CN111178330A - Rest auxiliary switching method and device, terminal and storage medium - Google Patents
Rest auxiliary switching method and device, terminal and storage medium Download PDFInfo
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- CN111178330A CN111178330A CN202010068274.XA CN202010068274A CN111178330A CN 111178330 A CN111178330 A CN 111178330A CN 202010068274 A CN202010068274 A CN 202010068274A CN 111178330 A CN111178330 A CN 111178330A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
- G06V40/23—Recognition of whole body movements, e.g. for sport training
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
Abstract
The application discloses a rest auxiliary switching method, a device, a terminal and a computer readable storage medium, firstly, acquiring identification information of an exoskeleton, wherein the identification information at least comprises one of kinematic information, mechanical information, biological information and image information, and the exoskeleton is wearing equipment of a user; then identifying state information of the user based on the identification information, wherein the state information comprises a standing state and a sitting state; then based on the state information, acquiring the movement intention of the user, wherein the movement intention comprises standing and sitting; and finally, whether to switch the rest auxiliary state of the user is determined based on the movement intention, wherein the rest auxiliary state comprises an opening auxiliary state and a closing auxiliary state, so that the auxiliary required by the user is provided when the user is at rest, namely, when the user is in a standing state, the supporting auxiliary is opened, and when the user is in a sitting state, the auxiliary is closed, so that the user can freely move.
Description
Technical Field
The present application relates to the field of motion control technologies, and in particular, to a method, an apparatus, a terminal, and a computer-readable storage medium for rest assistance switching.
Background
Early-walking users may be able to walk hard with external assistance, and for them to walk up, it is already a trivial help for them, and at this stage, they need to learn how to walk, learn to control their own movements and movement rhythms. The users can actively walk in the middle and later walking stages, but the gait is not good enough, so the users need equipment to correct the gait and get correct feedback, but the users do not need any blocking effect, and the optimal rehabilitation effect can be achieved. No matter the user is in the early stage of walking or the middle and later stage of walking, in the walking rehabilitation training process, because the self motion ability is not recovered to the normal state, the user needs to stop to have a rest after moving for a period of time, and after the physical strength is recovered, the user can train again.
The state of the user of different situations rest in the walking training distinguishes to some extent, and to the early user of walking, because the motion ability is very weak, the activity time is shorter, and rest time is longer, generally can sit the rest on the stool, and to the user of the middle and later stages of walking, the motion ability recovers to some extent, and motion time is longer some relatively, and the health function is also better, can rest under the state of standing, if the activity time overlength, also need sit and rest on the stool. If the equipment is in an open state during rest, the action of the user during rest may cause false triggering, so that the user falls down or does not move according to the expected action, which is dangerous; if when standing, equipment is in the off-state, because user's self motion ability is limited, can't provide the support for the user in the stage of standing, the user stands and can consume great physical power, the risk of falling easily appears.
Disclosure of Invention
The main objective of the present application is to provide a method, an apparatus, a terminal and a computer storage medium for switching rest assistance, which are used to solve the technical problem that in the prior art, a user needs to have a rest during a walking training process, so that a device must stop walking assistance when the user needs to have a rest, so that the user can rest while standing or sitting.
In order to achieve the above object, an embodiment of the present application provides a rest auxiliary switching method, where the rest auxiliary switching method includes:
acquiring identification information of an exoskeleton, wherein the identification information at least comprises one of kinematic information, mechanical information, biological information and image information, and the exoskeleton is a wearing device of a user;
identifying state information of the user based on the identification information, wherein the state information comprises a standing state and a sitting state;
based on the state information, acquiring the movement intention of the user, wherein the movement intention comprises standing and sitting;
determining whether to switch a rest assistance state of the user based on the athletic intent, wherein the rest assistance state includes on assistance and off assistance.
Optionally, the step of acquiring identification information of the exoskeleton comprises:
acquiring a motion signal of at least one of the waist, the thigh, the calf, the foot, the hip joint, the knee joint and the ankle joint of the user as the kinematic information of the user;
acquiring a mechanical signal of at least one of the waist, the thigh, the calf and the foot of the user as mechanical information of the user;
acquiring a biological signal of at least one of the waist, the thigh, the calf and the foot of the user as biological information of the user;
an image of a user photographed by a photographing device is acquired as image information.
Optionally, the step of identifying the status information of the user based on the identification information includes:
and judging at least one of kinematic information, mechanical information or biological information of the user according to a first preset rule to determine the state information of the user.
Optionally, the step of obtaining the exercise intention of the user based on the state information includes:
judging the state information of the user according to a second preset rule to determine the movement intention of the user;
if the state information is in a standing state, the exercise intention of the user is to sit down or keep in the standing state;
and if the state information is in the sitting state, the exercise intention of the user is to stand or keep in the sitting state.
Optionally, the step of determining whether to switch the user's resting assistance state based on the athletic intent comprises:
if the exercise intention of the user is to keep a sitting state, switching the rest auxiliary state into a closed state;
and if the exercise intention of the user is to stand, sit or keep in a standing state, switching the rest auxiliary state into an open state.
Optionally, the step of determining at least one of kinematic information, mechanical information, or biological information of the user according to a first preset rule to determine the state information of the user includes:
acquiring pressure values of the plantar pressure sensors on the two sides of the user;
comparing the pressure value with a preset pressure value;
and if the pressure value exceeds a preset pressure value, the state information of the user is in a standing state.
Optionally, the step of determining at least one of kinematic information, mechanical information, or biological information of the user according to a first preset rule to determine the state information of the user further includes:
and if the pressure value does not exceed the preset pressure value, the state information of the user is a sitting state.
The present application further provides a rest auxiliary switching device, the rest auxiliary switching device includes:
the exoskeleton system comprises a first acquisition module, a second acquisition module and a display module, wherein the first acquisition module is used for acquiring identification information of an exoskeleton, the identification information at least comprises one of kinematic information, mechanical information, biological information and image information, and the exoskeleton is a wearing device of a user;
the identification module is used for identifying the state information of the user based on the identification information, wherein the state information comprises a standing state and a sitting state;
a second obtaining module, configured to obtain an exercise intention of the user based on the state information, where the exercise intention includes standing and sitting;
a switching module for determining whether to switch a rest assistance state of the user based on the exercise intention, wherein the rest assistance state includes an on assistance and an off assistance.
Optionally, the first obtaining module includes:
the first acquisition submodule is used for acquiring a motion signal of at least one of the waist, the thigh, the calf, the foot, the hip joint, the knee joint and the ankle joint of the user as the kinematic information of the user;
the second acquisition submodule is used for acquiring a mechanical signal of at least one of the waist, the thigh, the shank and the foot of the user as mechanical information of the user;
a third obtaining sub-module, configured to obtain a biological signal of at least one of a waist, a thigh, a calf, and a foot of the user as biological information of the user;
and the fourth acquisition sub-module is used for acquiring the user image shot by the shooting device as image information.
Optionally, the second obtaining module includes:
the judging submodule is used for judging the state information of the user according to a second preset rule so as to determine the movement intention of the user;
a first determining submodule, configured to determine that the exercise intention of the user is sitting or standing if the state information is a standing state;
and the second determining submodule is used for determining that the movement intention of the user is in a standing state or a sitting state if the state information is in a sitting state.
Optionally, the switching module includes:
the first switching submodule is used for switching the rest auxiliary state into a closed state if the exercise intention of the user is to keep a sitting state;
a second switching submodule, configured to switch the rest assistance state to an on state if the exercise intention of the user is to stand, sit, or remain in a standing state.
Optionally, the identification module comprises:
the first acquisition submodule is used for acquiring the pressure value of the user plantar pressure sensor;
the first comparison submodule is used for comparing the pressure value with a preset pressure value;
and the first judgment submodule is used for judging that the state information of the user is in a standing state if the pressure value exceeds a preset pressure value.
Optionally, the identification module further comprises:
and the second judgment submodule is used for judging that the state information of the user is in a standing state if the pressure value does not exceed the preset pressure value.
The present application further provides a terminal, the terminal including: a memory, a processor and a rest assisted switching program stored on the memory and executable on the processor, the rest assisted switching program when executed by the processor implementing the steps of the rest assisted switching method as described above.
The present application further provides a computer storage medium having a rest assisted switching program stored thereon, which when executed by a processor implements the steps of the rest assisted switching method as described above.
In the process of auxiliary switching for rest, firstly, identification information of an exoskeleton is acquired, wherein the identification information at least comprises one of kinematic information, mechanical information, biological information and image information, and the exoskeleton is wearing equipment of a user; then identifying state information of the user based on the identification information, wherein the state information comprises a standing state and a sitting state; then based on the state information, acquiring the movement intention of the user, wherein the movement intention comprises standing and sitting; finally, whether a rest auxiliary state of the user is switched is determined based on the movement intention, wherein the rest auxiliary state comprises an opening auxiliary state and a closing auxiliary state, so that the auxiliary required by the user is provided when the user is at rest, namely when the user is in a standing state, a supporting auxiliary is opened, the supporting auxiliary is positively correlated with the joint angle, the larger the degree of joint flexion, the stronger the supporting auxiliary, the smaller the degree of joint flexion and the weaker the supporting auxiliary; when the user is in a sitting state, the assist is turned off, so that the user can freely move at will.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be 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 to obtain other drawings without inventive exercise.
Fig. 1 is a schematic diagram of a hardware structure of an optional terminal according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a first embodiment of a rest-assisted handover method according to the present application;
fig. 3 is a schematic flowchart of a rest-assisted handover method according to a second embodiment of the present application;
fig. 4 is a schematic flowchart of a fourth embodiment of the rest assisted handover method according to the present application;
FIG. 5 is a functional block diagram of the rest auxiliary switching device of the present application;
FIG. 6 is a schematic diagram of an exoskeleton according to the method for assisted resting switching of the present application;
fig. 7 is another schematic view of the exoskeleton according to the resting assistance switching method.
The implementation, functional features and advantages of the objectives of the present application 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 present application and are not intended to limit the present application.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for the convenience of description of the present application, and have no specific meaning by themselves. Thus, "module", "component" or "unit" may be used mixedly.
As shown in fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present application.
The terminal in the embodiment of the application can be a fixed terminal, such as an internet of things intelligent device, and comprises an intelligent air conditioner, an intelligent lamp, an intelligent power supply, an intelligent router and other intelligent homes; the system can also be a mobile terminal, and comprises a smart phone, a wearable networking AR/VR device, a smart sound box, an automatic driving automobile and other networking equipment.
As shown in fig. 1, the architecture design of the rest-assisted switching system includes nodes and servers, and the device structure thereof 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 storage device separate from the processor 1001.
Optionally, the rest assistance switching system may further include a user interface, a network interface, a camera, an RF (radio frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like. The user interface may include a Display screen (Display), touch screen, camera (including AR/VR devices), etc., and the optional user interface may also include 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, bluetooth interface, probe interface, 3G/4G/5G networking communication interface, etc.).
It will be appreciated by those skilled in the art that the configuration of the rest assist switching system shown in fig. 1 does not constitute a limitation of the rest assist switching system and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, and an early wake-up program. The operating system is a program for managing and controlling the hardware and software resources of the rest assisted switching system, and supports the operation of the rest assisted switching program and 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 rest-assisted switching system.
In the rest assisted switching system shown in fig. 1, the processor 1001 is configured to execute a rest assisted switching program stored in the memory 1005, and implement the following steps:
acquiring identification information of an exoskeleton, wherein the identification information at least comprises one of kinematic information, mechanical information, biological information and image information, and the exoskeleton is a wearing device of a user;
identifying state information of the user based on the identification information, wherein the state information comprises a standing state and a sitting state;
based on the state information, acquiring the movement intention of the user, wherein the movement intention comprises standing and sitting;
determining whether to switch a rest assistance state of the user based on the athletic intent, wherein the rest assistance state includes on assistance and off assistance.
Further, the processor 1001 may call a rest assisted switching program stored in the memory 1005, and also perform the following operations:
acquiring a motion signal of at least one of the waist, the thigh, the calf, the foot, the hip joint, the knee joint and the ankle joint of the user as the kinematic information of the user;
acquiring a mechanical signal of at least one of the waist, the thigh, the calf and the foot of the user as mechanical information of the user;
acquiring a biological signal of at least one of the waist, the thigh, the calf and the foot of the user as biological information of the user;
an image of a user photographed by a photographing device is acquired as image information.
Further, the processor 1001 may call a rest assisted switching program stored in the memory 1005, and also perform the following operations:
and judging at least one of kinematic information, mechanical information or biological information of the user according to a first preset rule to determine the state information of the user.
Further, the processor 1001 may call a rest assisted switching program stored in the memory 1005, and also perform the following operations:
judging the state information of the user according to a second preset rule to determine the movement intention of the user;
if the state information is in a standing state, the exercise intention of the user is to sit down or keep in the standing state;
and if the state information is in the sitting state, the exercise intention of the user is to stand or keep in the sitting state.
Further, the processor 1001 may call a rest assisted switching program stored in the memory 1005, and also perform the following operations:
if the exercise intention of the user is to keep a sitting state, switching the rest auxiliary state into a closed state;
and if the exercise intention of the user is to stand, sit or keep in a standing state, switching the rest auxiliary state into an open state.
Further, the processor 1001 may call a rest assisted switching program stored in the memory 1005, and also perform the following operations:
acquiring pressure values of the plantar pressure sensors on the two sides of the user;
comparing the pressure value with a preset pressure value;
and if the pressure value exceeds a preset pressure value, the state information of the user is in a standing state.
Further, the processor 1001 may call a rest assisted switching program stored in the memory 1005, and also perform the following operations:
and if the pressure value does not exceed the preset pressure value, the state information of the user is a sitting state.
Based on the hardware structure, various embodiments of the rest auxiliary switching method are provided.
Referring to fig. 2, a first embodiment of a rest-assisted handover method according to the present application provides a rest-assisted handover method, including:
step S10, acquiring identification information of an exoskeleton, wherein the identification information at least comprises one of kinematic information, mechanical information, biological information and image information, and the exoskeleton is a wearing device of a user;
step S20, identifying the state information of the user based on the identification information, wherein the state information comprises a standing state and a sitting state;
step S30, acquiring the movement intention of the user based on the state information, wherein the movement intention comprises standing and sitting;
step S40, based on the exercise intention, determining whether to switch the resting assistance state of the user, wherein the resting assistance state includes on assistance and off assistance.
In the present embodiment, refer to fig. 6 and fig. 7, wherein the first sub-diagram on the left side of fig. 6 is a left view of the exoskeleton, the second sub-diagram on the left side of fig. 6 is a front view of the exoskeleton, the third sub-diagram on the left side of fig. 6 is a right view of the exoskeleton, the fourth sub-diagram on the left side of fig. 6 is a back view of the exoskeleton, the sub-diagram on the left side of fig. 7 is a bottom view of the exoskeleton, and the sub; firstly, acquiring one or more information of four kinds of information, namely kinematic information, mechanical information, biological information and image information of the exoskeleton as identification information; then identifying state information of the user based on the identification information, wherein the state information comprises a standing state and a sitting state; then based on the state information, acquiring the movement intention of the user, wherein the movement intention comprises standing and sitting; and finally, whether to switch the rest auxiliary state of the user is determined based on the movement intention, wherein the rest auxiliary state comprises an opening auxiliary state and a closing auxiliary state, so that the auxiliary required by the user is provided when the user is at rest, namely, when the user is in a standing state, the supporting auxiliary is opened, and when the user is in a sitting state, the auxiliary is closed, so that the user can freely move.
Further, in the second embodiment of the rest assistance switching method of the present application, referring to fig. 3, step S10 includes:
step S11, acquiring a motion signal of at least one of the waist, the thigh, the shank, the foot, the hip joint, the knee joint and the ankle joint of the user as the kinematic information of the user;
step S12, acquiring a mechanical signal of at least one of the waist, the thigh, the shank and the foot of the user as mechanical information of the user;
step S13, acquiring the biological signal of at least one of the waist, thigh, shank and foot of the user as the biological information of the user;
in step S14, the user image captured by the capturing device is acquired as image information.
In the present embodiment, the kinematic information refers to information describing and studying the change law of the positions of the user's both sides with time from the geometrical point of view (referring to the fact that the physical properties of the user's both sides themselves and the force applied to the object are not involved); the mechanical information refers to the information of the mechanical motion rule of the two sides of the user; the biological information refers to the information related to the bilateral structure, function, occurrence and development rule of the user; the image information refers to a series of images obtained by shooting a user by a shooting device, and then the series of images are identified, so that the purpose of detecting the motion state of the user is achieved.
Specifically, the kinematic information includes healthy lateral kinematic information and affected lateral kinematic information; the mechanical information comprises healthy side mechanical information and sick side mechanical information; the biological information comprises health side biological information and affected side biological information.
Acquiring motion signals of a waist, a thigh, a shank, a foot, a hip joint, a knee joint or an ankle joint of a healthy side detected by a sensor component worn by the healthy side of a user as kinematics information of the healthy side; the method for acquiring the kinematic information, the mechanical information and the biological information of the two sides of the user, namely the healthy side and the affected side, is to acquire the kinematic signals of the waist, the thigh, the calf, the foot, the hip joint, the knee joint or the ankle joint of the affected side, which are detected by the exoskeleton worn by the affected side of the user, as the kinematic information of the affected side.
Acquiring mechanical signals of a waist, a thigh, a shank or a foot of the healthy side detected by a sensor component worn by the healthy side of a user as mechanical information of the healthy side; and acquiring biological signals of the waist, the thigh, the shank or the foot of the healthy side detected by the sensor assembly worn by the healthy side of the user as healthy side biological information. Acquiring mechanical signals of a waist part, a thigh part, a calf part or a foot part of the affected side, which are detected by an exoskeleton worn by the affected side of a user, as mechanical information of the affected side; and acquiring biological signals of the waist, the thigh, the calf or the foot of the affected side, which are detected by the exoskeleton worn by the affected side of the user, as biological information of the affected side.
Early-walking users may be able to walk hard with external assistance, and for them to walk up, it is already a trivial help for them, and at this stage, they need to learn how to walk, learn to control their own movements and movement rhythms. The users can actively walk in the middle and later walking stages, but the gait is not good enough, so the users need equipment to correct the gait and get correct feedback, but the users do not need any blocking effect, and the optimal rehabilitation effect can be achieved. No matter the user is in the early stage of walking or the middle and later stage of walking, in the walking rehabilitation training process, because the self motion ability is not recovered to the normal state, the user needs to stop to have a rest after moving for a period of time, and after the physical strength is recovered, the user can train again.
The state of the user of different situations rest in the walking training distinguishes to some extent, and to the early user of walking, because the motion ability is very weak, the activity time is shorter, and rest time is longer, generally can sit the rest on the stool, and to the user of the middle and later stages of walking, the motion ability recovers to some extent, and motion time is longer some relatively, and the health function is also better, can rest under the state of standing, if the activity time overlength, also need accomplish to rest on the stool. If the equipment is in an open state during rest, the action of the user during rest may cause false triggering, so that the user falls down or does not move according to the expected action, which is dangerous; if when standing, equipment is in the off-state, because user's self motion ability is limited, can't provide the support for the user in the stage of standing, the user stands and can consume great physical power, the risk of falling easily appears.
Therefore, it is necessary to identify the state information of the user, that is, whether the user is in a standing state or a sitting state, by detecting the kinematic information, the mechanical information, and the biological information of the healthy side and the affected side of the user.
Further, in the third embodiment of the rest assist switching method of the present application, step S30 includes:
step S31, judging the state information of the user according to a second preset rule to determine the movement intention of the user;
step S32, if the state information is a standing state, the exercise intention of the user is sitting down or keeping a standing state;
in step S33, if the state information is the sitting state, the exercise intention of the user is to stand or keep the sitting state.
In this embodiment, the second preset rule may be flexibly set in the implementation process, and is not limited herein, for example, the state information of the user is determined by detecting that the knee joint starts to extend to a certain angle, and for example, the user is determined to be in a standing state when the included angle between the knee joint and the ground is close to 90 °.
Specifically, the movement intention of the user can be determined by detecting parameters such as the knee joint angle, the hip joint angle and the thigh inclination angle of the user. For example, after the foot sensor detects that the user sits for several minutes (the data detected by the foot sensor does not exceed the preset pressure value), the sensors at the knee joint, the hip joint and the thigh detect that the included angle of the knee joint, the included angle of the hip joint and the inclined angle of the thigh are changed, and the movement intention of the user is to stand. Similarly, for example, after the foot sensor detects that the user stands for several minutes (the data detected by the foot sensor exceeds the preset pressure value), the sensors at the knee joint, the hip joint and the thigh detect that the included angle of the knee joint, the included angle of the hip joint and the inclined angle of the thigh are changed, and the movement intention of the user is inferred to be sitting.
