectricity patch wire, the myoelectricity patch wire is connected with a myoelectricity sensing device jack on the myoelectricity sensing device processing board, and 4 groups of myoelectricity sensing devices respectively measure surface myoelectricity generated when the legs of the patient move.
The push rod sensing control device is connected with the bed surface vertical lifting push rod device, the bed surface integral overturning push rod device, the bed surface upper half overturning push rod device, the bed body length adjusting push rod device and the weight reducing up-down adjusting push rod device through digital signal wires, and the push rod elongation of each push rod device is measured.
The control unit comprises a main controller and a push rod sensing control device.
The main controller is respectively connected with the leg actuating device, the push rod sensing control device, the sensing component and the human-computer interaction component in a CAN, serial digital signal lines and analog signal lines, receives control instructions sent by the human-computer interaction component, receives sensing signals sent by the sensing component, and generates continuous control signals for the leg actuating device according to the control instructions and the sensing signals.
The push rod sensing control device controls the vertical lifting push rod device of the bed surface, the integral overturning push rod device of the bed surface, the overturning push rod device of the upper half part of the bed surface, the length adjusting push rod device of the bed body and the push rod elongation of the weight-reducing up-down adjusting push rod device, thereby controlling the vertical lifting of the bed surface, the integral overturning of the bed surface, the overturning of the upper half part of the bed surface, the length adjusting of the bed body and the weight-reducing up-down adjusting.
The man-machine interaction component comprises an integrated machine and a hand controller.
The all-in-one machine can receive an input command of a trainer in a touch mode, information is displayed through a display screen, and the hand controller receives the input command of the trainer through keys.
The hand controller is connected with the push rod sensing control device through a signal wire, and receives an input command of a trainer through a key.
The cloud platform is connected with the all-in-one machine through a network, and is particularly a commercial public cloud platform.
According to the lower limb rehabilitation training system, a patient is fixed with the lower limb rehabilitation training system, a trainer inputs a command through an integrated machine, a main control unit controls 2 leg actuating devices to drive the 2 leg actuating devices to reciprocate up and down according to the control command, so that the patient can simulate stepping motion, the trainer inputs the command through a hand controller, and the main control unit controls a bed surface vertical lifting push rod device, a bed surface integral overturning push rod device, a bed surface upper half overturning push rod device, a bed body length adjusting push rod device and a weight reducing upper and lower adjusting push rod device to extend, so that the bed surface vertically lifts up and down, the bed surface integral overturns, the bed surface upper half overturns, the bed body length is adjusted and the weight reducing upper and lower adjusting are carried out.
Before a first rehabilitation training of a patient, a trainer inputs the weight G of the patient, the age A of the patient, the disease type M of the patient and the disease time D on an integrated machine, in the training process, 2 tension and pressure sensing devices respectively measure the force F LL、FLR born by 2 leg fixing devices, namely the force of two legs of the patient, 2 distance measuring sensing devices respectively measure the up-down displacement S L、SR of the 2 leg fixing devices, namely the up-down displacement of the left leg and the right leg of the patient, 2 angle measuring displacement sensing devices respectively measure the lifting angle A L、AR of the 2 leg fixing devices, namely the lifting angle of the left leg and the right leg of the patient, 4 groups of myoelectricity sensing devices respectively measure the surface myoelectricity U 1、U2、U3、U4 of the left leg and the right leg of the patient, a push rod elongation sensing device measures the push rod elongation of the whole overturning push rod device of the bed surface, the overturning angle theta of the bed surface is obtained according to the relation between the push rod elongation and the overturning angle of the bed surface during design simulation, and the integrated machine records the training time T and the training speed V at the end of the training.
The lower limb rehabilitation training system takes patient training for 10 seconds as an evaluation period, the training speed V is in units of steps per minute, the number of steps of the patient stepping in one evaluation period is V/6, and the stress degree in one evaluation period is as follows:
Wherein, P L is the leg exertion degree of an evaluation period, which is a number between 0 and 1, P LL、PLR is the left leg exertion degree and the right leg exertion degree of an evaluation period, F LL max、FLL min is the maximum value and the minimum value measured by the left leg pull pressure sensing device in an evaluation period, F LR max、FLR min is the maximum value and the minimum value measured by the right leg pull pressure sensing device in an evaluation period, and F max、Fmin is the maximum value and the minimum value measured by the leg pull pressure sensing device.
The degree of force intent over an evaluation period is:
Wherein R is the leg force intention of an evaluation period, which is a number between 0 and 1, R i is the muscle force intention obtained by the surface myoelectricity U i, n is the number of the used surface myoelectricity sensing devices, n is less than or equal to 4,U i max、Ui min and is the maximum value and the minimum value of the surface myoelectricity U i in the evaluation period, and U max、Umin is the maximum value and the minimum value which can be measured by the surface myoelectricity sensing devices.
The plantar load level during one evaluation period is:
Wherein, the plantar load degree in an evaluation period of P F is a number between 0 and 1, S L max、SL min is the maximum value and the minimum value of the vertical displacement of the left foot in an evaluation period, S R max、SR min is the maximum value and the minimum value of the vertical displacement of the right foot in an evaluation period, and k is the rigidity of a spring connected with the foot fixing device.
The balance capacity in one evaluation period is:
Wherein B is a balance capability value in one evaluation period, and is a number between 0 and 1.
The degree of joint movement during one evaluation period is:
Wherein, D is the joint movement degree of an evaluation period and is a number between 0 and 1, D L、DR is the joint movement degree of the left leg and the right leg of the evaluation period respectively, A L max、AL min is the maximum value and the minimum value of the angle of lifting the left thigh in the evaluation period respectively, A R max、AR min is the maximum value and the minimum value of the angle of lifting the right thigh in the evaluation period respectively, and A max、Amin is the maximum value and the minimum value of the angle of lifting the thigh which can be measured by the angular displacement sensing device respectively.
The training effect evaluation value of one complete training is as follows:
where S is a training effect evaluation value of one complete training, is a number between 0 and 100, For the average value of the leg exertion during training,For the average value of the leg force intent during training,For the average value of the plantar load level during training,To average the balance ability values during training,For the average of the joint motion level during training, k 0、k1、k2、k3、k4、k5、k6 is a linear regression coefficient, k 0 is 0, k 1、k2、k3、k5 is 0.2, and k 4、k6 is 0.1 at the beginning.
The trainer obtains patient rating scores according to Fugl-Meyer lower limb rating scales and Berg balance scale rehabilitation scale evaluation standards, averages the rating scores of each scale to obtain total rating scores, corrects the linear regression coefficients according to the total rating scores through a multiple linear regression model, and obtains corrected training effect evaluation values as follows:
wherein S 'is a training effect evaluation value of one complete training after correction, and is a number between 0 and 100, and k 0′、k1′、k2′、k3′、k4′、k5′、k6' is a linear regression coefficient after correction.
The lower limb rehabilitation training system comprises a lower limb rehabilitation training system body, wherein the lower limb rehabilitation training system body displays the value measured by each sensing device in real time, and after the integrated machine calculates the evaluation value of the training effect of a patient, the evaluation value is sent to a cloud platform, and the patients of the same type of a certain patient are defined as: the absolute value of the difference between the age A 'and the age A of the patient is smaller than 5, the disease type M is the same, the difference between the disease time D' and the disease time D of the patient is smaller than 2, the cloud platform is used for acquiring training effect evaluation values of all the patients of the same type, and the training effect contrast value of the patient in the patients of the same type is calculated as follows:
The cloud platform sends the training effect evaluation values of the Q value and the same type of patients to the integrated machine, and the integrated machine generates corresponding curves of the numbers of the same type of patients under different training effect evaluation values, so that the patient and a trainer know the training comparison condition of the patient and the same type of patients, and the patient training confidence is improved.
After the lower limb rehabilitation training system is used for calculating the evaluation value of the training effect of the patient, the evaluation value is sent to the cloud platform, the cloud platform sends the evaluation value of the training effect of the patient for one month to the integrated machine, and the integrated machine generates the change curve of the evaluation value of the training effect of the patient for one month, so that the patient knows the change of the training effect of the patient, and the training confidence of the patient is improved.
Claims (4)
1. The utility model provides a low limbs rehabilitation training system, includes mechanical part, actuation part, sensing part, control unit and human-computer interaction part, its characterized in that: the mechanical part comprises a bed surface, an upper body fixing device, 2 leg fixing devices and 2 foot fixing devices, the upper body of a rehabilitation training patient is clung to the bed surface, the upper body, the legs and the feet are respectively fixed by the upper body fixing device, the leg fixing devices and the foot fixing devices, and the foot fixing devices are connected with the bed surface through springs; the actuating component comprises a leg actuating device, a bed surface vertical lifting push rod device, a bed surface integral overturning push rod device, a bed surface upper half overturning push rod device, a bed body length adjusting push rod device and a weight-reducing up-down adjusting push rod device, wherein 2 leg actuating devices are respectively connected with 1 leg fixing device to drive the leg fixing devices to move; the bed surface vertical lifting push rod device and the bed surface integral overturning push rod device drive the bed surface to lift and overturn under the drive of the control part respectively; the upper half part of the bed surface is turned over to adjust the included angle between the upper half part of the bed surface and the lower half part of the bed surface; the length adjusting push rod device of the lathe bed adjusts the distance between the upper half part of the lathe bed and the foot fixing device; the weight-reducing up-down adjusting push rod device is used for adjusting the distance between the upper body fixing device and the leg fixing device; the sensing component comprises a pulling pressure sensing device, a distance measuring sensing device, an angular displacement sensing device, an myoelectricity