CN108339237A - A kind of intelligence waist abdomen power-assisted ab lounge system and method - Google Patents
A kind of intelligence waist abdomen power-assisted ab lounge system and method Download PDFInfo
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- CN108339237A CN108339237A CN201810124157.3A CN201810124157A CN108339237A CN 108339237 A CN108339237 A CN 108339237A CN 201810124157 A CN201810124157 A CN 201810124157A CN 108339237 A CN108339237 A CN 108339237A
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- module
- exercise
- user
- assisted
- governor circuit
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Classifications
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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
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
-
- 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
- A63B23/02—Exercising apparatus specially adapted for particular parts of the body for the abdomen, the spinal column or the torso muscles related to shoulders (e.g. chest muscles)
-
- 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
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/56—Pressure
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Neurology (AREA)
- Pulmonology (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of intelligent waist abdomen power-assisted body-building chair systems, including seat control system and user interactive module, the seat control system includes governor circuit, the first input end of the governor circuit is connected with the output end of pressure detecting module, second input terminal of governor circuit is connected with the output end of angle detection module, the output end of governor circuit is connected with the input terminal of backrest driven module, governor circuit wireless telecommunications between module and user interactive module by radio communication set servo drive motor in the backrest driven module.The invention discloses a kind of exercise methods of intelligent waist abdomen power-assisted body-building chair system.The present invention can train for user's waist abdomen and provide power-assisted, reduce the danger that user damages lumbodorsal muscle and bone in the training process；The present invention can provide the personalized power-assisted that follows, and user selects to be suitble to the exercise assist rate of oneself by user interactive module, to meet different exercise rehabilitation demands.
Description
Technical field
The present invention relates to medical rehabilitation construction technique field, especially a kind of intelligent waist abdomen power-assisted body-building chair system and side
Method.
Background technology
Waist and abdomen muscles exercise is a kind of important recovery and healthy method, and the small of the back, abdomen can be reinforced very by carrying out the exercise of waist abdomen
To muscular strength of lower limb, i.e., so-called core muscle group can cut down waist abdomen to reinforce the stability of backbone, avoid waist injury
Portion's accumulation fat, influences caused by reducing obesity, can also promote the removing of local metabolic product, play lenitive work
With.Common waist and abdomen muscles exercise method has the movement of volume abdomen, sit-ups etc., these exercise motions can effectively enhance muscle and bone
Bone strength improves body's immunity, if acting improper or overexerting however, having an effect in exercise routine, can hinder instead
Evil health.By taking sit-ups as an example, sit-ups require person taking exercise's back of a bow, can generate prodigious pressure to backbone, forge
The lever force generated in refining can oppress lumber ertebral disc, or even induce the protrusion of the intervertebral disc；Especially to also needing to carry out waist abdomen
The patient or the elderly that flesh resumes training want Autonomy completion sit-up exercise action very difficult, and easily injure body
Body.
In addition to this, the target of the exercise of different crowd is not quite similar, and muscle strength also difference each other, which results in
Demand of the different user to exercise intensity is also different.Waist abdomen health and fitness facilities currently on the market, are only capable of providing to the user and help
The mechanically aided mode such as hand, spring, target user's range are relatively narrow, it is difficult to meeting user individual exercise rehabilitation demand.
Invention content
The primary purpose of the present invention is that providing a kind of waist and abdomen muscles power-assisted exercise being capable of providing personalization, meet different people
The body-building demand of group, the intelligent waist abdomen power-assisted body-building chair system with very important scientific research value and market prospects.
To achieve the above object, present invention employs following technical schemes：A kind of intelligence waist abdomen power-assisted body-building chair system,
Including seat control system and user interactive module, wireless telecommunications between the two, the seat control system include governor circuit,
Pressure detecting module, angle detection module, backrest driven module and wireless communication module, the first input end of the governor circuit
It is connected with the output end of pressure detecting module, the second input terminal of governor circuit is connected with the output end of angle detection module, main
The output end of control circuit is connected with the input terminal of backrest driven module, and module interacts mould to governor circuit with user by radio communication
Wireless telecommunications between block set servo drive motor in the backrest driven module.
