CN116965820A - Muscle tension assessment device and assessment method thereof - Google Patents
Muscle tension assessment device and assessment method thereof Download PDFInfo
- Publication number
- CN116965820A CN116965820A CN202210432622.6A CN202210432622A CN116965820A CN 116965820 A CN116965820 A CN 116965820A CN 202210432622 A CN202210432622 A CN 202210432622A CN 116965820 A CN116965820 A CN 116965820A
- Authority
- CN
- China
- Prior art keywords
- force
- pedal
- deviation
- time interval
- threshold
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 206010049816 Muscle tightness Diseases 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 15
- 210000003205 muscle Anatomy 0.000 claims abstract description 56
- 244000309466 calf Species 0.000 claims description 9
- 230000035945 sensitivity Effects 0.000 claims description 7
- 238000011156 evaluation Methods 0.000 claims description 2
- 230000005021 gait Effects 0.000 description 12
- 210000003414 extremity Anatomy 0.000 description 7
- 210000002683 foot Anatomy 0.000 description 5
- 210000003141 lower extremity Anatomy 0.000 description 5
- 210000003423 ankle Anatomy 0.000 description 3
- 208000008238 Muscle Spasticity Diseases 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 208000018198 spasticity Diseases 0.000 description 2
- 208000016285 Movement disease Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 206010002026 amyotrophic lateral sclerosis Diseases 0.000 description 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 208000029028 brain injury Diseases 0.000 description 1
- 206010008129 cerebral palsy Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003108 foot joint Anatomy 0.000 description 1
- 201000006417 multiple sclerosis Diseases 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- DZGWFCGJZKJUFP-UHFFFAOYSA-N tyramine Chemical compound NCCC1=CC=C(O)C=C1 DZGWFCGJZKJUFP-UHFFFAOYSA-N 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
- 230000021542 voluntary musculoskeletal movement Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/224—Measuring muscular strength
-
- 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
- A61H1/0266—Foot
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2205/12—Feet
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Physical Education & Sports Medicine (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Engineering & Computer Science (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Rehabilitation Tools (AREA)
Abstract
The device comprises a pedal, a front force sensor arranged at the front end of the pedal, a rear force sensor arranged at the rear end of the pedal and a judging unit connected with the front force sensor and the rear force sensor, wherein the judging unit obtains a front force standard deviation, a rear force standard deviation, a front force deviation degree and a rear force deviation degree according to sensing results, and obtains a first threshold value and a second threshold value according to the front force standard deviation and the rear force standard deviation, wherein the front force standard deviation and the rear force standard deviation are respectively the standard deviation of front force signals and rear force signals in a first time interval, the front force deviation degree and the rear force deviation degree respectively represent the deviation degree of the front force signal and the rear force signal in a second time interval relative to the first time interval, and the current force deviation degree is larger than the first threshold value and the rear force deviation degree is larger than the second threshold value, so that a high tension state occurs to muscles. In addition, the invention also provides a muscle tension assessment method.
Description
Technical Field
The invention relates to a muscle tension assessment technology, in particular to a muscle tension assessment device and an assessment method thereof.
Background
Spasticity (spasticity) is a phenomenon of muscular movement disorder that is usually caused by brain or spinal cord injury that controls voluntary movement, such as cerebral palsy, multiple sclerosis, stroke, or amyotrophic lateral sclerosis, etc., which results in a change in the balance of signals between the nervous system and the muscles, resulting in an increase in muscle tone. If the muscle tension is too high, the movement angle of the joint may be limited, so that a good rehabilitation effect cannot be achieved. Therefore, before a patient uses a lower limb training machine to perform rehabilitation, a physical therapist usually massages the affected limb in a freehand manner to reduce the muscle tension of the affected limb, but the above manner is completely dependent on experience and subjective feeling of the physical therapist, so that it is difficult to accurately evaluate whether the patient is suitable for performing rehabilitation and the degree of rehabilitation that can be performed.
The ankle rehabilitation device disclosed in the TW M311442 fixes the foot with the rotation plate on the one hand and fixes the thigh and the calf with the first support and the second support, respectively, and senses the torsion force value born by the transmission shaft through the torsion force sensor provided between the rotation plate and the actuator to evaluate whether the maximum movable range of the foot joint and the muscle tension are excessively high. However, the ankle rehabilitation device must keep the patient in a sitting position when in use, and the patient needs to be transferred when the rehabilitation training is performed by using the lower limb training machine, which is inconvenient in use and consumes rehabilitation time.
The limb training device disclosed in CN 102614066B patent detects a current change of the motor driving part using a controller, then estimates a tension change of the limb according to the detected current change, and simultaneously adjusts a movement speed and a movement range. However, the distances from the ankle to the sole of the foot are not the same for different patients, so that the current variation detected by the control part may face a problem of insufficient accuracy. In addition, the patient can only keep sitting posture or lying posture when the patient limb training device is used, and the patient needs to be transferred when the lower limb training machine is to be used for rehabilitation training, so that the patient limb training device is inconvenient to use and can consume rehabilitation time.
Disclosure of Invention
The main object of the present invention is to provide a muscle tone assessment device which can accurately assess whether the patient's muscles are in a high tone state and which can perform subsequent gait training without transferring the patient.
In order to achieve the above-mentioned main object, the muscle tension assessment device of the present invention comprises a calf support unit, an actuating unit, a sensing unit, and a judging unit. The shank support unit is used for supporting a shank, and is provided with a pedal, wherein the pedal is provided with a stepping area, and the stepping area is used for bearing a sole; the actuating unit drives the pedal to rotate; the sensing unit is provided with at least one front force sensor and at least one rear force sensor, wherein the at least one front force sensor is embedded in the pedal and positioned in front of the pedal area and is used for sensing front pedal force to correspondingly send a front force signal, and the at least one rear force sensor is embedded in the pedal and positioned behind the pedal area and is used for sensing rear pedal force to correspondingly send a rear force signal; the judging unit is electrically connected with the sensing unit, and is used for respectively calculating a front force standard deviation and a rear force standard deviation according to a plurality of force values of the front force signal and the rear force signal in a first time interval before the actuating unit drives the pedal, respectively calculating a first threshold value and a second threshold value according to the front force standard deviation and the rear force standard deviation, and calculating a front force deviation degree and a rear force deviation degree of the front force signal and the rear force signal in each second time interval relative to the first time interval after the actuating unit drives the pedal, wherein the second time interval is smaller than the first time interval, and the front force deviation degree is larger than the first threshold value and the rear force deviation degree is larger than the second threshold value, so that the muscle of the calf is in a high tension state.
As can be seen from the above, the muscle tension assessment device of the present invention uses whether the deviation of the front force is greater than the first threshold and whether the deviation of the rear force is greater than the second threshold to assess whether the muscle has a high tension state, and the device can immediately enter gait training after releasing the high tension state, without transferring the patient and without consuming additional manpower to relieve the muscle tension of the patient.
Optionally, when the judging unit judges that the front force signal is greater than the rear force signal and the front force deviation is greater than the first threshold and the rear force deviation is greater than the second threshold, the high tension state of the muscle of the lower leg occurs when the sole performs dorsiflexion, and when the judging unit judges that the front force signal is less than the rear force signal and the front force deviation is greater than the first threshold and the rear force deviation is greater than the second threshold, the high tension state of the muscle of the lower leg occurs when the sole performs plantarflexion.
Alternatively, the front force standard deviation is defined as delta front ， The post force standard deviation is defined as delta back ，/>N is the number of data acquired in the first time interval, f fi Mu, which is the power value of the ith data of the front power signal in the first time interval f For N f fi Average value of f bi Mu, which is the power value of the ith data of the back power signal in the first time interval b For N f bi The degree of deviation of the front force is defined as delta tf ，/>The degree of deviation of the rear force is defined as delta tb ，/>N t For the amount of data acquired during the second time interval f tfi For the power value, f, of the ith data of the front power signal in the second time interval tbi The power value of the ith data of the rear power signal in the second time interval is obtained.
Alternatively, the first threshold is defined as delta f ，δ f ＝2*δ front *δ factor The second threshold is defined as delta b ，δ b ＝2*δ back *δ factor ，δ factor Is sensitive toDegree, when delta factor When=1, the first threshold is 2 times the standard deviation of the front force, and the second threshold is 2 times the standard deviation of the rear force. In other words, if the sensitivity is less than 1, the first threshold and the second threshold become smaller, which means that it is easier to determine that the high tension state occurs in the muscle, and if the sensitivity is greater than 1, the first threshold and the second threshold become larger, which means that it is less easy to determine that the high tension state occurs in the muscle.