Further, in the fourth embodiment of the rest assist switching method of the present application, referring to fig. 4, step S40 includes:
step S41, if the user' S movement intention is to keep sitting down, the rest auxiliary state is switched to off state;
in step S42, if the exercise intention of the user is standing, sitting or standing, the rest assistance state is switched to the on state.
Specifically, whether to switch the rest assistance state of the user is determined based on the exercise intention of the user, wherein the rest assistance state includes an on assistance and an off assistance, i.e., if the exercise intention of the user is to remain in a sitting state, the off assistance is performed; turning on the assistance if the user's movement is intended to stand, sit or remain in a standing state, so that the assistance required by the user is provided while the user is at rest, i.e. turning on the support assistance when the user's movement is intended to stand, sit or remain in a standing state; when the user movement is intended to remain seated, the assist is turned off so that the user can freely move at will.
Further, in the fifth embodiment of the rest assist switching method of the present application, step S20 includes:
step S21, acquiring the pressure value of the sole pressure sensor of the user;
step S22, comparing the pressure value with a preset pressure value;
in step S23, if the pressure value exceeds the preset pressure value, the status information of the user is a standing status.
In step S24, if the pressure value does not exceed the preset pressure value, the status information of the user is the sitting status.
In this embodiment, the state information of the user may be identified based on any one of kinematic information, mechanical information, biological information, image information, or a combination of a plurality of pieces of information. The method can be flexibly set in the implementation process, and is not limited here. In this embodiment, by determining the state information of the user, assistance is correspondingly applied, so that the assistance required by the user is provided when the user is at rest, that is, when the user is in a standing state, the support assistance is turned on, and when the user is in a sitting state, the support assistance is turned off, so that the user can freely move at will.
Specifically, the method of identifying the user status information based on at least one of the kinematic information, the mechanical information, the biological information, and the image information is, for example, a method of judging the user status information by acquiring the pressure of the feet of the user on both sides. When the user walks, the legs are supported on the ground and are in a supporting phase, the legs are in a swinging phase when swinging, and the stress of the legs is different when the legs are supported and swung; when the user stands, the legs need to support the mass of the whole body, and when the user swings, the legs only need to bear the swinging burden of the user. A certain threshold value can be set for the pressure sensors on feet at two sides of the user, and when the threshold value is exceeded, the user can be judged to be in a standing state; if not, the user is judged to be in a sitting state. Moreover, since the weight of different people is different, the setting of the pressure threshold value is different from person to person, and is not limited here.
In addition, referring to fig. 5, an embodiment of the present invention further provides a rest auxiliary switching device, where the rest auxiliary switching device includes:
the exoskeleton system comprises a first acquisition module, a second acquisition module and a display module, wherein the first acquisition module is used for acquiring identification information of an exoskeleton, the identification information at least comprises one of kinematic information, mechanical information, biological information and image information, and the exoskeleton is a wearing device of a user;
the identification module is used for identifying the state information of the user based on the identification information, wherein the state information comprises a standing state and a sitting state;
a second obtaining module, configured to obtain an exercise intention of the user based on the state information, where the exercise intention includes standing and sitting;
a switching module for determining whether to switch a rest assistance state of the user based on the exercise intention, wherein the rest assistance state includes an on assistance and an off assistance.
The present application further provides a terminal, the terminal including: the processor is configured to execute a rest assisted switching program, and the processor is configured to execute the rest assisted switching program according to the rest assisted switching method.
The present application further provides a computer-readable storage medium having a rest assisted switching program stored thereon, which when executed by a processor implements the steps of the above-mentioned rest assisted switching method.
In the embodiments of the method, the apparatus, the terminal and the readable storage medium for switching rest assistance in the present application, all technical features of the embodiments of the method for switching rest assistance are included, and the expanding and explaining contents of the specification are basically the same as those of the embodiments of the method for switching rest assistance, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (10)
1. A rest assisted switching method, characterized in that the rest assisted switching method comprises:
acquiring identification information of an exoskeleton, wherein the identification information at least comprises one of kinematic information, mechanical information, biological information and image information, and the exoskeleton is a wearing device of a user;
identifying state information of the user based on the identification information, wherein the state information comprises a standing state and a sitting state;
based on the state information, acquiring the movement intention of the user, wherein the movement intention comprises standing and sitting;
determining whether to switch a rest assistance state of the user based on the athletic intent, wherein the rest assistance state includes on assistance and off assistance.
2. The rest assistance switching method of claim 1, wherein the step of acquiring identification information of the exoskeleton comprises:
acquiring a motion signal of at least one of the waist, the thigh, the calf, the foot, the hip joint, the knee joint and the ankle joint of the user as the kinematic information of the user;
acquiring a mechanical signal of at least one of the waist, the thigh, the calf and the foot of the user as mechanical information of the user;
acquiring a biological signal of at least one of the waist, the thigh, the calf and the foot of the user as biological information of the user;
an image of a user photographed by a photographing device is acquired as image information.
3. The rest assisted switching method of claim 2, wherein the step of identifying the state information of the user based on the identification information comprises:
and judging at least one of kinematic information, mechanical information or biological information of the user according to a first preset rule to determine the state information of the user.
4. The rest assisted switching method of claim 1, wherein the step of acquiring the exercise intention of the user based on the state information comprises:
judging the state information of the user according to a second preset rule to determine the movement intention of the user;
if the state information is in a standing state, the exercise intention of the user is to sit down or keep in the standing state;
and if the state information is in the sitting state, the exercise intention of the user is to stand or keep in the sitting state.
5. The rest assistance switching method according to claim 4, wherein the step of determining whether to switch the user's rest assistance state based on the exercise intention includes:
if the exercise intention of the user is to keep a sitting state, switching the rest auxiliary state into a closed state;
and if the exercise intention of the user is to stand, sit or keep in a standing state, switching the rest auxiliary state into an open state.
6. The rest assistance switching method according to claim 4, wherein the step of judging at least one of kinematic information, mechanical information, or biological information of the user according to a first preset rule to determine the state information of the user comprises:
acquiring a pressure value of the user sole pressure sensor;
comparing the pressure value with a preset pressure value;
and if the pressure value exceeds a preset pressure value, the state information of the user is in a standing state.
7. The rest assistance switching method according to claim 4, wherein the step of judging at least one of kinematic information, mechanical information, or biological information of the user according to a first preset rule to determine the state information of the user further comprises:
and if the pressure value does not exceed the preset pressure value, the state information of the user is a sitting state.
8. A rest assist switching device, characterized in that it comprises:
the exoskeleton system comprises a first acquisition module, a second acquisition module and a display module, wherein the first acquisition module is used for acquiring identification information of an exoskeleton, the identification information at least comprises one of kinematic information, mechanical information, biological information and image information, and the exoskeleton is a wearing device of a user;
the identification module is used for identifying the state information of the user based on the identification information, wherein the state information comprises a standing state and a sitting state;
a second obtaining module, configured to obtain an exercise intention of the user based on the state information, where the exercise intention includes standing and sitting;
a switching module for determining whether to switch a rest assistance state of the user based on the exercise intention, wherein the rest assistance state includes an on assistance and an off assistance.
9. A terminal, characterized in that the terminal comprises: memory, processor and a rest assisted switching program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the rest assisted switching method according to any of claims 1 to 7.
10. A storage medium, characterized in that the storage medium has stored thereon a resting assisted switching program which, when executed by a processor, implements the steps of the resting assisted switching method according to any of claims 1 to 7.
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| CN202010068274.XA CN111178330A (en) | 2020-01-20 | 2020-01-20 | Rest auxiliary switching method and device, terminal and storage medium |
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| CN117357315A (en) * | 2023-12-07 | 2024-01-09 | 浙江强脑科技有限公司 | Resistance adjustment method and device for knee joint, intelligent artificial limb, terminal and medium |
| CN117357313A (en) * | 2023-12-08 | 2024-01-09 | 浙江强脑科技有限公司 | Resistance control method and device based on intention switching, artificial limb, terminal and medium |
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