The servo drive motor of the backrest driven module is mounted on by screw on seat support portion, and small transmission gear is embedding
It is sleeved in the shaft of servo drive motor, big transmission gear is fixedly connected by gear fixed link with Chair back, big driving cog
Wheel is intermeshed with small transmission gear.
The angle detection module uses incremental encoder, incremental encoder to be mounted on the shaft of servo drive motor
On.
The pressure detecting module includes four pressure sensors and back stressed plate, and four pressure sensors pass through screw
It is fixedly connected with Chair back；Back stressed plate is fixed by screws with four sensors, and back stressed plate is embedded in seat
Between the chair back and pressure sensor.
Another object of the present invention is to provide a kind of exercise method of intelligent waist abdomen power-assisted body-building chair system, this method
It include the steps that following order：
（1）Power supply is opened, is opened and is taken exercise by user interactive module, and selects to temper power-assisted ratio and tempers number；
（2）It is required according to the guiding of user interactive module, pressure sensor record base pressure force value, which is concurrently sent to governor circuit, protects
It deposits；
（3）Start to take exercise, user interactive module reminds user to lie down, when pressure sensor detects that pressure value is less than helping for setting
When force value a certain range, backrest driven module drive Chair back lifts, and starts power-assisted and follows exercise；
（4）In exercise routine, governor circuit gets the detection signal of pressure sensor and incremental encoder, passes through adaptation
Pid control algorithm regulates and controls the speed of backrest driven, position executes permanent assist rate model- following control, keeps the power-assisted of the chair back in setting value
Fluctuation nearby；
（5）After the chair back is raised to top, single is stood up to take exercise and be completed, if user does not select end to take exercise, the chair back that lands the bottom of to,
Repeat above-mentioned exercise step；
（6）After the exercise number or the user's active selection that reach setting, terminate to take exercise.
It is described perseverance assist rate model- following control refer to：Governor circuit obtains pressure signal and seat in real time by pressure sensor
Then data feedback is returned and adapts to pid control algorithm by the position of the chair back and velocity of rotation, governor circuit is according to adaptation PID control
Algorithm result of calculation realizes regulation and control Chair back actuating speed, position by controlling servo drive motor, keeps Chair back pair
The pressure perseverance of user is in target zone
As shown from the above technical solution, the present invention can train for user's waist abdomen and provide power-assisted, reduce user in the training process
Damage the danger of lumbodorsal muscle and bone；The present invention, which can provide, personalized follows power-assisted, user to pass through user interactive module
Selection is suitble to the exercise assist rate of oneself, to meet different exercise rehabilitation demands.
Description of the drawings
Fig. 1 is the system block diagram of the present invention；
Fig. 2 is the structural schematic diagram of the present invention；
Fig. 3 is the structural schematic diagram of backrest driven module in the present invention；
Fig. 4 is the structural schematic diagram of pressure detecting module in the present invention；
Fig. 5 is flow chart of the method for the present invention；
Fig. 6 is permanent assist rate follow-up control method schematic diagram in the present invention.
Specific implementation mode
As shown in Figure 1, 2, a kind of intelligent waist abdomen power-assisted body-building chair system, including seat control system 13 and user's interaction
Module, wireless telecommunications between the two, the seat control system 13 include governor circuit, pressure detecting module, angle detection mould
Block, backrest driven module 3 and wireless communication module, the output end of the first input end and pressure detecting module of the governor circuit
It is connected, the second input terminal of governor circuit is connected with the output end of angle detection module, and output end and the chair back of governor circuit drive
The input terminal of dynamic model block 3 is connected, governor circuit wireless telecommunications between module and user interactive module by radio communication, the chair
Servo drive motor 9 is set in back of the body drive module 3.
As shown in figure 3, the servo drive motor of the backrest driven module 3 is mounted on by screw on seat support portion 4,
Small transmission gear 10 is nested in the shaft of servo drive motor, and big transmission gear 7 passes through gear fixed link 8 and Chair back 1
It is fixedly connected, big transmission gear 7 is intermeshed with small transmission gear 10.The angle detection module uses incremental encoder
11, incremental encoder 11 is mounted in the shaft of servo drive motor 9.Seat 5 is cut with scissors by connecting shaft 6 with Chair back 1
It connects.
As shown in figure 4, the pressure detecting module includes four pressure sensors 2 and back stressed plate 12, four pressure
Sensor 2 is fixedly connected by screw with Chair back 1；Back stressed plate 12 is fixed by screws with four sensors,
Back stressed plate 12 is embedded between Chair back 1 and pressure sensor 2.
As shown in Figure 1, 2, seat control system 13 receives pressure sensor 2 and angle detection module collects data, main
It controls circuit analysis and calculates real-time target pressure value, speed and the position of backrest driven module 3 are controlled by intelligent control algorithm, it is real
Real pressure measurement force value follows target pressure value.User interactive module to seat control system 13 transmit operational order, and to
User shows information.Governor circuit runs slave computer software, and the information-setting by user that module receives by radio communication is the next
Machine program controls backrest driven mould according to the data that collect of information-setting by user control pressure sensor 2 and angle detection module
Block 3；Pressure sensor 2 is mounted in Chair back 1, is acquired user to the pressure data of Chair back 1 in real time and is sent to master
Circuit is controlled, program of lower computer carries out pressure data the thrust that processing obtains Chair back 1 to user；Incremental encoder 11 can
To detect servo drive motor shaft rotation data in real time and be transmitted to governor circuit, program of lower computer is according to servo-drive electricity
The rotational angle of Chair back 1, position is calculated in machine shaft rotation data, and the intelligent algorithm of governor circuit divides it
Analysis, in conjunction with user's base pressure force value of original records, calculates the corresponding base pressure force value of 1 each position of Chair back.The chair back drives
Dynamic model block 3 controls the swing speed and amplitude of Chair back 1 by the intelligent algorithm in slave computer software.Wireless communication module is real
Existing governor circuit is communicated with user interactive module, user interactive module information-setting by user is sent to governor circuit, and will draw
It leads information, abnormity prompt, exercise analysis report, instruction etc. and is sent to user interactive module and be presented to user.
As shown in Figure 1, 2, the user interactive module covers all equipment for running human-computer interaction client software,
Module, which is realized to seat control system 13, by radio communication sends machine open/close, starts exercise/end exercise, selection power-assisted hundred
Divide the orders such as ratio, and the functions such as guidance information, abnormity prompt, exercise analysis report, instruction are issued to user.The master
The slave computer software for controlling circuit operation, covers a set of Adaptive PID Control algorithm, by comparing observed pressure value and target pressure
Force value, the speed and position that feedback regulation Chair back 1 drives realize that the power-assisted of Chair back 1 follows.
As shown in figure 5, this exercise method includes the steps that following order：
（1）Power supply is opened, is opened and is taken exercise by user interactive module, and selects to temper power-assisted ratio and tempers number；
（2）It is required according to the guiding of user interactive module, pressure sensor 2 records base pressure force value and concurrently send to governor circuit guarantor
It deposits；
（3）Start to take exercise, user interactive module reminds user to lie down, when pressure sensor 2 detects that pressure value is less than setting
When power-assisted value a certain range, backrest driven module 3 drives Chair back 1 to lift, and starts power-assisted and follows exercise；
（4）In exercise routine, governor circuit gets the detection signal of pressure sensor 2 and incremental encoder 11, by suitable
It answers the speed of pid control algorithm regulation and control backrest driven, position to execute permanent assist rate model- following control, the power-assisted of the chair back is kept to set
Value fluctuation nearby；
（5）After the chair back is raised to top, single is stood up to take exercise and be completed, if user does not select end to take exercise, the chair back that lands the bottom of to,
Repeat above-mentioned exercise step；
（6）After the exercise number or the user's active selection that reach setting, terminate to take exercise.
As shown in fig. 6, the perseverance assist rate model- following control refers to：Governor circuit obtains pressure in real time by pressure sensor 2
Then data feedback is returned and adapts to pid control algorithm, governor circuit root by the position and velocity of rotation of force signal and Chair back 1
According to pid control algorithm result of calculation is adapted to 1 actuating speed of regulation and control Chair back, position are realized by controlling servo drive motor 9,
Chair back 1 is kept to be in target zone the pressure perseverance of user.Target zone is base pressure force value, everyone is in different positions
The target pressure range set is different.
In conclusion the present invention can train for user's waist abdomen provides power-assisted, reduces user and damage waist in the training process
The danger of dorsal muscles meat and bone；The present invention can provide the personalized power-assisted that follows, and user is selected suitable by user interactive module
The exercise assist rate for closing oneself, to meet different exercise rehabilitation demands.
Claims (6)
1. a kind of intelligence waist abdomen power-assisted body-building chair system, it is characterised in that：Including seat control system and user interactive module,
Wireless telecommunications between the two, the seat control system include governor circuit, pressure detecting module, angle detection module, the chair back
The first input end of drive module and wireless communication module, the governor circuit is connected with the output end of pressure detecting module, main
Second input terminal of control circuit is connected with the output end of angle detection module, output end and the backrest driven module of governor circuit
Input terminal is connected, governor circuit wireless telecommunications between module and user interactive module by radio communication, the backrest driven mould
Servo drive motor is set in block.
2. intelligence waist abdomen power-assisted body-building chair system according to claim 1, it is characterised in that：The backrest driven module
Servo drive motor by screw be mounted on seat support portion on, small transmission gear is nested in the shaft of servo drive motor
On, big transmission gear is fixedly connected by gear fixed link with Chair back, and big transmission gear is intermeshed with small transmission gear.
3. intelligence waist abdomen power-assisted body-building chair system according to claim 1, it is characterised in that：The angle detection module
Using incremental encoder, incremental encoder is mounted in the shaft of servo drive motor.
4. intelligence waist abdomen power-assisted body-building chair system according to claim 1, it is characterised in that：The pressure detecting module
Including four pressure sensors and back stressed plate, four pressure sensors are fixedly connected by screw with Chair back；Back
Stressed plate is fixed by screws with four sensors, and back stressed plate is embedded between Chair back and pressure sensor.
5. the exercise method of intelligence waist abdomen power-assisted body-building chair system according to any one of claim 1 to 4, feature
It is：This method includes the steps that following order：
（1）Power supply is opened, is opened and is taken exercise by user interactive module, and selects to temper power-assisted ratio and tempers number；
（2）It is required according to the guiding of user interactive module, pressure sensor record base pressure force value, which is concurrently sent to governor circuit, protects
It deposits；
（3）Start to take exercise, user interactive module reminds user to lie down, when pressure sensor detects that pressure value is less than helping for setting
When force value a certain range, backrest driven module drive Chair back lifts, and starts power-assisted and follows exercise；
（4）In exercise routine, governor circuit gets the detection signal of pressure sensor and incremental encoder, passes through adaptation
Pid control algorithm regulates and controls the speed of backrest driven, position executes permanent assist rate model- following control, keeps the power-assisted of the chair back in setting value
Fluctuation nearby；
（5）After the chair back is raised to top, single is stood up to take exercise and be completed, if user does not select end to take exercise, the chair back that lands the bottom of to,
Repeat above-mentioned exercise step；
（6）After the exercise number or the user's active selection that reach setting, terminate to take exercise.