Optionally, the lower leg supporting unit further comprises an upper supporting member and a lower supporting member, the top end of the lower supporting member is pivoted to the bottom end of the upper supporting member, the pedal is fixedly arranged at the bottom end of the lower supporting member, the actuating unit comprises a cylinder and a piston rod, the top end of the cylinder is pivoted to the upper supporting member, the piston rod is linearly displaceably arranged on the cylinder and is pivoted to the pedal at the bottom end thereof, and the pivoting angle of the lower supporting member is defined as θ 1 ，θ 1 ＝180°-θ t -θ 2 -θ 3 ，θ t Is L 1 And L is equal to 2 The included angle formed between the two layers is that,L 1 l is the linear distance between the pivot axis of the lower support and the pivot axis of the cylinder 2 L is the linear distance between the pivot axis of the lower support and the pivot axis of the piston rod 3 Is the linear distance between the pivot axis of the cylinder body and the pivot axis of the piston rod, theta 2 Is A 2 And L is equal to 2 An included angle A formed between 2 θ is perpendicular to the axis of the pedal through the pivot axis of the lower support 3 Is A 1 And L is equal to 1 An included angle A formed between 1 Is an axis passing through the fixed axis of the upper support and the pivot axis of the lower support. Through the technical characteristics, after the muscles of the lower leg are released from the high tension state, the sole is driven to a target angle in a mode of increasing a specific angle each time according to the pivoting angle.
Optionally, the sensing unit has two front force sensors and two rear force sensors, and the front force sensors and the rear force sensors are located at four corners of the stepping area.
Another object of the present invention is to provide a method for evaluating the muscle tone of the aforementioned device, comprising the steps of: a) Before the actuating unit drives the pedal, the judging unit respectively calculates a front force standard deviation and a rear force standard deviation according to a plurality of force values of the front force signal and the rear force signal in a first time interval, and respectively calculates a first threshold value and a second threshold value according to the front force standard deviation and the rear force standard deviation; b) The actuating unit drives the pedal to drive the sole to move within a target angle; and c) during the sole movement, the judging unit calculates a front force deviation degree and a rear force deviation degree of the front force signal and the rear force signal relative to the first time interval in each second time interval, wherein the second time interval is a part of the first time interval, when the front force deviation degree is greater than the first threshold value and the rear force deviation degree is greater than the second threshold value, the high tension state of the muscle of the lower leg is indicated, and the actuating unit stops driving the pedal.
Optionally, in step c), when the determining unit determines that the front force signal is greater than the rear force signal and the front force deviation is greater than the first threshold and the rear force deviation is greater than the second threshold, the actuating unit stops driving the pedal when the muscles of the lower leg perform dorsiflexion, and when the determining unit determines that the front force signal is less than the rear force signal and the front force deviation is greater than the first threshold and the rear force deviation is greater than the second threshold, the actuating unit stops driving the pedal when the muscles of the lower leg perform plantar flexion.
Optionally, when the pedal stops acting to the muscle of the lower leg to release the high tension state, the actuation unit continues to drive the pedal, so that the pedal drives the sole to the target angle.
Optionally, after the pedal is stopped, the pivot angle of the lower support is calculated, and when the muscle of the lower leg releases the high tension state, the sole is driven to the target angle by increasing a fixed angle each time according to the pivot angle of the lower support.
The detailed construction, features, assembly or use of the muscle tone assessment device and method provided by the present invention will be described in the detailed description of the embodiments that follow. However, those skilled in the art will appreciate that the detailed description and specific examples, while indicating the invention, are given by way of illustration only and are not intended to limit the scope of the invention as defined in the appended claims.
Drawings
FIG. 1 is a perspective view of a muscle tone assessment device of the present invention in use with a gait training machine;
FIG. 2 is a perspective view of the muscle tone assessment device of the present invention;
FIG. 3 is a side view of the muscle tone assessment device of the present invention;
FIG. 4 is a top view of a pedal provided by the muscle tone-assessment device of the present invention;
FIG. 5 is similar to FIG. 3 and mainly shows dorsiflexion of the sole;
FIG. 6 is a graph showing a judging unit provided by the muscle tone assessment apparatus of the present invention, mainly showing a high tension state occurring when the sole performs dorsiflexion;
FIG. 7 is similar to FIG. 5 and mainly shows the plantar flexion of the sole;
FIG. 8 is like FIG. 6 and mainly shows a high tension state occurring when the sole performs plantarflexion;
FIG. 9 is a flow chart of a muscle tone assessment method of the present invention;
fig. 10 is another flowchart of the muscle tone assessment method of the present invention.
