CN114964358A - Pedal stress monitoring and force application foot analysis system and method of rehabilitation training wheelchair - Google Patents
Pedal stress monitoring and force application foot analysis system and method of rehabilitation training wheelchair Download PDFInfo
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- 238000012549 training Methods 0.000 title claims abstract description 41
- 238000012544 monitoring process Methods 0.000 title claims abstract description 28
- 238000004458 analytical method Methods 0.000 title claims abstract description 14
- 238000000034 method Methods 0.000 title claims description 19
- 238000012545 processing Methods 0.000 claims abstract description 50
- 230000033001 locomotion Effects 0.000 claims abstract description 14
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- 238000006243 chemical reaction Methods 0.000 claims description 7
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- 210000003141 lower extremity Anatomy 0.000 description 6
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- 206010008190 Cerebrovascular accident Diseases 0.000 description 3
- 210000004556 brain Anatomy 0.000 description 3
- 230000002490 cerebral effect Effects 0.000 description 3
- 210000003414 extremity Anatomy 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 206010061296 Motor dysfunction Diseases 0.000 description 2
- 208000026106 cerebrovascular disease Diseases 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010062575 Muscle contracture Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 210000005013 brain tissue Anatomy 0.000 description 1
- 208000006111 contracture Diseases 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
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- 230000007433 nerve pathway Effects 0.000 description 1
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
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- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
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- A61G2203/30—General characteristics of devices characterised by sensor means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/34—General characteristics of devices characterised by sensor means for pressure
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Abstract
The invention discloses a pedal stress monitoring and force application foot analysis system of a pedal type rehabilitation training wheelchair, which comprises a data acquisition module and a data processing module. The invention can monitor the stress of the pedals on the left side and the right side and judge the stress feet. The invention also discloses a pedal stress monitoring and force application foot analysis method of the pedal type rehabilitation training wheelchair and the pedal type rehabilitation training wheelchair with the motion data monitoring function.
Description
Technical Field
The invention relates to a medical rehabilitation instrument, in particular to a pedal stress monitoring and force application foot analysis system of a pedal type rehabilitation training wheelchair. The invention also relates to a method for monitoring the stress of the pedal and analyzing the force application foot of the pedal type rehabilitation training wheelchair.
Background
Stroke is also called stroke and cerebrovascular accident, and is an acute cerebrovascular disease, which is a disease that the brain tissue is damaged because blood can not flow into the brain due to sudden rupture or vessel blockage of cerebral vessels. Of the surviving stroke patients, approximately 75% lose labor or life self-care to varying degrees. If the patient adopts the rehabilitation training of the cerebral apoplexy as early as possible, the early rehabilitation training has a key effect on relieving the motor dysfunction caused by the cerebral apoplexy and improving the life quality. The rehabilitation training is based on the neural plasticity principle, and the functions of the damaged area of the brain can be rebuilt by the patient through active and passive movement and other movement training modes, so that the damaged movement functions are recovered.
The motor dysfunction of the stroke patient is mainly characterized in that each joint of the lower limb cannot respectively perform its own function, the lower limb cannot be separated according to instructions, the whole lower limb usually moves together, and meanwhile, the muscle strength of the lower limb is reduced. Therefore, the common rehabilitation training mode of stroke patients is to perform passive joint movement on the affected lower limbs to maintain joint mobility, increase muscle strength, stimulate the brain to reestablish nerve pathways, and prevent muscle contracture and adhesion.
Chinese patent document CN103930081A discloses a three-wheeled wheelchair that can be operated by pedaling a front pedal while maintaining a sitting posture on a chair. The three-wheel wheelchair can be used for rehabilitation training of patients with stroke, and the patients can make the limbs on the affected side perform passive or active movement through pedaling action similar to a bicycle, so that the training on the aspects of lower limb movement function, joint mobility, muscle strength and the like can be performed.
However, the three-wheel wheelchair can only help stroke patients to perform rehabilitation training, but cannot track the training process in real time and evaluate the training effect.
Disclosure of Invention
The invention aims to provide a pedal stress monitoring and force application foot analysis system of a pedal type rehabilitation training wheelchair, which can monitor the stress of pedals on the left side and the right side and judge force application feet.
