CN109381843A - A kind of body-building and power assistive device - Google Patents
A kind of body-building and power assistive device Download PDFInfo
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- CN109381843A CN109381843A CN201710661401.5A CN201710661401A CN109381843A CN 109381843 A CN109381843 A CN 109381843A CN 201710661401 A CN201710661401 A CN 201710661401A CN 109381843 A CN109381843 A CN 109381843A
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- 230000033001 locomotion Effects 0.000 claims abstract description 115
- 230000000694 effects Effects 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 23
- 230000007613 environmental effect Effects 0.000 claims description 16
- 230000036541 health Effects 0.000 claims description 16
- 230000003993 interaction Effects 0.000 claims description 15
- 238000012360 testing method Methods 0.000 claims description 13
- 230000003387 muscular Effects 0.000 claims description 6
- 230000035479 physiological effects, processes and functions Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 230000002996 emotional effect Effects 0.000 claims description 4
- 230000036760 body temperature Effects 0.000 claims description 3
- 230000002708 enhancing effect Effects 0.000 claims 2
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
- 238000012937 correction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 230000000638 stimulation Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000001755 vocal effect Effects 0.000 description 1
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
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
- A63B24/0006—Computerised comparison for qualitative assessment of motion sequences or the course of a movement
-
- 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
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/04—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations
- A63B2230/06—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations heartbeat rate only
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/50—Measuring physiological parameters of the user temperature
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/60—Measuring physiological parameters of the user muscle strain, i.e. measured on the user
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of body-building and power assistive devices, including wearable device, power-equipment and controller；The wearable device is worn at least part of human body；The power-equipment is at least partially disposed on wearable device, by providing the resistance and/or power-assisted of human motion, forms a variety of different operating modes；The controller is arranged on wearable device, for according to user instructions and/or human body physical sign information and/or human motion situation and/or external environment information control power-equipment enter different operating modes.Body-building and power assistive device of the invention can assist human motion to achieve the effect that synkinesia, it can also hinder human motion, achieve the purpose that take exercises, the body-building and power assistive device include that multiple-working mode is selected for user, to improve user movement/exercise experience effect.
Description
Technical field
The present invention relates to wearable device technical fields, and in particular to a kind of body-building and power assistive device.
Background technique
Wearable device is directly worn, or is integrated into the clothes of user or a kind of portable device of accessory.
Wearable device is not only a kind of hardware device, even more strong to realize by software support and data interaction, cloud interaction
Big function, wearable device will life to us, perception bring very big transformation.
Existing wearable field includes for assisting human motion/work wearable device, such as ectoskeleton, purposes
Widely.It can be applied in army, such as afield, ectoskeleton can help soldier easily to lift weight, reduce flesh
The probability that meat is pulled.It also include to achieve the purpose that for hindering human motion to suffering limb training in existing wearable field,
However these wearable devices have a single function, it is difficult to meet the diversified demand of user.
In view of this, the present invention is specifically proposed.
Summary of the invention
The technical problem to be solved in the present invention is that a kind of body-building and power assistive device are overcome the deficiencies of the prior art and provide,
Be formed with multiple-working mode by changing force rule, to meet the diversified demand of user, improve user movement/
The experience effect of exercise.
In order to solve the above technical problems, the present invention is using the basic conception of technical solution:
A kind of body-building and power assistive device, including wearable device, power-equipment and controller；
The wearable device is worn at least part of human body；
The power-equipment is at least partially disposed on wearable device, by providing the resistance of human motion and/or helping
Power forms a variety of different operating modes；
The controller is arranged on wearable device, for according to user instructions and/or human body physical sign information and/or people
Body motion conditions and/or external environment information control power-equipment enter different operating modes.
Preferably, a variety of different operating modes are controlled power-equipment by controller and are advised using different forces
Then formed；
Preferably, the force rule includes controlling the force direction of power-equipment, and exert a force size, force duration,
The rule of the variation for one or more of time point and force application location the force factor that exerts a force；
Preferably, in different operating modes, when the force direction of power-equipment, force size, force duration, force
One or more of point, force application location force factor change according to the rule adjustment of current Working mode set.
