CN114964358B - Pedal stress monitoring and force application foot analysis system and method for rehabilitation training wheelchair - Google Patents
Pedal stress monitoring and force application foot analysis system and method for rehabilitation training wheelchair Download PDFInfo
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- 238000012549 training Methods 0.000 title claims abstract description 42
- 238000012544 monitoring process Methods 0.000 title claims abstract description 29
- 238000004458 analytical method Methods 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims description 19
- 238000012545 processing Methods 0.000 claims abstract description 53
- 238000000418 atomic force spectrum Methods 0.000 claims description 29
- 230000005540 biological transmission Effects 0.000 claims description 22
- 230000007246 mechanism Effects 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000007423 decrease Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 208000006011 Stroke Diseases 0.000 description 11
- 206010008190 Cerebrovascular accident Diseases 0.000 description 10
- 230000002490 cerebral effect Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 5
- 210000003141 lower extremity Anatomy 0.000 description 5
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- 238000006243 chemical reaction Methods 0.000 description 3
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- 230000002146 bilateral effect Effects 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
- 208000014644 Brain disease Diseases 0.000 description 1
- 208000012661 Dyskinesia 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
- 230000004075 alteration Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
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- 208000006111 contracture Diseases 0.000 description 1
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- 230000005804 musculo-skeletal problem Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61G5/10—Parts, details or accessories
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
- A61G5/128—Rests specially adapted therefor, e.g. for the head or the feet for feet
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01D7/00—Indicating measured values
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The invention discloses a pedal stress monitoring and force application foot analysis system of a pedal rehabilitation training wheelchair, which comprises a data acquisition module and a data processing module. The invention can monitor the stress of the pedals at the left side and the right side and judge the force application foot. 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 exercise 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 rehabilitation training wheelchair. The invention also relates to a pedal stress monitoring and force application foot analysis method of the pedal rehabilitation training wheelchair.
Background
The cerebral apoplexy is also called as "apoplexy" and "cerebrovascular accident", which is an acute cerebrovascular disease, and is a disease of brain tissue injury caused by the failure of blood to flow into the brain due to sudden rupture of cerebral blood vessels or vascular obstruction. In surviving stroke patients, approximately 75% lose labor or life self-care to varying degrees. If a patient takes rehabilitation training of cerebral apoplexy as early as possible, the early rehabilitation training has critical effects on relieving movement dysfunction caused by cerebral apoplexy and improving life quality. Rehabilitation training is based on the neural plasticity principle, and the patient can reconstruct the functions of the damaged brain areas through the mode of active and passive exercise and other exercise training, so that the damaged exercise functions are recovered.
The dyskinesia of the cerebral apoplexy patient is mainly represented by the fact that joints of lower limbs cannot perform their own functions and cannot perform separation movement according to instructions, the condition that the whole lower limbs move together usually occurs, and meanwhile, the muscle strength of the lower limbs is reduced. Therefore, the rehabilitation training mode of the common cerebral apoplexy patient is to perform passive joint movement on the lower limb of the affected side so as to maintain the joint movement degree, increase the muscle strength, stimulate the brain to reestablish the nerve path and prevent muscle contracture and adhesion.
Chinese patent publication CN103930081a discloses a three-wheeled wheelchair that can be operated by stepping on a front pedal while maintaining a sitting posture. The three-wheeled wheelchair can be used for rehabilitation training of cerebral apoplexy patients, and the patients can make the affected side limbs perform passive or active movement through pedaling action similar to a bicycle, so that the training in the aspects of lower limb movement function, joint movement degree, muscle strength and the like is performed.
However, the three-wheeled wheelchair can only help a cerebral apoplexy patient 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 solve the technical problem of providing a pedal stress monitoring and force application foot analysis system of a pedal 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 proposal of the pedal stress monitoring and force application foot analysis system of the pedal rehabilitation training wheelchair is that the invention comprises the following steps:
a data acquisition module; the data acquisition module at least comprises a pressureA force sensor and a position sensor; the pressure sensor is used for collecting the tension applied to the chain of the chain transmission mechanism and collecting the pressure value F loadcell Transmitting the data to a data processing module; the position sensor is used for collecting the absolute angle position of the single-side pedal crank and transmitting the collected absolute angle value to the data processing module; and
a data processing module; the data processing module is used for processing the pressure value F acquired by the pressure sensor loadcell The pedal force F of the pedal is calculated by the following formula foot ：
Wherein R is chainwheel Is the radius of the sprocket wheel,
theta is the included angle between the chain and the stress direction of the tensioning wheel when the chain is tensioned after the pedal is stressed, R crank For the length of the pedal crank,
F loadcell a pressure value acquired by the pressure sensor;
the data processing module continuously calculates the pedaling force F born by the pedal foot And outputs the calculation result within a period of time t to obtain the pedaling force F foot A pedaling force profile as a function of time t; the pedaling force curve comprises the stress condition of the pedals at 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 scales the phase value and outputs the scaling result within a period of time t to obtain a phase curve of the phase change of the single-side pedal crank along with the time t.
In another embodiment, the plurality of cycles of the pedaling force profile, adjacent cycles representing a stressed state of one single-sided foot pedal and a stressed state of one opposite-sided foot pedal.
In another embodiment, in the plurality of periods of the phase curve, a first half-cycle of each period represents a stress state of a single-side foot pedal and a second half-cycle represents a stress state of a contralateral foot pedal.
In another embodiment, a position of the one-side pedal crank entering the pedal effort area is taken as a start boundary line of the pedal area, and a position of the one-side pedal crank leaving the pedal effort area is taken as an end boundary line of the pedal area; when the right foot pedal is located in the pedaling area, 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; when the left pedal is located in the pedal region, the pedal force F detected by the pressure sensor foot The force applied to the left foot pedal is determined as the left foot force.
In another embodiment, when the right pedal crank or any point P thereon crank When the pedal area is entered from the initial boundary line, judging the position of the initial phase of the right foot force application section; when the right pedal crank or any point P thereon crank From the termination boundary line, or from the pressure value F acquired by the pressure sensor loadcell When the force is gradually reduced to 0, judging the end phase position of the right foot force application section; when the left pedal crank or any point P thereon crank When the pedal area is entered from the initial boundary line, judging the position of the initial phase of the left foot force application section; when the left pedal crank or any point P thereon crank From the termination boundary line, or from the pressure value F acquired by the pressure sensor loadcell When the value gradually decreases to 0, the end phase position of the left foot application section is determined.
The invention also provides a pedal stress monitoring and force application foot analysis method of the pedal rehabilitation training wheelchair, which adopts the technical proposal that the method comprises the following steps:
step S1, data acquisition; the tension applied to the chain of the chain transmission mechanism is collected by the pressure sensor, and the collected pressure value F loadcell Transmitting the data 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;
s2, data processing;
step S21, the data processing module acquires a pressure value F according to the pressure sensor loadcell The pedal force F of the pedal is calculated by the following formula foot ：
Wherein R is chainwheel Is the radius of the sprocket wheel,
theta is the included angle between the chain and the stress direction of the tensioning wheel when the chain is tensioned after the pedal is stressed, R crank For the length of the pedal crank,
F loadcell a pressure value acquired 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 applied by the pedal foot And outputs the calculation result within a period of time t to obtain the pedaling force F foot A pedaling force profile as a function of time t;
the data processing module continuously scales the phase value of the single-side pedal crank and outputs the scaling result within a period of time t to obtain a phase curve of the phase change of the single-side pedal crank along with the time t;
step S23, determining a starting boundary line and a terminating boundary line of the pedaling area;
the starting boundary line of the pedal area is the position of the single-side pedal crank entering the pedal force application area, and the pedal starts to be stressed when the single-side pedal crank rotates to the position; the termination boundary line of the pedal area is the position of the side pedal crank away from the pedal force application area;
s24, analyzing the stress of the left pedal and the right pedal;
analyzing the phase curve obtained in the step S22, and determining a starting point and an ending point of a complete period; the starting point of the phase period is the moment when the single-side pedal crank enters the starting boundary line of the pedal area, and the ending point is the moment 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 on the same side is in a stressed state, and the second half period represents that the pedal on the opposite side is in a stressed state;
step S25, data output;
the pedaling force F obtained by the data processing module foot Taking a pedaling force curve changed along with time t as an output result to obtain the stress condition of the two pedals; a complete cycle of the pedaling force curve represents the force condition of one rotation of the foot pedal;
and taking the time t as a reference, corresponding the phase curve to the pedaling force curve, wherein the stress period of the pedaling force curve corresponding to the first half period of each phase period of the phase curve is the stress state of the pedal on the same side, and the stress period of the pedaling force curve corresponding to the second half period is the stress state of the pedal on the opposite side.
In another embodiment, the method for determining the force application leg in the step S24 is as follows: i.e. when the right pedal crank or any point P thereon crank When the pedal area is entered from the initial boundary line, judging the position of the initial phase of the right foot force application section; when the right pedal crank or any point P thereon crank From the termination boundary line, or from the pressure value F acquired by the pressure sensor loadcell When the force is gradually reduced to 0, judging the end phase position of the right foot force application section; when the left pedal crank or any point P thereon crank When the pedal area is entered from the initial boundary line, judging the position of the initial phase of the left foot force application section; when the left pedal crank or any point P thereon crank From the termination boundary line, or from the pressure value F acquired by the pressure sensor loadcell When the value gradually decreases to 0, the end phase position of the left foot application section is determined.
The invention also provides a pedal rehabilitation training wheelchair with a motion data monitoring function, which has the technical proposal that:
the device comprises a main frame, wherein a 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 at the front side of a driven chain wheel; two ends of a sprocket shaft of the driving sprocket are respectively connected with the pedal through pedal cranks; a pressure sensor is arranged on the tension pulley above the center of the chain transmission mechanism; when the foot pedal is stressed, the chain is tensioned, the tensioning wheel is stressed, and the pressure sensor can collect the force stressed by the tensioning wheel; the front part of the main frame is fixedly provided with a position sensor which is used for collecting 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 has the following technical effects:
the invention embeds the pressure sensor for monitoring the pedal force on the tensioning wheel of the chain transmission mechanism, and indirectly obtains the pedal force of the pedal by measuring the tension of the chain in the rotating movement process of the pedal. During the pedaling movement of the wheelchair, the position of the tensioning wheel remains unchanged, so that the pressure sensor can be fixedly arranged without moving along with the movement of the foot pedals. Because the pressure sensor is kept in a static state all the time in the process of collecting data, not only can the collection precision be improved, but also the data transmission can be realized in a wired mode.
The invention uses the pressure sensor and the position sensor, and monitors the phase of the pedal crank through the position sensor, thereby judging whether the pedal force detected by the pressure sensor is left foot force application or right foot force application.
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 process of collecting data, and the phenomenon that a signal transmission cable of the pressure sensor is wound in the process of rotating the pedal is avoided.
Drawings
It will be appreciated by those skilled in the art that the following description is merely illustrative of the principles of the invention, which can be applied in numerous ways to implement many different alternative embodiments. These descriptions are only intended to illustrate the general principles of the teachings of the present invention 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 attached drawings and detailed description:
FIG. 1 is a partial schematic view of a foot-operated rehabilitation training wheelchair with exercise data monitoring function of the present invention;
FIG. 2 is a force analysis schematic of a pedaling transmission mechanism of a pedaling rehabilitation training wheelchair;
FIG. 3 is a schematic view of a force receiving area of a single-sided foot pedal;
FIG. 4 is a diagram showing the correspondence between the force curve of the two foot pedals and the phase curve of the right foot pedal crank outputted by the data processing module of the present invention;
FIG. 4 is a plot of force applied to the right foot pedal and the left foot pedal;
FIG. 5 is a flow chart of a method for monitoring the force applied by a foot pedal of the foot-operated rehabilitation training wheelchair according to the invention.
The reference numerals in the drawings illustrate:
201 is a main frame, 202 is a driven sprocket,
203 is a chain, 204 is a pressure sensor,
205, a drive sprocket, 206 a position sensor,
207 is a pedal crank, 208 is a foot pedal,
2042 is a tensioner.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention. Unless otherwise defined, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" and the like means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof without precluding other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
As shown in fig. 1, the foot-operated rehabilitation training wheelchair comprises a main frame 201, wherein a chain transmission mechanism is arranged at the front part of the main frame 201, and a driving chain wheel 205 of the chain transmission mechanism is positioned at the front side of a driven chain wheel 202; the two ends of the sprocket shaft of the driving sprocket 205 are respectively connected with a pedal 208 through pedal cranks 207;
a pressure sensor 204 is arranged on the tensioning 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 the present embodiment adopts an absolute position encoder, and the corresponding code wheel is fixedly arranged at any point P of the right pedal crank crank At this point P crank Is of the order of (2)Is arranged corresponding to the position sensor 206 to acquire the absolute angle position of the right pedal crank; of course, the code wheel 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 provided at any portion of the main frame 201; the main controller is connected with a control terminal, such as an intelligent terminal of a mobile phone, a computer and the like or a cloud server through a wireless network.
The invention relates to a pedal stress monitoring and force application foot analysis system of a pedal 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 collecting the tension applied to the chain 203 of the chain transmission mechanism and collecting the pressure value F loadcell Transmitting the data to a data processing module; obviously F loadcell 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 of the pedal 208;
the data processing module calculates the pedaling force F applied by the pedal 208 by using the following formula foot ：
Wherein R is chainwheel For the radius of the drive sprocket 205,
θ is the angle between the chain 203 and the stress direction of the tensioning wheel 2042 when the chain 203 is tensioned after the pedal 208 is stressed,
R crank for the length of the pedal crank 207,
F loadcell for the pressure value acquired by the pressure sensor 204.
In this embodiment, the radius of the driving sprocket 205 is equal to that of the driven sprocket 202; the double sided pedal crank 207 is of equal length.
The data processing module converts the absolute angle value to a phase value based on the absolute angle value collected by the position sensor 206.
As shown in fig. 2, when a user applies force to either of the two pedals, the pedal 208 receives a pedaling force F foot Then:
wherein F is tension When the user applies force to the foot pedal 208, the chain 203 is under tension; obviously, the chain tension F tension Acts on the drive sprocket 205 and the driven sprocket 202;
a user applying force to either of the two foot pedals 208 will cause the chain 203 to be in tension; the tangent point of the chain 203 to the tip of the driven sprocket 202 is defined as P1, and the tangent point of the chain 203 to the tip of the driving sprocket 205 is defined as P2; at this time, the tensioning wheel 2042 applies a force F 'to the chain 203' loadcell The pressure sensor 204 receives the reaction force F of the chain 203 loadcell ；F loadcell Is (are) stress point P 0 At the midpoint of the connection between P1 and P2, F loadcell The stress direction of the device is perpendicular to the connecting line of P1 and P2; tension F is generated at both ends of the chain 203 tension And F' tension Chain tension F tension And F' tension The included angle between the vertical direction and the horizontal direction is theta.
As shown in fig. 3, when the user applies force to either of the two pedals, the wheelchair is moved forward, at which time the pedals are rotated in a clockwise direction 209; because the user sits in a sitting position during training, the central axis of the pedal crank 207 is positioned forward and downward relative to the body position of the user, the user cannot apply force to the single-side pedal 208 rotating by 360 ° in the whole course during the forward movement of the wheelchair, but can only apply pedal force to the single-side pedal 208 in the pedal region 210;
the position where the pedal crank 207 enters the pedal effort area is defined as a start boundary line 210a of the pedal area 210, and the position where the pedal crank 207 leaves the pedal effort area is defined as an end boundary line 210b of the pedal area 210; the angle between the start boundary line 210a of the kick region 210 and the Y-axis is defined as α, and the angle between the end boundary line 210b of the kick region 210 and the Y-axis is defined as β;
obviously, when the right foot pedal 208 is located within the pedaling area 210, the pedaling force F detected by the pressure sensor 204 foot If the force is applied to the right foot pedal 208, the right foot is judged to be applied; conversely, when the left foot pedal is located in the pedaling area 210, the pedaling force F detected by the pressure sensor 204 foot When the left foot pedal is applied with force, the left foot pedal is judged to be applied with force.
As shown in fig. 4, any point P on the right foot crank 207r crank Is a circumferential curve 211, the portion of the circumferential curve 211 located within the pedaling area 210 is subjected to force; i.e. when the wheelchair is moving forward, the right foot crank 207r or any point P thereon crank Force begins to be applied when the kick region 210 is entered at the start boundary line 210a and is not applied when the kick region 210 is exited at the end boundary line 210b;
the projection of the start boundary line 210a on the phase axis is a line 210c, and the projection of the end boundary line 210b on the phase axis is a line 210d;
the data processing module is used for acquiring a pressure value F according to the pressure sensor 204 loadcell The pedaling force F applied by the pedal 208 is calculated in real time foot The method comprises the steps of carrying out a first treatment on the surface of the And draws the calculation result in a period of time into a curve 212, the curve 212 is the pedaling force F calculated by the data processing module foot A curve over 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 curve 213, then curve 213 is any point P on the right hand pedal crank 207r crank A plot of phase versus time t;
since the user applies force to either of the two pedals, the chain 203 is tensioned, and thus the pedaling force F is reflected foot Varying with time tThe curve 212 contains the stress conditions of the left and right pedals; while in one complete cycle of curve 213, right foot pedal 208 is only stressed during the first half cycle and right foot pedal 208 is not stressed during the second half cycle;
obviously, the curve 212 corresponding to the second half cycle is the force curve of the left foot pedal; namely, a plurality of cycles of curve 212, adjacent cycles representing a force curve 214 for one right foot pedal 208 and a force curve 215 for one left foot pedal; as shown in the lower part of fig. 4, the curve 212r is the force curve of the right foot pedal 208, and 212l is the force curve of the left foot pedal.
I.e. when the right pedal crank 207r or any point P thereon crank When the pedal region 210 is entered from the start boundary line 210a, the start phase position of the right foot application section is determined; when the right pedal crank 207r or any point P thereon crank From the termination boundary line 210b, away from the pedaling area 210, or the pressure value F acquired by the pressure sensor 204 loadcell When the force is gradually reduced to 0, judging the end phase position of the right foot force application section;
when the left pedal crank or any point P thereon crank When the pedal region 210 is entered from the start boundary line 210a, the start phase position of the left foot application section is determined; when the left pedal crank or any point P thereon crank From the termination boundary line 210b, away from the pedaling area 210, or the pressure value F acquired by the pressure sensor 204 loadcell When the value gradually decreases to 0, the end phase position of the left foot application section is determined.
Therefore, the invention can distinguish the areas where the left pedal and the right pedal are located by only monitoring the absolute position of the single-side pedal crank in the rotating process, thereby judging which force application foot generates the pressure signal acquired by the pressure sensor.
Compared with healthy people, the strength of the bilateral limbs of the cerebral apoplexy patient is different, and the strength difference of the bilateral limbs is particularly obvious for hemiplegic patients or patients with musculoskeletal problems of the unilateral limbs. Therefore, to evaluate the rehabilitation training effect of the patient, it is necessary to monitor the forces of the left and right feet of the patient during the training process, 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 collecting the tension born by the chain of the chain transmission mechanism in the rehabilitation training process, thereby being capable of monitoring the pedaling force of the left foot and the right foot of a patient in real time. The invention gets rid of the technical prejudice that the stress condition of the pedal to be monitored can only be realized by installing the sensor on the pedal, can realize the wired transmission of the monitoring signal, and thoroughly avoids the problem of multipoint link caused by a wireless transmission mode. In addition, the invention can monitor the stress conditions of the left pedal and the right pedal by only one pressure sensor, and the monitoring process is stable and reliable.
The pressure sensor is not required to be arranged on the pedal of the moving part, but is arranged on the tensioning wheel of the fixed part, so that wired signal transmission can be realized.
As shown in FIG. 5, the method for monitoring the stress of the foot pedal and analyzing the force applied foot of the foot 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 used for measuring the tension loadcell Transmitting the data to a data processing module; the absolute angle position of the right pedal crank is acquired by the position sensor 206, and the acquired absolute angle value is transmitted to the data processing module;
s2, data processing;
step S21, the data processing module acquires a pressure value F according to the pressure sensor 204 loadcell Calculation is performed to obtain the pedaling force F applied by the pedal 208 foot The method comprises the steps of carrying out a first treatment on the surface of the 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 by the pedal 208 by using the following formula foot ：
Wherein R is chainwheel For the radius of the drive sprocket 205,
θ is the angle between the chain 203 and the stress direction of the tensioning wheel 2042 when the chain 203 is tensioned after the pedal 208 is stressed,
R crank for the length of the pedal crank 207,
F loadcell a pressure value acquired for the pressure sensor 204;
step S22, the data processing module continuously calculates the pedaling force F applied by the pedal 208 foot Storing the calculation result within a period of time t to obtain the pedaling force F foot A pedaling force profile 212 over time t;
the data processing module continuously converts the phase value of the right pedal crank, stores the conversion result within a period of time t, and obtains any point P on the right pedal crank crank A phase curve 213 over time t;
step S23 of determining a start boundary line 210a and an end boundary line 210b of the kick region 210;
the starting boundary line 210a of the kick area 210 is the position where the right side kick crank 207 enters the kick plate force application area, and the side kick plate 208 starts to receive force when the side kick crank 207 rotates thereto; the termination boundary line 210b of the kick region 210 is a position where the side kick crank 207 is away from the foot pedal application region; the angle between the start boundary line 210a of the kick region 210 and the Y-axis is defined as α, and the angle between the end boundary line 210b of the kick region 210 and the Y-axis is defined as β; clearly, the alpha and beta values are determined by the foot-operated mechanism of the foot-operated rehabilitation training wheelchair;
s24, analyzing the stress of the left pedal and the right pedal;
analyzing the phase curve 213 to determine the start and end of a complete cycle; the start point of the phase period is the time when the right hand crank 207 enters the start boundary line 210a of the kick region 210, and the end point is the time when the right hand crank 207 once again enters the start boundary line 210a of the kick region 210; the first half cycle represents that the pedal on the same side is in a stressed state, and the second half cycle represents that the pedal on the opposite side is in a stressed state;
i.e. when the right pedal crank 207r or any point P thereon crank When the pedal region 210 is entered from the start boundary line 210a, the start phase position of the right foot application section is determined; when the right pedal crank 207r or any point P thereon crank From the termination boundary line 210b, away from the pedaling area 210, or the pressure value F acquired by the pressure sensor 204 loadcell When the force is gradually reduced to 0, judging the end phase position of the right foot force application section;
when the left pedal crank or any point P thereon crank When the pedal region 210 is entered from the start boundary line 210a, the start phase position of the left foot application section is determined; when the left pedal crank or any point P thereon crank From the termination boundary line 210b, away from the pedaling area 210, or the pressure value F acquired by the pressure sensor 204 loadcell When the force is gradually reduced to 0, judging the end phase position of the left foot force application section;
step S24, outputting data;
the pedaling 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 condition of the two pedals; one complete cycle represents the stress condition of one pedal rotating one circle;
any point P on the right pedal crank obtained by the data processing module crank The phase curve 213 that varies with time t is combined with the pedaling force curve 212, and the force cycle of the pedaling force curve 212 corresponding to the first half period of one phase cycle of the phase curve 213 is the force state of the right pedal, and the force cycle of the pedaling force curve 212 corresponding to the second half period is the force 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 to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. The utility model provides a pedal atress monitoring and application of force foot analytic system of pedal type rehabilitation training wheelchair which 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 collecting the tension applied to the chain of the chain transmission mechanism and collecting the pressure value F loadcell Transmitting the data to a data processing module; the position sensor is used for collecting the absolute angle position of the single-side pedal crank and transmitting the collected absolute angle value to the data processing module; and
a data processing module; the data processing module is used for processing the pressure value F acquired by the pressure sensor loadcell The pedal force F of the pedal is calculated by the following formula foot ：
Wherein R is chainwheel Is the radius of the sprocket wheel,
theta is the included angle between the chain and the stress direction of the tensioning wheel when the chain is tensioned after the pedal is stressed, R crank For the length of the pedal crank,
F loadcell a pressure value acquired by the pressure sensor;
the data processing module continuously calculates the pedaling force F born by the pedal foot And outputs the calculation result within a period of time t to obtain the pedaling force F foot A pedaling force profile as a function of time t; the pedaling force curve comprises the stress condition of the pedals at 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 scales the phase value and outputs the scaling result within a period of time t to obtain a phase curve of the phase change of the single-side pedal crank along with the time t.
2. The foot pedal force monitoring and applied force foot analysis system of a foot-operated rehabilitation training wheelchair according to claim 1, wherein: the adjacent cycles represent the stress state of one single pedal and the stress state of one opposite pedal in a plurality of cycles of the pedaling force curve.
3. The foot pedal force monitoring and applied force foot analysis system of a foot-operated rehabilitation training wheelchair according to claim 1, wherein: the first half period of each period represents the stress state of the single-side pedal, and the second half period represents the stress state of the opposite-side pedal.
4. The foot pedal force monitoring and applied force foot analysis system of a foot-operated rehabilitation training wheelchair according to claim 1, wherein: taking the position of the single-side pedal crank entering the pedal force application area as a starting boundary line of the pedal area, and taking the position of the single-side pedal crank leaving the pedal force application area as a finishing boundary line of the pedal area; when the right foot pedal is located in the pedaling area, 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; when the left pedal is located in the pedal region, the pedal force F detected by the pressure sensor foot The force applied to the left foot pedal is determined as the left foot force.
5. The foot pedal force monitoring and applied force foot analysis system of the foot pedal rehabilitation training wheelchair of claim 4, wherein: when the right pedal crank or any point P thereon crank When the pedal area is entered from the initial boundary line, judging the position of the initial phase of the right foot force application section; when the right pedal crank or any point P thereon crank From the termination boundary line, or from the pressure value F acquired by the pressure sensor loadcell When the force is gradually reduced to 0, judging the end phase position of the right foot force application section;
when the left pedal crank or any point P thereon crank Judging when the pedal area is entered from the initial boundary lineBreaking the left foot force application section to be the starting phase position of the left foot force application section; when the left pedal crank or any point P thereon crank From the termination boundary line, or from the pressure value F acquired by the pressure sensor loadcell When the value gradually decreases to 0, the end phase position of the left foot application section is determined.
6. The method for monitoring the stress of the foot plate and analyzing the force applied by the foot plate of the foot-operated rehabilitation training wheelchair is characterized by comprising the following steps:
step S1, data acquisition; the tension applied to the chain of the chain transmission mechanism is collected by the pressure sensor, and the collected pressure value F loadcell Transmitting the data 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;
s2, data processing;
step S21, the data processing module acquires a pressure value F according to the pressure sensor loadcell The pedal force F of the pedal is calculated by the following formula foot ：
Wherein R is chainwheel Is the radius of the sprocket wheel,
theta is the included angle between the chain and the stress direction of the tensioning wheel when the chain is tensioned after the pedal is stressed, R crank For the length of the pedal crank,
F loadcell a pressure value acquired 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 applied by the pedal foot And outputs the calculation result within a period of time t to obtain the pedaling force F foot A pedaling force profile as a function of time t;
the data processing module continuously scales the phase value of the single-side pedal crank and outputs the scaling result within a period of time t to obtain a phase curve of the phase change of the single-side pedal crank along with the time t;
step S23, determining a starting boundary line and a terminating boundary line of the pedaling area;
the starting boundary line of the pedal area is the position of the single-side pedal crank entering the pedal force application area, and the pedal starts to be stressed when the single-side pedal crank rotates to the position; the termination boundary line of the pedal area is the position of the side pedal crank away from the pedal force application area;
s24, analyzing the stress of the left pedal and the right pedal;
analyzing the phase curve obtained in the step S22, and determining a starting point and an ending point of a complete period; the starting point of the phase period is the moment when the single-side pedal crank enters the starting boundary line of the pedal area, and the ending point is the moment 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 on the same side is in a stressed state, and the second half period represents that the pedal on the opposite side is in a stressed state;
step S25, data output;
the pedaling force F obtained by the data processing module foot Taking a pedaling force curve changed along with time t as an output result to obtain the stress condition of the two pedals; a complete cycle of the pedaling force curve represents the force condition of one rotation of the foot pedal;
and taking the time t as a reference, corresponding the phase curve to the pedaling force curve, wherein the stress period of the pedaling force curve corresponding to the first half period of each phase period of the phase curve is the stress state of the pedal on the same side, and the stress period of the pedaling force curve corresponding to the second half period is the stress state of the pedal on the opposite side.
7. The method for monitoring the stress of the foot rest and analyzing the force applied to the foot rest of the foot-operated rehabilitation training wheelchair according to claim 6, which is characterized in that: the method for judging the force application foot in the step S24 is as follows:
when the right pedal crank or any point P thereon crank When the pedal area is entered from the initial boundary line, judging the position of the initial phase of the right foot force application section; when the right pedal crank or any point P thereon crank From the termination boundary line, or from the pressure value F acquired by the pressure sensor loadcell When the force is gradually reduced to 0, judging the end phase position of the right foot force application section;
when the left pedal crank or any point P thereon crank When the pedal area is entered from the initial boundary line, judging the position of the initial phase of the left foot force application section; when the left pedal crank or any point P thereon crank From the termination boundary line, or from the pressure value F acquired by the pressure sensor loadcell When the value gradually decreases to 0, the end phase position of the left foot application section is determined.
8. The utility model provides a pedal rehabilitation training wheelchair that possesses motion data monitoring function which characterized in that: a pedal stress monitoring and force applying foot analysis system adopting the pedal rehabilitation training wheelchair according to any one of claims 1 to 5, which comprises a main frame, wherein the front part of the main frame is provided with a chain transmission mechanism, and a driving chain wheel of the chain transmission mechanism is positioned at the front side of a driven chain wheel; two ends of a sprocket shaft of the driving sprocket are respectively connected with the pedal through pedal cranks; the tension wheel above the center of the chain transmission mechanism is provided with the pressure sensor;
when the foot pedal is stressed, the chain is tensioned, the tensioning wheel is stressed, and the pressure sensor can collect the force stressed by the tensioning wheel; the front part of the main frame is fixedly provided with a position sensor which is used for collecting 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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| CN113876316A (en) * | 2021-09-16 | 2022-01-04 | 河南翔宇医疗设备股份有限公司 | System, method, device, equipment and medium for detecting abnormal flexion and extension activities of lower limbs |
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| WO2014124126A1 (en) * | 2013-02-07 | 2014-08-14 | Northeastern University | Cyclist monitoring and recommender system |
| US10603535B2 (en) * | 2017-12-01 | 2020-03-31 | Arx Fit, Inc. | Exercise machine with a force transducer |
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| US4493485A (en) * | 1981-01-30 | 1985-01-15 | Nautilus Sports/Medical Industries, Inc. | Exercising apparatus and method |
| CN101913488A (en) * | 2010-09-10 | 2010-12-15 | 天津起重设备有限公司 | Tension device for continuous conveying equipment |
| WO2016035734A1 (en) * | 2014-09-01 | 2016-03-10 | 住友電気工業株式会社 | Electric wheelchair, method for controlling same, program for controlling same, and controller for operating electronic device |
| CN112516581A (en) * | 2020-12-21 | 2021-03-19 | 南京伟思医疗科技股份有限公司 | Game type active and passive rehabilitation training device based on single-shaft motor stress |
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