CN117257283B - Fall protection method and device, intelligent artificial limb, terminal and storage medium - Google Patents
Fall protection method and device, intelligent artificial limb, terminal and storage medium Download PDFInfo
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- CN117257283B CN117257283B CN202311566139.8A CN202311566139A CN117257283B CN 117257283 B CN117257283 B CN 117257283B CN 202311566139 A CN202311566139 A CN 202311566139A CN 117257283 B CN117257283 B CN 117257283B
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- 238000004458 analytical method Methods 0.000 claims description 9
- 238000012502 risk assessment Methods 0.000 claims description 7
- 238000007405 data analysis Methods 0.000 claims description 3
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- 230000006378 damage Effects 0.000 abstract description 8
- 244000309466 calf Species 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000004590 computer program Methods 0.000 description 5
- 210000000689 upper leg Anatomy 0.000 description 4
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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
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- 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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- 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
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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
- 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
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- 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
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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
- A61F2002/7695—Means for testing non-implantable prostheses
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Abstract
The invention discloses a fall protection method, a fall protection device, an intelligent artificial limb, a terminal and a storage medium, wherein the fall protection method comprises the following steps: acquiring rotation motion data of a user body and rotation motion data of a knee joint in real time, and determining risk event information based on the rotation motion data and the rotation motion data, wherein the risk event information reflects an event which is about to happen to the user and has safety risk; if the risk event information is a falling event, starting a falling emergency program, and acquiring preset target damping data based on the risk event information; and acquiring initial damping data of the damping device, and adjusting the initial damping data of the damping device to target damping data. According to the invention, when a user is detected to be about to fall, the damping device in the intelligent artificial limb can be controlled to provide preset target damping data, so that proper bending resistance or stretching resistance is provided for the intelligent artificial limb, the falling trend of the user is buffered, the injury caused by falling is reduced, and the safety of the user is protected.
Description
Technical Field
The invention relates to the technical field of artificial limbs, in particular to a fall protection method and device, an intelligent artificial limb, a terminal and a storage medium.
Background
Along with the development of society, the convenience of traffic and the continuous improvement of industrial level, the patients who cause amputation due to machine trauma car accidents and the like are more and more, and the amputation brings a lot of inconvenience to the patients and loses basic life ability. It is therefore becoming increasingly urgent to develop a smart prosthesis that helps amputees achieve basic life capabilities. The intelligent artificial limb needs to have the functions of assisting a patient in walking, running and the like, and the intelligent artificial limb needs to have the capability of identifying different movement modes of walking, running and the like to realize the functions of walking, running and the like.
When a user uses the intelligent artificial limb, the situation of falling is unavoidable because of inadaptation or inexperience in operation, but the existing intelligent artificial limb does not make any emergency treatment for the falling situation, and the safety of the user is not guaranteed.
Accordingly, there is a need for improvement and advancement in the art.
Disclosure of Invention
The invention aims to solve the technical problems that the intelligent artificial limb in the prior art cannot make any emergency treatment for the falling situation, and the safety of a user is not guaranteed.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
in a first aspect, the present invention provides a fall protection method, wherein the fall protection method is applied to an intelligent artificial limb, the intelligent artificial limb includes a knee joint and a shank located below the knee joint, a damping device is disposed in the shank, the damping device is used for providing bending resistance or stretching resistance for the knee joint, and the fall protection method includes:
acquiring rotary motion data of the lower leg of a user and rotary motion data of the knee joint in real time, and determining risk event information based on the rotary motion data and the rotary motion data, wherein the risk event information reflects an event with safety risk about to occur to the user;
if the risk event information is a falling event, acquiring preset target damping data based on the risk event information;
and acquiring initial damping data of the damping device, and adjusting the initial damping data of the damping device to the target damping data.
In one implementation, the determining risk event information based on the rotational motion data and the rotational motion data includes:
determining body posture information of a user based on the rotational motion data and the rotational motion data;
the risk event information is determined based on the body posture information.
In one implementation, the determining body posture information of the user based on the rotational motion data and the rotational motion data includes:
determining a rotational acceleration of the lower leg based on the rotational motion data, and determining a real-time angle of rotation of the knee joint based on the rotational motion data;
comparing the rotation acceleration with a preset acceleration threshold value, and comparing the rotation angle with a preset angle threshold value;
and if the rotational acceleration is greater than the acceleration threshold and the rotation angle is greater than the angle threshold, determining that the body posture information is in a body unbalanced state.
In one implementation, the determining the risk event information based on the body posture information includes:
if the body posture information is in a body unbalanced state, acquiring a moving distance of the body gravity center position of the user, wherein the moving distance is used for reflecting the change of the body gravity center position;
and if the moving distance of the body gravity center position exceeds a preset value, determining that the risk event information is a falling event.
In one implementation, the adjusting the initial damping data of the damping device to the target damping data includes:
acquiring the moving speed of the body gravity center position;
and determining a damping adjustment speed corresponding to the moving speed based on the moving speed, and adjusting the initial damping data to the target damping data based on the damping adjustment speed.
In one implementation, the adjusting the initial damping data of the damping device to the target damping data further includes:
acquiring a difference value between the initial damping data and the target damping data;
and determining a damping adjustment speed corresponding to the difference value based on the difference value, and adjusting the initial damping data to the target damping data based on the damping adjustment speed.
In one implementation, the method further comprises:
acquiring an emergency grade corresponding to the risk event information;
controlling a decrease in the movement speed of the knee joint in the intelligent prosthesis based on the emergency level, and providing bending resistance to the knee joint of the intelligent prosthesis.
In a second aspect, an embodiment of the present invention further provides a fall protection device, where the fall protection device is applied to an intelligent prosthesis, the intelligent prosthesis includes a knee joint and a shank located below the knee joint, a damping device is disposed in the shank, the damping device is used to provide bending resistance or stretching resistance to the knee joint, and the fall protection device includes:
the risk analysis module is used for acquiring the rotation motion data of the lower leg of the user and the rotation motion data of the knee joint in real time, and determining risk event information based on the rotation motion data and the rotation motion data, wherein the risk event information reflects an event which is about to happen to the user and has safety risk;
the data acquisition module is used for acquiring preset target damping data based on the risk event information if the risk event information is a falling event;
and the damping adjustment module is used for acquiring initial damping data of the damping device and adjusting the initial damping data of the damping device into the target damping data.
In one implementation, the risk analysis module includes:
a posture determining unit configured to determine body posture information of a user based on the rotational motion data and the rotational motion data;
an event determination unit for determining the risk event information based on the body posture information.
In one implementation, the gesture determination unit includes:
a data analysis subunit for determining a rotational acceleration of the lower leg based on the rotational motion data, and determining a real-time rotation angle of the knee joint based on the rotational motion data;
the data comparison subunit is used for comparing the rotation acceleration with a preset acceleration threshold value and comparing the rotation angle with a preset angle threshold value;
and the gesture analysis subunit is used for determining that the body gesture information is in a body unbalance state if the rotation acceleration is greater than the acceleration threshold value and the rotation angle is greater than the angle threshold value.
In one implementation, the event determination unit includes:
a center of gravity position analysis subunit, configured to obtain a movement distance of a center of gravity position of a body of a user if the body posture information is in a body unbalanced state, where the movement distance is used to reflect a change of the center of gravity position of the body;
and the falling event determining subunit is used for determining the risk event information as a falling event if the moving distance of the body gravity center position exceeds a preset value.
In one implementation, the damping adjustment module further includes:
a center of gravity movement analysis unit for acquiring a movement speed of the body center of gravity position;
and the first adjustment execution unit is used for determining a damping adjustment speed corresponding to the moving speed based on the moving speed and adjusting the initial damping data to the target damping data based on the damping adjustment speed.
In one implementation, the damping adjustment module includes:
a difference value acquisition unit for acquiring a difference value between the initial damping data and the target damping data;
and the second adjustment execution unit is used for determining a damping adjustment speed corresponding to the difference value based on the difference value and adjusting the initial damping data to the target damping data based on the damping adjustment speed.
