CN117357873B - Running mode control method and device, intelligent leg prosthesis, terminal and storage medium - Google Patents
Running mode control method and device, intelligent leg prosthesis, terminal and storage medium Download PDFInfo
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- CN117357873B CN117357873B CN202311668905.1A CN202311668905A CN117357873B CN 117357873 B CN117357873 B CN 117357873B CN 202311668905 A CN202311668905 A CN 202311668905A CN 117357873 B CN117357873 B CN 117357873B
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000001133 acceleration Effects 0.000 claims abstract description 184
- 210000002414 leg Anatomy 0.000 claims abstract description 114
- 238000013016 damping Methods 0.000 claims abstract description 82
- 210000000689 upper leg Anatomy 0.000 claims abstract description 72
- 238000005259 measurement Methods 0.000 claims abstract description 40
- 210000000629 knee joint Anatomy 0.000 claims abstract description 23
- 238000005452 bending Methods 0.000 claims description 45
- 230000009467 reduction Effects 0.000 claims description 12
- 238000004458 analytical method Methods 0.000 claims description 9
- 238000012351 Integrated analysis Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 5
- 238000004590 computer program Methods 0.000 description 4
- 244000309466 calf Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000035900 sweating Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/40—Acceleration
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/62—Measuring physiological parameters of the user posture
- A63B2230/625—Measuring physiological parameters of the user posture used as a control parameter for the apparatus
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a running mode control method and device, an intelligent leg prosthesis, a terminal and a storage medium, and relates to the technical field of intelligent leg prosthesis control. According to the intelligent artificial leg, the inertia measurement data corresponding to the lower leg part and the thigh part of the intelligent artificial leg are obtained, and whether the running trend of a wearer exists is judged according to the two inertia measurement data; if the wearer has a running trend, controlling the intelligent leg prosthesis to start a running control mode; in the running control mode, the expansion damping and the maximum swing angle of the intelligent knee joint are adjusted according to the acceleration of the lower leg. According to the intelligent artificial leg running control method, the running trend of the wearer can be accurately identified by analyzing the inertia measurement data of the lower leg part and the thigh part of the intelligent artificial leg, so that the intelligent artificial leg is switched into the running control mode in time, and the flexibility of the intelligent artificial leg is more matched with the exercise requirement of the wearer during running.
Description
Technical Field
The invention relates to the technical field of intelligent leg prosthesis control, in particular to a running mode control method and device, an intelligent leg prosthesis, a terminal and a storage medium.
Background
The intelligent artificial leg can assist the user with limb disability to perform daily activities. For the wearer, the intelligent leg prosthesis needs to have functions of assisting walking, climbing stairs, running and the like. The running mode has higher flexibility requirements on the intelligent leg prosthesis than other exercise modes, so the control design of the running mode has great significance for improving the performance of the intelligent leg prosthesis. At present, an electromyographic signal identification method is generally adopted to control the intelligent leg prosthesis, however, the electromyographic signal is required to be acquired by completely contacting the electromyographic sensor with the skin surface of a human body, and the dryness degree, the cleanliness degree, the sweating condition and the like of the skin surface can influence the strength of the output signal of the electromyographic sensor, so the intelligent leg prosthesis is not suitable for a control scene of a running mode.
Accordingly, there is a need for improvement and development in the art.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art, and provides a running mode control method, a running mode control device, an intelligent artificial leg, a terminal and a storage medium, and aims to solve the problems that in the prior art, an electromyographic signal identification method is adopted to control the intelligent artificial leg, an electromyographic sensor is in complete contact with the skin surface of a human body, the requirements on the skin surface state are high, and the running mode control method is not suitable for a running mode control scene.
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 running mode control method, including:
acquiring inertial measurement data corresponding to the lower leg part and the thigh part of the intelligent artificial leg respectively, and judging whether the wearer has running trend according to the two inertial measurement data;
if the wearer has a running trend, controlling the intelligent leg prosthesis to start a running control mode;
in the running control mode, the expansion damping and the maximum swing angle of the intelligent knee joint are adjusted according to the acceleration of the lower leg.
In one embodiment, the determining whether the wearer has a running trend according to the two inertial measurement data includes:
determining acceleration of the lower leg based on the inertial measurement data of the lower leg;
determining a bending angle of the thigh based on the inertial measurement data of the thigh;
judging whether the wearer has running trend or not according to the acceleration of the lower leg part and the bending angle of the thigh part.
