CN117257282A - Method, device, intelligent artificial limb, terminal and storage medium for actively preventing wrestling - Google Patents
Method, device, intelligent artificial limb, terminal and storage medium for actively preventing wrestling Download PDFInfo
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- CN117257282A CN117257282A CN202311566137.9A CN202311566137A CN117257282A CN 117257282 A CN117257282 A CN 117257282A CN 202311566137 A CN202311566137 A CN 202311566137A CN 117257282 A CN117257282 A CN 117257282A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 210000000629 knee joint Anatomy 0.000 claims abstract description 181
- 238000005452 bending Methods 0.000 claims abstract description 89
- 238000001514 detection method Methods 0.000 claims abstract description 88
- 238000013016 damping Methods 0.000 claims abstract description 71
- 210000003414 extremity Anatomy 0.000 claims abstract description 25
- 230000002265 prevention Effects 0.000 claims description 19
- 230000002441 reversible effect Effects 0.000 claims description 16
- 230000000737 periodic effect Effects 0.000 claims description 11
- 238000005070 sampling Methods 0.000 claims description 5
- 238000012216 screening Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 description 11
- 230000007246 mechanism Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 238000004590 computer program Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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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
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
- A61B5/1117—Fall detection
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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
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
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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
- A61B5/74—Details of notification to user or communication with user or patient ; user input means
- A61B5/746—Alarms related to a physiological condition, e.g. details of setting alarm thresholds or avoiding false alarms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/64—Knee joints
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
- G08B21/0438—Sensor means for detecting
- G08B21/0446—Sensor means for detecting worn on the body to detect changes of posture, e.g. a fall, inclination, acceleration, gait
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2002/607—Lower legs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2002/689—Alarm means, e.g. acoustic
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/764—Measuring means for measuring acceleration
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7695—Means for testing non-implantable prostheses
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Abstract
The invention discloses a method and a device for actively preventing wrestling, an intelligent artificial limb, a terminal and a storage medium, and relates to the technical field of intelligent artificial limb control. The method comprises the steps of obtaining detection data of an intelligent artificial limb, wherein the detection data comprise rotation motion data of a lower leg part and flexion-extension motion data of an intelligent knee joint; determining a current wrestle risk value of the wearer according to the detection data; and adjusting the bending damping of the intelligent knee joint according to the current wrestling risk value, and controlling the intelligent knee joint to reversely rotate by a specific angle. According to the intelligent knee joint monitoring method, the detection data of the intelligent knee joint are monitored, so that the bending damping of the intelligent knee joint can be timely adjusted when the wrestling risk value of a wearer is large, and the intelligent knee joint is controlled to reversely rotate by a specific angle, so that a larger supporting force is provided for the wearer, and the wearer is prevented from wrestling.
Description
Technical Field
The invention relates to the technical field of intelligent artificial limb control, in particular to a method and a device for actively preventing wrestling, an intelligent artificial limb, a terminal and a storage medium.
Background
Intelligent prostheses are the leading research topic in the fields of robotics and biomedical engineering. Smart prostheses typically provide rigid or resilient support to the wearer to meet the activity needs of the wearer. However, the knee joint of the human body is very flexible, the traditional artificial limb is difficult to imitate, and the complete replacement cannot be realized. Thus, in some complex road conditions or strenuous exercise patterns, the risk of a fall is greater for the smart prosthesis wearer than for a normal person. The existing intelligent artificial limb lacks an anti-falling mechanism, and has lower safety performance.
Accordingly, there is a need for improvement and development in the art.
Disclosure of Invention
The invention aims to solve the technical problems that the intelligent artificial limb lacks an anti-falling mechanism and has lower safety performance.
The technical scheme adopted by the invention for solving the problems is as follows:
in a first aspect, an embodiment of the present invention provides a method for actively preventing wrestling, including:
acquiring detection data of an intelligent artificial limb, wherein the detection data comprise rotation motion data of a lower leg part and flexion-extension motion data of an intelligent knee joint;
determining a current wrestle risk value of the wearer according to the detection data;
and adjusting the bending damping of the intelligent knee joint according to the current wrestling risk value, and controlling the intelligent knee joint to reversely rotate by a specific angle.
In one embodiment, the rotational movement data of the lower leg is a rotational angular velocity of the lower leg, and the flexion and extension movement data of the intelligent knee joint is a bending angle of the intelligent knee joint.
In one embodiment, the determining the current wrestling risk value of the wearer according to the detection data includes:
acquiring an early warning threshold corresponding to the detection data;
if the value of the detection data is larger than the early warning threshold value, determining a data deviation value according to the value of the detection data and the early warning threshold value;
and determining the wrestling risk value according to the data deviation value.
In one embodiment, the adjusting the bending damping of the intelligent knee joint according to the current wrestling risk value and controlling the intelligent knee joint to reversely rotate by a specific angle includes:
judging and adjusting the bending damping of the intelligent knee joint and controlling the reverse rotation of the intelligent knee joint by a specific angle according to the wrestling risk value;
if the sequence of adjusting the bending damping of the intelligent knee joint is judged to be prior, adjusting the bending damping of the intelligent knee joint according to the wrestling risk value, updating the wrestling risk value according to the adjusted bending damping of the intelligent knee joint, and controlling the intelligent knee joint to reversely rotate by a specific angle according to the updated wrestling risk value;
if the sequence of controlling the intelligent knee joint to reversely rotate by a specific angle is judged to be prior, controlling the intelligent knee joint to reversely rotate by a specific angle according to the wrestling risk value, updating the wrestling risk value according to the reversely rotated bending angle of the intelligent knee joint, and adjusting the bending damping of the intelligent knee joint according to the updated wrestling risk value.
In one embodiment, the determining the order of adjusting the bending damping of the intelligent knee joint and controlling the intelligent knee joint to reversely rotate by a specific angle according to the wrestling risk value includes:
acquiring a preset risk threshold;
if the wrestling risk value is larger than the risk threshold value, controlling the intelligent knee joint to reversely rotate by a specific angle in sequence;
and if the wrestling risk value is smaller than or equal to the risk threshold value, adjusting the bending damping sequence of the intelligent knee joint.
In one embodiment, the method further comprises:
extracting periodic rule information according to the detection data;
determining the current movement mode of the wearer according to the periodic rule information;
and updating the acquisition frequency of the follow-up detection data according to the current motion mode.
In one embodiment, the updating the acquisition frequency of the subsequent detection data according to the current motion pattern includes:
and updating the acquisition frequency of the subsequent detection data according to the motion frequency and the motion speed corresponding to the current motion mode, wherein the higher the motion frequency and the motion speed, the higher the sampling frequency.
In one embodiment, the method further comprises:
acquiring a preset alarm operation library, wherein the alarm operation library comprises a plurality of alarm operations, and each alarm operation corresponds to different wrestling risk values;
and screening out the corresponding alarm operation from the alarm operation library according to the current wrestling risk value, and prompting the wearer of the wrestling risk through the screened alarm operation.
In a second aspect, an embodiment of the present invention further provides an apparatus for actively preventing a wrestling, including:
the acquisition module is used for acquiring detection data of the intelligent artificial limb, wherein the detection data comprise rotation motion data of the lower leg and flexion-extension motion data of the intelligent knee joint;
the determining module is used for determining the current wrestling risk value of the wearer according to the detection data;
and the adjusting module is used for adjusting the bending damping of the intelligent knee joint according to the current wrestling risk value and controlling the intelligent knee joint to reversely rotate by a specific angle.
In one embodiment, the adjustment module comprises:
the judging unit is used for judging and adjusting the bending damping of the intelligent knee joint and controlling the order of the reverse rotation of the intelligent knee joint by a specific angle according to the wrestling risk value;
the first adjusting unit is used for adjusting the bending damping of the intelligent knee joint according to the wrestling risk value if the sequence of adjusting the bending damping of the intelligent knee joint is judged to be prior, updating the wrestling risk value according to the adjusted bending damping of the intelligent knee joint, and controlling the intelligent knee joint to reversely rotate by a specific angle according to the updated wrestling risk value;
and the second adjusting unit is used for controlling the intelligent knee joint to reversely rotate by a specific angle according to the wrestling risk value if the sequence for controlling the intelligent knee joint to reversely rotate by the specific angle is judged to be prior, updating the wrestling risk value according to the reversely rotated bending angle of the intelligent knee joint, and adjusting the bending damping of the intelligent knee joint according to the updated wrestling risk value.
In one embodiment, the judging unit includes:
the threshold value acquisition unit is used for acquiring a preset risk threshold value;
a first order determining unit for controlling an order of reverse rotation of the intelligent knee joint by a specific angle to be prior if the wrestling risk value is greater than the risk threshold;
and a second order determining unit for adjusting the order of the bending damping of the intelligent knee joint before if the wrestling risk value is less than or equal to the risk threshold.
In a third aspect, an embodiment of the present invention further provides an intelligent prosthesis, where the intelligent prosthesis includes an intelligent knee joint and an active wrestling prevention device as described in any of the above.
In a fourth aspect, an embodiment of the present invention further provides a terminal, where the terminal includes a memory and more than one processor; the memory stores more than one program; the program includes instructions for executing the active wrestling prevention method as described in any one of the above; the processor is configured to execute the program.
