CN111297530A - Limb auxiliary training method, device, control terminal and readable storage medium - Google Patents
Limb auxiliary training method, device, control terminal and readable storage medium Download PDFInfo
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- CN111297530A CN111297530A CN202010070490.8A CN202010070490A CN111297530A CN 111297530 A CN111297530 A CN 111297530A CN 202010070490 A CN202010070490 A CN 202010070490A CN 111297530 A CN111297530 A CN 111297530A
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- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
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Abstract
The invention discloses a limb auxiliary training method, a device, a control terminal and a readable storage medium, wherein the method comprises the following steps: acquiring the current use state of the limb auxiliary training equipment, and determining the posture of the limb according to the current use state; and controlling the limb auxiliary training equipment according to the posture of the limb to provide corresponding auxiliary force. Therefore, in the rehabilitation training process, the posture of the limb is determined by acquiring the current use state of the limb auxiliary training equipment so as to provide corresponding auxiliary force, so that the auxiliary force provided by the limb auxiliary training equipment is matched with the posture of the limb, and the limb is effectively subjected to rehabilitation training.
Description
Technical Field
The invention relates to the technical field of physical therapy instruments, in particular to a limb auxiliary training method, a device, a control terminal and a readable storage medium.
Background
The rehabilitation training of a stroke patient in a sitting and standing stage is generally divided into two stages, wherein the training from sitting down to standing up is carried out in the early sitting and standing stage, and the training for standing is carried out simultaneously. After waiting for the recovered certain level of wearer, get into the middle and later periods of sitting and stand, can carry out the training of standing up, the training of standing still can carry out the balance training under standing simultaneously, and this balance training is moved around the center including keeping the state of standing and going on under the condition of standing, and the center of gravity removes around.
In rehabilitation training, it is only necessary to keep standing for a long time, but since the wearer has poor exercise ability during the sitting and standing period and the knee joint cannot support the burden of the body, the wearer may adopt a wrong way, for example, the wearer may lean to the healthy side to support the body, but the body function cannot be restored ideally.
Disclosure of Invention
The invention mainly aims to provide a limb auxiliary training method, a device, a control terminal and a readable storage medium, and aims to solve the technical problem that the body function cannot be ideally recovered in the limb rehabilitation training process in the prior art.
To achieve the above object, the present invention provides a limb training aid method, wherein the limb training aid comprises a plurality of support parts, the method comprising:
acquiring the current use state of the limb auxiliary training equipment, and determining the limb posture of the wearer according to the current use state;
and controlling the limb auxiliary training equipment according to the limb posture to provide corresponding auxiliary force.
Further, the postures of the limbs comprise a standing posture and a standing posture;
the step of obtaining the current use state of the limb auxiliary training device and determining the posture of the limb according to the current use state comprises the following steps:
acquiring the current included angles among the plurality of supporting parts;
if the included angle is in a preset angle interval, determining that the limb is in a standing posture;
and if the included angle is larger than the maximum value of the preset angle interval, determining that the limb is in a standing posture.
Further, if the included angle is larger than the maximum value of the preset angle interval, determining that the limb is in a standing posture, wherein the step comprises the following steps;
if the included angle is larger than the maximum value of the preset angle interval and the included angle is equal to the preset maximum value, the limb is in a standing posture;
and if the included angle is larger than the maximum value of the preset angle interval and is not equal to the preset maximum value, the limb is in a balanced posture in a standing state.
Further, the working modes of the limb auxiliary training equipment comprise an auxiliary mode, a holding mode and a protection mode;
the step of controlling the limb auxiliary training equipment according to the posture of the limb to provide corresponding auxiliary force comprises the following steps:
if the posture of the limb is a standing posture, controlling the limb auxiliary training equipment to provide auxiliary force in the auxiliary mode;
if the posture of the limb is a standing maintaining posture, controlling the limb auxiliary training equipment to provide auxiliary force in the maintaining mode;
and if the posture of the limb is a balance posture in a standing state, controlling the limb auxiliary training equipment to provide auxiliary force in the protection mode.