In one embodiment, the determining whether the wearer has a running trend according to the acceleration of the lower leg portion and the bending angle of the thigh portion includes:
acquiring a preset acceleration threshold value and an angle threshold value;
and if the acceleration of the lower leg part is larger than the acceleration threshold value and the bending angle of the thigh part is larger than the angle threshold value, judging that the running trend of the wearer exists.
In one embodiment, the determining that the wearer has a running trend if the acceleration of the lower leg is greater than the acceleration threshold and the bending angle of the thigh is greater than the angle threshold includes:
if the acceleration of the lower leg is greater than the acceleration threshold and the bending angle of the thigh is greater than the angle threshold, inputting the acceleration of the lower leg and the bending angle of the thigh into a preset wrestling recognition model to obtain the wrestling probability of the wearer;
if the wrestling probability is greater than or equal to a preset probability threshold value, controlling the intelligent artificial leg to start an anti-falling mode;
and if the wrestling probability is smaller than the probability threshold value, judging that the wearer has running trend.
In one embodiment, the adjusting the extension damping and the maximum swing angle of the intelligent knee according to the acceleration of the lower leg portion includes:
reducing the extension damping according to the acceleration of the lower leg, wherein the reduction value of the extension damping is in direct proportion to the value of the acceleration of the lower leg;
and increasing the maximum swing angle according to the acceleration of the lower leg, wherein the increased value of the maximum swing angle is in direct proportion to the value of the acceleration of the lower leg, and the increased maximum swing angle is smaller than or equal to a preset safe swing angle.
In one embodiment, the reducing the extension damping according to the acceleration of the lower leg portion includes:
acquiring a preset first adjusting curve, and determining a target stretching damping according to the first adjusting curve and the acceleration of the lower leg;
or acquiring a plurality of preset first acceleration gear positions, wherein each first acceleration gear position is respectively associated with different damping values;
determining a target extension damping according to the first acceleration gear corresponding to the acceleration of the lower leg;
and determining a reduction value of the expansion damping according to the difference value of the target expansion damping and the current expansion damping.
In one embodiment, the increasing the maximum swing angle according to the acceleration of the lower leg portion includes:
acquiring a preset second adjusting curve, and determining a target maximum swing angle according to the second adjusting curve and the acceleration of the lower leg part;
or acquiring a plurality of preset second acceleration gear positions, wherein each second acceleration gear position corresponds to different swinging angles respectively;
determining a target maximum swing angle according to the second acceleration gear corresponding to the acceleration of the lower leg;
and determining a maximum swing angle increment value according to the difference value between the target maximum swing angle and the current maximum swing angle.
In a second aspect, embodiments of the present invention further provide a running mode control apparatus, the apparatus including:
the judging module is used for acquiring inertia measurement data corresponding to the lower leg part and the thigh part of the intelligent artificial leg respectively and judging whether the wearer has running trend according to the two inertia measurement data;
the starting module is used for controlling the intelligent leg prosthesis to start a running control mode if the running trend exists in the wearer;
and the adjusting module is used for adjusting the expansion damping and the maximum swing angle of the intelligent knee joint according to the acceleration of the lower leg part in the running control mode.
In one embodiment, the judging module includes:
a lower leg analysis unit for determining acceleration of the lower leg based on the inertial measurement data of the lower leg;
a thigh analysis unit for determining a bending angle of the thigh based on the inertial measurement data of the thigh;
and the comprehensive analysis unit is used for judging whether the wearer has running trend or not according to the acceleration of the lower leg part and the bending angle of the thigh part.
In one embodiment, the integrated analysis unit includes:
the threshold value acquisition unit is used for acquiring a preset acceleration threshold value and an angle threshold value;
and the numerical comparison unit is used for judging that the running trend exists for the wearer if the acceleration of the lower leg part is larger than the acceleration threshold value and the bending angle of the thigh part is larger than the angle threshold value.
In one embodiment, the numerical comparison unit includes:
a wrestling recognition unit configured to input an acceleration of the lower leg and a bending angle of the thigh into a preset wrestling recognition model if the acceleration of the lower leg is greater than the acceleration threshold and the bending angle of the thigh is greater than the angle threshold, to obtain a wrestling probability of the wearer;
the anti-falling unit is used for controlling the intelligent artificial leg to start an anti-falling mode if the wrestling probability is greater than or equal to a preset probability threshold value;
and the judging unit is used for judging that the wearer has running trend if the wrestling probability is smaller than the probability threshold value.
