CN115530803A

CN115530803A - Stepping test system

Info

Publication number: CN115530803A
Application number: CN202110735585.1A
Authority: CN
Inventors: 冯辉; 张洪瑜; 梁烨; 朱梦林; 冯芳; 杨云霞; 张逗; 李晓阳
Original assignee: Beijing Youxin Technology Co ltd; Central South University
Current assignee: Beijing Youxin Technology Co ltd; Central South University
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2022-12-30

Abstract

The embodiment of the application discloses test system marks time includes: a height detection component for detecting whether the knee of the subject reaches a standard height; a wearable test assembly comprising: inertial sensors bound at least two of the subject's thigh, calf, and torso; the processor is connected with the height detection assembly and at least two inertial sensors; the device is used for determining the standard reaching times of the stepping actions of the subject according to the detection result of the height detection assembly and determining the total times of the stepping actions of the subject according to the data of at least two inertial sensors. The exercise capacity of the subject can be more comprehensively and objectively reflected by combining the total number of steps on the basis of determining the standard-reaching times of the steps.

Description

Stepping test system

Technical Field

The invention relates to the field of rehabilitation assessment, in particular to a stepping test system.

Background

The step test is to count the times that the single knee of the subject can reach the designated height within a certain time, during the test, the subject can adjust the rhythm according to the self condition, and can stop in the midway, continue the test after the rest, but does not stop timing during the test. This requires the tester to observe the height of the subject's steps and record the number of times the subject steps, thereby reflecting the subject's cardiopulmonary function, and then assess the subject's rehabilitation status, providing a basis for rehabilitation therapy.

In the related art, the stepping test system can only count the stepping times of the knee reaching the designated height, but cannot count and determine the stepping times and height which do not reach the designated height, which is not beneficial to completely and objectively reflecting the mobility of the subject.

Disclosure of Invention

In view of this, the embodiment of the invention provides a stepping test system, which aims to completely count the times of all stepping actions of a subject and improve the objectivity of stepping test results.

The technical scheme of the invention is realized as follows:

in a first aspect, an embodiment of the present invention provides a stepping test system, including: a height detection component for detecting whether the knee of the subject reaches a standard height;

dress test assembly, dress test assembly includes: inertial sensors bound at least two of the subject's thigh, calf, and torso;

the processor is connected with the height detection assembly and the at least two inertial sensors; the system is used for determining the standard reaching times of the stepping actions of the subject according to the detection result of the height detection component and determining the total times of the stepping actions of the subject according to the data of the at least two inertial sensors.

Further, the processor includes: a first processor and a second processor integrated on the wearable test assembly, the second processor being connected to the at least two inertial sensors for determining a knee flexion angle and/or a hip flexion angle of the subject from data of the at least two inertial sensors; the first processor is wirelessly connected with the second processor for determining a total number of striding motions of the subject based on the knee flexion angle and/or the hip flexion angle; the first processor is connected with the height detection assembly and used for determining the standard reaching times of the stepping actions of the subject according to the detection result of the height detection assembly.

Further, the system further comprises:

the base is fixedly arranged on the ground and used for mounting the height detection assembly;

the height detection assembly comprises: the first laser correlation sensor assembly is arranged on the supporting structure; the supporting structure is movably connected with the base so as to adjust the height of the first laser correlation sensor component; the first laser correlation sensor assembly includes: a first transmitter and a first receiver disposed at the same height; the processor determines whether the subject's knee has reached the standard height based on the laser transception of the first laser correlation sensor assembly.

Further, the base includes: a standing area; the base is provided with a first sliding chute and a second sliding chute; the standing area is used for the subject to stand for stepping test; the first sliding groove and the second sliding groove are arranged on two sides of the standing area in parallel;

the support structure includes: the first mechanical arm, the second mechanical arm and the first straight rod are arranged on the first mechanical arm;

the first end of the first mechanical arm is connected in the first sliding chute in a sliding manner, and the first mechanical arm is used for fixedly mounting the first emitter;

the first end of the second mechanical arm is connected in the second sliding groove in a sliding mode, and the second mechanical arm is used for fixedly mounting the first receiver; the second mechanical arm and the first mechanical arm are arranged on two sides of the standing area in parallel relatively, and the first end of the second mechanical arm is connected with the first end of the first mechanical arm through the first straight rod so as to keep the second mechanical arm and the first mechanical arm to be adjusted synchronously.

Further, a third chute is formed in the first mechanical arm; a fourth chute is formed in the second mechanical arm;

the support structure further comprises: the first supporting strip, the second supporting strip and the second straight rod are arranged on the first supporting strip;

the first end of the first supporting strip is connected in the third sliding groove in a sliding mode; the second end of the first supporting bar is rotatably connected to the base and is used for supporting and adjusting the test posture of the first mechanical arm when the first mechanical arm moves relative to the first sliding chute, so that the first emitter reaches the standard height;

the first end of the second supporting bar is connected in the fourth sliding groove in a sliding manner; the second end of the second supporting bar is rotatably connected to the base and is used for supporting and adjusting the test posture of the second mechanical arm when the second mechanical arm moves relative to the second chute; the second end of the second supporting bar is connected with the second end of the first supporting bar through the second straight bar so as to keep the second supporting bar and the first supporting bar to be synchronously adjusted.

Further, the first straight rod and/or the second straight rod are/is arranged inside the base.

Further, the height detection assembly further comprises:

a plurality of second laser alignment sensor assemblies positioned below the first laser alignment sensor assembly, each of the second laser alignment sensor assemblies comprising: the second transmitter and the second receiver are arranged at the same height;

the plurality of second emitters are arranged on the first mechanical arm at preset intervals along the length direction of the first mechanical arm;

the plurality of second receivers are arranged on the second mechanical arm along the length direction of the second mechanical arm at the preset intervals;

the second transmitter cooperates with the second receiver for determining a step height when the knee does not reach the standard height during a stepping motion of the subject.

Further, the first transmitter and the first receiver are at the standard height, and the first mechanical arm and the second mechanical arm both pass an initial height at which a knee of the subject stands on both feet.

Further, the processor determines the number of standard times of the stepping action of the subject according to the detection result of the height detection component, and comprises:

the processor determines a number of qualifying steps by the subject based on a number of times laser transmissions between the first receiver and the first transmitter are blocked.

Further, the first processor determines a total number of stepping motions of the subject based on the knee flexion angle or the hip flexion angle, including:

the first processor determines that the total number of stepping actions of the subject is increased by one according to the fact that the knee bending angle or the hip bending angle changes from the maximum value to the minimum value in the current stepping action and then changes from the minimum value to the maximum value;

the first processor determines the current total number of stepping actions of the subject after the current stepping test is finished.

Further, the processor is further configured to:

if the knee bending angle and/or the hip bending angle reach the minimum value in the current stepping action and the laser transmission between the first transmitter and the first receiver is not blocked, acquiring height information corresponding to a second receiver with the blocked laser transmission in the plurality of second receivers;

and determining the corresponding stepping height when the knee of the subject does not reach the standard height according to the height information.

The stepping test system provided by the embodiment of the invention comprises a height detection assembly, a height detection assembly and a control assembly, wherein the height detection assembly is used for detecting whether the knee of a subject reaches a standard height; a wearable test assembly comprising: inertial sensors bound at least two of the thigh, calf and torso of the subject; the processor is connected with the height detection assembly and at least two inertial sensors; the system is used for determining the standard reaching times of the stepping actions of the subject according to the detection result of the height detection component and determining the total times of the stepping actions of the subject according to the data of at least two inertial sensors. On the basis of obtaining the standard-reaching times of the stepping actions, the total times of the stepping actions of the testee is determined by wearing the testing component, so that the exercise capacity of the testee can be reflected comprehensively and objectively, and the situation that the accurate analysis on the physical functions of the testee cannot be carried out when the standard-reaching times are less is avoided.

Drawings

FIG. 1 is a schematic structural diagram of a step testing system according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a step testing system according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a step testing system according to an embodiment of the present invention;

FIG. 4 is a block diagram of a processor of the step testing system according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a step testing system according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a step testing system according to an embodiment of the present invention;

FIG. 7 is a flowchart illustrating an exemplary step testing system according to the present invention.

Description of the reference numerals:

1. a height detection assembly; 2. wearing a test component; 3. a processor; 4. a base;

11. a support structure; 21. an inertial sensor;

31. a first processor; 32. a second processor; 41. a standing area;

42. a first chute; 43. a second chute;

111. a first robot arm; 112. a second robot arm; 113. a first straight bar;

114. a first support bar; 115. a second supporting strip; 116. a second straight rod;

121. a first transmitter; 122. a first receiver;

211. a first inertial sensor; 212. a second inertial sensor; 213. a third inertial sensor;

1111. a third chute; 1121. and a fourth chute.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings, the described embodiments should not be construed as limiting the present invention, and all other embodiments that can be obtained by a person skilled in the art without making creative efforts fall within the protection scope of the present invention.

In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.

In the following description, references to the terms "first \ second \ third" are only to distinguish similar objects and do not denote a particular order or importance, but rather "first \ second \ third" may, where permissible, be interchanged in a particular order or sequence so that embodiments of the invention described herein may be practiced in other than the order shown or described herein.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing embodiments of the invention only and is not intended to be limiting of the invention.

An embodiment of the present invention provides a stepping test system, as shown in fig. 1, the stepping test system includes:

a height detection assembly 1 for detecting whether the knee of the subject reaches a standard height;

a wearable test assembly 2 comprising inertial sensors 21 bound at least two of the thigh, calf and torso of the subject;

the processor 3 is connected with the height detection assembly 1 and at least two inertial sensors 21; for determining the number of standard steps of the subject according to the detection result of the height detection assembly 1, and determining the total number of steps of the subject according to the data of at least two inertial sensors 21.

In an embodiment of the present invention, the stepping test may be a statistical test of the number of times that a unilateral knee reaches a standard height in a stepping motion of a subject for a certain period of time, for example, the period of time may be two minutes. The standard height may be the height which the knee needs to reach when stepping and lifting the leg determined according to the physical function test standard of the subject, for example, the standard height may be the horizontal height of the middle point of the connecting line between the anterior superior iliac spine and the patella of the subject.

In one embodiment, the height detection assembly 1 may be connected to the processor 3 through a signal line, and the wearable test assembly 2 may be connected to the processor 3 through a wireless connection manner such as bluetooth, or may be connected to the processor 3 through a signal line.

In one embodiment, as shown in fig. 2, the inertial sensors 21 include a first inertial sensor 211 that is bound to the thigh of the subject and a second inertial sensor 212 that is bound to the calf of the subject. The wearing test component 2 may be a component bound to the lower limb of the subject, and may measure the knee bending angle of the subject, for example, the wearing test component 2 may be a knee pad made of a flexible material as a carrier, and the first inertial sensor 211 and the second inertial sensor 212 are fixed at two ends of the carrier at a certain interval, for example, the interval may be 30 cm, so that when the wearing test component 2 is bound to the leg of the subject, the first inertial sensor 211 is located at the thigh of the subject, and the second inertial sensor 212 is located at the calf of the subject.

Optionally, the mounting positions of the first inertial sensor 211 and the second inertial sensor 212 on the carrier can be adjusted, for example, a plurality of mounting positions are provided on the carrier, and when aiming at subjects with different leg lengths, the mounting positions of the first inertial sensor 211 and/or the second inertial sensor 212 can be freely changed to keep the first inertial sensor 211 at the thigh of the subject and the second inertial sensor 212 at the calf of the subject.

Here, the first inertial sensor 211 and the second inertial sensor 212 are used for acquiring posture information of the upper leg and the lower leg, respectively, for example, the first inertial sensor 211 and the second inertial sensor 212 may be Micro-Electro-Mechanical System (MEMS) inertial sensors, and acquire data information such as three-axis acceleration data and angle data of the upper leg and the lower leg, respectively, when the subject performs a stepping action, and after acquiring the data information, the processor 3 may determine posture information of the upper leg and the lower leg in combination with initial data of the subject when the both feet stand, and further calculate a knee bending angle. Based on the change in knee flexion angle, the processor 3 can determine the completion and total number of steps taken by the subject.

In one embodiment, as shown in fig. 3, the inertial sensor 21 may include a first inertial sensor 211 bound to the thigh of the subject and a third inertial sensor 213 bound to the torso of the subject, wherein the third inertial sensor 213 may be bound to the waist, spine, etc. of the subject for acquiring inertial data information of the upper torso of the subject. The processor 3 may also be connected to the third inertial sensor 213, and determine the angle formed by the thigh and the upper torso of the subject, i.e. the hip bending angle, according to the data of the third inertial sensor 213 and the data of the first inertial sensor 211, so that the completion and the total number of steps of the subject can be determined according to the change of the hip bending angle.

In another embodiment, the inertial sensors 21 may include a first inertial sensor 211 fixed on the thigh of the subject, a second inertial sensor 212 fixed on the calf of the subject, and a third inertial sensor 213 fixed on the torso of the subject, and the processor 3 may determine the knee bending angle according to the data of the first inertial sensor 211 and the second inertial sensor 212, and further determine whether the subject is in leg-lifting motion by combining the hip bending angles determined by the data of the first inertial sensor 211 and the third inertial sensor 213. For example, if the subject bends his or her leg backward, the knee bending angle also changes, but this motion cannot be considered as a leg-raising motion. Therefore, the completion condition and the completion times of the stepping action of the subject can be more accurately determined by combining the data of the three inertial sensors.

It can be understood that, the processor 3 can count the number of times of the stepping actions of the subject reaching the standard in the stepping test according to the detection result of the height detection assembly 1 on whether the knee of the subject reaches the standard height. Accordingly, the processor 3 can determine the total number of stepping motions of the subject based on changes in the data acquired by the inertial sensors 21 bound to at least two of the thigh, calf and torso of the subject.

Therefore, on the basis of counting the mark-time reaching times of the testee, the total mark-time times of the testee can be counted based on the data acquired by the wearing test component 2, and the complete reflection of the exercise capacity of the testee is realized. For example, if the exercise capacity of the subject is limited and the number of standard steps is very small, the physical function of the subject can be further and objectively analyzed in combination with the total number of step completion, so that the problem that the exercise capacity of the subject is not deeply and comprehensively analyzed due to statistics of only the number of standard steps is avoided.

In some embodiments, as shown in fig. 4, the processor 3 comprises: a first processor 31 and a second processor 32 integrated on the wearing test assembly 2, the second processor 32 being connected to the at least two inertial sensors 21 for determining the knee flexion angle and/or the hip flexion angle of the subject based on data from the at least two inertial sensors 21; the first processor 31 is wirelessly connected with the second processor 32 for determining the total number of stepping motions of the subject based on the knee bending angle and/or the hip bending angle; the first processor 31 is connected to the height detecting assembly 1, and is used for determining the number of standard times of stepping actions of the subject according to the detection result of the height detecting assembly 1.

In the embodiment of the present invention, if the inertial sensor 21 includes the first inertial sensor 211 and the second inertial sensor 212, the function of calculating the knee bending angle according to the data of the first inertial sensor 211 and the second inertial sensor 212 may be integrated into the second processor 32 which is a processing unit disposed in the wearing test assembly 2. Therefore, the second processor 32 sends the knee bending angle to the first processor 31, and the first processor 31 only needs to determine the standard reaching times and the total times of the stepping actions without frequently calculating the knee bending angle according to the inertial sensor data, so that the processing pressure is greatly reduced, and the first processor 31 is prevented from being in a high-load working state for a long time.

Similarly, if the inertial sensor 21 includes the first inertial sensor 211 and the third inertial sensor 213, the hip bending angle may be calculated by the second processor 32 as the processing unit in the wearable test assembly 2 according to the data of the first inertial sensor 211 and the third inertial sensor 213.

If the inertial sensors 21 include the first inertial sensor 211, the second inertial sensor 212, and the third inertial sensor 213, the knee bending angle may be calculated from data of the first inertial sensor 211 and the second inertial sensor 212, respectively, and the hip bending angle may be calculated from data of the first inertial sensor 211 and the third inertial sensor 213, respectively, by the second processor 32.

In one embodiment, the first processor 31 may determine the total number of stepping motions based on the knee flexion angle and the hip flexion angle. It is understood that if the inertial sensors 21 include the first inertial sensor 211, the second inertial sensor 212 and the third inertial sensor 213, the knee flexion angle and the hip flexion angle are both maximum values in the initial position of standing on both feet in one stepping motion; when the leg is lifted to the highest point, the knee bending angle and the hip bending angle are both minimum values; when the legs are lowered until the initial position of standing on both feet is restored, the knee flexion angle and the hip flexion angle return to the maximum values. Therefore, when the knee bending angle and the hip bending angle are detected to reach the minimum value from the maximum value and then return to the maximum value, and when the knee bending angle and the hip bending angle are detected to reach the maximum value again, the total number of stepping actions is determined to be increased by one. The combination of knee flexion angle and hip flexion angle allows a more accurate determination of subject motion. If the knee flexion angle reaches the minimum value and the hip flexion angle does not reach a certain threshold value, for example, the hip flexion angle does not reach 10 degrees, the exercise is not a leg raising exercise, and is determined to be an ineffective exercise, and the total number of stepping exercises is not changed.

In some embodiments, as shown in fig. 5, the step testing system further comprises:

the base 4 is fixedly arranged on the ground and used for mounting the height detection assembly 1;

height detection assembly 1, comprising: a support structure 11 connected to the base 4 and a first laser correlation sensor assembly 12 arranged on the support structure 11; the supporting structure 11 is movably connected with the base 4 so as to adjust the height of the first laser correlation sensor component 12; the first laser correlation sensor assembly 12 includes: a first transmitter 121 and a first receiver 122 disposed at the same height; the processor 3 determines whether the knee of the subject reaches the standard height according to the laser transceiving condition of the first laser correlation sensor assembly 12.

In the embodiment of the present invention, the processor 3 may be disposed in the human-computer interaction device, or may be disposed independently. The base 4 is used for carrying other components in the step testing system of the embodiment of the invention, for example, the base 4 is used for carrying a supporting structure 11 in the height detecting assembly 1, and the supporting structure 11 is used for fixedly mounting the first laser correlation sensor assembly 12 and adjusting the height thereof.

In one embodiment, the first transmitter 121 of the first laser correlation sensor assembly 12 is configured to transmit a laser signal and the first receiver 122 is configured to receive the laser signal. Therefore, the first emitter 121 and the first receiver 122 are respectively disposed at both sides of the subject and are both disposed at the standard height, so that the laser signal transmission path can be blocked by the knee of the subject when the knee reaches the standard height. After the first laser correlation sensor assembly 12 starts to operate, the processor acquires the laser signal reception condition of the first receiver 122, for example, when the first receiver 122 does not receive the laser signal, which indicates that the transmission of the laser signal is blocked, the processor may determine that the knee of the subject has reached the standard height.

So, whether detect the experimenter knee through setting up first laser correlation sensor subassembly 12 and reach standard height, because laser correlation sensor's laser signal focusing nature is stronger, the coverage is littleer for it is more accurate to the detection of standard height, and it is more accurate reliable to mark time the acquirement of the standard reach standard condition and the analysis of motion ability to the experimenter. On this basis, adjust the height of first laser correlation sensor subassembly 12 through setting up bearing structure, make the test system of marking time can be applicable to the different examinees of height difference, be convenient for carry out the regulation of standard height according to different health conditions.

In some embodiments, the base 4 comprises: a standing area 41; the base is provided with a first chute 42 and a second chute 43; the standing area 41 is used for a subject to stand for stepping test; the first sliding chute 42 and the second sliding chute 43 are arranged on two sides of the standing area 41 in parallel;

the support structure 11 includes: a first robot arm 111, a second robot arm 112, and a first straight bar 113;

the first end of the first mechanical arm 111 is slidably connected in the first sliding chute 42, and the first mechanical arm 111 is used for fixedly mounting the first emitter 121;

a first end of the second mechanical arm 112 is slidably connected in the second chute 43, and the second mechanical arm 112 is used for fixedly mounting the first receiver 122; the second robot 112 and the first robot 111 are disposed in parallel at two sides of the standing region 41, and the first end of the second robot 112 is connected to the first end of the first robot 111 via a first straight rod 113, so as to keep the second robot 112 and the first robot 111 synchronously adjusted.

In the embodiment of the present invention, the base 4 is provided with two sliding slots disposed in parallel on two sides of the standing region, and the two sliding slots are respectively used for slidably connecting with the first robot 111 and the second robot 112, so as to achieve the movable adjustment of the first robot 111 and the second robot 112, and further adjust the positions of the first emitter 121 mounted on the first robot 111 and the first receiver 122 mounted on the second robot 112.

It will be appreciated that the first chute 42 and the second chute 43 are of the same size, and the first robot arm 111 and the second robot arm 112 are of the same size, so as to facilitate simultaneous adjustment of the attitude of the robot arms and the position of the first laser correlation sensor assembly 12.

In one embodiment, the first emitter 121 is disposed at the second end of the first robot 111 and the first receiver 122 is disposed at the second end of the second robot 112, thereby facilitating adjustment of the first emitter 121 and the first receiver 122 by the robot movement.

In one embodiment, the first mechanical arm 111 and the second mechanical arm 112 are connected through the first straight rod 113, so that only the first mechanical arm 111 or the second mechanical arm 112 is moved, and synchronous movement and adjustment of the other mechanical arm can be completed through transmission of the first straight rod 113, thereby avoiding a large posture difference between the first mechanical arm 111 and the second mechanical arm 112 due to adjustment of the first mechanical arm 111 and the second mechanical arm 112 respectively. Alternatively, the first mechanical arm 111 and the second mechanical arm 112 may be synchronously adjusted through other linkage mechanisms such as a lever and/or a rotating shaft.

In another embodiment, the length scales of the first sliding groove 42 and/or the second sliding groove 43 can be set according to a certain precision beside the first sliding groove 42 and/or the second sliding groove 43 formed on the base, so that the position of the first end of the first mechanical arm 111 and/or the second mechanical arm 112 in the sliding groove can be adjusted in a sliding manner according to the scale values, the error of adjustment of the two mechanical arms is reduced, and the stepping test data of the testee can be further improved.

In this way, the first mechanical arm 111 and the second mechanical arm 112 are connected to the base 4 and slidably adjusted, so that the first laser correlation sensor assembly 12 can be pre-adjusted in position according to the physical condition of the subject. Based on the first straight rod 113 serving as a linkage mechanism between the first mechanical arm 111 and the second mechanical arm 112, the adjustment of the first mechanical arm 111 and the adjustment of the second mechanical arm 112 can be synchronized, so as to avoid that the first emitter 121 and the first receiver 122 cannot effectively receive and transmit laser light due to a large error in the adjustment of the two mechanical arms when the position of the first laser correlation sensor assembly 12 is set.

In some embodiments, as shown in fig. 6, the first robot arm 111 is provided with a third sliding slot 1111; the second mechanical arm 112 is provided with a fourth chute 1121;

support structure 11, further comprising: a first support bar 114, a second support bar 115, and a second straight bar 116;

the first end of the first supporting bar 114 is slidably connected in the third sliding groove 1111; a second end of the first supporting bar 115 is rotatably connected to the base 4 for supporting and adjusting the test posture of the first robot 111 when the first robot 111 moves relative to the first chute 42, so that the first emitter 121 reaches a standard height;

a first end of the second supporting bar 115 is slidably connected in the fourth sliding groove 1121; a second end of the second supporting bar 115 is rotatably connected to the base 4 for supporting and adjusting the test posture of the second mechanical arm 112 when the second mechanical arm 112 moves relative to the second chute 43; the second end of the second supporting bar 115 is connected to the second end of the first supporting bar 114 via a second straight rod 116, so as to keep the second supporting bar 115 and the first supporting bar 114 synchronously adjusted.

In the embodiment of the present invention, the first supporting bar 114 is disposed on the base 4 at one end of the first sliding slot 42 close to the standing area 41, the second supporting bar 115 is disposed on the base 4 at one end of the second sliding slot close to the standing area 41, and both the first supporting bar 114 and the second supporting bar 115 are rotatably connected to the base 4, for example, connected to the base 4 through a rotary joint, a rotating shaft, etc. The first supporting strip 114, the first mechanical arm 111 and the first chute 42 form a triangular supporting structure, so that the posture of the first mechanical arm 111 can be guaranteed to be fixed after sliding adjustment, and based on the fact that the first end of the first supporting strip 114 and the first end of the first mechanical arm 111 can be adjusted in a sliding manner, the position of the first emitter 121 on the first mechanical arm 111 can be adjusted in the longitudinal direction according to different standard heights corresponding to different subjects, and can also be adjusted in the transverse direction according to leg lengths of different subjects, and it is guaranteed that laser signals of the first laser correlation sensor assembly 12 can be blocked when knees of the subjects reach the standard heights. The second support bar 115 is aligned with the second mechanical arm 112.

In one embodiment, the first supporting bar 114 and the second supporting bar 115 are connected by the second straight rod 116, so that only the first supporting bar 114 or the second supporting bar 115 is adjusted, and the synchronous adjustment of the other supporting bar can be completed by the transmission of the second straight rod 116, thereby avoiding a large posture difference caused by adjusting the first supporting bar 114 and the second supporting bar 115 respectively. Alternatively, the first support bar 114 and the second support bar 115 may be synchronously adjusted by other linkages such as a lever and/or a rotating shaft.

Thus, the first mechanical arm 111 and the second mechanical arm 112 are respectively supported and adjusted in an auxiliary manner through the supporting bars, and based on the sliding of the first mechanical arm 111 and the second mechanical arm 112 in the first sliding groove 42 and the second sliding groove 43 and the sliding of the first supporting bar 114 and the second supporting bar 115 in the third sliding groove 1111 and the fourth sliding groove 1121, the posture adjustment of the two mechanical arms is jointly realized, namely the position of the first laser correlation sensor assembly 12 is adjusted, so that the first laser correlation sensor assembly 12 is located at a standard height, and the laser transmission path is located at a position when the knee of the subject reaches the standard height.

In some embodiments, the first straight bar 113 and/or the second straight bar 116 are disposed inside the base 4.

It can be understood that the first straight rod 113 and the second straight rod 116, which are used as the linkage mechanism, can be disposed inside the base 4 to prevent the straight rods from interfering with the stepping test of the subject when the straight rods are disposed outside.

In some embodiments, the height detection assembly 1 further comprises:

a plurality of second laser alignment sensor assemblies 13 positioned below the first laser alignment sensor assembly 12, each second laser alignment sensor assembly 13 comprising: a second transmitter 131 and a second receiver 132 disposed at the same height;

the plurality of second emitters 131 are arranged on the first robot 111 along the length direction of the first robot 111 at preset intervals;

the plurality of second receivers 132 are arranged on the second robot arm 112 at predetermined intervals along the length direction of the second robot arm 112;

the second transmitter 131 cooperates with the second receiver 132 for determining the step height when the knee does not reach the standard height in the subject's stepping motion.

In the embodiment of the present invention, the plurality of sets of second laser correlation sensor assemblies 13 are used for detecting the height of the stepping action knee not reaching the standard height, and a plurality of second transmitters 131 are disposed on the first support arm, and correspondingly, a plurality of second receivers 132 are disposed on the second support arm.

It is understood that the second transmitter 131 and the second receiver 132 of each set of the second laser correlation sensor assemblies 13 are disposed at the same height. In order to improve the sensitivity and accuracy of the plurality of sets of second laser correlation sensor assemblies 13 for detecting different knee heights, the plurality of sets of second emitters 131 and second receivers 132 are arranged at equal intervals, for example, the preset interval may be 5 cm, one second emitter 131 is installed every 5 cm from the first emitter 121 along the direction of the first robot arm 111 pointing to the base 4, and the second receiver 132 is installed in the same manner.

Therefore, on the basis that the first laser correlation sensor component 12 is arranged at the standard height, the plurality of groups of second laser correlation sensor components 13 are arranged according to the preset intervals, and the knee positions corresponding to different step heights of the testee can be better covered, so that the step heights of the testee can be more comprehensively obtained, and the motion capability of the testee can be more completely and objectively analyzed.

In some embodiments, the first emitter 121 and the second receiver 132 are at standard heights, and the first mechanical arm 111 and the second mechanical arm 112 both pass an initial height at which the knee of the subject stands on both feet.

It will be appreciated that in order to fully detect the final knee height of each stepping motion of the subject, it is necessary to ensure that the first laser correlation sensor assembly 12 is located at a standard height, and the plurality of sets of second laser correlation sensor assemblies 13 cover the area between the standard height and the initial knee height. Therefore, the first mechanical arm 111 and the second mechanical arm 112, after adjusting the test posture corresponding to the subject, need to pass through the initial position of the knee when the subject stands on both feet, so that the second laser correlation sensor assembly 13 on the first mechanical arm 111 and the second mechanical arm 112 can detect that the knee is at the initial position.

In this way, the knee rises from the initial position to the highest position during the stepping of the subject, and the rising track of the knee is basically overlapped with the detection coverage range of the first laser correlation sensor assembly 12 and the second laser correlation sensor assembly 13, so that the knee can be detected whether the standard height can be reached or not, and the comprehensive detection of the stepping height is realized.

In some embodiments, processor 3 determines the number of standard steps of the subject based on the detection result of height detection assembly 1, including:

the processor 3 determines the qualifying number of stepping actions by the subject based on the number of times the laser transmission between the first receiver 122 and the first transmitter 121 is blocked.

In the embodiment of the present invention, the processor 3 may be disposed inside the stepping test system, or disposed at a human-computer interaction device in the stepping test system. Alternatively, if the processor 3 is disposed in the human-computer interaction device, the human-computer interaction device may display information such as stepping test results according to the information generated by the processor 3.

In one embodiment, processor 3 includes a first processor 31 and a second processor 32, then the first processor 31 determines the qualifying number of steps by the subject based on the number of times the laser transmission between the first receiver 122 and the first transmitter 121 is blocked.

It can be understood that the first laser correlation sensor 12 of the height detection assembly 1 is located at a standard height, and if the knee reaches the standard height during the stepping of the subject, the transmission of the laser signal is blocked, and the second receiver 132 cannot receive the laser signal.

In one embodiment, after the position adjustment of the first laser correlation sensor assembly 12 is completed, i.e., the stepping test system is initialized for the current subject, the processor 3 issues a test start command, the first laser correlation sensor assembly 12 starts to operate, and the second receiver 132 receives the laser signal. If the laser signal received by the second receiver 132 becomes 0 and then receives the laser signal again, indicating that the stepping action just completed by the subject reaches the standard, the processor 3 increments the stepping action reaching time by one. When the preset time length of the stepping test is reached, the processor 3 finishes counting, and counts the number of times of reaching the standard of the current stepping action.

Optionally, if the processor 3 is disposed in the human-computer interaction device, the human-computer interaction device displays the standard-reaching times of the stepping test step action.

In some embodiments, the first processor 31 determines the total number of stepping motions of the subject based on the knee flexion angle or the hip flexion angle, including:

the first processor 31 changes the current stepping motion from the maximum value to the minimum value and then changes the current stepping motion from the minimum value to the maximum value according to the knee bending angle or the hip bending angle, and determines that the total number of stepping motions of the subject is increased by one;

the first processor 31 determines the total number of steps of the current subject after the end of the current step test.

In the embodiment of the present invention, the second processor 32 integrated on the wearing test assembly 2 determines the knee bending angle based on the thigh and calf posture information acquired by the first inertial sensor 211 and the second inertial sensor 212, or determines the hip bending angle based on the thigh and upper torso posture information acquired by the first inertial sensor 211 and the third inertial sensor 213, and transmits the knee bending angle or the hip bending angle to the first processor 31. The first processor 31 may determine the change in the stepping motion of the subject based on the change in the knee flexion angle or the hip flexion angle, and thus determine whether the stepping motion is completed.

It is understood that, if the inertial sensor 21 includes the first inertial sensor 211 and the second inertial sensor 212, the angle formed by the thigh and the calf, i.e., the knee bending angle, is the maximum value, for example, 180 degrees, from the initial position when the feet stand in one stepping motion of the subject. The knee is raised from the initial position to start the stepping motion, and when the knee reaches the highest point, the knee bending angle is the minimum value in the current stepping motion, for example, 90 degrees. And after the knee reaches the highest point, the knee is put down until the initial position of standing of the feet is recovered, the stepping action is finished, and the bending angle of the knee returns to the maximum value again.

It is understood that, if the inertial sensor 21 includes the first inertial sensor 211 and the third inertial sensor 213, the hip bending angle, which is the angle formed by the thigh and the upper body trunk, is a maximum value, for example, 180 degrees, from the initial position when the feet stand, in one stepping motion of the subject. When the knee reaches the highest point, the hip flexion angle is the minimum value in the current stepping motion, for example, 90 degrees. The leg is then lowered until the initial position of bipedal stance is restored, and the stepping motion is complete, at which point the hip flexion angle returns to a maximum value again.

Thus, based on the knee flexion angle or the hip flexion angle determined by the second processor 32 wearing the test assembly 2, the first processor 31 may determine that the subject completed a stepping motion by changing from a maximum value to a minimum value and then to a maximum value in a stepping motion based on the change in the knee flexion angle or the hip flexion angle, at which time the first processor 31 adds one to the total number of stepping motions. When the preset time duration of the step test of this time is reached, the first processor 31 finishes counting, and counts the total number of current step actions.

Optionally, if the first processor 31 is disposed in the human-computer interaction device, the human-computer interaction device displays the total number of stepping actions and the number of reaching standards of the stepping test.

Therefore, based on the change process of the knee bending angle or the hip bending angle, the first processor 31 can accurately know the number of times of stepping actions without being limited by whether the knee height reaches the standard, so that the total number of times of stepping actions which can be completed by the subject can be comprehensively known, and the motion capability of the subject can be more completely reflected.

In some embodiments, the processor 3 is further configured to:

if the knee bending angle or the hip bending angle reaches the minimum value in the current stepping motion and the laser transmission between the first transmitter 121 and the second receiver 132 is not blocked, height information corresponding to the second receiver 132 with blocked laser transmission among the plurality of second receivers 132 is obtained;

In one embodiment, the processor 3 comprises a first processor 31 and a second processor 32, and then the first processor 31 is further configured to: if the knee bending angle or the hip bending angle reaches the minimum value in the current stepping motion and the laser transmission between the first transmitter 121 and the second receiver 132 is not blocked, the height information corresponding to the second receiver 132 with blocked laser transmission among the plurality of second receivers 132 is obtained.

It is understood that if the knee bending angle or the hip bending angle reaches the minimum value, which indicates that the leg raising action of the subject reaches the highest point, and if the second receiver 132 still receives the laser signal, the knee is not at the standard height, the highest height reached by the knee is determined by the plurality of sets of second laser correlation sensor assemblies 13.

Here, the height of the second laser correlation sensor assembly 13 can be expressed by a ratio compared with a standard height, for example, a ratio of the height of each second receiver 132 relative to the standard height is determined according to the distance between the second receiver 132 and the current included angle formed by the second mechanical arm 112 and the base 4; the height of each second receiver 132 can also be determined according to the scale and the height of the standard height.

In one embodiment, if the knee bending angle or the hip bending angle of the current stepping motion reaches the minimum value and the second receiver 132 receives the laser signal, the height information corresponding to the second receiver 132 that cannot receive the laser signal is determined according to the minimum value of the knee bending angle or the hip bending angle. At this time, if there is only one second receiver 132 that cannot receive the laser signal, the corresponding height information is the highest knee height; if there are a plurality of second receivers 132 that cannot receive the laser signals, that is, the current lower limb posture of the subject may cause the transmission of the laser signals of the plurality of groups of second laser correlation sensor assemblies 13 to be blocked, the height corresponding to the second laser correlation sensor assembly 13 with the highest height among the blocked plurality of groups of second laser correlation sensor assemblies 13 is the current stepping height.

In another embodiment, the processor 3 determines the height corresponding to the second laser correlation sensor 13 with the highest height among the plurality of second laser correlation sensor 13 in which the laser signal transmission is blocked is the current step height during a step motion, that is, the knee bending angle or the hip bending angle changes from the maximum value to the minimum value and then returns to the maximum value.

Alternatively, if the processor 3 is disposed in the human-computer interaction device, the human-computer interaction device displays the heights of all stepping actions of the stepping test, for example, in the form of a distribution graph or directly displaying the height value of each stepping action.

In this way, whether the standard height is reached or not, the highest height reached by the knee in each stepping action can be determined, so that the exercise capacity of the subject can be more completely and objectively known.

The workflow of the stepping test system according to the embodiment of the invention is described below with reference to specific application examples.

As shown in fig. 7, the workflow of the step test system includes:

s701: and initializing the step test system.

Here, the operator sets the height and position of the height detecting assembly 1 according to the physical condition of the subject, for example, the posture of the height testing assembly is adjusted according to the height of the connecting line between the anterior superior iliac spine of the subject and the patella, namely the standard height, and the position of the knee of the subject when the knee is lifted to the standard height. In addition, the count and timing of the processor 3 are reset, setting the duration of this step test, for example, to 2 minutes.

S702: and entering a stepping test mode.

The operator instructs the processor 3 to issue a test start instruction according to the preparation condition of the subject. According to the test start instruction, the first laser correlation sensor assembly 12 and the plurality of sets of second laser correlation sensor assemblies 13 start to work, and the second receiver 132 and the other plurality of second receivers 132 receive laser signals except that one or more second received laser transmissions at the initial knee position height are blocked. At this time, the processor 3 determines that both the total number of stepping actions and the number of standard reaching actions are 0.

Exemplarily, after entering the stepping test mode, the stepping test system issues a test start instruction, and may prompt by voice: the' this stepping test is a left (or right or both) stepping test, please lift the knees to the highest height as much as possible during stepping, then fall back to the standing area 41, and then perform the next knee lifting and stepping action after standing stably. Please start the step test after the countdown, 3,2,1, start ", to instruct the subject to start the step test. After entering the step test mode, S7031 and S7041 are executed.

S7031: the laser transmission of the first laser correlation sensor assembly 12 is acquired.

Here, the first laser correlation sensor assembly 12 is located at a standard height, and the laser signal received by the second receiver 132 disappears once every time the knee of the subject reaches the standard height. If it is detected that the laser transmission of the first laser correlation sensor assembly 12 is blocked once, S7032 is performed; if the laser transmission of the first laser correlation sensor assembly 12 is not detected to be blocked, the detection is continued.

S7032: and determining the standard-reaching times of the stepping actions.

The processor 3 increments the stepping operation number of times of reaching the standard by one every time it detects that the laser transmission is blocked, and executes S705.

S7041: the knee flexion angle is obtained.

The processor 3 obtains the knee bending angle based on the data of the first inertial sensor 211 and the second inertial sensor 212, and can determine the completion condition of the stepping action according to the change condition of the knee bending angle. Each time the processor 3 determines that the knee flexion angle changes from a maximum value to a minimum value and back to the maximum value, S7042 is executed.

S7042: determining the total number of stepping actions.

The processor 3 adds one to the total number of stepping actions, and determines whether the laser transmission of the first laser correlation sensor assembly 12 in the current stepping action is blocked, if yes, the process returns to S7041; if not, S7043 is executed.

S7043: and determining the height of the stepping.

The processor 3 determines the height information of the at least one second receiver 132 in which the laser transmission is blocked in the step movement, and determines the highest height as the step height. After the step height is determined, S705 is performed.

S705: it is determined whether the test duration is reached.

Here, the processor 3 determines whether a preset test duration is reached, if so, executes S706, and ends the test; if not, S7031 and S7041 are continued.

S706: and outputting the stepping test result.

The stepping test result output by the processor 3 comprises the total times of stepping actions, the standard times of stepping actions and the height data of each stepping action or the height data of each stepping action which is not standard.

For example, if the processor 3 is disposed in the human-computer interaction device of the stepping test system, the total number of stepping actions, for example, 20 times, and the standard number of stepping actions, for example, 8 times, and the height data of each stepping action, for example, in the form of a height data distribution map, are displayed on the human-computer interaction device.

An embodiment of the present invention further provides an electronic device, where the electronic device includes: a processor and a memory for storing a computer program capable of running on the processor, the computer program when executed by the processor performing the steps of one or more of the methods described above.

An embodiment of the present invention further provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and after being executed by a processor, the computer-executable instructions can implement the method according to one or more of the foregoing technical solutions.

The computer storage media provided by the present embodiments may be non-transitory storage media.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only one logical function division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, indirect coupling or communication connection between devices or units, and may be electrical, mechanical or other driving.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, all functional units in the embodiments of the present invention may be integrated into one processor, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized by hardware running or by running of hardware and a software functional unit.

In some cases, any two technical features described above may be combined into a new method solution without conflict.

In some cases, any two of the above technical features may be combined into a new device solution without conflict.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media capable of storing program codes, such as a removable Memory device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A stepping test system, the system comprising:

a height detection component for detecting whether the knee of the subject reaches a standard height;

the processor is connected with the height detection assembly and the at least two inertial sensors; the device is used for determining the standard reaching times of the stepping actions of the subject according to the detection result of the height detection component and determining the total times of the stepping actions of the subject according to the data of the at least two inertial sensors.

2. The system of claim 1, wherein the processor comprises: a first processor and a second processor integrated on the wearable test assembly, the second processor being connected to the at least two inertial sensors for determining a knee flexion angle and/or a hip flexion angle of the subject based on data from the at least two inertial sensors; the first processor is wirelessly connected with the second processor for determining a total number of striding motions of the subject based on the knee flexion angle and/or the hip flexion angle; the first processor is connected with the height detection assembly and used for determining the standard reaching times of the stepping actions of the testee according to the detection result of the height detection assembly.

3. The system of claim 1, further comprising:

the height detection assembly comprises: the first laser correlation sensor assembly is arranged on the supporting structure; the supporting structure is movably connected with the base so as to adjust the height of the first laser correlation sensor component; the first laser correlation sensor assembly includes: a first transmitter and a first receiver disposed at the same height; the processor determines whether the knee of the subject reaches the standard height according to the laser transceiving condition of the first laser correlation sensor assembly.

4. The system of claim 3, wherein the base comprises: a standing area; a first sliding groove and a second sliding groove are formed in the base; the standing area is used for allowing the subject to stand for stepping test; the first sliding groove and the second sliding groove are arranged on two sides of the standing area in parallel;

5. The system of claim 4, wherein the first arm has a third slot; a fourth chute is formed in the second mechanical arm;

the first end of the first supporting strip is connected in the third sliding groove in a sliding mode; the second end of the first supporting bar is rotatably connected to the base and is used for supporting and adjusting the test posture of the first mechanical arm when the first mechanical arm moves relative to the first chute so as to enable the first emitter to reach the standard height;

6. The system according to claim 5, characterized in that the first straight bar and/or the second straight bar are arranged inside the base.

7. The system of claim 5, wherein the height detection assembly further comprises:

the second transmitter is matched with the second receiver and used for determining the stepping height when the knee does not reach the standard height in the stepping action of the testee.

8. The system of claim 7, wherein the first transmitter and the first receiver are at the standard height, and the first mechanical arm and the second mechanical arm each pass an initial height at which a knee of the subject stands on both feet.

9. The system of any one of claims 3 to 8, wherein the processor determines the number of standard steps of the subject based on the detection of the height detection assembly, comprising:

the processor determines the number of arm steps of the subject based on the number of times laser transmissions between the first receiver and the first transmitter are blocked.

10. The system of claim 2, wherein the first processor determines the total number of striding motions of the subject based on the knee flexion angle or the hip flexion angle, comprising:

the first processor determines that the total number of steps of the subject is increased by one according to the fact that the knee bending angle or the hip bending angle changes from a maximum value to a minimum value in the current step and then changes from the minimum value to the maximum value;

11. The system of claim 8, wherein the processor is further configured to: