CN116211647A - Control method and device of lower limb rehabilitation equipment - Google Patents
Control method and device of lower limb rehabilitation equipment Download PDFInfo
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- CN116211647A CN116211647A CN202310147907.XA CN202310147907A CN116211647A CN 116211647 A CN116211647 A CN 116211647A CN 202310147907 A CN202310147907 A CN 202310147907A CN 116211647 A CN116211647 A CN 116211647A
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- 238000000034 method Methods 0.000 title claims abstract description 74
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 62
- 238000005452 bending Methods 0.000 claims abstract description 101
- 210000000629 knee joint Anatomy 0.000 claims abstract description 77
- 238000012549 training Methods 0.000 claims abstract description 20
- 210000003127 knee Anatomy 0.000 claims description 30
- 210000002414 leg Anatomy 0.000 claims description 8
- 210000003205 muscle Anatomy 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000036544 posture Effects 0.000 description 57
- 238000004891 communication Methods 0.000 description 6
- 238000004590 computer program Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000000630 rising effect Effects 0.000 description 4
- 206010016173 Fall Diseases 0.000 description 2
- 208000028752 abnormal posture Diseases 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
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Abstract
The invention provides a control method and a device of lower limb rehabilitation equipment, wherein the method comprises the following steps: acquiring foot pressure and knee joint bending angle of a user; judging whether the user is in a starting standing state according to the foot pressure and the knee joint bending angle; outputting a control signal matching the foot pressure according to the foot pressure and the knee joint bending angle if the user is in the starting standing state; and controlling the steering engine to drive the hydraulic damper to output resistance matched with the foot pressure and the knee joint bending angle according to the control signal so as to perform rehabilitation training. The technology helps the user to convert from sitting to standing by judging whether the user converts from sitting to standing or not, so that the hydraulic damper in the lower limb rehabilitation device is controlled to output the matched resistance according to the foot pressure and the knee joint bending angle.
Description
Technical Field
The invention relates to the technical field of rehabilitation equipment, in particular to a control method and a device of lower limb rehabilitation equipment.
Background
At present, most users of lower limb rehabilitation equipment wear lower limb rehabilitation robots under the sitting posture condition, after the robots are started, plantar pressure can be detected by plantar pressure sensors in the process of converting the sitting posture into standing postures, and in the process, the patients can be misjudged to be already in rehabilitation walking training in the prior art, so that the resistance of the knee joint damper is large, the knee joint movement structure of the robots is locked, the users can not be smoothly converted into the standing postures, and the risk of falling down in the rising process is increased.
Therefore, the existing control method of the lower limb rehabilitation equipment has potential safety hazards.
Disclosure of Invention
The invention aims to provide a control method and a control device for lower limb rehabilitation equipment, so as to improve the safety of the lower limb rehabilitation equipment in use.
In a first aspect, an embodiment of the present invention provides a method for controlling a lower limb rehabilitation device, where the method is applied to a controller; the controller is connected with a steering engine and a hydraulic damper in the lower limb rehabilitation equipment; the method comprises the following steps: acquiring foot pressure and knee joint bending angle of a user; judging whether the user is in a starting standing state according to the foot pressure and the knee joint bending angle; the starting standing posture state is used for indicating the state that the user starts to change from the sitting posture to the standing posture; outputting a control signal matching the foot pressure and the knee bending angle according to the foot pressure and the knee bending angle if the user is in the start standing state; and controlling the steering engine to drive the hydraulic damper to output resistance matched with the foot pressure and the knee joint bending angle according to the control signal so as to perform rehabilitation training.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where, before the step of obtaining the foot pressure of the user, the method further includes: acquiring the physical state parameters of the user; judging whether the user is in a start standing state according to the foot pressure and the knee joint bending angle, comprising the following steps: and judging whether the user is in a starting standing state according to the physical state parameters, the foot pressure and the knee joint bending angle.