In a third aspect, embodiments of the present invention also provide an intelligent leg prosthesis comprising an intelligent knee joint and a running mode control device as described in any one of the above; the intelligent knee joint includes an inertial sensor.
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 comprising instructions for performing the running mode control method as set forth in any one of the above; the processor is configured to execute the program.
In a fifth aspect, embodiments of the present invention also provide 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 of the above-described running mode control methods.
The invention has the beneficial effects that: according to the embodiment of the invention, through acquiring the inertia measurement data respectively corresponding to the lower leg part and the thigh part of the intelligent artificial leg, whether the running trend of a wearer exists is judged according to the two inertia measurement data; if the wearer has a running trend, controlling the intelligent leg prosthesis to start a running control mode; in the running control mode, the expansion damping and the maximum swing angle of the intelligent knee joint are adjusted according to the acceleration of the lower leg. According to the intelligent artificial leg running control method, the running trend of the wearer can be accurately identified by analyzing the inertia measurement data of the lower leg part and the thigh part of the intelligent artificial leg, so that the intelligent artificial leg is switched into the running control mode in time, and the flexibility of the intelligent artificial leg is more matched with the exercise requirement of the wearer during running.
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 a running mode control method according to an embodiment of the present invention.
Fig. 2 is a schematic block diagram of a running mode control 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 running mode control method, a running mode control device, an intelligent leg prosthesis, a terminal and a storage medium, and in order to make the purposes, the technical scheme and the effects of the invention clearer and more specific, the invention is further described in detail below by referring 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 running mode control method, which includes obtaining inertial measurement data corresponding to a calf portion and a thigh portion of an intelligent leg prosthesis, and determining whether a running trend exists for a wearer according to the two inertial measurement data; if the wearer has a running trend, controlling the intelligent leg prosthesis to start a running control mode; in the running control mode, the expansion damping and the maximum swing angle of the intelligent knee joint are adjusted according to the acceleration of the lower leg. According to the intelligent artificial leg running control method, the running trend of the wearer can be accurately identified by analyzing the inertia measurement data of the lower leg part and the thigh part of the intelligent artificial leg, so that the intelligent artificial leg is switched into the running control mode in time, and the flexibility of the intelligent artificial leg is more matched with the exercise requirement of the wearer during running.
As shown in fig. 1, the method includes:
and step 100, acquiring inertial measurement data corresponding to the lower leg part and the thigh part of the intelligent artificial leg respectively, and judging whether the wearer has running trend according to the two inertial measurement data.
Specifically, running is generally a simultaneous movement of the lower leg and thigh, and in order to accurately recognize the running tendency of the wearer, the present embodiment previously arranges inertial sensors at the lower leg portion and thigh portion of the intelligent artificial leg, respectively. The present state of the lower leg and thigh of the wearer is analyzed by collecting inertial measurement data of the lower leg and thigh of the intelligent leg prosthesis in real time/periodically, thereby judging whether the wearer has running trend at present.
In one implementation, the determining whether the wearer has a running trend according to the two inertial measurement data includes:
determining acceleration of the lower leg based on the inertial measurement data of the lower leg;
determining a bending angle of the thigh based on the inertial measurement data of the thigh;
judging whether the wearer has running trend or not according to the acceleration of the lower leg part and the bending angle of the thigh part.
Specifically, the swing of the thigh portion of the intelligent artificial leg has a stronger correlation with the stride size, and the swing of the shank portion of the intelligent artificial leg has a stronger correlation with the step frequency, so if the wearer currently has a running trend, the change of the acceleration of the shank is obvious, the change of the bending angle of the thigh is obvious (the bending angle is in a proportional relationship with the bending degree, that is, the bending angle is larger, the bending degree is larger), so the acceleration of the shank and the bending angle of the thigh are used as judging indexes of the running trend.
In one implementation, the determining whether the wearer has a running trend according to the acceleration of the lower leg portion and the bending angle of the thigh portion includes:
acquiring a preset acceleration threshold value and an angle threshold value;
and if the acceleration of the lower leg part is larger than the acceleration threshold value and the bending angle of the thigh part is larger than the angle threshold value, judging that the running trend of the wearer exists.
Specifically, the present embodiment may collect motion data of different wearers in the running mode in advance, or collect motion data of the current wearer in the running mode. The acceleration threshold value of the lower leg part and the angle threshold value of the thigh part are reasonably set through analyzing a large amount of exercise data, and the running mode and other exercise modes are accurately distinguished through the acceleration threshold value and the angle threshold value. In an actual application scene, if the acceleration of the lower leg part collected by the intelligent artificial leg at present is larger than an acceleration threshold value and the bending angle of the thigh part is also larger than an angle threshold value, the current motion characteristic of the intelligent artificial leg is matched with the motion characteristic of the wearer during running, and the running trend of the wearer is judged.
In one implementation, the determining that the wearer has a running trend if the acceleration of the lower leg is greater than the acceleration threshold and the bending angle of the thigh is greater than the angle threshold includes:
if the acceleration of the lower leg is greater than the acceleration threshold and the bending angle of the thigh is greater than the angle threshold, inputting the acceleration of the lower leg and the bending angle of the thigh into a preset wrestling recognition model to obtain the wrestling probability of the wearer;
if the wrestling probability is greater than or equal to a preset probability threshold value, controlling the intelligent artificial leg to start an anti-falling mode;
and if the wrestling probability is smaller than the probability threshold value, judging that the wearer has running trend.
Specifically, for the wrestling trend and the running trend, the movement characteristics of the lower leg portion and the thigh portion of the intelligent artificial leg are similar in both trends, but the control strategies of the intelligent artificial leg corresponding to the two trends are different greatly. In order to avoid that the intelligent leg prosthesis erroneously recognizes the wrestling trend as a running trend, thereby affecting the personal safety of the wearer, the embodiment performs the wrestling recognition before judging the running trend, and judges that the running trend exists after eliminating the wrestling trend. In an actual application scene, the currently acquired acceleration of the lower leg portion and the bending angle of the thigh portion are input into a wrestle recognition model constructed in advance. The wrestling recognition model analyzes the direction and the value of the acceleration of the lower leg and the bending direction and the angle of the thigh, and further outputs the probability that the wearer is currently in a wrestling trend, namely, the wrestling probability is obtained. If the wrestling probability is greater than or equal to a preset probability threshold value, the method indicates that the wearer is most likely to have a wrestling trend at present, and in order to ensure personal safety of the wearer, the intelligent artificial leg is immediately controlled to be switched into an anti-falling mode, and in the anti-falling mode, the intelligent artificial leg can provide greater supporting force for the wearer, so that the wearer is prevented from wrestling; if the wrestling probability is smaller than the probability threshold value, which indicates that the wrestling trend can be eliminated, the fact that the wearer has running trend is judged, in order to match the movement requirement of the wearer in the running mode, the intelligent artificial leg is immediately controlled to be switched into the running control mode, and in the running control mode, the intelligent artificial leg can provide greater flexibility for the wearer.
As shown in fig. 1, the method further includes:
step 200, if the wearer has a running trend, controlling the intelligent leg prosthesis to start a running control mode.
Specifically, in an actual application scenario, if it is determined that the wearer currently has a running trend, which means that the swing frequency and swing amplitude of the following intelligent artificial leg will be significantly improved, in order to match the movement requirement of the wearer in the running mode, the intelligent artificial leg is controlled to start the running control mode, and in the running control mode, the intelligent artificial leg provides greater flexibility for the wearer.
As shown in fig. 1, the method further includes:
step S300, in the running control mode, the expansion damping and the maximum swing angle of the intelligent knee joint are adjusted according to the acceleration of the lower leg.
To improve the flexibility of the intelligent leg prosthesis to match the movement requirements of the wearer during running, the present embodiment dynamically adjusts the extension damping and maximum swing angle of the intelligent knee joint with the current acceleration of the calf as a guide. Specifically, the intelligent knee joint connects the thigh and the shank of the intelligent leg prosthesis, the magnitude of extension damping affects the resistance of the intelligent leg prosthesis to extend the leg forward, and the magnitude of the maximum swing angle affects the angular limit of the intelligent leg prosthesis to swing the leg rearward, both of which are closely related to the flexibility of the intelligent leg prosthesis. In the running control mode, the acceleration of the lower leg is mainly adopted to adjust the expansion damping and the maximum swing angle of the intelligent knee joint, so that the flexibility of the intelligent artificial leg is more matched with the movement requirement of a wearer during running.
In one implementation, the adjusting the extension damping and the maximum swing angle of the intelligent knee according to the acceleration of the lower leg includes:
reducing the extension damping according to the acceleration of the lower leg, wherein the reduction value of the extension damping is in direct proportion to the value of the acceleration of the lower leg;
and increasing the maximum swing angle according to the acceleration of the lower leg, wherein the increased value of the maximum swing angle is in direct proportion to the value of the acceleration of the lower leg, and the increased maximum swing angle is smaller than or equal to a preset safe swing angle.
In short, in the running control mode, the expansion damping of the intelligent knee joint is reduced, so that the resistance of the intelligent artificial leg to extend forward is reduced, and the wearer runs more easily. And the maximum swing angle of the intelligent knee joint can be increased to reduce the angle limit of the intelligent artificial leg for throwing the leg backwards, so that the lower leg can swing backwards by a larger amplitude, and the wearer can run more stretched. Specifically, in the running control mode, if the acceleration of the lower leg portion is larger, which means that the current running speed of the wearer is faster, the intelligent artificial leg needs greater flexibility to adapt to the current movement requirement of the wearer, the more the reduction value of the extension damping is, and the more the increase value of the maximum swing angle is. In order to prevent the wearer from being injured due to the excessive swing angle of the intelligent artificial leg, a safe swing angle may be preset, and the maximum swing angle of the intelligent artificial leg may be limited by the safe swing angle. If the acceleration of the lower leg part is smaller, which means that the current running speed of the wearer is slower, the intelligent artificial leg needs less flexibility to adapt to the current movement requirement of the wearer, the less the reduction value of the stretching damping is, and the less the increase value of the maximum swing angle is.
In one implementation, the reducing the extension damping according to acceleration of the lower leg includes:
acquiring a preset first adjusting curve, and determining a target stretching damping according to the first adjusting curve and the acceleration of the lower leg;
or acquiring a plurality of preset first acceleration gear positions, wherein each first acceleration gear position is respectively associated with different damping values;
determining a target extension damping according to the first acceleration gear corresponding to the acceleration of the lower leg;
and determining a reduction value of the expansion damping according to the difference value of the target expansion damping and the current expansion damping.
In particular, the present embodiment provides two ways to adjust the extension damping. The first way is to set a first adjustment curve for the extension damping in advance, the first adjustment curve reflecting the numerical variation relation of the acceleration and the extension damping. In an actual application scene, inquiring the stretching damping corresponding to the current acceleration according to the first adjusting curve to obtain the target stretching damping. The second way is to set a plurality of first acceleration stages in advance for the extension damping, different extension damping being associated with different first acceleration stages. In an actual application scene, judging which first acceleration gear is positioned in the current acceleration, and acquiring the expansion damping associated with the first acceleration gear to obtain the target expansion damping. The target extension damping is the extension damping which is matched with the current running speed of the wearer, the difference value between the current extension damping and the target extension damping is calculated, and the extension damping of the intelligent artificial leg is accurately reduced through the calculated difference value, so that the flexibility of the intelligent artificial leg is improved.
In one implementation, the increasing the maximum swing angle according to the acceleration of the lower leg includes:
acquiring a preset second adjusting curve, and determining a target maximum swing angle according to the second adjusting curve and the acceleration of the lower leg part;
or acquiring a plurality of preset second acceleration gear positions, wherein each second acceleration gear position corresponds to different swinging angles respectively;
determining a target maximum swing angle according to the second acceleration gear corresponding to the acceleration of the lower leg;
and determining a maximum swing angle increment value according to the difference value between the target maximum swing angle and the current maximum swing angle.
Likewise, the present embodiment also provides two ways to adjust the maximum swing angle. The first way is to set a second adjustment curve for the maximum swing angle in advance, the second adjustment curve reflecting the numerical variation relation of the acceleration and the maximum swing angle. In an actual application scene, the maximum swing angle corresponding to the current acceleration is inquired according to the second adjusting curve, and the target maximum swing angle is obtained. The second way is to set a plurality of second acceleration stages for the maximum swing angle in advance, and different swing angles are associated with different second acceleration stages. In an actual application scene, judging which second acceleration gear is positioned at the current acceleration, and acquiring a swinging angle associated with the second acceleration gear to obtain a target maximum swinging angle. The target maximum swing angle is the maximum swing angle matched with the current running speed of the wearer, the difference value between the current maximum swing angle and the target maximum swing angle is calculated, and the maximum swing angle of the intelligent artificial leg is accurately increased through the calculated difference value, so that the flexibility of the intelligent artificial leg is improved.
In one implementation manner, the intelligent artificial leg and the leg-building relative position are provided with a camera device, and the method further comprises:
acquiring a moving image sequence of the shank of the leg-building through the image pickup device during running of the wearer;
extracting an acceleration change curve of the shank of the leg-building according to the moving image sequence;
acquiring an acceleration change curve of the shank of the intelligent artificial leg during running of the wearer;
determining acceleration change difference data according to acceleration change curves corresponding to the leg building and the intelligent artificial leg respectively;
and optimizing the running control mode of the intelligent artificial leg according to the acceleration change difference data.
In particular, the present embodiments provide an optimized method of running control patterns for wearers with a leg-building present. In this embodiment, the imaging device is arranged in advance at a position where the intelligent artificial leg is opposite to the leg building. When the intelligent leg prosthesis is switched to the running control mode, the camera device is started simultaneously and is used for collecting a moving image sequence of the shank of the leg building during running of the wearer. The acceleration of the shank of the leg-building at different time points can be calculated through the moving image sequence, so that the acceleration change curve of the shank of the leg-building is drawn. The acceleration of the shank of the intelligent artificial leg at different time points can be calculated through the acquired data of the inertial sensors arranged on the intelligent artificial leg, so that an acceleration change curve of the shank of the intelligent artificial leg is drawn. The difference of the two acceleration change curves can reflect the running gesture difference of the leg building and the intelligent artificial leg from the side, so that the running control mode is optimized by taking the acceleration change difference data as a guide, for example, a first adjusting curve, the division of first acceleration gears or the numerical value of the expansion damping respectively associated with different first acceleration gears can be optimized for the expansion damping; for the maximum pivot angle, the second adjustment curve can be optimized, or the division of the second acceleration steps, or the values of the pivot angles respectively associated with the different second acceleration steps. Therefore, the running gesture of the intelligent artificial leg is closer to the running gesture of the leg building, and the running action of a wearer is more natural.
Based on the above embodiment, the present invention further provides a running mode control device, as shown in fig. 2, including:
the judging module 01 is used for acquiring inertia measurement data corresponding to the lower leg part and the thigh part of the intelligent artificial leg respectively, and judging whether the wearer has running trend according to the two inertia measurement data;
a starting module 02, configured to control the intelligent leg prosthesis to start a running control mode if the wearer has a running trend;
an adjusting module 03 is used for adjusting the expansion damping and the maximum swing angle of the intelligent knee joint according to the acceleration of the lower leg part in the running control mode.
In one implementation, the determining module 01 includes:
a lower leg analysis unit for determining acceleration of the lower leg based on the inertial measurement data of the lower leg;
a thigh analysis unit for determining a bending angle of the thigh based on the inertial measurement data of the thigh;
and the comprehensive analysis unit is used for judging whether the wearer has running trend or not according to the acceleration of the lower leg part and the bending angle of the thigh part.
In one implementation, the integrated analysis unit includes:
the threshold value acquisition unit is used for acquiring a preset acceleration threshold value and an angle threshold value;
and the numerical comparison unit is used for judging that the running trend exists for the wearer if the acceleration of the lower leg part is larger than the acceleration threshold value and the bending angle of the thigh part is larger than the angle threshold value.
In one implementation, the numerical comparison unit includes:
a wrestling recognition unit configured to input an acceleration of the lower leg and a bending angle of the thigh into a preset wrestling recognition model if the acceleration of the lower leg is greater than the acceleration threshold and the bending angle of the thigh is greater than the angle threshold, to obtain a wrestling probability of the wearer;
the anti-falling unit is used for controlling the intelligent artificial leg to start an anti-falling mode if the wrestling probability is greater than or equal to a preset probability threshold value;
and the judging unit is used for judging that the wearer has running trend if the wrestling probability is smaller than the probability threshold value.
In one implementation, the adjustment module 03 includes:
a damping adjustment unit for reducing the extension damping according to the acceleration of the lower leg portion, wherein the reduction value of the extension damping is in a proportional relationship with the value of the acceleration of the lower leg portion;
and the angle adjusting unit is used for increasing the maximum swing angle according to the acceleration of the lower leg, wherein the increasing value of the maximum swing angle is in a direct proportion relation with the value of the acceleration of the lower leg, and the maximum swing angle after the increasing is smaller than or equal to a preset safe swing angle.
In one implementation, the damping adjustment unit includes:
the first curve adjusting unit is used for acquiring a preset first adjusting curve and determining target stretching damping according to the first adjusting curve and the acceleration of the lower leg;
or a first gear adjusting unit, configured to obtain a plurality of preset first acceleration gears, where each first acceleration gear is associated with a different damping value;
determining a target extension damping according to the first acceleration gear corresponding to the acceleration of the lower leg;
and determining a reduction value of the expansion damping according to the difference value of the target expansion damping and the current expansion damping.
In one implementation, the angle adjustment unit includes:
the second curve adjusting unit is used for acquiring a preset second adjusting curve and determining a target maximum swing angle according to the second adjusting curve and the acceleration of the lower leg;
or a second gear adjusting unit, configured to obtain a plurality of preset second acceleration gears, where each second acceleration gear corresponds to a different swing angle;
determining a target maximum swing angle according to the second acceleration gear corresponding to the acceleration of the lower leg;
and determining a maximum swing angle increment value according to the difference value between the target maximum swing angle and the current maximum swing angle.
Based on the above embodiments, the present invention also provides an intelligent leg prosthesis comprising an intelligent knee joint and a running mode control device as described in any one of the above; the intelligent knee joint includes an inertial sensor.
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 a running mode control 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 stored therein one or more programs, and the one or more programs configured to be executed by one or more processors include instructions for performing a running mode control 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 running mode control method, a running mode control device, an intelligent leg prosthesis, a terminal and a storage medium, and relates to the technical field of intelligent leg prosthesis control. According to the intelligent artificial leg, the inertia measurement data corresponding to the lower leg part and the thigh part of the intelligent artificial leg are obtained, and whether the running trend of a wearer exists is judged according to the two inertia measurement data; if the wearer has a running trend, controlling the intelligent leg prosthesis to start a running control mode; in the running control mode, the expansion damping and the maximum swing angle of the intelligent knee joint are adjusted according to the acceleration of the lower leg. According to the intelligent artificial leg running control method, the running trend of the wearer can be accurately identified by analyzing the inertia measurement data of the lower leg part and the thigh part of the intelligent artificial leg, so that the intelligent artificial leg is switched into the running control mode in time, and the flexibility of the intelligent artificial leg is more matched with the exercise requirement of the wearer during running.
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 (12)
1. A method of controlling a running mode, the method comprising:
acquiring inertial measurement data corresponding to the lower leg part and the thigh part of the intelligent artificial leg respectively, and judging whether the wearer has running trend according to the two inertial measurement data;
if the wearer has a running trend, controlling the intelligent leg prosthesis to start a running control mode;
in the running control mode, adjusting the expansion damping and the maximum swing angle of the intelligent knee joint according to the acceleration of the lower leg;
the adjusting the expansion damping and the maximum swing angle of the intelligent knee joint according to the acceleration of the lower leg comprises the following steps:
reducing the extension damping according to the acceleration of the lower leg, wherein the reduction value of the extension damping is in direct proportion to the value of the acceleration of the lower leg;
increasing the maximum swing angle according to the acceleration of the lower leg, wherein the increased value of the maximum swing angle is in direct proportion to the value of the acceleration of the lower leg, and the increased maximum swing angle is smaller than or equal to a preset safe swing angle;
said reducing said extension damping in accordance with acceleration of said lower leg portion, comprising:
acquiring a preset first adjusting curve, and determining a target stretching damping according to the first adjusting curve and the acceleration of the lower leg;
or acquiring a plurality of preset first acceleration gear positions, wherein each first acceleration gear position is respectively associated with different damping values;
determining a target extension damping according to the first acceleration gear corresponding to the acceleration of the lower leg;
and determining a reduction value of the expansion damping according to the difference value of the target expansion damping and the current expansion damping.
2. The running mode control method according to claim 1, wherein the determining whether the running trend exists for the wearer based on the two inertial measurement data comprises:
determining acceleration of the lower leg based on the inertial measurement data of the lower leg;
determining a bending angle of the thigh based on the inertial measurement data of the thigh;
judging whether the wearer has running trend or not according to the acceleration of the lower leg part and the bending angle of the thigh part.
3. The running mode control method according to claim 2, wherein the determining whether the wearer has a running tendency according to the acceleration of the lower leg portion and the bending angle of the thigh portion includes:
acquiring a preset acceleration threshold value and an angle threshold value;
and if the acceleration of the lower leg part is larger than the acceleration threshold value and the bending angle of the thigh part is larger than the angle threshold value, judging that the running trend of the wearer exists.
4. The running mode control method according to claim 3, wherein the determining that the wearer has a running tendency if the acceleration of the lower leg portion is greater than the acceleration threshold value and the bending angle of the thigh portion is greater than the angle threshold value, comprises:
if the acceleration of the lower leg is greater than the acceleration threshold and the bending angle of the thigh is greater than the angle threshold, inputting the acceleration of the lower leg and the bending angle of the thigh into a preset wrestling recognition model to obtain the wrestling probability of the wearer;
if the wrestling probability is greater than or equal to a preset probability threshold value, controlling the intelligent artificial leg to start an anti-falling mode;
and if the wrestling probability is smaller than the probability threshold value, judging that the wearer has running trend.
5. The running mode control method according to claim 1, wherein the increasing the maximum swing angle according to the acceleration of the lower leg portion includes:
acquiring a preset second adjusting curve, and determining a target maximum swing angle according to the second adjusting curve and the acceleration of the lower leg part;
or acquiring a plurality of preset second acceleration gear positions, wherein each second acceleration gear position corresponds to different swinging angles respectively;
determining a target maximum swing angle according to the second acceleration gear corresponding to the acceleration of the lower leg;
and determining a maximum swing angle increment value according to the difference value between the target maximum swing angle and the current maximum swing angle.
6. A running mode control apparatus, the apparatus comprising:
the judging module is used for acquiring inertia measurement data corresponding to the lower leg part and the thigh part of the intelligent artificial leg respectively and judging whether the wearer has running trend according to the two inertia measurement data;
the starting module is used for controlling the intelligent leg prosthesis to start a running control mode if the running trend exists in the wearer;
an adjustment module for adjusting extension damping and maximum swing angle of the intelligent knee joint according to acceleration of the lower leg in the running control mode;
the adjusting the expansion damping and the maximum swing angle of the intelligent knee joint according to the acceleration of the lower leg comprises the following steps:
reducing the extension damping according to the acceleration of the lower leg, wherein the reduction value of the extension damping is in direct proportion to the value of the acceleration of the lower leg;
increasing the maximum swing angle according to the acceleration of the lower leg, wherein the increased value of the maximum swing angle is in direct proportion to the value of the acceleration of the lower leg, and the increased maximum swing angle is smaller than or equal to a preset safe swing angle;
said reducing said extension damping in accordance with acceleration of said lower leg portion, comprising:
acquiring a preset first adjusting curve, and determining a target stretching damping according to the first adjusting curve and the acceleration of the lower leg;
or acquiring a plurality of preset first acceleration gear positions, wherein each first acceleration gear position is respectively associated with different damping values;
determining a target extension damping according to the first acceleration gear corresponding to the acceleration of the lower leg;
and determining a reduction value of the expansion damping according to the difference value of the target expansion damping and the current expansion damping.
7. The running mode control apparatus of claim 6, wherein the determination module comprises:
a lower leg analysis unit for determining acceleration of the lower leg based on the inertial measurement data of the lower leg;
a thigh analysis unit for determining a bending angle of the thigh based on the inertial measurement data of the thigh;
and the comprehensive analysis unit is used for judging whether the wearer has running trend or not according to the acceleration of the lower leg part and the bending angle of the thigh part.
8. The running mode control apparatus according to claim 7, wherein the integrated analysis unit includes:
the threshold value acquisition unit is used for acquiring a preset acceleration threshold value and an angle threshold value;
and the numerical comparison unit is used for judging that the running trend exists for the wearer if the acceleration of the lower leg part is larger than the acceleration threshold value and the bending angle of the thigh part is larger than the angle threshold value.
9. The running mode control apparatus according to claim 8, wherein the numerical comparison unit includes:
a wrestling recognition unit configured to input an acceleration of the lower leg and a bending angle of the thigh into a preset wrestling recognition model if the acceleration of the lower leg is greater than the acceleration threshold and the bending angle of the thigh is greater than the angle threshold, to obtain a wrestling probability of the wearer;
the anti-falling unit is used for controlling the intelligent artificial leg to start an anti-falling mode if the wrestling probability is greater than or equal to a preset probability threshold value;
and the judging unit is used for judging that the wearer has running trend if the wrestling probability is smaller than the probability threshold value.
10. An intelligent leg prosthesis comprising an intelligent knee joint and a running mode control device according to any one of claims 6-9; the intelligent knee joint includes an inertial sensor.
11. A terminal comprising a memory and one or more processors; the memory stores more than one program; the program comprising instructions for performing the running mode control method according to any one of claims 1 to 5; the processor is configured to execute the program.
12. 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 running mode control method of any one of the preceding claims 1-5.
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