In a third aspect, an embodiment of the present invention further provides an intelligent prosthesis, where the intelligent prosthesis includes a socket, a knee joint, a shank, and a fall protection device according to the above aspect.
In a fourth aspect, an embodiment of the present invention further provides a terminal, where the terminal includes a memory, a processor, and a fall protection program stored in the memory and capable of running on the processor, and when the processor executes the fall protection program, the processor implements the steps of the fall protection method in any one of the above schemes.
In a fifth aspect, an embodiment of the present invention further provides a computer readable storage medium, where a fall protection program is stored on the computer readable storage medium, where the fall protection program, when executed by a processor, implements the steps of the fall protection method according to any one of the above schemes.
The beneficial effects are that: compared with the prior art, the invention provides a fall protection method, which comprises the steps of firstly acquiring rotary motion data of the lower leg of a user and rotary motion data of the knee joint in real time, and determining risk event information based on the rotary motion data and the rotary motion data, wherein the risk event information reflects an event with safety risk about to happen to the user. And then, if the risk event information is a falling event, acquiring preset target damping data based on the risk event information. Finally, initial damping data of the damping device are obtained, and the initial damping data of the damping device are adjusted to be the target damping data. According to the invention, when a user is detected to be about to fall, the damping device in the intelligent artificial limb can be controlled to provide preset target damping data, so that proper bending resistance or stretching resistance is provided for the intelligent artificial limb, the falling trend of the user is buffered, the injury caused by falling is reduced, and the safety of the user is protected.
Drawings
Fig. 1 is a flowchart of a specific implementation of a fall protection method according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an intelligent artificial limb according to an embodiment of the present invention.
Fig. 3 is a functional schematic diagram of a fall protection device according to an embodiment of the present invention.
Fig. 4 is a schematic block diagram of a terminal according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and effects of the present invention clearer and more specific, the present invention will be described in further detail 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.
The embodiment provides a fall protection method, which can control a damping device in an intelligent artificial limb to provide preset target damping data when a user is detected to be about to fall, provide proper bending resistance or stretching resistance for the intelligent artificial limb, buffer the fall trend of the user, reduce injury caused by falling and protect the safety of the user. In a specific application, the embodiment first obtains rotational movement data of the lower leg of the user and rotational movement data of the knee joint, and determines risk event information based on the rotational movement data and the rotational movement data, wherein the risk event information reflects an event with a security risk about to occur to the user. And then, if the risk event information is a falling event, acquiring preset target damping data based on the risk event information. Finally, initial damping data of the damping device are obtained, and the initial damping data of the damping device are adjusted to be the target damping data.
The fall protection method of the embodiment can be applied to an intelligent artificial limb, and the intelligent artificial limb comprises an intelligent controller for realizing the fall protection method. In addition, the fall protection method of the embodiment can also be applied to a terminal, and the terminal can be arranged in an intelligent artificial limb so as to realize the fall protection method through the terminal. The intelligent artificial limb comprises a knee joint and a shank part positioned below the knee joint, wherein a damping device is arranged in the shank part and used for providing bending resistance or stretching resistance for the knee joint. As shown in fig. 1, the fall protection method includes the steps of:
and step 100, acquiring rotary motion data of the lower leg of the user and rotary motion data of the knee joint in real time, and determining risk event information based on the rotary motion data and the rotary motion data, wherein the risk event information reflects an event which is about to happen to the user and has safety risk.
As shown in fig. 2, the intelligent artificial limb of the embodiment comprises a shank 11 and a knee joint 12 rotatably connected with the shank 11 through a rotating shaft, wherein the rotating shaft is arranged on the knee joint 12 and is used for driving the shank to rotate so as to realize flexible movement of the knee joint 12, the knee joint 12 is positioned at the top of the shank 11, the intelligent artificial limb further comprises a receiving cavity 3, the receiving cavity 3 is fixedly connected with the knee joint 12, and the receiving cavity 3 is used for being installed on the thigh of a user. The damping device 2 is arranged in the lower leg 11 in this embodiment, and the damping device 2 may be a hydraulic cylinder, which may be used to provide bending resistance or extension resistance to the knee joint, so that the knee joint 12 remains stable.
After the intelligent artificial limb is installed on the thigh of the user, the user can use the intelligent artificial limb to be applied to various scenes, in order to ensure the use safety of the intelligent artificial limb and also help the intelligent artificial limb to be better used by the user, the embodiment can acquire the rotation motion data of the calf 11 of the user and the rotation motion data of the knee joint 12 in real time, the rotation motion data can be used for reflecting the rotation acceleration of the calf 11, and the rotation motion data can be used for reflecting the rotation angle of the rotating shaft in the knee joint 12. In this embodiment, the rotational motion data and the rotational motion data may be collected based on a preset inertial sensor, where the inertial sensor may be disposed on the wearing device of the user and on the intelligent prosthesis, and the rotational motion data of the body of the user and the rotational motion data of the knee joint 12 may be obtained in real time, regardless of whether the user is standing or walking. After the rotational motion data and the rotational motion data are acquired, the embodiment may determine risk event information based on the rotational motion data and the rotational motion data, where the risk event information reflects an event that is about to occur by a user and has a security risk. That is, the present embodiment can determine whether a user may have a falling event by analyzing the rotational motion data and the rotational motion data.
In one implementation, when determining risk event information, the present embodiment includes the following steps:
step S101, determining body posture information of a user based on the rotation motion data and the rotation motion data;
step S102, determining the risk event information based on the body posture information.
Specifically, since the rotational movement data collected in the present embodiment reflects the rotation of the user's calf portion 11, including the rotational acceleration (that is, the change in the speed of movement of the calf portion 11), the rotational movement data reflects the rotation angle of the knee joint 12, and when the knee joint 12 rotates, the calf portion 11 is driven to rotate. The rotational motion data and the rotational motion data may reflect the posture of the user to some extent. Therefore, the terminal of the present embodiment can determine the body posture information of the user, which reflects the user's figure and posture, based on the rotational motion data and the rotational motion data. Therefore, the terminal can determine risk event information, i.e., determine whether a user may have a fall event, based on the body posture information. In specific application, the terminal can compare and analyze the rotation movement data of the user's lower leg 11 acquired in real time, analyze the change of the rotation movement data, and obtain the rotation speed change data of the lower leg 11, namely the speed change condition when the lower leg 11 rotates, and further determine the rotation acceleration based on the rotation speed change data of the lower leg 11, where the rotation acceleration can be used to reflect the speed change speed of the user's lower leg 11 when rotating, so that based on the rotation acceleration, it can be determined whether the user's body suddenly tilts/rotates and whether the user's body rapidly tilts/rotates. Likewise, the terminal may further compare and analyze the rotational movement data of the knee joint 12 collected in real time, analyze the change of the rotational movement data, and obtain rotational angle change data, that is, change conditions of the rotational angle of the knee joint 12, and further determine, based on the rotational angle change data, a real-time rotational angle, where the rotational angle may be used to analyze whether the knee joint 12 rotates, further analyze the swing amplitude of the calf portion 11 of the intelligent prosthesis, and further make the knee joint 12 and the calf portion 11 present a bending gesture. In the present embodiment, the rotation of the lower leg 11 can be used to reflect the rotation of the entire body of the user, such as a left turn or a right turn. The rotation of the knee joint 12 may be used to reflect the fore-aft swing of the calf shank 11. Therefore, after the rotational acceleration of the lower leg portion 11 and the real-time rotation angle of the knee joint 12 are obtained by the terminal, the present embodiment can further analyze to obtain the body posture information of the user.