With reference to the first possible implementation manner of the first aspect, the embodiment of the present invention provides a second possible implementation manner of the first aspect, wherein the physical state parameters include: height, weight, leg length, sole length, affected side leg position in the direction of the user's body and affected side muscle strength level.
With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, wherein the step of determining whether the user is in the activated standing state according to the foot pressure and the knee bending angle includes: if the ratio of the foot pressure to the weight of the user is within a first preset ratio range and the knee joint bending angle is within a first preset angle range, the user is judged to be in a starting standing state.
With reference to the third possible implementation manner of the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where the first preset angle range is 135 ° to 180 °; the value of the first preset proportional range is calculated by the following formula: w=1/2 g±1/2g×20% wherein W represents the value of the first preset ratio range and G represents the weight of the user.
With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, wherein after the step of obtaining the foot pressure and the knee bending angle of the user, the method further includes: judging whether the user is in a standing state according to the foot pressure and the knee joint bending angle; and if the user is in the standing state, generating a rehabilitation training prompt signal.
With reference to the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, wherein, before the step of determining whether the user is in the start standing state according to the foot pressure and the knee joint bending angle, the method includes: judging whether the user is in a sitting posture state according to the foot pressure and the knee joint bending angle; if the user is in the sitting posture state, acquiring the current foot pressure and the current knee joint bending angle; judging whether the user is in a start standing state according to the foot pressure and the knee joint bending angle, comprising the following steps: and judging whether the user is in a starting standing state or not according to the current foot pressure and the current knee joint bending angle.
With reference to the sixth possible implementation manner of the first aspect, the embodiment of the present invention provides a seventh possible implementation manner of the first aspect, wherein the step of determining whether the user is in a sitting posture according to the foot pressure and the knee joint bending angle includes: and if the proportion of the foot pressure to the weight of the user is in a second preset proportion range, and the knee joint bending angle is in a second preset angle range, judging that the user is in a sitting posture state.
With reference to the seventh possible implementation manner of the first aspect, an embodiment of the present invention provides an eighth possible implementation manner of the first aspect, where the second preset angle range is 65 ° to 120 °; the value of the second preset proportional range is calculated by the following formula: q=1/4 g±1/4G 10%, wherein Q represents the value of the second preset ratio range, and G represents the weight of the user.
In a second aspect, an embodiment of the present invention provides a control device for a lower limb rehabilitation apparatus, where the control device is applied to a controller; the controller is connected with the middle rudder unit and the hydraulic damper of the lower limb rehabilitation equipment; the device comprises: the data acquisition module is used for acquiring foot pressure and knee joint bending angle of a user; the gesture determining module is used for judging whether the user is in a starting gesture state according to the foot pressure and the knee joint bending angle; the starting standing posture state is used for indicating the state that the user starts to change from the sitting posture to the standing posture; a control signal output module for outputting a control signal matching the foot pressure and the knee bending angle according to the foot pressure and the knee bending angle if the user is in the start standing state; and the resistance determining module is used for controlling the steering engine to drive the hydraulic damper to output resistance matched with the foot pressure and the knee joint bending angle according to the control signal so as to perform rehabilitation training.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a control method and a device for lower limb rehabilitation equipment, wherein the control method and the device are applied to a controller; the controller is connected with a steering engine and a hydraulic damper in the lower limb rehabilitation equipment; the method comprises the following steps: acquiring foot pressure and knee joint bending angle of a user; judging whether the user is in a starting standing state according to the foot pressure and the knee joint bending angle; the starting standing posture state is used for indicating the state that the user starts to change from the sitting posture to the standing posture; outputting a control signal matching the foot pressure and the knee bending angle according to the foot pressure and the knee bending angle if the user is in the start standing state; and controlling the steering engine to drive the hydraulic damper to output resistance matched with the foot pressure and the knee joint bending angle according to the control signal so as to perform rehabilitation training. The technology helps the user to convert from sitting to standing by judging whether the user converts from sitting to standing or not, so that the hydraulic damper in the lower limb rehabilitation device is controlled to output the matched resistance according to the foot pressure and the knee joint bending angle.
Additional features and advantages of the present embodiments will be set forth in the description which follows, or in part will be obvious from the description, or may be learned by practice of the techniques of the present disclosure.
The foregoing objects, features and advantages of the disclosure will be more readily apparent from the following detailed description of the preferred embodiments taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a control method of a lower limb rehabilitation device according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of another control method of lower limb rehabilitation equipment according to the embodiment of the invention;
fig. 3 is a schematic structural diagram of a control device of a lower limb rehabilitation device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Icon: 31-a data acquisition module; a 32-pose determination module; 33-a control signal output module; 34-a resistance determination module; 41-memory; 42-a processor; 43-bus; 44-communication interface.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
At present, most users of lower limb rehabilitation equipment wear lower limb rehabilitation robots under the sitting posture condition, after the robots are started, plantar pressure can be detected by plantar pressure sensors in the process of converting the sitting posture into standing postures, and in the process, the patients can be misjudged to be already in rehabilitation walking training in the prior art, so that the resistance of the knee joint damper is large, the knee joint movement structure of the robots is locked, the users can not be smoothly converted into the standing postures, and the risk of falling down in the rising process is increased. Therefore, the existing control method of the lower limb rehabilitation equipment has potential safety hazards.
Based on the above, the embodiment of the invention provides a control method and a control device for lower limb rehabilitation equipment, which can ensure the safety of a user of the lower limb rehabilitation equipment when the user uses the lower limb rehabilitation equipment. For the convenience of understanding the embodiments of the present invention, first, a detailed description will be given of a control method of the lower limb rehabilitation device disclosed in the embodiments of the present invention.
Example 1
Fig. 1 is a schematic flow chart of a control method of a lower limb rehabilitation device according to an embodiment of the present invention. The method is applied to a controller; the controller is connected with the steering engine and the hydraulic damper in the lower limb rehabilitation equipment. As seen in fig. 1, the method comprises the steps of:
step S101: the foot pressure and knee joint bending angle of the user are obtained.
In the prior art, after the lower limb rehabilitation device is started, the plantar pressure sensor on the lower limb rehabilitation device can detect plantar pressure. At this time, the control system of the lower limb rehabilitation device can mistakenly consider that the user starts to perform rehabilitation walking training, and at this time, the resistance of the hydraulic damper on the lower limb rehabilitation device is very large, so that the knee joint mobility of the lower limb rehabilitation device is limited, and the user is caused to fall injury in the rising process.
Step S102: judging whether the user is in a starting standing state according to the foot pressure and the knee joint bending angle; the start standing posture state is used for indicating the state that the user starts to change from the sitting posture to the standing posture.
In this embodiment, through a large number of experiments, a preset parameter is determined according to the foot pressure and the knee joint bending angle, so as to determine whether the user is in a start standing state according to the preset parameter. For example: the preset parameters are set to be that the foot pressure is a preset proportion of the weight of the user, and the knee joint bending angle is a preset angle, so that whether the user is in a starting standing state or not is judged.
Step S103: and outputting a control signal corresponding to the foot pressure and the knee bending angle according to the foot pressure and the knee bending angle if the user is in the start-up standing state.
Step S104: and controlling the steering engine to drive the hydraulic damper to output resistance matched with the foot pressure and the knee joint bending angle according to the control signal so as to perform rehabilitation training.
In this embodiment, the driving component drives the motion component according to the control signal, and at this time, the steering engine rotates to control the opening and closing angle of the liquid level valve of the hydraulic damper, so as to control the resistance threshold of the damper to be gradually reduced. The hydraulic damper is connected with a thigh support part which is bound with the thigh of the patient. When the resistance of the hydraulic damper is gradually reduced, the knee joint structure can be released to gradually rotate, so that the patient can slowly change from the sitting posture to the standing posture.
The embodiment of the invention provides a control method of lower limb rehabilitation equipment, which is applied to a controller; the controller is connected with a steering engine and a hydraulic damper in the lower limb rehabilitation equipment; the method comprises the following steps: acquiring foot pressure and knee joint bending angle of a user; judging whether the user is in a starting standing state according to the foot pressure and the knee joint bending angle; the starting standing posture state is used for indicating the state that the user starts to change from the sitting posture to the standing posture; outputting a control signal matching the foot pressure and the knee bending angle according to the foot pressure and the knee bending angle if the user is in the start standing state; and controlling the steering engine to drive the hydraulic damper to output resistance matched with the foot pressure and the knee joint bending angle according to the control signal so as to perform rehabilitation training. The technology ensures the safety of the user in the rising process by judging whether the user changes from sitting to standing or not and controlling the hydraulic damper in the lower limb rehabilitation equipment to output the matched resistance according to the foot pressure and the knee joint bending angle.
Example 2
The invention further provides another control method of the lower limb rehabilitation device on the basis of the method shown in fig. 1. Fig. 2 is a schematic flow chart of another control method of lower limb rehabilitation equipment according to the embodiment of the invention. The method is applied to a controller; the controller is connected with the steering engine and the hydraulic damper in the lower limb rehabilitation equipment. As seen in fig. 2, the method comprises the steps of:
step S201: the physical state parameters of the user are acquired.
In some of these embodiments, the physical state parameters include: height, weight, leg length, sole length, affected side leg position in the direction of the user's body and affected side muscle strength level.
Step S202: the foot pressure and knee joint bending angle of the user are obtained.
In this embodiment, if the foot pressure and the knee joint bending angle exceed preset abnormality parameters, the posture abnormality of the user is judged, so that abnormal posture warning information is generated, and the abnormal posture warning information is transmitted to medical staff for the medical staff to process.
Step S203: judging whether the user is in a starting standing state according to the physical state parameters, the foot pressure and the knee joint bending angle; the start standing posture state is used for indicating the state that the user starts to change from the sitting posture to the standing posture.
In some of these embodiments, prior to step S203 described below, the method includes: judging whether the user is in a sitting posture state according to the foot pressure and the knee joint bending angle; if the user is in the sitting position, the current foot pressure and the current knee bending angle are obtained. The step S203 includes: and judging whether the user is in a starting standing state or not according to the current foot pressure and the current knee joint bending angle.
Here, the step of determining whether the user is in a sitting posture state based on the foot pressure and the knee joint bending angle includes: and if the proportion of the foot pressure to the weight of the user is in a second preset proportion range, and the knee joint bending angle is in a second preset angle range, judging that the user is in a sitting posture state.
Further, the second preset angle range is 65 ° to 120 °; the value of the second preset proportional range is calculated by the following formula:
Q＝1/4G±1/4G*10％
wherein Q represents the value of the second preset ratio range, and G represents the weight of the user.
In this embodiment, if the ratio of the foot pressure to the weight of the user is within a first predetermined ratio range, and the knee joint bending angle is within a first predetermined angle range, it is determined that the user is in a start standing posture state.
In some embodiments, the first preset angle range is 135 ° to 180 °; the value of the first preset proportional range is calculated by the following formula:
W＝1/2G±1/2G*20％
wherein W represents the value of the first preset ratio range and G represents the weight of the user.
In actual operation, after the step S202, and simultaneously with the step S203, the method further includes: first, it is determined whether the user is in a standing position based on the foot pressure and the knee joint bending angle. Then, if the user is in the standing state, a rehabilitation training prompt signal is generated.
Step S204: and outputting a control signal corresponding to the foot pressure and the knee bending angle according to the foot pressure and the knee bending angle if the user is in the start-up standing state.
Step S205: and controlling the steering engine to drive the hydraulic damper to output resistance matched with the foot pressure and the knee joint bending angle according to the control signal so as to perform rehabilitation training.
After the step S205, the method further includes: the user is helped to perform rehabilitation gait training through a preset rehabilitation training gait algorithm.
The embodiment of the invention provides a control method of lower limb rehabilitation equipment, which is applied to a controller; the controller is connected with a steering engine and a hydraulic damper in the lower limb rehabilitation equipment; the method comprises the following steps: acquiring the physical state parameters of the user; acquiring foot pressure and knee joint bending angle of a user; judging whether the user is in a starting standing state according to the physical state parameters, the foot pressure and the knee joint bending angle; the starting standing posture state is used for indicating the state that the user starts to change from the sitting posture to the standing posture; outputting a control signal matching the foot pressure and the knee bending angle according to the foot pressure and the knee bending angle if the user is in the start standing state; and controlling the steering engine to drive the hydraulic damper to output resistance matched with the foot pressure and the knee joint bending angle according to the control signal so as to perform rehabilitation training. According to the technology, whether the user is converted from a sitting posture to a standing posture is judged through physical state parameters of the user, so that the safety of the user in the lifting process is further ensured according to the resistance matched with the output of the hydraulic damper in the lower limb rehabilitation equipment controlled by the foot pressure and the knee joint bending angle.
Example 3
Fig. 3 is a schematic structural diagram of a control device of a lower limb rehabilitation device according to an embodiment of the present invention. The method is applied to a controller; the controller is connected with the steering engine and the hydraulic damper in the lower limb rehabilitation equipment. As seen in fig. 1, the apparatus comprises:
a data acquisition module 31 for acquiring a foot pressure and a knee joint bending angle of a user;
a posture determining module 32 for determining whether the user is in a start standing posture state based on the foot pressure and the knee joint bending angle; the starting standing posture state is used for indicating the state that the user starts to change from the sitting posture to the standing posture;
a control signal output module 33 for outputting a control signal matching the foot pressure and the knee bending angle according to the foot pressure and the knee bending angle if the user is in the start standing state;
and the resistance determining module 34 is used for controlling the steering engine to drive the hydraulic damper to output resistance matched with the foot pressure and the knee joint bending angle according to the control signals so as to perform rehabilitation training.
Wherein the data acquisition module 31, the posture determination module 32, the control signal output module 33, and the resistance determination module 34.
In one embodiment, the data acquisition module 31 is further configured to acquire the physical state parameter of the user; the posture determining module 32 is further configured to determine whether the user is in a start-up posture state according to the physical state parameter, the foot pressure, and the knee bending angle.
In one embodiment, the physical state parameters include: height, weight, leg length, sole length, affected side leg in the direction of the body and affected side muscle strength level of the user; the posture determining module 32 is further configured to determine that the user is in the start-up posture state if the ratio of the foot pressure to the weight of the user is within a first predetermined ratio range and the knee joint bending angle is within a first predetermined angle range.
In one embodiment, the posture determining module 32 is further configured to determine whether the user is in a standing posture state according to the foot pressure and the knee bending angle; and if the user is in the standing state, generating a rehabilitation training prompt signal.
In one embodiment, the posture determining module 32 is further configured to determine whether the user is sitting according to the foot pressure and the knee bending angle; if the user is in the sitting posture state, acquiring the current foot pressure and the current knee joint bending angle; and judging whether the user is in a starting standing state or not according to the current foot pressure and the current knee joint bending angle.
In one embodiment, the posture determining module 32 is further configured to determine that the user is sitting if the ratio of the foot pressure to the weight of the user is within a second predetermined ratio range, and the knee bending angle is within a second predetermined angle range.
The control device of the lower limb rehabilitation equipment provided by the embodiment of the invention has the same technical characteristics as the control method of the lower limb rehabilitation equipment provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved. It will be clear to those skilled in the art that, for convenience and brevity of description, reference may be made to the corresponding process in the foregoing method embodiment for the specific working process of the apparatus described above, which is not described herein again.
Example 4
The embodiment provides an electronic device, which comprises a processor and a memory, wherein the memory stores computer executable instructions capable of being executed by the processor, and the processor executes the computer executable instructions to realize the steps of a control method of the lower limb rehabilitation device.
The present embodiment provides a computer-readable storage medium in which a computer program is stored, which when executed by a processor, implements the steps of a control method of a lower limb rehabilitation device.
Referring to fig. 4, a schematic structural diagram of an electronic device includes: a memory 41 and a processor 42, wherein the memory 41 stores a computer program which can be run on the processor 42, and the processor realizes the steps provided by the control method of the lower limb rehabilitation device when executing the computer program.
As shown in fig. 4, the apparatus further includes: a bus 43 and a communication interface 44, the processor 42, the communication interface 44 and the memory 41 being connected by the bus 43; the processor 42 is arranged to execute executable modules, such as computer programs, stored in the memory 41.
The memory 41 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and at least one other network element is implemented via at least one communication interface 44 (which may be wired or wireless), which may use the internet, a wide area network, a local network, a metropolitan area network, etc.
The bus 43 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 4, but not only one bus or type of bus.
The memory 41 is configured to store a program, and the processor 42 executes the program after receiving an execution instruction, and any of the embodiments of the present invention described above discloses that the method executed by the control device of the lower limb rehabilitation apparatus may be applied to the processor 42 or implemented by the processor 42. The processor 42 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in the processor 42. The processor 42 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a digital signal processor (Digital Signal Processing, DSP for short), application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA for short), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory 41 and a processor 42 reads information in the memory 41 and in combination with its hardware performs the steps of the method described above.
Further, embodiments of the present invention provide a machine-readable storage medium storing machine-executable instructions that, when invoked and executed by the processor 42, cause the processor 42 to implement the method of controlling a lower limb rehabilitation device described above.
The electronic equipment and the computer readable storage medium provided by the embodiment of the invention have the same technical characteristics, so that the same technical problems can be solved, and the same technical effects can be achieved.
In addition, in the description of embodiments of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Claims (10)
1. The control method of the lower limb rehabilitation equipment is characterized by being applied to a controller; the controller is connected with a steering engine and a hydraulic damper in the lower limb rehabilitation equipment; the method comprises the following steps:
acquiring foot pressure and knee joint bending angle of a user;
judging whether the user is in a starting standing state according to the foot pressure and the knee joint bending angle; the starting standing posture state is used for indicating the state that the user starts to change from the sitting posture to the standing posture;
outputting a control signal matching the foot pressure and the knee bending angle according to the foot pressure and the knee bending angle if the user is in the start standing state;
and controlling the steering engine to drive the hydraulic damper to output resistance matched with the foot pressure and the knee joint bending angle according to the control signal so as to perform rehabilitation training.
2. The method of controlling a lower limb rehabilitation apparatus according to claim 1, wherein prior to the step of acquiring the foot pressure of the user, the method further comprises:
acquiring physical state parameters of the user;
judging whether the user is in a start standing state according to the foot pressure and the knee joint bending angle, wherein the step comprises the following steps of:
judging whether the user is in a starting standing state according to the physical state parameters, the foot pressure and the knee joint bending angle.
3. The method for controlling a lower limb rehabilitation apparatus according to claim 2, wherein the physical state parameters include: height, weight, leg length, sole length, affected side leg in the direction of the user's body and affected side muscle strength level.
4. The method according to claim 1, wherein the step of determining whether the user is in a start-up stance state based on the foot pressure and the knee bending angle comprises:
and if the proportion of the foot pressure to the weight of the user is in a first preset proportion range, and the knee joint bending angle is in a first preset angle range, judging that the user is in a starting standing state.
5. The method of controlling a lower limb rehabilitation apparatus according to claim 4, wherein the first preset angle range is 135 ° to 180 °; the value of the first preset proportional range is calculated by the following formula:
W＝1/2G±1/2G*20％
wherein W represents the value of the first preset ratio range and G represents the weight of the user.
6. The method of controlling a lower limb rehabilitation apparatus according to claim 1, wherein after the step of acquiring the foot pressure and the knee bending angle of the user, the method further comprises:
judging whether the user is in a standing state according to the foot pressure and the knee joint bending angle;
and if the user is in the standing state, generating a rehabilitation training prompt signal.
7. The method according to claim 1, wherein before the step of determining whether the user is in a start-up stance state based on the foot pressure and the knee bending angle, the method comprises:
judging whether the user is in a sitting posture state according to the foot pressure and the knee joint bending angle;
if the user is in the sitting position state, acquiring the current foot pressure and the current knee joint bending angle;
judging whether the user is in a start standing state according to the foot pressure and the knee joint bending angle, wherein the step comprises the following steps of:
and judging whether the user is in a starting standing state according to the current foot pressure and the current knee joint bending angle.
8. The method of controlling a lower limb rehabilitation apparatus according to claim 7, wherein the step of determining whether the user is in a sitting posture state according to the foot pressure and the knee joint bending angle comprises:
and if the proportion of the foot pressure to the weight of the user is in a second preset proportion range, and the knee joint bending angle is in a second preset angle range, judging that the user is in a sitting posture state.
9. The control method of a lower limb rehabilitation apparatus according to claim 8, wherein the second preset angle range is 65 ° to 120 °; the value of the second preset proportional range is calculated by the following formula:
Q＝1/4G±1/4G*10％
wherein Q represents the value of the second preset ratio range and G represents the weight of the user.
10. A control device of lower limb rehabilitation equipment, which is characterized by being applied to a controller; the controller is connected with the middle rudder unit and the hydraulic damper of the lower limb rehabilitation equipment; the device comprises:
the data acquisition module is used for acquiring foot pressure and knee joint bending angle of a user;
the gesture determining module is used for judging whether the user is in a starting standing gesture state according to the foot pressure and the knee joint bending angle; the starting standing posture state is used for indicating the state that the user starts to change from the sitting posture to the standing posture;
a control signal output module for outputting a control signal matching the foot pressure and the knee bending angle according to the foot pressure and the knee bending angle if the user is in the start standing state;
and the resistance determining module is used for controlling the steering engine to drive the hydraulic damper to output resistance matched with the foot pressure and the knee joint bending angle according to the control signal so as to perform rehabilitation training.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117357315A (en) * | 2023-12-07 | 2024-01-09 | 浙江强脑科技有限公司 | Resistance adjustment method and device for knee joint, intelligent artificial limb, terminal and medium |
| CN117357314A (en) * | 2023-12-08 | 2024-01-09 | 浙江强脑科技有限公司 | Seating control method, apparatus, intelligent leg prosthesis, terminal and storage medium |
| CN117357313A (en) * | 2023-12-08 | 2024-01-09 | 浙江强脑科技有限公司 | Resistance control method and device based on intention switching, artificial limb, terminal and medium |
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2023
- 2023-02-10 CN CN202310147907.XA patent/CN116211647A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117357315A (en) * | 2023-12-07 | 2024-01-09 | 浙江强脑科技有限公司 | Resistance adjustment method and device for knee joint, intelligent artificial limb, terminal and medium |
| CN117357315B (en) * | 2023-12-07 | 2024-04-09 | 浙江强脑科技有限公司 | Resistance adjustment method and device for knee joint, intelligent artificial limb, terminal and medium |
| CN117357314A (en) * | 2023-12-08 | 2024-01-09 | 浙江强脑科技有限公司 | Seating control method, apparatus, intelligent leg prosthesis, terminal and storage medium |
| CN117357313A (en) * | 2023-12-08 | 2024-01-09 | 浙江强脑科技有限公司 | Resistance control method and device based on intention switching, artificial limb, terminal and medium |
| CN117357314B (en) * | 2023-12-08 | 2024-04-05 | 浙江强脑科技有限公司 | Seating control method, apparatus, intelligent leg prosthesis, terminal and storage medium |
| CN117357313B (en) * | 2023-12-08 | 2024-04-09 | 浙江强脑科技有限公司 | Resistance control method and device based on intention switching, artificial limb, terminal and medium |
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