CN111939525A - Constant-speed muscle strength training system and control method thereof - Google Patents
Constant-speed muscle strength training system and control method thereof Download PDFInfo
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- A—HUMAN NECESSITIES
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- 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
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- A—HUMAN NECESSITIES
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- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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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
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0605—Decision makers and devices using detection means facilitating arbitration
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- A—HUMAN NECESSITIES
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- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
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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
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
- A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
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Abstract
The invention discloses a constant-speed muscle strength training system and a control method thereof, wherein the system comprises a power assembly and a control assembly, and the power assembly comprises: an output rod; the power module comprises a motor and a speed reducer, one end of the speed reducer is provided with a rotating shaft, the rotating shaft is fixedly connected with the output rod, the other end of the speed reducer is connected with the motor, and the input end of the motor is connected with the output end of the control assembly; the angle acquisition module is used for acquiring angle parameters of the output rod, and the output end of the angle acquisition module is connected with the first input end of the control assembly; the torque acquisition module is used for acquiring torque parameters of the rotating shaft, and the output end of the torque acquisition module is connected with the second input end of the control assembly. The invention can reduce the influence of the gravity of the limbs to the minimum, greatly improves the accuracy and the contrast of the muscle strength test, and improves the training efficiency of the constant-speed muscle strength training. The invention can be widely applied to the technical field of sports equipment.
Description
Technical Field
The invention relates to the technical field of sports equipment, in particular to a constant-speed muscle strength training system and a control method thereof.
Background
Muscle function examination and evaluation are one of the most fundamental and important aspects of rehabilitation medicine. Commonly used muscle function tests include isometric, isotonic and isokinetic tests, and the like. Because the isokinetic exercise technology has good accuracy, reliability and repeatability in muscle function test and good safety, efficiency and rationality in muscle strength training, the isokinetic exercise technology has wide application prospect in clinical practice and scientific research of physical training and rehabilitation medicine.
Constant-speed exercise, also known as adjustable resistance exercise or constant angular velocity exercise, refers to the exercise of the whole joint at a predetermined speed by using special equipment and adjusting the applied resistance according to the variation of muscle strength during the exercise, wherein the muscle strength only increases the muscle tension during the exercise, and the torque output increases. The constant-speed exercise can provide the maximum resistance suitable for the muscle according to the conditions of muscle strength, muscle length change, arm length, pain, fatigue and the like, and can not exceed the limit of the load. Thus, the isokinetic movement has a relatively high efficiency and safety.
The output rod of the constant-speed equipment is connected with the limbs through accessories (connecting pieces), and the limbs actively exert force to drive the output rod to rotate so as to test and train muscle strength.
The constant-speed muscle strength testing and training equipment acquires the torque value output by the limb by acquiring the torque of the rotating shaft, so that the real-time muscle strength of the limb can be acquired. However, the conventional isokinetic muscle strength testing and training apparatus has the following disadvantages:
1) in the process of testing the isokinetic muscle strength, the influence of the gravity of the limbs and the gravity of the fittings on the test result is not considered, so that the result of the muscle strength test is inaccurate. Taking knee joint flexion and extension as an example, in the extension process, the knee joint flexion and extension motion is restricted by the gravity of limbs and the gravity of accessories, and the force output by the limbs is partially used for overcoming the gravity, so that the moment value measured by the constant-speed equipment is actually the moment value output by the limbs minus the moment value generated by the gravity, namely the measured moment value is smaller than the moment value output by the limbs; in the process of the flexion movement, the flexion movement is assisted by the gravity of the limbs and the gravity of the fittings, so that the moment value measured by the constant-speed equipment is actually the moment value output by the limbs plus the moment value generated by the gravity, namely the measured moment value is greater than the moment value output by the limbs; and the body weights of different users are different, and accordingly, the influence of the body gravity on the test data is different, so that the muscle strength test data of different people cannot be objectively and effectively compared and analyzed.
2) In practical application of the constant-speed equipment, users with muscle strength of 3 to 4 grades are restricted by the gravity of limbs and fittings, so that the users have difficulty in performing the full-range movement of joints. Taking the flexion and extension of the shoulder joint as an example, when the arm is lifted from vertical to vertical and upward, when the arm moves to a horizontal position, the load on the arm caused by the gravity of the arm and the accessory is the largest, and a user with weak muscle strength can hardly continue to extend upwards and can not finish the full-range movement of the joint, thereby limiting the training effect of the constant-speed muscle strength training.