In one implementation manner, the acceleration threshold value and the angle threshold value may be preset, and when the rotational acceleration is compared with the preset acceleration threshold value and the rotation angle is compared with the preset angle threshold value, if the rotational acceleration is greater than the acceleration threshold value and the rotation angle is greater than the angle threshold value, it is indicated that the user's lower leg 11 suddenly rotates, and the knee joint 12 is bent substantially, so that it may be determined that the user's body instantaneously rotates substantially at this time, and thus it may be determined that the body posture information of the user is in a body unbalanced state, that is, the body unbalanced state is that the user's body is out of balance. In another implementation manner, the embodiment may further subdivide the acceleration threshold value and the angle threshold value into a plurality of threshold gear positions, and compare the rotational acceleration and the rotation angle with the acceleration threshold value and the angle threshold value which subdivide the plurality of threshold gear positions, so as to more finely determine the threshold gear positions where the rotational acceleration and the rotation angle are located, and further more finely determine whether the body posture information of the user is in a body unbalanced state according to the threshold gear positions where the rotational acceleration and the rotation angle are located at the moment, so as to more accurately determine whether the user falls down.
Then, when the body posture information is determined to be in a body unbalanced state, the position of the center of gravity of the user's body is also changed due to the body unbalance. The present embodiment can acquire a moving distance of the body center of gravity position of the user based on a preset sensor, the moving distance being used to reflect a change in the body center of gravity position. Specifically, the present embodiment may detect the initial position of the body center of gravity position before unbalance occurs in the body of the user, then detect the moved body center of gravity position after unbalance occurs in the body, compare the moved body center of gravity position with the initial position of the body center of gravity position, and determine the movement distance of the body center of gravity position. If the moving distance of the body gravity center position exceeds a preset value, the body gravity center of the user can be determined to be changed greatly, and the risk event information can be determined to be a falling event. In this embodiment, whether the user falls or not is comprehensively analyzed by analyzing the body posture information of the user and the change of the body gravity center position, and risk event information of the user is analyzed from multiple dimensions, so that the possibility of falling events can be more accurately determined.
Step 200, if the risk event information is a falling event, acquiring preset target damping data based on the risk event information.
After the terminal determines that the risk event information is a falling event, the terminal can start a falling emergency program, and the falling emergency program is mainly used for guaranteeing safety of a user and avoiding injury caused by falling. In addition, the terminal of the embodiment may further obtain preset target damping data based on the determined risk event information, where the target damping data is preset damping data specially used for coping with a falling event, and when the damping device 2 is applied to the target damping data, a suitable bending resistance may be provided for the knee joint 12, and the bending resistance may feed back an elastic supporting force to the knee joint 12, so as to better support a user, and also buffer the intelligent prosthesis, and alleviate impact of the falling on the intelligent prosthesis and the thigh of the user, thereby reducing injury of the falling on the user.
In one implementation manner, the embodiment may further perform risk classification on the risk event information, and set a plurality of target damping data to correspond to different risk gears. When the risk event information is a falling event, the severity degree of the falling event can be judged based on the change speed of the body gravity center position, and then the falling event is graded based on different severity degrees, so that the risk gear corresponding to the falling event at the moment is determined, and then the corresponding target damping data is acquired based on the determined risk gear.
Step S300, initial damping data of the damping device are obtained, and the initial damping data of the damping device are adjusted to the target damping data.
After the target damping data is acquired, the terminal of the embodiment can adjust the initial damping data of the damping device 2 to the target damping data so as to provide proper bending resistance for the knee joint 12, and relieve impact of the fall on the intelligent artificial limb and the thigh of the user, thereby reducing injury of the fall on the user.
In one implementation, when adjusting the damping data of the damping device 2, the present embodiment first acquires the moving speed of the body center of gravity position, then determines a damping adjustment speed corresponding to the moving speed based on the moving speed, and adjusts the initial damping data to the target damping data based on the damping adjustment speed. In this embodiment, the moving speed of the body center of gravity position reflects the frequency of the user's body shaking, and if the moving speed is higher, the frequency of the user's body shaking is also higher, at this time, in order to reduce the injury to the user caused by a fall, the initial damping data of the damping device 2 needs to be quickly adjusted to the target damping data, so that the greater the moving speed of the body center of gravity position is, the greater the corresponding damping adjustment speed is, so that the user is better protected.
In another implementation, the present embodiment may further obtain a difference value between the initial damping data and the target damping data. And then determining a damping adjustment speed corresponding to the difference value based on the difference value, and adjusting the initial damping data to the target damping data based on the damping adjustment speed. When the difference value is larger, it indicates that the initial damping data of the damping device 2 still cannot meet the requirement of fall protection, and in order to better protect a user, the initial damping data of the damping device 2 needs to be quickly adjusted to the target damping data, so that when the difference value between the initial damping data and the target damping data is larger, the corresponding damping adjustment speed is also larger, thereby better protecting the user.
In addition, the embodiment may further obtain an emergency level corresponding to the risk event information. The level of emergency may be determined based on the severity of the fall event, the higher the severity, the higher the level of emergency. The terminal may then control the rate of movement of the knee joint 12 in the smart prosthesis to decrease and provide resistance to flexion to the knee joint 12 of the smart prosthesis based on the level of contingency. In particular, as the level of emergency is higher, the severity of the fall event is higher, and the rate of movement of the knee joint is controlled to decrease faster, the knee joint 12 can be quickly controlled to stop movement, and the user is more protected.
In summary, this embodiment can control damping device in the intelligent artificial limb and provide preset target damping data when detecting that the user will take place to fall the incident, provide suitable bending resistance for the intelligent artificial limb, cushion user's tendency of falling down, reduce the injury that brings because of falling down, protect user's safety.
Based on the above embodiment, the invention also provides a fall protection device, which is applied to an intelligent artificial limb, wherein the intelligent artificial limb comprises a knee joint and a shank part positioned below the knee joint, a damping device is arranged in the shank part, and the damping device is used for providing bending resistance or stretching resistance for the knee joint. Specifically, as shown in fig. 3, the fall protection device includes: risk analysis module 10, data acquisition module 20, and damping adjustment module 30. Specifically, the risk analysis module 10 is configured to obtain rotational movement data of the lower leg of the user and rotational movement data of the knee joint in real time, and determine risk event information based on the rotational movement data and the rotational movement data, where the risk event information reflects an event that is about to occur for the user and has a security risk. The data acquisition module 20 is configured to acquire preset target damping data based on the risk event information if the risk event information is a fall event. The damping adjustment module 30 is configured to obtain initial damping data of the damping device, and adjust the initial damping data of the damping device to the target damping data.
In one implementation, the risk analysis module includes:
a posture determining unit configured to determine body posture information of a user based on the rotational motion data and the rotational motion data;
an event determination unit for determining the risk event information based on the body posture information.
In one implementation, the gesture determination unit includes:
a data analysis subunit for determining a rotational acceleration of the lower leg based on the rotational motion data, and determining a real-time rotation angle of the knee joint based on the rotational motion data;
the data comparison subunit is used for comparing the rotation acceleration with a preset acceleration threshold value and comparing the rotation angle with a preset angle threshold value;
and the gesture analysis subunit is used for determining that the body gesture information is in a body unbalance state if the rotation acceleration is greater than the acceleration threshold value and the rotation angle is greater than the angle threshold value.
In one implementation, the event determination unit includes:
a center of gravity position analysis subunit, configured to obtain a movement distance of a center of gravity position of a body of a user if the body posture information is in a body unbalanced state, where the movement distance is used to reflect a change of the center of gravity position of the body;
and the falling event determining subunit is used for determining the risk event information as a falling event if the moving distance of the body gravity center position exceeds a preset value.
In one implementation, the damping adjustment module includes:
a center of gravity movement analysis unit for acquiring a movement speed of the body center of gravity position;
and the first adjustment execution unit is used for determining a damping adjustment speed corresponding to the moving speed based on the moving speed and adjusting the initial damping data to the target damping data based on the damping adjustment speed.
In one implementation, the damping adjustment module further includes:
a difference value acquisition unit for acquiring a difference value between the initial damping data and the target damping data;
and the second adjustment execution unit is used for determining a damping adjustment speed corresponding to the difference value based on the difference value and adjusting the initial damping data to the target damping data based on the damping adjustment speed.
In one implementation, the apparatus further comprises:
the emergency grade determining module is used for obtaining an emergency grade corresponding to the risk event information;
and the speed reduction control module is used for controlling the movement speed reduction of the knee joint in the intelligent artificial limb based on the emergency grade and providing bending resistance for the knee joint of the intelligent artificial limb.
The working principle of each module in the fall protection device of the embodiment is the same as the principle of each step in the above method embodiment, and will not be described here again.
Based on the above embodiment, the invention further provides a smart prosthesis, wherein the smart prosthesis comprises a socket, a knee joint, a shank and the fall protection device in the above embodiment.
Based on the above embodiment, the present invention also provides a terminal, and a schematic block diagram of the terminal may be shown in fig. 4. The terminal may include one or more processors 100 (only one shown in fig. 4), a memory 101, and a computer program 102, such as a fall protection program, stored in the memory 101 and executable on the one or more processors 100. The one or more processors 100, when executing the computer program 102, may implement the various steps of an embodiment of a fall protection method. Alternatively, the one or more processors 100, when executing the computer program 102, may perform the functions of the various modules/units of the fall protection device embodiments, without limitation.
In one embodiment, the processor 100 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In one embodiment, the memory 101 may be an internal storage unit of the electronic device, such as a hard disk or a memory of the electronic device. The memory 101 may also be an external storage device of the electronic device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card (flash card) or the like, which are provided on the electronic device. Further, the memory 101 may also include both an internal storage unit and an external storage device of the electronic device. The memory 101 is used to store computer programs and other programs and data required by the terminal. The memory 101 may also be used to temporarily store data that has been output or is to be output.
It will be appreciated by those skilled in the art that the functional block diagram shown in fig. 4 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, as a specific terminal may include more or less components than those shown, or may be combined with some components, or may have a different arrangement of components.
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, which may be stored on a non-transitory computer readable storage medium, that when executed may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, operational 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), dual operation 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.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The utility model provides a fall protection method, its characterized in that, fall protection method is applied to intelligent artificial limb, intelligent artificial limb includes knee joint and is located the shank below the knee joint, set up damping device in the shank, damping device is used for providing bending resistance or extension resistance to the knee joint, fall protection method includes:
acquiring rotary motion data of the lower leg of a user and rotary motion data of the knee joint in real time, and determining risk event information based on the rotary motion data and the rotary motion data, wherein the risk event information reflects an event with safety risk about to occur to the user;
if the risk event information is a falling event, acquiring preset target damping data based on the risk event information;
acquiring initial damping data of the damping device, and adjusting the initial damping data of the damping device into the target damping data;
the determining risk event information based on the rotational motion data and the rotational motion data includes:
determining body posture information of a user based on the rotational motion data and the rotational motion data;
determining the risk event information based on the body posture information;
the determining body posture information of the user based on the rotational motion data and the rotational motion data includes:
determining a rotational acceleration of the lower leg based on the rotational motion data, and determining a real-time angle of rotation of the knee joint based on the rotational motion data;
comparing the rotation acceleration with a preset acceleration threshold value, and comparing the rotation angle with a preset angle threshold value;
if the rotational acceleration is greater than the acceleration threshold and the rotation angle is greater than the angle threshold, determining that the body posture information is in a body unbalanced state;
the determining the risk event information based on the body posture information includes:
if the body posture information is in a body unbalanced state, acquiring a moving distance of the body gravity center position of the user, wherein the moving distance is used for reflecting the change of the body gravity center position;
if the moving distance of the body gravity center position exceeds a preset value, determining that the risk event information is a falling event;
if the risk event information is a falling event, acquiring preset target damping data based on the risk event information, including:
risk classification is carried out on risk event information in advance, and a plurality of target damping data are set to correspond to different risk gears;
when the risk event information is a falling event, judging the severity of the falling event based on the change speed of the body gravity center position, and determining a risk gear corresponding to the falling event based on the severity;
acquiring corresponding target damping data based on the determined risk gear;
the adjusting the initial damping data of the damping device to the target damping data includes:
acquiring the moving speed of the body gravity center position;
and determining a damping adjustment speed corresponding to the moving speed based on the moving speed, and adjusting the initial damping data to the target damping data based on the damping adjustment speed.
