CN111150975B - Leg muscle rehabilitation training device and control method thereof - Google Patents
Leg muscle rehabilitation training device and control method thereof Download PDFInfo
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- CN111150975B CN111150975B CN202010121663.4A CN202010121663A CN111150975B CN 111150975 B CN111150975 B CN 111150975B CN 202010121663 A CN202010121663 A CN 202010121663A CN 111150975 B CN111150975 B CN 111150975B
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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
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
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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
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
- A63B2023/0411—Squatting exercises
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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
- A63B2230/04—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations
- A63B2230/06—Measuring physiological parameters of the user heartbeat characteristics, e.g. ECG, blood pressure modulations heartbeat rate only
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- Health & Medical Sciences (AREA)
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Abstract
本发明公开了一种腿部肌肉康复训练器械及其控制方法。包括以伺服电机驱动下的丝杠螺母副、螺母外盖以及其配套的轴承及电机架，导轨，深蹲辅助模块，托举手，托盘手，缓冲阻尼器，外部框架，主控台及控制系统和若干反馈传感器。其中丝杠螺母副是为了将伺服电机的旋转变为直动，螺母外盖是为了与导轨配合，导轨是为了精确导向，深蹲辅助模块是为了托举手装配设计，托盘手是为了传递丝杠螺母副的动力，缓冲阻尼器是为了缓冲患者在下蹲运动时的冲击，其阻力可调整，主控台是为了实时记录患者的各项生理参数和运动参数。本发明专利可以使患者从零基础进行以深蹲（辅助深蹲）为主的多关节复合性康复训练，具有记录和分析患者运动情况和生理参数的功能。
The invention discloses a leg muscle rehabilitation training device and a control method thereof. Including the screw nut pair driven by the servo motor, the nut cover and its supporting bearing and motor frame, the guide rail, the squat auxiliary module, the lifting hand, the tray hand, the buffer damper, the external frame, the main console and the control system and several feedback sensors. The screw nut pair is used to change the rotation of the servo motor into direct motion, the nut cover is used to cooperate with the guide rail, the guide rail is used for precise guidance, the squat auxiliary module is designed for the lifting hand assembly design, and the tray hand is used to transmit the wire The power of the bar and nut pair, the buffer damper is to buffer the impact of the patient when squatting, and its resistance can be adjusted. The main console is to record the patient's various physiological parameters and exercise parameters in real time. The patent of the present invention can enable patients to perform multi-joint compound rehabilitation training based on squatting (assisted squatting) from zero basis, and has the function of recording and analyzing the patient's movement conditions and physiological parameters.
Description
Technical Field
The invention relates to the field of rehabilitation medicine, exercise rehabilitation and mechanical design, in particular to a leg muscle rehabilitation training device and a corresponding control method thereof.
Background
In the current era of gradually improving the living standard of human beings, the rehabilitation of postoperative patients is more and more emphasized. For example, after a meniscal arthroscopic repair, the affected muscles of a patient are accompanied by different degrees of atrophy and loss of function, as well as the core muscle groups (erector spinae muscle group and abdominal muscle group) of the patient. Aiming at the phenomenon, the physical therapy mode is adopted abroad for intervention and treatment, the effect is obvious, but the price is high and the space and time limitation is limited. Aiming at the postoperative rehabilitation in China, the scheme at the ordinary medical level is only passive modes such as bed rest and the like; however, in China, a large number of high-level hospitals including the three hospitals begin to pay attention to active rehabilitation training and active intervention after operation. However, the traditional Chinese medicine is limited in China, and still few patients who can enjoy high-level postoperative rehabilitation.
Most of rehabilitation instruments used for rehabilitation medicine require that a patient has good motor nerve recruitment capacity, but for China, the threshold of the existing rehabilitation instruments is too high, the difficulty is high when the patient just starts rehabilitation training, the enthusiasm of the patient is easily attacked, the existing rehabilitation instruments mostly do not have the functions of real-time feedback and recording according to the condition of the patient, the dependence on a rehabilitation doctor is high, and the on-site and real-time guidance of the doctor is generally required.