[ reference numerals description ]
10: a muscle tone assessment device;
12: a gait training machine;
14: a lower leg;
16: sole of foot;
20: a lower leg supporting unit;
22: an upper support;
p1: a first shaft member;
24: a lower support;
p2: a second shaft member;
26: a pedal;
28: a pedal area;
30: an actuation unit;
32: a cylinder;
34: a piston rod;
p3: a third shaft member;
p4: a fourth shaft member;
40: a sensing unit;
41: a front force sensor;
42: a front force sensor;
43: a rear force sensor;
44: a rear force sensor;
s1: a rear force signal;
s2: a rear force signal;
s3: a front force signal;
s4: a front force signal;
50: a judging unit;
θ 1 : the pivoting angle of the lower support;
θ 2 ：A 2 and L is equal to 2 An included angle is formed between the two;
θ 3 ：A 1 and L is equal to 1 An included angle is formed between the two;
θ t ：L 1 and L is equal to 2 An included angle is formed between the two;
L 1 : the linear distance between the pivot axis of the lower support and the pivot axis of the cylinder;
L 2 : the linear distance between the pivot axis of the lower support and the pivot axis of the piston rod;
L 3 : between the pivot axle center of the cylinder body and the pivot axle center of the piston rodIs a straight line distance of (2);
A 1 : an axis passing through the fixed axis of the upper support and the pivoting axis of the lower support; and
A 2 : through the pivot axis of the lower support and perpendicular to the axis of the pedal.
Detailed Description
Applicant hereby gives notice that throughout this specification, including the examples presented below and claims, directional terms are used to describe the orientation of the subject matter depicted in the drawings. Next, in the embodiments and example drawings to be described below, the same reference numerals denote the same or similar components or structural features thereof.
As shown in fig. 1, the muscle tone assessment device 10 of the present invention is mainly used in conjunction with a gait training machine 12, so that a patient can firstly relieve the muscle tone of the lower limb by the muscle tone assessment device 10 of the present invention before using the gait training machine 12 to perform gait training, so as to reduce the risk of injury in training, and the structural details and the operating principle of the gait training machine 12 are not repeated herein because the gait training machine 12 is not the main point of the present invention.
As shown in fig. 2, 4 and 6, the muscle tone assessment apparatus 10 of the present invention includes a calf support unit 20, an actuation unit 30, a sensing unit 40, and a determination unit 50.
As shown in fig. 2 and 3, the calf support unit 20 has an upper support 22, a lower support 24, and a pedal 26. The upper support 22 is secured to the gait training machine 12 with a first shaft P1; the top end of the lower support 24 is pivoted to the bottom end of the upper support 22 by a second shaft P2, and the upper support 22 and the lower support 24 are used together to support the lower leg 14 (as shown in fig. 5 and 7); the pedal 26 is fixed to the bottom end of the lower support 24, and the pedal 26 has a tread area 28 for supporting the sole 16 (shown in fig. 5 and 7).
The actuating unit 30 of the present embodiment is a linear actuator (but not limited to this), and has a cylinder 32 and a piston rod 34, wherein the top end of the cylinder 32 is pivoted to the upper support 22 by a third shaft P3, the piston rod 34 is linearly movably disposed on the cylinder 32, and the bottom end of the piston rod 34 is pivoted to the pedal 26 by a fourth shaft P4.
As shown in fig. 4, the sensing unit 40 has two front force sensors 41, 42 (actually, only at least one) and two rear force sensors 43, 44 (actually, only at least one). The front force sensors 41, 42 are embedded in the pedal 26 and located at the left and right corners in front of the pedal area 28, and are used for sensing the front pedal force and correspondingly transmitting two front force signals S4, S3 (as shown in fig. 6 and 8); the rear force sensors 43, 44 are embedded in the pedal 26 and located at the left and right corners of the rear of the pedal area 28 for sensing the rear pedal force and transmitting two rear force signals S1, S2 (as shown in fig. 6 and 8).
The determining unit 50 is electrically connected to the sensing unit 40, and the determining unit 50 calculates a front force standard deviation and a rear force standard deviation according to the front force signals S4 and S3 and the rear force signals S1 and S2 respectively in a first time interval before the actuating unit 30 drives the pedal 26, and the determining unit 50 calculates a front force deviation and a rear force deviation of the front force signals S4 and S3 and the rear force signals S1 and S2 respectively in each second time interval relative to the first time interval after the actuating unit 30 drives the pedal 26, wherein the second time interval is smaller than the first time interval, and the front force standard deviation is defined as delta front ，Post force standard deviation is defined as delta back ，/>N is the number of data acquired in the first time interval, f fi The power value, μ, of the ith data of the previous power signals S3, S4 in the first time interval f For N f fi Average value of f bi The power value, μ, of the ith data of the back power signals S1, S2 in the first time interval b For N f bi The front force bias is defined as delta tf ，/>The degree of deviation of the rear force is defined as delta tb ，N t For the amount of data acquired in the second time interval, f tfi The power value f of the ith data of the previous power signals S3, S4 in the second time interval tbi Is the power value of the ith data of the back power signals S1, S2 in the second time interval.
When the patient stands on the gait training machine 12 and the lower leg support unit 20 supports the lower leg 14 and the sole 16, and before the actuation unit 30 drives the pedal 26, for example, taking fig. 6 and 8 as an example, the determination unit 50 calculates the standard deviation of the front force and the standard deviation of the rear force in the first time interval, and after the actuation unit 30 starts to drive the pedal 26 (i.e. starts to drive the foot of the patient), for example, the actuation unit 30 starts to drive the foot of the patient, the determination unit 50 calculates the deviation of the front force and the deviation of the rear force in each second time interval, where the second time interval is set to 1 second, which means that the determination unit 50 calculates a set of the deviation of the front force and the deviation of the rear force every 1 second, and the first time interval and the second time interval can be adjusted according to the actual needs, not limited to the time interval shown in fig. 6 and 8. It should be noted that, the marks shown in fig. 6 and 8 are the number of data collected during the determining process, and for convenience of display, in this embodiment, one mark is marked for every 10 data, and in fact, the number of data collected is far greater than the mark displayed on the drawing.
The judging unit 50 further calculates a first threshold and a second threshold according to the front force standard deviation and the rear force standard deviation, respectively, and when the judging unit 50 judges that the front force deviation is greater than the first threshold and the rear force deviation is greater than the second threshold, the muscle of the lower leg 14 is in a high tension state. In the present embodiment, the first threshold is defined as δ f ，δ f ＝2*δ front *δ factor Second, secondThe threshold is defined as delta b ，δ b ＝2*δ back *δ factor ，δ factor For sensitivity, when delta factor When =1, the first threshold is 2 times of the standard deviation of the front force, and the second threshold is 2 times of the standard deviation of the rear force, however, in practice, the sensitivity may be adjusted according to the actual requirement, if the sensitivity is less than 1, the first threshold and the second threshold may be reduced, which means that the high tension state of the muscle is easier to be determined, whereas if the sensitivity is greater than 1, the first threshold and the second threshold may be increased, which means that the high tension state of the muscle is less easy to be determined.
When the judging unit 50 judges that the front force signals S3, S4 are greater than the rear force signals S1, S2 and the front force deviation is greater than the first threshold and the rear force deviation is greater than the second threshold, as shown in fig. 5 and 6, the front force signals S3, S4 are shown to be rapidly rising in the 10 th to 11 th second interval, the rear force signals S1, S2 are shown to be rapidly falling in the 10 th to 11 th second interval, meaning that the force values of the front force signals S3, S4 and the rear force signals S1, S2 in the 10 th to 11 th second deviate a lot from the force values in the 0 th to 5 th second (i.e. the first time interval), indicating that the muscles of the lower leg 14 are in a high tension state when the sole 16 performs dorsiflexion; when the judging unit 50 judges that the front force signals S3, S4 are smaller than the rear force signals S1, S2 and the front force deviation is greater than the first threshold and the rear force deviation is greater than the second threshold, as shown in fig. 7 and 8, the rear force signals S1, S2 are shown to be rapidly rising in the 10 th to 11 th second interval, the front force signals S3, S4 are shown to be rapidly falling in the 10 th to 11 th second interval, which means that the force values of the front force signals S3, S4 and the rear force signals S1, S2 in the 10 th to 11 th second deviate much from the force values in the 0 th to 5 th second (i.e. the first time interval), which means that the muscles of the lower leg 14 are in a high tension state when the sole 16 performs plantarflexion.
The above is the structural feature of the muscle tone assessment device 10 of the present invention, and the muscle tone assessment method of the present invention is further described below, as shown in fig. 9 and 10, which includes the following steps:
a) Before the actuation unit 30 drives the pedal 26, the determining unit 50 calculates a front force standard deviation and a rear force standard deviation according to the front force signals S3 and S4 and the rear force signals S1 and S2, respectively, and calculates a first threshold and a second threshold according to the front force standard deviation and the rear force standard deviation, respectively.
b) The actuating unit 30 drives the pedal 26 with the piston rod 34, so that the pedal 26 drives the sole 16 to perform plantarflexion or dorsiflexion within a set target angle. It should be noted that, the patient may choose to perform the dorsiflexion movement after the plantar flexion movement, or may choose to perform the dorsiflexion movement after the plantar flexion movement, which are not in a certain sequence.