2. The fall protection method according to claim 1, wherein the adjusting the initial damping data of the damping device to the target damping data further comprises:
acquiring a difference value between the initial damping data and the target damping data;
and determining a damping adjustment speed corresponding to the difference value based on the difference value, and adjusting the initial damping data to the target damping data based on the damping adjustment speed.
3. The fall protection method according to claim 1, characterized in that it further comprises:
acquiring an emergency grade corresponding to the risk event information;
controlling a decrease in the movement speed of the knee joint in the intelligent prosthesis based on the emergency level, and providing bending resistance to the knee joint of the intelligent prosthesis.
4. The utility model provides a fall protection device, its characterized in that, fall protection device is applied to intelligent artificial limb, intelligent artificial limb includes knee joint and is located the shank of knee joint below, set up damping device in the shank, damping device is used for right knee joint provides bending resistance or extension resistance, fall protection device includes:
the risk analysis module is used for acquiring the rotation motion data of the lower leg of the user and the rotation motion data of the knee joint in real time, and determining risk event information based on the rotation motion data and the rotation motion data, wherein the risk event information reflects an event which is about to happen to the user and has safety risk;
the data acquisition module is used for acquiring preset target damping data based on the risk event information if the risk event information is a falling event;
the damping adjustment module is used for acquiring initial damping data of the damping device and adjusting the initial damping data of the damping device into the target damping data;
the risk analysis module includes:
a posture determining unit configured to determine body posture information of a user based on the rotational motion data and the rotational motion data;
an event determination unit for determining the risk event information based on the body posture information;
the attitude determination unit includes:
a data analysis subunit for determining a rotational acceleration of the lower leg based on the rotational motion data, and determining a real-time rotation angle of the knee joint based on the rotational motion data;
the data comparison subunit is used for comparing the rotation acceleration with a preset acceleration threshold value and comparing the rotation angle with a preset angle threshold value;
the gesture analysis subunit is used for determining that the body gesture information is in a body unbalance state if the rotation acceleration is greater than the acceleration threshold value and the rotation angle is greater than the angle threshold value;
the event determination unit includes:
a center of gravity position analysis subunit, configured to obtain a movement distance of a center of gravity position of a body of a user if the body posture information is in a body unbalanced state, where the movement distance is used to reflect a change of the center of gravity position of the body;
a falling event determining subunit, configured to determine that the risk event information is a falling event if the movement distance of the body center of gravity position exceeds a preset value;
the data acquisition module is specifically configured to:
risk classification is carried out on risk event information in advance, and a plurality of target damping data are set to correspond to different risk gears;
when the risk event information is a falling event, judging the severity of the falling event based on the change speed of the body gravity center position, and determining a risk gear corresponding to the falling event based on the severity;
acquiring corresponding target damping data based on the determined risk gear;
the damping adjustment module includes:
a center of gravity movement analysis unit for acquiring a movement speed of the body center of gravity position;
and the first adjustment execution unit is used for determining a damping adjustment speed corresponding to the moving speed based on the moving speed and adjusting the initial damping data to the target damping data based on the damping adjustment speed.
5. The fall protection device of claim 4, wherein the damping adjustment module further comprises:
a difference value acquisition unit for acquiring a difference value between the initial damping data and the target damping data;
and the second adjustment execution unit is used for determining a damping adjustment speed corresponding to the difference value based on the difference value and adjusting the initial damping data to the target damping data based on the damping adjustment speed.
6. A smart prosthesis comprising a socket, a knee joint, a shank and a fall protection device according to any one of claims 4 to 5.
7. A terminal comprising a memory, a processor and a fall protection program stored in the memory and operable on the processor, the processor implementing the steps of the fall protection method according to any one of claims 1-3 when executing the fall protection program.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a fall protection program, which, when executed by a processor, implements the steps of the fall protection method according to any one of claims 1-3.
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