sensing device and a push rod sensing control device, wherein the 2 pulling pressure sensing devices are respectively arranged on the leg fixing device and used for measuring force F LL、FLR born by the leg fixing device and representing the stretching and bending force of the leg of a patient; the 2 distance measuring sensor devices are respectively arranged at the rear ends of the 2 foot fixing devices, measure the up-and-down movement distance S L、SR of the foot fixing devices, indirectly measure the tensile force of the springs received by the foot fixing devices, and represent the force received by the soles of the patients; the 2 angular displacement sensing devices are respectively arranged on the leg fixing devices and are used for measuring a motion relative angle A L、AR between the leg fixing devices and the bed surface; the myoelectricity sensing device is stuck on the leg muscles of a patient and is used for measuring surface myoelectricity U 1、U2、U3、U4 generated when the legs of the patient move, and the push rod sensing control device is used for measuring the push rod elongation of the connection of the bed surface vertical lifting push rod device, the bed surface integral overturning push rod device, the bed surface upper half overturning push rod device, the bed body length adjusting push rod device and the weight-reducing up-down adjusting push rod device; the control part receives the control instruction sent by the man-machine interaction part and the sensing signal sent by the sensing part, and generates a continuous control signal for the leg actuating device;
the control part calculates the stress degree of the patient in a set period Wherein the force exertion degree of the left leg and the right leg is respectivelyAndF LL max、FLL min is the maximum value and the minimum value measured by the left leg pulling pressure sensing device in a set period, F LR max,FLR min is the maximum value and the minimum value measured by the right leg pulling pressure sensing device in a set period, and F max、Fmin is the maximum value and the minimum value measured by the pulling pressure sensing device;
The control part calculates the degree of the force exertion intention of the patient in a set period Wherein, For the purpose of muscle force generation obtained by the surface myoelectricity U i, the value of n is the number of the used surface myoelectricity sensing devices, n is less than or equal to 4,U i max、Ui min and is respectively the maximum value and the minimum value of the surface myoelectricity U i in an evaluation period, and U max、Umin is respectively the maximum value and the minimum value which can be measured by the surface myoelectricity sensing devices;
the control part calculates the plantar load degree of the patient in a set period as
Wherein S L max,SL min is the maximum value and the minimum value of the up-and-down displacement of the left foot in an evaluation period respectively, S R max、SR min is the maximum value and the minimum value of the up-and-down displacement of the right foot in an evaluation period respectively, k is the rigidity of a spring connected with the foot fixing device, and G is the weight of a patient;
the control unit calculates the balance of the patient during a set period
The control unit calculates the degree of joint movement of the patient during a set period,Wherein, The joint movement degrees of the left leg and the right leg in an evaluation period are respectively represented by A L max、AL min, A R max、AR min, A max、Amin, and A max、Amin, wherein the A L max、AL min is the maximum value and the minimum value of the angle of lifting the left thigh in the evaluation period, the A R max、AR min is the maximum value and the minimum value of the angle of lifting the right thigh in the evaluation period, and the A max、Amin is the maximum value and the minimum value of the angle of lifting the thigh can be measured by the angular displacement sensing device;
The control part calculates a training effect evaluation value of complete training as follows:
Wherein, For the average value of the leg exertion during training,For the average value of the leg force intent during training,For the average value of the plantar load level during training,To average the balance ability values during training,For the average of the degree of joint movement during training, V is the training speed, unit steps/min, k 0、k1、k2、k3、k4、k5、k6 is the linear regression coefficient,
2. The lower limb rehabilitation training system according to claim 1, wherein: the trainer obtains the rating score of the patient according to the evaluation standard of the rehabilitation scale, corrects the linear regression coefficient according to the rating score by a multiple linear regression model, and obtains the corrected training effect evaluation value as follows:
wherein S 'is a training effect evaluation value of one complete training after correction, is a number between 0 and 100, k 0′、k1′、k2′、k3′、k4′、k5′、k6' is a linear regression coefficient after correction,
3. The lower limb rehabilitation training system according to claim 1, wherein: the man-machine interaction component is connected with the cloud platform through a network; defining the patient of the same type as the patient with the age A 'of less than 5 and the disease type M and the disease time D' of less than 2 years, the cloud platform takes the training effect evaluation values of all the patients of the same type, and calculates the training effect contrast value of the patient in the patient of the same typeAnd the cloud platform sends the Q value and the training effect evaluation value of the same type of patients to the human-computer interaction component to generate corresponding curves of the number of the same type of patients under different training effect evaluation values.
4. The lower limb rehabilitation training system according to claim 1, wherein: the man-machine interaction component is connected with the cloud platform through a network; and sending the training effect evaluation value of the patient to a cloud platform, and sending the training effect evaluation value of the patient for one month to a man-machine interaction part by the cloud platform, so as to generate and display a training effect evaluation value change curve of the patient for one month.
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