CN105455997A - Individualized whole body vibration treatment platform and control method - Google Patents
Individualized whole body vibration treatment platform and control method Download PDFInfo
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Abstract
The invention discloses an individualized whole body vibration treatment platform and a control method. A pressure sensor is arranged on the platform and can monitor the plantar pressure distribution situation in real time when people sit for treatment. Plantar pressure is analyzed in a central processing unit. The standard pressure center and the actual pressure center are obtained according to the pressure distribution situation, and the position difference of the standard pressure center and the actual pressure sensor is converted into the balance accelerated speed. Meanwhile, by measuring plantar pressure and recording the deviation situation of the plantar pressure center, the preset accelerated speed is regulated according to the swing situation. During treatment, the preset accelerated speed and the balance accelerated speed are summated to obtain the correction accelerated speed which is the correction target accelerated speed. The correction accelerated speed is compared with the real-time accelerated speed of the platform during vibration treatment, the vibration strength is automatically regulated through the closed-loop control strategy so that the system can be stable as soon as possible. Self-adaption is conducted through the mode of regulating the correction accelerated speed, the vibration strength is regulated, and the optimal effect is achieved for stress stimulation conduction.
Description
Technical field
The present invention relates to a kind of whole body vibration treatment platform and control method of personalization, particularly relate to a kind of whole body vibration apparatus loose for the up-and-down movement treatment human body bone under the different poised state of human body and control method.
Background technology
Osteoporosis is skeleton disease common in current menopausal woman and old people.The method for the treatment of mainly contains pharmacotherapy, trophotherapy and exercise therapy.There is larger drawback and limitation in medicine wherein and trophotherapy, exercise therapy is unique non-drug therapy, has the advantages such as curative effect is reliable, side effect is little, the persistent period is long.Whole body vibration (wholebodyvibration, WBV) is the one in vibrotherapy.Refer to by means of vibration instrumentation, make vibratory stimulation be transmitted to trunk by lower limb and act on whole body, animal economy is vibrated, plays the effect being similar to body kinematics, to reach the method improving osteoporotic conditions object.
Research shows, the women in menopause not only easily suffers from osteoporosis, and balanced capacity also can decline; Same, old people also can decline gradually along with the growth equilibrium ability at age.We know, the conduction of vibratory stimulation is different under the different poised states of human body, the impact of foot center of effort position when being especially subject to standing, and when foot center of effort is the closer to heel, the conduction of vibratory stimulation is better, and loss is fewer; When foot center of effort is more away from heel, the conduction of vibratory stimulation is more bad, and loss is larger.In addition, the whole body vibration treatment initial stage occurs with nystagmus because head shakes simultaneously, and user easily causes dizzy due to inadaptable sense, and then causes disequilibrium.Disequilibrium mostly is rotatory or Rolling kinesthesia up and down, affects therapeutic effect equally.
Existing whole body vibration platform mainly provides a vertical displacement, people stand on a vibration table each point maintain identical vibration.A whole body vibration platform can provide the option of several different frequency of vibration and intensity.But frequency and intensity are once setting, people stand up treatment process in can't change with the poised state of human body and change, cause the conduction of vibratory stimulation to be unstable over the course for the treatment of like this and non-self-adapting.In particular, when menopausal woman or old people carry out being difficult to maintain the standard upright stance owing to standing for a long time in therapeutic process, the conduction of vibratory stimulation produces larger loss due to the skew of center of effort, causes reaching best therapeutic effect; And when user causes spinning sensation due to whole body vibration over the course for the treatment of, easily cause astasia and spontaneous phenomenon of toppling over to occur.
Summary of the invention
In order to solve the deficiencies in the prior art, the present invention first proposed a kind of personalized whole body vibration treatment platform, this platform can to human body stand treatment time stressedly carry out real-time monitoring and analysis, total balance of the body situation is introduced the closed-loop control system of vibration and automatically regulates oscillation intensity, to reach best whole body vibration therapeutic effect.
Another object of the present invention is the control method proposing a kind of personalized whole body vibration treatment, according to the change of the poised state of different users in vibration therapy process, regulate predetermined acceleration and introduce balance acceleration and the aimed acceleration in actual therapeutic process is calibrated, automatically regulate oscillation intensity by Closed-loop Control Strategy, export to be implemented to optimum vibration.
To achieve these goals, particular content of the present invention is as follows:
A kind of personalized whole body vibration treatment platform, the sensor comprising whole body vibration therapy equipment and be arranged in whole body vibration therapy equipment, sensor wherein comprises acceleration transducer and pressure transducer; The acceleration that wherein acceleration transducer monitoring whole body vibration platform is real-time; Foot bottom stress situation when pressure sensor monitoring human body is stood.
Preferably, described whole body vibration therapy equipment comprises base plate, top board, shaker arm, motor, spring, acceleration transducer and pressure transducer and hardware circuit composition;
Motor is assemblied in base plate, provides vibration source; Motor is connected with shaker arm, and shaker arm is coordinated with top board by mechanical conductive structure, thus vibration is sent to top board; Spring one end is connected with base plate, and one end is connected with top board, and auxiliary generation is vibrated and play cushioning effect to vibration; Acceleration transducer is installed vertically on the lower surface of top board, for the acceleration of vibration of monitoring vibration platform; Pressure transducer is arranged on the upper surface of top board, foot bottom stress situation when standing for monitoring human;
Hardware circuit is arranged on base plate, and hardware circuit comprises acceleration processing module, pressure treatment module, analog-to-digital conversion module, central processing unit, number-mode convertion module, pulse width modulation module; Described acceleration transducer is connected with acceleration processing module, pressure transducer and pressure treatment model calling, the output access analog-to-digital conversion module of acceleration processing module and pressure treatment module, the output access central processing unit of analog-to-digital conversion module, central processing unit exports access number-mode convertion module, the output access pulse width modulation module of number-mode convertion module, the output access motor of pulse width modulation module.
A kind of personalized whole body vibration treatment control method is provided with acceleration transducer and pressure transducer in whole body vibration therapy equipment; The acceleration that wherein acceleration transducer monitoring whole body vibration platform is real-time; Foot bottom stress situation when pressure sensor monitoring human body is stood.The pressure distribution situation that pressure transducer obtains, and calculate normal pressure central point SCOP by morphological structure, calculate actual pressure central point ACOP by actual pressure distribution, the difference of normal pressure central point SCOP and actual pressure central point ACOP is balance acceleration BA by linear/non-linear transformation; Record the situation that the actual pressure central point ACOP in each time period T swings, be divided into different brackets according to swing situation and (can judge whether user produces spinning sensation and make classification to this dizzy situation.Dizzy situation after classification can be corresponding in turn to the predetermined acceleration PA regulating whole body vibration platform), the level results according to the situation of swing adjusts predetermined acceleration PA;
Predetermined acceleration PA after adjustment and balance acceleration BA is sued for peace and obtains calibrating acceleration RA, calibrating acceleration RA is the aimed acceleration after correcting, swing for stress stimulation conduction loss that human body is caused under nonequilibrium condition and due to the dizzy sole pressure center caused, be compensated by the mode adjusting personalized whole body vibration treatment platform intended vibratory amplitude.
Preferably, automatically oscillation intensity is regulated with calibrating acceleration RA for input parameter participates in Closed-loop Control Strategy; Particularly, real time acceleration RTA when acceleration transducer records vibration and calibrating acceleration RA compares, and when real time acceleration RTA is less than calibrating acceleration RA, increases oscillation intensity; When real time acceleration RTA is greater than calibrating acceleration RA, then reduce to export oscillation intensity; Output oscillation intensity after adjustment changes again the actual acceleration RTA of vibration platen, and system enters Closed-loop Control Strategy, can reach stable fast.
Compared with prior art, the beneficial effect of technical solution of the present invention is:
1) the personalized whole body vibration treatment platform that the present invention proposes considers in the difference of user standing balance ability and use procedure and easily dizzy situation occurs, the loss of upwards conducting for stress stimulation under the different poised states that user occurs over the course for the treatment of and swinging due to the dizzy sole pressure center that causes, self adaptation is carried out by regulating the mode of calibrating acceleration, make the adjustment of automatic oscillation intensity, and make the conduction of stress stimulation reach optimum efficiency.
2) pressure transducer of personalized whole body vibration treatment platform of the present invention can Real-Time Monitoring user foot type pressure distribution situation, and in central processing unit, calculate normal pressure central point SCOP and actual pressure central point ACOP, be balance acceleration BA by the difference of two parameters by linear/non-linear transformation, and the swing situation recording actual pressure central point ACOP regulates predetermined acceleration PA, final balance acceleration BA and predetermined acceleration PA participates in correction target acceleration jointly.
3) personalized whole body vibration treatment platform additionally provides a kind of closed loop control method of optimization: introduce calibrating acceleration RA(but not systemic presupposition acceleration PA) and real time acceleration RTA compare, automatically regulate oscillation intensity by Closed-loop Control Strategy.Like this when user centre-of gravity shift causes foot center of effort to offset, increase is exported oscillation intensity by system.During user maintenance balance and stability, personalized whole body vibration treatment platform can reach stable vibration and export within the time being less than 1s.
Accompanying drawing explanation
Fig. 1 is the overall structure figure of the specific embodiment of personalized whole body vibration platform.
Fig. 2 is the rectangle chip pressure measxurement pad schematic diagram of the specific embodiment of personalized whole body vibration platform.
Fig. 3 is hardware circuit connection diagram needed for personalized whole body vibration platform.
Fig. 4 is the schematic flow sheet of personalized whole body vibration platform courses method.
Detailed description of the invention
According to specific embodiments of the invention be treat for user time balanced capacity difference and dizzy reaction and carry out instrument and the device of personalized whole body vibration treatment.Because osteoporosis is more common in menopausal woman and old people, their balanced capacity also declines with advancing age to some extent.Therefore, specific embodiments of the invention mainly provide a kind of personalized whole body vibration treatment platform, can the simultaneously Vibration Condition of monitoring vibration platform and the poised state of user, and a kind of control method is provided, the poised state of user can be input among Closed-loop Control Strategy as variable parameter.
In a particular embodiment, personalized whole body vibration treats platform structure as shown in Figure 1: base plate 107 is generally rectangle, be positioned over level ground and play support, motor 106 is positioned in the middle of base plate provides vertical vibration source to be connected with shaker arm 105, and shaker arm 105 to be coordinated with top board 101 by mechanical conductive structure thus by conduct vibrations to vibration platen top; Spring 104 one end is connected with base plate 107, and one end is connected with top board 101, and auxiliary generation is vibrated and play certain cushioning effect to vibration.In addition 103 is the module of fixing acceleration transducer, is installed vertically on the bottom of top board 101.Pressure transducer 102 is adjacent to and is positioned on top board 101, and base plate 107 can place supporting hardware circuit.
Sensor in personalized whole body vibration treatment platform had both belonged to a part for system and device, and belong to again a part for hardware circuit, the signal that sensor gathers simultaneously take part in Closed-loop Control Strategy.
Acceleration transducer is mainly used in the real time acceleration RTA of monitoring vibration platform, in a particular embodiment, can select the two dimensional accelerometer can surveying X, Y direction accekeration, also can select the three-dimensional accelerometer can surveying X, Y, Z axis directional acceleration value.Accelerometer take direction of vibration as top board 114 bottom that Y-axis is arranged on personalized whole body vibration treatment platform, and because mode of vibration is periodic vertical vibration, therefore the accekeration that accelerometer records is periodic similar sinusoidal signal, and average is 1g.The signal obtained by accelerometer exports as voltage exports, the analogue signal not containing noise and burr is obtained after the amplification, Filtering Processing of acceleration processing module, by mould-digital-to-analogue block, analogue signal is converted to digital signal, in access central processor core.
Pressure transducer is mainly used in the pressure distribution situation in monitoring user vola over the course for the treatment of, is arranged on the surface of personalized whole body vibration platform top, and strict and top board keeps fitting.From anatomically, vola is divided into 10 regions: the 1st toe, 2nd ~ 5 toes, the 1st metatarsal, the 2nd metatarsal, the 3rd metatarsal, the 4th metatarsal, the 5th metatarsal, foot middle part, heel medial and outside of heel.For each anatomical structure making pressure transducer can differentiate vola, as shown in Figure 2, in a particular embodiment, design two long be the wide rectangle chip pressure measxurement pad for 150mm of 300mm, two pressure measxurement pads are divided into again the little rectangle frame of 200 15mm × 15mm.Resistance strain plate pressure transducer selected by sensor, is positioned over 15mm × 15mm rectangle frame center.200 sensors form a sensor array, utilize multiple multiway analog switch to be combined into 256 access simulation derailing switches, realize the quick switching transmission of 200 road signals.When pressure transducer is unloaded, export as 0V, stressed rear output is proportional to the signal of telecommunication of stressed size.When pressure transducer export be 0.05V to the maximum time, the threshold voltage for meeting analog-to-digital requirement, need first to carry out amplifying through pressure treatment module, making maximum voltage be no more than this magnitude of voltage of 3.3V or 5V(after filtering to depend on analog-to-digital conversion module).Complete the Signal transmissions of two rectangle chip pressure measxurement pads with 2 road signals, then via analog-to-digital conversion module, analogue signal is converted to digital signal, in access central processor core.
Personalized whole body vibration treats hardware circuit corresponding to platform as shown in Figure 3.As mentioned above, acceleration transducer 201 collects the acceleration signal of vibration platen, via mould-digital-to-analogue block 205, analogue signal is converted to digital signal again via after the amplification of acceleration processing module 203, filtering; Same, pressure transducer 202 collects plantar pressure signal when human body is stood, and via mould-digital-to-analogue block 205, analogue signal is converted to digital signal again via after the amplification of pressure treatment module 204, filtering.Be converted to the signal processing that the acceleration signal of digital signal and pressure signal can carry out setting in central processing unit 206.Treat that central processing unit 206 makes a policy and export the digital signal of vibration, via number-mode convertion module 207, digital signal is converted to analogue signal again, then amplify rear drive motor 209 generation vibration via power amplifier module 208.
In a particular embodiment, the vibration signal that central processing unit exports is via being sine wave signal after number-mode convertion resume module, because this signal maximum amplitude is subject to threshold voltage restriction (normally 3.3V or 5V) of central processing unit, its output is not enough to the driving providing the suitable size of motor, therefore carry out signal amplification via power amplifier module again, obtain the output voltage proportional with input voltage.In a particular embodiment, power amplifier module can select D audio frequency amplifier, be characterized in that conversion efficiency is high, volume is little, power consumption is low, it exports as two-way amplitude is equal, the pulse width modulation (pulsewidthmodulation of change in duty cycle, PWM) signal, the more anti-phase amplification sinusoidal analog signal of two-way can be obtained by two integrating circuit.Enough large driving power can be provided to motor via the signal after power amplifier module amplifies.The motor of vibration source is provided to select brushless voice coil motor.
The pressure distribution situation in the pressure sensor monitoring user of personalized whole body vibration treatment platform of the present invention vola over the course for the treatment of, amplify via pressure treatment module, input central processing unit by analog-to-digital conversion after filtering, instantaneous output voltage after amplification corresponding to each micro pressure sensor can be obtained in central processing unit.The morphological structure distribution in vola can be obtained by the output voltage distribution of micro pressure sensor, according to morphological structure distribution can calculate normal pressure central point SCOP(namely think Center of Pressure this time vibratory stimulation upwards conduction be the most effective, SCOP is different according to the vola morphological structure of user); By output voltage size and the distribution of micro pressure sensor, actual pressure central point ACOP can be calculated.The alternate position spike of normal pressure central point SCOP and actual pressure central point ACOP is balance acceleration BA by linear/non-linear transformation.
Research shows, the stress stimulation that frequency is about 30Hz, Oscillation Amplitude is about 0.3g can effectively increase human bone content of mineral substances, but concrete therapeutic effect varies with each individual.In a particular embodiment, the target frequency of personalized whole body vibration treatment platform is set to 30Hz, and the vibration sine wave signal cycle exported by setting is that 1/30s realizes; The initial acceleration of personalized whole body vibration treatment platform is redefined for 0.3g, and over the course for the treatment of, the change in location situation of real time record actual pressure central point ACOP, is divided into different brackets by swing situation in every 10s.Level results according to the situation of swing adjusts predetermined acceleration PA respectively.Preferably, reciprocally swinging 0 time in 0 grade of corresponding 10s; Reciprocally swinging 1 time in 1 grade of corresponding 10s; Reciprocally swinging 2 times in 2 grades of corresponding 10s; With this regular increase.When swing grade is 0 grade, predetermined acceleration PA is not adjusted; When swing grade is 1 grade, 0.02 is reduced to predetermined acceleration value; When swing grade is 2 grades, 0.04 is reduced to predetermined acceleration value; With this regular increase.
In addition, consider that the balance change of user can affect the upwards conduction efficiency of vibratory stimulation, introduce real-time balance acceleration BA, being sued for peace by the predetermined acceleration PA after adjustment and balance acceleration BA obtains calibrating acceleration RA.Calibrating acceleration RA is the aimed acceleration after correcting, its objective is the stress stimulation conduction loss that caused under nonequilibrium condition by human body and swing due to the dizzy sole pressure center caused, being compensated by the mode adjusting personalized whole body vibration treatment platform intended vibratory amplitude.
Invention also provides a kind of control method of optimization, its workflow as described in Figure 4.The acceleration transducer be arranged under vibration therapy platform top records real time acceleration RTA during vibration, via the clean acceleration signal obtaining proportional amplification after the amplification of acceleration processing module, filtering, then enter central processing unit via obtaining digital signal after analog-to-digital conversion; Utilize the pressure signal that pressure transducer records, calculate in central processing unit after being balanced acceleration BA with after predetermined acceleration PA and sue for peace and obtain calibrating acceleration RA.In central processing unit, real time acceleration RTA and calibrating acceleration RA is compared.Real time acceleration RTA is calibrating acceleration RA hour comparatively, increases oscillation intensity; Otherwise real time acceleration RTA when comparatively calibrating acceleration RA is large, then reduces to export oscillation intensity.When user hold mode is stablized, personalized whole body vibration treatment platform can reach stable vibration and export within the time being less than 1s.
Preferably, adopt dual-threshold voltage as acceleration comparative approach.Because acceleration signal is periodic similar sine wave signal, when default acceleration of vibration is 0.3g, what reality was corresponding is average is 1g, and peak-to-peak value is the Acceleration pulse (namely crest value is 1.15g, and trough value is the similar sinusoidal signal of periodicity of 0.85g) of 0.3g.If be 0.1g at certain instantaneous acceleration that is balanced, then calibrating acceleration RA is that to correspond to crest value be 1.2g to 0.4g(, and trough value is the similar sinusoidal signal of periodicity of 0.8g).When the acceleration allowable error of personalized whole body vibration treatment platform is ± 20%, we get the lower limit of the limits of error of the crest value (or trough value) of calibrating acceleration RA as the first threshold value (threshold1, T1), here T1=1.16g; Get calibrating acceleration RA and get the higher limit of the limits of error as the second threshold value (threshold2, T2), here T2=1.24g.The crest value of real time acceleration RTA and the first threshold T 1, second threshold T 2 are compared: as RTA<T1 and RTA<T2 time, increase export oscillation intensity; As T1≤RTA≤T2, export oscillation intensity and remain unchanged; As RTA>T1 and RTA>T2 time, reduce export oscillation intensity.Output oscillation intensity after adjustment changes again the actual acceleration RTA of vibration platen conversely, and system enters Closed-loop Control Strategy, can reach stable fast.
Claims (4)
1. a personalized whole body vibration treatment platform, it is characterized in that, the sensor comprising whole body vibration therapy equipment and be arranged in whole body vibration therapy equipment, sensor wherein comprises acceleration transducer and pressure transducer; The acceleration that wherein acceleration transducer monitoring whole body vibration platform is real-time; Foot bottom stress situation when pressure sensor monitoring human body is stood.
2. personalized whole body vibration treatment platform according to claim 1, it is characterized in that, described whole body vibration therapy equipment comprises base plate, top board, shaker arm, motor, spring, acceleration transducer and pressure transducer and hardware circuit composition;
Motor is assemblied in base plate, provides vibration source; Motor is connected with shaker arm, and shaker arm is coordinated with top board by mechanical conductive structure, thus vibration is sent to top board; Spring one end is connected with base plate, and one end is connected with top board, and auxiliary generation is vibrated and play cushioning effect to vibration; Acceleration transducer is installed vertically on the lower surface of top board, for the acceleration of vibration of monitoring vibration platform; Pressure transducer is arranged on the upper surface of top board, foot bottom stress situation when standing for monitoring human;
Hardware circuit is arranged on base plate, and hardware circuit comprises acceleration processing module, pressure treatment module, analog-to-digital conversion module, central processing unit, number-mode convertion module, pulse width modulation module; Described acceleration transducer is connected with acceleration processing module, pressure transducer and pressure treatment model calling, the output access analog-to-digital conversion module of acceleration processing module and pressure treatment module, the output access central processing unit of analog-to-digital conversion module, central processing unit exports access number-mode convertion module, the output access pulse width modulation module of number-mode convertion module, the output access motor of pulse width modulation module.
3. a personalized whole body vibration treatment control method, is characterized in that, in whole body vibration therapy equipment, be provided with acceleration transducer and pressure transducer; The acceleration that wherein acceleration transducer monitoring whole body vibration platform is real-time; Foot bottom stress situation when pressure sensor monitoring human body is stood;
The pressure distribution situation that pressure transducer obtains, and calculate normal pressure central point SCOP by morphological structure, calculate actual pressure central point ACOP by actual pressure distribution, the difference of normal pressure central point SCOP and actual pressure central point ACOP is balance acceleration BA by linear/non-linear transformation; Record the situation that the actual pressure central point ACOP in each time period T swings, be divided into different brackets according to swing situation, the level results according to the situation of swing adjusts predetermined acceleration PA;
Predetermined acceleration PA after adjustment and balance acceleration BA is sued for peace and obtains calibrating acceleration RA, calibrating acceleration RA is the aimed acceleration after correcting, swing for stress stimulation conduction loss that human body is caused under nonequilibrium condition and due to the dizzy sole pressure center caused, be compensated by the mode adjusting personalized whole body vibration treatment platform intended vibratory amplitude.
4. control method according to claim 3, is characterized in that, automatically regulates oscillation intensity with calibrating acceleration RA for input parameter participates in Closed-loop Control Strategy; Particularly, real time acceleration RTA when acceleration transducer records vibration and calibrating acceleration RA compares, and when real time acceleration RTA is less than calibrating acceleration RA, increases oscillation intensity; When real time acceleration RTA is greater than calibrating acceleration RA, then reduce to export oscillation intensity; Output oscillation intensity after adjustment changes again the actual acceleration RTA of vibration platen, and system enters Closed-loop Control Strategy.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN112353627A (en) * | 2020-11-07 | 2021-02-12 | 迈族智能科技(上海)有限公司 | Vertical rhythm body shaping equipment |
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