CN109924985A - Lower limb rehabilitation device and based on its assessment device, method - Google Patents
Lower limb rehabilitation device and based on its assessment device, method Download PDFInfo
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Abstract
The invention discloses a kind of lower limb rehabilitation device and based on its assessment device, method.Wherein, assessment device includes: displacement acquisition module, for periodically acquiring the moving displacement at the waist center of user in motion process of the user using lower limb rehabilitation device, and generates the time series of moving displacement；Time series is divided into several Time Sub-series for the mechanical periodicity according to moving displacement by sequences segmentation module；It is expected that statistical module, for calculating the average length of all Time Sub-series；Judgment module, for judging whether average length is less than the length of current Time Sub-series；If so, cue module is called, for sending the signal of characterization human fatigue.Assessment device of the invention can be averaged the paces period by comparison current pace period and history to judge whether rehabilitation patient is tired, this rehabilitation exercise is carried out to decide whether to continue to use lower limb rehabilitation device, provides accurate reference to assess the rehabilitation progress of rehabilitation patient.
Description
Technical field
The present invention relates to medical science of recovery therapy technical field more particularly to a kind of lower limb rehabilitation device and based on its assessment dress
It sets, method.
Background technique
In convalescent home, the observation of rehabilitation doctor and the feedback of rehabilitation patient are often relied on to assess the tired of rehabilitation patient
Labor situation, and then effective use rehabilitation equipment carrys out recovering aid patient and carries out scientific and efficient rehabilitation to restore lower limb function
Energy.However, whether rehabilitation doctor is that subjectivity is sentenced to the observation of rehabilitation patient's fatigue conditions or the feedback of rehabilitation patient
It is disconnected, it is difficult to provide accurate reference significance to the assessment of rehabilitation patient's rehabilitation progress.
Summary of the invention
The technical problem to be solved by the present invention is to be difficult to accurately comment in lower limb rehabilitation movement in the prior art to overcome
The defect for estimating rehabilitation patient's fatigue conditions provides a kind of lower limb rehabilitation device and based on its assessment device, method.
The present invention is to solve above-mentioned technical problem by following technical proposals:
A kind of assessment device based on lower limb rehabilitation device, it is characterized in that, the assessment device includes:
Displacement acquisition module, for periodically acquiring institute in motion process of the user using the lower limb rehabilitation device
The moving displacement at the waist center of user is stated, and generates the time series of moving displacement；
The time series is divided into several sub- times for the mechanical periodicity according to moving displacement by sequences segmentation module
Sequence；
It is expected that statistical module, for calculating the average length of all Time Sub-series；
Judgment module, for judging whether the average length is less than the length of current Time Sub-series；
If so, cue module is called, for sending the signal for characterizing the human fatigue.
Preferably, the sequences segmentation module is specifically used for the corresponding target acquisition time of target moving displacement being segmentation
The time series is divided into several Time Sub-series by point；
Wherein, the target moving displacement is greater than the movement of upper one and next acquisition time of the target acquisition time
Displacement.
Preferably, the cue module includes:
Degree of fatigue assessment unit, for being assessed according to the ratio of the average length and the length of current Time Sub-series
The degree of fatigue of the user；
Degree of fatigue prompt unit, for sending the signal including the degree of fatigue.
Preferably, the degree of fatigue assessment unit is specifically used for assessing degree of fatigue according to the following formula:
WI=[100* (1-SE/U)]
Wherein, WI characterizes degree of fatigue, and SE characterizes average length, and U characterizes the length of current Time Sub-series.
Preferably, the cue module further include:
First judging unit, for judging whether the degree of fatigue is greater than degree of fatigue threshold value；
If so, calling counting unit；If it is not, then calling resetting unit；
The counting unit is used to the count value that initial value is 0 adding 1；
The resetting unit is for resetting count value；
Second judgment unit, for judging whether count value is greater than count threshold；
If so, calling reminding unit, stop the signal of the motion process for sending instruction；
If it is not, then calling the displacement acquisition module.
Preferably, the displacement acquisition module includes:
Contact-sensing, the touch sensor include six-dimension force sensor；
Or, non-contact sensor, the noncontacting proximity sensor includes binocular camera.
A kind of lower limb rehabilitation device, it is characterized in that, the lower limb rehabilitation device includes any of the above-described kind based on lower limb health
The assessment device of multiple equipment.
A kind of appraisal procedure based on lower limb rehabilitation device, it is characterized in that, the appraisal procedure includes:
In motion process of the user using the lower limb rehabilitation device, the waist center of the user is periodically acquired
Moving displacement, and generate the time series of moving displacement；
The time series is divided into several Time Sub-series according to the mechanical periodicity of moving displacement；
Calculate the average length of all Time Sub-series；
Judge whether the average length is less than the length of current Time Sub-series；
If so, sending the signal for characterizing the human fatigue.
Preferably, the time series is divided into several Time Sub-series by the mechanical periodicity according to moving displacement
Step includes:
Using the corresponding target acquisition time of target moving displacement as cut-point, the time series is divided into several period of the day from 11 p.m. to 1 a.m
Between sequence；
Wherein, the target moving displacement is greater than the movement of upper one and next acquisition time of the target acquisition time
Displacement.
Preferably, described the step of sending the signal for characterizing the human fatigue, includes:
The degree of fatigue of the user is assessed according to the ratio of the average length and the length of current Time Sub-series；
Send the signal including the degree of fatigue.
Preferably, the ratio according to the average length and the length of current Time Sub-series assesses the user's
The step of degree of fatigue includes:
Degree of fatigue is assessed according to the following formula:
WI=[100* (1-SE/U)]
Wherein, WI characterizes degree of fatigue, and SE characterizes average length, and U characterizes the length of current Time Sub-series.
Preferably, described the step of sending the signal for characterizing the human fatigue further include:
Judge whether the degree of fatigue is greater than degree of fatigue threshold value；
If so, the count value that initial value is 0 is added 1；
If it is not, then count value is reset；
Judge whether count value is greater than count threshold；
If so, sending the signal that instruction stops the motion process；
If it is not, then continuing to execute described in motion process of the user using the lower limb rehabilitation device, periodically acquisition
The moving displacement at the waist center of the user, and the step of generating the time series of moving displacement.
The positive effect of the present invention is that: assessment device of the invention is using lower limb by acquisition rehabilitation patient
The motion bit in-migration at waist center analyzes the period of its waist movement in the motion process of rehabilitation equipment, and has the week of waist movement
Phase can embody the paces period of the rehabilitation patient, and then can be averaged the paces period by comparing current pace period and history
Judge whether the rehabilitation patient is tired, carries out this rehabilitation exercise to decide whether to continue to use lower limb rehabilitation device, to comment
The rehabilitation progress for estimating rehabilitation patient provides accurate reference.
Detailed description of the invention
Fig. 1 is the module diagram according to the assessment device based on lower limb rehabilitation device of the embodiment of the present invention 1.
Fig. 2 is the flow chart according to the appraisal procedure based on lower limb rehabilitation device of the embodiment of the present invention 3.
Fig. 3 is the flow chart according to step S5 in the appraisal procedure based on lower limb rehabilitation device of the embodiment of the present invention 3.
Specific embodiment
The present invention is further illustrated below by the mode of embodiment, but does not therefore limit the present invention to the reality
It applies among a range.
Embodiment 1
The present embodiment provides a kind of assessment device based on lower limb rehabilitation device, the module that Fig. 1 shows the present embodiment are shown
It is intended to.Referring to Fig. 1, the assessment device of the present embodiment includes:
Displacement acquisition module 1, for periodically acquiring the user in motion process of the user using lower limb rehabilitation device
Waist center moving displacement, and generate the time series of moving displacement.
Specifically, in the present embodiment, displacement acquisition module 1 may include contact-sensing (such as six-dimension force sensor)
Or non-contact sensor (such as binocular camera).For example, lower limb rehabilitation device supports user to carry out rehabilitation by waist band
When movement, moving displacement number can be acquired using touch sensors such as the six-dimension force sensors connecting with user's waist
According to；When lower limb rehabilitation device grabs auxiliary user's progress rehabilitation exercise by mechanical arm, the binocular phase of outside installation can be passed through
The view-based access control models such as machine image with the noncontacting proximity sensor of graphics process and acquire moving displacement data.
When displacement acquisition module 1 starts rehabilitation exercise with user, which is initial position, week
Acquire to phase property moving displacement of the waist center of the user relative to the initial position.In the present embodiment, moving displacement is enabled
Collection period be t, n-th of acquisition time be t (n) (n is positive integer, and t (n)-t (n-1)=t), the fortune that n-th acquires
Dynamic displacement is Δ x (n), the then time series of the moving displacement generated are as follows: [t (1), Δ x (1)], [t (2), Δ x (2)] ...,
[t (m), Δ x (m)] (m is positive integer), wherein t (m) is current acquisition time, and Δ x (m) is that current acquisition time is collected
Moving displacement.
Time series is divided into several sub- time sequences for the mechanical periodicity according to moving displacement by sequences segmentation module 2
Column.
In the present embodiment, user carries out rehabilitation exercise, adjacent foot-up and composition one of stopping over using lower limb rehabilitation device
A paces, that is, user is moved in circles based on the rehabilitation exercise of lower limb rehabilitation device, and then collected waist center
Moving displacement also shows the periodicity of paces, gradually becomes smaller again again gradually for example, collected moving displacement can become larger
Become larger, so that the time series of above-mentioned moving displacement can be divided into several characterization paces according to the mechanical periodicity of moving displacement
The Time Sub-series in period.
Specifically, can cut-point of the foothold as the paces period of each paces can correspondingly be fallen according to each
The target motion bit in-migration sliced time sequence at the corresponding waist center of pin point, wherein target moving displacement Δ x (o) >=Δ x
(o-1), and Δ x (o) >=Δ x (o+1) (o is positive integer), that is, target moving displacement Δ x (o) is greater than its corresponding target
The moving displacement of upper one and the next acquisition time of acquisition time t (o).Sequences segmentation module 2 can be with target moving displacement Δ x
(o) time series is divided into several period of the day from 11 p.m. to 1 a.m by cut-point of the corresponding target acquisition time t (o) as above-mentioned time series
Between sequence.
It is expected that statistical module 3, for calculating the average length of all Time Sub-series.
In the present embodiment, the length of time series is m*t, it is assumed that the quantity of above-mentioned cut-point is c (c is positive integer),
Then, time series is separated into (c+1) a Time Sub-series, the average length SE=m* of all Time Sub-series in the present embodiment
t/(c+1)。
Judgment module 4, for judging whether average length is less than the length of current Time Sub-series.
In the present embodiment, enable include current acquisition time t (m) current Time Sub-series in first acquisition time be
T (s) (s is positive integer), then length U=(m-s) the * t of current Time Sub-series.
User carries out rehabilitation exercise under normal circumstances using lower limb rehabilitation device, and paces frequency tends towards stability, and works as and use
When family starts to occur fatigue, the extension of its paces period hair will lead to due to physical strength etc..To when all Time Sub-series
Average length SE be less than current Time Sub-series length U when, then characterize user and show tired state, cue module can be called
5 characterize the signal of human fatigue to send.Otherwise, the not shown tired state of user is estimated, can also continue to using lower limb rehabilitation device
This rehabilitation exercise is carried out, displacement acquisition module 1 continues to acquire moving displacement data.
In the present embodiment, cue module 5 specifically includes degree of fatigue assessment unit 51 and degree of fatigue prompt unit 52.
Specifically, degree of fatigue assessment unit 51 is used to be assessed according to the ratio of average length SE and the length U of current Time Sub-series
The degree of fatigue of user assesses the fatigue conditions of user in the form of numerical value, more intuitive effective, wherein degree of fatigue WI
=[100* (1-SE/U)], when the length U of current Time Sub-series is bigger, has degree of fatigue WI higher.And work as all period of the day from 11 p.m. to 1 a.m
Between sequence average length SE be not less than current Time Sub-series length U when, then at this time the degree of fatigue of user be 0.Fatigue
Degree prompt unit 52 can send the display equipment at the signal to physiatrician including degree of fatigue WI, to provide the rehabilitation
Reference of the doctor about the human fatigue degree, and then physiatrician can determine the user if appropriate for continuing to use lower limb health
Multiple equipment carries out rehabilitation exercise.
Further, cue module 5 can also include the first judging unit 53, counting unit 54, resetting unit 55, second
Judging unit 56 and reminding unit 57.Wherein, the first judging unit 53 is for judging whether degree of fatigue WI is greater than tired journey
Threshold value (degree of fatigue threshold value can according to practical application between 0-100 adaptability value) be spent, if so, calling counting unit
The count value that initial value is 0 is added 1 by 54, and second judgment unit 56, which is subsequently used in, judges whether count value is greater than count threshold；If
It is no, then it calls resetting unit 55 to reset count value and continues that displacement acquisition module 1 is called to acquire moving displacement data.In this way,
To judge whether continuous counter value number is all larger than degree of fatigue threshold value to degree of fatigue WI, and then avoid leading due to accidental cause
The degree of fatigue WI of cause is greater than 0 situation, provides the more accurately reference to assess user's rehabilitation progress for physiatrician
Data.If second judgment unit 56 is judged as YES, reminding unit 57 is called to send the signal of instruction stop motion process, informed
The unsuitable lower limb rehabilitation device that continues to use of the physical condition of physiatrician user carries out rehabilitation exercise, if the second judgement is single
Member 56 is judged as NO, then continues that displacement acquisition module 1 is called to acquire moving displacement data.
In the present embodiment, in order to give physiatrician more accurately to assess the reference of rehabilitation patient's rehabilitation progress
The collection period t of data, displacement acquisition module 1 should be significantly less than the paces period of user, for example, collection period t can be with value
For 0.1s or 0.2s.In addition, in the present embodiment, different collection period can be arranged according to the rehabilitation patient of different phase
T and degree of fatigue threshold value, with assessing the fatigue conditions in its rehabilitation course for adaptability.
Assessment device in the present embodiment, by acquiring rehabilitation patient's waist in the motion process using lower limb rehabilitation device
The motion bit in-migration at portion center analyzes the period of its waist movement, and the motion capture like knee, foot is not difficult, analysis is difficult,
Waist movement data acquisition is relatively simple and its period can embody the paces period of the rehabilitation patient, and then can pass through ratio
The paces period is averaged to current pace period and history to judge whether the rehabilitation patient is tired, to decide whether to continue to use down
Limb rehabilitation equipment carries out this rehabilitation exercise, and combining the length of time of rehabilitation exercise can be the rehabilitation of assessment rehabilitation patient
Progress provides accurately reference.
Embodiment 2
The present embodiment provides a kind of lower limb rehabilitation device, which includes the assessment device in embodiment 1.Cause
This, the lower limb rehabilitation device of the present embodiment can not only assist user to carry out lower limb rehabilitation training, can also be to user
Fatigue conditions in rehabilitation course are assessed, and combine the length of time of rehabilitation exercise can also be for assessment rehabilitation patient's
Rehabilitation progress provides accurately reference.
Embodiment 3
The present embodiment provides a kind of appraisal procedures based on lower limb rehabilitation device, and Fig. 2 shows the flow charts of the present embodiment.
Referring to fig. 2, the appraisal procedure of the present embodiment includes:
S1, user using lower limb rehabilitation device motion process in, periodically acquire user waist center movement
Displacement, and generate the time series of moving displacement.
Specifically, in the present embodiment, contact-sensing (such as six-dimension force sensor) or non-contact biography can be passed through
Sensor (such as binocular camera) acquires moving displacement.For example, lower limb rehabilitation device supports user to carry out health by waist band
When moving again, moving displacement number can be acquired using touch sensors such as the six-dimension force sensors connecting with user's waist
According to；When lower limb rehabilitation device grabs auxiliary user's progress rehabilitation exercise by mechanical arm, the binocular phase of outside installation can be passed through
The view-based access control models such as machine image with the noncontacting proximity sensor of graphics process and acquire moving displacement data.
In the present embodiment, when starting rehabilitation exercise with user, which is initial position, week
Acquire to phase property moving displacement of the waist center of the user relative to the initial position.The collection period for enabling moving displacement is t,
N-th of acquisition time is t (n) (n is positive integer, and t (n)-t (n-1)=t), and the moving displacement of n-th acquisition is Δ x
(n), then the time series of the moving displacement generated are as follows: [t (1), Δ x (1)], [t (2), Δ x (2)] ..., [t (m), Δ x
(m)] (m is positive integer), wherein t (m) is current acquisition time, and Δ x (m) is the collected moving displacement of current acquisition time.
S2, time series is divided into several Time Sub-series according to the mechanical periodicity of moving displacement.
In the present embodiment, user carries out rehabilitation exercise, adjacent foot-up and composition one of stopping over using lower limb rehabilitation device
A paces, that is, user is moved in circles based on the rehabilitation exercise of lower limb rehabilitation device, and then collected waist center
Moving displacement also shows the periodicity of paces, gradually becomes smaller again again gradually for example, collected moving displacement can become larger
Become larger, so that the time series of above-mentioned moving displacement can be divided into several characterization paces according to the mechanical periodicity of moving displacement
The Time Sub-series in period.
Specifically, can cut-point of the foothold as the paces period of each paces can correspondingly be fallen according to each
The target motion bit in-migration sliced time sequence at the corresponding waist center of pin point, wherein target moving displacement Δ x (o) >=Δ x
(o-1), and Δ x (o) >=Δ x (o+1) (o is positive integer), that is, target moving displacement Δ x (o) is greater than its corresponding target
The moving displacement of upper one and the next acquisition time of acquisition time t (o).Step S2 can be corresponding with target moving displacement Δ x (o)
Cut-point of the target acquisition time t (o) as above-mentioned time series, which is divided into several Time Sub-series.
S3, the average length for calculating all Time Sub-series.
In the present embodiment, the length of time series is m*t, it is assumed that the quantity of above-mentioned cut-point is c (c is positive integer),
Then, time series is separated into (c+1) a Time Sub-series, the average length SE=m* of all Time Sub-series in the present embodiment
t/(c+1)。
S4, judge whether average length is less than the length of current Time Sub-series；
If so, going to step S5；If it is not, then return step S1；
S5, the signal for sending characterization human fatigue.
In the present embodiment, enable include current acquisition time t (m) current Time Sub-series in first acquisition time be
T (s) (s is positive integer), then length U=(m-s) the * t of current Time Sub-series.
User carries out rehabilitation exercise under normal circumstances using lower limb rehabilitation device, and paces frequency tends towards stability, and works as and use
When family starts to occur fatigue, the extension of its paces period hair will lead to due to physical strength etc..To when all Time Sub-series
Average length SE be less than current Time Sub-series length U when, then characterize user and show tired state, step S5 can send table
Levy the signal of human fatigue.Otherwise, the not shown tired state of user is estimated, can also continue to carry out this health using lower limb rehabilitation device
Multiple movement, return continue to execute step S1 acquisition moving displacement data.
Referring to Fig. 3, in the present embodiment, step S5 be can specifically include:
S51, the degree of fatigue that user is assessed according to the ratio of average length and the length of current Time Sub-series.
Specifically, the fatigue conditions of user are assessed in the form of numerical value, it is more intuitive effective, it is in the present embodiment, tired
Labor degree WI=[100* (1-SE/U)], when the length U of current Time Sub-series is bigger, has degree of fatigue WI higher.And work as
When the average length SE of all Time Sub-series is not less than the length U of current Time Sub-series, then the degree of fatigue of user at this time
It is 0.
S52, the signal including degree of fatigue is sent.
In step S52, the display equipment at the signal to physiatrician including degree of fatigue WI can be sent, to provide
Reference of the physiatrician about the human fatigue degree, and then physiatrician can determine the user if appropriate for continuing to use
Lower limb rehabilitation device carries out rehabilitation exercise.
Further, in the present embodiment, step S5 can also include:
S53, judge whether degree of fatigue is greater than degree of fatigue threshold value；
If so, going to step S54；If it is not, then going to step S55；
S54, the count value that initial value is 0 is added 1, and goes to step S56；
S55, count value is reset, and return step S1；
S56, judge whether count value is greater than count threshold；
If so, going to step S57；If it is not, then return step S1；
S57, the signal for sending instruction stop motion process.
In the present embodiment, degree of fatigue threshold value can according to practical application between 0-100 adaptability value, and pass through
By above-mentioned steps S53-S55, it can be determined that whether continuous counter value number is all larger than degree of fatigue threshold value to degree of fatigue WI, in turn
Degree of fatigue WI is greater than 0 situation caused by avoiding due to accidental cause, provides more accurately for physiatrician to comment
Estimate the reference data of user's rehabilitation progress.In step S57, by sending the signal of instruction stop motion process, it can inform
The unsuitable lower limb rehabilitation device that continues to use of the physical condition of physiatrician user carries out rehabilitation exercise.
In the present embodiment, in order to give physiatrician more accurately to assess the reference of rehabilitation patient's rehabilitation progress
Data, collection period t should be significantly less than the paces period of user, for example, collection period t can be with value for 0.1s or 0.2s.
In addition, in the present embodiment, different collection period t and degree of fatigue threshold can be arranged according to the rehabilitation patient of different phase
Value, with assessing the fatigue conditions in its rehabilitation course for adaptability.
Appraisal procedure in the present embodiment, by acquiring rehabilitation patient's waist in the motion process using lower limb rehabilitation device
The motion bit in-migration at portion center analyzes the period of its waist movement, and the motion capture like knee, foot is not difficult, analysis is difficult,
Waist movement data acquisition is relatively simple and its period can embody the paces period of the rehabilitation patient, and then can pass through ratio
The paces period is averaged to current pace period and history to judge whether the rehabilitation patient is tired, to decide whether to continue to use down
Limb rehabilitation equipment carries out this rehabilitation exercise, and combining the length of time of rehabilitation exercise can be the rehabilitation of assessment rehabilitation patient
Progress provides accurately reference.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that this is only
For example, protection scope of the present invention is to be defined by the appended claims.Those skilled in the art without departing substantially from
Under the premise of the principle and substance of the present invention, many changes and modifications may be made, but these change and
Modification each falls within protection scope of the present invention.
Claims (12)
1. a kind of assessment device based on lower limb rehabilitation device, which is characterized in that the assessment device includes:
Displacement acquisition module, for periodically acquiring the use in motion process of the user using the lower limb rehabilitation device
The moving displacement at the waist center at family, and generate the time series of moving displacement；
The time series is divided into several sub- time sequences for the mechanical periodicity according to moving displacement by sequences segmentation module
Column；
It is expected that statistical module, for calculating the average length of all Time Sub-series；
Judgment module, for judging whether the average length is less than the length of current Time Sub-series；
If so, cue module is called, for sending the signal for characterizing the human fatigue.
2. the assessment device based on lower limb rehabilitation device as described in claim 1, which is characterized in that the sequences segmentation module
Specifically for using the corresponding target acquisition time of target moving displacement as cut-point, the time series is divided into several period of the day from 11 p.m. to 1 a.m
Between sequence；
Wherein, the target moving displacement is greater than the motion bit of upper one and next acquisition time of the target acquisition time
It moves.
3. the assessment device based on lower limb rehabilitation device as described in claim 1, which is characterized in that the cue module packet
It includes:
Degree of fatigue assessment unit, for according to the assessment of the ratio of the average length and the length of current Time Sub-series
The degree of fatigue of user；
Degree of fatigue prompt unit, for sending the signal including the degree of fatigue.
4. the assessment device based on lower limb rehabilitation device as claimed in claim 3, which is characterized in that the degree of fatigue assessment
Unit is specifically used for assessing degree of fatigue according to the following formula:
WI=[100* (1-SE/U)]
Wherein, WI characterizes degree of fatigue, and SE characterizes average length, and U characterizes the length of current Time Sub-series.
5. the assessment device based on lower limb rehabilitation device as claimed in claim 4, which is characterized in that the cue module is also wrapped
It includes:
First judging unit, for judging whether the degree of fatigue is greater than degree of fatigue threshold value；
If so, calling counting unit；If it is not, then calling resetting unit；
The counting unit is used to the count value that initial value is 0 adding 1；
The resetting unit is for resetting count value；
Second judgment unit, for judging whether count value is greater than count threshold；
If so, calling reminding unit, stop the signal of the motion process for sending instruction；
If it is not, then calling the displacement acquisition module.
6. the assessment device based on lower limb rehabilitation device as described in claim 1, which is characterized in that the displacement acquisition module
Include:
Contact-sensing, the touch sensor include six-dimension force sensor；
Or, non-contact sensor, the noncontacting proximity sensor includes binocular camera.
7. a kind of lower limb rehabilitation device, which is characterized in that the lower limb rehabilitation device includes such as any one of claim 1-6 institute
The assessment device based on lower limb rehabilitation device stated.
8. a kind of appraisal procedure based on lower limb rehabilitation device, which is characterized in that the appraisal procedure includes:
In motion process of the user using the lower limb rehabilitation device, the movement at the waist center of the user is periodically acquired
Displacement, and generate the time series of moving displacement；
The time series is divided into several Time Sub-series according to the mechanical periodicity of moving displacement；
Calculate the average length of all Time Sub-series；
Judge whether the average length is less than the length of current Time Sub-series；
If so, sending the signal for characterizing the human fatigue.
9. as claimed in claim 8 based on the appraisal procedure of lower limb rehabilitation device, which is characterized in that described according to moving displacement
The mechanical periodicity the step of time series is divided into several Time Sub-series include:
Using the corresponding target acquisition time of target moving displacement as cut-point, the time series is divided into several sub- time sequences
Column；
Wherein, the target moving displacement is greater than the motion bit of upper one and next acquisition time of the target acquisition time
It moves.
10. as claimed in claim 8 based on the appraisal procedure of lower limb rehabilitation device, which is characterized in that the transmission characterizes institute
The step of stating the signal of human fatigue include:
The degree of fatigue of the user is assessed according to the ratio of the average length and the length of current Time Sub-series；
Send the signal including the degree of fatigue.
11. as claimed in claim 10 based on the appraisal procedure of lower limb rehabilitation device, which is characterized in that described according to described flat
The step of ratio of equal length and the length of current Time Sub-series assesses the degree of fatigue of the user include:
Degree of fatigue is assessed according to the following formula:
WI=[100* (1-SE/U)]
Wherein, WI characterizes degree of fatigue, and SE characterizes average length, and U characterizes the length of current Time Sub-series.
12. as claimed in claim 11 based on the appraisal procedure of lower limb rehabilitation device, which is characterized in that the transmission characterizes institute
The step of stating the signal of human fatigue further include:
Judge whether the degree of fatigue is greater than degree of fatigue threshold value；
If so, the count value that initial value is 0 is added 1；
If it is not, then count value is reset；
Judge whether count value is greater than count threshold；
If so, sending the signal that instruction stops the motion process；
If it is not, described in then continuing to execute in motion process of the user using the lower limb rehabilitation device, periodically described in acquisition
The moving displacement at the waist center of user, and the step of generating the time series of moving displacement.
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Application publication date: 20190625 Assignee: SHANGHAI ELECTRIC INTELLIGENT REHABILITATION MEDICAL TECHNOLOGY Co.,Ltd. Assignor: Shanghai Electric Group Co.,Ltd. Contract record no.: X2023310000146 Denomination of invention: Lower limb rehabilitation equipment and evaluation devices and methods based on it Granted publication date: 20220809 License type: Exclusive License Record date: 20230919 |