In the above scheme, the body-building and power assistive device include multiple-working mode, and described is a variety of different
Operating mode is formed by the different force rule of control power-equipment；Preferably, the force rule includes that control is dynamic
The force direction of power equipment, exert a force size, force duration, force one or more of time point and force application location force factor
The rule of variation is adjusted according to certain rules, on the other hand, in the different working modes, each force of power-equipment
Factor also according to current operation mode setting rule adjustment variation, for example, current operation mode be auxiliary mode when, then with
In family movement or work, power-equipment applies and the consistent auxiliary force of human body force direction, achievees the effect that auxiliary, and auxiliary at this
It helps in mode, as the demand of human motion constantly changes, i.e., namely the force direction and size of the power-equipment are also
In the different operating mode, the force direction of power-equipment, force size, force duration, force time point, force
One or more of position force factor changes according to the rule adjustment of current Working mode set, and the rule of the setting
Force direction and the size for exactly controlling power-equipment are consistent with the direction of motion of human body or work requirements.
Preferably, the operating mode is divided into the auxiliary mode for the power-assisted for providing human motion according to major class, provides people
The health keeping mode of the resistance of body movement and the standby mode not exerted a force；
In auxiliary mode, power-equipment provides the power-assisted for increasing human muscular tissue and exerting a force according to human motion situation；
In health keeping mode, power-equipment is provided to exert a force opposite power with human muscular tissue；
In standby mode, the standby of the body-building and power assistive device execution waiting user input instruction, and
In the standby, human body physical sign information and/or human motion situation and/or external environment information are detected.
In the above scheme, operating mode is divided into according to major class auxiliary mode, health keeping mode, standby mode further wrap
It includes there are many mode, for example, the auxiliary mode further comprises that there are many modes, such as auxiliary mode to be divided into running mould
Formula, mountain-climbing mode, mode of going down the hill etc., and the health keeping mode further comprises having leg exercises mode, back exercise mode,
Waist exercise mode, arm exercises mode etc., and in each exercise mode, the force of power-equipment is also followed by corresponding mould
The force rule of formula adjusts variation.Wherein in health keeping mode, the body-building and power assistive device can also be by installing clump weight
To realize the purpose of exercise.
Preferably, the body-building and power assistive device further include having human-computer interaction module and detection module；
The human-computer interaction module prompts user for showing information and receives the instruction of user's input control, described
Control instruction includes the instruction for controlling power-equipment and entering target operational mode；
The detection module is for detecting human body physical sign information and/or human motion situation and/or external environment information
And will test result and be sent to controller, human-computer interaction module is controlled by controller and prompts testing result described in user, and/or
Power-equipment is automatically controlled by controller and enters matched operating mode, and/or power-equipment is controlled by controller and is being worked as
The adjusting for the factor that exerts a force in preceding operating mode.
In the above scheme, including various control scheme: such as user during the motion, opens auxiliary mode, then
The sign information of the detection module real-time detection human body, and user's current state is judged according to the sign information, for example sentence
The disconnected current performance status of human body then automatically controls power-equipment entrance when judging the case where human body is short of physical strength in running
In the matched running modes of human motion, control power-equipment applies power-assisted auxiliary human body running, or works as power-equipment
It when in running modes, then controls power-equipment and increases power-assisted, further increase human body running power-assisted.
Further, the detection module includes motion sensor, and the motion sensor is for acquiring human body
Motion information is simultaneously sent to controller, and controller is used to generate human body sport parameter according to the motion information, and according to people
Body kinematic parameter control power-equipment current operation mode in exert a force factor adjustment, or control power-equipment be switched to it is matched
Operating mode.
In the above scheme, the operating mode according to major class be divided into provide human motion power-assisted auxiliary mode,
The health keeping mode of the resistance of human motion and the standby mode that does not exert a force be provided, and each major class operating mode respectively included it is more
A group, after opening wherein big quasi-mode, then controller enters according to the testing result of detection module control power-equipment and is somebody's turn to do
Matched group operating mode in major class operating mode, such as in auxiliary mode, controller (such as are examined according to testing result
Survey module and detect that human body is being climbed the mountain, and be short of physical strength) power-equipment is then controlled into matched mountain-climbing mode, to provide people
The power-assisted of body mountain-climbing mitigates the burden in human body mountain-climbing.
Preferably, the motion sensor includes myoelectricity stream EMG sensor, and the controller is used for according to myoelectricity
The human body EMG information of stream EMG sensor acquisition judges the motion state and movement tendency of human body, and according to the motion state and
Movement tendency controls the force direction of power-equipment, and exert a force size, force duration, force one of time point and force application location
Or several force factors are adjusted correspondingly.