In order to solve the technical problems, the technical solution of the pedal stress monitoring and force application foot analysis system of the pedal type rehabilitation training wheelchair of the invention is that the system comprises:
a data acquisition module; the data acquisition module at least comprises a pressure sensor and a position sensor; the pressure sensor is used for acquiring the tension borne by the chain of the chain transmission mechanism and acquiring a pressure value F loadcell Transmitting to a data processing module; the position sensor is used for acquiring the absolute angle position of the single-side pedal crank and transmitting the acquired absolute angle value to the data processing module; and
a data processing module; the data processing module is used for acquiring a pressure value F according to the pressure sensor loadcell The pedal force F borne by the pedal is calculated by adopting the following formula foot ：
Wherein R is chainwheel Is the radius of the chain wheel,
theta is the angle between the stress directions of the chain and the tension wheel when the chain is tensioned after the pedal is stressed, R crank The length of the pedal crank is the length of the pedal crank,
F loadcell is a pressure value collected by the pressure sensor;
the data processing module continuously calculates the pedaling force F borne by the pedal foot And outputting the calculation result within a period of time t to obtain the pedalForce F foot A pedaling force profile that varies with time t; the pedaling force curve comprises the stress conditions of the pedals on the two sides;
the data processing module converts the absolute angle value into a phase value according to the absolute angle value acquired by the position sensor; and the data processing module continuously converts the phase value and outputs the conversion result within a period of time t to obtain a phase curve of the phase of the unilateral pedal crank changing along with the time t.
In another embodiment, the plurality of periods of the pedaling force profile, adjacent periods represent the force condition of one single pedal and the force condition of an opposite pedal.
In another embodiment, the first half period of each of the plurality of periods of the phase curve represents the stress state of one pedal, and the second half period represents the stress state of the opposite pedal.
In another embodiment, the position of the one-sided pedal crank entering the pedal force application area is taken as the starting boundary line of the pedal area, and the position of the one-sided pedal crank leaving the pedal force application area is taken as the ending boundary line of the pedal area; when the right foot pedal is located in the pedaling zone, the pedaling force F detected by the pressure sensor foot The force applied by the right foot pedal is judged to be the force applied by the right foot; the pedaling force F detected by the pressure sensor when the left foot pedal is located in the pedaling zone foot The force applied to the left pedal is judged as the force applied to the left foot.
In another embodiment, the pedal crank is operated at the right side or at any point P on the pedal crank crank When entering the pedaling area from the starting boundary line, judging the starting phase position of the right foot force application interval; when the crank is pedaled on the right side or any point P on the crank crank Leaving the pedalling zone from the terminal boundary line, or the pressure value F picked up by the pressure sensor loadcell When the position is gradually reduced to 0, the position is judged as the ending phase position of the right foot force application interval; when the left pedal crank or any point P thereon crank When entering the pedaling area from the starting boundary line, judging the starting phase position of the left foot force application interval; when the left pedal crank or any one of the left pedal cranksPoint P crank Leaving the pedalling zone from the terminal boundary line, or the pressure value F picked up by the pressure sensor loadcell When the phase gradually decreases to 0, the phase position is determined as the end phase position of the left foot application section.
The invention also provides a method for monitoring the stress of the pedal and analyzing the force application foot of the pedal type rehabilitation training wheelchair, which adopts the technical scheme that the method comprises the following steps:
step S1, data acquisition; the tension applied to the chain of the chain transmission mechanism is acquired through the pressure sensor, and the acquired pressure value F is acquired loadcell Transmitting to a data processing module; the absolute angle position of the single-side pedal crank is collected through a position sensor, and the collected absolute angle value is transmitted to a data processing module;
step S2, data processing;
step S21, the data processing module collects pressure value F according to the pressure sensor loadcell The pedal force F borne by the pedal is calculated by adopting the following formula foot ：
Wherein R is chainwheel Is the radius of the chain wheel,
theta is the angle between the stress directions of the chain and the tension wheel when the chain is tensioned after the pedal is stressed, R crank The length of the crank is the length of the pedal,
F loadcell is a pressure value collected by the pressure sensor;
the data processing module converts the absolute angle value into a phase value according to the absolute angle value acquired by the position sensor;
step S22, the data processing module continuously calculates the pedaling force F of the pedal foot And outputting the calculation result within a period of time t to obtain the pedaling force F foot A pedaling force profile that varies with time t;
the data processing module continuously converts the phase value of the single-side pedal crank and outputs the conversion result within a period of time t to obtain a phase curve of the phase of the single-side pedal crank changing along with the time t;
step S23, determining a start boundary line and an end boundary line of the step area;
the starting boundary line of the pedaling area is the position of the single-side pedal crank entering the pedal force application area, and when the single-side pedal crank rotates to the position, the single-side pedal starts to be stressed; the end boundary line of the pedaling area is the position of the side pedal crank away from the pedal force application area;
step S24, analyzing the stress of the left and right pedals;
analyzing the phase curve obtained in the step S22, and determining the starting point and the end point of a complete period; the starting point of the phase cycle is the time when the single-side pedal crank enters the initial boundary line of the pedal area, and the end point of the phase cycle is the time when the single-side pedal crank enters the initial boundary line of the pedal area again; in each phase period of the phase curve, the first half period represents that the pedal plates on the same side are in a stressed state, and the second half period represents that the pedal plates on the opposite side are in a stressed state;
step S25, outputting data;
the pedal force F obtained by the data processing module foot Taking the pedaling force curve changing along with the time t as an output result to obtain the stress conditions of the two pedals; one complete cycle of the pedaling force curve represents the stress condition of one pedal rotating one circle;
and (3) taking the time t as a reference, corresponding the phase curve to the pedaling force curve, wherein the stress cycle of the pedaling force curve corresponding to the first half period of each phase cycle of the phase curve is the stress state of the pedal at the same side, and the stress cycle of the pedaling force curve corresponding to the second half period is the stress state of the pedal at the opposite side.