6. exercise method according to claim 5, it is characterised in that：It is described perseverance assist rate model- following control refer to：Master control electricity
Road obtains position and the velocity of rotation of pressure signal and Chair back by pressure sensor in real time, then by data feedback Hui Shi
Pid control algorithm, governor circuit is answered to realize regulation and control by control servo drive motor according to pid control algorithm result of calculation is adapted to
Chair back actuating speed, position keep Chair back to be in target zone the pressure perseverance of user.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810124157.3A CN108339237B (en) | 2018-02-07 | 2018-02-07 | Intelligent waist and abdomen assisting fitness chair system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810124157.3A CN108339237B (en) | 2018-02-07 | 2018-02-07 | Intelligent waist and abdomen assisting fitness chair system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108339237A true CN108339237A (en) | 2018-07-31 |
| CN108339237B CN108339237B (en) | 2020-05-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810124157.3A Active CN108339237B (en) | 2018-02-07 | 2018-02-07 | Intelligent waist and abdomen assisting fitness chair system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111013096A (en) * | 2019-12-26 | 2020-04-17 | 徐宇航 | Sit-up device for body building |
| CN111729247A (en) * | 2020-07-31 | 2020-10-02 | 北京赛锐奥科技有限公司 | Split type fitness equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2065017U (en) * | 1989-08-15 | 1990-11-07 | 郭春秀 | Sittitng or reclining chair |
| CN2201071Y (en) * | 1994-08-18 | 1995-06-21 | 辽宁汇丰机械新技术开发公司 | Self-control multifunctional skeletal traction bed |
| US20030069113A1 (en) * | 2001-10-04 | 2003-04-10 | Tonic Fitness Technology, Inc. | Adjusting mechanism for a seat back of exerciser |
| CN103568887A (en) * | 2013-11-12 | 2014-02-12 | 富卓汽车内饰（安徽）有限公司 | Automobile seat backrest and automatic adjusting method thereof |
| CN106923979A (en) * | 2017-04-11 | 2017-07-07 | 武汉理工大学 | The intelligent controlling device and method of a kind of adjustable wheelchair of structure |
-
2018
- 2018-02-07 CN CN201810124157.3A patent/CN108339237B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2065017U (en) * | 1989-08-15 | 1990-11-07 | 郭春秀 | Sittitng or reclining chair |
| CN2201071Y (en) * | 1994-08-18 | 1995-06-21 | 辽宁汇丰机械新技术开发公司 | Self-control multifunctional skeletal traction bed |
| US20030069113A1 (en) * | 2001-10-04 | 2003-04-10 | Tonic Fitness Technology, Inc. | Adjusting mechanism for a seat back of exerciser |
| CN103568887A (en) * | 2013-11-12 | 2014-02-12 | 富卓汽车内饰（安徽）有限公司 | Automobile seat backrest and automatic adjusting method thereof |
| CN106923979A (en) * | 2017-04-11 | 2017-07-07 | 武汉理工大学 | The intelligent controlling device and method of a kind of adjustable wheelchair of structure |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111013096A (en) * | 2019-12-26 | 2020-04-17 | 徐宇航 | Sit-up device for body building |
| CN111729247A (en) * | 2020-07-31 | 2020-10-02 | 北京赛锐奥科技有限公司 | Split type fitness equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108339237B (en) | 2020-05-08 |
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Address after: 230088 No. 2666 Xiyou Road, Hefei High-tech Zone, Anhui Province Patentee after: Hefei Institute of Technology Innovation Engineering, Chinese Academy of Sciences Address before: 230088 B block 1409, 860 innovation center, Wangjiang West Road, Hefei high tech Zone, Anhui. Patentee before: Hefei Institute of Technology Innovation Engineering, Chinese Academy of Sciences |
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Address after: 230088 No. 2666 Xiyou Road, Hefei High-tech Zone, Anhui Province Patentee after: Hefei Institute of Technology Innovation Engineering Address before: 230088 No. 2666 Xiyou Road, Hefei High-tech Zone, Anhui Province Patentee before: CAS (HEFEI) INSTITUTE OF TECHNOLOGY INNOVATION |