In the above scheme, such as in auxiliary mode, controller is controlled according to the motion state and movement tendency
Power-equipment applies the power with the movement tendency same direction, to assist human motion, and when in health keeping mode, then
Controller applies and the movement tendency opposite direction according to the motion state and movement tendency control power-equipment
Power achievees the purpose that sportsing body-building to increase human motion burden.
Preferably, the EMG signal at the myoelectricity stream EMG sensor acquisition multiple positions of human body, the position includes
The arm of human body and/or leg and/or head and/or waist and/or other positions of human body.
Preferably, the motion sensor further includes having strain gauge, strain transducer, IMU sensor, is used respectively
In acquisition stress data, strain data and motion parameter data.
In the above scheme, the operating mode further includes having movement correction mode, corrects mode in the movement
In, the controller receive strain gauge, strain transducer, IMU sensor acquisition human body attitude information, and according to
Human body posture information generates human body attitude parameter, and the body-building and power assistive device further include memory module, for storing people
Body standard movement attitude data, the controller is by the human body standard movement in the human body attitude parameter and memory module
Whether attitude data compares, obtain posture correctly as a result, and reminding by human-computer interaction module to user.Further
, the controller be also used to by the human body standard movement attitude data in the human body attitude parameter and memory module into
Row comparison, obtains the error between human body attitude and human body standard movement posture, and use by human-computer interaction module voice prompting
Family adjusts posture, and after detecting that human body attitude matches with human body standard movement posture, cancels prompt user.
Preferably, the detection module further includes having environmental sensor, for detecting the temperature number of human body local environment
According to, humidity data, barometric information and position data, and data processing build environment parameter is carried out by controller, it is described
Controller is used for according to the adjustment to exert a force in the environmental parameter and human body sport parameter control power-equipment current operation mode, or
Control power-equipment is switched to matched operating mode；
Preferably, the environmental sensor include temperature sensor, humidity sensor, baroceptor, GPS,
LIDAR device.
In the above scheme, by the setting of environmental sensor, body-building and power assistive device of the invention are further improved
Intelligent level, for example, the environmental sensor detects that human body is located at height above sea level after power-equipment enters auxiliary mode
Higher position, and air pressure is lower, then controller matches power-equipment according to testing result should use mountain-climbing mode, and will work as
Preceding operating mode is switched to mountain-climbing mode, and auxiliary human body mountain-climbing alternatively, the power-equipment has been in mountain-climbing mode, then controls
Device controls power-equipment increase force, to facilitate the movement of human body, is conducive to human body saving and saves physical strength.
Preferably, the detection module further includes having condition sensor, and the condition sensor is for acquiring human body
Temperature data, human heart rate's data and human body GSR data, and data processing is carried out by controller and obtains Human Physiology and feelings
Thread parameter, the controller are used to control power according to environmental parameter, human body sport parameter, Human Physiology and emotional parameters
The adjustment to exert a force in equipment current operation mode, or control power-equipment are switched to matched operating mode；
Preferably, the condition sensor includes temperature sensor, heart rate sensor and/or GSR detector.
Preferably, the body-building and power assistive device further include having virtual reality to enhance module, and the virtual reality increases
Strong module includes wearing module and feedback module；
The wearing module provides vision virtual scene for being worn on human body head；
The feedback module is arranged on wearable device or separately positioned with the wearable device, including multiple anti-
Component is presented, for cooperating virtual scene simulating impact, by promotion, pressure, the effect of pulling force；
Preferably, the feedback module is the power-equipment, and the power-equipment is by controlling force direction, applying
Power size, force duration, force time point, in one or more of force application location force factor stimulation virtual scene human body by
Power.
Preferably, the memory module is stored with the executable program of corresponding each operating mode, and controller is configured to
Enter different operating modes by the different executable programs control power-equipments for executing described；
Preferably, the body-building and power-assisted include wireless networking module, for connecting with cloud platform server, with logical
Cross cloud platform server download/update executable program.
Body-building and power assistive device of the invention can assist human motion to achieve the effect that synkinesia, can also hinder human body
Movement, achievees the purpose that take exercises, and the body-building and power assistive device include that multiple-working mode is selected for user, improves use
Family movement/exercise experience effect.
A specific embodiment of the invention is described in further detail with reference to the accompanying drawing.
Detailed description of the invention
Attached drawing is as a part of the invention, and for providing further understanding of the invention, of the invention is schematic
Examples and descriptions thereof are used to explain the present invention, but does not constitute an undue limitation on the present invention.Obviously, the accompanying drawings in the following description
Only some embodiments to those skilled in the art without creative efforts, can be with
Other accompanying drawings can also be obtained according to these attached drawings.In the accompanying drawings:
Fig. 1 is one embodiment of the present invention schematic diagram.
It should be noted that these attached drawings and verbal description are not intended to the design model limiting the invention in any way
It encloses, but illustrates idea of the invention by referring to specific embodiments for those skilled in the art.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in embodiment is clearly and completely described, the following examples are intended to illustrate the invention, but
It is not intended to limit the scope of the invention.
In the description of the present invention, it should be noted that term " on ", "front", "rear", "left", "right", " is erected at "lower"
Directly ", the orientation or positional relationship of the instructions such as "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
The present invention provides a kind of body-building and power assistive device, including wearable device, power-equipment and controller；
The wearable device is worn at least part of human body；
The power-equipment is at least partially disposed on wearable device, by providing the resistance of human motion and/or helping
Power forms a variety of different operating modes；
The controller is arranged on wearable device, for according to user instructions and/or human body physical sign information and/or people
Body motion conditions and/or external environment information control power-equipment enter different operating modes.
Preferably, the wearable device includes multiple, and multiple wearable devices for being worn on human body respectively
Different parts are to provide power-assisted/resistance of human body different parts movement, and/or the sign information of detection human body different parts.
Preferably, a variety of different operating modes are controlled power-equipment by controller and are advised using different forces
Then formed；
Preferably, the force rule includes controlling the force direction of power-equipment, and exert a force size, force duration,
The rule of the variation for one or more of time point and force application location the force factor that exerts a force；
Preferably, in different operating modes, when the force direction of power-equipment, force size, force duration, force
One or more of point, force application location force factor change according to the rule adjustment of current Working mode set.
In the above scheme, the body-building and power assistive device include multiple-working mode, and described is a variety of different
Operating mode is formed by the different force rule of control power-equipment；Preferably, the force rule includes that control is dynamic
The force direction of power equipment, exert a force size, force duration, force one or more of time point and force application location force factor
The rule of variation is adjusted according to certain rules, on the other hand, in the different working modes, each force of power-equipment
Factor also according to current operation mode setting rule adjustment variation, for example, current operation mode be auxiliary mode when, then with
In family movement or work, power-equipment applies and the consistent auxiliary force of human body force direction, achievees the effect that auxiliary, and auxiliary at this
It helps in mode, as the demand of human motion constantly changes, i.e., namely the force direction and size of the power-equipment are also
In the different operating mode, the force direction of power-equipment, force size, force duration, force time point, force
One or more of position force factor changes according to the rule adjustment of current Working mode set, and the rule of the setting
Force direction and the size for exactly controlling power-equipment are consistent with the direction of motion of human body or work requirements.
Preferably, the operating mode is divided into the auxiliary mode for the power-assisted for providing human motion according to major class, provides people
The health keeping mode of the resistance of body movement and the standby mode not exerted a force；
In auxiliary mode, power-equipment provides the power-assisted for increasing human muscular tissue and exerting a force according to human motion situation；
In health keeping mode, power-equipment is provided to exert a force opposite power with human muscular tissue；
In standby mode, the standby of the body-building and power assistive device execution waiting user input instruction, and
In the standby, human body physical sign information and/or human motion situation and/or external environment information are detected.
In the above scheme, operating mode is divided into according to major class auxiliary mode, health keeping mode, standby mode further wrap
It includes there are many mode, for example, the auxiliary mode further comprises that there are many modes, such as auxiliary mode to be divided into running mould
Formula, mountain-climbing mode, mode of going down the hill etc., and the health keeping mode further comprises having leg exercises mode, back exercise mode,
Waist exercise mode, arm exercises mode etc., and in each exercise mode, the force of power-equipment is also followed by corresponding mould
The force rule of formula adjusts variation.Wherein in health keeping mode, the body-building and power assistive device can also be by installing clump weight
To realize the purpose of exercise.
