CN115470662A - Evaluation method and device for poking manipulation, electronic device and storage medium - Google Patents
Evaluation method and device for poking manipulation, electronic device and storage medium Download PDFInfo
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- CN115470662A CN115470662A CN202211416741.9A CN202211416741A CN115470662A CN 115470662 A CN115470662 A CN 115470662A CN 202211416741 A CN202211416741 A CN 202211416741A CN 115470662 A CN115470662 A CN 115470662A
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Abstract
The present invention relates to the field of medical information technologies, and in particular, to a method and an apparatus for evaluating a poking manipulation, an electronic device, and a storage medium. Wherein, the method comprises the following steps: acquiring shaking and poking manipulation operations to be evaluated, which are acquired by a simulation operation device, wherein the shaking and poking manipulation operations to be evaluated comprise at least three displacement-time curve data to be evaluated, at least three first force-time curve data to be evaluated and one second force-time curve data to be evaluated; acquiring preset target poking manipulation operations, wherein the target poking manipulation operations comprise at least three target displacement-time curve data, at least three target first force-time curve data and one target second force-time curve data; and evaluating the operation of the poking method to be evaluated by utilizing the target poking method operation so as to obtain the evaluation results of the operation of the hand cranking method to be evaluated and the operation of the poking method to be evaluated. The invention can realize the automatic evaluation of the poking manipulation operation.
Description
Technical Field
The present invention relates to the field of medical information technologies, and in particular, to a method and an apparatus for assessing a poking manipulation, an electronic device, and a storage medium.
Background
Acute ankle sprain is a common sports injury, accounting for more than one third of ankle and foot injuries, accounting for about 8% of the entire sports injury, and occupying the first place of joint ligament injury, of which the injury caused by inversion accounts for about 90%. How to relieve pain, eliminate swelling and improve joint function as soon as possible is a key issue in the early stages of the disease treatment.
At present, the conventional method for treating acute ankle sprain in modern medicine is "RICE therapy", namely, resting, ice compress, pressure dressing and lifting the affected limb. Among them, ice compress is widely used because of its advantages in increasing pain threshold, reducing tissue temperature, slowing tissue metabolism, and reducing inflammatory response. In traditional Chinese medicine, acute ankle sprain belongs to the category of 'muscle injury stabbing feet', and the basic pathogenesis of the injury is bone malocclusion, muscle groove, and blood overflowing outside the vessels without circulating, so the muscle-regulating manipulation is one of the most main means for treating the disease in traditional Chinese medicine. The swinging poking manipulation is created by professor Sun Shuchun of famous old Chinese medicine, sun Lao creates a special manipulation aiming at acute ankle sprain in long-term clinical practice according to the bone setting theory that muscle and bone injuries in the bone fracture science of Chinese medicine cause vein damage, blood is separated from channels to form stasis, and blood stasis causes qi stagnation and 'desire to be separated first'. The manipulation relieves pain, eliminates swelling quickly, has few residual symptoms in later period, and has low incidence of repeated sprain and chronic unstable ankle.
However, the poking and shaking technique is a medical operation technique with strong skill, needs to shake, pull and press the foot, has stable, accurate, light and handy operation characteristics, requires highly coordinated action and amplitude, and has relatively high technical requirements on operators. In the existing manipulation process, the quality of the manipulation is greatly influenced by human factors, and the manipulation is difficult to master and difficult to realize large-scale popularization. Therefore, in order to ensure consistency in quality of the poking technique, it is necessary to automatically evaluate the poking technique operation.
Disclosure of Invention
In order to realize automatic evaluation of the poking manipulation, the embodiment of the invention provides a poking manipulation evaluation method, a poking manipulation evaluation device, electronic equipment and a storage medium.
In a first aspect, an embodiment of the present invention provides a method for evaluating a poking manipulation operation, including:
acquiring the poking manipulation operation to be evaluated, which is acquired by the simulation operation device; wherein the simulation operation device comprises at least three displacement sensors and at least three first force sensors for collecting manipulation of a manipulation of shaking hands and one second force sensor for collecting manipulation of a manipulation of poking hands, the to-be-evaluated poking manipulation comprises at least three to-be-evaluated displacement-time curve data and at least three to-be-evaluated first force-time curve data used for representing the to-be-evaluated poking manipulation and one to-be-evaluated second force-time curve data used for representing the to-be-evaluated poking manipulation;
acquiring preset target poking manipulation operation; wherein the target church maneuver includes at least three target displacement-time curve data and at least three target first force-time curve data for characterizing the target church maneuver and one target second force-time curve data for characterizing the target church maneuver;
and evaluating the shaking and poking manipulation operation to be evaluated by utilizing the target shaking and poking manipulation operation to obtain the evaluation results of the shaking and poking manipulation operation to be evaluated and the poking manipulation operation to be evaluated.
In a second aspect, an embodiment of the present invention further provides an apparatus for evaluating a poking manipulation, including:
the first acquisition module is used for acquiring the poking manipulation operation to be evaluated, which is acquired by the simulation operation device; wherein the simulation operation device comprises at least three displacement sensors and at least three first force sensors for collecting manipulation of a manipulation of shaking hands and one second force sensor for collecting manipulation of a manipulation of poking hands, the to-be-evaluated poking manipulation comprises at least three to-be-evaluated displacement-time curve data and at least three to-be-evaluated first force-time curve data used for representing the to-be-evaluated poking manipulation and one to-be-evaluated second force-time curve data used for representing the to-be-evaluated poking manipulation;
the second acquisition module is used for acquiring preset target poking manipulation operation; wherein the target church maneuver includes at least three target displacement-time curve data and at least three target first force-time curve data for characterizing the target church maneuver and one target second force-time curve data for characterizing the target church maneuver;
and the evaluation module is used for evaluating the shaking and poking manipulation operation to be evaluated by utilizing the target shaking and poking manipulation operation so as to obtain the evaluation results of the shaking and poking manipulation operation to be evaluated and the target shaking and poking manipulation operation to be evaluated.
In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program, and the processor executes the computer program to implement the method according to any embodiment of the present invention.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed in a computer, the computer program causes the computer to execute the method according to any embodiment of the present invention.
The embodiment of the invention provides a method and a device for evaluating a poking manipulation, electronic equipment and a storage medium, wherein the poking manipulation to be evaluated can be obtained by means of a simulation operation device, and the poking manipulation to be evaluated is evaluated by means of a preset target poking manipulation, so that evaluation results of the poking manipulation to be evaluated and the poking manipulation to be evaluated are obtained. Therefore, the scheme can realize the automatic evaluation of the poking manipulation operation, thereby ensuring the consistency of the poking manipulation quality.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of an evaluation method for a poking manipulation according to an embodiment of the present invention;
fig. 2 is a hardware architecture diagram of an electronic device according to an embodiment of the present invention;
FIG. 3 is a block diagram of an apparatus for evaluating the operation of a poking technique according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a simulation operating device according to an embodiment of the present invention;
fig. 5 is a partially enlarged view of the analog operation device shown in fig. 4.
Reference numerals:
1-a base;
2-a first connection plate;
21-a displacement sensor;
22-a first linear servo motor;
23-a first output shaft;
24-a first force sensor;
25-connecting a tool;
251-a through hole;
26-a strip-shaped groove;
3-a support plate;
31-a fixed pulley group;
32-a via hole;
4-an artificial ankle component;
41-a second force sensor;
42-a first mounting plate;
421-arc hole;
43-supporting shaft;
44-a second mounting plate;
441-a first wire rope;
45-mounting seats;
46-a second linear servo motor;
47-a spring;
5-shoe mold.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a method for evaluating a poking manipulation, including:
step 100: acquiring the poking manipulation operation to be evaluated, which is acquired by the simulation operation device; the simulation operation device comprises at least three displacement sensors and at least three first force sensors for collecting manipulation of the hand to be assessed and one second force sensor for collecting manipulation of the poking manipulation, and the manipulation of the poking manipulation to be assessed comprises at least three displacement-time curve data to be assessed and at least three first force-time curve data to be assessed for representing manipulation of the hand to be assessed and one second force-time curve data to be assessed for representing manipulation of the poking manipulation to be assessed;
step 102: acquiring preset target poking manipulation operation; wherein the target church maneuver includes at least three target displacement-time curve data and at least three target first force-time curve data for characterizing the target church maneuver and one target second force-time curve data for characterizing the target church maneuver;
step 104: and evaluating the shaking and poking manipulation operation to be evaluated by utilizing the target shaking and poking manipulation operation so as to obtain the evaluation results of the shaking and poking manipulation operation to be evaluated and the poking manipulation operation to be evaluated.
In the embodiment of the invention, the operation of the shaking and poking method to be evaluated can be obtained by the aid of the simulation operation device, and the operation of the shaking and poking method to be evaluated is evaluated by the aid of the preset target shaking and poking method operation, so that evaluation results of the shaking and poking method operation to be evaluated and the poking method operation to be evaluated are obtained. Therefore, the scheme can realize the automatic evaluation of the poking manipulation operation, thereby ensuring the consistency of the poking manipulation quality.
The manner in which the various steps shown in fig. 1 are performed is described below.
With respect to step 100:
the following describes a scheme of collecting the operations of the poking manipulation to be evaluated by the simulation operation device with reference to fig. 4 and 5.
As shown in fig. 4 and 5, in one embodiment of the present invention, the simulated operation device includes a base 1, at least three first connection plates 2 fixed to the base 1, a support plate 3 fixed to the at least three first connection plates 2, an artificial ankle component 4 connected to the support plate 3, and a shoe mold 5 connected to the artificial ankle component 4, one side of each first connection plate 2 is provided with a displacement sensor 21, the other side is provided with a first linear servo motor 22, each first linear servo motor 22 is provided with a first output shaft 23 that is retractable in a vertical direction, a distal end of the first output shaft 23 is connected to one end of a first force sensor 24, the artificial ankle component 4 is connected to the other ends of the displacement sensor 21 and the first force sensor 24, respectively, and the artificial ankle component 4 is provided with a second force sensor 41;
the poking manipulation operations to be evaluated are collected in the following way:
the ankle simulating component 4 is driven to reciprocate along the circumference of the ankle simulating component 4 by holding the shoe mold 5 by hand to generate the hand cranking operation to be evaluated; when reciprocating along the circumferential direction of the ankle-imitating component 4, displacement-time curve data to be evaluated and first force-time curve data to be evaluated are generated based on the displacement sensor 21 and the first force sensor 24, respectively;
the ankle simulating assembly 4 is driven to do telescopic motion along the axial direction of the ankle simulating assembly 4 by holding the shoe mold 5 by hand, so as to generate poking manipulation operation to be evaluated; wherein the second force-time curve data to be evaluated is generated based on the second force sensor 41 during the telescopic movement along the axial direction of the ankle-imitating component 4.
In this embodiment, the at least three first linear servo motors 22 may cause the ankle imitation component 4 to generate a circumferential reciprocating motion, that is, when the shoe mold 5 is held by hand to drive the ankle imitation component 4 to perform the circumferential reciprocating motion along the ankle imitation component 4, the force detected by each first force sensor 24 is changed from equal to unequal, and at this time, a control chip (not shown in the figure) of the first linear servo motor 22 may drive the first output shaft 23 to perform force tracking control (or referred to as impedance control based on location, which is not described herein), so as to achieve that the value detected by the first force sensor 24 is always a real value of the current state.
For example, in the initial state, the value detected by the three first force sensors 24 is 10N, and then the shoe mold 5 is held to drive the ankle simulating assembly 4 to perform the "rolling" operation (i.e. to perform the reciprocating motion along the circumference of the ankle simulating assembly 4), the values detected by the three first force sensors 24 change in real time, and the values detected by the three first force sensors 24 are not completely equal as long as the initial state is not recovered, that is, the value detected by one or two first force sensors 24 is greater than 10N all the time, and the value detected by two or one first force sensors 24 is less than 10N all the time.
It should be noted that the first linear servo motor 22 can be regarded as an ideal spring model, i.e., F = kx, where F is an elastic force (i.e., a real value of the current state in the present embodiment), k is an elastic coefficient, and x is a deformation amount (i.e., a position of the first output shaft 23 in the present embodiment).
Therefore, the first linear servo motor 22 can be replaced by a spring, but the elastic coefficient of a group of springs is not changed, if the elastic coefficient of an ideal spring model needs to be changed (namely, the K value of the first linear servo motor 22 is adjusted by a control chip), a new spring needs to be changed, and the elastic coefficient of a common spring changes along with the increase of the using time, so that the operation of the shaking and poking method is not beneficial to accurately collecting. Conversely, the use of at least three first linear servomotors 22 allows accurate acquisition of the handwheel operation.
With continued reference to fig. 5, in one embodiment of the present invention, the simulated ankle component 4 includes a first mounting plate 42 fixed to the support plate 3, a support shaft 43 connected to the first mounting plate 42, a second mounting plate 44 connected to the support shaft 43, and a mounting seat 45 connected to the second mounting plate 44, a first cable 441 is connected between the second mounting plate 44 and the first force sensor 24, the second mounting plate 44 is disposed above the first mounting plate 42, the first cable 441 is disposed outside the support shaft 43, the support shaft 43 is compressible and bendable, the second force sensor 41 is disposed axially on the support shaft 43, and the mounting seat 45 is used for mounting the shoe mold 5.
In the present embodiment, by connecting the first wire rope 441 between the second mounting plate 44 and the first force sensor 24 and making the support shaft 43 compressible and bendable, it is possible to achieve the acquisition of the poking manipulation operation.
Referring to fig. 5, in an embodiment of the present invention, the supporting shaft 43 is a hollow structure, the ankle-imitating component 4 further includes a second linear servo motor 46 disposed on the supporting plate 3, the second linear servo motor 46 is provided with a second output shaft that is retractable along the inside of the supporting shaft 43, the end of the second output shaft is connected to one end of the second force sensor 41, a second wire rope is connected between the other end of the second force sensor 41 and the mounting seat 45, and the second wire rope is disposed inside the supporting shaft 43.
In the present embodiment, as described above, the second linear servo motor 46 can also be regarded as an ideal spring model, so that the value detected by the second force sensor 41 can be always the real value of the current state, and the poking manipulation operation can be accurately collected.
With reference to fig. 4 and 5, in an embodiment of the present invention, the first mounting plate 42 is provided with an arc-shaped hole 421, the first wire rope 441 vertically penetrates through the arc-shaped hole 421, the supporting plate 3 is provided with a fixed pulley block 31, the supporting plate 3 is provided with a through hole 32, and the first wire rope 441 passing through the arc-shaped hole 421 is reversed by the fixed pulley block 31, so that the first wire rope 441 can vertically penetrate through the through hole 32 and is vertically connected to the first force sensor 24 after passing through the through hole 32.
In this embodiment, by providing the arc-shaped hole 421 on the first mounting plate 42, it can be ensured that the first wire rope 441 can still vertically penetrate through the arc-shaped hole 421 when the manual shaking operation is performed, i.e., the perpendicularity of the first wire rope 441 is ensured, so that the accuracy of displacement and force acquisition (i.e., the accuracy of manual shaking operation acquisition) can be ensured; in order to ensure the perpendicularity of the first wire rope 441, the inventor inventively considers that the fixed pulley block 31 (i.e. two fixed pulleys in fig. 5) is provided, so that the first wire rope 441 passing through the arc-shaped hole 421 is reversed by the fixed pulley block 31, so that the first wire rope 441 can vertically pass through the through hole 32 and be vertically connected with the first force sensor 24 after passing through the through hole 32, thereby ensuring the accuracy of displacement and force collection.
Referring to fig. 5, in an embodiment of the present invention, a spring 47 is disposed between the first mounting plate 42 and the second mounting plate 44, and the spring 47 is sleeved between the supporting shaft 43 and the first cable 441.
In this embodiment, through setting up spring 47, can provide the holding power of poking better to can be better carry out bionically to human ankle.
With reference to fig. 4, in an embodiment of the present invention, each first connecting plate 2 is provided with a strip-shaped groove 26 extending along a vertical direction, the first force sensor 24 and the displacement sensor 21 are connected to a connecting tool 25, the connecting tool 25 can move up and down along the strip-shaped groove 26, and a through hole 251 is formed in a portion of the connecting tool 25 above the first force sensor 24, so that the first cable 441 is connected to the first force sensor 24 after passing through the through hole 251.
In this embodiment, by providing the strip-shaped groove 26 on the first connecting plate 2, the connecting tool 25 can move up and down along with the shaking operation (when poking operation is performed, basically, only the deformation of the ankle-like component 4 can be considered, specifically, the position of the second output shaft changes slightly, and the change of up and down movement of the first connecting plate 2 cannot be influenced), so that the first force sensor 24 and the displacement sensor 21 can collect real-time data, that is, the shaking operation can be better collected.
With respect to step 102:
it is to be understood that the target poking manipulation is also acquired by the above-described analog manipulation device, except that the target poking manipulation is generated by an experienced physician operating the analog manipulation device, and the poking manipulation to be evaluated is generated by a beginner operating the analog manipulation device. Therefore, the detailed acquisition process of the target poking manipulation is not described herein.
With respect to step 104:
in an embodiment of the present invention, step 104 may specifically include:
step A, determining the contact ratio of a first curve based on displacement-time curve data to be evaluated and target displacement-time curve data;
b, determining the coincidence degree of a second curve based on the first force-time curve data to be evaluated and the target first force-time curve data;
step C, determining the contact ratio of a third curve based on the data of the second force-time curve to be evaluated and the data of the target second force-time curve;
and D, evaluating the operation of the rolling and poking stamp method to be evaluated based on the first curve contact ratio, the second curve contact ratio and the third curve contact ratio.
In this embodiment, through confirming first curve contact ratio, second curve contact ratio and third curve contact ratio to treat aassessment and shake poking a poking gimmick operation and evaluate, so can be more high-efficient convenient.
In an embodiment of the present invention, step a may specifically include:
for each displacement sensor, the following operations are performed: determining the displacement difference of the displacement-time curve data to be evaluated and the target displacement-time curve data corresponding to the current displacement sensor at each sampling point; calculating a first ratio of the displacement difference of each sampling point to the displacement of the target displacement-time curve data at the current sampling point; recording the sampling point with the first ratio smaller than the first preset value as a first target sampling point; taking the ratio of the number of the first target sampling points to the number of all the sampling points as the coincidence degree of a first curve corresponding to the current displacement sensor;
and taking the average value of the coincidence degrees of the first curves corresponding to all the displacement sensors as the final coincidence degree of the first curves.
In this embodiment, a first ratio of the displacement difference of each sampling point to the displacement of the target displacement-time curve data at the current sampling point is calculated, the sampling points with the first ratio smaller than a first preset value are marked as first target sampling points, the ratio of the number of the first target sampling points to the number of all the sampling points is used as a first curve overlap ratio corresponding to the current displacement sensor, and finally, an average value of the first curve overlap ratios respectively corresponding to all the displacement sensors is used as a final first curve overlap ratio, so that the finally obtained first curve overlap ratio can be ensured to be more accurate.
In an embodiment of the present invention, step B may specifically include:
for each first force sensor, performing the following operations: determining the force difference of the first force-time curve data to be evaluated and the target first force-time curve data corresponding to the current first force sensor at each sampling point; calculating a second ratio of the force difference of each sampling point to the force of the target first force-time curve data at the current sampling point; recording the sampling point with the second ratio smaller than a second preset value as a second target sampling point; taking the ratio of the number of the second target sampling points to the number of all the sampling points as the coincidence degree of a second curve corresponding to the current first force sensor;
and taking the average value of the coincidence degrees of the second curves corresponding to all the first force sensors respectively as the final coincidence degree of the second curves.
In this embodiment, a second ratio of the force difference of each sampling point to the force of the target first force-time curve data at the current sampling point is calculated, the sampling points with the second ratio smaller than a second preset value are marked as second target sampling points, the ratio of the number of the second target sampling points to the number of all the sampling points is used as a second curve overlap ratio corresponding to the current first force sensor, and finally, an average value of the second curve overlap ratios respectively corresponding to all the first force sensors is used as a final second curve overlap ratio, so that the finally obtained second curve overlap ratio can be ensured to be more accurate.
In an embodiment of the present invention, step C may specifically include:
determining the force difference of the second force-time curve data to be evaluated and the target second force-time curve data at each sampling point;
calculating a third ratio of the force difference of each sampling point to the force of the target second force-time curve data at the current sampling point;
recording the sampling point with the third ratio smaller than the third preset value as a third target sampling point;
and taking the ratio of the number of the third target sampling points to the number of all the sampling points as the coincidence degree of the third curve.
In this embodiment, the third ratio of the force difference of each sampling point to the force of the target second force-time curve data at the current sampling point is calculated, the sampling point with the third ratio smaller than the third preset value is taken as a third target sampling point, and the ratio of the number of the third target sampling points to the number of all the sampling points is taken as the third curve overlap ratio, so that the obtained third curve overlap ratio can be ensured to be more accurate.
Of course, the similarity of each curve may also be determined, and the similarity formula may use an euclidean distance, which is not limited herein.
In an embodiment of the present invention, step D may specifically include:
when the contact ratio of the first curve is greater than a first preset contact ratio and the contact ratio of the second curve is greater than a second preset contact ratio, the operation of the shaking method to be evaluated is qualified; otherwise, the shaking method operation to be evaluated is unqualified;
when the coincidence degree of the third curve is greater than a third preset coincidence degree, the poking method to be evaluated is qualified; otherwise, the poking method to be evaluated is unqualified.
In this embodiment, by comparing the obtained first curve coincidence degree, the second curve coincidence degree and the third curve coincidence degree with the preset coincidence degree, it can be determined whether the operation of the shaking and poking manipulation to be evaluated is qualified.
It should be noted that, in the embodiment of the present invention, the first preset value, the second preset value, the third preset value, the first preset contact ratio, the second preset contact ratio, and the third preset contact ratio are not limited.
As shown in fig. 2 and 3, an embodiment of the present invention provides an evaluation apparatus for a poking manipulation operation. The device embodiments may be implemented by software, or by hardware, or by a combination of hardware and software. In terms of hardware, as shown in fig. 2, a hardware architecture diagram of an electronic device where an evaluation apparatus for performing a poking method operation according to an embodiment of the present invention is located is shown, and besides the processor, the memory, the network interface, and the nonvolatile memory shown in fig. 2, the electronic device where the apparatus is located may generally include other hardware, such as a forwarding chip responsible for processing a message, and the like. Taking a software implementation as an example, as shown in fig. 3, as a logical device, a CPU of the electronic device reads a corresponding computer program in the non-volatile memory into the memory for running.
As shown in fig. 3, the present embodiment provides an apparatus for evaluating a poking manipulation operation, including:
the first obtaining module 300 is used for obtaining the poking manipulation operation to be evaluated, which is collected by the simulation operation device; wherein the simulation operation device comprises at least three displacement sensors and at least three first force sensors for collecting manipulation of a manipulation of shaking hands and one second force sensor for collecting manipulation of a manipulation of poking hands, the to-be-evaluated poking manipulation comprises at least three to-be-evaluated displacement-time curve data and at least three to-be-evaluated first force-time curve data used for representing the to-be-evaluated poking manipulation and one to-be-evaluated second force-time curve data used for representing the to-be-evaluated poking manipulation;
a second obtaining module 302, configured to obtain a preset target poking manipulation; wherein the target church maneuver includes at least three target displacement-time curve data and at least three target first force-time curve data for characterizing the target church maneuver and one target second force-time curve data for characterizing the target church maneuver;
the evaluation module 304 is configured to evaluate the to-be-evaluated poking manipulation by using the target poking manipulation, so as to obtain evaluation results of the to-be-evaluated poking manipulation and the to-be-evaluated poking manipulation.
In an embodiment of the present invention, the first obtaining module 300 may be configured to perform step 100 in the above-described method embodiment, the second obtaining module 302 may be configured to perform step 102 in the above-described method embodiment, and the evaluating module 304 may be configured to perform step 104 in the above-described method embodiment.
In one embodiment of the invention, the simulated operation device comprises a base, at least three first connecting plates fixed on the base, a supporting plate fixed on at least three first connecting plates, an ankle simulating component connected with the supporting plate and a shoe mold connected with the ankle simulating component, wherein one side of each first connecting plate is provided with one displacement sensor, the other side of each first connecting plate is provided with a first linear servo motor, each first linear servo motor is provided with a first output shaft which can stretch along the vertical direction, the tail end of the first output shaft is connected with one end of the first force sensor, the ankle simulating component is respectively connected with the displacement sensor and the other end of the first force sensor, and the ankle simulating component is provided with the second force sensor;
the poking manipulation operation to be evaluated is acquired in the following way:
the shoe mold is held by hand to drive the ankle simulating component to do reciprocating motion along the circumferential direction of the ankle simulating component so as to generate the hand cranking operation to be evaluated; when the ankle simulating component does reciprocating motion along the circumferential direction, displacement-time curve data to be evaluated and first force-time curve data to be evaluated are generated based on the displacement sensor and the first force sensor respectively;
the shoe mold is held by hand to drive the ankle simulating component to do telescopic motion along the axial direction of the ankle simulating component so as to generate poking manipulation operation to be evaluated; and generating the second force-time curve data to be evaluated based on the second force sensor when the ankle simulating component performs the axial telescopic motion.
In an embodiment of the present invention, the evaluation module is configured to perform the following operations:
determining a first curve contact ratio based on the displacement-time curve data to be evaluated and the target displacement-time curve data;
determining a second curve overlap ratio based on the first force-time curve data to be evaluated and the target first force-time curve data;
determining a third curve overlap ratio based on the second force-time curve data to be evaluated and the target second force-time curve data;
and evaluating the shaking and poking manipulation operation to be evaluated based on the first curve contact ratio, the second curve contact ratio and the third curve contact ratio.
In an embodiment of the present invention, the evaluation module, when performing the determining of the first curve overlap ratio based on the to-be-evaluated displacement-time curve data and the target displacement-time curve data, is configured to perform the following operations:
for each of the displacement sensors, performing the following operations: determining the displacement difference of the displacement-time curve data to be evaluated and the target displacement-time curve data corresponding to the current displacement sensor at each sampling point; calculating a first ratio of the displacement difference of each sampling point to the displacement of the target displacement-time curve data at the current sampling point; recording the sampling point with the first ratio smaller than the first preset value as a first target sampling point; taking the ratio of the number of the first target sampling points to the number of all the sampling points as the coincidence degree of a first curve corresponding to the current displacement sensor;
and taking the average value of the coincidence degrees of the first curves respectively corresponding to all the displacement sensors as the final coincidence degree of the first curves.
In an embodiment of the invention, the evaluation module, when performing the determining of the second curve overlap ratio based on the first force-time curve data to be evaluated and the target first force-time curve data, is configured to perform the following operations:
for each of the first force sensors, performing the following: determining the force difference of the first force-time curve data to be evaluated and the target first force-time curve data corresponding to the current first force sensor at each sampling point; calculating a second ratio of the force difference of each sampling point to the force of the target first force-time curve data at the current sampling point; recording the sampling point with the second ratio smaller than the second preset value as a second target sampling point; taking the ratio of the number of the second target sampling points to the number of all the sampling points as the coincidence degree of a second curve corresponding to the current first force sensor;
and taking the average value of the second curve coincidence degrees corresponding to all the first force sensors as the final second curve coincidence degree.
In an embodiment of the invention, the evaluation module, when performing the determining of the third curve overlap ratio based on the second force-time curve data to be evaluated and the target second force-time curve data, is configured to perform the following operations:
determining the force difference of the second force-time curve data to be evaluated and the target second force-time curve data at each sampling point;
calculating a third ratio of the force difference of each sampling point to the force of the target second force-time curve data at the current sampling point;
recording the sampling point with the third ratio smaller than the third preset value as a third target sampling point;
and taking the ratio of the number of the third target sampling points to the number of all the sampling points as the coincidence degree of a third curve.
In an embodiment of the invention, the evaluation module is configured to perform the following operations when performing the evaluation based on the first curve overlap ratio, the second curve overlap ratio and the third curve overlap ratio:
when the coincidence degree of the first curve is greater than a first preset coincidence degree and the coincidence degree of the second curve is greater than a second preset coincidence degree, the operation of the shaking method to be evaluated is qualified; otherwise, the shaking method operation to be evaluated is unqualified;
when the coincidence degree of the third curve is greater than a third preset coincidence degree, the poking method to be evaluated is qualified in operation; otherwise, the poking method to be evaluated is unqualified.
It is to be understood that the configuration illustrated in the embodiment of the present invention does not specifically limit the evaluation device that operates a poking technique. In other embodiments of the invention, a thumbtack operated evaluation device may include more or fewer components than shown, or some components may be combined, some components may be split, or a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.
Because the content of information interaction, execution process, and the like among the modules in the device is based on the same concept as the method embodiment of the present invention, specific content can be referred to the description in the method embodiment of the present invention, and is not described herein again.
The embodiment of the invention also provides electronic equipment which comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the evaluation method for the poking manipulation operation in any embodiment of the invention is realized.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, causes the processor to execute an evaluation method of a churning manipulation operation in any embodiment of the present invention.
Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the above-described embodiments are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium.
In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.
Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.
Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.
Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then causes a CPU or the like mounted on the expansion board or the expansion module to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the above-described embodiments.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for evaluating a poking manipulation, comprising:
acquiring the poking manipulation operation to be evaluated, which is acquired by the simulation operation device; wherein the simulation operation device comprises at least three displacement sensors and at least three first force sensors for collecting manipulation of a manipulation of shaking hands and one second force sensor for collecting manipulation of a manipulation of poking hands, the to-be-evaluated poking manipulation comprises at least three to-be-evaluated displacement-time curve data and at least three to-be-evaluated first force-time curve data used for representing the to-be-evaluated poking manipulation and one to-be-evaluated second force-time curve data used for representing the to-be-evaluated poking manipulation;
acquiring preset target poking manipulation operation; wherein the target poking manipulation operation comprises at least three target displacement-time curve data and at least three target first force-time curve data for characterizing the target poking manipulation operation and one target second force-time curve data for characterizing the target poking manipulation operation;
and evaluating the shaking and poking manipulation operation to be evaluated by utilizing the target shaking and poking manipulation operation to obtain the evaluation results of the shaking and poking manipulation operation to be evaluated and the poking manipulation operation to be evaluated.
2. The method according to claim 1, wherein the simulated operation device comprises a base, at least three first connection plates fixed to the base, a support plate fixed to at least three first connection plates, an ankle-imitating component connected to the support plate, and a shoe mold connected to the ankle-imitating component, wherein one side of each of the first connection plates is provided with one of the displacement sensors, the other side of each of the first connection plates is provided with a first linear servo motor, each of the first linear servo motors is provided with a first output shaft which is vertically retractable, the end of the first output shaft is connected to one end of the first force sensor, the ankle-imitating component is connected to the displacement sensor and the other end of the first force sensor, respectively, and the ankle-imitating component is provided with the second force sensor;
the poking manipulation operation to be evaluated is acquired in the following way:
driving the ankle simulating component to reciprocate along the circumference of the ankle simulating component by holding the shoe mold so as to generate the hand cranking operation to be evaluated; when the ankle simulating component does reciprocating motion along the circumferential direction, displacement-time curve data to be evaluated and first force-time curve data to be evaluated are generated based on the displacement sensor and the first force sensor respectively;
the shoe mold is held by hand to drive the ankle simulating assembly to do telescopic motion along the axial direction of the ankle simulating assembly so as to generate poking manipulation operation to be evaluated; and generating second force-time curve data to be evaluated based on the second force sensor when the ankle simulating assembly does stretching movement along the axial direction.
3. The method of claim 1, wherein the evaluating the to-be-evaluated thumbstick manipulation operation with the target thumbstick manipulation operation comprises:
determining a first curve contact ratio based on the displacement-time curve data to be evaluated and the target displacement-time curve data;
determining a second curve overlap ratio based on the first force-time curve data to be evaluated and the target first force-time curve data;
determining a third curve overlap ratio based on the second force-time curve data to be evaluated and the target second force-time curve data;
and evaluating the shaking and poking manipulation operation to be evaluated based on the first curve contact ratio, the second curve contact ratio and the third curve contact ratio.
4. The method of claim 3, wherein determining a first curve overlap ratio based on the displacement-time curve data to be evaluated and the target displacement-time curve data comprises:
for each of the displacement sensors, performing the following operations: determining the displacement difference of the displacement-time curve data to be evaluated and the target displacement-time curve data corresponding to the current displacement sensor at each sampling point; calculating a first ratio of the displacement difference of each sampling point to the displacement of the target displacement-time curve data at the current sampling point; recording the sampling point with the first ratio smaller than the first preset value as a first target sampling point; taking the ratio of the number of the first target sampling points to the number of all the sampling points as the coincidence degree of a first curve corresponding to the current displacement sensor;
and taking the average value of the coincidence degrees of the first curves respectively corresponding to all the displacement sensors as the final coincidence degree of the first curves.
5. The method of claim 3, wherein determining a second curve overlap ratio based on the first force-time curve data to be evaluated and the target first force-time curve data comprises:
for each of the first force sensors, performing the following: determining the force difference of the first force-time curve data to be evaluated and the target first force-time curve data corresponding to the current first force sensor at each sampling point; calculating a second ratio of the force difference of each sampling point to the force of the target first force-time curve data at the current sampling point; recording the sampling point with the second ratio smaller than the second preset value as a second target sampling point; taking the ratio of the number of the second target sampling points to the number of all the sampling points as the coincidence degree of a second curve corresponding to the current first force sensor;
and taking the average value of the second curve coincidence degrees corresponding to all the first force sensors as the final second curve coincidence degree.
6. The method of claim 3, wherein determining a third curve overlap ratio based on the second force-time curve data to be evaluated and the target second force-time curve data comprises:
determining the force difference of the second force-time curve data to be evaluated and the target second force-time curve data at each sampling point;
calculating a third ratio of the force difference of each sampling point to the force of the target second force-time curve data at the current sampling point;
recording the sampling point with the third ratio smaller than the third preset value as a third target sampling point;
and taking the ratio of the number of the third target sampling points to the number of all the sampling points as the coincidence degree of a third curve.
7. The method according to any one of claims 3-6, wherein the evaluating the poke manipulation operation to be evaluated based on the first curve coincidence, the second curve coincidence, and the third curve coincidence comprises:
when the contact ratio of the first curve is larger than a first preset contact ratio and the contact ratio of the second curve is larger than a second preset contact ratio, the operation of the shaking technique to be evaluated is qualified; otherwise, the shaking method operation to be evaluated is unqualified;
when the coincidence degree of the third curve is greater than a third preset coincidence degree, the poking method to be evaluated is qualified in operation; otherwise, the poking method to be evaluated is unqualified.
8. An apparatus for evaluating a poking manipulation, comprising:
the first acquisition module is used for acquiring the poking manipulation operation to be evaluated, which is acquired by the simulation operation device; wherein the simulation operation device comprises at least three displacement sensors and at least three first force sensors for collecting manipulation of a manipulation of shaking hands and one second force sensor for collecting manipulation of a manipulation of poking hands, the to-be-evaluated poking manipulation comprises at least three to-be-evaluated displacement-time curve data and at least three to-be-evaluated first force-time curve data used for representing the to-be-evaluated poking manipulation and one to-be-evaluated second force-time curve data used for representing the to-be-evaluated poking manipulation;
the second acquisition module is used for acquiring preset target poking manipulation operations; wherein the target church maneuver includes at least three target displacement-time curve data and at least three target first force-time curve data for characterizing the target church maneuver and one target second force-time curve data for characterizing the target church maneuver;
and the evaluation module is used for evaluating the shaking and poking manipulation operation to be evaluated by utilizing the target shaking and poking manipulation operation so as to obtain the evaluation results of the shaking and poking manipulation operation to be evaluated and the target shaking and poking manipulation operation to be evaluated.
9. An electronic device, comprising a memory having a computer program stored therein and a processor that, when executing the computer program, implements the method of any of claims 1-7.
10. A computer-readable storage medium, having stored thereon a computer program which, when executed in a computer, causes the computer to perform the method of any one of claims 1-7.
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