CN109758734A - A kind of multi-mode Ergometric training device and method with muscular strength feedback function - Google Patents
A kind of multi-mode Ergometric training device and method with muscular strength feedback function Download PDFInfo
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- CN109758734A CN109758734A CN201910005689.XA CN201910005689A CN109758734A CN 109758734 A CN109758734 A CN 109758734A CN 201910005689 A CN201910005689 A CN 201910005689A CN 109758734 A CN109758734 A CN 109758734A
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Abstract
The invention belongs to human body exercise for power, muscular strengths to monitor field, and disclose a kind of multi-mode Ergometric training device and method with muscular strength feedback function.Described device includes drive module and control module, drive module includes driver and driving mechanism, control module includes controller, disturbance observer, motion capture system and skeletal muscle force inverse dynamics model, and controller is for expectation driving moment τ needed for the driver is arrangedd；Skeletal muscle force inverse dynamics model obtains the real-time muscular strength value size of human body for calculating.The invention also discloses the methods of corresponding multi-mode exercise for power.The present invention is by can drive module and control module, each position Multifunctional muscle training of human upper limb, lower limb, trunk is adapted to realize, skeleton muscular strength inverse dynamics model and human-computer interaction model are utilized simultaneously, in the case where not needing high-cost myoelectricity measuring device, it realizes body state reconstruct and muscle strength status Real-time Feedback, and then achievees the purpose that scientific exercise for power.
Description
Technical field
The invention belongs to human body exercise for power, muscular strength monitoring technical field, have muscular strength feedback more particularly, to one kind
The multi-mode Ergometric training device and method of function.
Background technique
Traditional medical rehabilitation training equipment can only for single position muscle carry out rehabilitation training, can not to human body muscular strength into
Row real-time monitoring and reconstruct, can not compensate required muscular force according to human body muscular strength and dynamic information to realize closed loop feedback control
System, can only provide specific driving force/driving moment, be unable to satisfy patient's driving force/driving moment needed for the different rehabilitation stages
Different variation demand, it could even be possible to making patient muscle or joint injury because providing additional driving force/driving moment.
Meanwhile traditional muscular force measuring method needs to obtain movement muscle surface skin electricity by surface myoelectric tester
Signal measures muscle activation value, at the same by imaging muscles technology (ultrasonic imaging/computed tomography/nuclear magnetic resonance at
Picture) muscle morphological parameters are obtained in real time, muscular force size is calculated by improving Hill model, and pass by force snesor/strain
Sensor measurement is extraneous to be calculated pre- with human body reciprocal force size to the driving force size of fixed driver according to man-machine dynamics model
If being corrected compared with kinematics parameters and the articular kinesiology parameter actually measured with motion capture system according to kinematic parameter error
Driving force provided by driver/driving moment size, and then complete closed loop feedback control.And muscular force continuous mode needs table
Facial muscle electric tester measures surface electromyogram signal to determine muscle activation value, the measurement request surface electrode of surface electromyogram signal
The accurate selection of sticking position muscle position opposite with holding during the motion is constant, big motion amplitude, perspiration, electromagnetic interference
Etc. factors can all lead to surface electromyogram signal measurement error.Real-time imaging muscles system needs the measurement of muscle morphological parameters high
Expensive accurate imaging device and complicated image processing system, imaging resolution and image processing algorithm directly affect muscle form
The accuracy of parameter, simultaneously because the requirement of real-time also proposed high requirement to data processing system computing capability.Root
The muscle morphological parameters that the muscle activation value and imaging muscles data determined according to Hill mode input by surface electromyogram signal determines
To calculate muscular force, while the reciprocal force size that outer bound pair human body applies is measured by force snesor/displacement sensor, according to man-machine
Kinetic model calculating meets driving force/driving moment size that predetermined movement track should provide.Pass through motion capture system
Obtain human body Real Time Kinematic parameter and the compensation compared with predetermined movement track, needed for calculating according to bone muscle model inverse dynamics
Driving force size realizes the feedback control to driver.
Summary of the invention
In view of the drawbacks of the prior art and use demand, the present invention provides a kind of multi-modes with muscular strength feedback function
Ergometric training device and method, the drive module and control module of the hinge training rod by can be changed shaft core position, to realize
Adapt to human upper limb, each position Multifunctional muscle training of lower limb, trunk, at the same using skeleton muscular strength inverse dynamics model and
Human-computer interaction model realizes body state reconstruct and muscle strength status in the case where not needing high-cost myoelectricity measuring device
Real-time monitoring, and then achieve the purpose that scientific exercise for power.
In order to achieve the above objectives, the present invention provides a kind of multi-mode Ergometric training device with muscular strength feedback function,
It is characterised in that it includes drive module and control module, wherein the drive module includes driver and driving mechanism, the control
Molding block includes controller, disturbance observer, motion capture system and skeletal muscle force inverse dynamics model,
The driver is used for according to desired driving moment τdTo drive driving mechanism to drive or confrontation limb motion；
The controller is for expectation driving moment τ needed for the driver is arrangedd；
The disturbance observer observes the joint that the driver generates for measuring the Drive Status information
Torque estimated valueMeanwhile the motion capture system is for obtaining human body real time kinematics status information；
The skeletal muscle force inverse dynamics model is used for according to the joint moment estimated valueWith the human motion shape
State information, which calculates, obtains the real-time muscular strength value size of human body.
Further, the driving mechanism is hinge training rod.
Further, the hinge training rod is the hinge training rod of variable shaft core position.
Other side according to the invention provides a kind of multi-mode exercise for power method with muscular strength feedback function,
The following steps are included:
Expectation driving moment τ needed for driver is arranged in S1 in the controllerd, driver drive driving mechanism to drive or
Fight trained limb segment movement；
Disturbance observer described in S2 measures Drive Status information, and then observes the joint between trained limb segment and driver
Torque estimated value
S3 motion capture system obtains trained limb segment movement state information in real time；
S4 is by the joint moment estimated valueWith the human motion state information input skeletal muscle force dynamics against mould
Type, to obtain the real-time muscular strength value size of trained limb segment.
Further, the S3 specifically includes the following steps:
S31 seeks the quality of trained limb segment according to human body gross mass and the relative mass distribution of partes corporis humani position；
S32 obtains trained limb segment kinematics parameters by motion capture system；
S33 obtains trained limb segment movement state information according to the quality and kinematics parameters of the trained limb segment.
Further, in the S32, the trained limb segment kinematics parameters include the length and water of trained limb segment
Plane included angle, angular acceleration and mass center acceleration.
Further, the S4 the following steps are included:
S41 is firstly, be arranged the constraint condition of skeletal muscle force inverse dynamics model, wherein movement is participated in trained limb segment
All muscle muscular force generate resultant moment be equal to joint moment estimated valueParticipate in the muscular force of every piece of muscle of movement
No more than its limit muscular force；
S42 establishes the majorized function of skeletal muscle force inverse dynamics model under the constraint condition, and then obtains the bone
Bone muscular strength inverse dynamics model.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, mainly have below
Technological merit:
(1) present invention is adapted to by the drive module and control module of the hinge training rod of variable shaft core position with realizing
Each position Multifunctional muscle training of human upper limb, lower limb, trunk, while utilizing skeleton muscular strength inverse dynamics model and man-machine
Interaction models realize that body state reconstruct and muscle strength status are real-time in the case where not needing high-cost myoelectricity measuring device
Monitoring, and then achieve the purpose that scientific exercise for power.
(2) method of the invention using skeleton muscular strength inverse dynamics model and human-computer interaction model, and passes through setting
The majorized function of muscular force, solution make the smallest best muscular force combination of majorized function when meeting above-mentioned constraint condition,
And then determine the muscular strength value that each muscle generates, human body surface myoelectric signal and real-time muscle morphological parameters are not measured to realize
Real-time monitoring and on-line reorganization can be carried out to human motion muscular force.
Detailed description of the invention
Fig. 1 is a kind of structural representation of the multi-mode Ergometric training device with muscular strength feedback function of the present invention
Figure；
Fig. 2 is that multi-mode Ergometric training device of the present invention carries out Multifunctional muscle training signal to partes corporis humani position
Figure.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Present invention employs the hinge training linkages of variable shaft core position as drive module, according to user's human body ruler
It is very little that simple adjustment is carried out to meet the use needs at different trained position to training device with training position.Human body sitting posture state is double
Hand, which grasps training rod, can realize act training muscle of upper extremity group on upper limb；It is dynamic that human body double-grip training rod completes sit-ups
Work can train muscle of trunk group；Human body both legs, which trample training rod completion lift leg movement, can train lower limb muscles group；Human body is sat
Appearance state training rod, which completes pitching movement to back applied force, can train muscle of trunk group.It is realized by different training modes
Training to human body different parts muscle group, to realize the target of multi-functional training.
As shown in Figure 1, the present invention provides a kind of multi-mode Ergometric training device with muscular strength feedback function, feature
It is, including drive module and control module, wherein the drive module includes driver and driving mechanism；The control module
Including controller, disturbance observer, motion capture system and skeletal muscle force inverse dynamics model, the driver was used for according to the phase
Hope driving moment τdTo drive driving mechanism to drive or confrontation limb motion；The controller is for being arranged needed for the driver
Expectation driving moment τd；The disturbance observer observes the driver for measuring the Drive Status information
The joint moment estimated value of generationMeanwhile the motion capture system is for obtaining human body real time kinematics status information；It is described
Skeletal muscle force inverse dynamics model is used for according to the joint moment estimated valueIt is obtained with human motion state information calculating
Take the real-time muscular strength value size of human body.
Further, the driving mechanism is hinge training rod.
Further, the hinge training rod is the hinge training rod of variable shaft core position.
Other side according to the invention provides a kind of multi-mode exercise for power method with muscular strength feedback function,
The following steps are included:
Expectation driving moment τ needed for driver is arranged in S1 in the controllerd, driver drive driving mechanism to drive or
Fight trained limb segment movement；
Disturbance observer described in S2 measures Drive Status information, and then observes the joint between trained limb segment and driver
Torque estimated value
S3 motion capture system obtains trained limb segment movement state information in real time；According to human body gross mass and partes corporis humani
The quality of trained limb segment is sought in position relative mass distribution；Trained limb segment kinematics parameters are obtained by motion capture system；
Trained limb segment movement state information is obtained according to the quality of the trained limb segment and kinematics parameters.The trained limb segment
Kinematics parameters include length, angle with horizontal plane, angular acceleration and the mass center acceleration of trained limb segment.
S4 is by the joint moment estimated valueWith the human motion state information input skeletal muscle force dynamics against mould
Type, to obtain the real-time muscular strength value size of trained limb segment.Firstly, the constraint condition of setting skeletal muscle force inverse dynamics model,
In, the resultant moment that the muscular force generation of all muscle of movement is participated in trained limb segment is equal to joint moment estimated valueGinseng
It is no more than its limit muscular force with the muscular force of every piece of muscle of movement；Under the constraint condition, skeletal muscle force power is established
The majorized function of inversion model is learned, and then obtains the skeletal muscle force inverse dynamics model.
Specifically, as shown in Figure 1, according to the training position training mode different with passive-auxiliary-resistance by controller
Generate driver it is expected driving moment, driver drives drive module drive in turn limbs (passively and power-assisting training mode) or
Fight limbs (under work against resistance mode) movement.During the motion, the interaction torque of driver and limbs is τh, can
It is observed by disturbance observer combination Drive Status information, estimated value isUtilize the real-time people of motion-captured acquisition
Body movement state information andIt, can be with Real-time solution muscular strength value size by skeletal muscle force inverse dynamics model.
The quality that trained limb segment is sought according to human body gross mass and each link relative mass distribution table of human body, passes through movement
Capture system obtains human cinology's parameter (human body limb segment length, angle with horizontal plane, angular acceleration, acceleration, according to people
The trained limbs segment length of body and each segment mass centre relative position table of human body seek trained limb segment mass center to trained joint distance, from
And the trained limb segment centroid position of human body, acceleration can be found out, and then driving moment size is combined to estimate joint by observer
Torque.If the joint motions are completed jointly by n block related muscles, the resultant force that there is the muscular force of n block muscle to generate in the joint
Square is equal to intra-articular torque, and the muscular force of every piece of muscle is no more than its limit muscular force；The majorized function of muscular force is set, is solved
Make the smallest best muscular force combination of majorized function when meeting above-mentioned constraint condition, and then determines the flesh that each muscle generates
Force value, thus realize do not measure human body surface myoelectric signal and real-time muscle morphological parameters can to human motion muscular force into
Row real-time monitoring and on-line reorganization.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (7)
1. a kind of multi-mode Ergometric training device with muscular strength feedback function, which is characterized in that including drive module and control
Module, wherein the drive module includes driver and driving mechanism, the control module include controller, disturbance observer,
Motion capture system and skeletal muscle force inverse dynamics model,
The driver is used for according to desired driving moment τdTo drive driving mechanism to drive or confrontation limb motion；
The controller is for expectation driving moment τ needed for the driver is arrangedd；
The disturbance observer observes the joint moment that the driver generates for measuring the Drive Status information
Estimated valueMeanwhile the motion capture system is for obtaining human body real time kinematics status information；
The skeletal muscle force inverse dynamics model is used for according to the joint moment estimated valueBelieve with the human motion state
Breath, which calculates, obtains the real-time muscular strength value size of human body.
2. a kind of multi-mode Ergometric training device with muscular strength feedback function according to claim 1, which is characterized in that
The driving mechanism is hinge training rod.
3. a kind of multi-mode Ergometric training device with muscular strength feedback function according to claim 2, which is characterized in that
The hinge training rod is the hinge training rod of variable shaft core position.
4. a kind of multi-mode exercise for power method with muscular strength feedback function, using the described in any item dresses of claim 1-3
Set realization, which comprises the following steps:
Expectation driving moment τ needed for driver is arranged in S1 in the controllerd, driver driving driving mechanism is to drive or fight
Trained limb segment movement；
Disturbance observer described in S2 measures Drive Status information, and then observes the joint moment between trained limb segment and driver
Estimated value
S3 motion capture system obtains trained limb segment movement state information in real time；
S4 is by the joint moment estimated valueWith the human motion state information input skeletal muscle force inverse dynamics model, with
Obtain the real-time muscular strength value size of trained limb segment.
5. according to the method described in claim 4, it is characterized in that, the S3 specifically includes the following steps:
S31 seeks the quality of trained limb segment according to human body gross mass and the relative mass distribution of partes corporis humani position；
S32 obtains trained limb segment kinematics parameters by motion capture system；
S33 obtains trained limb segment movement state information according to the quality and kinematics parameters of the trained limb segment.
6. according to the method described in claim 4, it is characterized in that, in the S32, the trained limb segment kinematics parameters packet
Include length, angle with horizontal plane, angular acceleration and the mass center acceleration of trained limb segment.
7. according to the method described in claim 4, it is characterized in that, the S4 the following steps are included:
S41 is firstly, be arranged the constraint condition of skeletal muscle force inverse dynamics model, wherein the institute of movement is participated in trained limb segment
The resultant moment for having the muscular force of muscle to generate is equal to joint moment estimated valueThe muscular force for participating in every piece of muscle of movement does not surpass
Cross its limit muscular force；
S42 establishes the majorized function of skeletal muscle force inverse dynamics model under the constraint condition, and then obtains the skeletal muscle
Power inverse dynamics model.
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| CN112915491A (en) * | 2021-01-21 | 2021-06-08 | 自贡市第一人民医院 | Monitoring device for pelvic floor muscle group training |
| CN115501542A (en) * | 2022-09-19 | 2022-12-23 | 力迈德医疗（广州）有限公司 | Rehabilitation training robot |
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