In another embodiment, the method for determining the force applying foot in step S24 is as follows: i.e. when the right pedal crank or any point P on it crank When entering the pedaling area from the starting boundary line, judging the starting phase position of the right foot force application interval; when the crank is pedaled on the right side or any point P on the crank crank From the pedal zone at the terminal boundary line, or by pressure sensorsPressure value F of loadcell When the position is gradually reduced to 0, the position is judged as the ending phase position of the right foot force application interval; when the left pedal crank or any point P thereon crank When entering the pedaling area from the starting boundary line, judging the starting phase position of the left foot force application interval; when the left pedal crank or any point P thereon crank Leaving the pedalling zone from the terminal boundary line, or the pressure value F picked up by the pressure sensor loadcell When the angle gradually decreases to 0, the phase position is determined as the end phase position of the left foot application section.
The invention also provides a pedal type rehabilitation training wheelchair with a motion data monitoring function, and the technical scheme is as follows:
the chain transmission mechanism is arranged at the front part of the main frame, and a driving chain wheel of the chain transmission mechanism is positioned on the front side of a driven chain wheel; two ends of a chain wheel shaft of the driving chain wheel are respectively connected with a pedal through pedal cranks; a pressure sensor is arranged on the tension pulley above the center of the chain transmission mechanism; when the pedal is stressed, the chain is tensioned, the tension wheel is stressed, and the pressure sensor can acquire the force stressed by the tension wheel; the front part of the main frame is fixedly provided with a position sensor which is used for acquiring the absolute angle position of any one of the two pedal cranks; the pressure sensor and the position sensor are connected with the main controller through signal lines; the main controller is connected with the control terminal through a wireless network.
The invention can achieve the technical effects that:
the invention embeds the pressure sensor for monitoring the stress of the pedal plate on the tension wheel of the chain transmission mechanism, and indirectly obtains the pedaling force applied to the pedal plate by measuring the tension applied to the chain in the rotating process of the pedal plate. During the pedaling motion of the wheelchair, the position of the tension wheel is kept unchanged, so that the pressure sensor can be fixedly arranged and cannot move along with the motion of the pedal. Because the pressure sensor is always in a static state in the data acquisition process, the acquisition precision of the pressure sensor can be improved, and data transmission can be realized in a wired mode.
The pedal crank phase detection device combines the pressure sensor and the position sensor for use, and monitors the phase position of the pedal crank through the position sensor, so that whether the pedaling force detected by the pressure sensor is the left foot force application or the right foot force application can be judged.
The pressure sensor and the position sensor are transmitted to the main controller through the signal transmission cable, so that the stability of data transmission can be ensured. Meanwhile, the pressure sensor is always kept in a static state in the data acquisition process, and the signal transmission cable of the pressure sensor cannot be wound in the rotating motion process of the pedal plate.
Drawings
It is to be understood by those skilled in the art that the following description is only illustrative of the principles of the present invention, which can be applied in numerous ways to achieve many different alternative embodiments. These descriptions are made for the purpose of illustrating the general principles of the present teachings and are not meant to limit the inventive concepts disclosed herein.
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the general description given above and the detailed description of the drawings given below, serve to explain the principles of the invention.
The invention is described in further detail below with reference to the following figures and detailed description:
FIG. 1 is a partial schematic view of a pedal-type rehabilitation training wheelchair with a motion data monitoring function according to the present invention;
FIG. 2 is a schematic view of force analysis of the pedaling transmission mechanism of the pedal type rehabilitation training wheelchair;
FIG. 3 is a schematic view of the force receiving area of a single-sided foot pedal;
FIG. 4 is a diagram illustrating a relationship between a stress curve of the pedals on both sides and a phase curve of the crank on the right side outputted from the data processing module according to the present invention;
FIG. 4 is a graph showing the force curves of the right and left foot pedals;
FIG. 5 is a schematic flow chart of a method for monitoring stress on a pedal and analyzing a force application foot of the pedal type rehabilitation training wheelchair.
The reference numbers in the figures illustrate:
201 is a main frame, 202 is a driven sprocket,
203 is a chain, 204 is a pressure sensor,
205 is a drive sprocket, 206 is a position sensor,
207 is a pedal crank, 208 is a pedal plate,
2042 is a tensioner.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without inventive step, are within the scope of protection of the invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the terms "first," "second," and the like, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" and similar words are intended to mean that the elements or items listed before the word cover the elements or items listed after the word and their equivalents, without excluding other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
As shown in fig. 1, the foot-operated rehabilitation training wheelchair comprises a main frame 201, a chain transmission mechanism is arranged at the front part of the main frame 201, and a driving sprocket 205 of the chain transmission mechanism is positioned at the front side of a driven sprocket 202; both ends of a sprocket shaft of the driving sprocket 205 are respectively connected with pedals 208 through pedal cranks 207;
a pressure sensor 204 is arranged on the tension wheel 2042 above the center of the chain 203 of the chain transmission mechanism; when a user applies force to the pedal 208, the chain 203 is tensioned, so that the tensioning wheel 2042 is stressed, and the pressure sensor 204 can collect the force applied to the tensioning wheel 2042;
a position sensor 206 is fixedly arranged at the front part of the main frame 201, and the position sensor 206 is used for acquiring the absolute angle position of any one of the two pedal cranks 207;
the position sensor 206 of this embodiment is an absolute position encoder, and its corresponding code wheel is fixed at any point P of the right pedal crank crank At the point P crank Corresponds to the position sensor 206 to acquire the absolute angular position of the right pedal crank; of course, the code disc can also be arranged on the left pedal crank;
the pressure sensor 204 and the position sensor 206 are connected with the main controller through signal transmission cables; the main controller may be disposed at any portion of the main frame 201; the main controller is connected with a control terminal, such as an intelligent terminal or a cloud server of a mobile phone, a computer and the like, through a wireless network.
The invention relates to a pedal stress monitoring and force application foot analysis system of a pedal type rehabilitation training wheelchair, which comprises a data acquisition module and a data processing module; the data acquisition module comprises a pressure sensor 204 and a position sensor 206; the pressure sensor 204 is used for acquiring the tension applied to the chain 203 of the chain transmission mechanism and acquiring a pressure value F loadcell Transmitting to a data processing module; obviously, F loadcell The pressure applied to the pressure sensor 204 after tensioning the chain 203; the position sensor 206 is used for acquiring the absolute angle position of the right pedal crank and transmitting the acquired absolute angle value to the data processing module;
the data processing module is used for acquiring a pressure value F according to the pressure sensor 204 loadcell Calculating to obtain the pedaling force borne by the pedal plate 208;
data processing moduleThe pedaling force F applied to the pedal 208 is calculated by the following formula foot ：
Wherein R is chainwheel Is the radius of the drive sprocket 205 and,
theta is the angle between the stress directions of the chain 203 and the tension wheel 2042 when the chain 203 is tensioned after the pedal 208 is stressed,
R crank for the length of the pedal crank 207 to be,
F loadcell is the pressure value collected by the pressure sensor 204.
In this embodiment, the radii of the driving sprocket 205 and the driven sprocket 202 are equal; the double-sided pedal cranks 207 are of equal length.
The data processing module converts the absolute angle value into a phase value according to the absolute angle value acquired by the position sensor 206.
As shown in FIG. 2, when a user applies a force to either of the two foot pedals, the foot pedal 208 receives a pedaling force F foot And then:
wherein, F tension The tension applied to the chain 203 when the user applies force to the pedal 208; obviously, chain tension F tension Will act on the drive sprocket 205 and the driven sprocket 202;
the user's application of force to either of the two foot pedals 208 causes the chain 203 to be in tension; a point of tangency between the chain 203 and the top end of the driven sprocket 202 is defined as P1, and a point of tangency between the chain 203 and the top end of the driving sprocket 205 is defined as P2; at this time, the tension pulley 2042 applies a biasing force F 'to the chain 203' loadcell Then the pressure sensor 204 receives the reaction force F of the chain 203 loadcell ；F loadcell Point of force P 0 At the midpoint of the line between P1 and P2, F loadcell Is received byThe force direction is vertical to the connecting line of P1 and P2; tension F is generated at both ends of the chain 203 tension And F' tension Then chain tension F tension And F' tension The included angle between the vertical direction and the vertical direction is theta.
As shown in FIG. 3, the wheelchair is traveling when the user applies a force to either of the two foot pedals, which rotate in a clockwise direction 209; since the user is sitting during the training, the central axis of the pedal crank 207 will be forward and downward compared to the body position of the user, so that the user cannot apply force to the single-sided pedal 208 rotating 360 ° all the way during the forward movement of the wheelchair, but can only apply pedaling force to the single-sided pedal 208 in the pedaling zone 210;
the position of the pedal crank 207 entering the pedal application area is taken as the starting boundary line 210a of the pedal area 210, and the position of the pedal crank 207 leaving the pedal application area is taken as the ending boundary line 210b of the pedal area 210; an angle between the start boundary line 210a of the pedaling region 210 and the Y axis is defined as α, and an angle between the end boundary line 210b of the pedaling region 210 and the Y axis is defined as β;
it is apparent that when the right foot pedal 208 is located within the pedaling zone 210, the pedaling force F detected by the pressure sensor 204 foot If the force is applied to the right foot pedal 208, the force is determined to be applied by the right foot; conversely, when the left foot pedal is located within the pedaling zone 210, the pedaling force F detected by the pressure sensor 204 foot If the force is applied to the left pedal, the force is determined to be applied to the left foot.
As shown in FIG. 4, any point P on the right pedal crank 207r crank Is a circumferential curve 211, the portion of the circumferential curve 211 located in the pedaling area 210 is stressed; i.e. when the wheelchair moves forward, the right pedal crank 207r or any point P thereon crank Begins to be stressed when entering the pedaling zone 210 at the starting boundary line 210a and is not stressed when leaving the pedaling zone 210 at the ending boundary line 210 b;
the projection of the starting boundary line 210a on the phase axis is line 210c, and the projection of the ending boundary line 210b on the phase axis is line 210 d;
data processingThe module is based on the pressure value F collected by the pressure sensor 204 loadcell The pedaling force F borne by the pedal 208 is calculated in real time foot (ii) a And the calculation result in a period of time is plotted as a curve 212, and the curve 212 is the pedaling force F calculated by the data processing module foot A curve that varies with time t;
the data processing module converts the absolute angle value into a phase value in real time according to the absolute angle value acquired by the position sensor 206; and the conversion result in a period of time is plotted as a curve 213, and the curve 213 is any point P on the right pedal crank 207r crank The phase of (d) is varied with time t;
since the user applies a force to either of the two pedals, the chain 203 is tensioned, and the pedaling force F is reflected foot The curve 212 changing with the time t contains the stress conditions of the left and right pedals; in a complete cycle of curve 213, the right foot pedal 208 is only stressed during the first half cycle, and the right foot pedal 208 is not stressed during the second half cycle;
obviously, the curve 212 corresponding to the second half cycle is the stress curve of the left pedal; i.e., multiple cycles of curve 212, adjacent cycles represent the force curve 214 for one right foot pedal 208 and the force curve 215 for one left foot pedal; as shown below in FIG. 4, curve 212r is the force curve for the right foot pedal 208 and curve 212l is the force curve for the left foot pedal.
I.e. when the right pedal crank 207r or any point P thereon crank When entering the pedaling zone 210 from the starting boundary line 210a, determining the starting phase position of the right foot force application interval; when the pedal crank 207r on the right side or any point P thereon crank Away from the pedaling zone 210 at the terminal boundary 210b, or the pressure value F collected by the pressure sensor 204 loadcell When the position is gradually reduced to 0, the position is judged as the ending phase position of the right foot force application interval;
when the left pedal crank or any point P thereon crank When entering the pedaling zone 210 from the starting boundary line 210a, determining the starting phase position of the left foot force application interval; when the left pedal crank or any point P thereon crank Away from the pedaling zone 210 at the terminal boundary 210b, or the pressure value F collected by the pressure sensor 204 loadcell When the angle gradually decreases to 0, the phase position is determined as the end phase position of the left foot application section.
Therefore, the invention can distinguish the areas of the left and right pedals by monitoring the absolute position of the unilateral pedal crank in the rotating process, thereby being capable of judging which force application foot the pressure signal collected by the pressure sensor is generated by.
Compared with healthy people, the strength difference of the limbs on both sides of a stroke patient is particularly obvious for patients with hemiplegia or patients with musculoskeletal problems on one limb. Therefore, to evaluate the rehabilitation training effect of the patient, the forces of the left and right feet of the patient during the training process need to be monitored respectively, so as to evaluate the rehabilitation training effect and the symmetry of the forces of the left and right feet.
The invention monitors the stress conditions of the left pedal and the right pedal by acquiring the tension stressed by the chain of the chain transmission mechanism in the rehabilitation training process, thereby monitoring the pedaling force of the left foot and the right foot of the patient in real time. The invention gets rid of the technical prejudice that the stress condition of the pedal needs to be monitored, and only the sensor can be arranged on the pedal, thereby realizing the wired transmission of monitoring signals and thoroughly avoiding the multi-point link problem caused by a wireless transmission mode. In addition, the invention can monitor the stress conditions of the left pedal and the right pedal only by one pressure sensor, and the monitoring process is stable and reliable.
The pressure sensor of the invention is not required to be arranged on the pedal of the moving part, but is arranged on the tension wheel of the fixing part, thus realizing wired signal transmission.
As shown in fig. 5, the method for monitoring the stress of the pedal and analyzing the force application foot of the pedal-type rehabilitation training wheelchair comprises the following steps:
step S1, data acquisition; the tension applied to the chain 203 of the chain transmission mechanism is acquired by the pressure sensor 204, and the acquired pressure value F is acquired loadcell Transmitting to a data processing module; acquisition of right foot pedal flexure by position sensor 206The absolute angle position of the handle and the acquired absolute angle value are transmitted to the data processing module;
step S2, data processing;
in step S21, the data processing module processes the pressure value F collected by the pressure sensor 204 loadcell The pedal force F borne by the pedal plate 208 is obtained through calculation foot (ii) a The data processing module converts the absolute angle value into a phase value according to the absolute angle value acquired by the position sensor 206;
the data processing module calculates the pedaling force F applied to the pedal 208 by the following formula foot ：
Wherein R is chainwheel Is the radius of the drive sprocket 205 and,
theta is the angle between the stress directions of the chain 203 and the tension wheel 2042 when the chain 203 is tensioned after the pedal 208 is stressed,
R crank for the length of the pedal crank 207 to be,
F loadcell is the pressure value collected by pressure sensor 204;
in step S22, the data processing module continuously calculates the pedaling force F applied to the pedal 208 foot Storing the calculation result within a period of time t to obtain the pedaling force F foot A pedal force curve 212 as a function of time t;
the data processing module continuously converts the phase value of the right pedal crank, and stores the conversion result within a period of time t to obtain any point P on the right pedal crank crank A phase curve 213 over time t;
step S23, determining a start boundary line 210a and an end boundary line 210b of the pedaling zone 210;
the starting boundary line 210a of the pedaling zone 210 is the position where the right pedal crank 207 enters the pedal force application zone, and the side pedal 208 begins to be applied when the side pedal crank 207 rotates to this position; the end boundary 210b of the pedaling zone 210 is the position of the side pedal crank 207 away from the pedal force application zone; an angle between the start boundary line 210a of the pedaling region 210 and the Y axis is defined as α, and an angle between the end boundary line 210b of the pedaling region 210 and the Y axis is defined as β; obviously, the values of alpha and beta are determined by the pedal mechanism of the pedal type rehabilitation training wheelchair;
step S24, analyzing the stress of the left and right pedals;
the phase curve 213 is resolved to determine the start and end points of a complete cycle; the start point of the phase cycle is the time when the right pedal crank 207 enters the start boundary line 210a of the pedal region 210, and the end point is the time when the side pedal crank 207 enters the start boundary line 210a of the pedal region 210 again; in one phase period, the first half period represents that the pedals on the same side are in a stressed state, and the second half period represents that the pedals on the opposite side are in a stressed state;
i.e. when the right pedal crank 207r or any point P thereon crank When entering the pedaling zone 210 from the starting boundary line 210a, determining the starting phase position of the right foot force application interval; when the crank 207r is pedaled on the right side or any point P thereon crank Away from the pedaling zone 210 at the terminal boundary 210b, or the pressure value F collected by the pressure sensor 204 loadcell When the position is gradually reduced to 0, the position is judged as the ending phase position of the right foot force application interval;
when the left pedal crank or any point P thereon crank When entering the pedaling zone 210 from the starting boundary line 210a, determining the starting phase position of the left foot force application interval; when the left pedal crank or any point P thereon crank Away from the pedaling zone 210 at the terminal boundary 210b, or the pressure value F collected by the pressure sensor 204 loadcell When the current value is gradually reduced to 0, the current value is judged to be the ending phase position of the left foot force application interval;
step S24, outputting data;
the pedal force F obtained by the data processing module foot The pedaling force curve 212 changing along with the time t is used as an output result to obtain the stress conditions of the two pedals; one complete cycle represents the stress condition of one pedal rotating one circle;
will countAny point P on the right pedal crank obtained according to the processing module crank The phase curve 213 changing with the time t is combined with the pedaling force curve 212, the force-receiving period of the pedaling force curve 212 corresponding to the first half period of one phase cycle of the phase curve 213 is the force-receiving state of the right pedal, and the force-receiving period of the pedaling force curve 212 corresponding to the second half period is the force-receiving state of the left pedal, as shown in fig. 4.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
Claims (8)
1. The utility model provides a running-board atress monitoring and application of force foot analytic system of foot-operated rehabilitation training wheelchair, its characterized in that includes:
a data acquisition module; the data acquisition module at least comprises a pressure sensor and a position sensor; the pressure sensor is used for acquiring the tension borne by the chain of the chain transmission mechanism and acquiring a pressure value F loadcell Transmitting to a data processing module; the position sensor is used for acquiring the absolute angle position of the single-side pedal crank and transmitting the acquired absolute angle value to the data processing module; and
a data processing module; the data processing module is used for acquiring a pressure value F according to the pressure sensor loadcell The pedal force F borne by the pedal is calculated by adopting the following formula foot ：
Wherein R is chainwheel Is the radius of the chain wheel,
theta is the included angle between the chain and the stress direction of the tension wheel when the chain is tensioned after the pedal plate is stressed,
R crank the length of the pedal crank is the length of the pedal crank,
F loadcell is a pressure value collected by the pressure sensor;
the data processing module continuously calculates the pedaling force F borne by the pedal foot And outputting the calculation result within a period of time t to obtain the pedaling force F foot A pedaling force profile that varies with time t; the pedaling force curve comprises the stress conditions of the pedals on the two sides;
the data processing module converts the absolute angle value into a phase value according to the absolute angle value acquired by the position sensor; the data processing module continuously converts the phase value and outputs the conversion result within a period of time t to obtain a phase curve of the phase of the unilateral pedal crank changing along with the time t.
2. The pedal force monitoring and force application foot analysis system of the pedal-type rehabilitation training wheelchair as claimed in claim 1, wherein: in a plurality of periods of the pedaling force curve, the adjacent periods represent the stress state of one single-side pedal and the stress state of the opposite-side pedal.
3. The pedal force monitoring and force application foot analysis system of the pedal-type rehabilitation training wheelchair as claimed in claim 1, wherein: in a plurality of periods of the phase curve, the first half period of each period represents the stress state of the pedal on one side, and the second half period represents the stress state of the pedal on the opposite side.
4. The pedal force monitoring and force application foot analysis system of the pedal-type rehabilitation training wheelchair as claimed in claim 1, wherein: taking the position of the single-side pedal crank entering the pedal force application area as the starting boundary line of the pedal area, and taking the position of the single-side pedal crank leaving the pedal force application area as the ending boundary line of the pedal area; the pedaling force F detected by the pressure sensor when the right foot pedal is located in the pedaling zone foot The force applied by the right foot pedal is judged to be the force applied by the right foot; when the left pedal is located in the pedaling zone, the pressure sensor detectsPedaling force F foot The force applied to the left pedal is judged as the force applied to the left foot.
5. The pedal force monitoring and force application foot analysis system of the pedal-type rehabilitation training wheelchair as claimed in claim 4, wherein: when the crank is pedaled on the right side or any point P on the crank crank When entering the pedaling area from the starting boundary line, judging the starting phase position of the right foot force application interval; when the crank is pedaled on the right side or any point P on the crank crank Leaving the pedalling zone from the terminal boundary line, or the pressure value F picked up by the pressure sensor loadcell When the position is gradually reduced to 0, the position is judged as the ending phase position of the right foot force application interval;
when the left pedal crank or any point P thereon crank When entering the pedaling area from the starting boundary line, judging the starting phase position of the left foot force application interval; when the left pedal crank or any point P thereon crank Leaving the pedalling zone from the terminal boundary line, or the pressure value F picked up by the pressure sensor loadcell When the angle gradually decreases to 0, the phase position is determined as the end phase position of the left foot application section.
6. A method for monitoring stress and analyzing force application feet of a pedal type rehabilitation training wheelchair is characterized by comprising the following steps of:
step S1, data acquisition; the tension applied to the chain of the chain transmission mechanism is acquired through the pressure sensor, and the acquired pressure value F is acquired loadcell Transmitting to a data processing module; the absolute angle position of the single-side pedal crank is acquired through a position sensor, and the acquired absolute angle value is transmitted to a data processing module;
step S2, data processing;
step S21, the data processing module collects pressure value F according to the pressure sensor loadcell The pedal force F borne by the pedal is calculated by adopting the following formula foot ：
Wherein R is chainwheel Is the radius of the chain wheel and is,
theta is the included angle between the stress directions of the chain and the tension wheel when the chain is tensioned after the pedal is stressed,
R crank the length of the pedal crank is the length of the pedal crank,
F loadcell the pressure value collected by the pressure sensor;
the data processing module converts the absolute angle value into a phase value according to the absolute angle value acquired by the position sensor;
step S22, the data processing module continuously calculates the pedaling force F of the pedal foot And outputting the calculation result within a period of time t to obtain the pedaling force F foot A pedaling force profile that varies with time t;
the data processing module continuously converts the phase value of the single-side pedal crank and outputs the conversion result within a period of time t to obtain a phase curve of the phase of the single-side pedal crank changing along with the time t;
step S23, determining a start boundary line and an end boundary line of the step area;
the starting boundary line of the pedaling area is the position of the single-side pedal crank entering the pedal force application area, and when the single-side pedal crank rotates to the position, the single-side pedal starts to be stressed; the end boundary line of the pedaling area is the position of the side pedal crank away from the pedal force application area;
step S24, analyzing the stress of the left and right pedals;
analyzing the phase curve obtained in the step S22, and determining the starting point and the end point of a complete period; the starting point of the phase cycle is the time when the single-side pedal crank enters the starting boundary line of the pedal area, and the end point is the time when the single-side pedal crank enters the starting boundary line of the pedal area again; in each phase period of the phase curve, the first half period represents that the pedal plates on the same side are in a stressed state, and the second half period represents that the pedal plates on the opposite side are in a stressed state;
step S25, outputting data;
will countPedal force F obtained from processing module foot Taking the pedaling force curve changing along with the time t as an output result to obtain the stress conditions of the two pedals; one complete cycle of the pedaling force curve represents the stress condition of one pedal rotating one circle;
and (3) taking the time t as a reference, corresponding the phase curve to the pedaling force curve, wherein the stress cycle of the pedaling force curve corresponding to the first half period of each phase cycle of the phase curve is the stress state of the pedal at the same side, and the stress cycle of the pedaling force curve corresponding to the second half period is the stress state of the pedal at the opposite side.
7. The pedal stress monitoring and force application foot analysis system of the pedal-type rehabilitation training wheelchair as claimed in claim 1, wherein: the method for judging the force application foot in the step S24 is as follows:
i.e. when the right pedal crank or any point P on it crank When entering the pedaling area from the starting boundary line, judging the starting phase position of the right foot force application interval; when the crank is pedaled on the right side or any point P on the crank crank Leaving the pedalling zone from the terminal boundary line, or the pressure value F picked up by the pressure sensor loadcell When the position is gradually reduced to 0, the position is judged as the ending phase position of the right foot force application interval;
when the left pedal crank or any point P thereon crank When the pedal enters the pedaling area from the starting boundary line, the starting phase position of the left foot force application interval is judged; when the left pedal crank or any point P thereon crank Leaving the pedalling zone from the terminal boundary line, or the pressure value F picked up by the pressure sensor loadcell When the angle gradually decreases to 0, the phase position is determined as the end phase position of the left foot application section.
8. The utility model provides a foot-operated rehabilitation training wheelchair that possesses motion data monitoring function which characterized in that: the chain transmission mechanism is arranged at the front part of the main frame, and a driving chain wheel of the chain transmission mechanism is positioned on the front side of a driven chain wheel; two ends of a chain wheel shaft of the driving chain wheel are respectively connected with a pedal through pedal cranks; a pressure sensor is arranged on the tension pulley above the center of the chain transmission mechanism; when the pedal is stressed, the chain is tensioned, the tension wheel is stressed, and the pressure sensor can acquire the force stressed by the tension wheel; the front part of the main frame is fixedly provided with a position sensor which is used for acquiring the absolute angle position of any one of the two pedal cranks; the pressure sensor and the position sensor are connected with the main controller through signal lines; the main controller is connected with the control terminal through a wireless network.
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