Further, the step of controlling the limb training aid to provide an assisting force in the assisting mode comprises: in the process that the included angles among the plurality of supporting parts are gradually increased, the auxiliary force provided by the limb auxiliary training equipment is controlled to be gradually decreased;
the step of controlling the limb training aid to provide an assisting force in the holding mode comprises:
when the included angles among the plurality of supporting parts deviate from the preset maximum value, controlling the auxiliary force provided by the limb auxiliary training equipment to keep the included angles among the plurality of supporting parts at the preset maximum value;
the step of controlling the limb training aid to provide an assisting force in the protection mode comprises:
and in the process that the included angles among the plurality of supporting parts are gradually reduced, the auxiliary force provided by the limb auxiliary training equipment is controlled to be gradually increased.
Further, before the step of obtaining the current use state of the limb auxiliary training device and determining the posture of the limb according to the current use state, the method includes:
when an instruction for starting training is obtained, whether the limb auxiliary training equipment is assembled on the limb or not is detected;
and if the limb auxiliary training equipment is not assembled on the limb, sending prompt information.
Further, the plurality of support portions are provided with detection pressure sensors;
the step of detecting whether the limb training aid is fitted to the limb comprises:
acquiring a detection pressure value fed back by the detection pressure sensor;
if the detected pressure values are all larger than or equal to a preset detected pressure threshold value, determining that the limb auxiliary training equipment is assembled on the limb;
and if the detection pressure value is smaller than the preset detection pressure threshold value, determining that the limb auxiliary training equipment is not assembled on the limb.
In addition, to achieve the above object, the present invention also provides a limb training aid, comprising:
a plurality of support portions provided with detection pressure sensors;
a control terminal, the control terminal comprising: memory, a processor and a limb-assist training program stored on the memory and executable on the processor, the limb-assist training program when executed by the processor implementing the steps of the limb-assist training method as claimed in the preceding claims.
In addition, to achieve the above object, the present invention also provides a control terminal, including: the training system comprises a memory, a processor and a limb auxiliary training program which is stored on the memory and can run on the processor, wherein the limb auxiliary training program realizes the steps of the limb auxiliary training method when being executed by the processor.
In addition, to achieve the above object, the present invention further provides a readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the limb training aid method as described above.
According to the limb auxiliary training method provided by the embodiment of the invention, the current use state of the limb auxiliary training equipment is obtained, and the posture of the limb is determined according to the current use state; and controlling the limb auxiliary training equipment according to the posture of the limb to provide corresponding auxiliary force. Therefore, in the rehabilitation training process, the posture of the limb is determined by acquiring the current use state of the limb auxiliary training equipment so as to provide corresponding auxiliary force, so that the auxiliary force provided by the limb auxiliary training equipment is matched with the posture of the limb, and the limb is effectively subjected to rehabilitation training.
Drawings
Fig. 1 is a schematic structural diagram of a control terminal for hardware operation according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a first embodiment of the limb training aid of the present invention;
fig. 3 is a schematic flow chart of a first embodiment of the limb training aid method of the invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a control terminal of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the control terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the control terminal may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that adjusts brightness of the display screen according to brightness of ambient light, and a proximity sensor that turns off the display screen and/or backlight when the control terminal moves to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally, three axes), can detect the magnitude and direction of gravity when the vehicle is stationary, and can be used for applications of recognizing and controlling the attitude of a terminal (such as horizontal and vertical screen switching, related games, magnetometer attitude calibration), vibration recognition related functions (such as pedometer and tapping), and the like; of course, the control terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.
Those skilled in the art will appreciate that the control terminal configuration shown in fig. 1 is not intended to be limiting of the control terminal and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is one type of computer storage medium, may include an operating system, a network communication module, a user interface module, and a limb training aid.
In the control terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to invoke a limb assistive training program stored in the memory 1005 and perform the following operations:
acquiring the current use state of the limb auxiliary training equipment, and determining the posture of the limb according to the current use state;
and controlling the limb auxiliary training equipment according to the posture of the limb to provide corresponding auxiliary force.
Further, acquiring the current included angles among the plurality of support parts;
if the included angle is in a preset angle interval, determining that the limb is in a standing posture;
and if the included angle is larger than the maximum value of the preset angle interval, determining that the limb is in a standing posture.
Further, if the included angle is larger than the maximum value of the preset angle interval and the included angle is equal to the preset maximum value, the limb is in a standing posture;
and if the included angle is larger than the maximum value of the preset angle interval and is not equal to the preset maximum value, the limb is in a balanced posture in a standing state.
Further, if the posture of the limb is a standing posture, controlling the limb auxiliary training equipment to provide auxiliary force in the auxiliary mode;
if the posture of the limb is a standing maintaining posture, controlling the limb auxiliary training equipment to provide auxiliary force in the maintaining mode;
and if the posture of the limb is a balance posture in a standing state, controlling the limb auxiliary training equipment to provide auxiliary force in the protection mode.
Further, the step of controlling the limb training aid to provide an assisting force in the assisting mode comprises:
in the process that the included angles among the plurality of supporting parts are gradually increased, the auxiliary force provided by the limb auxiliary training equipment is controlled to be gradually decreased;
the step of controlling the limb training aid to provide an assisting force in the holding mode comprises:
when the included angles among the plurality of supporting parts deviate from the preset maximum value, controlling the auxiliary force provided by the limb auxiliary training equipment to keep the included angles among the plurality of supporting parts at the preset maximum value;
the step of controlling the limb training aid to provide an assisting force in the protection mode comprises:
and in the process that the included angles among the plurality of supporting parts are gradually reduced, the auxiliary force provided by the limb auxiliary training equipment is controlled to be gradually increased.
Further, the processor 1001 may call a limb training aid program stored in the memory 1005, and further perform the following operations: when an instruction for starting training is obtained, whether the limb auxiliary training equipment is assembled on the limb or not is detected;
and if the limb auxiliary training equipment is not assembled on the limb, sending prompt information.
Further, a detection pressure value fed back by the detection pressure sensor is obtained;
if the detected pressure values are all larger than or equal to a preset detected pressure threshold value, determining that the limb auxiliary training equipment is assembled on the limb;
and if the detection pressure value is smaller than the preset detection pressure threshold value, determining that the limb auxiliary training equipment is assembled on the limb, and the limb auxiliary training equipment is not assembled on the limb.
The invention provides limb auxiliary training equipment.
Referring to fig. 1 and 2, fig. 2 is a schematic structural diagram of a limb auxiliary training device provided in the present invention;
in this embodiment, the apparatus for assisted limb training is applied to a method for assisted limb training, the apparatus includes a plurality of supports, and the plurality of supports are provided with a detection pressure sensor, the plurality of supports can be applied to the lower limb, optionally the apparatus can include a first support 101, a second support 102 and a control terminal, the first support 101 is provided with a first detection pressure sensor 111, and the first support 101 can be used for clamping the thigh of the limb; the second support part 102 is rotatably connected with the first support part 101, the second support part 102 is provided with a second pressure detection sensor 112, and the second support part 102 clamps the lower leg of the limb; the control terminal includes: a memory 1005, a processor 1001 and a program stored in the memory 1005 and executable on the processor 1001, wherein the limb auxiliary training program realizes the steps of the limb auxiliary training method when executed by the processor.
Further, the first detected pressure sensor 111 and the second detected pressure sensor 112 are each used to determine whether the limb assistive training device is fitted to the limb.
Referring to fig. 3, the present invention provides various embodiments of the method of the present invention based on the above-mentioned hardware structure of the control terminal.
The invention provides a limb auxiliary training method, which is applied to a control terminal, and in a first embodiment of the limb auxiliary training method, referring to fig. 2, the method comprises the following steps:
step S10, acquiring the current use state of the limb auxiliary training equipment, and determining the posture of the limb according to the current use state;
the control terminal obtains the current use state of the limb auxiliary training equipment and determines the posture of the limb according to the current use state. Wherein the limb training aid comprises a plurality of support portions which may be applied to the lower limb, optionally the limb training aid may comprise a first support portion rotatably connected to a second support portion, the first support portion being for gripping the thigh of the wearer's limb and the second support portion being for gripping the calf of the wearer's limb. The current use state is that the limb is in postures including a standing posture and a standing posture by the positional relationship between the first support and the second support. In this embodiment, the control terminal obtains the positional relationship between the plurality of support portions of the limb auxiliary training device, and determines that the posture is the standing posture or the standing posture according to the positional relationship, so that the body of the user can be supported, and the consumption can be reduced in a proper practical manner.
And step S20, controlling the limb auxiliary training equipment according to the posture of the limb to provide corresponding auxiliary force.
The control terminal controls the limb auxiliary training equipment according to the posture of the limb to provide corresponding auxiliary force. In the standing posture, the auxiliary force provided by the limb auxiliary training equipment is gradually reduced in the process from sitting to standing because the wearer leaves the sitting position, the standing posture comprises a standing maintaining posture and a balance posture in the standing state, the standing maintaining posture is realized because the wearer enters the maintaining state, at the moment, the auxiliary force provided by the limb auxiliary training equipment is only required to be controlled to be enough to support the wearer to keep standing, the balance posture in the standing state is used for enabling the wearer to perform some gravity center movement training, and the wearer is kept in standing balance, so that the auxiliary force provided by the limb auxiliary training equipment can be controlled to be gradually reduced in size and increased in size due to the myasthenia of the wearer.
In this embodiment, the current use state of the limb auxiliary training device is obtained, the posture of the limb is determined according to the current use state, and the limb auxiliary training device is controlled according to the posture of the limb to provide corresponding auxiliary force. Therefore, in the rehabilitation training process, the posture of the limb is determined by acquiring the current use state of the limb auxiliary training equipment so as to provide corresponding auxiliary force, so that the auxiliary force provided by the limb auxiliary training equipment is matched with the posture of the limb, and the limb is effectively subjected to rehabilitation training.
Further, in the step S10 of the first embodiment, the step of acquiring the current use state of the limb auxiliary training device and determining the posture of the limb according to the current use state includes:
step S11, acquiring included angles among a plurality of current supporting parts;
step S12, if the included angle is within a preset angle interval, determining that the limb is in a standing posture;
and step S13, if the included angle is larger than the maximum value of the preset angle interval, determining that the limb is in a standing posture.
The control terminal obtains included angles among the plurality of current supporting parts, if the included angles are in a preset angle interval, the limb is determined to be in the standing posture, and if the included angles are larger than the maximum value of the preset angle interval, the limb is determined to be in the standing posture. The preset angle interval is an included angle interval between the first supporting part and the second supporting part which is preset in an internal program of the limb auxiliary training equipment. For example, the preset angle interval may be 90 ° to 175 °. When a general wearer sits or stands, the included angle between the first supporting part and the second supporting part is 90 degrees, then in the process from sitting to standing, the included angle between the first supporting part and the second supporting part is 90 degrees to 175 degrees, finally, in the process that the wearer keeps standing, the included angle between the first supporting part and the second supporting part is 175 degrees to 180 degrees, for example, the included angle between the first supporting part and the second supporting part is increased, and the included angles of the supporting parts are 180 degrees.
In the present embodiment, the predicted movement may be detected by the inclination angle of the first support portion and/or the second support portion, or may be detected by information such as myoelectric signals, and the predicted movement may be realized by electroencephalogram information, so that the purpose of enhancing the protection of the wearer may be achieved.
Optionally, step S13 may specifically include:
step S131, if the included angle is larger than the maximum value of the preset angle interval and equal to the preset maximum value, the limb is in a standing posture;
step S132, if the included angle is larger than the maximum value of the preset angle interval, determining that the limb is in the standing posture.
If the included angle is larger than the maximum value of the preset angle interval and equal to the preset maximum value, the limb is in a standing posture, and if the included angle is larger than the maximum value of the preset angle interval, the limb is determined to be in the standing posture. The predetermined maximum value here means that an angle between the plurality of supporting portions is equal to 180 °. The preset angle interval can be set according to a user, for example, the preset angle interval can be 100-170 degrees, if the included angle between the current first supporting part and the current second supporting part is acquired to be within the preset angle interval, the limb is in the standing posture, and if the included angle between the current first supporting part and the current second supporting part is acquired to be greater than the maximum value 170 degrees of the preset angle interval, the limb is in the standing posture.
Further, in the above-mentioned step S20 of the first embodiment, the step of controlling the limb auxiliary training device to provide corresponding auxiliary force according to the posture of the limb includes:
step S21, if the posture of the limb is a standing posture, controlling the limb auxiliary training equipment to provide auxiliary force in the auxiliary mode;
step S22, if the posture of the limb is a standing maintaining posture, controlling the limb auxiliary training equipment to provide auxiliary force in a maintaining mode;
and step S23, if the posture of the limb is the balance posture in the standing state, controlling the limb auxiliary training equipment to provide the auxiliary force in the protection mode.
In this embodiment, the working modes of the limb auxiliary training device include an auxiliary mode, a holding mode and a protection mode, if the posture of the limb is the standing posture, the limb auxiliary training device is controlled to provide the auxiliary force in the auxiliary mode, if the posture of the limb is the standing holding posture, the limb auxiliary training device is controlled to provide the auxiliary force in the holding mode, and if the posture of the limb is the balance posture in the standing state, the limb auxiliary training device is controlled to provide the auxiliary force in the protection mode. The auxiliary force is provided in the process that the wearer stands up, the auxiliary force is gradually reduced along with the increase of the included angle between the first supporting part and the second supporting part, the keeping mode is the auxiliary force provided when the wearer keeps standing, the auxiliary force is used for maintaining the included angle between the first supporting part and the second supporting part to be a preset maximum value, the protecting mode is a balanced posture which is kept by the wearer in standing and is mainly used for reducing equipment consumption, and the auxiliary force is gradually increased in the process that the included angle between the first supporting part and the second supporting part is gradually reduced.
Optionally, the step of controlling the limb training aid to provide an assisting force in the assisting mode comprises:
step S211, in the process that the included angles among the plurality of supporting parts are gradually increased, the auxiliary force provided by the limb auxiliary training equipment is controlled to be gradually decreased;
optionally, the step of controlling the limb training aid to provide an assisting force in the holding mode comprises:
step S221, when the included angles among the plurality of supporting parts deviate from the preset maximum value, controlling the auxiliary force provided by the limb auxiliary training equipment to keep the included angles among the plurality of supporting parts at the preset maximum value;
optionally, the step of controlling the limb training aid to provide an assisting force in the protection mode comprises:
step S231, in a process that an included angle between the plurality of supporting portions gradually decreases, and in a process that the maximum value is preset, controlling an assisting force provided by the rehabilitation assisting to gradually increase.
In this embodiment, if it is determined that the posture of the limb is the standing posture, correspondingly, in the process that the included angle between the plurality of support parts is gradually increased, the auxiliary force provided by the limb auxiliary training device is controlled to be gradually decreased; if the posture of the limb is determined to be a standing holding posture, correspondingly, the included angle between the plurality of supporting parts deviates from the preset maximum value, and the auxiliary force provided by the limb auxiliary training equipment is controlled to keep the included angle between the plurality of supporting parts at the preset maximum value, namely when the included angle is larger than the preset maximum value or smaller than the preset maximum value, the limb auxiliary training equipment provides opposite supporting force to keep the wearer in a standing holding state; if the limb is in a balanced posture in a standing state, correspondingly, in the process that the included angle between the plurality of supporting parts is gradually reduced, the auxiliary force provided by the limb auxiliary training equipment is controlled to be gradually increased.
Further, before the step of acquiring the current use state of the limb auxiliary training device and determining the posture of the limb according to the current use state in step S10 in the above first embodiment, the method includes:
step S101, when an instruction for starting training is obtained, whether the limb auxiliary training equipment is assembled on a limb or not is detected;
and step S102, if the limb auxiliary training equipment is not assembled on the limb, sending prompt information.
When the control terminal obtains the instruction for starting training, whether the limb auxiliary training equipment is assembled on the limb is detected, if the limb auxiliary training equipment is not assembled on the limb, prompt information is sent, and if the limb auxiliary training equipment is assembled on the limb, no operation is performed. Wherein the prompt message may be a voice prompt.
Optionally, step S101 may specifically include:
step A, acquiring a detection pressure value fed back by a detection pressure sensor;
step B, if the detected pressure values are all larger than or equal to a preset detected pressure threshold value, determining that the limb auxiliary training equipment is assembled on the limb;
and step C, if the detected pressure value is smaller than a preset detected pressure threshold value, determining that the limb auxiliary training equipment is assembled on the limb, and the limb auxiliary training equipment is not assembled on the limb.
In the embodiment, a detection pressure value fed back by the detection pressure sensor is obtained;
and acquiring detection pressure values fed back by the detection pressure sensor, if the detection pressure values are all larger than or equal to a preset detection pressure threshold value, determining that the limb auxiliary training equipment is assembled on the limb, and if the detection pressure values are smaller than the preset detection pressure threshold value, determining that the limb auxiliary training equipment is assembled on the limb, and the limb auxiliary training equipment is not assembled on the limb. Optionally, the first supporting part is provided with a first detection pressure sensor, the second supporting part is provided with a second detection pressure sensor, the control terminal obtains a first detection pressure value fed back by the first detection pressure sensor and a second detection pressure value fed back by the second detection pressure sensor, if the first detection pressure value and the second detection pressure value are both greater than a preset detection pressure threshold value, the limb auxiliary training device is assembled on the limb, if the first detection pressure value is less than the preset detection pressure threshold value, or the second detection pressure value is less than the preset detection pressure threshold value, it is determined that the limb auxiliary training device is assembled on the limb, and the limb auxiliary training device is not assembled on the limb.
Furthermore, an embodiment of the present invention further provides a readable storage medium (i.e., a computer readable memory), where the readable storage medium stores a limb training assisting program, and when executed by a processor, the limb training assisting program implements the following operations:
acquiring the current use state of the limb auxiliary training equipment, and determining the posture of the limb according to the current use state;
and controlling the limb auxiliary training equipment according to the posture of the limb to provide corresponding auxiliary force.
Further, acquiring the current included angles among the plurality of support parts;
if the included angle is in a preset angle interval, determining that the limb is in a standing posture;
and if the included angle is larger than the maximum value of the preset angle interval, determining that the limb is in a standing posture.
Further, if the included angle is larger than the maximum value of the preset angle interval and the included angle is equal to the preset maximum value, the limb is in a standing posture;
and if the included angle is larger than the maximum value of the preset angle interval and is not equal to the preset maximum value, the limb is in a balanced posture in a standing state.
Further, if the posture of the limb is a standing posture, controlling the limb auxiliary training equipment to provide auxiliary force in the auxiliary mode;
if the posture of the limb is a standing maintaining posture, controlling the limb auxiliary training equipment to provide auxiliary force in the maintaining mode;
and if the posture of the limb is a balance posture in a standing state, controlling the limb auxiliary training equipment to provide auxiliary force in the protection mode.
Further, the step of controlling the limb training aid to provide an assisting force in the assisting mode comprises:
in the process that the included angles among the plurality of supporting parts are gradually increased, the auxiliary force provided by the limb auxiliary training equipment is controlled to be gradually decreased;
the step of controlling the limb training aid to provide an assisting force in the holding mode comprises:
when the included angles among the plurality of supporting parts deviate from the preset maximum value, controlling the auxiliary force provided by the limb auxiliary training equipment to keep the included angles among the plurality of supporting parts at the preset maximum value;
the step of controlling the limb training aid to provide an assisting force in the protection mode comprises:
and in the process that the included angles among the plurality of supporting parts are gradually reduced, the auxiliary force provided by the limb auxiliary training equipment is controlled to be gradually increased.
Further, the limb auxiliary training program when executed by the processor further realizes the following operations: when an instruction for starting training is obtained, whether the limb auxiliary training equipment is assembled on the limb or not is detected;
and if the limb auxiliary training equipment is not assembled on the limb, sending prompt information.
Further, a detection pressure value fed back by the detection pressure sensor is obtained;
if the detected pressure values are all larger than or equal to a preset detected pressure threshold value, determining that the limb auxiliary training equipment is assembled on the limb;
and if the detection pressure value is smaller than the preset detection pressure threshold value, determining that the limb auxiliary training equipment is not assembled on the limb.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a control terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A limb auxiliary training method is applied to a limb auxiliary training device, wherein the limb auxiliary training device comprises a plurality of supporting parts, and is characterized by comprising the following steps:
acquiring the current use state of the limb auxiliary training equipment, and determining the limb posture of the wearer according to the current use state;
and controlling the limb auxiliary training equipment according to the limb posture to provide corresponding auxiliary force.
2. The limb training aid of claim 1, wherein the limb is in a posture comprising a standing posture and a standing posture;
the step of obtaining the current use state of the limb auxiliary training device and determining the posture of the limb according to the current use state comprises the following steps:
acquiring the current included angles among the plurality of supporting parts;
if the included angle is in a preset angle interval, determining that the limb is in a standing posture;
and if the included angle is larger than the maximum value of the preset angle interval, determining that the limb is in a standing posture.
3. The limb training aid of claim 2, wherein the standing posture comprises a standing maintaining posture and a balance posture in a standing state;
if the included angle is larger than the maximum value of the preset angle interval, determining that the limb is in a standing posture, wherein the step comprises the following steps;
if the included angle is larger than the maximum value of the preset angle interval and the included angle is equal to the preset maximum value, the limb is in a standing posture;
and if the included angle is larger than the maximum value of the preset angle interval and is not equal to the preset maximum value, the limb is in a balanced posture in a standing state.
4. The limb training aid of claim 3, wherein the working mode of the limb training aid comprises an auxiliary mode, a holding mode and a protection mode;
the step of controlling the limb auxiliary training equipment according to the posture of the limb to provide corresponding auxiliary force comprises the following steps:
if the posture of the limb is a standing posture, controlling the limb auxiliary training equipment to provide auxiliary force in the auxiliary mode;
if the posture of the limb is a standing maintaining posture, controlling the limb auxiliary training equipment to provide auxiliary force in the maintaining mode;
and if the posture of the limb is a balance posture in a standing state, controlling the limb auxiliary training equipment to provide auxiliary force in the protection mode.
5. The method of assisted limb training of claim 4,
the step of controlling the limb training aid to provide an assisting force in the assisting mode comprises:
in the process that the included angles among the plurality of supporting parts are gradually increased, the auxiliary force provided by the limb auxiliary training equipment is controlled to be gradually decreased;
the step of controlling the limb training aid to provide an assisting force in the holding mode comprises:
when the included angles among the plurality of supporting parts deviate from the preset maximum value, controlling the auxiliary force provided by the limb auxiliary training equipment to keep the included angles among the plurality of supporting parts at the preset maximum value;
the step of controlling the limb training aid to provide an assisting force in the protection mode comprises:
and in the process that the included angles among the plurality of supporting parts are gradually reduced, the auxiliary force provided by the limb auxiliary training equipment is controlled to be gradually increased.
6. The limb training aid method according to claim 1, wherein the step of obtaining the current use state of the limb training aid device and determining the posture of the limb according to the current use state comprises the following steps:
when an instruction for starting training is obtained, whether the limb auxiliary training equipment is assembled on the limb or not is detected;
and if the limb auxiliary training equipment is not assembled on the limb, sending prompt information.
7. The limb training aid of claim 6, wherein the plurality of support parts are provided with a pressure detecting sensor;
the step of detecting whether the limb training aid is fitted to the limb comprises:
acquiring a detection pressure value fed back by the detection pressure sensor;
if the detected pressure values are all larger than or equal to a preset detected pressure threshold value, determining that the limb auxiliary training equipment is assembled on the limb;
and if the detection pressure value is smaller than the preset detection pressure threshold value, determining that the limb auxiliary training equipment is not assembled on the limb.
8. A limb training aid, the device comprising:
a plurality of support portions provided with detection pressure sensors;
a control terminal, the control terminal comprising: memory, a processor and a limb-assistive training program stored on the memory and executable on the processor, the limb-assistive training program, when executed by the processor, implementing the steps of the limb-assistive training method according to any one of claims 1 to 7.
9. A control terminal, characterized in that the control terminal comprises: memory, a processor and a limb-assistive training program stored on the memory and executable on the processor, the limb-assistive training program, when executed by the processor, implementing the steps of the limb-assistive training method according to any one of claims 1 to 7.
10. A readable storage medium, characterized in that the readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the limb assistive training method according to any one of claims 1 to 7.
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| CN202010070490.8A CN111297530B (en) | 2020-01-20 | 2020-01-20 | Limb training assisting method, device, control terminal and readable storage medium |
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| CN202010070490.8A CN111297530B (en) | 2020-01-20 | 2020-01-20 | Limb training assisting method, device, control terminal and readable storage medium |
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| CN111297530B (en) | 2022-07-15 |
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