CN111803325A - Control method and device for ankle rehabilitation training, electronic equipment and storage medium - Google Patents
Control method and device for ankle rehabilitation training, electronic equipment and storage medium Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/08—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints
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- 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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- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
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- A—HUMAN NECESSITIES
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Abstract
The invention discloses a control method and a control device for ankle rehabilitation training, electronic equipment and a storage medium, wherein the control method for ankle rehabilitation training comprises the following steps: acquiring a current posture parameter corresponding to ankle movement in a current training mode; controlling mode switching based on the current attitude parameter, and generating switching prompt information when the current attitude parameter meets the switching requirement; and switching the current training mode into a target training mode according to the switching prompt information, and performing ankle rehabilitation training according to the target training mode. The invention can enable the user to know the rehabilitation condition in time, realize automatic switching of the rehabilitation training mode to meet the rehabilitation requirement of the user at the current stage, and improve the use experience of the user.
Description
Technical Field
The present invention relates to the field of automatic control technologies, and in particular, to a control method and apparatus for ankle rehabilitation training, an electronic device, and a storage medium.
Background
Ankle sprains are very common in sports injuries, accounting for approximately more than 16% of all sports injuries. After ankle sprain, a variety of injuries may occur, including ligament injury or fracture, fracture dislocation, articular cartilage injury, tendon injury or fracture, etc. The ankle is the joint with the largest load of the human body, the joint surface is smaller than the hip and the knee joint, but the weight is larger than the hip and the knee joint. As the ankle joint is close to the ground, the stress can not be effectively buffered, and the ankle joint is slightly uncomfortable, so that the obvious ankle joint dysfunction can be caused. Therefore, rehabilitation treatment after ankle sprain is very critical.
Currently, ankle rehabilitation training devices are various, but these training devices can only passively perform rehabilitation training in a fixed mode. After the patient uses the rehabilitation training device to train for a period of time, the patient cannot accurately judge the self rehabilitation condition, and usually, the patient needs to consult a doctor to know whether the patient finishes the rehabilitation training at the stage. Therefore, the existing ankle rehabilitation training device cannot meet the rehabilitation requirements of patients.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a control method for ankle rehabilitation training, which can timely feed back rehabilitation conditions to a user and automatically switch rehabilitation training modes to meet the current rehabilitation requirements of the user.
The invention further provides a control device for ankle rehabilitation training.
The invention further provides control electronic equipment for ankle rehabilitation training.
The invention also provides a storage medium.
In a first aspect, an embodiment of the present invention provides a method for controlling ankle rehabilitation training, including:
acquiring a current posture parameter corresponding to ankle movement in a current training mode;
controlling mode switching based on the current attitude parameter, and generating switching prompt information when the current attitude parameter meets the switching requirement;
and switching the current training mode into a target training mode according to the switching prompt information, and performing ankle rehabilitation training according to the target training mode.
The control method for ankle rehabilitation training provided by the embodiment of the invention at least has the following beneficial effects: the current posture parameter of the ankle movement in the current training mode can be obtained through detection; then based on the switching of the current posture parameter control mode, when the current posture parameter accords with the switching requirement, switching prompt information can be generated to feed back the rehabilitation condition and the switching condition of the rehabilitation training mode to the user, finally, the current training mode is switched into the target training mode according to the switching prompt information, ankle rehabilitation training is carried out according to the target training mode, the user can timely know the rehabilitation condition of the user at the current stage, the rehabilitation training mode is automatically switched to meet the rehabilitation requirement of the user at the current stage, and the use experience of the user is improved.
According to another embodiment of the present invention, the method for controlling ankle rehabilitation training, wherein the controlling of the mode switching based on the current posture parameter includes: acquiring a preset switching threshold value; and when the current attitude parameter exceeds the preset switching threshold value, determining that the current attitude parameter meets the switching requirement.
According to another embodiment of the present invention, the method for controlling ankle rehabilitation training, wherein the determining that the current posture parameter meets the switching requirement includes: acquiring and recording the recording times that the current attitude parameter is greater than the preset switching threshold value, and acquiring preset times; and when the recording times exceed the preset times, determining that the current attitude parameters meet the switching requirements.
According to another embodiment of the present invention, the method for controlling ankle rehabilitation training, wherein the determining that the current posture parameter meets the switching requirement includes: acquiring a recording duration for recording that the current attitude parameter is greater than the preset switching threshold value, and acquiring a preset duration; and when the recording duration exceeds the preset duration, determining that the current attitude parameter meets the switching requirement.
According to another embodiment of the present invention, after the generating a switching prompt message when the current posture parameter meets the switching requirement, the method for controlling ankle rehabilitation training further includes: when the current attitude parameter does not meet the switching requirement, acquiring a current amplitude value corresponding to the current attitude parameter; controlling amplitude switching based on the current amplitude value, and generating adjustment prompt information when the current attitude parameter meets the amplitude requirement; and adjusting the current amplitude value into a target amplitude value according to the adjustment prompt information, and performing ankle rehabilitation training according to the target amplitude value.
According to other embodiments of the present invention, the method for controlling ankle rehabilitation training, which controls amplitude switching based on the current amplitude value, includes: acquiring a preset amplitude threshold value; and when the current amplitude value exceeds the preset amplitude threshold value, determining that the current attitude parameter meets the amplitude requirement.
According to another embodiment of the present invention, the ankle rehabilitation training method according to the target training mode includes: acquiring preset rehabilitation duration of the target training mode; performing ankle rehabilitation training in the target training mode according to the preset rehabilitation duration; and executing the step of obtaining the current posture parameter corresponding to the ankle movement in the current training mode.
In a second aspect, an embodiment of the present invention provides a control device for ankle rehabilitation training, the device including:
the acquisition module is used for acquiring current posture parameters corresponding to ankle movement in the current training mode;
the control module is used for controlling mode switching based on the current attitude parameter, and generating switching prompt information when the current attitude parameter meets the switching requirement;
and the switching module is used for switching the current training mode into a target training mode according to the switching prompt information and carrying out ankle rehabilitation training according to the target training mode.
The control device for ankle rehabilitation training provided by the embodiment of the invention at least has the following beneficial effects: according to the control device for ankle rehabilitation training, the control method for ankle rehabilitation training is implemented, so that a user can know the rehabilitation condition in time, the rehabilitation requirement of the user in the current stage is met by automatically switching the rehabilitation training mode, and the use experience of the user is improved.
According to a third aspect of the present invention, a control electronic device for ankle rehabilitation training includes: at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions that are executed by the at least one processor, so that the at least one processor implements the control method for ankle rehabilitation training according to the first aspect when executing the instructions.
A control storage medium of ankle rehabilitation according to a fourth aspect of the present invention includes: the storage medium stores computer-executable instructions for causing a computer to execute the control method for ankle rehabilitation training according to the first aspect.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
Fig. 1 is a flowchart illustrating a control method for ankle rehabilitation training according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating one embodiment of the step of FIG. 1 for controlling mode switching based on current attitude parameters;
fig. 3 is a flowchart illustrating a control method for ankle rehabilitation training according to another embodiment of the present invention;
fig. 4 is a block diagram of an embodiment of a control device for ankle rehabilitation training according to the present invention;
FIG. 5 is a functional block diagram of an embodiment of an electronic device in accordance with the present invention.
Detailed Description
The concept and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments to fully understand the objects, features and effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention.
In the description of the present invention, if an orientation description is referred to, for example, the orientations or positional relationships indicated by "upper", "lower", "front", "rear", "left", "right", etc. are based on the orientations or positional relationships shown in the drawings, only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. If a feature is referred to as being "disposed," "secured," "connected," or "mounted" to another feature, it can be directly disposed, secured, or connected to the other feature or indirectly disposed, secured, connected, or mounted to the other feature.
In the description of the embodiments of the present invention, if "a number" is referred to, it means one or more, if "a plurality" is referred to, it means two or more, if "greater than", "less than" or "more than" is referred to, it is understood that the number is not included, and if "greater than", "lower" or "inner" is referred to, it is understood that the number is included. If reference is made to "first" or "second", this should be understood to distinguish between features and not to indicate or imply relative importance or to implicitly indicate the number of indicated features or to implicitly indicate the precedence of the indicated features.
In a first aspect, referring to fig. 1, a flowchart of a control method for ankle rehabilitation training in an embodiment of the present invention is shown. The method specifically comprises the following steps:
and S100, acquiring current posture parameters corresponding to ankle movement in the current training mode.
The current training mode may be a rehabilitation training mode in which the user is currently located, for example: a passive training mode or an active training mode; the current posture parameter may be posture data corresponding to the user performing ankle rehabilitation training in the current training mode, and the current posture parameter may be multiple, for example: ankle acceleration, ankle angular velocity, and/or ankle movement angle. The current posture parameter can be used for reflecting ankle rehabilitation conditions, and under different rehabilitation training modes, the corresponding posture parameter is different when the ankle moves, so that the current posture parameter corresponding to the ankle under the current training mode needs to be acquired. Optionally, assume that the current training mode is a passive training mode, and when the ankle performs rehabilitation training in the passive training mode, the ankle acceleration and the angular velocity corresponding to the ankle can be collected, so that the current posture parameter corresponding to the ankle during ankle movement in the current training mode can be obtained.
And step S110, controlling mode switching based on the current attitude parameters, and generating switching prompt information when the current attitude parameters meet the switching requirements.
Wherein, the control mode switching can be the switching between the control ankle rehabilitation training models; the switching requirement may be a specific condition for judging whether the rehabilitation training mode needs to be switched; the switching prompt information is used for reminding the user to switch the rehabilitation training mode, and can be sound prompt information and/or visual prompt information, and the switching prompt information can also be used for feeding back the rehabilitation condition of the user. Optionally, based on whether the current posture parameter meets the switching requirement or not, when the current posture parameter meets the switching requirement, it may be determined that the user has completed the rehabilitation training at this stage, so that it may be determined that the user needs to switch the rehabilitation training mode, and then switching prompt information may be generated, where the switching prompt information may be used to inform the user that the rehabilitation training at this stage has been completed, and may also prompt the user to switch the rehabilitation training mode.
And step S120, switching the current training mode into a target training mode according to the switching prompt information, and performing ankle rehabilitation training according to the target training mode.
The target training mode may be a rehabilitation training mode meeting the current rehabilitation requirement of the user. Because the current posture parameter accords with the switching requirement, the user can be judged to have the requirement of switching the rehabilitation training mode, so the user can switch the current training mode into the target training mode according with the user requirement according to the switching prompt information, the user can carry out ankle rehabilitation training according to the target training mode, and the user experience is improved. Optionally, assuming that the current training mode is a passive training mode, assuming that the target training mode is a first active training mode, where the first active training mode may be an angle-controlled active training mode, when the current posture parameter in the passive training mode meets the switching requirement, the user may switch the passive training mode to the first active training mode according to the prompt of the switching prompt information, and perform ankle rehabilitation training according to the first active training mode; assuming that the current training mode is a first active training mode and the target training mode is a second active training mode, which may be a direction-controlled active training mode, the user may switch the first active training mode to the second active training mode according to the switching prompt information, and perform ankle rehabilitation training according to the second active training mode.
According to the control method for ankle rehabilitation training, the current posture parameter of ankle movement under the current training mode can be obtained through detection, then mode switching is controlled based on the current posture parameter, when the current posture parameter meets the switching requirement, switching prompt information can be generated to feed back the rehabilitation condition and the switching condition of the rehabilitation training mode to a user, finally, the current training mode is switched into the target training mode according to the switching prompt information, ankle rehabilitation training is carried out according to the target training mode, the user can timely know the rehabilitation condition of the user in the current stage, the rehabilitation training mode is automatically switched to meet the rehabilitation requirement of the user in the current stage, and the use experience of the user is improved.
Referring to fig. 2, a schematic flow chart of controlling mode switching based on a current attitude parameter in the embodiment of the present invention is shown. The method specifically comprises the following steps:
step S200, acquiring a preset switching threshold value.
The preset switching threshold may be a preset critical value corresponding to the current attitude parameter, and the preset switching threshold may be set according to a requirement. Whether the current attitude parameter meets the switching requirement can be judged by presetting a switching threshold value. Optionally, the preset switching threshold may correspond to the current attitude parameter one to one. For example, the current posture parameter is ankle acceleration v0Angular velocity omega0Then, v can be acquired separately0Corresponding preset switching threshold v1、ω0Corresponding preset switching threshold value omega1(ii) a The current posture parameters are ankle acceleration v0 and angular velocity omega0And angle of motion theta0Then, v can be acquired separately0Corresponding preset switching threshold v1、ω0Corresponding preset switching threshold value omega1、θ0Corresponding preset switching threshold value theta1。
Step S210, determining whether the current attitude parameter exceeds a preset switching threshold. When the current attitude parameter exceeds a preset switching threshold, the method goes to step S220; and when the current attitude parameter does not exceed the preset switching threshold, the step S230 is entered.
Step S220, determining that the current attitude parameters meet the switching requirements.
The current attitude parameter exceeds the preset switching threshold, which may mean that the magnitude relationship between the current attitude parameter and the preset switching threshold is: the current attitude parameter is greater than a preset switching threshold. When the current posture parameter is larger than the corresponding critical value, the user can be judged that the user has the requirement for switching the rehabilitation training mode at the current stage, so that the current posture parameter can be judged to meet the switching requirement. Optionally, it is assumed that the switching requirement is a specific requirement for switching the passive training mode to the first active training mode, and v is assumed2、ω2And theta2Respectively, current attitude parameter v1、ω1And theta1Corresponding preset switching threshold value when the current attitude parameter v1＞v2、ω1＞ω2And theta1＞θ2Then, the current attitude parameter can be judged to meet the switching requirement; suppose the switching requirement is to switch the second active training mode to the third active training modeThe third active training mode may be an active training mode for directional and angular control, assuming v is a specific requirement4、ω4And theta4Respectively, current attitude parameter v3、ω3And theta3Corresponding preset switching threshold value when the current attitude parameter v3＞v4、ω3＞ω4And theta3＞θ4And then, judging that the current attitude parameters meet the switching requirements.
Step S230, determining that the current posture parameter does not meet the switching requirement. Optionally, when the current posture parameter does not exceed the preset switching threshold, it may be determined that the user does not have a requirement for switching the rehabilitation training mode at the present stage, so that it may be determined that the current posture parameter does not meet the switching requirement. Assuming that the switching requirement is a specific requirement for switching the passive training mode to the first active training mode, assume v2、ω2And theta2Respectively, current attitude parameter v1、ω1And theta1Corresponding preset switching threshold value when the current attitude parameter v1＝v2、ω1＜ω2、θ1＞θ2If so, judging that the current attitude parameter does not meet the switching requirement; when the current attitude parameter v1＞v2、ω1＜ω2、θ1＜θ2And then, judging that the current attitude parameter does not meet the switching requirement. Whether the current attitude parameter meets the switching requirement can be judged by judging the size relation between the current attitude parameter and a preset switching threshold value, if and only if all the current attitude parameters are greater than the corresponding preset switching threshold values, the current attitude parameter is determined to meet the switching requirement, and if not, the current attitude parameter is determined not to meet the switching requirement. Through setting up the judgement condition of strict switching training mode, can solve because of the problem of frequently switching the ankle secondary damage that the training mode leads to, promote user's use and experience the sense.
In some embodiments of the present invention, when the current attitude parameter exceeds a preset handover threshold, determining that the current attitude parameter meets the handover requirement includes:
and acquiring and recording the recording times of the current attitude parameter larger than a preset switching threshold value, and acquiring the preset times. The recording times can be times that the current attitude parameter obtained by recording is greater than a preset switching threshold value; the preset times can be a critical value corresponding to the preset recording times, and the preset times can be set according to requirements. When judging whether the current parameter meets the switching requirement, the current attitude parameter can be determined to meet the switching requirement by acquiring a plurality of detection results, wherein the detection results can be results that the current attitude parameter is larger than a preset switching threshold value. Optionally, the number of detection results may be represented by the number of recording times, and a critical value corresponding to the number of recording times may be set as a preset number. Assuming that the recording number is m, and assuming that the preset number is n, the m and n may be obtained respectively.
And when the recording times are more than the preset times, the current attitude parameters meet the switching requirements. Optionally, assuming that the recording number of times is m and assuming that the preset number of times is n, when the recording number of times that the current posture parameter is greater than the preset switching threshold is greater than the preset number of times, that is, m is greater than n, it may be determined that the current ankle movement condition of the user has reached the index of switching the training mode, and it may be determined that the current posture parameter meets the switching requirement. Optionally, when the recording times are less than the preset times, that is, m is less than or equal to n, it may be determined that the current ankle movement condition of the user does not reach the index of switching the training mode, and it may be determined that the current posture parameter does not meet the switching requirement. Whether the current posture parameter meets the switching requirement is determined by acquiring the recording times and the preset times and judging whether the recording times are larger than the preset times, the rehabilitation condition of the user can be accurately judged according to the previous movement condition of the patient, and the problems that the rehabilitation training mode is frequently switched and the ankle is secondarily damaged due to the fact that the current posture parameter which happens to be larger than the preset switching threshold value are avoided.
In some embodiments of the present invention, when the current attitude parameter exceeds a preset handover threshold, determining that the current attitude parameter meets the handover requirement includes:
and acquiring the recording duration when the current attitude parameter is greater than the preset switching threshold value, and acquiring the preset duration. WhereinThe recording duration can be the time length that the current attitude parameter continuously exceeds a preset switching threshold; the preset duration may be a critical value corresponding to the recording duration, and the preset duration may be set according to a requirement. Optionally, the influence of the ankle movement condition accidentally exceeding the reasonable range can be eliminated according to the record duration, and whether the record duration exceeds the reasonable range can be judged through the preset duration. Optionally, assume that the recording duration is t1Let t be1The corresponding preset duration is T, and T is respectively obtained1And T.
And when the recording duration is longer than the preset duration, determining that the current attitude parameter meets the switching requirement. Optionally, assume that the recording duration is t1Let T be the preset duration. When t is1When the current posture parameter is larger than the preset switching threshold value, the situation that the current posture parameter is larger than the preset switching threshold value is determined to be not an accidental situation, so that the current ankle movement situation of the user can be determined to reach the index for switching the rehabilitation training mode, and the current posture parameter can be determined to meet the switching requirement. When t is1When the current posture parameter is less than or equal to T, the situation that the current posture parameter exceeds the preset switching threshold value can be determined as an accidental situation, so that the current ankle movement situation of the user can be determined not to reach the index of switching the rehabilitation training mode, namely, the current posture parameter can be determined not to meet the switching requirement. Through the size relation between the preset duration and the record duration, when the record duration is longer than the preset duration, the current posture parameter can be judged to exceed the preset switching threshold value and not be an accidental factor, the current posture parameter can be determined to meet the switching requirement, otherwise, the current posture parameter can be determined not to meet the switching requirement, so that the judgment condition for switching the ankle rehabilitation training mode is stricter, and ankle secondary damage caused by frequent switching of the ankle rehabilitation training mode is prevented.
Referring to fig. 3, a flowchart illustrating a control method for ankle rehabilitation training according to another embodiment of the present invention is shown. The method specifically comprises the following steps:
step S300, when the current attitude parameter does not meet the switching requirement, acquiring a current amplitude value corresponding to the current attitude parameter.
The current amplitude value may be a numerical value of a corresponding motion amplitude when the ankle of the user moves in the current training mode; the preset amplitude threshold may be a critical value corresponding to the current amplitude value, and the preset amplitude threshold may be set according to a requirement. And when the current posture parameter does not meet the switching requirement, the rehabilitation training mode cannot be switched. In order to assist the user to better complete ankle rehabilitation training, a plurality of training difficulties can be set in the same mode to guide the user to perform higher-difficulty rehabilitation training, and the training difficulty can be represented by the exercise amplitude value. When the current posture parameter does not meet the switching requirement, whether the training difficulty in the current training mode needs to be switched can be judged according to the current amplitude value and a preset amplitude threshold value. Optionally, assuming that the current training mode is a second active training mode for direction control, assuming that a current amplitude value in the second active training mode is p, and a preset amplitude threshold corresponding to p is q, obtaining p and q, respectively.
Step S310, amplitude switching is controlled based on the current amplitude value, and when the current attitude parameter meets the amplitude requirement, adjustment prompt information is generated.
Wherein, the control amplitude switching can be switching of control rehabilitation training difficulty in the current rehabilitation training mode; the amplitude requirement may be a specific condition for judging whether the rehabilitation training difficulty needs to be switched; the adjustment prompt information can be information for reminding a user of the difficulty of switching the rehabilitation training, the adjustment prompt information can be sound prompt information and/or visual prompt information, and the adjustment prompt information can also be used for feeding back the rehabilitation condition of the user. When the current posture parameter does not meet the switching requirement, whether the current posture parameter meets the amplitude requirement can be judged, and when the current posture parameter meets the amplitude requirement, adjustment prompt information can be generated to guide a user to select a rehabilitation training amplitude with higher difficulty. Optionally, when the current posture parameter meets the amplitude requirement, it may be determined that the user has completed the requirement of the training amplitude at this stage, so that it may be determined that the user needs to switch the training difficulty, i.e., switch the motion amplitude. Therefore, adjustment prompt information can be generated, the adjustment prompt information can prompt the user that the rehabilitation training difficulty is about to be adjusted, and the user can be informed that the requirement of the current training amplitude is met. When p is less than q, the current posture parameter can be judged to be not in accordance with the amplitude requirement, so that the rehabilitation training difficulty in the current training mode does not need to be adjusted.
In step S320, the current amplitude value is adjusted to the target amplitude value according to the adjustment prompt information, and ankle rehabilitation training is performed according to the target amplitude value.
The target amplitude value may be a rehabilitation training difficulty meeting the current stage rehabilitation requirement of the user. Because the current posture parameter meets the amplitude requirement, the user can be judged to need to switch the rehabilitation training difficulty, so the user can switch the current amplitude value into the target amplitude value meeting the user requirement according to the prompt of the adjustment prompt information, the user can carry out ankle rehabilitation training according to the target amplitude value, and the user experience is improved. Optionally, assuming that the current amplitude value is p and the target amplitude value is s, when the current posture parameter meets the amplitude requirement, p may be switched to s, so that the user may perform ankle rehabilitation training according to s. Through setting up the training degree of difficulty of difference under the same rehabilitation training mode, under the condition that does not switch over the rehabilitation training mode, with current amplitude value automatic switch-over to target amplitude value, guide the user to carry out the rehabilitation training of higher difficulty according to target amplitude value, can help the user to accomplish ankle rehabilitation training better, promote user experience and feel.
In some embodiments of the invention, controlling amplitude switching based on the current amplitude value comprises:
and acquiring a preset amplitude threshold value. The preset amplitude threshold may be a critical value corresponding to the current amplitude value. Optionally, whether the current attitude parameter meets the amplitude requirement may be determined according to a magnitude relationship between a preset amplitude threshold and the current attitude parameter.
And when the current amplitude value exceeds a preset amplitude threshold value, determining that the current attitude parameter meets the amplitude requirement. Optionally, whether the current attitude parameter meets the amplitude requirement may be determined according to a magnitude relationship between the current amplitude value and a preset amplitude threshold. For example, assuming that the current amplitude value is p, assuming that the preset amplitude threshold value is q, when p > q, it can be determined that the current attitude parameter meets the index of adjusting the amplitude, and then the current attitude parameter meets the amplitude requirement. Optionally, when p is less than or equal to q, it may be determined that the current attitude parameter does not meet the index of the adjustment amplitude, and then the current attitude parameter does not meet the amplitude requirement. Through the magnitude relation between the current amplitude value and the target amplitude value, whether the current posture parameter meets the amplitude requirement or not can be judged, and the rehabilitation condition of the user can be accurately judged.
In some embodiments of the present invention, ankle rehabilitation training according to a target training mode includes:
and acquiring a preset rehabilitation duration corresponding to the target training mode or the target amplitude value. The preset rehabilitation duration can be the time length required by rehabilitation training corresponding to the preset target training mode, and also can be the time length required by the rehabilitation training corresponding to the preset target amplitude value, and the preset rehabilitation duration can be set according to requirements. The preset rehabilitation duration corresponding to different target training modes or the preset rehabilitation duration corresponding to the target amplitude value are different, optionally, the target training mode is assumed to be the first active training mode, and the preset rehabilitation duration corresponding to the first active training mode is assumed to be t0Then, the preset rehabilitation duration of the first active training mode can be obtained as t0。
And performing ankle rehabilitation training in a target training mode or a target amplitude value according to the preset rehabilitation duration. Optionally, after the current rehabilitation mode is automatically switched to the target rehabilitation mode, the user can be controlled to perform rehabilitation training for a period of time in the target rehabilitation mode, and then the next switching of the rehabilitation training mode is controlled, so that the problem that the ankle is damaged secondarily due to frequent switching of the training modes can be solved. For example, assume that the preset rehabilitation duration of the third active training mode is t3Then, the ankle can be controlled to last for t in the third active training mode3The rehabilitation training is carried out in time.
And executing the step of obtaining the current posture parameter corresponding to the ankle movement in the current training mode. Optionally, after ankle rehabilitation training is performed in the target training mode according to preset rehabilitation duration, the posture parameters of the ankle during movement can be detected again, and the ankle rehabilitation training is performed according to the detection againThe obtained posture parameters judge whether the next rehabilitation mode needs to be switched or not. For example, the ankle is controlled to last for t in the second active training mode2After the time carries out the rehabilitation training, can carry out the step of obtaining current posture parameter again to judge whether the user has accomplished the rehabilitation training that second initiative training mode corresponds, make the user can in time know the recovered condition of self, and can detect whether the user has the demand that switches into third initiative training mode, thereby can carry out the rehabilitation training of next stage to the ankle. Ankle rehabilitation training is carried out in the target training mode according to preset rehabilitation duration, the current posture parameters are obtained again, the switching frequency of the rehabilitation training mode can be controlled, and the rehabilitation training mode can be detected and switched in real time according to user requirements so as to meet the current-stage rehabilitation requirements of users.
The following describes the process of the control method for ankle rehabilitation training according to an embodiment of the present invention in detail. It is to be understood that the following description is only exemplary, and not a specific limitation of the invention.
The control method for ankle rehabilitation training described according to the embodiment of the invention comprises the following steps: if the current training mode is the first active training mode of angle control, the ankle acceleration v of the ankle during ankle exercise in the first active training mode can be obtained0Ankle angular velocity ω0And ankle movement angle theta0Separately obtain v0、ω0And theta0Corresponding threshold value vi、ωiAnd thetai，vi、ωiAnd thetaiThe method can be set according to the user requirements, and can also be debugged by counting the data detection results of multiple persons. By judging v0Whether or not greater than vi、ω0Whether greater than ωiAnd theta0Whether greater than thetaiOr to judge v0＞vi、ω0＞ωiAnd theta0＞θiWhether the number of times of (v) is greater than a preset number of times, or whether v is judged0＞vi、ω0＞ωiAnd theta0＞θiWhether or not the duration of (c) is greater thanAnd presetting time length to judge whether the first active training mode needs to be switched into the second active training mode. For example, when v0＞vi、ω0＞ωiAnd theta0＞θiWhen the ankle rehabilitation training system is used, the first active training mode can be switched to the second active training mode, switching prompt information is generated, and ankle rehabilitation training is carried out according to the second active training mode; when in use0＞vi、ω0＞ωiAnd theta0＞θiWhen the times of the ankle rehabilitation training are larger than the preset times, the first active training mode can be switched to a second active training mode to generate switching prompt information, and ankle rehabilitation training is carried out according to the second active training mode; when v is0＞vi、ω0＞ωiAnd theta0＞θiWhen the duration time is longer than the preset duration time, the first active training mode can be switched to a second active training mode to generate switching prompt information, and ankle rehabilitation training is carried out according to the second active training mode; otherwise, the ankle acceleration v can be judged0Angular velocity omega0And ankle movement angle theta0The handover requirements are not satisfied. When ankle acceleration v0Angular velocity omega0And ankle movement angle theta0When the switching requirement is not met, the ankle acceleration v can be acquired0Angular velocity omega0And ankle movement angle theta0The corresponding difficulty of rehabilitation training, i.e. the current amplitude value. Assuming that the current amplitude value is p and the critical value corresponding to the current amplitude value, namely the preset amplitude value is p, the magnitude relation between p and q can be judged, when p is larger than q, the current amplitude value p can be switched to a target amplitude value s, adjustment prompt information is generated, and ankle rehabilitation training is carried out according to the target amplitude value s; and when p is less than or equal to q, continuing ankle rehabilitation training according to the current amplitude value p without switching the current amplitude value. After the primary rehabilitation training mode is switched, the switching for the second time is allowed after a period of preset rehabilitation time lasts, whether the switching for the second time is needed or not can be judged by executing the step of acquiring the current posture parameters when the ankle moves under the current training mode, and the ankle secondary damage caused by frequent switching of the training mode is prevented. Through the upper partThe control method for ankle rehabilitation training can timely feed back rehabilitation conditions to the user and automatically switch rehabilitation training modes to meet the current-stage rehabilitation requirements of the user.
Referring to fig. 4, in a second aspect, a block diagram of a control apparatus for ankle rehabilitation training according to an embodiment of the present invention is shown. The method specifically comprises the following steps:
an obtaining module 400, configured to obtain a current posture parameter corresponding to ankle movement in a current training mode;
a control module 410, configured to control mode switching based on the current attitude parameter, and generate a switching prompt message when the current attitude parameter meets a switching requirement;
and a switching module 420, configured to switch the current training mode to a target training mode according to the switching prompt information, and perform ankle rehabilitation training according to the target training mode.
In some embodiments of the invention, controlling mode switching based on current attitude parameters comprises: the obtaining module 400 is further configured to obtain a preset handover threshold; the control module 410 is further configured to determine that the current attitude parameter meets the handover requirement when the current attitude parameter exceeds a preset handover threshold.
In some embodiments of the present invention, when the current attitude parameter exceeds a preset handover threshold, determining that the current attitude parameter meets the handover requirement includes: the obtaining module 400 is further configured to obtain the number of times of recording that the current attitude parameter is greater than the preset switching threshold, and obtain the preset number of times; the control module 410 is further configured to determine that the current posture parameter meets the switching requirement when the number of times of recording exceeds a preset number of times.
In some embodiments of the present invention, when the current attitude parameter exceeds a preset handover threshold, determining that the current attitude parameter meets the handover requirement includes: the obtaining module 400 is further configured to obtain a recording duration for recording that the current posture parameter is greater than a preset switching threshold, and obtain a preset duration; the control module 410 is further configured to determine that the current posture parameter meets the switching requirement when the recording duration exceeds a preset duration.
In some embodiments of the present invention, after the generating the switching prompt information when the current posture parameter meets the switching requirement, the method further includes: the obtaining module 400 is further configured to obtain a current amplitude value corresponding to the current attitude parameter when the current attitude parameter does not meet the switching requirement; the control module 410 is further configured to control amplitude switching based on the current amplitude value, and generate an adjustment prompt message when the current attitude parameter meets the amplitude requirement; the switching module 420 is further configured to adjust the current amplitude value to a target amplitude value according to the adjustment prompt information, and perform ankle rehabilitation training according to the target amplitude value.
In some embodiments of the invention, controlling amplitude switching based on the current amplitude value comprises: the obtaining module 400 is further configured to obtain a preset amplitude threshold; the control module 410 is further configured to determine that the current attitude parameter meets the amplitude requirement when the current amplitude value exceeds a preset amplitude threshold.
In some embodiments of the present invention, ankle rehabilitation training according to a target training mode includes: the obtaining module 400 is further configured to obtain a preset rehabilitation duration of the target training mode; the control module 410 is further configured to perform ankle rehabilitation training in the target training mode according to a preset rehabilitation duration; and executing the step of obtaining the current posture parameter corresponding to the ankle movement in the current training mode.
The above-described embodiments of the apparatus are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Referring to fig. 5, in a third aspect, an embodiment of the present invention further provides an internal structure diagram of a control electronic device for ankle rehabilitation training, including: at least one processor 500, and a memory 510 communicatively coupled to the at least one processor 500; and the system also comprises a data transmission module 520, a camera 530 and a display screen 540.
The processor 500 is configured to execute the control method for ankle rehabilitation training in the first embodiment by calling the computer program stored in the memory 510.
The memory, as a non-transitory storage medium, may be used to store a non-transitory software program and a non-transitory computer-executable program, such as the control method of ankle rehabilitation training in the embodiment of the first aspect of the present invention. The processor implements the control method for ankle rehabilitation training in the first embodiment by executing the non-transitory software program and the instructions stored in the memory.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the stored data area may store a control method of performing ankle rehabilitation training in the above-described first embodiment. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and these remote memories may be connected to the terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Non-transitory software programs and instructions required to implement the control method for ankle rehabilitation training in the first aspect of the embodiment described above are stored in a memory, and when executed by one or more processors, perform the control method for ankle rehabilitation training in the first aspect of the embodiment described above.
In a fourth aspect, an embodiment of the present invention further provides a control storage medium for ankle rehabilitation training, which stores computer-executable instructions, where the computer-executable instructions are configured to: a control method of performing ankle rehabilitation training in the embodiment of the first aspect;
in some embodiments, the storage medium stores computer-executable instructions, which are executed by one or more control processors, for example, by one of the processors in the electronic device of the second aspect, and may cause the one or more processors to execute the control method for ankle rehabilitation training in the first aspect.
The above described embodiments of the electronic device are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (10)
1. A method of controlling ankle rehabilitation training, the method comprising:
acquiring a current posture parameter corresponding to ankle movement in a current training mode;
controlling mode switching based on the current attitude parameter, and generating switching prompt information when the current attitude parameter meets the switching requirement;
and switching the current training mode into a target training mode according to the switching prompt information, and performing ankle rehabilitation training according to the target training mode.
2. The method of claim 1, wherein the controlling mode switching based on the current pose parameters comprises:
acquiring a preset switching threshold value;
and when the current attitude parameter exceeds the preset switching threshold value, determining that the current attitude parameter meets the switching requirement.
3. The method of claim 2, wherein determining that the current attitude parameter meets a handover requirement when the current attitude parameter exceeds the preset handover threshold comprises:
acquiring and recording the recording times that the current attitude parameter is greater than the preset switching threshold value, and acquiring preset times;
and when the recording times exceed the preset times, determining that the current attitude parameters meet the switching requirements.
4. The method of claim 2, wherein determining that the current attitude parameter meets a handover requirement when the current attitude parameter exceeds the preset handover threshold comprises:
acquiring a recording duration for recording that the current attitude parameter is greater than the preset switching threshold value, and acquiring a preset duration;
and when the recording duration exceeds the preset duration, determining that the current attitude parameter meets the switching requirement.
5. The method according to claim 1, further comprising, after generating a switching prompt message when the current posture parameter meets a switching requirement:
when the current attitude parameter does not meet the switching requirement, acquiring a current amplitude value corresponding to the current attitude parameter;
controlling amplitude switching based on the current amplitude value, and generating adjustment prompt information when the current attitude parameter meets the amplitude requirement;
and adjusting the current amplitude value into a target amplitude value according to the adjustment prompt information, and performing ankle rehabilitation training according to the target amplitude value.
6. The method of claim 5, wherein the controlling amplitude switching based on the current amplitude value comprises:
acquiring a preset amplitude threshold value;
and when the current amplitude value exceeds the preset amplitude threshold value, determining that the current attitude parameter meets the amplitude requirement.
7. The method of claim 1, wherein the ankle rehabilitation training according to the target training mode comprises:
acquiring preset rehabilitation duration of the target training mode;
performing ankle rehabilitation training in the target training mode according to the preset rehabilitation duration;
and executing the step of obtaining the current posture parameter corresponding to the ankle movement in the current training mode.
8. Control device of ankle rehabilitation training, characterized in that, the device includes:
the acquisition module is used for acquiring current posture parameters corresponding to ankle movement in the current training mode;
the control module is used for controlling mode switching based on the current attitude parameter, and generating switching prompt information when the current attitude parameter meets the switching requirement;
and the switching module is used for switching the current training mode into a target training mode according to the switching prompt information and carrying out ankle rehabilitation training according to the target training mode.
9. Control electronic equipment of ankle rehabilitation training, its characterized in that includes:
at least one processor, and,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions for execution by the at least one processor to cause the at least one processor to implement the ankle rehabilitation training control method according to any one of claims 1 to 7 when executing the instructions.
10. A storage medium for controlling ankle rehabilitation training, wherein the storage medium stores computer-executable instructions for causing a computer to perform the method for controlling ankle rehabilitation training according to any one of claims 1 to 7.
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Application publication date: 20201023 |