In a fifth aspect, an embodiment of the present invention further provides a computer readable storage medium having stored thereon a plurality of instructions adapted to be loaded and executed by a processor to implement the steps of any one of the above-described active wrestling prevention methods.
The invention has the beneficial effects that: according to the embodiment of the invention, the detection data of the intelligent artificial limb are obtained, wherein the detection data comprise rotation motion data of the lower leg and flexion and extension motion data of the intelligent knee joint; determining a current wrestle risk value of the wearer according to the detection data; and adjusting the bending damping of the intelligent knee joint according to the current wrestling risk value, and controlling the intelligent knee joint to reversely rotate by a specific angle. According to the intelligent knee joint monitoring method, the detection data of the intelligent knee joint are monitored, so that the bending damping of the intelligent knee joint can be timely adjusted when the wrestling risk value of a wearer is large, and the intelligent knee joint is controlled to reversely rotate by a specific angle, so that a larger supporting force is provided for the wearer, and the wearer is prevented from wrestling.
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 required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
Fig. 1 is a flowchart of an active wrestling prevention method according to an embodiment of the present invention.
Fig. 2 is a block diagram of an active wrestle prevention device according to an embodiment of the present invention.
Fig. 3 is a schematic block diagram of a terminal according to an embodiment of the present invention.
Detailed Description
The invention discloses a method, a device, an intelligent artificial limb, a terminal and a storage medium for actively preventing wrestling, which are used for making the purposes, the technical scheme and the effects of the invention clearer and more particularly described below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein includes all or any element and all combination of one or more of the associated listed items.
It will be understood by those skilled in the art that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs unless defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
In view of the above-mentioned drawbacks of the prior art, the present invention provides a method for actively preventing wrestling by acquiring detection data of an intelligent prosthesis, wherein the detection data includes rotational movement data of a lower leg and flexion-extension movement data of an intelligent knee joint; determining a current wrestle risk value of the wearer according to the detection data; and adjusting the bending damping of the intelligent knee joint according to the current wrestling risk value, and controlling the intelligent knee joint to reversely rotate by a specific angle. According to the intelligent knee joint monitoring method, the detection data of the intelligent knee joint are monitored, so that the bending damping of the intelligent knee joint can be timely adjusted when the wrestling risk value of a wearer is large, and the intelligent knee joint is controlled to reversely rotate by a specific angle, so that a larger supporting force is provided for the wearer, and the wearer is prevented from wrestling.
As shown in fig. 1, the method includes:
step S100, acquiring detection data of an intelligent artificial limb, wherein the detection data comprise rotation motion data of a lower leg and flexion-extension motion data of an intelligent knee joint;
step 200, determining a current wrestle risk value of the wearer according to the detection data;
and step 300, adjusting the bending damping of the intelligent knee joint according to the current wrestling risk value, and controlling the intelligent knee joint to reversely rotate by a specific angle.
Specifically, the intelligent knee joint is an important component of the intelligent artificial limb, is composed of a complex sensor, an intelligent microprocessor, a servo motor, an intelligent hydraulic cylinder and other elements, can simulate the movement mode of a human joint, and meets the daily activity requirements of an intelligent artificial limb wearer. Because the intelligent knee joint is difficult to achieve the flexibility of the knee joint of a normal person, in order to reduce the risk of the intelligent artificial limb wearer from falling, the embodiment provides an anti-falling mechanism for the intelligent artificial limb. The detection data of the intelligent knee joint has a specific data feature when the wearer is about to fall, and therefore the wrestling risk value of the wearer can be calculated by the detection data of the intelligent knee joint, for example, the rotational movement data of the lower leg and the flexion-extension movement data of the intelligent knee joint are used as the detection data to calculate the wrestling risk value. The triggering condition of the anti-falling mechanism is to judge whether the current wrestling risk value of the wearer is too high, if so, trigger the anti-falling mechanism, timely adjust the bending damping of the intelligent knee joint and control the intelligent knee joint to reversely rotate by a specific angle. The bending damping can prevent the intelligent knee joint from bending and plays a supporting role; the intelligent knee joint reversely rotates by a specific angle to enable the wearer to approach to a standing state and also play a role in supporting, so that a larger supporting force is provided for the wearer, and the wearer is prevented from falling.
In one implementation, the rotational motion data of the lower leg is a rotational angular velocity of the lower leg, and the flexion and extension motion data of the intelligent knee joint is a flexion angle of the intelligent knee joint.
