CN109924985B - Lower limb rehabilitation equipment and evaluation device and method based on same - Google Patents
Lower limb rehabilitation equipment and evaluation device and method based on same Download PDFInfo
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Abstract
The invention discloses lower limb rehabilitation equipment and an evaluation device and method based on the same. Wherein the evaluation device comprises: the displacement acquisition module is used for periodically acquiring the movement displacement of the center of the waist of the user and generating a time sequence of the movement displacement in the movement process of using the lower limb rehabilitation equipment by the user; the sequence segmentation module is used for segmenting the time sequence into a plurality of sub-time sequences according to the periodic variation of the motion displacement; the expectation statistic module is used for calculating the average length of all the sub time sequences; the judging module is used for judging whether the average length is smaller than the length of the current sub-time sequence or not; and if so, calling a prompt module for sending a signal for representing the fatigue of the user. The evaluation device can judge whether the rehabilitation patient is tired or not by comparing the current step period with the historical average step period so as to determine whether to continue to use the lower limb rehabilitation equipment for the rehabilitation exercise, thereby providing accurate reference for evaluating the rehabilitation progress of the rehabilitation patient.
Description
Technical Field
The invention relates to the technical field of rehabilitation medicine, in particular to lower limb rehabilitation equipment and an evaluation device and method based on the same.
Background
In a rehabilitation hospital, the fatigue condition of a rehabilitation patient is often evaluated by depending on the observation of a rehabilitation doctor and the feedback of the rehabilitation patient, so that the rehabilitation device is effectively utilized to assist the rehabilitation patient to carry out scientific and efficient rehabilitation treatment so as to recover the function of the lower limb. However, the observation of the fatigue status of the rehabilitation patient by the rehabilitation doctor or the feedback of the rehabilitation patient are subjective judgments, and it is difficult to provide accurate reference meaning for the evaluation of the rehabilitation progress of the rehabilitation patient.
Disclosure of Invention
The invention aims to overcome the defect that the fatigue condition of a rehabilitation patient is difficult to accurately evaluate in lower limb rehabilitation exercise in the prior art, and provides lower limb rehabilitation equipment and an evaluation device and method based on the lower limb rehabilitation equipment.
The invention solves the technical problems through the following technical scheme:
an evaluation device based on a lower limb rehabilitation apparatus, characterized in that the evaluation device comprises:
the displacement acquisition module is used for periodically acquiring the movement displacement of the waist center of the user and generating a time sequence of the movement displacement in the movement process of using the lower limb rehabilitation equipment by the user;
the sequence segmentation module is used for segmenting the time sequence into a plurality of sub-time sequences according to the periodic variation of the motion displacement;
the expectation statistic module is used for calculating the average length of all the sub time sequences;
the judging module is used for judging whether the average length is smaller than the length of the current sub-time sequence;
and if so, calling a prompt module for sending a signal for representing the fatigue of the user.
Preferably, the sequence division module is specifically configured to divide the time sequence into a plurality of sub-time sequences by taking target acquisition time corresponding to the target motion displacement as a division point;
wherein the target motion displacement is greater than the motion displacement of the last and next acquisition times of the target acquisition time.
Preferably, the prompting module includes:
the fatigue degree evaluation unit is used for evaluating the fatigue degree of the user according to the ratio of the average length to the length of the current sub-time sequence;
and the fatigue degree prompting unit is used for sending a signal comprising the fatigue degree.
Preferably, the fatigue degree evaluation unit is specifically configured to evaluate the fatigue degree according to the following formula:
WI＝[100*(1-SE/U)]
wherein WI represents fatigue degree, SE represents average length, and U represents length of current sub-time sequence.
Preferably, the prompting module further comprises:
the first judging unit is used for judging whether the fatigue degree is greater than a fatigue degree threshold value or not;
if yes, calling a counting unit; if not, calling a zero clearing unit;
the counting unit is used for adding 1 to a counting value with an initial value of 0;
the zero clearing unit is used for clearing the count value;
a second judgment unit configured to judge whether the count value is greater than the count threshold;
if so, calling a reminding unit for sending a signal for indicating to stop the motion process;
if not, the displacement acquisition module is called.
Preferably, the displacement acquisition module includes:
a touch sensor comprising a six-dimensional force sensor;
or, a non-contact sensor comprising a binocular camera.
A lower limb rehabilitation apparatus, characterized in that the lower limb rehabilitation apparatus comprises any one of the above evaluation devices based on a lower limb rehabilitation apparatus.
An evaluation method based on a lower limb rehabilitation device, which is characterized by comprising the following steps:
periodically collecting the movement displacement of the waist center of a user and generating a time sequence of the movement displacement in the movement process of the user using the lower limb rehabilitation equipment;
dividing the time sequence into a plurality of sub-time sequences according to the periodic variation of the motion displacement;
calculating the average length of all the sub-time sequences;
judging whether the average length is smaller than the length of the current sub-time sequence;
and if so, sending a signal representing the fatigue of the user.
Preferably, the step of dividing the time sequence into a plurality of sub-time sequences according to the periodic variation of the motion displacement comprises:
dividing the time sequence into a plurality of sub-time sequences by taking target acquisition time corresponding to target motion displacement as a division point;
wherein the target motion displacement is greater than the motion displacement of the last and next acquisition times of the target acquisition time.
Preferably, the step of transmitting a signal indicative of fatigue of the user comprises:
evaluating the fatigue degree of the user according to the ratio of the average length to the length of the current sub-time sequence;
transmitting a signal including the degree of fatigue.
Preferably, the step of evaluating the fatigue degree of the user according to the ratio of the average length to the length of the current sub-time series comprises:
the fatigue degree was evaluated according to the following formula:
WI＝[100*(1-SE/U)]
wherein WI represents fatigue degree, SE represents average length, and U represents length of current sub-time sequence.
Preferably, the step of transmitting a signal indicative of fatigue of the user further comprises:
judging whether the fatigue degree is larger than a fatigue degree threshold value;
if yes, adding 1 to the count value with the initial value of 0;
if not, resetting the count value;
judging whether the count value is greater than a count threshold value;
if yes, sending a signal indicating to stop the motion process;
if not, continuously executing the step of periodically acquiring the movement displacement of the waist center of the user and generating a time sequence of the movement displacement in the movement process of using the lower limb rehabilitation equipment by the user.
The positive progress effects of the invention are as follows: the evaluation device analyzes the waist movement period by collecting the movement displacement of the waist center of a rehabilitation patient in the movement process of using the lower limb rehabilitation equipment, the waist movement period can embody the pace period of the rehabilitation patient, and then whether the rehabilitation patient is tired can be judged by comparing the current pace period with the historical average pace period so as to determine whether to continue using the lower limb rehabilitation equipment to carry out the rehabilitation movement, thereby providing accurate reference for evaluating the rehabilitation progress of the rehabilitation patient.
Drawings
Fig. 1 is a block diagram of an evaluation apparatus based on a lower limb rehabilitation device according to embodiment 1 of the present invention.
Fig. 2 is a flowchart of an evaluation method based on a lower limb rehabilitation device according to embodiment 3 of the present invention.
Fig. 3 is a flowchart of step S5 in the lower limb rehabilitation device-based evaluation method according to embodiment 3 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
The embodiment provides an evaluation device based on a lower limb rehabilitation device, and fig. 1 shows a module schematic diagram of the embodiment. Referring to fig. 1, the evaluation device of the present embodiment includes:
the displacement acquisition module 1 is used for periodically acquiring the movement displacement of the waist center of the user and generating a time sequence of the movement displacement in the movement process of the user using the lower limb rehabilitation device.
Specifically, in the present embodiment, the displacement acquisition module 1 may include a contact sensor (such as a six-dimensional force sensor) or a non-contact sensor (such as a binocular camera). For example, when the lower limb rehabilitation device supports the user to do rehabilitation exercise through the waist belt, the lower limb rehabilitation device can adopt a contact sensor such as a six-dimensional force sensor connected with the waist of the user to acquire exercise displacement data; when the lower limb rehabilitation equipment is used for grabbing the auxiliary user to perform rehabilitation movement through the mechanical arm, movement displacement data can be acquired through non-contact sensors based on visual shooting and graphic processing, such as externally mounted binocular cameras.
The displacement acquisition module 1 periodically acquires the movement displacement of the waist center of the user relative to an initial position by taking the position of the waist center of the user as the initial position when the user starts rehabilitation movement. In this embodiment, let t be the acquisition period of the motion displacement, t (n is a positive integer) be the nth acquisition time, t (n) -t (n-1) ═ t, and Δ x (n) be the motion displacement acquired at the nth acquisition time, then the time series of the motion displacements generated is: [ t (1), Δ x (1) ], [ t (2), Δ x (2) ], … …, [ t (m) () Δ x (m) is a positive integer, where t (m) is the current acquisition time and Δ x (m) is the motion displacement acquired at the current acquisition time.
And the sequence segmentation module 2 is used for segmenting the time sequence into a plurality of sub-time sequences according to the periodic variation of the motion displacement.
In this embodiment, the user performs rehabilitation exercise using the lower limb rehabilitation device, and the adjacent foot lifting and foot dropping constitute a step, that is, the rehabilitation exercise of the user based on the lower limb rehabilitation device is cyclic, and then the acquired movement displacement of the waist center also shows the periodicity of the step, for example, the acquired movement displacement will gradually become larger, smaller, larger, and the like, so that the time sequence of the movement displacement can be divided into a plurality of sub-time sequences representing the step period according to the periodic variation of the movement displacement.
Specifically, the step point of each step can be used as the dividing point of the step period, and accordingly, the time sequence can be divided according to the target movement displacement of the waist center corresponding to each step point, wherein the target movement displacement Δ x (o) ≧ Δ x (o-1), and Δ x (o) ≧ Δ x (o +1) (o is a positive integer), that is, the target movement displacement Δ x (o) is greater than the movement displacement of the previous and next acquisition time of the corresponding target acquisition time t (o). The sequence dividing module 2 may divide the time sequence into a plurality of sub-time sequences by using the target acquisition time t (o) corresponding to the target motion displacement Δ x (o) as a dividing point of the time sequence.
And the expectation statistics module 3 is used for calculating the average length of all the sub time sequences.
In the present embodiment, the time series has a length of m × t, and assuming that the number of the division points is c (c is a positive integer), the time series is divided into (c +1) sub-time series, and the average length SE of all the sub-time series is m × t/(c + 1).
And the judging module 4 is used for judging whether the average length is smaller than the length of the current sub-time sequence.
In this embodiment, let the first acquisition time in the current sub-time sequence including the current acquisition time t (m) be t(s) (s is a positive integer), and the length U of the current sub-time sequence be (m-s) × t.
Under the normal condition that the user uses the recovered motion of low limbs rehabilitation equipment, step frequency tends to be stable, and when the user begins to appear tired, can lead to the extension of its step cycle because of reasons such as physical power. Thus, when the average length SE of all sub-time sequences is smaller than the length U of the current sub-time sequence, the user is characterized as exhibiting fatigue, and the prompt module 5 may be invoked to send a signal that characterizes the user's fatigue. Otherwise, the user is estimated not to be in a fatigue state, the lower limb rehabilitation device can be continuously used for the rehabilitation exercise, and the displacement acquisition module 1 continuously acquires the movement displacement data.
In this embodiment, the prompting module 5 specifically includes a fatigue degree evaluating unit 51 and a fatigue degree prompting unit 52. Specifically, the fatigue degree evaluating unit 51 is configured to evaluate the fatigue degree of the user according to a ratio of the average length SE and the length U of the current sub-time series, and evaluate the fatigue state of the user in a numerical form, which is more intuitive and effective, wherein the fatigue degree WI is [100 (1-SE/U) ], and the fatigue degree WI is higher when the length U of the current sub-time series is larger. And when the average length SE of all the sub-time sequences is not less than the length U of the current sub-time sequence, the fatigue degree of the user at this time is 0. The fatigue level prompting unit 52 may send a signal including the fatigue level WI to a display device at the rehabilitation doctor to provide the rehabilitation doctor with a reference about the user's fatigue level, and the rehabilitation doctor may then decide whether the user is suitable to continue the rehabilitation exercise using the lower limb rehabilitation device.
Further, the prompting module 5 may further include a first judging unit 53, a counting unit 54, a clearing unit 55, a second judging unit 56, and a prompting unit 57. The first determining unit 53 is configured to determine whether the fatigue degree WI is greater than a fatigue degree threshold (the fatigue degree threshold may be adaptively valued between 0 and 100 according to actual application), if so, the counting unit 54 is invoked to add 1 to a count value of which the initial value is 0, and the second determining unit 56 is then configured to determine whether the count value is greater than the count threshold; if not, the zero clearing unit 55 is called to clear the count value and the displacement acquisition module 1 is continuously called to acquire the motion displacement data. Therefore, whether the number of times of the continuous counting values of the fatigue degree WI is larger than the fatigue degree threshold value or not is judged, the situation that the fatigue degree WI is larger than 0 due to accidental reasons is further avoided, and more accurate reference data for evaluating the rehabilitation progress of the user is provided for a rehabilitation doctor. If the second judging unit 56 judges yes, the reminding unit 57 is called to send a signal indicating stopping the exercise process to inform the rehabilitation doctor that the physical condition of the user is not suitable for continuing to use the lower limb rehabilitation device for rehabilitation exercise, and if the second judging unit 56 judges no, the displacement acquisition module 1 is called to continue to acquire the exercise displacement data.
In this embodiment, in order to provide the rehabilitation physician with more accurate reference data for evaluating the rehabilitation progress of the rehabilitation patient, the acquisition period t of the displacement acquisition module 1 should be significantly smaller than the step period of the user, for example, the acquisition period t may be 0.1s or 0.2 s. In addition, in this embodiment, different acquisition periods t and fatigue degree thresholds can be set according to different stages of rehabilitation patients, so as to adaptively evaluate the fatigue condition in the rehabilitation process.
The evaluation device in the embodiment analyzes the period of the waist movement by acquiring the movement displacement of the waist center of the rehabilitation patient in the movement process of using the lower limb rehabilitation equipment, unlike the difficulty in acquiring and analyzing the movement data of knees and feet, the acquisition of the movement data of the waist is simpler, the period of the movement data of the waist can reflect the step period of the rehabilitation patient, and then whether the rehabilitation patient is tired can be judged by comparing the current step period with the historical average step period so as to decide whether to continue using the lower limb rehabilitation equipment to perform the rehabilitation movement, and the accurate reference can be provided for evaluating the rehabilitation progress of the rehabilitation patient by combining the time length of the rehabilitation movement.
Example 2
The present embodiment provides a lower limb rehabilitation apparatus including the evaluation device in embodiment 1. Therefore, the lower limb rehabilitation device of the embodiment can not only assist the user in performing lower limb rehabilitation exercise training, but also evaluate the fatigue condition of the user in the rehabilitation process, and can provide accurate reference for evaluating the rehabilitation progress of the rehabilitation patient by combining the time length of the rehabilitation exercise.
Example 3
The embodiment provides an evaluation method based on a lower limb rehabilitation device, and fig. 2 shows a flowchart of the embodiment. Referring to fig. 2, the evaluation method of the present embodiment includes:
and S1, periodically collecting the movement displacement of the waist center of the user in the movement process of the user using the lower limb rehabilitation device, and generating a time sequence of the movement displacement.
In particular, in the present embodiment, the movement displacement may be acquired by a contact-type sensor (such as a six-dimensional force sensor) or a non-contact sensor (such as a binocular camera). For example, when the lower limb rehabilitation device supports a user to perform rehabilitation exercise through a waist belt, a contact sensor such as a six-dimensional force sensor connected with the waist of the user can be used for acquiring exercise displacement data; when the lower limb rehabilitation equipment is used for grabbing the auxiliary user to perform rehabilitation movement through the mechanical arm, movement displacement data can be acquired through non-contact sensors based on visual shooting and graphic processing, such as externally mounted binocular cameras.
In this embodiment, when the user starts rehabilitation exercise, the position of the waist center of the user is taken as an initial position, and the movement displacement of the waist center of the user relative to the initial position is periodically acquired. Let t be the acquisition period of the motion displacement, t (n is a positive integer, and t (n) -t (n-1) ═ t) be the nth acquisition time, Δ x (n) be the motion displacement acquired the nth time, and the time series of motion displacements generated are: [ t (1), Δ x (1) ], [ t (2), Δ x (2) ], … …, [ t (m) () Δ x (m) is a positive integer, where t (m) is the current acquisition time and Δ x (m) is the motion displacement acquired at the current acquisition time.
And S2, dividing the time sequence into a plurality of sub time sequences according to the periodic change of the motion displacement.
In this embodiment, the user performs rehabilitation exercise using the lower limb rehabilitation device, and the adjacent foot lifting and foot dropping constitute a step, that is, the rehabilitation exercise of the user based on the lower limb rehabilitation device is cyclic, and then the acquired movement displacement of the waist center also shows the periodicity of the step, for example, the acquired movement displacement will gradually become larger, smaller, larger, and the like, so that the time sequence of the movement displacement can be divided into a plurality of sub-time sequences representing the step period according to the periodic variation of the movement displacement.
Specifically, the step point of each step can be used as the dividing point of the step period, and accordingly, the time sequence can be divided according to the target movement displacement of the waist center corresponding to each step point, wherein the target movement displacement Δ x (o) ≧ Δ x (o-1), and Δ x (o) ≧ Δ x (o +1) (o is a positive integer), that is, the target movement displacement Δ x (o) is greater than the movement displacement of the previous and next acquisition time of the corresponding target acquisition time t (o). In step S2, the time sequence may be divided into several sub-time sequences by using the target acquisition time t (o) corresponding to the target motion displacement Δ x (o) as the division point of the time sequence.
And S3, calculating the average length of all the sub time sequences.
In the present embodiment, the time series has a length of m × t, and assuming that the number of the division points is c (c is a positive integer), the time series is divided into (c +1) sub-time series, and the average length SE of all the sub-time series is m × t/(c + 1).
S4, judging whether the average length is smaller than the length of the current sub-time sequence;
if yes, go to step S5; if not, returning to the step S1;
and S5, sending a signal for representing the fatigue of the user.
In this embodiment, let the first acquisition time in the current sub-time sequence including the current acquisition time t (m) be t(s) (s is a positive integer), and the length U of the current sub-time sequence be (m-s) × t.
Under the normal condition that the user uses the recovered motion of low limbs rehabilitation equipment, step frequency tends to be stable, and when the user begins to appear tired, can lead to the extension of its step cycle because of reasons such as physical power. Thus, when the average length SE of all the sub-time sequences is smaller than the length U of the current sub-time sequence, the user is represented as fatigue, and step S5 may send a signal representing the user fatigue. Otherwise, it is assumed that the user is not in a fatigue state, and the user can continue to use the lower limb rehabilitation device to perform the rehabilitation exercise, and the user returns to continue to perform the step S1 to collect the exercise displacement data.
Referring to fig. 3, in this embodiment, step S5 may specifically include:
and S51, evaluating the fatigue degree of the user according to the ratio of the average length to the length of the current sub-time sequence.
Specifically, it is more intuitive and effective to evaluate the fatigue status of the user in a numerical form, and in the present embodiment, the fatigue degree WI is [100 × (1-SE/U) ], and the higher the length U of the current sub-time series is, the higher the fatigue degree WI is. And when the average length SE of all the sub-time sequences is not less than the length U of the current sub-time sequence, the fatigue degree of the user at this time is 0.
And S52, sending a signal including the fatigue degree.
In step S52, a signal including the degree of fatigue WI may be sent to a display device at the rehabilitation practitioner to provide the rehabilitation practitioner with a reference to the user' S degree of fatigue, and the rehabilitation practitioner may decide whether the user is appropriate to continue to use the lower limb rehabilitation device for rehabilitation exercises.
Further, in this embodiment, step S5 may further include:
s53, judging whether the fatigue degree is larger than a fatigue degree threshold value;
if yes, go to step S54; if not, go to step S55;
s54, adding 1 to the count value with the initial value of 0, and going to step S56;
s55, clearing the count value and returning to the step S1;
s56, judging whether the count value is larger than the count threshold value;
if yes, go to step S57; if not, returning to the step S1;
and S57, sending a signal indicating the stop of the motion process.
In this embodiment, the fatigue degree threshold may be adaptively valued between 0 and 100 according to actual application, and through the above steps S53 to S55, it may be determined whether the number of consecutive counts of the fatigue degree WI is greater than the fatigue degree threshold, so as to avoid a situation that the fatigue degree WI is greater than 0 due to accidental reasons, and provide a more accurate reference data for evaluating the rehabilitation progress of the user for the rehabilitation physician. In step S57, by transmitting a signal indicating that the exercise process is stopped, the rehabilitation doctor can be informed that the user' S physical condition has become inappropriate to continue the rehabilitation exercise using the lower limb rehabilitation apparatus.
In this embodiment, in order to give the rehabilitation physician more accurate reference data for evaluating the rehabilitation progress of the rehabilitation patient, the acquisition period t should be significantly smaller than the user's step period, for example, the acquisition period t may be 0.1s or 0.2 s. In addition, in this embodiment, different acquisition periods t and fatigue degree thresholds can be set according to different stages of rehabilitation patients, so as to adaptively evaluate the fatigue condition in the rehabilitation process.
In the assessment method in the embodiment, the movement displacement of the center of the waist of the rehabilitation patient is collected in the movement process of using the lower limb rehabilitation device to analyze the movement period of the waist, unlike the difficulty in obtaining and analyzing the movement data of the knee and the foot, the acquisition of the movement data of the waist is simple, the period can reflect the step period of the rehabilitation patient, and then whether the rehabilitation patient is tired can be judged by comparing the current step period with the historical average step period so as to determine whether to continue using the lower limb rehabilitation device to perform the rehabilitation movement, and accurate reference can be provided for assessing the rehabilitation progress of the rehabilitation patient by combining the time length of the rehabilitation movement.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (8)
1. An evaluation apparatus based on a lower limb rehabilitation device, characterized in that the evaluation apparatus comprises:
the displacement acquisition module is used for periodically acquiring the movement displacement of the waist center of the user and generating a time sequence of the movement displacement in the movement process of using the lower limb rehabilitation equipment by the user;
the sequence segmentation module is used for segmenting the time sequence into a plurality of sub-time sequences representing the step period according to the periodic variation of the motion displacement;
the acquisition period of the displacement acquisition module is less than the step period;
the expectation statistic module is used for calculating the average length of all the sub time sequences;
the judging module is used for judging whether the average length is smaller than the length of the current sub-time sequence;
if so, calling a prompt module for sending a signal representing the fatigue of the user;
the prompting module comprises:
the fatigue degree evaluation unit is used for evaluating the fatigue degree of the user according to the ratio of the average length to the length of the current sub-time sequence;
a fatigue degree prompting unit for sending a signal including the fatigue degree;
setting corresponding acquisition cycles and fatigue degree thresholds according to different rehabilitation stages of the user so as to adaptively evaluate fatigue conditions of the user in the rehabilitation process;
the fatigue degree evaluation unit is specifically configured to evaluate the fatigue degree according to the following formula:
WI=[100*（1-SE/U）]
wherein WI represents fatigue degree, SE represents average length, and U represents length of current sub-time sequence.
2. The lower limb rehabilitation device-based evaluation device of claim 1, wherein the sequence division module is specifically configured to divide the time sequence into a plurality of sub-time sequences by taking a target acquisition time corresponding to a target motion displacement as a division point;
wherein the target motion displacement is greater than the motion displacement of the last and next acquisition times of the target acquisition time.
3. The lower limb rehabilitation device-based assessment apparatus of claim 1, wherein the prompt module further comprises:
the first judging unit is used for judging whether the fatigue degree is greater than a fatigue degree threshold value or not;
if yes, calling a counting unit; if not, calling a zero clearing unit;
the counting unit is used for adding 1 to a counting value with an initial value of 0;
the zero clearing unit is used for clearing the count value;
a second judgment unit configured to judge whether the count value is greater than the count threshold;
if so, calling a reminding unit for sending a signal for indicating to stop the motion process;
if not, the displacement acquisition module is called.
4. The lower limb rehabilitation device-based assessment device of claim 1, wherein said displacement acquisition module comprises:
a touch sensor comprising a six-dimensional force sensor;
or, a non-contact sensor comprising a binocular camera.
5. A lower limb rehabilitation apparatus, characterized in that it comprises a lower limb rehabilitation apparatus-based evaluation device according to any one of claims 1 to 4.
6. An evaluation method based on a lower limb rehabilitation device, characterized in that the evaluation method comprises the following steps:
periodically collecting the movement displacement of the waist center of a user and generating a time sequence of the movement displacement in the movement process of the user using the lower limb rehabilitation equipment;
dividing the time sequence into a plurality of sub-time sequences representing the step period according to the periodic variation of the motion displacement; the acquisition period is less than the step period;
calculating the average length of all the sub-time sequences;
judging whether the average length is smaller than the length of the current sub-time sequence;
if yes, sending a signal representing the fatigue of the user;
evaluating the fatigue degree of the user according to the ratio of the average length to the length of the current sub-time sequence;
transmitting a signal including the degree of fatigue;
setting corresponding acquisition cycles and fatigue degree thresholds according to different rehabilitation stages of the user so as to adaptively evaluate fatigue conditions of the user in the rehabilitation process;
the step of evaluating the fatigue degree of the user according to the ratio of the average length to the length of the current sub-time series comprises:
the fatigue degree was evaluated according to the following formula:
wherein the content of the first and second substances,
the degree of fatigue is characterized by the degree of fatigue,
the average length is characterized by the average length,
the length of the current sub-time series is characterized.
7. The lower extremity rehabilitation device-based assessment method according to claim 6, wherein the step of dividing the time series into a number of sub-time series according to the periodic variation of the movement displacement comprises:
dividing the time sequence into a plurality of sub-time sequences by taking target acquisition time corresponding to target motion displacement as a division point;
wherein the target motion displacement is greater than the motion displacement of the last and next acquisition times of the target acquisition time.
8. The lower extremity rehabilitation device-based assessment method of claim 6, wherein the step of transmitting a signal indicative of the user's fatigue further comprises:
judging whether the fatigue degree is larger than a fatigue degree threshold value;
if yes, adding 1 to the count value with the initial value of 0;
if not, resetting the count value;
judging whether the count value is greater than a count threshold value;
if yes, sending a signal indicating to stop the motion process;
if not, continuously executing the step of periodically acquiring the movement displacement of the waist center of the user and generating a time sequence of the movement displacement in the movement process of using the lower limb rehabilitation equipment by the user.
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