More importantly, the rehabilitation instruments in rehabilitation medicine mostly use single-joint isolated action as rehabilitation action at present, do not attach importance to and mention the muscle functionality and the coordination of the nervous system of the patient, and neglect the motor performance rehabilitation requirement of the patient; only the single-joint isolated action is used for rehabilitating the patient, the effect is poor, the time is long, and the long-term and serious influence is caused on the life quality of the patient; and aiming at the patients lying in bed for a long time, the injury not only is the function of the affected muscle, but also causes the injury to the function of the core muscle group and the overall motion performance of the patients to a deeper degree, so that the single-joint isolated action can not achieve the rehabilitation effect of the multi-joint compound action (deep squatting) adopted by the invention.
The invention is specially designed aiming at the defects of the prior apparatus, can lead the patient to carry out rehabilitation training from zero foundation, creatively adopts multi-joint compound training squat as a rehabilitation carrier, has the functions of recording and analyzing the motion condition and the physiological parameters of the patient, can remotely send the condition of the patient to a doctor for analysis, and timely adjusts the rehabilitation plan, thereby providing the possibility that the patient can not go out of the home or remotely enjoy foreign high-quality medical resources. And also provides convenience for evaluation and rehabilitation for the rehabilitation doctor.
Disclosure of Invention
The invention aims to provide a leg muscle rehabilitation training device for the rehabilitation of lower limb muscles and core muscle groups. The device comprises a screw nut pair, a nut outer cover, a bearing and a motor frame matched with the nut outer cover, a guide rail, a deep squatting auxiliary module, a lifting hand, a tray hand, a buffer damper, an external frame, a main control table, a control system and a plurality of feedback sensors, wherein the screw nut pair and the nut outer cover are driven by a servo motor. The lead screw nut pair is used for changing the rotation of a servo motor into direct motion, the nut outer cover is matched with a guide rail, the guide rail is used for accurate guiding, the deep squatting auxiliary module is used for lifting hand assembly design, the tray hand is used for transmitting power of the lead screw nut pair, the buffer damper is used for buffering impact of a patient during squatting movement, the resistance of the buffer damper is adjustable, the main control console is used for recording various physiological parameters and movement parameters of the patient in real time, the control system is used for analyzing and recording data fed back by the ccd vision sensor used for monitoring and analyzing the movement track of the patient according to a limiting sensor, an acceleration sensor, a pressure sensor and a heart rate sensor in the system, and doctors can conveniently evaluate and adjust the patient on site or remotely. The mechanism can not only enable a patient to complete the leg of deep squatting and the core muscle rehabilitation action in a safer environment, but also can be used as an evaluation system to carry out on-site or remote evaluation on the motion level and the nerve response of the patient, has a reliable structure and controllable cost, and is very suitable for the situation of shortage of medical resources of everyone in China at present.
The purpose of the invention patent is realized by the following technical scheme:
a leg muscle rehabilitation training apparatus, comprising:
compared with the existing lower limb muscle rehabilitation training device which mostly adopts single-joint isolated training, the invention creatively uses the composite action which mainly comprises deep squat (auxiliary deep squat) as a solution;
compared with the existing lower limb muscle rehabilitation training devices which mostly adopt a feedback mode of on-site guidance of a rehabilitation doctor, the invention creatively uses an embedded control system under the combination of multiple sensors as a feedback and transmission mode of rehabilitation training;
the lead screw nut pair is vertically arranged, and the matched bearing, the motor frame and the guide rail are designed according to patent functions and spatial positions;
the deep squatting auxiliary module is used for installing, positioning the lifting hand and matching with the buffer damper to buffer when the patient squats;
the lifting hand with adjustable extension length is used for lifting the armpit of the patient when the patient squats;
the tray hand transmits the linear motion of the screw-nut pair to the deep squatting auxiliary module;
the buffer damper is matched with the deep squatting auxiliary module to realize a buffer function;
the external frame is used for installing and positioning each part and providing a hard ground required by the rehabilitation of a patient;
the main control console and the sensors are used for bearing the control system and displaying the motion state and the physiological state of the current patient in real time according to the data of the sensors. The plurality of sensors includes: the limiting sensor is used for limiting the lower limit and the upper limit of the deep squatting action of the patient; the acceleration sensor is used for detecting the acceleration of the patient during squatting and squatting; the pressure sensor detects whether the patient puts the lifting hand into a working position or not and records the squatting stabilizing rate of the patient in real time; a heart rate sensor for detecting a heart rate of the patient while the patient is in motion; the ccd vision sensor is used for monitoring and analyzing the motion trail of the patient.
A leg muscle rehabilitation training device, the design is fixed by placing mated tapered roller bearing in the bearing bracket at both ends, the direction mode of nut leads through nut enclosing cover and guide rail with nut interference fit, and the vertical lead screw nut pair of placing of the hole site that leaves and tray hand joint support pole nut one side.
A shank muscle rehabilitation training device, the design has hollowly, can install and lift claw locating pin, and the below leaves the supplementary module of squatting deeply with buffer damper cooperation hole site.
A shank muscle rehabilitation training device, the design has the end to lift the radian part of patient armpit, and installs pressure sensor, the below is installed and is detected the patient and squat the acceleration sensor of acceleration to beat the support of the hole site of fitting pin complex for adjusting length and lift the hand.
The leg muscle rehabilitation training device is provided with a tray hand which is designed according to the size of a deep squatting auxiliary module and is connected with a nut through a support rod to transfer linear motion.
The leg muscle rehabilitation training device is designed with a buffer damper for providing adjustable buffer force when a patient squats.
According to the leg muscle rehabilitation training device, the outer frame and the vertical two sides of the outer frame are provided with the mounting positions of the bearing seat and the motor seat, and the mounting positions of the guide rails are designed, so that the hard ground necessary for rehabilitation training of a patient is provided.
The leg muscle rehabilitation training device is designed with a special main control console which is used for bearing a control system, displaying the motion state and the physiological state of a current patient in real time according to data of a sensor and uploading the motion state and the physiological state to a doctor in real time;
the leg muscle rehabilitation training device is provided with a physiological and motion state detection combined sensor for a patient, wherein the physiological and motion state detection combined sensor is respectively two upper limit photoelectric sensors and two lower limit photoelectric sensors which are arranged on an external frame; the pressure sensor is arranged at the radian of the lifting hand; an acceleration sensor arranged below the lifting hand; the ccd vision sensor is arranged on the side surface of the main control console; and the patch type heart rate sensor is connected with the main control console.
The invention also provides a control method of the instrument, which comprises the following steps:
after the device is started, judging the position of the auxiliary squatting module according to signals of the upper limiting sensor and the lower limiting sensor, and prompting the auxiliary squatting module to return if the auxiliary squatting module is judged to be out of a preset stroke;
after the apparatus is started, judging whether the user correctly uses the deep squatting auxiliary module according to the signal of the pressure sensor, and if the signal of the pressure sensor is judged to be out of a preset pressure range, prompting the user to correctly lift the trunk on the lifting hand;
when the deep squatting auxiliary module is within the preset stroke and the signal of the pressure sensor is within the preset pressure range, controlling the movement of the tray hand by controlling the servo motor;
in the motion process of the tray hand, if the signal or the signal mutation of the pressure sensor and/or the acceleration sensor is beyond the safety threshold, the servo motor controls the tray hand to support the deep squatting auxiliary module and stop the motion.
When the user is judged to carry out squatting training based on the dead weight according to the pressure sensor signal and the acceleration sensor signal, the movement speed and/or displacement of the deep squatting auxiliary module are/is calculated, the tray hand and the deep squatting auxiliary module are enabled to move in the same direction under the condition of keeping the safe distance, and the user can independently complete the deep squatting action.
When judging that the user squats with the help of the tray hand to train according to the pressure sensor signal and the acceleration sensor signal, the tray hand moves according to the preset speed, so that the user completes the deep squat action under the assistance of the tray hand.
The invention has the advantages that:
the invention aims to enable a patient to carry out rehabilitation training by completing the training action-dead weight or weight deep squat of lower limbs and cores under the condition that the muscle function or the motion system is lost, and other existing lower limb muscle rehabilitation instruments mostly carry out single joint action, so that the efficiency is low, the rehabilitation effect is poor, the rehabilitation requirements of the core muscle group of the patient and the motion performance of the patient are ignored, the use threshold is high, and the functions of real-time recording, analysis, remote uploading and the like are not realized due to the function limitation. The invention can lead the patient to carry out rehabilitation training on a zero basis, has the functions of recording and analyzing the motion condition and the physiological parameters of the patient, can remotely send the condition of the patient to a doctor for analysis, and timely adjusts the rehabilitation plan, thereby providing the possibility that the patient can not go home or remotely enjoy foreign high-quality medical resources. And also provides convenience for evaluation and rehabilitation for the rehabilitation doctor.
Drawings
Fig. 1 is a fully assembled three-axis schematic view of the present invention.
Fig. 2 is a front view of the invention in fully assembled form.
Fig. 3 is an isometric view of the assembly of the main components of the present invention.
Fig. 4 is a bottom view schematically illustrating the assembly of the main components of the present invention.
Fig. 5 is a right three-axis view of the tray hand of the present invention.
Fig. 6 is a schematic view of the outer frame of the present invention in three normal axes.
Fig. 7 shows a positive three-axis measuring view of a power mechanism (a servo motor-a screw nut pair) of the invention.
FIG. 8 is a schematic diagram of a patented control system according to the present invention.
In the figure: the device comprises a guide rail 1, a bearing mounting frame 2, a nut 3, a nut outer cover 4, a support lifting hand 5, a pressure sensor 6, a motor 7, a bearing frame 8, a buffer damper 9, a ccd vision sensor 10, a main control table 11, a lower limit sensor 12, a pallet hand 13, a squat auxiliary module 14, a positioning pin 15, an upper limit sensor 16, an outer frame 17, an acceleration sensor 17, a lead screw 18, a guide rail mounting table 19, a bearing seat mounting table 20, a motor 21, a bearing frame mounting table 22, a support rod 23, a heart rate sensor 24 and a servo motor.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the patent of the invention is further described below by combining the specific figures.
The invention aims to realize the function of 'squatting deeply or bearing weight deeply to realize the rehabilitation training of leg muscles and core muscle groups'. The invention patent was devised for this purpose.
Fig. 1 and 2 respectively show a completely assembled normal triaxial side view and a completely assembled front view of the patented instrument. It should be noted that although the detailed installation method of screws, bolts and wires is omitted in this schematic diagram, this does not affect the reading and understanding of the implementation manner of the solution provided by the present embodiment, and the connection relationship between each component and the fixing portion in the product of the present embodiment is easily understood by those skilled in the art with reference to fig. 1 and fig. 2 on the basis that it is known that the screw nut, the servo motor, and the motor frame and the bearing frame are respectively connected with the fixing portion (relevant components for fixedly installing on the external frame).
Referring to the attached drawings in the specification, the invention provides a 1-guide rail, a 2-bearing mounting rack, a 3-nut, a 4-nut outer cover, a 5-lifting hand, a 6-pressure sensor (Vickers IMS- -C40A), a 7-motor and bearing rack, an 8-buffer damper, a 9-ccd vision sensor (CMCAM 5-PIXY), a 10-master control console (atomic point- -elite STM32F103), an 11-lower limit sensor (ohm dragon E3Z-D82), a 12-pallet hand, a 13-squat auxiliary module, a 14-positioning pin, a 15-upper limit sensor (ohm dragon E3Z-D82), a 16-outer frame, a 17-acceleration sensor (atomic point MPU6050 module), an 18-lead screw, a 19-guide rail mounting platform, a 20-bearing pedestal mounting platform, 21-motor and bearing frame mounting table, 22-supporting rod, 23-heart rate sensor (MAX30100) and 24-servo motor form the whole body of the complete patent of the invention.
Referring to fig. 6, the circuit part of this example includes a plurality of sensors for detecting physiological and motion states of the patient, which are two upper limit photosensors 15 and two lower limit photosensors 11 mounted on the external frame; a pressure sensor 6 arranged at the radian of the lifting hand 5; an acceleration sensor 17 mounted below the lifting hand 5; the ccd vision sensor 9 is arranged on the side surface of the main control console; and the patch type heart rate sensor 23 is connected with the main control console. In addition, the console 10 is also connected to the servo motor 24 for controlling the operation of the servo motor 24.
The working principle is as follows: the patient walks on the hard ground of the external frame 16, the Y-axis length of the lifting hand 5 is adjusted to a proper length through the positioning pin 14, and the lifting hand 5 is placed under the armpit and ensures that the pressure sensor 6 contacts the skin to take the initial action of deep squatting; at this time, a control system signal is fed back to the main control console 10 by the pressure sensor 6, the servo motor is controlled by the control system to work, the screw 18 rotates, the nut 3 drives the tray hand 12 to move downwards through the support rod 22, and when the lower limit sensor 11 detects that the tray hand 12 moves in place, the servo motor stops working by the control system.
At the moment, a doctor or a patient can decide to start rehabilitation deep squatting training according to real-time motion and physiological parameters of the patient detected by the heart rate sensor 23, the pressure sensor 6 and the ccd vision sensor 9, the patient naturally squats, the dead weight or load of the patient is transmitted to the deep squatting auxiliary module 13 through the lifting hand 5, and the dead weight or load is buffered by the damping adjustable buffer damper 8; when the patient squats to lower spacing, control system accepts the signal of spacing sensor 11 down, start servo motor, lead screw 18 is rotatory, nut 3 drives tray hand 12 upward movement and will squat deeply auxiliary module 13 and slowly lift up, give the helping hand that the patient squat, when the patient squat and reach upper spacing, control system accepts the signal of spacing sensor 15 and stops the motor action, and control motor is rotatory, then lead screw 18 is rotatory, then nut 3 drives tray hand 12 downward movement through bracing piece 22, when spacing sensor 11 detects tray hand 12 and moves in place down, the motor stops the action, prepare that next duty cycle begins. At this time, the patient completes one deep squatting rehabilitation action.
Here, the ccd vision sensor 9 is designed to record the training form of the patient in real time, and can analyze the common problems of the patient when squatting deeply through a vision algorithm, such as: knee eversion-prompting the patient of insufficient muscle stability and strength around the knee joint; too much anteversion in the upper half-suggesting a weaker core muscle group in the patient; when squatting down and approaching the lower limit, the pelvis is turned over-the turning in the sagittal plane indicates that the popliteal muscle of the patient is too tight or the anteversion angle of the femur and the anteversion angle of the acetabulum of the patient need to be adjusted, and the turning in the coronal plane indicates that the left and right muscle strength or the left and right nerve recruitment capacity of the patient are unbalanced; the patient cannot completely squat down or the heel is lifted up when squatting down, and the ankle joint of the patient is not enough in activity and the like. According to the analysis result, the rehabilitation doctor can perform targeted adjustment and treatment on the patient.
Likewise, the acceleration sensor 17 and the pressure sensor 6 are designed to detect the occurrence of an uncontrolled training accident of the patient during the training, and when the acceleration sensor 17 and the pressure sensor 6 detect a sudden change of value exceeding a threshold value, they are fed back to the control system to immediately control the movement of the servo motor, so that the palletized hand 12 supports the squat assisting module 13, thereby halting the training action.
Further, in order to guide the linear movement of the nut 3, a nut cover 4 is designed to be interference-fitted with the nut, and the nut cover 4 is fitted with the guide rail 1.
Further, in order to transmit the linear motion of the nut 3, the tray hand 12 is connected using the support rod 22, and in order to avoid the fitting portions of the squat assist module 13 and the cushion damper 8, the tray hand 12 is designed to be hollow as shown in fig. 5.
Further, the lifting hand 5 is connected with the squat assist module 13 by a positioning pin 14.
Further, although fig. 2 and 3 do not show the installation manner of the guide rail 1, the bearing mounting bracket 2, the servo motor 24 and the bearing bracket 7, those skilled in the art can easily understand how to implement the installation of the servo motor and the connection manner thereof.
The invention aims to enable a patient to carry out rehabilitation training by completing the conforming training action of lower limbs and cores, namely self weight or deep squatting with load under the condition that the muscle function or the motion system is lost, and other existing lower limb muscle rehabilitation instruments mostly carry out single joint action, so that the efficiency is low, the use threshold of the patient is higher, and the patient does not have the functions of real-time recording, analysis, remote uploading and the like due to the function limitation. The invention can lead the patient to carry out rehabilitation training from zero foundation, and the compound deep squatting action can restore the function of the patient, and the muscle rehabilitation has the advantage that the single joint action can not exceed. The system has the functions of recording and analyzing the motion condition and the physiological parameters of the patient, can remotely send the condition of the patient to a doctor for analysis, and timely adjusts the rehabilitation plan, thereby providing the possibility that the patient can not go home or remotely enjoy foreign high-quality medical resources. And also provides convenience for evaluation and rehabilitation for the rehabilitation doctor.
When the patient uses the device of the embodiment by himself or with the assistance of others, the control system formed by the console 10 and the sensors of the device can safely and reliably control the operation of the machine as follows:
(1) when the instrument starts, the position of the auxiliary module 13 for deep squatting is judged according to the signals of the upper limit sensor 15 and the lower limit sensor 11, and if the auxiliary module 13 for deep squatting is judged to be out of the preset stroke, if the auxiliary module for deep squatting is higher than the upper limit sensor 15 or lower than the lower limit sensor 11, the return of the auxiliary module 13 for deep squatting is prompted. Of course, the squat assist module 13 may also be automatically reset by the system after detection.
(2) On the other hand, after the apparatus is started, whether the user uses the squat assisting module 13 correctly is judged according to the signal of the pressure sensor 6. Under the normal use state, when will holding in the palm and lift hand 5 and arrange the user armpit, the user is in the motion process of squatting deeply, and the armpit is to holding in the palm and lift hand 5 and produce pressure, and buffer damper 8 provides reaction force, and then makes the auxiliary module 13 slow motion of squatting deeply. Thus, when the user correctly uses the squat assist module 13, the pressure sensor 6 can detect the corresponding pressure, and this pressure should be in a reasonable range. This range can be determined accordingly based on a limited number of experiments. When the signal from the pressure sensor 6 is not within the reasonable range, indicating that the user is not using the apparatus of the present invention correctly, the user is prompted to lift the torso correctly on the lifting hand 5.
(3) Further, only when the squat assisting module 13 is judged to be within the preset stroke and the signal of the pressure sensor 6 is within the preset pressure range, the instrument is judged to be in the safe state, and the servo motor 24 is allowed to drive the pallet hand 12 to move along the guide rail 1.
When the tray hand 12 moves, if the signal or the signal mutation value of the pressure sensor 6 and/or the acceleration sensor 17 is out of the safety threshold, the servo motor 24 controls the tray hand 12 to support the deep squat auxiliary module 13, and the operation is stopped. The safety threshold value of the pressure sensor signal, the acceleration sensor signal, the pressure sensor signal mutation value or the acceleration sensor signal mutation value, namely the danger judgment method, can be correspondingly determined according to limited experiments.
(4) The training process of the user can be divided into autonomous training or auxiliary training. In the case of autonomous training, the user autonomously squats under its own weight or bears a burden, and the primary function of the tray hand 12 is to perform auxiliary protection on the auxiliary module 13 squats deeply at this time, thus requiring the stroke of the tray hand 12 to be slightly lower than that of the auxiliary module 13 squats deeply. The movement speed and/or the displacement of squat assistance module 13 can now be calculated from the pressure sensor 6 signal and the acceleration sensor 17 signal. The tray hand 12 moves correspondingly based on the movement speed and/or displacement of the deep-squatting assisting module 13, at this time, the tray hand 12 and the deep-squatting assisting module 13 move in the same direction under the condition of keeping a safe distance, and a user can complete the deep-squatting action based on the self weight.
In the case of the training aid, it may be judged from the signal of the pressure sensor 6 and/or the signal of the acceleration sensor 17 that the user performs squat training by the pallet hand 12, or may be a training aid mode set based on a training program. At this time, the tray hand 12 can move according to a predetermined speed, and the user can complete the squat action with the aid of the tray hand 12. For severe patients who are difficult to independently finish the deep squatting action, an auxiliary training mode can be adopted for training.
The foregoing shows and describes the general principles and general features of the present patent, as well as the advantages of the present patent. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only for the purpose of illustrating the principles of the invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
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| WO1998000087A1 (en) * | 1996-06-28 | 1998-01-08 | Hitachi, Ltd. | Human body assisting device |
| TWM301670U (en) * | 2006-04-07 | 2006-12-01 | Chuan-Show Chen | Passive and constant-speed muscle-strength-training-instrument |
| CN201519264U (en) * | 2009-09-29 | 2010-07-07 | 复旦大学附属华山医院 | Digital multi-state balance training device |
| US10456614B1 (en) * | 2013-03-15 | 2019-10-29 | Omegamax Holding Company, LLC | Apparatus and method for delivery of an assistive force for rehabilitation/therapy and weight training exercise machines and stands |
| CN103750980B (en) * | 2014-01-22 | 2015-06-03 | 东南大学 | Auxiliary rehabilitation training device for hemiplegic finger of patient |
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| CN105944327B (en) * | 2016-04-11 | 2018-05-29 | 北京阳光鹿童医院管理有限公司 | Bend crouching auxiliary device |
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