Preferably, the body-building and power assistive device further include having human-computer interaction module and detection module；
The human-computer interaction module prompts user for showing information and receives the instruction of user's input control, described
Control instruction includes the instruction for controlling power-equipment and entering target operational mode；
The detection module is for detecting human body physical sign information and/or human motion situation and/or external environment information
And will test result and be sent to controller, human-computer interaction module is controlled by controller and prompts testing result described in user, and/or
Power-equipment is automatically controlled by controller and enters matched operating mode, and/or power-equipment is controlled by controller and is being worked as
The adjusting for the factor that exerts a force in preceding operating mode.
In the above scheme, including various control scheme: such as user during the motion, opens auxiliary mode, then
The sign information of the detection module real-time detection human body, and user's current state is judged according to the sign information, for example sentence
The disconnected current performance status of human body then automatically controls power-equipment entrance when judging the case where human body is short of physical strength in running
In the matched running modes of human motion, control power-equipment applies power-assisted auxiliary human body running, or works as power-equipment
It when in running modes, then controls power-equipment and increases power-assisted, further increase human body running power-assisted.
Further, the detection module includes motion sensor, and the motion sensor is for acquiring human body
Motion information is simultaneously sent to controller, and controller is used to generate human body sport parameter according to the motion information, and according to people
Body kinematic parameter control power-equipment current operation mode in exert a force factor adjustment, or control power-equipment be switched to it is matched
Operating mode.
In the above scheme, the operating mode according to major class be divided into provide human motion power-assisted auxiliary mode,
The health keeping mode of the resistance of human motion and the standby mode that does not exert a force be provided, and each major class operating mode respectively included it is more
A group, after opening wherein big quasi-mode, then controller enters according to the testing result of detection module control power-equipment and is somebody's turn to do
Matched group operating mode in major class operating mode, such as in auxiliary mode, controller (such as are examined according to testing result
Survey module and detect that human body is being climbed the mountain, and be short of physical strength) power-equipment is then controlled into matched mountain-climbing mode, to provide people
The power-assisted of body mountain-climbing mitigates the burden in human body mountain-climbing.
Such as: shown in Figure 1, wearing module 2 is worn on the back position of human body, is provided with control in the wearing module 2
Device processed is worn on the arm or leg of human body with the power-equipment being controlled by the controller, the wearing module 1 and wearing module 3 is connect
Portion position, which is respectively acting in wearing module 1 and wearing module 3 by transmission parts, to reach to human body
Arm or leg provide the effect of power-assisted or resistance.Further, it is provided in the wearing module 1 and wearing module 3
Detection module for detecting human body physical sign information or motion information, and will test result and be sent to controller and analyzed, when with
After auxiliary mode is opened at family, controller controls power-equipment based on the analysis results and enters matched operating mode and running modes,
For example detection module detects that user is running, then the human body running action message that controller is detected according to detection module
It generates control power-equipment and the control instruction of power-assisted is provided, power-equipment executes corresponding movement after receiving the control instruction.
Preferably, the motion sensor includes myoelectricity stream EMG sensor, and the controller is used for according to myoelectricity
The human body EMG information of stream EMG sensor acquisition judges the motion state and movement tendency of human body, and according to the motion state and
Movement tendency controls the force direction of power-equipment, and exert a force size, force duration, force one of time point and force application location
Or several force factors are adjusted correspondingly.
In the above scheme, such as in auxiliary mode, controller is controlled according to the motion state and movement tendency
Power-equipment applies the power with the movement tendency same direction, to assist human motion, and when in health keeping mode, then
Controller applies and the movement tendency opposite direction according to the motion state and movement tendency control power-equipment
Power achievees the purpose that sportsing body-building to increase human motion burden.
Preferably, the EMG signal at the myoelectricity stream EMG sensor acquisition multiple positions of human body, the position includes
The arm of human body and/or leg and/or head and/or waist and/or other positions of human body.
Preferably, the motion sensor further includes having strain gauge, strain transducer, IMU sensor, is used respectively
In acquisition stress data, strain data and motion parameter data.
In the above scheme, the operating mode further includes having movement correction mode, corrects mode in the movement
In, the controller receive strain gauge, strain transducer, IMU sensor acquisition human body attitude information, and according to
Human body posture information generates human body attitude parameter, and the body-building and power assistive device further include memory module, for storing people
Body standard movement attitude data, the controller is by the human body standard movement in the human body attitude parameter and memory module
Whether attitude data compares, obtain posture correctly as a result, and reminding by human-computer interaction module to user.Further
, the controller be also used to by the human body standard movement attitude data in the human body attitude parameter and memory module into
Row comparison, obtains the error between human body attitude and human body standard movement posture, and use by human-computer interaction module voice prompting
Family adjusts posture, and after detecting that human body attitude matches with human body standard movement posture, cancels prompt user.