c) During the sole movement, the determining unit 50 calculates a front force deviation and a rear force deviation of the front force signals S3 and S4 and the rear force signals S1 and S2 respectively in each second time interval relative to the first time interval, wherein the second time interval is smaller than the first time interval, no matter dorsiflexion or plantarflexion movement is performed first, when the determining unit 50 determines that the front force signals S3 and S4 are larger than the rear force signals S1 and S2 and the front force deviation is larger than the first threshold and the rear force deviation is larger than the second threshold during the dorsiflexion movement of the sole 16, the actuating unit 30 immediately stops driving the pedal 26; on the other hand, when the judging unit 50 judges that the front force signals S3, S4 are smaller than the rear force signals S1, S2 and the front force deviation is greater than the first threshold and the rear force deviation is greater than the second threshold, the actuating unit 30 immediately stops driving the pedal 26 when the muscles of the lower leg 14 are in a high tension state during plantar flexion movement of the sole 16.
d) After the pedal 26 is deactivated, the current pivoting angle of the lower support 24 is further calculated, and as shown in fig. 5 and 7, the pivoting angle of the lower support 24 (i.e., the angle of the ankle joint) is defined as θ 1 ，θ 1 ＝180°-θ t -θ 2 -θ 3 ，θ t Is L 1 And L is equal to 2 The included angle formed between them according toCosine law, when L 1 、L 2 、L 3 At a known length θ t It can be calculated that the number of the nodes,L 1 is the linear distance L between the pivot axis of the lower support 24 (i.e. the second shaft P2) and the pivot axis of the cylinder 32 (i.e. the third shaft P3) 2 Is the linear distance L between the pivot axis of the lower support member 24 (i.e., the second shaft member P2) and the pivot axis of the piston rod 34 (i.e., the fourth shaft member P4) 3 Is the linear distance θ between the pivot axis of the cylinder 32 (i.e., the third shaft P3) and the pivot axis of the piston rod 34 (i.e., the fourth shaft P4) 2 Is A 2 And L is equal to 2 An included angle A formed between 2 θ is perpendicular to the axis of the pedal 26 through the pivot axis of the lower support 24 (i.e., the second shaft P2) 3 Is A 1 And L is equal to 1 An included angle A formed between 1 Is an axis passing through the fixed axis (i.e., the first shaft P1) of the upper support 22 and the pivot axis (i.e., the second shaft P2) of the lower support 24.
At the time of obtaining the angle theta 1 After that, waiting for a certain period of time (about 30 seconds) from the judging unit 50 to confirm whether the muscles of the lower leg 14 are in a state of high tension, if the state of high tension is not released, indicating that the affected limb is abnormal, the operation must be paused first, and the patient is transferred to a suitable place to confirm the physical condition; conversely, if the high tension state is released, the pivoting angle θ of the lower support 24 is determined 1 The sole 16 is driven to the target angle by increasing the fixed angle each time (1 degree in the present embodiment, but not limited to 1 degree in practice), and then the sole 16 is repeatedly subjected to plantarflexion and dorsiflexion according to the above steps until it is confirmed that the sole 16 does not have the high tension state of the muscles of the lower leg 14 during the plantarflexion and dorsiflexion in the target angle, so that the sole 16 can be actuated back and forth in the target angle to complete the relaxation of the muscle tension.
In summary, the muscle tension evaluation device 10 of the embodiment of the invention evaluates whether the muscle of the lower leg 14 is in a high tension state by using whether the deviation of the front force is greater than the first threshold value and whether the deviation of the rear force is greater than the second threshold value, and stops the operation once the high tension state occurs, so as to reduce the risk of injury. The subsequent gait training can be immediately performed after the tension relief exercise is completed, the patient does not need to be transferred, and the tension relief is performed on the lower limb muscles of the patient without consuming extra manpower, so that the training efficiency is improved.
Claims (10)
1. A muscle tone assessment device, comprising:
the shank support unit is used for supporting a shank and is provided with a pedal, wherein the pedal is provided with a stepping area which is used for bearing a sole;
an actuating unit for driving the pedal to rotate;
a sensing unit having at least one front force sensor and at least one rear force sensor; the at least one front force sensor is embedded in the pedal and positioned in front of the pedal area and is used for sensing a front pedal force and correspondingly transmitting a front force signal; the at least one rear force sensor is embedded in the pedal and positioned at the rear of the pedal area and is used for sensing a rear pedal force and correspondingly transmitting a rear force signal; and
the judging unit is electrically connected with the sensing unit, and is used for respectively calculating a front force standard deviation and a rear force standard deviation according to a plurality of force values of the front force signal and the rear force signal in a first time interval before the actuating unit drives the pedal, respectively calculating a first threshold value and a second threshold value according to the front force standard deviation and the rear force standard deviation, respectively calculating a front force deviation degree and a rear force deviation degree of the front force signal and the rear force signal in each second time interval relative to the first time interval after the actuating unit drives the pedal, wherein the second time interval is smaller than the first time interval, and when the front force deviation degree is larger than the first threshold value and the second rear force deviation degree is larger than the second threshold value, the muscle of the lower leg is indicated to generate a high tension state.
2. The muscle tone assessment device according to claim 1, wherein when the determination unit determines that the front force signal is greater than the rear force signal and the front force deviation is greater than the first threshold and the rear force deviation is greater than the second threshold, the muscle of the lower leg is in the high tension state when the sole performs dorsiflexion, and when the determination unit determines that the front force signal is less than the rear force signal and the front force deviation is greater than the first threshold and the rear force deviation is greater than the second threshold, the muscle of the lower leg is in the high tension state when the sole performs plantarflexion.
3. The muscle tone assessment device of claim 1, wherein the front force standard deviation is defined as δ front ，The post force standard deviation is defined as delta back ，/>N is the number of data acquired in the first time interval, f fi Mu, which is the power value of the ith data of the front power signal in the first time interval f For N f fi Average value of f bi Mu, which is the power value of the ith data of the back power signal in the first time interval b For N f bi The degree of deviation of the front force is defined as delta tf ，The degree of deviation of the rear force is defined as delta tb ，/>N t For the amount of data acquired during the second time interval f tfi For the front partThe force value, f, of the ith data of the force signal in the second time interval tbi The power value of the ith data of the rear power signal in the second time interval is obtained.
4. A muscle tone assessment device according to claim 3, wherein the first threshold is defined as δ f ，δ f ＝2*δ front *δ factor The second threshold is defined as delta b ，δ b ＝2*δ back *δ factor ，δ factor For sensitivity, when delta factor When=1, the first threshold is 2 times the standard deviation of the front force, and the second threshold is 2 times the standard deviation of the rear force.
5. The muscle tension evaluation device as set forth in claim 1, wherein the lower leg support unit further has an upper support member and a lower support member, the top end of the lower support member being pivotally provided at the bottom end of the upper support member, the pedal being fixedly provided at the bottom end of the lower support member, the actuation unit having a cylinder body and a piston rod, the top end of the cylinder body being pivotally provided at the upper support member, the piston rod being linearly displaceably provided at the cylinder body and being pivotally provided at the bottom end thereof at the pedal, the pivoting angle of the lower support member being defined as θ 1 ，θ 1 ＝180°-θ t -θ 2 -θ 3 ，θ t Is L 1 And L is equal to 2 The included angle formed between the two layers is that,L 1 l is the linear distance between the pivot axis of the lower support and the pivot axis of the cylinder 2 L is the linear distance between the pivot axis of the lower support and the pivot axis of the piston rod 3 Is the linear distance between the pivot axis of the cylinder body and the pivot axis of the piston rod, theta 2 Is A 2 And L is equal to 2 An included angle A formed between 2 θ is perpendicular to the axis of the pedal through the pivot axis of the lower support 3 Is A 1 And L is equal to 1 Formed between themAngle A 1 Is an axis passing through the fixed axis of the upper support and the pivot axis of the lower support.
6. The muscle tone assessment device as set forth in claim 1, wherein the sensing unit has two front force sensors and two rear force sensors, the front force sensors being located at left and right corners in front of the stepping area, the rear force sensors being located at left and right corners behind the stepping area.
7. The muscle tension assessment method is applicable to the muscle tension assessment device as set forth in any one of claims 1 to 6, and the muscle tension assessment device comprises a calf support unit, an actuating unit, a sensing unit and a judging unit, wherein the calf support unit is used for supporting a calf, the calf support unit is provided with a pedal for bearing a sole, the actuating unit can drive the pedal to rotate, the sensing unit is arranged on the pedal and sends a front force signal and a rear force signal, and the judging unit is electrically connected with the sensing unit, and the muscle tension assessment method comprises the following steps:
a) Before the actuating unit drives the pedal, the judging unit respectively calculates a front force standard deviation and a rear force standard deviation according to a plurality of force values of the front force signal and the rear force signal in a first time interval, and respectively calculates a first threshold value and a second threshold value according to the front force standard deviation and the rear force standard deviation;
b) The actuating unit drives the pedal to drive the sole to move within a target angle; and
c) During the sole movement, the judging unit calculates a front force deviation degree and a rear force deviation degree of the front force signal and the rear force signal in each second time interval relative to the first time interval, the second time interval is smaller than the first time interval, when the front force deviation degree is larger than the first threshold value and the rear force deviation degree is larger than the second threshold value, a high tension state is generated on the muscle of the lower leg, and the actuating unit stops driving the pedal.
8. The muscle tone assessment method according to claim 7, wherein in step c), when the determination unit determines that the front force signal is greater than the rear force signal and the front force deviation is greater than the first threshold and the rear force deviation is greater than the second threshold, the actuation unit stops driving the pedal in the high tension state of the muscle of the lower leg when the sole performs dorsiflexion, and when the determination unit determines that the front force signal is less than the rear force signal and the front force deviation is greater than the first threshold and the rear force deviation is greater than the second threshold, the actuation unit stops driving the pedal in the high tension state of the muscle of the lower leg when the sole performs plantarflexion.
9. The method according to claim 7, further comprising a step d), wherein the actuation unit continues to drive the pedal to drive the sole to the target angle when the pedal stops actuating to release the high tension state.
10. The muscle tone assessment method according to claim 7, wherein the lower leg support unit further has an upper support and a lower support, the top end of the lower support is pivotally provided at the bottom end of the upper support, the pedal is fixedly provided at the bottom end of the lower support, the pivot angle of the lower support is calculated after the pedal is stopped, and the sole is driven to the target angle in a manner of increasing a fixed angle each time according to the pivot angle of the lower support when the high tension state is released.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210432622.6A CN116965820A (en) | 2022-04-22 | 2022-04-22 | Muscle tension assessment device and assessment method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210432622.6A CN116965820A (en) | 2022-04-22 | 2022-04-22 | Muscle tension assessment device and assessment method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116965820A true CN116965820A (en) | 2023-10-31 |
Family
ID=88475410
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210432622.6A Pending CN116965820A (en) | 2022-04-22 | 2022-04-22 | Muscle tension assessment device and assessment method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116965820A (en) |
-
2022
- 2022-04-22 CN CN202210432622.6A patent/CN116965820A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6645126B1 (en) | Patient rehabilitation aid that varies treadmill belt speed to match a user's own step cycle based on leg length or step length | |
| US7942783B2 (en) | Exercise aid device | |
| US8075449B2 (en) | Apparatus and method for lower-limb rehabilitation training using weight load and joint angle as variables | |
| US20100152629A1 (en) | Integrated system to assist in the rehabilitation and/or exercising of a single leg after stroke or other unilateral injury | |
| US20070219051A1 (en) | Training apparatus | |
| KR101602728B1 (en) | Legs rehabilitation robot capable of movable gait training and stationary gait training | |
| US20030064869A1 (en) | Mechanism for manipulating and measuring legs during stepping | |
| US20090215588A1 (en) | Device and Method for an Automatic Treadmill Therapy | |
| US20060004299A1 (en) | Motion measurement method, motion measurement system, and motion measurement program | |
| Bolliger et al. | Standardized voluntary force measurement in a lower extremity rehabilitation robot | |
| EP2732801B1 (en) | Therapeutic device for post-operative knee | |
| KR102284822B1 (en) | A supporting module, a motion assist apparatus comprising thereof and a control method of a motion assist apparatus | |
| JP3584663B2 (en) | Walking training device | |
| CN116965820A (en) | Muscle tension assessment device and assessment method thereof | |
| TW201601801A (en) | Exercise training apparatus and method thereof | |
| US11266879B2 (en) | Adaptive active training system | |
| TWI792975B (en) | Muscle tension evaluation device and evaluation method thereof | |
| JP2001276275A (en) | Exercise therapy device | |
| CN113244084A (en) | Adaptable active training system | |
| JP2011172604A (en) | Joint motion range training device | |
| US20230381049A1 (en) | Muscle tone assesment device and assesment method thereof | |
| TWI542384B (en) | Sports training methods | |
| JP4204868B2 (en) | Electrical stimulation muscle strengthener | |
| KR101713239B1 (en) | Muscle exercise and measurement system capable of liner motion and rotational motion | |
| JP2779967B2 (en) | Muscle strength measurement device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |