CN111312361B - Exercise gait control method, device, terminal and storage medium - Google Patents
Exercise gait control method, device, terminal and storage medium Download PDFInfo
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- 230000005021 gait Effects 0.000 title claims abstract description 161
- 238000000034 method Methods 0.000 title claims abstract description 63
- 230000033001 locomotion Effects 0.000 claims abstract description 170
- 210000000629 knee joint Anatomy 0.000 claims description 59
- 210000000689 upper leg Anatomy 0.000 claims description 33
- 210000002683 foot Anatomy 0.000 claims description 31
- 210000001624 hip Anatomy 0.000 claims description 19
- 244000309466 calf Species 0.000 claims description 18
- 210000000245 forearm Anatomy 0.000 claims description 18
- 238000005452 bending Methods 0.000 claims description 16
- 230000006870 function Effects 0.000 claims description 16
- 230000003137 locomotive effect Effects 0.000 claims description 10
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 6
- 210000002310 elbow joint Anatomy 0.000 claims description 6
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- 210000000323 shoulder joint Anatomy 0.000 claims description 6
- 230000000386 athletic effect Effects 0.000 claims 4
- 238000012549 training Methods 0.000 abstract description 34
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- 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
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- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
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- A—HUMAN NECESSITIES
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- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
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- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
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- 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
- G06V40/25—Recognition of walking or running movements, e.g. gait recognition
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Abstract
The application discloses a method, a device, a terminal and a computer readable storage medium for controlling the movement gait, firstly, the identification information of a user at least comprises one of kinematic information, mechanical information, biological information and image information; then, based on the identification information, identifying the movement gait of the affected side of the user; based on the movement gait of the affected side, the movement intention of the affected side of the user is obtained; and finally, performing corresponding motion gait control on the exoskeleton worn by the user based on the motion intention of the affected side so as to realize the application of walking training assistance to the user based on the motion intention of the affected side, so that the user can not only correct gait in the walking training process, but also can perform autonomous motion according to the motion intention of the user, and the walking training effect is improved.
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 motion gait control.
Background
For the walking rehabilitation training of stroke users, the movement ability of the affected side of the users in middle and later periods of walking is restored to a certain extent, and the users can walk relatively coherently, but abnormal gait is also present, for example, the situation that the movement of two legs is relatively disordered and the walking rhythm is very uneven can also occur due to various reasons. It follows that the user in the middle and late stages of walking requires walking assistance in walking training, and restricts the occurrence of abnormal gait, and corrects abnormal gait.
Disclosure of Invention
The application mainly aims to provide a motion gait control method, a device, a terminal and a computer storage medium, which aim to solve the technical problem that in the prior art, in the walking rehabilitation training of a stroke user, the motion gait of a user walking auxiliary device is difficult to control according to the autonomous intention of the user.
To achieve the above object, an embodiment of the present application provides a method for controlling a sports gait, the steps of the sports gait control including:
acquiring identification information of a user, wherein the identification information at least comprises one of kinematic information, mechanical information, biological information and image information;
identifying a locomotor gait of the patient side of the user based on the identification information;
acquiring the exercise intention of the patient side of the user based on the exercise gait of the patient side;
And performing corresponding movement gait control on the exoskeleton worn by the user based on the movement intention of the affected side.
Optionally, the step of acquiring the identification information of the user includes:
Acquiring motion signals of at least one of waist, thigh, calf, foot, hip joint, knee joint, ankle joint 、 upper body trunk information, upper body thigh information, upper body forearm information, shoulder joint information and elbow joint information of the user as the kinematic information of the user;
acquiring mechanical signals of at least one of waist, thigh, calf, foot, upper body trunk information, upper body thigh information and upper body forearm information of the user as mechanical information of the user;
Acquiring biological signals of at least one of waist, thigh, calf, foot, upper body trunk information, upper body thigh information and upper body forearm information of the user as biological information of the user;
and acquiring a user image shot by the shooting device as image information.
Optionally, the step of identifying the exercise gait of the patient side of the user based on the identification information includes:
And judging at least one of the kinematic information, the mechanical information or the biological information of the user according to a first preset rule so as to determine the exercise gait of the affected side of the user, wherein the exercise gait comprises a supporting state and a swinging state.
Optionally, the step of acquiring the exercise intention of the patient side of the user based on the exercise gait of the patient side includes:
If the movement gait of the affected side is in a swing state, the movement intention of the affected side of the user is to support the affected side;
If the patient side locomotion gait is a support state, the user patient side locomotion is intended to swing the patient side, wherein the swing patient side includes a curved patient side and an extended patient side.
Optionally, the step of performing corresponding exercise gait control on the exoskeleton worn by the user based on the exercise intention of the affected side includes:
if the movement of the patient side of the user is intended to bend the patient side, enabling a bending auxiliary function of the exoskeleton to bend the exoskeleton;
Judging whether the formed knee joint included angle reaches a first preset angle after the exoskeleton is bent;
and if the knee joint included angle reaches the first preset angle, closing the bending auxiliary function of the exoskeleton.
Optionally, the step of performing corresponding motion gait control on the exoskeleton worn by the user based on the motion intention of the affected side further includes:
If the movement of the patient side of the user is intended to extend the patient side, enabling an extension assistance function of the exoskeleton to extend the exoskeleton;
Judging whether the formed knee joint included angle reaches a second preset angle after the exoskeleton stretches;
And outputting the preset stretching supporting force of the exoskeleton if the knee joint included angle reaches the second preset angle.
Optionally, the step of performing corresponding motion gait control on the exoskeleton worn by the user based on the motion intention of the affected side further includes:
If the movement intention of the affected side of the user is to support the affected side, judging whether the position of the knee joint of the affected side on the exoskeleton exceeds a preset joint position range;
if the position of the affected knee joint in the exoskeleton does not exceed the preset joint position range, acquiring and outputting auxiliary support strength of the exoskeleton;
And if the position of the affected knee joint in the exoskeleton exceeds the preset joint position range, adjusting the position of the affected knee joint so that the position of the affected knee joint in the exoskeleton does not exceed the preset joint position range.
The present application also provides a sports gait control device, comprising:
The first acquisition module is used for acquiring identification information of a user, wherein the identification information at least comprises one of kinematic information, mechanical information, biological information and image information;
the identification module is used for identifying the movement gait of the affected side of the user based on the identification information;
the second acquisition module is used for acquiring the movement intention of the patient side of the user based on the movement gait of the patient side;
and the auxiliary module is used for carrying out corresponding movement gait control on the exoskeleton worn by the user based on the movement intention of the affected side.
The application also provides a terminal, which comprises: the system comprises a memory, a processor and a motion gait control program stored on the memory and executable on the processor, wherein the motion gait control program realizes the steps of the motion gait control method when being executed by the processor.
The present application also provides a computer storage medium having stored thereon a motion gait control program which when executed by a processor implements the steps of the motion gait control method as described above.
In the process of controlling the movement gait, firstly, the identification information of a user is acquired, wherein the identification information at least comprises one of kinematic information, mechanical information, biological information and image information; then, based on the identification information, identifying the movement gait of the affected side of the user; based on the movement gait of the affected side, the movement intention of the affected side of the user is obtained; and finally, performing corresponding motion gait control on the exoskeleton worn by the user based on the motion intention of the affected side so as to realize the application of walking training assistance to the user based on the motion intention of the affected side, so that the user can not only correct gait in the walking training process, but also can perform autonomous motion according to the motion intention of the user, and the walking training effect is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic diagram of an alternative hardware configuration of a terminal according to an embodiment of the present application;
FIG. 2 is a flow chart of a first embodiment of the exercise gait control method of the present application;
FIG. 3 is a flow chart of a second embodiment of the exercise gait control method of the present application;
FIG. 4 is a flow chart of a fifth embodiment of the exercise gait control method of the present application;
FIG. 5 is a flow chart of a sixth embodiment of the exercise gait control method of the present application;
FIG. 6 is a flow chart of a seventh embodiment of the exercise gait control method of the present application;
FIG. 7 is a schematic diagram of functional modules of the exercise gait control device of the present application;
FIG. 8 is a schematic diagram of an application scenario of the exercise gait control method of the present application;
FIG. 9 is a schematic diagram of another application scenario of the exercise gait control method of the present application;
FIG. 10 is a schematic illustration of a sports gait control method exoskeleton of the present application;
FIG. 11 is another schematic illustration of a sports gait control method exoskeleton of the present application.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
In the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present application, and have no specific meaning per se. Thus, "module," "component," or "unit" may be used in combination.
As shown in fig. 1, fig. 1 is a schematic diagram of a terminal structure of a hardware running environment according to an embodiment of the present application.
The terminal of the embodiment of the application can be a fixed terminal, such as intelligent equipment of the Internet of things, and comprises intelligent home furnishings such as intelligent air conditioners, intelligent lamps, intelligent power supplies, intelligent routers and the like; the mobile terminal can also be a mobile terminal, and comprises a plurality of networking devices such as a smart phone, a wearable networking AR/VR device, a smart sound box, an automatic driving automobile and the like.