Preferably, the detection module further includes having environmental sensor, for detecting the temperature number of human body local environment
According to, humidity data, barometric information and position data, and data processing build environment parameter is carried out by controller, it is described
Controller is used for according to the adjustment to exert a force in the environmental parameter and human body sport parameter control power-equipment current operation mode, or
Control power-equipment is switched to matched operating mode；
Preferably, the environmental sensor include temperature sensor, humidity sensor, baroceptor, GPS,
LIDAR device.
In the above scheme, by the setting of environmental sensor, body-building and power assistive device of the invention are further improved
Intelligent level, for example, the environmental sensor detects that human body is located at height above sea level after power-equipment enters auxiliary mode
Higher position, and air pressure is lower, then controller matches power-equipment according to testing result should use mountain-climbing mode, and will work as
Preceding operating mode is switched to mountain-climbing mode, and auxiliary human body mountain-climbing alternatively, the power-equipment has been in mountain-climbing mode, then controls
Device controls power-equipment increase force, to facilitate the movement of human body, is conducive to human body saving and saves physical strength.
Preferably, the detection module further includes having condition sensor, and the condition sensor is for acquiring human body
Temperature data, human heart rate's data and human body GSR data, and data processing is carried out by controller and obtains Human Physiology and feelings
Thread parameter, the controller are used to control power according to environmental parameter, human body sport parameter, Human Physiology and emotional parameters
The adjustment to exert a force in equipment current operation mode, or control power-equipment are switched to matched operating mode；
Preferably, the condition sensor includes temperature sensor, heart rate sensor and/or GSR detector.
Preferably, the body-building and power assistive device further include having virtual reality to enhance module, and the virtual reality increases
Strong module includes wearing module and feedback module；
The wearing module provides vision virtual scene for being worn on human body head；
The feedback module is arranged on wearable device or separately positioned with the wearable device, including multiple anti-
Component is presented, for cooperating virtual scene simulating impact, by promotion, pressure, the effect of pulling force；
Preferably, the feedback module is the power-equipment, and the power-equipment is by controlling force direction, applying
Power size, force duration, force time point, in one or more of force application location force factor stimulation virtual scene human body by
Power.
Preferably, the memory module is stored with the executable program of corresponding each operating mode, and controller is configured to
Enter different operating modes by the different executable programs control power-equipments for executing described；
Preferably, the body-building and power-assisted include wireless networking module, for connecting with cloud platform server, with logical
Cross cloud platform server download/update executable program.
Body-building and power assistive device of the invention can assist human motion to achieve the effect that synkinesia, can also hinder human body
Movement, achievees the purpose that take exercises, and the body-building and power assistive device include that multiple-working mode is selected for user, improves use
Family movement/exercise experience effect.
The above is only presently preferred embodiments of the present invention, is not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this patent
Member without departing from the scope of the present invention, when the technology contents using above-mentioned prompt are modified or are modified to
The equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, it is right according to the technical essence of the invention
Any simple modification, equivalent change and modification made by above embodiments, in the range of still falling within the present invention program.
Claims (10)
1. a kind of body-building and power assistive device, which is characterized in that including wearable device, power-equipment and controller；
The wearable device is worn at least part of human body；
The power-equipment is at least partially disposed on wearable device, by providing the resistance and/or power-assisted of human motion, shape
At a variety of different operating modes；
The controller is arranged on wearable device, for according to user instructions and/or human body physical sign information and/or human body fortune
Emotionally condition and/or external environment information control power-equipment enter different operating modes.
2. a kind of body-building according to claim 1 and power assistive device, which is characterized in that a variety of different Working moulds
Formula is controlled power-equipment by controller and is formed using different force rules；
Preferably, the force rule includes controlling the force direction of power-equipment, and exert a force size, force duration, force
The rule of the variation of one or more of time point and force application location force factor；
Preferably, in the different operating mode, when the force direction of power-equipment, force size, force duration, force
One or more of point, force application location force factor change according to the rule adjustment of current Working mode set.
3. a kind of body-building according to claim 1 or 2 and power assistive device, which is characterized in that the operating mode includes
It is provided with the auxiliary mode of the power-assisted of human motion, the health keeping mode for the resistance that human motion is provided and the standby mould that does not exert a force
Formula；
In auxiliary mode, power-equipment provides the power-assisted for increasing human muscular tissue and exerting a force according to human motion situation；
In health keeping mode, power-equipment is provided to exert a force opposite power with human muscular tissue；
In standby mode, the body-building and power assistive device execute the standby for waiting user input instruction, and wait at this
During machine, human body physical sign information and/or human motion situation and/or external environment information are detected.
4. a kind of body-building according to claim 1 to 3 and power assistive device, which is characterized in that further include having human-computer interaction
Module and detection module；
For the human-computer interaction module for showing information and receiving the instruction of user's input control, the control instruction includes control
Braking force apparatus enters the instruction of target operational mode；
The detection module is used to detect human body physical sign information and/or human motion situation and/or external environment information and will
Testing result is sent to controller, controls human-computer interaction module by controller and prompts testing result described in user, and/or passes through
Controller automatically controls power-equipment and enters matched operating mode, and/or controls power-equipment in current work by controller
The adjusting for the factor that respectively exerts a force in operation mode.
5. a kind of body-building according to claim 4 and power assistive device, which is characterized in that the detection module includes fortune
Dynamic sensor, for acquiring body motion information and being sent to controller, controller is used for according to institute the motion sensor
The motion information stated generates human body sport parameter, and is controlled in power-equipment current operation mode and exerted a force according to human body sport parameter
Adjustment, or control power-equipment be switched to matched operating mode.
6. a kind of body-building according to claim 5 and power assistive device, which is characterized in that the motion sensor includes
Myoelectricity stream EMG sensor, the controller are used to judge people according to the human body EMG information that myoelectricity stream EMG sensor acquires
The motion state and movement tendency of body, and according to the motion state and the force direction of movement tendency control power-equipment, force
Size, force duration, force one or more of time point and force application location force factor are adjusted correspondingly；
Preferably, the EMG signal at the myoelectricity stream EMG sensor acquisition multiple positions of human body, the position includes human body
Arm and/or leg and/or head and/or waist and/or other positions of human body.
7. a kind of body-building according to claim 5 or 6 and power assistive device, which is characterized in that the motion sensor is also
Include strain gauge, strain transducer, IMU sensor, is respectively used to acquisition stress data, strain data and movement ginseng
Number data.
8. according to a kind of any described body-building of claim 4-7 and power assistive device, which is characterized in that the detection module is also
It include environmental sensor, for detecting temperature data, humidity data, barometric information and the positional number of human body local environment
According to, and data processing build environment parameter is carried out by controller, the controller is used for according to the environmental parameter and human body
The adjustment to exert a force in kinematic parameter control power-equipment current operation mode, or control power-equipment are switched to matched Working mould
Formula；
Preferably, the environmental sensor includes that temperature sensor, humidity sensor, baroceptor, GPS, LIDAR are set
It is standby.
9. a kind of body-building according to claim 8 and power assistive device, which is characterized in that the detection module further includes having
Condition sensor, the condition sensor are used to acquire body temperature data, human heart rate's data and human body GSR data,
And data processing is carried out by controller and obtains Human Physiology and emotional parameters, the controller be used for according to environmental parameter,
Human body sport parameter, Human Physiology and emotional parameters control the adjustment to exert a force in power-equipment current operation mode, or control is moved
Power equipment is switched to matched operating mode；
Preferably, the condition sensor includes temperature sensor, heart rate sensor and/or GSR detector.
10. a kind of -9 any described body-building and power assistive device according to claim 1, which is characterized in that further include have it is virtual existing
Real enhancing module, the virtual reality enhancing module includes wearing module and feedback module；
The wearing module provides vision virtual scene for being worn on human body head；
The feedback module is arranged on wearable device or separately positioned with the wearable device, including multiple feedback sections
Part, for cooperating virtual scene simulating impact, by promotion, pressure, the effect of pulling force；
Preferably, the feedback module is the power-equipment, and the power-equipment is big by control force direction, force
Small, force duration, force time point, force application location simulate the stress of human body in virtual scene.
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| CN201710661401.5A CN109381843B (en) | 2017-08-04 | 2017-08-04 | Body-building and helping hand equipment |
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| CN109381843B CN109381843B (en) | 2020-10-30 |
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| CN109381843B (en) | 2020-10-30 |
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