Disclosure of Invention
In order to solve the above technical problems, the present invention aims to: provides an accurate and efficient isokinetic muscle strength training system and a control method thereof.
The first technical scheme adopted by the invention is as follows:
an isokinetic muscle strength training system comprising a power assembly and a control assembly, the power assembly comprising:
an output rod;
the power module comprises a motor and a speed reducer, one end of the speed reducer is provided with a rotating shaft, the rotating shaft is fixedly connected with the output rod, the other end of the speed reducer is connected with the motor, and the input end of the motor is connected with the output end of the control assembly;
the angle acquisition module is used for acquiring angle parameters of the output rod, and the output end of the angle acquisition module is connected with the first input end of the control assembly;
the torque acquisition module is used for acquiring torque parameters of the rotating shaft, and the output end of the torque acquisition module is connected with the second input end of the control assembly.
Further, the angle acquisition module is an encoder, the encoder is installed on the motor, and the output end of the encoder is connected with the first input end of the control assembly.
Further, the torque acquisition module comprises a resistance strain gauge, a signal processing unit and a signal transmission unit, the resistance strain gauge is installed on the rotating shaft, and the output end of the resistance strain gauge is connected to the second input end of the control assembly through the signal processing unit and the signal transmission unit.
Further, the resistance strain gauge is a full-bridge strain gauge.
Further, the power assembly further includes:
the power module, the angle acquisition module and the torque acquisition module are all arranged in the shell;
and the limiting device is fixed at one end of the shell, and the rotating shaft penetrates through the limiting device and extends out of the limiting device to be fixedly connected with the output rod.
Further, the control assembly comprises a processor and a motor driver, the output end of the processor is connected to the input end of the motor through the motor driver, the output end of the angle acquisition module is connected with the first input end of the processor, and the output end of the torque acquisition module is connected with the second input end of the processor.
Further, the isokinetic muscle strength training system further comprises a human-computer interaction assembly, the human-computer interaction assembly comprises a display and an input device, and the display and the input device are both electrically connected with the processor.
Further, the isokinetic muscle strength training system further includes a base assembly, the base assembly including:
one end of the base is fixedly connected with the control assembly;
the rotary lifting mechanism is connected with the power assembly and comprises a first adjusting rod and a second adjusting rod, the first adjusting rod is used for adjusting the height of the power assembly, and the second adjusting rod is used for adjusting the rotating angle of the power assembly.
Further, the isokinetic muscle strength training system further comprises a seat assembly, wherein the seat assembly comprises a seat and a seat adjusting mechanism, and the seat is movably arranged on the base through the seat adjusting mechanism.
The second technical scheme adopted by the invention is as follows:
a control method of an isokinetic muscle strength training system is used for being executed by the isokinetic muscle strength training system and comprises the following steps:
the angle acquisition module acquires angle parameters of the output rod and transmits the angle parameters to the control assembly;
the control component obtains a first moment of the body gravity on the rotating shaft according to the angle parameter and the pre-obtained body gravity moment parameter;
the control component outputs a second moment to the rotating shaft through the motor, and the second moment is the same as the first moment in size and opposite in direction;
the torque acquisition module acquires torque parameters of the rotating shaft and transmits the torque parameters to the control assembly;
the control component obtains muscle force parameters of the limb according to the torque parameters and the first torque.
Further, the control method further comprises the step of obtaining the limb gravity moment parameter, which specifically comprises the following steps:
the angle acquisition module acquires static angle parameters of the output rod and transmits the static angle parameters to the control assembly;
the torque acquisition module acquires static torque parameters of the rotating shaft and transmits the static torque parameters to the control assembly;
the control component obtains a limb gravity moment parameter according to the static angle parameter and the static torque parameter;
wherein the static angle parameter and the static torque parameter are acquired when the limb and the output rod are static.
The invention has the beneficial effects that: according to the constant-speed muscle strength training system and the control method thereof, when the constant-speed muscle strength training is carried out on the limb, the angle acquisition module acquires the angle parameter of the output rod in real time to obtain the first moment of the gravity of the limb on the rotating shaft, the motor outputs the second moment which is offset with the first moment to the rotating shaft, so that the influence of the gravity of the limb on the constant-speed movement is reduced to the minimum, the torque acquisition module acquires the torque parameter of the rotating shaft in real time, and an accurate muscle strength test result can be obtained according to the torque parameter and the first moment. The invention can reduce the influence of the gravity of the limbs to the minimum, greatly improves the accuracy and the contrast of the muscle strength test, and is also beneficial to a user with weak muscle strength to train by using constant-speed equipment so as to enhance the muscle strength, improve the motion function of the limbs and improve the training efficiency of the constant-speed muscle strength training.
Drawings
FIG. 1 is an overall block diagram of an isokinetic muscle strength training system provided in an embodiment of the present invention;
FIG. 2 is an exploded view of a power assembly provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a signal connection of an isokinetic muscle strength training system provided by an embodiment of the present invention;
fig. 4 is a schematic view of a rotation angle of an output rod in a vertical plane according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating steps of a control method of the isokinetic muscle strength training system according to an embodiment of the present invention.
Reference numerals:
1. a base assembly; 2. a power assembly; 3. a control component; 4. a seat assembly; 5. a human-computer interaction component; 11. a base; 12. a rotary lifting mechanism; 121. a first adjusting lever; 122. a second adjusting lever; 21. an output rod; 22. a power module; 221. a motor; 222. a speed reducer; 2221. a rotating shaft; 23. an angle acquisition module; 24. a torque acquisition module; 241. a resistance strain gauge; 242. a signal processing unit; 243. a signal transmission unit; 25. a housing; 26. a limiting device; 31. a processor; 32. a motor driver; 41. a seat; 42. a seat adjustment mechanism; 51. a display; 52. an input device.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments. The step numbers in the following embodiments are provided only for convenience of illustration, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.
In the description of the present invention, the meaning of a plurality is more than two, if there are first and second described for the purpose of distinguishing technical features, but not for indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the precedence of the indicated technical features. Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Referring to fig. 1 to 3, an embodiment of the present invention provides an isokinetic muscle strength training system, including a power assembly 2 and a control assembly 3, the power assembly 2 including:
an output rod 21;
the power module 22, the power module 22 includes a motor 221 and a speed reducer 222, one end of the speed reducer 222 is provided with a rotating shaft 2221, the rotating shaft 2221 is fixedly connected with the output rod 21, the other end of the speed reducer 222 is connected with the motor 221, and the input end of the motor 221 is connected with the output end of the control assembly 3;
the angle acquisition module 23 is used for acquiring angle parameters of the output rod 21, and the output end of the angle acquisition module 23 is connected with the first input end of the control component 3;
the torque acquisition module 24 is used for acquiring torque parameters of the rotating shaft 2221, and an output end of the torque acquisition module 24 is connected with a second input end of the control component 3.
Specifically, the power module 22 is used to power the output shaft 21; the angle parameter of the output rod 21 refers to the inclination angle of the output rod 21 in a vertical plane, and can be realized by arranging a posture sensor on the output rod 21, arranging a posture sensor on the rotating shaft 2221, arranging an encoder in the motor 221 and the like, because the output rod 21 is fixedly connected with the rotating shaft 2221, the angle parameters of the output rod 21 and the motor 221 are consistent, and the output rod 21 is connected with the motor 221 through the reducer 222, under the condition that the transmission ratio of the reducer 222 is known, the angle parameter of the output rod 21 can be obtained according to the rotating angle and the number of rotating circles of the motor 221 collected by the encoder; the torque of the rotating shaft 2221 is actually a result of the synergistic effect of the muscle force of the limb and the gravity of the limb, and the deformation of the rotating shaft 2221 can be converted into an electric signal through the resistance strain gauge 241, so that the torque of the rotating shaft 2221 can be acquired.
According to the embodiment of the invention, when the limb is subjected to constant-speed muscle strength training, the angle acquisition module 23 acquires the angle parameters of the output rod 21 in real time to obtain the first moment of the gravity of the limb on the rotating shaft 2221, and then the motor 221 outputs the second moment which is offset with the first moment to the rotating shaft 2221, so that the influence of the gravity of the limb on the constant-speed movement is reduced to the minimum, the torque acquisition module 24 acquires the torque parameters of the rotating shaft 2221 in real time, and an accurate muscle strength test result can be obtained according to the torque parameters and the first moment. The embodiment of the invention can reduce the influence of the gravity of the limbs to the minimum, greatly improves the accuracy and the contrast of the muscle strength test, and is also beneficial to a user with weak muscle strength to train by using constant-speed equipment so as to enhance the muscle strength, improve the limb movement function and improve the training efficiency of constant-speed muscle strength training.
Further as an optional implementation manner, the angle collecting module 23 is an encoder, the encoder is installed on the motor 221, and an output end of the encoder is connected with the first input end of the control component 3.
Specifically, the encoder is mounted on the motor 221 and can measure data such as magnetic pole positions, rotation angles of the motor 221, rotation speed and the like, so that angle parameters of the output rod 21 are obtained.
Referring to fig. 2 and 3, the torque acquisition module 24 includes a resistance strain gauge 241, a signal processing unit 242 and a signal transmission unit 242, the resistance strain gauge 241 is installed on the rotating shaft 2221, and an output end of the resistance strain gauge 241 is connected to a second input end of the control component 3 through the signal processing unit 242 and the signal transmission unit 242.
Specifically, the torque acquisition module 24 is used for acquiring the torque parameter applied to the rotating shaft 2221 by the user through the output rod 21. The torque acquisition module 24 includes a resistance strain gauge 241, a signal processing unit 242 and a signal transmission unit 242, the resistance strain gauge 241 is adhered to the surface of the rotating shaft 2221 of the speed reducer 222, the resistance strain gauge 241 can convert the mechanical deformation of the rotating shaft 2221 into resistance change, and then the signal processing unit 242 amplifies and filters the analog signal of the resistance strain gauge 241 and converts the analog signal into a digital signal through an analog-to-digital converter. The signal transmission unit 242 transmits power and signals between the fixed position and the rotating position while continuously rotating in a brush type slip ring manner, and transmits the acquired torque data to the control assembly 3.
Further as an alternative embodiment, the resistance strain gauge 241 is a full bridge strain gauge.
Specifically, the resistance strain gauge 241 may be a single-chip full-bridge strain gauge, the full-bridge strain gauge only measures the torsional stress of the rotating shaft 2221, the radial force and the axial force of the rotating shaft 2221 may not affect the measurement of the torsional stress, and the influence of the gravity of the power assembly 2 itself at different inclination angles may be eliminated, whereas the influence of the gravity of the power assembly 2 at different inclination angles may not be eliminated by using a non-full-bridge strain gauge in the conventional constant velocity equipment. In addition, compared with a full bridge formed by a plurality of strain gauges, the single full bridge strain gauge is more convenient to paste, and manufacturing procedures are reduced.
With reference to fig. 2, as a further alternative embodiment, the power assembly 2 further comprises:
the shell 25, the power module 22, the angle acquisition module 23 and the torque acquisition module 24 are all arranged in the shell 25;
the limiting device 26 and the limiting device 26 are fixed at one end of the housing 25, and the rotating shaft 2221 penetrates through the limiting device 26 and extends out of the limiting device 26 to be fixedly connected with the output rod 21.
In particular, the spacing device 26 is used to limit the range of motion of the user's limb, avoiding damage to the user's limb or joint.
Referring to fig. 3, as a further alternative embodiment, the control assembly 3 includes a processor 31 and a motor driver 32, an output end of the processor 31 is connected to an input end of the motor 221 through the motor driver 32, an output end of the angle acquisition module 23 is connected to a first input end of the processor 31, and an output end of the torque acquisition module 24 is connected to a second input end of the processor 31.
Specifically, the processor 31 is configured to control the motor 221 to output a corresponding torque to counteract the influence of the body gravity on the rotating shaft 2221 according to the angle parameter collected in real time, and calculate the body muscle force data according to the torque parameter collected in real time.
Referring to fig. 1 and 3, as a further alternative embodiment, the isokinetic muscle strength training system further comprises a human-computer interaction assembly 5, the human-computer interaction assembly 5 comprises a display 51 and an input device 52, and the display 51 and the input device 52 are both electrically connected with the processor 31.
Specifically, the input device 52 is used for setting the working mode and the operation parameters of the constant velocity muscle strength training system, and the display 51 is used for displaying the results of the limb muscle strength test.
Referring to fig. 1, as a further alternative embodiment, the isokinetic muscle strength training system further comprises a base chair assembly 1, the base chair assembly 1 comprising:
one end of the base 11 is fixedly connected with the control component 3;
the rotary lifting mechanism 12, the rotary lifting mechanism 12 is connected with the power assembly 2, the rotary lifting mechanism 12 includes a first adjusting rod 121 and a second adjusting rod 122, the first adjusting rod 121 is used for adjusting the height of the power assembly 2, and the second adjusting rod 122 is used for adjusting the rotation angle of the power assembly 2.
Specifically, the base 11 is used for fixedly placing the isokinetic muscle strength training system, and the rotary lifting mechanism 12 is used for adjusting the position of the power assembly 2 according to the actual situation of a user.
Referring to fig. 1, as a further alternative embodiment, the isokinetic muscle strength training system further comprises a seat assembly 4, the seat assembly 4 comprising a seat 41 and a seat adjustment mechanism 42, the seat 41 being movably disposed on the base 11 via the seat adjustment mechanism 42.
Specifically, the provision of the seat 41 and the seat adjusting mechanism 42 may facilitate the user to adjust the state of the limb according to the user's own condition to perform isokinetic muscle training.
The system structure of the embodiment of the present invention is described above, and the principle and related configuration of the embodiment of the present invention are further described below with reference to the above system structure.
Fig. 4 shows a schematic view of the rotation angle of the output rod 21 in the vertical plane. For the sake of convenience in explaining the principles of the embodiments of the present invention, the following is now set forth and described:
1) when the output rod 21 is defined to be vertically downward, the angle theta of the output rod 21 is 0 degree, the output rod rotates clockwise, the angle theta increases progressively, the output rod rotates anticlockwise, and the angle theta decreases progressively. For example: by rotating 90 ° clockwise, the angle θ of the output rod 21 is 90 °, by rotating 90 ° counterclockwise, the angle θ of the output rod 21 is-90 °, and so on. In particular, when the output rod 21 is vertically upward, the angle θ of the output rod 21 is 180 ° (or-180 °, which has no influence in the embodiment of the present invention).
2) The range of motion of the limb is set to be P1 for the maximum position of clockwise motion (corresponding to an angle of-90 ° for the output shaft 21) and P2 for the maximum position of counterclockwise motion (corresponding to an angle of 90 ° for the output shaft 21).
3) When the moment value is defined as a positive number, the moment direction is clockwise, and when the moment value is a negative number, the moment direction is anticlockwise.
4) The rotation direction of the motor 221 is set according to the movement position of the limb:
the limb moves clockwise from position P2 to position P1, setting the direction of rotation of the motor 221 to clockwise. Before moving to position P1, the direction of rotation of the motor 221 is not changed even if the limb is forced in a counter-clockwise direction. After moving to the position P1, the rotation direction of the motor 221 is changed to the counterclockwise direction.
The limb moves counterclockwise from position P1 to position P2, setting the direction of rotation of the motor 221 to be counterclockwise. Before moving to position P2, the direction of rotation of the motor 221 is not changed even if the limb is forced clockwise. After moving to the position P2, the rotation direction of the motor 221 is changed to the clockwise direction.
5) The constant-speed limb movement is realized in a speed-limiting mode through the motor 221. According to the newton's law of motion, the acting force of the limb is equal to the reaction force of the motor 221 during the uniform motion of the limb. As the muscle force increases, the motor 221 correspondingly increases the resistance, and as the muscle force decreases, the motor 221 correspondingly decreases the resistance.
The limb moves clockwise from position P2 to position P1, and the maximum rotation speed of the motor 221 is set to V1. The limbs exert force clockwise to drive the motor 221 to accelerate to V1, the limbs continue to increase the strength, the motor 221 keeps the speed V1 unchanged, the muscle strength only increases the muscle tension in the movement process, the torque output increases, but the movement speed is constant. The limb is applied counterclockwise or stopped, and the motor 221 decelerates to a stop.
The limb moves counterclockwise from position P1 to position P2, setting the maximum rotational speed of the motor 221 to V2. The limbs exert force in the counterclockwise direction to drive the motor 221 to accelerate to V2, the limbs continue to increase the force, the motor 221 keeps the speed V2 unchanged, the muscle strength only increases the muscle tension in the movement process, the torque output increases, but the movement speed is constant. The limb is forced clockwise or stopped and the motor 221 decelerates to a stop.
The constant-speed muscle strength training system provided by the embodiment of the invention is characterized in that the positions of the base chair component 1, the power component 2 and the seat component 4 are adjusted in advance before training, so that the motion axis of the limb is coaxially aligned with the rotation axis of the motor 221, then the output rod 21 is connected with the limb through an accessory, the output rod 21 is driven to rotate by the active force of the limb, and then the constant-speed motion is realized through the speed limitation of the motor, so that the muscle strength test and training are carried out.
It should be understood that, during the process of the constant-speed movement of the limb, the rotating shaft 2221 keeps rotating at a constant speed, at this time, the limb generates a certain torque to the rotating shaft 2221 through the output rod 21, the rotating shaft 2221 itself generates a certain mechanical deformation to overcome the torque, and the resistance strain gauge 241 can convert the mechanical deformation of the rotating shaft 2221 into an electrical signal, so as to finally obtain the value of the torque. However, the torque is actually a result of the synergistic effect of the weight of the limb and the muscle force of the limb, so that the muscle force of the limb cannot be accurately obtained through the value of the torque. However, as the angle of the output rod 21 changes, the magnitude and direction of the moment of the body gravity acting on the rotating shaft 2221 also change constantly, so the embodiment of the present invention collects the angle of the output rod 21 in real time, thereby obtaining the moment of the body gravity acting on the rotating shaft 2221 at the present moment, then collects the torque of the rotating shaft 2221 through the torque collection module 24, and can accurately calculate the muscle strength of the body according to the obtained torque and the moment of the body gravity acting on the rotating shaft 2221 at the present moment.
The control method of the embodiment of the present invention is explained below.
Referring to fig. 5, an embodiment of the present invention provides a control method of an isokinetic muscle strength training system, for being executed by the isokinetic muscle strength training system, including the following steps:
s101, an angle acquisition module 23 acquires angle parameters of the output rod 21 and transmits the angle parameters to the control component 3;
s102, the control component 3 obtains a first moment of the body gravity on the rotating shaft 2221 according to the angle parameter and the pre-obtained body gravity moment parameter;
specifically, the limb gravity moment parameter is the moment of the limb gravity on the rotating shaft 2221 when the output rod 21 is in the horizontal position. The limb gravity moment parameters can be obtained according to the limb gravity and the moment arm acting on the rotating shaft 2221, and can also be obtained through testing of the isokinetic muscle strength training system of the embodiment of the invention before training.
S103, the control component 3 outputs a second moment to the rotating shaft 2221 through the motor 221, wherein the second moment is the same as the first moment in size and is opposite to the first moment in direction;
specifically, the motor 221 outputs a torque to offset the torque generated by gravity, so that the limb can move in a zero gravity state. Defining the limb gravity moment parameter as Mg, defining four areas of the output rod 21 in the vertical plane as shown in fig. 4, the first moment M1 and the second moment M2 are as follows:
a1, if the limb moves clockwise, when the output rod 21 is in the third area or the fourth area, the angle of the output rod 21 is θ 1, the gravity of the limb provides resistance to restrict the limb from moving clockwise, at this time, a first moment of the gravity of the limb to the rotating shaft 2221 is counterclockwise, the first moment may be represented as M1 ═ Mg × sin θ 1, the motor 221 outputs a second moment of the clockwise direction in real time, the magnitude of the second moment is the same as that of the first moment, so as to cancel the moment of the gravity of the limb to the rotating shaft 2221, and the second moment may be represented as M2 ═ M1 ═ Mg × sin θ 1;
a2, if the limb moves clockwise, when the output rod 21 is in the first area or the second area, the angle of the output rod 21 is θ 2, the gravity of the limb provides assistance to assist the limb to move clockwise, at this time, the first moment of the gravity of the limb to the rotating shaft 2221 is clockwise, the first moment may be represented as M1 ═ Mg × sin θ 2, the motor 221 outputs the second moment of the counterclockwise direction in real time, the magnitude of the second moment is the same as that of the first moment, so as to cancel the moment of the gravity of the limb to the rotating shaft 2221, and the second moment may be represented as M2 ═ M1 ═ Mg × sin θ 2;
a3, if the limb moves counterclockwise, when the output rod 21 is in the third area or the fourth area, the angle of the output rod 21 is θ 3, the gravity of the limb provides assistance to assist the limb to move counterclockwise, at this time, a first moment of the gravity of the limb to the rotating shaft 2221 is counterclockwise, the first moment may be represented as M1 ═ Mg × sin θ 3, the motor 221 outputs a second moment of the clockwise direction in real time, the magnitude of the second moment is the same as that of the first moment, so as to cancel the moment of the gravity of the limb to the rotating shaft 2221, and the second moment may be represented as M2 ═ M1 ═ Mg × sin θ 3;
a4, if the limb moves counterclockwise, when the output rod 21 is in the first area or the second area, the angle of the output rod 21 is θ 4, the gravity of the limb provides resistance to restrict the motion of the limb in the counterclockwise direction, at this time, the first moment of the gravity of the limb to the rotating shaft 2221 is in the clockwise direction, the first moment may be represented as M1 ═ Mg × sin θ 4, the motor 221 outputs the second moment in the counterclockwise direction in real time, the magnitude of the second moment is the same as that of the first moment, so as to cancel the moment of the gravity of the limb to the rotating shaft 2221, and the second moment may be represented as M2 ═ M1 ═ Mg × sin θ 4.
As can be seen from the above analysis of several cases, the relationship between the first moment M1 and the second moment M2 and the output shaft angle parameter θ is M2 — M1 — Mg × sin θ, and it should be understood that when θ is located in the first region or the second region, sin θ is less than 0, the first moment is clockwise, and the second moment is counterclockwise; when theta is located in the third area or the fourth area, sin theta is larger than 0, the first moment is in the counterclockwise direction, and the second moment is in the clockwise direction.
In particular, when the output rod 21 is vertically upward or vertically downward, the gravity of the limb generates a radial force on the rotating shaft 2221, and the moment of the gravity of the limb on the rotating shaft 2221 is zero, so that the gravity of the limb does not affect the measurement of the torque of the rotating shaft 2221 and does not restrict or assist the movement of the limb, and therefore, the motor 221 does not need to output a moment to counteract the moment generated by the gravity.
S104, the torque acquisition module 24 acquires the torque parameters of the rotating shaft 2221 and transmits the torque parameters to the control component 3;
and S105, the control component 3 obtains muscle force parameters of the limb according to the torque parameters and the first torque.
Specifically, the muscle strength parameter is a moment of the limb muscle strength on the rotating shaft 2221, and the moment M4 of the limb muscle strength on the rotating shaft 2221 can be accurately calculated according to the torque M3 of the rotating shaft 2221 and the first moment M1 of the limb gravity on the rotating shaft 2221 at the current moment. Since the rotating shaft 2221 is deformed and the torque is the result of the combined action of the limb gravity and the limb muscle force, M3 is M1+ M4, that is, the torque M4 of the limb muscle force on the rotating shaft 2221 is M3-M1 is M3+ Mg × sin θ.
According to the embodiment of the invention, when the limb is subjected to constant-speed muscle strength training, the angle acquisition module 23 acquires the angle parameters of the output rod 21 in real time to obtain the first moment of the gravity of the limb on the rotating shaft 2221, and then the motor 221 outputs the second moment which is offset with the first moment to the rotating shaft 2221, so that the influence of the gravity of the limb on the constant-speed movement is reduced to the minimum, the torque acquisition module 24 acquires the torque parameters of the rotating shaft 2221 in real time, and an accurate muscle strength test result can be obtained according to the torque parameters and the first moment. The embodiment of the invention can reduce the influence of the gravity of the limbs to the minimum, greatly improves the accuracy and the contrast of the muscle strength test, and is also beneficial to a user with weak muscle strength to train by using constant-speed equipment so as to enhance the muscle strength, improve the limb movement function and improve the training efficiency of constant-speed muscle strength training.
As a further optional implementation manner, the control method further includes a step of acquiring a limb gravity moment parameter, which specifically includes:
b1, the angle acquisition module 23 acquires the static angle parameter of the output rod 21 and transmits the static angle parameter to the control component 3;
b2, the torque acquisition module 24 acquires the static torque parameter of the rotating shaft 2221 and transmits the static torque parameter to the control component 3;
b3, the control component 3 obtains the limb gravity moment parameter according to the static angle parameter and the static torque parameter;
wherein, the static angle parameter and the static torque parameter are acquired when the limb and the output rod 21 are still.
Specifically, the body gravity moment parameters are obtained through testing by the isokinetic muscle strength training system of the embodiment of the invention before training, so that the gravity influence of relevant accessories for connecting the body and the output rod 21 can be taken into consideration, and the accuracy of the muscle strength test is further improved. The specific implementation mode is as follows: the limbs are placed horizontally as much as possible, the locking motor 221 is not moved, and the user completely relaxes the limbs to enable the limbs to be in a non-forced state; the static angle parameter is obtained to be theta 0, the static torque parameter is M0, and since the limb does not exert force, there is | M0| ═ Mg × | sin theta 0|, the gravity moment of the limb and the accessory in the horizontal position is calculated by the control component 3, that is, the limb gravity moment parameter, which can be expressed as Mg | | | M0/sin theta 0|, wherein | | | represents an absolute value.
It should be recognized that embodiments of the present invention can be realized and implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The above-described methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer-readable storage medium configured with the computer program, where the storage medium so configured causes a computer to operate in a specific and predefined manner, according to the methods and figures described in the detailed description. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Further, the operations of processes described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described herein (or variations and/or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) collectively executed on one or more processors, by hardware, or combinations thereof. The computer program includes a plurality of instructions executable by one or more processors.
Further, the above-described methods may be implemented in any type of computing platform operatively connected to a suitable connection, including but not limited to a personal computer, mini computer, mainframe, workstation, networked or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and the like. Aspects of the invention may be embodied in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optically read and/or write storage medium, RAM, ROM, or the like, such that it may be read by a programmable computer, which when read by the storage medium or device, is operative to configure and operate the computer to perform the procedures described herein. Further, the machine-readable code, or portions thereof, may be transmitted over a wired or wireless network. The invention described herein includes these and other different types of non-transitory computer-readable storage media when such media include instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. The invention also includes the computer itself when programmed according to the methods and techniques described herein.
A computer program can be applied to input data to perform the functions described herein to transform the input data to generate output data that is stored to non-volatile memory. The output information may also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including particular visual depictions of physical and tangible objects produced on a display.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means. The invention is capable of other modifications and variations in its technical solution and/or its implementation, within the scope of protection of the invention.
Claims (10)
1. An isokinetic muscle strength training system comprising a power assembly and a control assembly, the power assembly comprising:
an output rod;
the power module comprises a motor and a speed reducer, one end of the speed reducer is provided with a rotating shaft, the rotating shaft is fixedly connected with the output rod, the other end of the speed reducer is connected with the motor, and the input end of the motor is connected with the output end of the control assembly;
the angle acquisition module is used for acquiring angle parameters of the output rod, and the output end of the angle acquisition module is connected with the first input end of the control assembly;
the torque acquisition module is used for acquiring torque parameters of the rotating shaft, and the output end of the torque acquisition module is connected with the second input end of the control assembly.
2. The isokinetic muscle strength training system according to claim 1, wherein the angle acquisition module is an encoder, the encoder is mounted on the motor, and an output end of the encoder is connected to the first input end of the control assembly.
3. The isokinetic muscle strength training system according to claim 1, wherein the torque acquisition module comprises a resistance strain gauge, a signal processing unit and a signal transmission unit, the resistance strain gauge is mounted on the rotating shaft, and an output end of the resistance strain gauge is connected to the second input end of the control assembly through the signal processing unit and the signal transmission unit.
4. The isokinetic muscle strength training system of claim 1, wherein the power assembly further comprises:
the power module, the angle acquisition module and the torque acquisition module are all arranged in the shell;
and the limiting device is fixed at one end of the shell, and the rotating shaft penetrates through the limiting device and extends out of the limiting device to be fixedly connected with the output rod.
5. The isokinetic muscle strength training system according to claim 1, wherein the control assembly comprises a processor and a motor driver, wherein an output of the processor is connected to an input of the motor through the motor driver, an output of the angle acquisition module is connected to a first input of the processor, and an output of the torque acquisition module is connected to a second input of the processor.
6. The isokinetic muscle strength training system of claim 5 further comprising a human-machine interaction assembly, the human-machine interaction assembly comprising a display and an input device, the display and the input device both being electrically connected to the processor.
7. The isokinetic muscle strength training system of any one of claims 1 to 6, further comprising a base assembly, the base assembly comprising:
one end of the base is fixedly connected with the control assembly;
the rotary lifting mechanism is connected with the power assembly and comprises a first adjusting rod and a second adjusting rod, the first adjusting rod is used for adjusting the height of the power assembly, and the second adjusting rod is used for adjusting the rotating angle of the power assembly.
8. The isokinetic muscle strength training system of claim 7 further comprising a seat assembly, the seat assembly including a seat and a seat adjustment mechanism, the seat being movably disposed on the base via the seat adjustment mechanism.
9. A control method of an isokinetic muscle strength training system for execution by the isokinetic muscle strength training system according to any one of claims 1 to 8, characterized by comprising the steps of:
the angle acquisition module acquires angle parameters of the output rod and transmits the angle parameters to the control assembly;
the control component obtains a first moment of the body gravity on the rotating shaft according to the angle parameter and the pre-obtained body gravity moment parameter;
the control component outputs a second moment to the rotating shaft through the motor, and the second moment is the same as the first moment in size and opposite in direction;
the torque acquisition module acquires torque parameters of the rotating shaft and transmits the torque parameters to the control assembly;
the control component obtains muscle force parameters of the limb according to the torque parameters and the first torque.
10. The control method according to claim 9, further comprising the step of obtaining a limb gravitational moment parameter, which is specifically:
the angle acquisition module acquires static angle parameters of the output rod and transmits the static angle parameters to the control assembly;
the torque acquisition module acquires static torque parameters of the rotating shaft and transmits the static torque parameters to the control assembly;
the control component obtains a limb gravity moment parameter according to the static angle parameter and the static torque parameter;
wherein the static angle parameter and the static torque parameter are acquired when the limb and the output rod are static.
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