As shown in fig. 1, the architecture design of the motion gait control system includes nodes and servers, and the device structure may include: a processor 1001, such as a CPU, memory 1005, and a communication bus 1002. Wherein a communication bus 1002 is used to enable connected communication between the processor 1001 and a memory 1005. The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Optionally, the motion gait control system may further comprise 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 standard wired interfaces, wireless interfaces. 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.).
Those skilled in the art will appreciate that the motion gait control system structure shown in fig. 1 is not limiting of the motion gait control system and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, and an early wake-up program may be included in a memory 1005, which is a type of computer storage medium. The operating system is a program that manages and controls the motion gait control system hardware and software resources, supporting the motion gait control program and the execution of other software and/or programs. The network communication module is used to enable communication between components within the memory 1005 and other hardware and software in the motion gait control system.
In the motion gait control system shown in fig. 1, the processor 1001 is configured to execute a motion gait control program stored in the memory 1005, and implement the following steps:
acquiring identification information of a user, wherein the identification information at least comprises one of kinematic information, mechanical information, biological information and image information;
identifying a locomotor gait of the patient side of the user based on the identification information;
acquiring the exercise intention of the patient side of the user based on the exercise gait of the patient side;
And performing corresponding movement gait control on the exoskeleton worn by the user based on the movement intention of the affected side.
Further, the processor 1001 may invoke the motion gait control program stored in the memory 1005, and also perform the following operations:
Acquiring motion signals of at least one of waist, thigh, calf, foot, hip joint, knee joint, ankle joint 、 upper body trunk information, upper body thigh information, upper body forearm information, shoulder joint information and elbow joint information of the user as the kinematic information of the user;
acquiring mechanical signals of at least one of waist, thigh, calf, foot, upper body trunk information, upper body thigh information and upper body forearm information of the user as mechanical information of the user;
Acquiring biological signals of at least one of waist, thigh, calf, foot, upper body trunk information, upper body thigh information and upper body forearm information of the user as biological information of the user;
and acquiring a user image shot by the shooting device as image information.
Further, the processor 1001 may invoke the motion gait control program stored in the memory 1005, and also perform the following operations:
And judging at least one of the kinematic information, the mechanical information or the biological information of the user according to a first preset rule so as to determine the exercise gait of the affected side of the user, wherein the exercise gait comprises a supporting state and a swinging state.
Further, the processor 1001 may invoke the motion gait control program stored in the memory 1005, and also perform the following operations:
If the movement gait of the affected side is in a swing state, the movement intention of the affected side of the user is to support the affected side;
If the patient side locomotion gait is a support state, the user patient side locomotion is intended to swing the patient side, wherein the swing patient side includes a curved patient side and an extended patient side.
Further, the processor 1001 may invoke the motion gait control program stored in the memory 1005, and also perform the following operations:
if the movement of the patient side of the user is intended to bend the patient side, enabling a bending auxiliary function of the exoskeleton to bend the exoskeleton;
Judging whether the formed knee joint included angle reaches a first preset angle after the exoskeleton is bent;
and if the knee joint included angle reaches the first preset angle, closing the bending auxiliary function of the exoskeleton.
Further, the processor 1001 may invoke the motion gait control program stored in the memory 1005, and also perform the following operations:
If the movement of the patient side of the user is intended to extend the patient side, enabling an extension assistance function of the exoskeleton to extend the exoskeleton;
Judging whether the formed knee joint included angle reaches a second preset angle after the exoskeleton stretches;
And outputting the preset stretching supporting force of the exoskeleton if the knee joint included angle reaches the second preset angle.
Further, the processor 1001 may invoke the motion gait control program stored in the memory 1005, and also perform the following operations:
If the movement intention of the affected side of the user is to support the affected side, judging whether the position of the knee joint of the affected side on the exoskeleton exceeds a preset joint position range;
if the position of the affected knee joint in the exoskeleton does not exceed the preset joint position range, acquiring and outputting auxiliary support strength of the exoskeleton;
And if the position of the affected knee joint in the exoskeleton exceeds the preset joint position range, adjusting the position of the affected knee joint so that the position of the affected knee joint in the exoskeleton does not exceed the preset joint position range.
Based on the above hardware structure, various embodiments of the inventive exercise gait control method are presented.
Referring to fig. 2, a first embodiment of the exercise gait control method of the present application provides an exercise gait control method, the method comprising:
step S10, acquiring identification information of a user, wherein the identification information at least comprises one of kinematic information, mechanical information, biological information and image information;
step S20, based on the identification information, identifying the movement gait of the affected side of the user;
step S30, acquiring the movement intention of the patient side of the user based on the movement gait of the patient side;
Step S40, performing corresponding exercise gait control on the exoskeleton worn by the user based on the exercise intention of the affected side.
The application scenario of the embodiment may be that, for some users in middle and later periods of walking, in the process of walking training of the sports gait, the initiative of the user needs to be ensured to the greatest extent, that is, any obstruction cannot be generated to the movement of the user, so that the user can move according to own will, that is, the user can perform walking training by using free gait, that is, free rhythm, and assistance is applied based on the movement intention of the user.
The method is initiated actively by the patient side of the user, and the exoskeleton can be ensured to adapt to the user based on the exercise intention of the patient side of the user, so that the user can excite the exercise intention to the greatest extent and exercise according to own will.
Specifically, the exercise gait control method of the application comprises the following steps: acquiring identification information of a user, wherein the identification information at least comprises one of kinematic information, mechanical information, biological information and image information, and the exoskeleton is worn on the affected side of the user, and reference is made to fig. 8, 10 and 11, wherein a first sub-image on the left side of fig. 10 is a left side view of the exoskeleton, a second sub-image on the left side of fig. 10 is a front view of the exoskeleton, a third sub-image on the left side of fig. 10 is a right side view of the exoskeleton, a fourth sub-image on the left side of fig. 10 is a rear view of the exoskeleton, a sub-image on the left side of fig. 11 is a bottom view of the exoskeleton, and a sub-image on the right side of fig. 11 is a top view of the exoskeleton; the application is mainly based on one or more of the kinematic information, mechanical information and biological information of the exoskeleton worn on the affected side or the image information shot by the shooting device, and the kinematic gait of the user is identified as affected side support or affected side swing; after the patient side exercise gait is obtained, the exercise intention of the patient side of the user can be obtained, namely, the exercise intention of the patient side is estimated by the exercise gait of the patient side; and finally, performing corresponding movement gait control on the exoskeleton worn by the user based on the movement intention of the affected side so as to realize the application of walking training assistance to the user, thereby being capable of pertinently and individually assisting the affected side to perform the walking training according to the movement intention of the affected side and being beneficial to improving the training efficiency.
In this embodiment, first, identification information of a user is acquired, where the identification information includes at least one of kinematic information, mechanical information, biological information, and image information; then, based on the identification information, identifying the movement gait of the affected side of the user; based on the movement gait of the affected side, the movement intention of the affected side of the user is obtained; and finally, performing corresponding motion gait control on the exoskeleton worn by the user based on the motion intention of the affected side so as to realize the application of walking training assistance to the user based on the motion intention of the affected side, so that the user can not only correct gait in the walking training process, but also can perform autonomous motion according to the motion intention of the user, and the walking training effect is improved.
Further, in a second embodiment of the exercise gait control method of the present application, referring to fig. 3, step S10 includes:
Step S11, obtaining motion signals of at least one of waist, thigh, calf, foot, hip joint, knee joint, ankle joint 、 upper body trunk information, upper body big arm information, upper body small arm information, shoulder joint information and elbow joint information of a user as kinematic information of the user;
Step S12, mechanical signals of at least one of waist, thigh, calf, foot, upper body information, upper body forearm information and upper body forearm information of a user are obtained and used as mechanical information of the user;
step S13, acquiring biological signals of at least one of waist, thigh, calf, foot, upper body information, upper body forearm information and upper body forearm information of a user as biological information of the user;
In step S14, a user image captured by the capturing device is acquired as image information.
In the present embodiment, the kinematic information refers to information describing and researching the rule of change of the user position with time from the geometric point of view (refer to physical properties of the user itself and force applied to the object are not involved); the mechanical information refers to the information of the mechanical motion rule of the user; biological information refers to information related to the structure, function, occurrence and development rules of a user; the image information means that a series of images are obtained by shooting a user by using a shooting device, and then the series of images are identified, so that the purpose of detecting the movement gait of the user is achieved.
Acquiring identification information of a user, wherein the identification information at least comprises one of kinematic information, mechanical information, biological information and image information, and the implementation method comprises the steps of acquiring motion signals of at least one of waist, thigh, calf, foot, hip joint, knee joint, ankle joint 、 upper body trunk information, upper body big arm information, upper body small arm information, shoulder joint information and elbow joint information of the affected side and the healthy side of the user, namely acquiring one or more kinematic signals as the kinematic information; acquiring mechanical signals of at least one of waist, thigh, shank, foot, upper body trunk information, upper body thigh information and upper body forearm information of the affected side and the healthy side of the user, namely acquiring one or more mechanical signals as mechanical information; acquiring biological signals of at least one of waist, thigh, calf, foot, upper body trunk information, upper body thigh information and upper body forearm information of the affected side and the healthy side of the user, namely acquiring one or more biological signals as biological information; and acquiring a user image shot by the shooting device as image information. Namely, the identification information of the healthy side and the affected side is acquired at the same time, but the information of the affected side is mainly used.
Further, in the third embodiment of the exercise gait control method of the present application, step S20 includes:
And judging at least one of the kinematic information, the mechanical information or the biological information of the user according to a first preset rule so as to determine the movement gait of the affected side of the user, wherein the movement gait comprises a supporting state and a swinging state.
In the present embodiment, the movement gait of the affected side of the user can be identified based on any one information or a combination of a plurality of information among the kinematic information, the mechanical information, the biological information, and the image information. Can be flexibly set in the implementation process, and is not limited herein.
In this embodiment, at least one of the kinematic information, the mechanical information or the biological information of the user is used, so that the exercise gait control program can estimate the exercise intention of the affected side; and the patient side is pertinently and individually assisted in performing the walking training based on the movement intention of the patient side, so that the training efficiency is improved.
Specifically, the method of identifying the motor gait of the patient side of the user based on at least one of the kinematic information, the mechanical information, or the biological information is, for example, that the motor gait of the patient side of the user can be judged by acquiring the pressure of the foot of the patient side. Because the legs are supported on the ground when the user walks, the legs are in a swinging phase when swinging, and the stress is different when the legs are supported and swinging; when a user stands, the legs need to support the whole body mass, and when the user swings, the legs only need to bear the swinging load. A certain threshold value can be set for the pressure sensor of the foot of the patient side of the user, and when the threshold value is exceeded, the patient side support of the user can be judged; if the user's affected side swing is not exceeded, judging that the user is affected side swing. The setting of the pressure threshold varies from person to person, as the weight of the individual persons varies, and is not limited here.
Further, in the fourth embodiment of the exercise gait control method of the present application, step S30 includes:
Step S31, if the movement gait of the affected side is in a swing state, the movement intention of the affected side of the user is to support the affected side;
in step S32, if the gait of the patient side is in a supporting state, the movement of the patient side is intended to swing the patient side, wherein the swing patient side includes a curved patient side and an extended patient side.
In the present embodiment, if the movement gait of the patient side of the user is recognized as the swing state, it can be inferred that the movement intention of the patient side of the user is to take the patient side as a fulcrum, i.e., to support the patient side; if the motor gait of the patient side of the user is identified as a support state, it can be inferred that the motor intent of the patient side of the user is to swing the patient side, wherein swinging the patient side includes bending the patient side and stretching the patient side.
Specifically, based on the exercise gait of the patient side of the user, the exercise intention of the patient side of the user can be obtained by wearing a preset number of sensors (such as feet, thighs, calves, waists, etc.) on the patient side of the user, and giving different weight coefficients to the sensors; after the data detected by the sensors are acquired, the data are calculated with the corresponding weights to obtain the movement gait data of the patient side of the user and the movement intention data of the patient side of the user, and then the movement gait data of the patient side of the user and the movement intention data of the patient side of the user are integrated and evaluated integrally, so that the movement intention of the patient side of the user can be judged by the movement gait of the patient side of the user.
In this embodiment, after the exercise gait of the affected side is identified, the exercise gait control program can estimate the exercise intention of the affected side; and then, based on the movement intention of the affected side, the walking training assistance is applied to the user, so that the affected side can be pertinently and individually assisted in the walking training according to the movement gait of the affected side, and the training efficiency is improved.
Further, in a fifth embodiment of the exercise gait control method of the present application, referring to fig. 4, step S40 includes:
step S41, if the movement intention of the affected side of the user is to bend the affected side, enabling a bending auxiliary function of the exoskeleton to bend the exoskeleton;
Step S42, judging whether the formed knee joint included angle reaches a first preset angle after the exoskeleton is bent;
Step S43, if the knee joint included angle reaches a first preset angle, turning off the bending auxiliary function of the exoskeleton.
In this embodiment, the step of applying the walking training assistance to the user based on the movement intention of the affected side includes, if the movement intention of the affected side of the user is obtained to bend the affected side, starting the bending assistance function of the exoskeleton to bend the exoskeleton so as to avoid the user from generating a compensatory gait for not having the foot drag, wherein the exoskeleton is a wearing device of the affected side of the user; the exoskeleton can be bent at a fixed speed, can be adjusted by a user, can be flexibly arranged in the implementation process, and is not limited; and judging whether the formed knee joint included angle reaches a first preset angle or not after the exoskeleton is bent, if the formed knee joint included angle reaches the first preset angle, closing the bending auxiliary function of the exoskeleton, namely, the exercise gait control program does not help the affected side of the user to bend, so that the affected side of the user can leave the ground, and the exercise gait training program can be automatically adjusted according to the training condition of the user, can be manually adjusted by the user, can be flexibly set in the implementation process, and is not limited.
For example, when the included angle of the knee joint on the affected side of the user is detected to be lower than 90 ° and gradually reduced, it can be determined that the movement intention of the affected side of the user is bending, and the exoskeleton assists the affected side of the user to bend to a certain bending angle, for example, 45 °, it should be noted that the included angle and the bending angle of the knee joint on the affected side of the user can be fixed values, can be automatically adjusted by the exercise gait control program according to the training condition of the user, can be manually adjusted by the user, can be flexibly set in the implementation process, and is not limited herein.
In the embodiment, the walking training is performed by the patient side in a targeted and personalized manner based on the movement intention of the patient side, which is beneficial to improving the training efficiency.
Further, in a sixth embodiment of the exercise gait control method of the present application, referring to fig. 5, step S40 further includes:
Step S44, if the movement intention of the affected side of the user is to stretch the affected side, enabling the stretching auxiliary function of the exoskeleton to stretch the exoskeleton;
Step S45, judging whether the formed knee joint included angle reaches a second preset angle after the exoskeleton stretches;
step S46, if the knee joint included angle reaches the second preset angle, outputting the preset extension supporting force of the exoskeleton.
In this embodiment, the step of applying the walking training assistance to the user based on the movement intention of the affected side further includes, if the movement intention of the affected side of the user is obtained to stretch the affected side, starting the stretching assistance function of the exoskeleton to stretch the exoskeleton, avoiding the user from generating a compensatory gait in order to avoid the foot dragging, wherein the exoskeleton can stretch at a fixed speed or can be adjusted by the user, and can be flexibly set in the implementation process without limitation; judging whether the formed knee joint included angle reaches a second preset angle after the exoskeleton stretches, if so, outputting the preset stretching supporting force of the exoskeleton, namely, a movement gait control program provides the preset stretching supporting force for the affected side of the user, so that the affected side of the user can straighten when falling to the ground, and sufficient stability is maintained, wherein the preset stretching supporting force of the exoskeleton can be a force with a fixed size or can be automatically adjusted by the user, and can be flexibly set in the implementation process without limitation.
For example, when the angle between the affected side of the user and the knee joint is detected to be greater than 100 ° and gradually increased, it can be determined that the movement intention of the affected side of the user is to extend, and the exoskeleton assists the affected side of the user to extend to a certain extension angle, for example, 170 °, it should be noted that the preset extension supporting force and the knee joint angle of the exoskeleton may be fixed values, may be automatically adjusted by the exercise gait control program according to the training situation of the user, may also be manually adjusted by the user, and may be flexibly set in the implementation process, which is not limited herein.
In the embodiment, the walking training is performed by the patient side in a targeted and personalized manner based on the movement intention of the patient side, which is beneficial to improving the training efficiency.
Further, in a seventh embodiment of the exercise gait control method of the present application, referring to fig. 6, step S40 further includes:
Step S47, if the movement intention of the affected side of the user is to support the affected side, judging whether the position of the knee joint of the affected side on the exoskeleton exceeds the preset joint position range;
step S48, if the position of the affected knee joint in the exoskeleton does not exceed the preset joint position range, acquiring and outputting auxiliary support strength of the exoskeleton;
In step S49, if the position of the affected knee joint on the exoskeleton exceeds the preset joint position range, the position of the affected knee joint is adjusted so that the position of the affected knee joint on the exoskeleton does not exceed the preset joint position range.
In this embodiment, the step of applying the walking training assistance to the user based on the movement intention of the patient side further includes, if the movement intention of the patient side of the user is obtained to support the patient side with the patient side as a fulcrum, referring to the left side sub-graph of fig. 9, judging whether the position of the knee joint of the patient side in the exoskeleton exceeds the preset joint position range; if the position of the affected side knee joint at the exoskeleton does not exceed the preset joint position range, which indicates that the standing posture of the affected side is correct, acquiring and providing support for the affected side of the user according to the exoskeleton auxiliary support strength input by the user, so as to achieve the purpose of supporting the affected side of the user, and ensure that the affected side of the user is not bent or fallen by the whole weight (the weight of the user and the weight of the exoskeleton) after standing on the ground, wherein the exoskeleton auxiliary support strength can be adjusted, namely increased or reduced, by the user according to the comfort level of the user; if the position of the affected knee joint on the exoskeleton exceeds the preset joint position range, which indicates that the standing posture of the affected side is incorrect, the position of the affected knee joint is adjusted so that the position of the affected knee joint on the exoskeleton does not exceed the preset joint position range, and then the auxiliary support strength of the exoskeleton input by a user is acquired and output.
In the embodiment, the walking training is performed by the patient side in a targeted and personalized manner based on the movement intention of the patient side, which is beneficial to improving the training efficiency.
In addition, referring to fig. 7, an embodiment of the present invention further provides a motion gait control device, where the motion gait control device includes:
The first acquisition module is used for acquiring identification information of a user, wherein the identification information at least comprises one of kinematic information, mechanical information, biological information and image information;
the identification module is used for identifying the movement gait of the affected side of the user based on the identification information;
the second acquisition module is used for acquiring the movement intention of the patient side of the user based on the movement gait of the patient side;
and the auxiliary module is used for carrying out corresponding movement gait control on the exoskeleton worn by the user based on the movement intention of the affected side.
The application also provides a terminal, which comprises: the system comprises a memory, a processor and a motion gait control program stored on the memory and capable of running on the processor, wherein the motion gait control program realizes the steps of the motion gait control method when being executed by the processor.
The present application also provides a computer readable storage medium having stored thereon a motion gait control program which when executed by a processor implements the steps of the motion gait control method described above.
The embodiments of the method, the device, the terminal and the readable storage medium for controlling the motion gait include all technical features of each embodiment of the method for controlling the motion gait, and the expansion and explanation contents of the description are basically the same as those of each embodiment of the method for controlling the motion gait, and are not repeated herein.
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 one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present application.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (6)
1. A method of motion gait control, the method comprising:
acquiring identification information of a user, wherein the identification information at least comprises one of kinematic information, mechanical information, biological information and image information;
identifying a locomotor gait of the patient side of the user based on the identification information;
Based on the locomotor gait of the patient side, acquiring the locomotor intent of the patient side of the user, including: if the movement gait of the affected side is in a swing state, the movement intention of the affected side of the user is to support the affected side; if the locomotor gait of the patient side is a supporting state, the locomotor intent of the patient side of the user is to swing the patient side, wherein the swing patient side comprises a bending patient side and an extending patient side;
Performing corresponding motion gait control on the exoskeleton worn by the user based on the motion intention of the affected side, including: if the movement intention of the affected side of the user is to support the affected side, judging whether the position of the knee joint of the affected side on the exoskeleton exceeds a preset joint position range; if the position of the affected knee joint in the exoskeleton does not exceed the preset joint position range, acquiring and outputting auxiliary support strength of the exoskeleton; if the position of the affected knee joint in the exoskeleton exceeds the preset joint position range, adjusting the position of the affected knee joint so that the position of the affected knee joint in the exoskeleton does not exceed the preset joint position range;
the step of obtaining the identification information of the user comprises the following steps:
Acquiring motion signals of at least one of waist, thigh, calf, foot, hip joint, knee joint, ankle joint 、 upper body trunk information, upper body thigh information, upper body forearm information, shoulder joint information and elbow joint information of the user as the kinematic information of the user;
acquiring mechanical signals of at least one of waist, thigh, calf, foot, upper body trunk information, upper body thigh information and upper body forearm information of the user as mechanical information of the user;
Acquiring biological signals of at least one of waist, thigh, calf, foot, upper body trunk information, upper body thigh information and upper body forearm information of the user as biological information of the user;
acquiring a user image shot by a shooting device as image information;
Wherein the step of identifying the locomotor gait of the patient side of the user based on the identification information comprises: judging at least one of kinematic information, mechanical information or biological information of the user according to a first preset rule to determine a movement gait of the affected side of the user, wherein the movement gait comprises a supporting state and a swinging state, and specifically comprises the following steps:
If the acquired identification information is the pressure of the affected foot, judging whether the pressure of the affected foot exceeds a preset pressure threshold value;
if the pressure of the affected side foot exceeds a preset pressure threshold, determining that the movement gait of the affected side of the user is in a supporting state;
And if the pressure of the affected side foot does not exceed the preset pressure threshold value, determining that the movement gait of the affected side of the user is in a swinging state.
2. The method of athletic gait control of claim 1, wherein said step of corresponding athletic gait control of a user-worn exoskeleton based on the motor intent of the patient side comprises:
if the movement of the patient side of the user is intended to bend the patient side, enabling a bending auxiliary function of the exoskeleton to bend the exoskeleton;
Judging whether the formed knee joint included angle reaches a first preset angle after the exoskeleton is bent;
and if the knee joint included angle reaches the first preset angle, closing the bending auxiliary function of the exoskeleton.
3. The method of athletic gait control of claim 1, wherein said step of corresponding athletic gait control of a user-worn exoskeleton based on the motor intent of the patient side further comprises:
If the movement of the patient side of the user is intended to extend the patient side, enabling an extension assistance function of the exoskeleton to extend the exoskeleton;
Judging whether the formed knee joint included angle reaches a second preset angle after the exoskeleton stretches;
And outputting the preset stretching supporting force of the exoskeleton if the knee joint included angle reaches the second preset angle.
4. A motion gait control device, the motion gait control device comprising:
The first acquisition module is used for acquiring identification information of a user, wherein the identification information at least comprises one of kinematic information, mechanical information, biological information and image information;
the identification module is used for identifying the movement gait of the affected side of the user based on the identification information;
the second acquisition module is used for acquiring the movement intention of the patient side of the user based on the movement gait of the patient side;
The auxiliary module is used for performing corresponding movement gait control on the exoskeleton worn by the user based on the movement intention of the affected side;
The first obtaining module is further configured to obtain a motion signal of at least one of a waist, a thigh, a calf, a foot, a hip joint, a knee joint, an ankle joint 、, upper trunk information, upper thigh information, upper forearm information, shoulder joint information, and elbow joint information of the user as kinematic information of the user; acquiring mechanical signals of at least one of waist, thigh, calf, foot, upper body trunk information, upper body thigh information and upper body forearm information of the user as mechanical information of the user; acquiring biological signals of at least one of waist, thigh, calf, foot, upper body trunk information, upper body thigh information and upper body forearm information of the user as biological information of the user; acquiring a user image shot by a shooting device as image information;
The identification module is further used for judging at least one of kinematic information, mechanical information or biological information of the user according to a first preset rule so as to determine the movement gait of the affected side of the user, wherein the movement gait comprises a supporting state and a swinging state;
The identification module is further used for judging whether the pressure of the foot on the affected side exceeds a preset pressure threshold value if the acquired identification information is the pressure of the foot on the affected side; if the pressure of the affected side foot exceeds a preset pressure threshold, determining that the movement gait of the affected side of the user is in a supporting state; if the pressure of the affected side foot does not exceed the preset pressure threshold, determining that the movement gait of the affected side of the user is in a swinging state;
The second acquisition module is further configured to, if the gait of the patient side is in a swing state, support the patient side with the intention of the patient side; if the locomotor gait of the patient side is a supporting state, the locomotor intent of the patient side of the user is to swing the patient side, wherein the swing patient side comprises a bending patient side and an extending patient side;
The auxiliary module is further used for judging whether the position of the knee joint on the affected side of the user on the exoskeleton exceeds a preset joint position range if the movement intention of the affected side of the user is to support the affected side; if the position of the affected knee joint in the exoskeleton does not exceed the preset joint position range, acquiring and outputting auxiliary support strength of the exoskeleton; and if the position of the affected knee joint in the exoskeleton exceeds the preset joint position range, adjusting the position of the affected knee joint so that the position of the affected knee joint in the exoskeleton does not exceed the preset joint position range.
5. A terminal, the terminal comprising: a memory, a processor and a motion gait control program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the motion gait control method of any of claims 1 to 3.
6. A storage medium having stored thereon a motion gait control program which when executed by a processor performs the steps of the motion gait control method of any of claims 1 to 3.
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| CN112515923B (en) * | 2020-12-07 | 2022-11-15 | 深圳市丞辉威世智能科技有限公司 | Lower limb exoskeleton gait planning method, computer-readable storage medium and device |
| CN112472531A (en) * | 2020-12-17 | 2021-03-12 | 大连理工大学 | Gait smoothing algorithm of lower limb exoskeleton robot for medical rehabilitation and assisted walking |
| CN112870028B (en) * | 2021-01-21 | 2023-03-31 | 上海傅利叶智能科技有限公司 | Method and device for recognizing walking intention of user, intelligent walking stick and auxiliary system |
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