Specifically, the wearer suddenly rotates with unbalance, and about to fall, the rotation angular velocity of his lower leg and the bending angle of the intelligent knee joint are significantly changed, so the present embodiment mainly uses the rotation angular velocity of the lower leg and the bending angle of the intelligent knee joint as detection data. When the rotation angular velocity of the lower leg is overlarge, and the bending degree of the intelligent knee joint (which can be determined based on the included angle between the upper part and the lower part of the intelligent knee joint) is overlarge, the current wrestling risk value of the wearer is larger, the bending damping of the intelligent knee joint is timely improved, the intelligent knee joint is actively controlled to reversely rotate by a specific angle, the wearer is enabled to be closer to a standing posture, and the wrestling is prevented.
In one implementation, the detection data refers to instantaneous detection data.
In one implementation, the determining, according to the detection data, a current wrestling risk value of the wearer includes:
acquiring an early warning threshold corresponding to the detection data;
if the value of the detection data is larger than the early warning threshold value, determining a data deviation value according to the value of the detection data and the early warning threshold value;
and determining the wrestling risk value according to the data deviation value.
Specifically, in this embodiment, a corresponding early warning threshold is set according to the type of the detected data, when the value of the detected data exceeds the early warning threshold, which indicates that the wearer is likely to fall currently, a fall risk value of the wearer is automatically calculated according to the data deviation value between the value of the detected data and the early warning threshold. The larger the data deviation value is, the higher the degree of deviation of the detected data from the normal state is, the larger the wrestling risk value is; the smaller the data deviation value is, the smaller the wrestling risk value is, although the detected data is deviated, but the degree of deviation is not high. According to the embodiment, the wrestle risk value of the wearer can be rapidly calculated by setting the early warning threshold of the detection data.
In one implementation, when the detection data are the rotation angular velocity of the lower leg and the bending degree of the intelligent knee joint, comparing the rotation angular velocity and the bending degree with the respectively corresponding early warning threshold values to obtain data deviation values respectively corresponding to the rotation angular velocity and the bending degree; if the rotation angular velocity and the bending degree are both larger than the corresponding early warning threshold values, generating a risk increase value, and determining a wrestle risk value according to the data deviation value and the risk increase value which correspond to the rotation angular velocity and the bending degree respectively; if one of the rotation angular velocity and the bending degree is smaller than the corresponding early warning threshold value and the other is larger than the corresponding early warning threshold value, generating a risk reduction value, and determining a wrestling risk value according to the data deviation value and the risk reduction value which correspond to the rotation angular velocity and the bending degree respectively; if the rotation angular velocity and the bending degree are smaller than the corresponding early warning threshold values, the wrestling risk value is not calculated at this time.
In one implementation, the adjusting the bending damping of the intelligent knee joint according to the current wrestling risk value and controlling the intelligent knee joint to reversely rotate by a specific angle includes:
judging and adjusting the bending damping of the intelligent knee joint and controlling the reverse rotation of the intelligent knee joint by a specific angle according to the wrestling risk value;
if the sequence of adjusting the bending damping of the intelligent knee joint is judged to be prior, adjusting the bending damping of the intelligent knee joint according to the wrestling risk value, updating the wrestling risk value according to the adjusted bending damping of the intelligent knee joint, and controlling the intelligent knee joint to reversely rotate by a specific angle according to the updated wrestling risk value;
if the sequence of controlling the intelligent knee joint to reversely rotate by a specific angle is judged to be prior, controlling the intelligent knee joint to reversely rotate by a specific angle according to the wrestling risk value, updating the wrestling risk value according to the reversely rotated bending angle of the intelligent knee joint, and adjusting the bending damping of the intelligent knee joint according to the updated wrestling risk value.
Specifically, the two modes of adjusting the bending damping of the intelligent knee joint and controlling the specific angle of reverse rotation of the intelligent knee joint have different anti-falling effects, so the embodiment sets different execution sequences of the two modes in advance based on the level of the wrestling risk value. In an actual application scenario, the execution sequence of the two modes is determined according to the current wrestle risk value, firstly, the wrestle risk value is updated once after the adjustment is completed based on the mode that the execution sequence of the wrestle risk value is prior, for example, a stability compensation value can be calculated based on the executed mode, and the stability compensation value is subtracted from the wrestle risk value to obtain the updated wrestle risk value. The updated wrestle risk value is generally lower than the original value, and then the sequential manner is re-executed according to the updated wrestle risk value. The embodiment can achieve a more accurate wrestling prevention effect by performing hierarchical adjustment.
In one implementation, if the bending damping of the intelligent knee joint is adjusted based on the wrestling risk value, the greater the adjustment value of the bending damping of the intelligent knee joint, and the faster the adjustment speed, until the bending damping of the intelligent knee joint reaches a maximum value; if the bending damping of the intelligent knee joint is adjusted based on the updated wrestle risk value, the greater the updated wrestle risk value is, the greater the adjustment value of the bending damping of the intelligent knee joint is, and the faster the adjustment speed is, until the bending damping of the intelligent knee joint reaches the maximum value. Wherein, different wrestling risk values respectively correspond to different bending damping adjustment speeds and bending damping maximum values.
In one implementation, if the specific angle of reverse rotation of the intelligent knee joint is controlled based on the wrestling risk value, the greater the adjustment value of the specific angle of reverse rotation of the intelligent knee joint, and the faster the adjustment speed, until the wearer reaches a standing state; if the specific angle of reverse rotation of the intelligent knee joint is controlled based on the updated wrestle risk value, the larger the updated wrestle risk value is, the larger the adjustment value of the specific angle of reverse rotation of the intelligent knee joint is, and the faster the adjustment speed is, until the wearer reaches a standing state. The specific angle of the reverse rotation of the intelligent knee joint can be adjusted based on a control device (such as a driving motor) arranged in a rotating shaft of the intelligent knee joint, and the control device can actively adjust the rotation angles of the upper part and the lower part of the intelligent knee joint. When the control device controls the intelligent knee joint to reversely rotate by a specific angle, the wearer can deviate from a standing posture, and the wrestling is avoided.
In one implementation, the determining, according to the wrestling risk value, an order of adjusting the bending damping of the intelligent knee joint and controlling the intelligent knee joint to reversely rotate by a specific angle includes:
acquiring a preset risk threshold;
if the wrestling risk value is larger than the risk threshold value, controlling the intelligent knee joint to reversely rotate by a specific angle in sequence;
and if the wrestling risk value is smaller than or equal to the risk threshold value, adjusting the bending damping sequence of the intelligent knee joint.
Specifically, the effect of adjusting the flexion damping of the intelligent knee is to provide support for the wearer, preventing the intelligent knee from flexing a greater angle; the effect of controlling the intelligent knee joint to rotate reversely by a specific angle is to provide support for the wearer and simultaneously enable the wearer to quickly approach to the standing posture. Therefore, the intelligent knee joint bending damping is adjusted to be more suitable for the condition with smaller wrestling risk value, and the intelligent knee joint is controlled to reversely rotate by a specific angle to be more suitable for the condition with larger wrestling risk value. In the practical application scenario, if the current wrestling risk value is greater than the risk threshold value, the probability that the wearer is currently wrestling is high, and the manner of stronger anti-wrestling effect needs to be immediately executed first, namely, the intelligent knee joint is controlled to reversely rotate by a specific angle; otherwise, if the current wrestling risk value is smaller than or equal to the risk threshold, the probability that the wearer is wrestling currently is smaller, and the manner that the anti-wrestling effect is weaker can be adopted first, namely, the bending damping of the intelligent knee joint is adjusted.
In one implementation, the method further comprises:
extracting periodic rule information according to the detection data;
determining the current movement mode of the wearer according to the periodic rule information;
and updating the acquisition frequency of the follow-up detection data according to the current motion mode.
Specifically, the detection data collected in different exercise modes have different periodicity, for example, the periodicity of the detection data in standing mode is in a stable straight line state, the periodicity of the detection data in walking mode is in a periodic fluctuation state and the gait period is longer, and the periodicity of the detection data in running mode is in a periodic fluctuation state and the gait period is shorter, so that the exercise mode can be judged by the periodicity of the detection data. The wearer of the intelligent prosthesis is at different risk of wrestling in different sport modes, for example the risk of the wearer being lower in walking mode, higher in high walking mode and higher in running mode. The detection data of the intelligent knee joint is a main factor for triggering the anti-falling mechanism, and the acquisition frequency of the detection data is related to the timeliness of triggering the anti-falling mechanism. According to the embodiment, corresponding acquisition frequencies are set for different sport modes according to the risk level of falling of a wearer in the different sport modes. A sport mode with lower risk of wrestling can use a lower acquisition frequency; the sport mode with higher risk of falling can adopt higher acquisition frequency, so that better anti-falling effect is realized while energy consumption is saved. In an actual application scene, the motion mode of a wearer is judged by extracting the periodic rule information of the current detection data, and then the acquisition frequency of the follow-up detection data is updated based on the current motion mode, so that the energy consumption is saved, and a better wrestling prevention effect is realized.
In one implementation, the updating the acquisition frequency of the subsequent detection data according to the current motion mode includes:
and updating the acquisition frequency of the subsequent detection data according to the motion frequency and the motion speed corresponding to the current motion mode, wherein the higher the motion frequency and the motion speed, the higher the sampling frequency.
Specifically, the update of the acquisition frequency of the detection data in this embodiment is achieved by referring to the movement frequency (for example, the swing frequency of the limb) and the movement speed of the current movement mode, where the high frequency and the high speed correspond to the high acquisition frequency, and the low frequency and the low speed correspond to the low sampling frequency.
In another implementation, the updating the acquisition frequency of the subsequent detection data according to the current motion mode includes:
acquiring a current scene image, and extracting road feature data according to the scene image;
determining a road stability grade according to the road characteristic data;
and updating the acquisition frequency of the follow-up detection data according to the current motion mode and the road stability level.
Specifically, in addition to the risk of the wrestling of the intelligent prosthesis wearer being affected by the type of movement pattern, the risk of the wrestling of the intelligent prosthesis wearer when the intelligent prosthesis wearer is active under different road conditions is different, so that the present embodiment can comprehensively consider the current movement pattern and road stability of the wearer, and accurately update the acquisition frequency of the subsequent detection data. In an actual application scene, the environment where a wearer is located can be shot through a shooting device which is pre-installed on the intelligent artificial limb, and a current scene image is obtained. And then detecting a local image corresponding to the road/pavement in the positioning scene image, and extracting the characteristics of the local image to obtain the road characteristic data. The roads with different stability levels have different road feature data, such as roads with higher stability levels, the regular degree of shape features in the road feature data is higher, the gray level uniformity degree of spectrum features is higher, and the distribution regularity of line features is higher. Therefore, the current road stability level can be determined based on the road characteristic data, and the risk of wrestling of a wearer in the current road condition can be analyzed by integrating the current movement mode and the road stability level, so that the acquisition frequency of the follow-up detection data can be accurately updated.
In one implementation, the method further comprises:
acquiring a preset alarm operation library, wherein the alarm operation library comprises a plurality of alarm operations, and each alarm operation corresponds to different wrestling risk values;
and screening out the corresponding alarm operation from the alarm operation library according to the current wrestling risk value, and prompting the wearer of the wrestling risk through the screened alarm operation.
Specifically, in addition to the intelligent prosthesis starting anti-fall mechanism to actively prevent the wearer from falling, the embodiment also sets an alarm mechanism to prompt the wearer to have a falling risk, so that the wearer can perform falling defense autonomously. In this embodiment, different alarm operations are set for different wrestle risk values in advance, and each wrestle risk value and its corresponding alarm operation are stored in association with an alarm operation library, where the alarm operations may include, for example, a buzzer operation, an indicator light turning-on operation, and a vibration operation with different intensities. The wearer can know the level of the current wrestling risk through the type of the alarm operation, and autonomously perform wrestling defending. In an actual application scene, matching a corresponding alarm operation in an alarm operation database according to the currently calculated wrestle risk value, and executing the alarm operation to prompt the wearer that the wrestle risk exists currently.
Based on the above embodiment, the present invention further provides an apparatus for actively preventing a wrestling, as shown in fig. 2, including:
the acquisition module 01 is used for acquiring detection data of the intelligent artificial limb, wherein the detection data comprise rotation motion data of the lower leg and flexion and extension motion data of the intelligent knee joint;
a determining module 02, configured to determine a current wrestling risk value of the wearer according to the detection data;
and the adjusting module 03 is used for adjusting the bending damping of the intelligent knee joint according to the current wrestling risk value and controlling the intelligent knee joint to reversely rotate by a specific angle.
In one implementation, the rotational motion data of the lower leg is a rotational angular velocity of the lower leg, and the flexion and extension motion data of the intelligent knee joint is a flexion angle of the intelligent knee joint.
In one implementation, the determining module 02 includes:
the early warning threshold acquisition unit is used for acquiring an early warning threshold corresponding to the detection data;
the deviation determining unit is used for determining a data deviation value according to the numerical value of the detection data and the early warning threshold value if the numerical value of the detection data is larger than the early warning threshold value;
and a numerical value determining unit configured to determine the wrestling risk value based on the data deviation value.
In one implementation, the adjustment module 03 includes:
the judging unit is used for judging and adjusting the bending damping of the intelligent knee joint and controlling the order of the reverse rotation of the intelligent knee joint by a specific angle according to the wrestling risk value;
the first adjusting unit is used for adjusting the bending damping of the intelligent knee joint according to the wrestling risk value if the sequence of adjusting the bending damping of the intelligent knee joint is judged to be prior, updating the wrestling risk value according to the adjusted bending damping of the intelligent knee joint, and controlling the intelligent knee joint to reversely rotate by a specific angle according to the updated wrestling risk value;
and the second adjusting unit is used for controlling the intelligent knee joint to reversely rotate by a specific angle according to the wrestling risk value if the sequence for controlling the intelligent knee joint to reversely rotate by the specific angle is judged to be prior, updating the wrestling risk value according to the reversely rotated bending angle of the intelligent knee joint, and adjusting the bending damping of the intelligent knee joint according to the updated wrestling risk value.
In one implementation, the determining unit includes:
the threshold value acquisition unit is used for acquiring a preset risk threshold value;
a first order determining unit for controlling an order of reverse rotation of the intelligent knee joint by a specific angle to be prior if the wrestling risk value is greater than the risk threshold;
and a second order determining unit for adjusting the order of the bending damping of the intelligent knee joint before if the wrestling risk value is less than or equal to the risk threshold.
In one implementation, the apparatus further includes a detection frequency update module, the detection frequency update module including:
the information extraction unit is used for extracting periodic rule information according to the detection data;
the mode determining unit is used for determining the current movement mode of the wearer according to the periodic rule information;
and the frequency determining unit is used for updating the acquisition frequency of the follow-up detection data according to the current motion mode.
In one implementation, the frequency determining unit is configured to:
and updating the acquisition frequency of the subsequent detection data according to the motion frequency and the motion speed corresponding to the current motion mode, wherein the higher the motion frequency and the motion speed, the higher the sampling frequency.
In one implementation, the apparatus further includes an early warning module, where the early warning module is configured to:
acquiring a preset alarm operation library, wherein the alarm operation library comprises a plurality of alarm operations, and each alarm operation corresponds to different wrestling risk values;
and screening out the corresponding alarm operation from the alarm operation library according to the current wrestling risk value, and prompting the wearer of the wrestling risk through the screened alarm operation.
Based on the above embodiments, the present invention also provides a smart prosthesis comprising a smart knee joint and an active wrestling prevention device as described in any of the above.
Based on the above embodiment, the present invention also provides a terminal, and a functional block diagram thereof may be shown in fig. 3. The terminal comprises a processor, a memory, a network interface and a display screen which are connected through a system bus. Wherein the processor of the terminal is adapted to provide computing and control capabilities. The memory of the terminal includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the terminal is used for communicating with an external terminal through a network connection. The computer program, when executed by the processor, implements an active wrestling prevention method. The display screen of the terminal may be a liquid crystal display screen or an electronic ink display screen.
It will be appreciated by those skilled in the art that the functional block diagram shown in fig. 3 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the terminal to which the present inventive arrangements may be applied, and that a particular terminal may include more or less components than those shown, or may combine some of the components, or have a different arrangement of components.
In one implementation, the memory of the terminal has one or more programs stored therein, and the execution of the one or more programs by one or more processors includes instructions for performing an active wrestling prevention method.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
In summary, the invention discloses a method, a device, an intelligent artificial limb, a terminal and a storage medium for actively preventing wrestling, wherein the method comprises the steps of obtaining detection data of the intelligent artificial limb, wherein the detection data comprise rotation motion data of a lower leg part and flexion and extension motion data of an intelligent knee joint; determining a current wrestle risk value of the wearer according to the detection data; and adjusting the bending damping of the intelligent knee joint according to the current wrestling risk value, and controlling the intelligent knee joint to reversely rotate by a specific angle. According to the intelligent knee joint monitoring method, the detection data of the intelligent knee joint are monitored, so that the bending damping of the intelligent knee joint can be timely adjusted when the wrestling risk value of a wearer is large, and the intelligent knee joint is controlled to reversely rotate by a specific angle, so that a larger supporting force is provided for the wearer, and the wearer is prevented from wrestling.
It is to be understood that the invention is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.
Claims (14)
1. A method of actively preventing wrestling, the method comprising:
acquiring detection data of an intelligent artificial limb, wherein the detection data comprise rotation motion data of a lower leg part and flexion-extension motion data of an intelligent knee joint;
determining a current wrestle risk value of the wearer according to the detection data;
and adjusting the bending damping of the intelligent knee joint according to the current wrestling risk value, and controlling the intelligent knee joint to reversely rotate by a specific angle.
2. The active wrestling prevention method of claim 1, wherein the rotational movement data of the lower leg is a rotational angular velocity of the lower leg, and the flexion and extension movement data of the intelligent knee joint is a flexion angle of the intelligent knee joint.
3. The method of actively preventing a wrestling as claimed in claim 1, wherein said determining a wearer's current wrestling risk value based on said detection data includes:
acquiring an early warning threshold corresponding to the detection data;
if the value of the detection data is larger than the early warning threshold value, determining a data deviation value according to the value of the detection data and the early warning threshold value;
and determining the wrestling risk value according to the data deviation value.
4. The method of actively preventing a wrestling as claimed in claim 1, wherein the adjusting the bending damping of the intelligent knee joint according to the current wrestling risk value and controlling the intelligent knee joint to reversely rotate by a specific angle comprises:
judging and adjusting the bending damping of the intelligent knee joint and controlling the reverse rotation of the intelligent knee joint by a specific angle according to the wrestling risk value;
if the sequence of adjusting the bending damping of the intelligent knee joint is judged to be prior, adjusting the bending damping of the intelligent knee joint according to the wrestling risk value, updating the wrestling risk value according to the adjusted bending damping of the intelligent knee joint, and controlling the intelligent knee joint to reversely rotate by a specific angle according to the updated wrestling risk value;
if the sequence of controlling the intelligent knee joint to reversely rotate by a specific angle is judged to be prior, controlling the intelligent knee joint to reversely rotate by a specific angle according to the wrestling risk value, updating the wrestling risk value according to the reversely rotated bending angle of the intelligent knee joint, and adjusting the bending damping of the intelligent knee joint according to the updated wrestling risk value.
5. The method of actively preventing a wrestling as claimed in claim 4, wherein said determining a sequence of adjusting a bending damping of the intelligent knee joint and controlling a reverse rotation of the intelligent knee joint by a specific angle according to the wrestling risk value comprises:
acquiring a preset risk threshold;
if the wrestling risk value is larger than the risk threshold value, controlling the intelligent knee joint to reversely rotate by a specific angle in sequence;
and if the wrestling risk value is smaller than or equal to the risk threshold value, adjusting the bending damping sequence of the intelligent knee joint.
6. The active wrestling prevention method of claim 1, further comprising:
extracting periodic rule information according to the detection data;
determining the current movement mode of the wearer according to the periodic rule information;
and updating the acquisition frequency of the follow-up detection data according to the current motion mode.
7. The method of actively preventing wrestling as in claim 6, wherein said updating the frequency of acquisition of subsequent detection data according to the current motion pattern comprises:
and updating the acquisition frequency of the subsequent detection data according to the motion frequency and the motion speed corresponding to the current motion mode, wherein the higher the motion frequency and the motion speed, the higher the sampling frequency.
8. The active wrestling prevention method of claim 1, further comprising:
acquiring a preset alarm operation library, wherein the alarm operation library comprises a plurality of alarm operations, and each alarm operation corresponds to different wrestling risk values;
and screening out the corresponding alarm operation from the alarm operation library according to the current wrestling risk value, and prompting the wearer of the wrestling risk through the screened alarm operation.
9. An active wrestling prevention device, comprising:
the acquisition module is used for acquiring detection data of the intelligent artificial limb, wherein the detection data comprise rotation motion data of the lower leg and flexion-extension motion data of the intelligent knee joint;
the determining module is used for determining the current wrestling risk value of the wearer according to the detection data;
and the adjusting module is used for adjusting the bending damping of the intelligent knee joint according to the current wrestling risk value and controlling the intelligent knee joint to reversely rotate by a specific angle.
10. The active wrestling prevention device of claim 9, wherein the adjustment module includes:
the judging unit is used for judging and adjusting the bending damping of the intelligent knee joint and controlling the order of the reverse rotation of the intelligent knee joint by a specific angle according to the wrestling risk value;
the first adjusting unit is used for adjusting the bending damping of the intelligent knee joint according to the wrestling risk value if the sequence of adjusting the bending damping of the intelligent knee joint is judged to be prior, updating the wrestling risk value according to the adjusted bending damping of the intelligent knee joint, and controlling the intelligent knee joint to reversely rotate by a specific angle according to the updated wrestling risk value;
and the second adjusting unit is used for controlling the intelligent knee joint to reversely rotate by a specific angle according to the wrestling risk value if the sequence for controlling the intelligent knee joint to reversely rotate by the specific angle is judged to be prior, updating the wrestling risk value according to the reversely rotated bending angle of the intelligent knee joint, and adjusting the bending damping of the intelligent knee joint according to the updated wrestling risk value.
11. The active wrestling prevention device of claim 10, wherein the judging unit includes:
the threshold value acquisition unit is used for acquiring a preset risk threshold value;
a first order determining unit for controlling an order of reverse rotation of the intelligent knee joint by a specific angle to be prior if the wrestling risk value is greater than the risk threshold;
and a second order determining unit for adjusting the order of the bending damping of the intelligent knee joint before if the wrestling risk value is less than or equal to the risk threshold.
12. A smart prosthesis comprising a smart knee joint and an active fall prevention device as claimed in any one of claims 9 to 11.
13. A terminal comprising a memory and one or more processors; the memory stores more than one program; the program includes instructions for executing the active wrestling prevention method according to any one of claims 1 to 8; the processor is configured to execute the program.
14. A computer readable storage medium having stored thereon a plurality of instructions adapted to be loaded and executed by a processor to implement the steps of the active wrestling prevention method of any of the preceding claims 1-8.
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