CN110639178A - Rehabilitation training method, rehabilitation training device, rehabilitation training equipment and medium - Google Patents
Rehabilitation training method, rehabilitation training device, rehabilitation training equipment and medium Download PDFInfo
- Publication number
- CN110639178A CN110639178A CN201910916290.7A CN201910916290A CN110639178A CN 110639178 A CN110639178 A CN 110639178A CN 201910916290 A CN201910916290 A CN 201910916290A CN 110639178 A CN110639178 A CN 110639178A
- Authority
- CN
- China
- Prior art keywords
- rehabilitation training
- actual
- preset
- user
- actual equivalent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012549 training Methods 0.000 title claims abstract description 230
- 238000000034 method Methods 0.000 title claims abstract description 57
- 230000033001 locomotion Effects 0.000 claims abstract description 348
- 238000006073 displacement reaction Methods 0.000 claims description 70
- 230000000694 effects Effects 0.000 abstract description 12
- 239000003814 drug Substances 0.000 abstract description 2
- 230000001133 acceleration Effects 0.000 description 27
- 210000003141 lower extremity Anatomy 0.000 description 27
- 230000008569 process Effects 0.000 description 15
- 238000004891 communication Methods 0.000 description 7
- 210000000629 knee joint Anatomy 0.000 description 7
- 208000012661 Dyskinesia Diseases 0.000 description 6
- 230000017311 musculoskeletal movement, spinal reflex action Effects 0.000 description 6
- 230000002567 autonomic effect Effects 0.000 description 5
- 239000013598 vector Substances 0.000 description 5
- 210000002310 elbow joint Anatomy 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008439 repair process Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 230000002194 synthesizing effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0075—Means for generating exercise programs or schemes, e.g. computerized virtual trainer, e.g. using expert databases
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5079—Velocity sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5084—Acceleration sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/18—Inclination, slope or curvature
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/20—Distances or displacements
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/30—Speed
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/40—Acceleration
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Databases & Information Systems (AREA)
- Software Systems (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a rehabilitation training method, a device, rehabilitation training equipment and a medium, wherein the rehabilitation training method comprises the following steps: the method comprises the steps of receiving a motion mode of a user, obtaining a first preset motion state corresponding to the motion mode, obtaining an actual motion state of the user corresponding to preset rehabilitation training when the user carries out preset rehabilitation training, determining an actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the first preset motion state and the actual motion state of the user, and guiding the user to carry out the preset rehabilitation training based on the actual equivalent auxiliary force. The invention solves the technical problem of low traditional Chinese medicine rehabilitation training effect in the prior art.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a rehabilitation training method, a rehabilitation training device, rehabilitation training equipment and a medium.
Background
In daily life, sudden disasters such as natural disasters, accidents, diseases and the like occur sometimes, and although the death rate after the disasters can be reduced to the maximum extent by modern medical technology, the sudden disasters often cause the limb movement dysfunction of people and seriously affect the life of the people. Research shows that correct and scientific rehabilitation training plays an important role in recovering the motor function of a patient, at present, as the motor functions of most patients are not recovered, the problem of insufficient motor force often exists during rehabilitation training, and the existing training method cannot provide accurate auxiliary force to guide the patient to perform rehabilitation training, so that the patient cannot achieve good rehabilitation effect during rehabilitation training, and the rehabilitation training effect is greatly reduced.
Disclosure of Invention
The invention mainly aims to provide a rehabilitation training method, a rehabilitation training device, rehabilitation training equipment and a medium, and aims to solve the technical problem of low rehabilitation training effect of traditional Chinese medicine in the prior art.
In order to achieve the above object, an embodiment of the present invention provides a rehabilitation training method, which is applied to a rehabilitation training device, and the rehabilitation training method includes:
receiving a motion mode of a user, and acquiring a first preset motion state corresponding to the motion mode;
when the user carries out preset rehabilitation training, acquiring the actual motion state of the user corresponding to the preset rehabilitation training;
determining actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the first preset motion state and the actual motion state of the user;
and guiding the user to perform the preset rehabilitation training based on the actual equivalent auxiliary force.
Optionally, when the user performs the preset rehabilitation training, the step of obtaining the actual motion state of the user corresponding to the preset rehabilitation training includes:
when the user carries out preset rehabilitation training, acquiring the actual movement displacement and the actual movement speed of the user;
and determining the actual motion state of the user corresponding to the preset rehabilitation training based on the actual motion displacement and the actual motion speed.
Optionally, the first preset motion state includes a preset motion displacement and a preset motion speed, and the user actual motion state includes an actual motion displacement and an actual motion speed;
the step of comparing the first preset motion state with the actual motion state of the user to obtain the actual equivalent auxiliary force corresponding to the preset rehabilitation training comprises:
determining an actual equivalent auxiliary force direction corresponding to the preset rehabilitation training based on the preset movement displacement and the actual movement displacement, wherein the actual equivalent auxiliary force direction comprises a horizontal actual equivalent auxiliary component force direction and a vertical actual equivalent auxiliary component force direction;
determining the actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the preset movement speed and the actual movement speed, wherein the actual equivalent auxiliary force comprises a horizontal actual equivalent auxiliary component force and a vertical actual equivalent auxiliary component force;
and determining the actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the actual equivalent auxiliary force direction and the actual equivalent auxiliary force.
Optionally, the step of determining an actual equivalent assisting force corresponding to the preset rehabilitation training based on the actual equivalent assisting force direction and the actual equivalent assisting force direction includes:
determining the horizontal actual equivalent auxiliary component force based on the direction of the horizontal actual equivalent auxiliary component force and the size of the horizontal actual equivalent auxiliary component force;
determining the vertical actual equivalent auxiliary component force based on the vertical actual equivalent auxiliary component force direction and the vertical actual equivalent auxiliary component force size;
and determining the actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the horizontal actual equivalent auxiliary component force and the vertical actual equivalent auxiliary component force.
Optionally, determining the autonomous movement capability of the user based on the actual movement state of the user;
when the user does not have the autonomous movement ability, completely guiding the user based on the actual equivalent auxiliary force, guiding the user to perform the preset rehabilitation training, and keeping the user in the first preset movement state;
and when the user has partial autonomous movement capability, performing partial guidance on the user based on the actual equivalent auxiliary force, guiding the user to perform the preset rehabilitation training, and keeping the user in the second preset movement state.
The present invention also provides a rehabilitation training device applied to a rehabilitation training apparatus, the rehabilitation training device including:
the first acquisition module is used for receiving the motion mode of the user and acquiring a first preset motion state corresponding to the motion mode;
the second acquisition module is used for acquiring the actual motion state of the user corresponding to the preset rehabilitation training when the user performs the preset rehabilitation training;
the determining module is used for determining the actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the first preset motion state and the actual motion state of the user;
and the first guiding module is used for guiding the user to carry out the preset rehabilitation training based on the actual equivalent auxiliary force.
Optionally, the obtaining module includes:
the first acquisition unit is used for acquiring the actual movement displacement and the actual movement speed of the user when the user performs preset rehabilitation training;
and the first determination unit is used for determining the actual motion state of the user corresponding to the preset rehabilitation training based on the actual motion displacement and the actual motion speed.
Optionally, the determining module includes:
a second determining unit, configured to determine, based on the preset motion displacement and the actual motion displacement, an actual equivalent auxiliary force direction corresponding to the preset rehabilitation training, where the actual equivalent auxiliary force direction includes a horizontal actual equivalent auxiliary component force direction and a vertical actual equivalent auxiliary component force direction;
a third determining unit, configured to determine, based on the preset movement speed and the actual movement speed, an actual equivalent auxiliary force corresponding to the preset rehabilitation training, where the actual equivalent auxiliary force includes a horizontal actual equivalent auxiliary component force and a vertical actual equivalent auxiliary component force;
and the fourth determining unit is used for determining the actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the actual equivalent auxiliary force direction and the actual equivalent auxiliary force.
Optionally, the fourth determining unit includes:
a first determining subunit, configured to determine the horizontal actual equivalent auxiliary component force based on the horizontal actual equivalent auxiliary component force direction and the horizontal actual equivalent auxiliary component force size;
a second determining subunit, configured to determine the vertical actual equivalent auxiliary component force based on the vertical actual equivalent auxiliary component force direction and the vertical actual equivalent auxiliary component force size;
and the third determining subunit is configured to determine, based on the horizontal actual equivalent auxiliary component force and the vertical actual equivalent auxiliary component force, an actual equivalent auxiliary force corresponding to the preset rehabilitation training.
Optionally, the guiding module comprises:
a second obtaining unit, configured to determine an autonomous movement capability of the user based on the actual movement state of the user;
a complete guidance unit, configured to, when the user does not have the autonomous movement ability, perform complete guidance on the user based on the actual equivalent assisting force, guide the user to perform the preset rehabilitation training, and be in the first preset movement state;
and the partial guiding unit is used for performing partial guiding on the user based on the actual equivalent auxiliary force when the user has partial autonomous movement capability, guiding the user to perform the preset rehabilitation training, and keeping in the second preset movement state.
The present invention also provides a rehabilitation training apparatus, comprising: a memory, a processor and a program of the rehabilitation training method stored on the memory and executable on the processor, the program of the rehabilitation training method being executable by the processor to implement the steps of the rehabilitation training method as described above.
The present invention also provides a medium having stored thereon a program for implementing a rehabilitation training method, the program of which, when executed by a processor, implements the steps of the rehabilitation training method as described above.
According to the method and the device, the motion mode of the user is received, the first preset motion state corresponding to the motion mode is obtained, when the user conducts preset rehabilitation training, the actual motion state of the user corresponding to the preset rehabilitation training is obtained, then based on the first preset motion state and the actual motion state of the user, the actual equivalent auxiliary force corresponding to the preset rehabilitation training is determined, and finally based on the actual equivalent auxiliary force, the user is guided to conduct the preset rehabilitation training. That is, in the present application, after the first preset motion state and the actual motion state of the user are obtained, the actual equivalent auxiliary force corresponding to the preset rehabilitation training is determined by comparing the first preset motion state and the actual motion state of the user, and further, the user is guided to perform the rehabilitation training. Namely, the actual equivalent auxiliary force is applied to the user to guide the movement force of the user during the rehabilitation training, and the technical problem that the rehabilitation training effect is low due to insufficient movement force during the rehabilitation training is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a first embodiment of a rehabilitation training method according to the present invention;
FIG. 2 is a schematic flow chart of a rehabilitation training method according to a second embodiment of the present invention;
fig. 3 is a schematic device structure diagram of a hardware operating environment related to the method according to the embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In a first embodiment of the rehabilitation training method of the present application, referring to fig. 1, the rehabilitation training method includes:
step S10, receiving a motion mode of a user, and acquiring a first preset motion state corresponding to the motion mode;
step S20, when the user carries out preset rehabilitation training, acquiring the actual motion state of the user corresponding to the preset rehabilitation training;
step S30, determining the actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the first preset motion state and the actual motion state of the user;
and step S40, guiding the user to perform the preset rehabilitation training based on the actual equivalent auxiliary force.
The method comprises the following specific steps:
step S10, receiving a motion mode of a user, and acquiring a first preset motion state corresponding to the motion mode;
in this embodiment, it should be noted that, the rehabilitation training method is applied to a rehabilitation training device, the motion pattern is a quantity related to a type of rehabilitation training motion performed by a user, for example, a knee joint of the user is damaged, so that the user needs to be guided to perform rehabilitation training motion capable of accelerating the repair of the knee joint, the type of rehabilitation training motion is a knee joint type, that is, the motion pattern of the user is a knee joint repair mode, in addition, the first preset motion state is a quantity related to the motion pattern, for example, the motion pattern is an elbow joint repair, the corresponding type of rehabilitation training motion is an elbow joint type, and it is assumed that a motion mode with a good training effect, which is shown by a scientific experiment, is: the arm rotates 90 degrees with the elbow joint as the rotation point, and the first preset motion state includes relevant parameters, such as speed, displacement, acceleration and the like, when the arm rotates 90 degrees with the elbow joint as the rotation point.
Specifically, a motion mode of a user is received, and a first preset motion state corresponding to the motion mode is obtained, where the manner of obtaining the motion mode in this embodiment includes: the method comprises the steps that firstly, the motion mode is obtained through a user input mode; the second mode is that the motion mode is obtained by retrieving the historical usage record of the rehabilitation training device, after the motion mode is obtained, the rehabilitation training device receives the motion mode, for each motion mode, a first preset motion state corresponding to the motion mode is stored in the rehabilitation training device, and after the motion mode of the user is received, the first preset motion state corresponding to the motion mode can be searched in a database of the rehabilitation training device according to the rehabilitation training motion type corresponding to the motion mode, for example, if the motion mode is a repaired knee joint, the corresponding first preset knee joint motion is searched by using a 'knee joint' as a keyword.
Step S20, when the user carries out preset rehabilitation training, acquiring the actual motion state of the user corresponding to the preset rehabilitation training;
in this embodiment, when the user performs the preset rehabilitation training, the actual motion state of the user corresponding to the preset rehabilitation training is acquired, wherein the actual motion state of the user includes an actual motion displacement, an actual motion speed, an actual motion state acceleration and the like, and specifically, when the user performs the preset rehabilitation training, the actual motion displacement is acquired through a preset displacement sensor, the actual motion speed is acquired through a preset speed sensor, and the acceleration is acquired through a preset acceleration sensor.
Wherein the step of determining the user's actual motion state corresponding to a preset rehabilitation training based on the actual motion displacement and the actual motion velocity comprises:
step S21, when the user carries out preset rehabilitation training, the actual movement displacement and the actual movement speed of the user are obtained;
in this embodiment, it should be noted that when the user performs preset rehabilitation training, the actual movement displacement and the actual movement speed of the user are obtained, specifically, the actual movement displacement is obtained by a preset displacement sensor and the actual movement speed is obtained by a preset speed sensor, where the actual displacement refers to any instantaneous displacement of the user in a process from an initial movement position to a final movement position, and the actual speed refers to any speed of the user in a process from the initial movement position to the final movement position.
And step S22, determining the actual motion state of the user corresponding to the preset rehabilitation training based on the actual motion displacement and the actual motion speed.
In this embodiment, it should be noted that the actual motion state of the user includes kinematic parameters such as displacement, speed, acceleration, and time, and the actual motion state of the user can be obtained through the actual motion displacement and the actual motion speed, specifically, the actual motion state time and the actual motion state acceleration, and the like can be obtained through the actual motion displacement and the actual motion speed, and the actual motion state of the user can be defined through the kinematic parameters such as the actual motion displacement, the actual motion speed, the actual motion state time, and the actual motion state acceleration, that is, the actual motion state trajectory and the actual motion speed of the preset rehabilitation training can be defined.
Step S30, determining the actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the first preset motion state and the actual motion state of the user;
in this embodiment, it should be noted that the first preset motion state refers to a motion that can achieve an optimal training effect, the user actual motion state refers to a motion that can be autonomously completed by a user, and an actual equivalent auxiliary force corresponding to the preset rehabilitation training is determined based on the first preset motion state and the user actual motion state, where the actual equivalent auxiliary force is an equivalent force, that is, an action effect same as the actual equivalent auxiliary force can be obtained by applying one or more forces to the user, or an action effect same as the actual equivalent auxiliary force can be obtained by applying one or more moments to the user, specifically, assuming that the rehabilitation training requires a motion in which an arm rotates from a horizontal state to a state 60 degrees from a vertical direction with an elbow as a rotation point, the first preset motion state refers to a motion in which an arm rotates from a horizontal state to a state 60 degrees from a vertical direction with an elbow as a rotation point, and the arm rotates from a horizontal state to a state 60 degrees from a vertical direction with the elbow as a rotation point A motion process, further, assuming that the user's actual motion state is a motion process in which an arm rotates from a horizontal state to a state of 30 degrees from a horizontal plane with an elbow as a rotation point, then, based on the first preset motion state and kinematic parameters included in the user's actual motion state, obtaining a process variation graph of theoretical acceleration included in the first preset motion state and a process variation graph of actual acceleration included in the user's actual motion state through analysis and calculation, where, since a mass of the arm is a fixed value and a force is equal to a product of the mass and the acceleration, a process variation curve of theoretical resultant force included in the first preset motion state and a process variation curve of actual resultant force included in the user's actual motion state can be obtained, further, by analyzing the process variation curves of the theoretical resultant force and the process variation curves of the actual resultant force, the difference between the theoretical resultant force and the actual resultant force at each time point may be obtained, that is, a process variation curve of the actual equivalent auxiliary force may be obtained, that is, the magnitude and the direction of the actual equivalent auxiliary force may be obtained, and after the magnitude and the direction of the actual equivalent auxiliary force are obtained, the actual equivalent auxiliary force is applied to a specific position point of the arm, that is, the user may be in a first preset state, where the specific position point is the action point of the actual equivalent auxiliary force.
The first preset motion state comprises a preset motion displacement and a preset motion speed, and the actual motion state of the user comprises an actual motion displacement and an actual motion speed;
the step of comparing the first preset motion state with the actual motion state of the user to obtain the actual equivalent auxiliary force corresponding to the preset rehabilitation training comprises:
step S31, determining an actual equivalent auxiliary force direction corresponding to the preset rehabilitation training based on the preset movement displacement and the actual movement displacement, wherein the actual equivalent auxiliary force direction comprises a horizontal actual equivalent auxiliary component force direction and a vertical actual equivalent auxiliary component force direction;
in this embodiment, an actual equivalent auxiliary force direction corresponding to the preset rehabilitation training is determined based on the preset motion displacement and the actual motion displacement, where the actual equivalent auxiliary force direction includes a horizontal actual equivalent auxiliary component force direction and a vertical actual equivalent auxiliary component force direction, the preset motion displacement includes a preset horizontal motion displacement and a preset vertical motion displacement, the actual motion displacement includes a horizontal actual motion displacement and a vertical actual motion displacement, specifically, the preset horizontal motion displacement is compared with the horizontal actual motion displacement, if the preset horizontal motion displacement is greater than or equal to the horizontal actual motion displacement, the horizontal actual motion displacement needs to be increased, and further, a horizontal acceleration direction corresponding to the horizontal actual motion displacement needs to be the same as the direction of the horizontal actual motion displacement, since the direction of the resultant force is always the same as the direction of the acceleration, the direction of the horizontal actual equivalent auxiliary component force is the same as the direction of the horizontal actual motion displacement; if the preset horizontal movement displacement is smaller than the horizontal actual movement displacement, the horizontal actual movement displacement needs to be reduced, and further, the direction of the horizontal acceleration corresponding to the horizontal actual movement displacement needs to be opposite to the direction of the horizontal actual movement displacement, and since the direction of the resultant force and the direction of the acceleration are always the same, therefore, the direction of the horizontal actual equivalent auxiliary component force is opposite to the direction of the horizontal actual movement displacement, similarly, the preset vertical movement displacement is compared with the vertical actual movement displacement, if the preset vertical movement displacement is greater than or equal to the vertical actual movement displacement, the direction of the vertical actual equivalent auxiliary component force is the same as the direction of the vertical actual movement displacement, if the preset vertical movement displacement is smaller than the vertical actual movement displacement, the vertical actual equivalent auxiliary force component direction is opposite to the direction of the vertical actual movement displacement.
Step S32, determining the actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the preset movement speed and the actual movement speed, wherein the actual equivalent auxiliary force comprises a horizontal actual equivalent auxiliary component force and a vertical actual equivalent auxiliary component force;
in this embodiment, it should be noted that the preset movement velocity includes a preset horizontal movement velocity and a preset vertical movement velocity, the actual movement velocity includes a horizontal actual movement velocity and a vertical actual movement velocity, and the actual equivalent auxiliary force corresponding to the preset rehabilitation training is determined based on the preset movement velocity and the actual movement velocity, where the actual equivalent auxiliary force includes a horizontal actual equivalent auxiliary component force and a vertical actual equivalent auxiliary component force, specifically, since the acceleration is a derivative of velocity derived from a time parameter, the performance characteristics of the preset movement velocity and the actual movement velocity are process variation curves related to time, and by deriving a mathematical equation corresponding to the process variation curves, the corresponding preset movement acceleration and the actual movement state acceleration can be obtained, that is, the horizontal preset motion acceleration and the vertical preset motion acceleration included in the preset motion acceleration can be obtained, the actual state of motion acceleration comprises a horizontal actual state of motion acceleration and a vertical actual state of motion acceleration, since the acceleration is equal to the product of the mass and the acceleration, assuming that the preset rehabilitation training is the preset arm rehabilitation training, the mass of the arm is fixed, therefore, the magnitude of the horizontal theoretical force and the vertical theoretical force corresponding to the preset motion acceleration can be obtained through calculation, the magnitude of the horizontal actual force and the vertical actual force corresponding to the preset actual motion state acceleration, and finally, and subtracting the horizontal theoretical force from the horizontal actual force to obtain a horizontal actual equivalent auxiliary component force, and subtracting the vertical theoretical force from the vertical actual force to obtain a vertical actual equivalent auxiliary component force.
And step S33, determining the actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the actual equivalent auxiliary force direction and the actual equivalent auxiliary force.
In this embodiment, it should be noted that, an actual equivalent auxiliary force corresponding to the preset rehabilitation training is determined based on the actual equivalent auxiliary force direction and the actual equivalent auxiliary force, where the actual equivalent auxiliary force direction includes a horizontal actual equivalent auxiliary component force direction and a vertical actual equivalent auxiliary component force direction, and the actual equivalent auxiliary force includes a horizontal actual equivalent auxiliary component force magnitude and a vertical actual equivalent auxiliary component force magnitude, so that the actual equivalent auxiliary force corresponding to the preset rehabilitation training can be determined by combining the synthetic principle of forces due to the actual equivalent auxiliary force direction and the actual equivalent auxiliary force magnitude.
Wherein the step of determining the actual equivalent assisting force corresponding to the preset rehabilitation training based on the actual equivalent assisting force direction and the actual equivalent assisting force direction comprises:
step S330, determining the horizontal actual equivalent auxiliary component force based on the horizontal actual equivalent auxiliary component force direction and the horizontal actual equivalent auxiliary component force size;
in this embodiment, it should be noted that, since the three elements of the force are the magnitude, the direction and the acting point, the horizontal actual equivalent auxiliary component force can be determined by determining the magnitude, the direction and the acting point of the horizontal actual equivalent auxiliary component force, further, the direction of the horizontal actual equivalent auxiliary component force and the magnitude of the horizontal actual equivalent auxiliary component force are known, so that the acting point of the horizontal actual equivalent auxiliary component force needs to be determined, wherein the acting point of the horizontal actual equivalent auxiliary component force is related to the main body of the preset rehabilitation training, and the acting point of the vertical actual equivalent auxiliary component force is the same as the acting point of the actual equivalent auxiliary component force.
Step S331, determining the vertical actual equivalent auxiliary component force based on the vertical actual equivalent auxiliary component force direction and the vertical actual equivalent auxiliary component force magnitude;
it should be noted that, since the three elements of the force are the magnitude, the direction and the acting point, the vertical actual equivalent auxiliary component force can be determined by determining the magnitude, the direction and the acting point of the vertical actual equivalent auxiliary component force, and further, the direction of the vertical actual equivalent auxiliary component force and the magnitude of the vertical actual equivalent auxiliary component force are known, so that the acting point of the vertical actual equivalent auxiliary component force needs to be determined, where the acting point of the vertical actual equivalent auxiliary component force is related to the preset rehabilitation training subject, and the acting point of the vertical actual equivalent auxiliary component force is the same as the acting point of the actual equivalent auxiliary component force.
Step S332, determining an actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the horizontal actual equivalent auxiliary component force and the vertical actual equivalent auxiliary component force.
It should be noted that the horizontal actual equivalent auxiliary component force, the vertical actual equivalent auxiliary component force, and the actual equivalent auxiliary force are all vectors, the horizontal actual equivalent auxiliary component force is a horizontal component of the actual equivalent auxiliary force, the vertical actual equivalent auxiliary component force is a vertical component of the actual equivalent auxiliary force, and according to a vector synthesis principle, if a horizontal component and a vertical component of one vector are known, the one vector can be synthesized, so that the actual equivalent auxiliary force is obtained by synthesizing the horizontal actual equivalent auxiliary component force and the vertical actual equivalent auxiliary component force.
And step S40, guiding the user to perform the preset rehabilitation training based on the actual equivalent auxiliary force.
In this embodiment, it should be noted that the actual equivalent assisting force is a vector and changes with the change of time parameter, and is specifically characterized by a process change curve, and based on the actual equivalent assisting force, the user is guided to perform the preset rehabilitation training, specifically, assuming that the rehabilitation training mode of the user is to lie flat and keep the lower limbs straight and raised to form an angle of 60 degrees with the horizontal plane, that is, the first preset exercise state is to lie flat and keep the lower limbs straight and raised to form an angle of 60 degrees with the horizontal plane, but because the lower limbs are injured, the user can only lie flat and keep the lower limbs straight and raised to form an angle of 30 degrees with the horizontal plane, so by applying a compensation force to the lower limbs of the user, the user is guided to perform the preset rehabilitation training, that is, by applying the actual equivalent assisting force to the lower limbs of the user, and guiding the user to perform the preset rehabilitation training.
In this embodiment, a first preset motion state corresponding to a motion mode is obtained by receiving the motion mode of a user, and when the user performs preset rehabilitation training, an actual motion state of the user corresponding to the preset rehabilitation training is obtained, then an actual equivalent auxiliary force corresponding to the preset rehabilitation training is determined based on the first preset motion state and the actual motion state of the user, and finally the user is guided to perform the preset rehabilitation training based on the actual equivalent auxiliary force. That is, in the present application, after the first preset motion state and the actual motion state of the user are obtained, the actual equivalent auxiliary force corresponding to the preset rehabilitation training is determined by comparing the first preset motion state and the actual motion state of the user, and further, the user is guided to perform the rehabilitation training. Namely, the exercise force of the user during the rehabilitation training is compensated by applying an actual equivalent auxiliary force to the user, and the technical problem of low rehabilitation training effect caused by insufficient exercise force during the rehabilitation training is solved.
Further, referring to fig. 2, in another embodiment of the method for providing rehabilitation training based on the first embodiment of the present application, the step of guiding the user to perform the preset rehabilitation training based on the actual equivalent assisting force includes:
step S41, determining the autonomous movement ability of the user based on the actual movement state of the user;
in this embodiment, the autonomous movement ability of the user is determined based on the actual movement state of the user, where the autonomous movement ability refers to the autonomous movement ability of the user during the rehabilitation training, when the user is completely unable to perform the rehabilitation training autonomously, the level of the autonomous movement ability is 0, specifically, if the rehabilitation training mode of the user is to lie flat and keep the lower limbs straight and raised to form an included angle of 60 degrees with the horizontal plane, when the user lies flat and keeps the lower limbs straight, the user cannot raise the lower limbs due to injury, the autonomous movement ability of the user is 0, when the user lies flat and keeps the lower limbs straight, the user's lower limbs can be raised to form an included angle of 60 degrees with the horizontal plane, the autonomous movement ability of the user is 6, that is, based on when the user lies flat and keeps the lower limbs straight, because the lower limbs of the user are injured and cannot be lifted up, the autonomous movement ability of the user is 0 grade, the autonomous movement ability of the user is increased by 1 grade when the lower limbs of the user are lifted by 10 degrees, and if the actual movement state of the user is that the lower limbs of the user can be lifted by 36 degrees, the autonomous movement ability of the user can be obtained by a preset included angle sensor and is 3.6 grade.
Step S42, when the user has no autonomous movement ability, the user is completely guided based on the actual equivalent auxiliary force, and the user is guided to perform the preset rehabilitation training and is in the first preset movement state;
in this embodiment, it should be noted that the user's involuntary movement ability means that the user's involuntary movement ability is 0 level, when the user has no involuntary movement ability, the user is completely guided to perform the preset rehabilitation training based on the actual equivalent auxiliary force, and is in the first preset movement state, wherein when the user's involuntary movement ability is 0 level, with the help of the rehabilitation training device, when the user performs the preset rehabilitation training, if the user is in the first preset movement state, the training effect of the rehabilitation training is the best, specifically, when the user has no involuntary movement ability, that is, when the user's involuntary movement ability is 0 level, the user is completely guided in performing the rehabilitation training, that is, the power supporting the user to perform the rehabilitation training is completely provided by the rehabilitation training device, assuming that the rehabilitation training mode of the user is to lie flat and keep the lower limbs straight and raised until the included angle between the lower limbs and the horizontal plane is 60 degrees, the power for driving the lower limbs of the user to move is the actual equivalent auxiliary force, the lower limbs of the user are driven to be raised until the included angle between the lower limbs and the horizontal plane is 60 degrees by the actual equivalent auxiliary force, namely, the user is completely guided based on the actual equivalent auxiliary force, the user is guided to perform the preset rehabilitation training, and the user is in the first preset movement state.
And step S43, when the user has partial self-movement ability, the user is partially guided based on the actual equivalent auxiliary force, and the user is guided to perform the preset rehabilitation training and is in the second preset movement state.
In this embodiment, it should be noted that the user having partial autonomic exercise capability means that the autonomic exercise capability of the user is not level 0, that is, when the user has partial autonomic exercise capability, based on the actual equivalent auxiliary force, the user is guided partially to conduct the preset rehabilitation training and is in the second preset motion state, wherein the second preset motion state refers to when the autonomous motion capability of the user is not at level 0, on the basis of the first preset movement state, a state that the movement amplitude which can be reached by the user is larger, for example, if the first predetermined exercise state is lying down and keeping the lower limbs straight and raised to an angle of 60 degrees with the horizontal plane, the second predetermined movement state may be lying flat and keeping the lower limbs straight up until they make a 70 degree angle with the horizontal plane. Specifically, when the autonomous exercise capacity of the user is not 0 level, the user is partially guided during the rehabilitation training, and if the rehabilitation training mode of the user is to lie flat and keep the lower limb straight and raised to a position where the lower limb forms a 60-degree included angle with the horizontal plane, the power for driving the lower limb of the user to move is a combined force of the actual equivalent auxiliary force and the output force of the user, and the lower limb of the user is driven to be raised to a position where the lower limb forms a 70-degree included angle with the horizontal plane through the combined force, that is, the user is partially guided based on the actual equivalent auxiliary force to guide the user to perform the preset rehabilitation training and be in the second preset exercise state.
In this embodiment, the autonomous movement ability of the user is obtained to determine the level of the autonomous movement ability of the user, when the user has no autonomous movement ability, the user is completely guided to be in the first preset movement state based on the actual equivalent assist force, when the user has partial autonomous movement ability, the user is partially guided to be in the first preset movement state based on the actual equivalent assist force, that is, the user is determined to need forward guidance or reverse guidance by comparing the level of the autonomous movement ability with the level of the preset autonomous movement ability, and further, the user is guided to be in the second preset movement state by obtaining the movement amplitude corresponding to the second preset movement state based on the difference between the level of the autonomous movement ability and the level of the preset autonomous movement ability, that is, by acquiring the level of the autonomous exercise ability, a proper actual equivalent auxiliary force is given to the user to guide the user to be in the second preset exercise state, so that the effect of the rehabilitation training is improved.
Referring to fig. 3, fig. 3 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 3, the rehabilitation training device may include: a processor 1001, such as a CPU, a memory 1005, and a communication bus 1002. The communication bus 1002 is used for realizing connection communication between the processor 1001 and the memory 1005. The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a memory device separate from the processor 1001 described above.
Optionally, the rehabilitation training device may further include a target user interface, a network interface, a camera, RF (Radio Frequency) circuitry, a sensor, audio circuitry, a WiFi module, and so forth. The target user interface may comprise a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional target user interface may also comprise a standard wired interface, a wireless interface. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface).
It will be appreciated by those skilled in the art that the rehabilitation training device configuration shown in fig. 3 does not constitute a limitation of the rehabilitation training device, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 3, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, and a rehabilitation training program. The operating system is a program that manages and controls the hardware and software resources of the rehabilitation training device, supporting the operation of the rehabilitation training program, as well as other software and/or programs. The network communication module is used for realizing communication among the components in the memory 1005 and communication with other hardware and software in the rehabilitation training device.
In the rehabilitation training device shown in fig. 3, the processor 1001 is configured to execute a rehabilitation training program stored in the memory 1005, and implement the steps of the rehabilitation training method described in any one of the above.
The specific implementation of the rehabilitation training device of the invention is basically the same as that of the above-mentioned rehabilitation training method, and is not described herein again.
The present invention also provides a rehabilitation training device applied to a rehabilitation training apparatus, the rehabilitation training device including:
the first acquisition module is used for receiving the motion mode of the user and acquiring a first preset motion state corresponding to the motion mode;
the second acquisition module is used for acquiring the actual motion state of the user corresponding to the preset rehabilitation training when the user performs the preset rehabilitation training;
the determining module is used for determining the actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the first preset motion state and the actual motion state of the user;
and the first guiding module is used for guiding the user to carry out the preset rehabilitation training based on the actual equivalent auxiliary force.
Optionally, the obtaining module includes:
the first acquisition unit is used for acquiring the actual movement displacement and the actual movement speed of the user when the user performs preset rehabilitation training;
and the first determination unit is used for determining the actual motion state of the user corresponding to the preset rehabilitation training based on the actual motion displacement and the actual motion speed.
Optionally, the determining module includes:
a second determining unit, configured to determine, based on the preset motion displacement and the actual motion displacement, an actual equivalent auxiliary force direction corresponding to the preset rehabilitation training, where the actual equivalent auxiliary force direction includes a horizontal actual equivalent auxiliary component force direction and a vertical actual equivalent auxiliary component force direction;
a third determining unit, configured to determine, based on the preset movement speed and the actual movement speed, an actual equivalent auxiliary force corresponding to the preset rehabilitation training, where the actual equivalent auxiliary force includes a horizontal actual equivalent auxiliary component force and a vertical actual equivalent auxiliary component force;
and the fourth determining unit is used for determining the actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the actual equivalent auxiliary force direction and the actual equivalent auxiliary force.
Optionally, the fourth determining unit includes:
a first determining subunit, configured to determine the horizontal actual equivalent auxiliary component force based on the horizontal actual equivalent auxiliary component force direction and the horizontal actual equivalent auxiliary component force size;
a second determining subunit, configured to determine the vertical actual equivalent auxiliary component force based on the vertical actual equivalent auxiliary component force direction and the vertical actual equivalent auxiliary component force size;
and the third determining subunit is configured to determine, based on the horizontal actual equivalent auxiliary component force and the vertical actual equivalent auxiliary component force, an actual equivalent auxiliary force corresponding to the preset rehabilitation training.
Optionally, the guiding module comprises:
a second obtaining unit, configured to determine an autonomous movement capability of the user based on the actual movement state of the user;
a complete guidance unit, configured to, when the user does not have the autonomous movement ability, perform complete guidance on the user based on the actual equivalent assisting force, guide the user to perform the preset rehabilitation training, and be in the first preset movement state;
and the partial guiding unit is used for performing partial guiding on the user based on the actual equivalent auxiliary force when the user has partial autonomous movement capability, guiding the user to perform the preset rehabilitation training, and keeping in the second preset movement state.
Optionally, the partial guide unit includes:
a fourth determining subunit, configured to determine, when the user has partial autonomic locomotion capability, a level of autonomic locomotion capability of the user;
the reverse guidance subunit is used for performing reverse guidance on the user based on the actual equivalent auxiliary force when the autonomous movement ability level is greater than a preset autonomous movement ability level, guiding the user to perform the preset rehabilitation training, and keeping the user in the second preset movement state;
and the forward guidance subunit is configured to, when the autonomous movement ability level is smaller than a preset autonomous movement ability level, perform forward guidance on the user based on the actual equivalent assist force, guide the user to perform the preset rehabilitation training, and keep the user in the second preset movement state.
Optionally, the rehabilitation training device further comprises:
a third obtaining module, configured to determine an autonomous movement capability level corresponding to the actual movement state of the user, and obtain a movement speed gain coefficient corresponding to the autonomous movement capability level;
and the second guiding module is used for guiding the user to be in a third preset movement based on the movement speed gain coefficient.
The specific implementation of the rehabilitation training device of the invention is basically the same as that of the above-mentioned rehabilitation training method, and is not described herein again.
The present invention provides a storage medium storing one or more programs, the one or more programs being further executable by one or more processors for implementing the steps of the rehabilitation training method as described in any one of the above.
The specific implementation of the storage medium of the present invention is substantially the same as the embodiments of the rehabilitation training method, and is not described herein again.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A rehabilitation training method, characterized in that the rehabilitation training method comprises:
receiving a motion mode of a user, and acquiring a first preset motion state corresponding to the motion mode;
when the user carries out preset rehabilitation training, acquiring the actual motion state of the user corresponding to the preset rehabilitation training;
determining actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the first preset motion state and the actual motion state of the user;
and guiding the user to perform the preset rehabilitation training based on the actual equivalent auxiliary force.
2. The rehabilitation training method according to claim 1, wherein the step of acquiring the actual motion state of the user corresponding to the preset rehabilitation training when the user performs the preset rehabilitation training comprises:
when the user carries out preset rehabilitation training, acquiring the actual movement displacement and the actual movement speed of the user;
and determining the actual motion state of the user corresponding to the preset rehabilitation training based on the actual motion displacement and the actual motion speed.
3. The rehabilitation training method of claim 1, wherein the first preset motion state includes a preset motion displacement and a preset motion speed, and the user's actual motion state includes an actual motion displacement and an actual motion speed;
the step of determining the actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the first preset motion state and the actual motion state of the user comprises:
determining an actual equivalent auxiliary force direction corresponding to the preset rehabilitation training based on the preset movement displacement and the actual movement displacement, wherein the actual equivalent auxiliary force direction comprises a horizontal actual equivalent auxiliary component force direction and a vertical actual equivalent auxiliary component force direction;
determining the actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the preset movement speed and the actual movement speed, wherein the actual equivalent auxiliary force comprises a horizontal actual equivalent auxiliary component force and a vertical actual equivalent auxiliary component force;
and determining the actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the actual equivalent auxiliary force direction and the actual equivalent auxiliary force.
4. A rehabilitation training method according to claim 3, wherein said step of determining an actual equivalent assisting force corresponding to said preset rehabilitation training based on said actual equivalent assisting force direction and said actual equivalent assisting force direction comprises:
determining the horizontal actual equivalent auxiliary component force based on the direction of the horizontal actual equivalent auxiliary component force and the size of the horizontal actual equivalent auxiliary component force;
determining the vertical actual equivalent auxiliary component force based on the vertical actual equivalent auxiliary component force direction and the vertical actual equivalent auxiliary component force size;
and determining the actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the horizontal actual equivalent auxiliary component force and the vertical actual equivalent auxiliary component force.
5. The rehabilitation training method according to claim 1, wherein the step of guiding the user to perform the preset rehabilitation training based on the actual equivalent assisting force comprises:
determining the autonomous movement capability of the user based on the actual movement state of the user;
when the user does not have the autonomous movement ability, completely guiding the user based on the actual equivalent auxiliary force of the actual auxiliary force, guiding the user to perform the preset rehabilitation training, and keeping in the first preset movement state;
and when the user has partial autonomous movement capability, performing partial guidance on the user based on the actual equivalent auxiliary force, guiding the user to perform the preset rehabilitation training, and keeping the user in the second preset movement state.
6. A rehabilitation training device, characterized in that the rehabilitation training device is applied to a rehabilitation training apparatus, the rehabilitation training device comprising:
the acquisition module is used for receiving the motion mode of the user and acquiring a first preset motion state corresponding to the motion mode;
the acquisition module is used for acquiring the actual motion state of the user corresponding to the preset rehabilitation training when the user performs the preset rehabilitation training;
the determining module is used for determining the actual equivalent auxiliary force corresponding to the preset rehabilitation training based on the first preset motion state and the actual motion state of the user;
and the guiding module is used for guiding the user to carry out the preset rehabilitation training based on the actual equivalent auxiliary force.
7. A rehabilitation training device, characterized in that it comprises: a memory, a processor, and a program stored on the memory for implementing the rehabilitation training method,
the memory is used for storing a program for realizing the rehabilitation training method;
the processor is configured to execute a program implementing the rehabilitation training method to implement the steps of the rehabilitation training method according to any one of claims 1 to 5.
8. A medium having stored thereon a program for implementing a rehabilitation training method, the program being executed by a processor to implement the steps of the rehabilitation training method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910916290.7A CN110639178B (en) | 2019-09-25 | 2019-09-25 | Rehabilitation training method, rehabilitation training device, rehabilitation training equipment and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910916290.7A CN110639178B (en) | 2019-09-25 | 2019-09-25 | Rehabilitation training method, rehabilitation training device, rehabilitation training equipment and medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110639178A true CN110639178A (en) | 2020-01-03 |
| CN110639178B CN110639178B (en) | 2021-08-06 |
Family
ID=69011406
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910916290.7A Active CN110639178B (en) | 2019-09-25 | 2019-09-25 | Rehabilitation training method, rehabilitation training device, rehabilitation training equipment and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110639178B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111297369A (en) * | 2020-01-20 | 2020-06-19 | 深圳市丞辉威世智能科技有限公司 | Behavior state detection method, behavior state detection device, behavior state detection equipment and readable storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000279463A (en) * | 1999-03-31 | 2000-10-10 | Sanyo Electric Co Ltd | Training device for superior limb function recovery |
| US20090149855A1 (en) * | 2005-03-31 | 2009-06-11 | Thk Co., Ltd. | Power assist control method, power assist control apparatus, and reduction apparatus |
| US20090292178A1 (en) * | 2008-05-21 | 2009-11-26 | Qualcomm Incorporated | System and method of monitoring users during an interactive activity |
| CN102614066A (en) * | 2010-12-14 | 2012-08-01 | 雷哈博泰克有限责任公司 | Wearable and convertible passive and active movement training robot: apparatus and method |
| KR101331071B1 (en) * | 2011-09-01 | 2013-11-19 | 주식회사 앞썬아이앤씨 | Apparatus for rehabilitation of shoulder joint and method for operating the same |
| KR20150011136A (en) * | 2013-07-22 | 2015-01-30 | 한국기계연구원 | Applied force and applied position control system in a rehabilitation robot, and a method for controlling the applied force and the applied position using the same |
| CN106726345A (en) * | 2016-12-15 | 2017-05-31 | 东南大学 | A kind of lower limb rehabilitation training mechanism based on parallel connecting rod |
| CN107320285A (en) * | 2017-07-28 | 2017-11-07 | 上海逸动医学科技有限公司 | A kind of multifunctional intellectual rehabilitation training and assessment system |
| CN109331406A (en) * | 2018-12-12 | 2019-02-15 | 中山大学 | A kind of the exercise ability of lower limbs quantitative evaluation method and system based on running machine power platform |
-
2019
- 2019-09-25 CN CN201910916290.7A patent/CN110639178B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000279463A (en) * | 1999-03-31 | 2000-10-10 | Sanyo Electric Co Ltd | Training device for superior limb function recovery |
| US20090149855A1 (en) * | 2005-03-31 | 2009-06-11 | Thk Co., Ltd. | Power assist control method, power assist control apparatus, and reduction apparatus |
| US20090292178A1 (en) * | 2008-05-21 | 2009-11-26 | Qualcomm Incorporated | System and method of monitoring users during an interactive activity |
| CN102614066A (en) * | 2010-12-14 | 2012-08-01 | 雷哈博泰克有限责任公司 | Wearable and convertible passive and active movement training robot: apparatus and method |
| KR101331071B1 (en) * | 2011-09-01 | 2013-11-19 | 주식회사 앞썬아이앤씨 | Apparatus for rehabilitation of shoulder joint and method for operating the same |
| KR20150011136A (en) * | 2013-07-22 | 2015-01-30 | 한국기계연구원 | Applied force and applied position control system in a rehabilitation robot, and a method for controlling the applied force and the applied position using the same |
| CN106726345A (en) * | 2016-12-15 | 2017-05-31 | 东南大学 | A kind of lower limb rehabilitation training mechanism based on parallel connecting rod |
| CN107320285A (en) * | 2017-07-28 | 2017-11-07 | 上海逸动医学科技有限公司 | A kind of multifunctional intellectual rehabilitation training and assessment system |
| CN109331406A (en) * | 2018-12-12 | 2019-02-15 | 中山大学 | A kind of the exercise ability of lower limbs quantitative evaluation method and system based on running machine power platform |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111297369A (en) * | 2020-01-20 | 2020-06-19 | 深圳市丞辉威世智能科技有限公司 | Behavior state detection method, behavior state detection device, behavior state detection equipment and readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110639178B (en) | 2021-08-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9827478B1 (en) | Providing visual motion feedback based on sensor data | |
| US9434430B2 (en) | Biped walking robot control method and biped walking robot control system | |
| US11681347B2 (en) | Systems and methods for elastic delivery, processing, and storage for wearable devices based on system resources | |
| US12053885B2 (en) | Control method for robot, computer-readable storage medium and robot | |
| CN110639178B (en) | Rehabilitation training method, rehabilitation training device, rehabilitation training equipment and medium | |
| US11185736B2 (en) | Systems and methods for wearable devices that determine balance indices | |
| CN112472531A (en) | Gait smoothing algorithm of lower limb exoskeleton robot for medical rehabilitation and assisted walking | |
| CN111353345B (en) | Method, apparatus, system, electronic device, and storage medium for providing training feedback | |
| US20230293941A1 (en) | Systems and Method for Segmentation of Movement Repetitions and Extraction of Performance Metrics | |
| CN113081701B (en) | Control method of ankle power-assisted exoskeleton | |
| KR102427048B1 (en) | Apparatus and method for predicting motion intention of a user wearing a shoulder-worn exoskeletion device | |
| González et al. | A personalized balance measurement for home-based rehabilitation | |
| CN112036223B (en) | Long-distance driving massage supporting method, service end and front end | |
| Crocher et al. | A tool to address movement quality outcomes of post-stroke patients | |
| WO2023112216A1 (en) | Sensor data transmitting apparatus, remote terminal, sensor data transmission method, and program | |
| JP6855101B2 (en) | Information processing equipment, information processing methods, programs | |
| KR102630930B1 (en) | Method, apparatus and computer program for assisting power of wearable robot | |
| CN108446031A (en) | Wearable device control method, wearable device control device, wearable device and storage medium | |
| US20200356765A1 (en) | Solving magnetic interference in inertial sensors | |
| CN115364445B (en) | Upper limb function rehabilitation training system after breast cancer operation | |
| CN110639177B (en) | Rehabilitation training method, device, equipment and medium | |
| Mohammed et al. | Increasing the Efficacy of a Powered Ankle-Foot Prosthesis with 3D Joint Angle Tracking | |
| CN116473798A (en) | Control method of lower limb rehabilitation training device, lower limb rehabilitation training device and device | |
| WO2020193945A1 (en) | A system and method for improving the range of motion of a patient | |
| CN116138993A (en) | Auxiliary support control method, auxiliary support equipment and rehabilitation training system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |