TWI792975B - Muscle tension evaluation device and evaluation method thereof - Google Patents

Abstract

The muscle tension evaluation device of the present invention comprises a pedal, a force sensor located at the front end of the pedal, a force sensor located at the rear end of the pedal, and a judging unit connected to the front and rear force sensors. The judging unit consists of The sensing result obtains the standard deviation of the front force, the standard deviation of the rear force, the deviation degree of the front force and the deviation degree of the rear force, and obtains a first threshold value and a second threshold value from the standard deviation of the front force and the rear force. , the standard deviation of the rear force signal in the first time interval, the latter two represent the degree of deviation of the front and rear force signals in the second time interval relative to the first time interval, the current force deviation is greater than the first threshold and the rear force When the degree of deviation is greater than the second threshold value, it indicates that the muscle is in a state of high tension. In addition, the present invention further provides a method for evaluating muscle tension.

Description

Muscle tension evaluation device and evaluation method thereof

The present invention is related to the assessment technique of muscle tension, in particular to a muscle tension assessment device and an assessment method thereof.

Spasticity is a muscle movement disorder usually caused by an injury to the brain or spinal cord that controls voluntary movement, such as in cerebral palsy, multiple sclerosis, stroke, or amyotrophic lateral sclerosis. Causes a change in the balance of signals between the nervous system and muscles, leading to increased muscle tone. If the muscle tension is too high, the angle of motion of the joint may be restricted, which will not achieve a good rehabilitation effect. Therefore, before the patient uses the lower limb training machine for rehabilitation, the physical therapist usually massages the affected limb with bare hands to reduce the muscle tension of the affected limb, but the above method depends entirely on the physical therapist's experience and subjective It is difficult to accurately assess whether a patient is suitable for rehabilitation and the degree of rehabilitation that can be performed.

The ankle joint rehabilitation device disclosed by TW M311442 fixes the foot with a rotating plate on the one hand, and fixes the thigh and calf with the first support and the second support on the other hand, by being arranged between the rotating plate and the actuator The torsion sensor is used to sense the torsion value of the drive shaft to evaluate whether the maximum range of motion of the foot joint and muscle tension are too high. However, the aforementioned ankle joint rehabilitation device must keep the patient in a sitting position during use. If the lower limb training machine is to be used continuously for rehabilitation training, the patient needs to be transferred, which is inconvenient to use and will consume rehabilitation time.

In the limb training device disclosed in CN 102614066 B, the controller detects the current change of the motor drive part, and then estimates the tension change of the affected limb according to the detected current change, and simultaneously adjusts the movement speed and range of motion. However, the distance from the ankle joint to the sole of the foot varies from patient to patient, so the current change detected by the control unit may not be accurate enough. In addition, the aforementioned training device for the affected limb can only keep the patient in a sitting or lying position. If the lower limb training machine is to be used continuously for rehabilitation training, the patient needs to be transferred, which is inconvenient to use and will take time for rehabilitation.

The main purpose of the present invention is to provide a muscle tension assessment device, which can accurately assess whether the patient's muscles are in a state of high tension, and can carry out subsequent gait training without transferring the patient.

In order to achieve the above main purpose, the muscle tension evaluation device of the present invention includes a lower leg support unit, an actuation unit, a sensing unit, and a judging unit. The calf support unit is used to support the calf, the calf support unit has a pedal, the pedal has a stepping area, and the stepping area is used to bear a sole of the foot; the actuating unit drives the pedal to rotate; the sensing unit has at least one A front force sensor and at least one rear force sensor, the at least one front force sensor is buried in the pedal and located in front of the pedaling area for sensing a front pedaling force and correspondingly sending a front force signal , the at least one rear force sensor is buried in the pedal and located behind the pedaling area, for sensing a rear pedaling force and correspondingly sending a rear force signal; the judging unit is electrically connected to the sensing unit, when Before the actuating unit drives the pedal, the judging unit respectively calculates a front force standard deviation and a rear force standard deviation according to several force values of the front force signal and the rear force signal in a first time interval, and Calculate a first threshold value and a second threshold value respectively according to the standard deviation of the front force and the standard deviation of the rear force, after the actuating unit drives the pedal, the judgment unit calculates the front force signal and the rear force signal A front force deviation degree and a rear force deviation degree relative to the first time interval in each second time interval, and the second time interval is smaller than the first time interval, when the front force deviation degree is greater than the first time interval When the threshold value and the deviation degree of the rear force are greater than the second threshold value, it means that the muscles of the calf are in a state of high tension.

As can be seen from the above, the muscle tension evaluation device of the present invention evaluates whether the muscle has a state of high tension by using whether the deviation of the front force is greater than the first threshold and whether the deviation of the rear force is greater than the second threshold. You can start gait training immediately after you are in the state, and you don’t need to transfer the patient, and you don’t need to spend extra manpower to relieve the patient’s muscle tension.

Preferably, when the judging unit judges that the front force signal is greater than the rear force signal, and the deviation of the front force is greater than the first threshold and the deviation of the rear force is greater than the second threshold, it indicates that the muscles of the calf The high-tension state occurs when the sole of the foot performs dorsiflexion, when the judging unit judges that the front force signal is smaller than the rear force signal, and the deviation of the front force is greater than the first threshold and the deviation of the rear force is greater than the first threshold When the threshold value is two, it means that the muscles of the lower leg are in the state of high tension when the sole of the foot performs plantar flexion.

，

，該後力量標準差定義為

，

，N為在該第一時間區間內所採集的資料數量，

為該前力量訊號在該第一時間區間內的第

筆資料的力量數值，

為N筆

的平均值，

為該後力量訊號在該第一時間區間內的第

筆資料的力量數值，

為N筆

的平均值，該前力量偏離度定義為

，

，該後力量偏離度定義為

，

，

為在該第二時間區間內所採集的資料數量，

為該前力量訊號在該第二時間區間內的第

筆資料的力量數值，

為該後力量訊號在該第二時間區間內的第

筆資料的力量數值。 Preferably, the former power standard deviation is defined as

,

, the post-force standard deviation is defined as

,

, N is the number of data collected in the first time interval,

is the first time period of the previous strength signal in the first time interval

The strength value of the pen data,

for N pens

average of,

is the first time interval of the post-power signal in the first time interval

The strength value of the pen data,

for N pens

The average value of the former force deviation is defined as

,

, the back force deviation is defined as

,

,

is the amount of data collected during the second time interval,

is the first time of the previous strength signal in the second time interval

The strength value of the pen data,

is the second time interval of the post-power signal in the second time interval

The strength value of the pen data.

，

，該第二閥值定義為

，

，

為靈敏度，當

時，該第一閥值為該前力量標準差的2倍，該第二閥值為該後力量標準差的2倍。換言之，若靈敏度小於1，該第一閥值及該第二閥值會變小，表示更容易判斷肌肉發生該高張力狀態，若靈敏度大於1，該第一閥值及該第二閥值會變大，表示較不容易判斷肌肉發生該高張力狀態。 Preferably, the first threshold is defined as

,

, the second threshold is defined as

,

,

is the sensitivity, when

, the first threshold is twice the standard deviation of the former strength, and the second threshold is twice the standard deviation of the latter strength. In other words, if the sensitivity is less than 1, the first threshold and the second threshold will become smaller, indicating that it is easier to judge the high tension state of the muscle; if the sensitivity is greater than 1, the first threshold and the second threshold will be Larger means that it is not easy to judge the high tension state of the muscle.

，

，

為

與

之間所形成的夾角，

，

為該下支撐件之樞轉軸心與該缸體之樞轉軸心之間的直線距離，

為該下支撐件之樞轉軸心與該活塞桿之樞轉軸心之間的直線距離，

為該缸體之樞轉軸心與該活塞桿之樞轉軸心之間的直線距離，

為

與

之間所形成的夾角，

為通過該下支撐件之樞轉軸心且垂直該踏板之軸線，

為

與

之間所形成的夾角，

為通過該上支撐件之固定軸心和該下支撐件之樞轉軸心之軸線。藉由上述技術特徵，待該小腿的肌肉解除該高張力狀態後，依據上述樞轉角度以每次增加一特定角度的方式將該腳掌帶動至目標角度。 Preferably, the calf support unit also has an upper support and a lower support, the top of the lower support is pivotally arranged at the bottom of the upper support, the pedal is fixed at the bottom of the lower support, the The actuating unit has a cylinder and a piston rod. The top end of the cylinder is pivoted on the upper support member. The piston rod is linearly displaceable on the cylinder and pivoted on the pedal with its bottom end. The pivot angle of the support is defined as

,

,

for

and

the angle formed between

,

is the linear distance between the pivot axis of the lower support and the pivot axis of the cylinder,

is the linear distance between the pivot axis of the lower support and the pivot axis of the piston rod,

is the linear distance between the pivot axis of the cylinder and the pivot axis of the piston rod,

for

and

the angle formed between

to pass through the pivot axis of the lower support and perpendicular to the axis of the pedal,

for

and

the angle formed between

is the axis passing through the fixed axis of the upper support and the pivot axis of the lower support. With the above-mentioned technical features, after the muscles of the calf are released from the high-tension state, the sole of the foot is driven to the target angle according to the above-mentioned pivot angle by increasing a specific angle each time.

Preferably, the sensing unit has two front force sensors and two rear force sensors, and the front force sensors and the rear force sensors are located at four corners of the pedaling area.

Another object of the present invention is to provide a muscle tension assessment method suitable for the aforementioned muscle tension assessment device, which includes the following steps: a) before the actuating unit drives the pedal, the judgment unit according to the front force signal and the rear force A number of power values of the signal in a first time interval are calculated respectively a standard deviation of the front power and a standard deviation of the rear power, and a first threshold value and a standard deviation of the rear power are respectively calculated according to the standard deviation of the front power and the standard deviation of the rear power a second threshold; b) the actuating unit drives the pedal so that the pedal drives the sole of the foot to move within a target angle; and c) during the movement of the sole of the foot, the judging unit calculates the front force signal and the A front force deviation degree and a rear force deviation degree of the rear force signal in each second time interval relative to the first time interval, and the second time interval is a part of the first time interval, when the front force deviation When the degree of deviation is greater than the first threshold and the deviation of the rear force is greater than the second threshold, it means that the muscles of the calf are in the state of high tension, and the actuating unit stops driving the pedal.

Preferably, in step c), when the judging unit judges that the front force signal is greater than the rear force signal, and the deviation of the front force is greater than the first threshold and the deviation of the rear force is greater than the second threshold , indicating that the high-tension state occurs when the sole of the foot performs dorsiflexion, the actuating unit stops driving the pedal, and when the judging unit judges that the front force signal is smaller than the rear force signal, and the front force deviation degree When it is greater than the first threshold and the deviation of the rear force is greater than the second threshold, it means that the muscles of the lower leg are in the high tension state when the sole of the foot performs plantar flexion, and the actuating unit stops driving the pedal.

Preferably, the actuating unit continues to drive the pedal when the pedal stops actuating until the calf muscle releases the high tension state, so that the pedal drives the sole of the foot to the target angle.

Preferably, after the pedal stops, the pivot angle of the lower support is calculated, and when the calf muscles release the high-tension state, the pivot angle of the lower support is increased by a fixed angle each time. way to bring the sole of the foot to the target angle.

The detailed structure, characteristics, assembly or use of the muscle tension assessment device and assessment method provided by the present invention will be described in the detailed description of the implementation that follows. However, those with ordinary knowledge in the field of the present invention should understand that the detailed description and the specific embodiments enumerated for implementing the present invention are only for illustrating the present invention, and are not intended to limit the scope of the patent application of the present invention.

The applicant hereby explains that in the entire specification, including the embodiments described below and the claims of the scope of the patent application, the nouns related to direction are based on the directions in the drawings. Secondly, in the embodiments and drawings to be described below, the same component numbers represent the same or similar components or their structural features.

Please refer to Fig. 1 first, the muscle tension evaluation device 10 of the present invention is mainly used in conjunction with the gait training machine 12, allowing patients to relax the muscles of the lower limbs by the muscle tension evaluation device 10 of the present invention before using the gait training machine 12 for gait training. To reduce the risk of training injuries, since the gait training machine 12 is not the focus of this case, its detailed structure and operating principle will not be described here.

Please refer to FIG. 2 , FIG. 4 and FIG. 6 , the muscle tension evaluation device 10 of the present invention includes a calf support unit 20 , an actuation unit 30 , a sensing unit 40 , and a judging unit 50 .

As shown in FIGS. 2 and 3 , the calf support unit 20 has an upper support 22 , a lower support 24 and a pedal 26 . The upper support 22 is fixed on the gait training machine 12 with a first shaft P1; the top of the lower support 24 is pivotally arranged at the bottom of the upper support 22 with a second shaft P2, and the upper support 22 and the lower support Parts 24 are commonly used to support shank 14 (as shown in Figure 5 and Figure 7); pedal 26 is fixedly located at the bottom of lower support 24, and pedal 26 has a sole 16 (as shown in Figure 5 and Figure 7) that is used to carry Shown) the trampled area 28.

The actuating unit 30 of this embodiment is a linear actuator (but not limited thereto), and has a cylinder 32 and a piston rod 34, and the top of the cylinder 32 is pivotally mounted on a third shaft P3. The upper support member 22 and the piston rod 34 are disposed on the cylinder body 32 so as to be linearly displaceable, and the bottom end of the piston rod 34 is pivotally disposed on the pedal 26 via a fourth shaft P4.

As shown in Figure 4, the sensing unit 40 has two front force sensors 41, 42 (actually at least one is enough) and two rear force sensors 43, 44 (actually at least one is enough) . These front force sensors 41, 42 are buried in the pedal 26 and are positioned at the left and right corners in front of the stepping area 28, and are used to sense the front stepping force and correspondingly send two front force signals S4, S3 (as shown in Figure 6 and shown in Fig. 8); these rear force sensors 43, 44 are buried in the pedal 26 and are located at the left and right corners of the rear of the pedaling area 28, and are used to sense the rear pedaling force and correspondingly send two rear force signals S1, S2 (as shown in Figure 6 and Figure 8).

，

，後力量標準差定義為

，

，N為在第一時間區間內所採集的資料數量，

為前力量訊號S3、S4在第一時間區間內的第

筆資料的力量數值，

為N筆

的平均值，

為後力量訊號S1、S2在第一時間區間內的第

筆資料的力量數值，

為N筆

的平均值，前力量偏離度定義為

，

，後力量偏離度定義為

，

，

為在第二時間區間內所採集的資料數量，

為前力量訊號S3、S4在第二時間區間內的第

筆資料的力量數值，

為後力量訊號S1、S2在第二時間區間內的第

筆資料的力量數值。 The judging unit 50 is electrically connected to the sensing unit 40. Before the actuating unit 30 drives the pedal 26, the judging unit 50 judges according to the front force signals S4, S3 and the rear force signals S1, S2 within a first time interval. A front force standard deviation and a rear force standard deviation are respectively calculated from several force values. After the actuating unit 30 drives the pedal 26, the judging unit 50 calculates the front force signals S4, S3 and the rear force signals S1, S3, respectively. S2 In each second time interval, a degree of deviation of the previous force and a degree of deviation of the rear force relative to the first time interval, and the second time interval is smaller than the first time interval, wherein the standard deviation of the former force is defined as

,

, and the post-power standard deviation is defined as

,

, N is the number of data collected in the first time interval,

is the first power signal S3, S4 in the first time interval

The strength value of the pen data,

for N pens

average of,

It is the first time interval of the rear power signal S1, S2 in the first time interval

The strength value of the pen data,

for N pens

The average value of the former force deviation is defined as

,

, the back force deviation is defined as

,

,

is the amount of data collected in the second time interval,

is the first power signal S3, S4 in the second time interval

The strength value of the pen data,

It is the second time interval of the rear power signal S1 and S2 in the second time interval

The strength value of the pen data.

When the patient stands on the gait training machine 12, and the calf 14 and sole 16 are supported by the calf support unit 20, before the actuating unit 30 drives the pedal 26, take Fig. 6 and Fig. 8 as an example, set 0-5 seconds as the first In the time interval, the judging unit 50 calculates the standard deviation of the front force and the standard deviation of the back force in the first time interval. After the actuation unit 30 starts to drive the pedal 26 (that is, starts to drive the patient's foot movement), for example, it starts at the 6th second , the judgment unit 50 calculates the deviation degree of the front force and the deviation degree of the rear force in each second time interval, where the second time interval is set as 1 second, which means that the judgment unit 50 calculates a set of front force deviation every 1 second degree and back force deviation, the aforementioned first time interval and second time interval can be adjusted according to actual needs, and are not limited to the time intervals shown in Fig. 6 and Fig. 8 . In addition, it needs to be supplemented that the marks shown in Figure 6 and Figure 8 are the number of data collected during the judgment process. Due to the large number of data, for the convenience of display, in this embodiment, every interval of 10 data marks One, the actual number of data collected is much larger than the marks shown on the graph.

，

，第二閥值定義為

，

，

為靈敏度，當

時，第一閥值為前力量標準差的2倍，第二閥值為後力量標準差的2倍，然而實際上，靈敏度可以根據實際需要加以調整，若靈敏度小於1，第一閥值及第二閥值會變小，表示更容易判斷肌肉發生高張力狀態，反之，若靈敏度大於1，第一閥值及第二閥值會變大，表示較不容易判斷肌肉發生高張力狀態。 The judging unit 50 further calculates a first threshold value and a second threshold value respectively according to the standard deviation of the front force and the standard deviation of the rear force. When the threshold value is two, it indicates that the muscles of the calf 14 are in a state of high tension. In this embodiment, the first threshold is defined as

,

, the second threshold is defined as

,

,

is the sensitivity, when

, the first threshold is 2 times the standard deviation of the previous force, and the second threshold is 2 times the standard deviation of the rear force. However, in practice, the sensitivity can be adjusted according to actual needs. If the sensitivity is less than 1, the first threshold and The second threshold will be smaller, which means it is easier to judge the hypertonic state of the muscle. On the contrary, if the sensitivity is greater than 1, the first threshold and the second threshold will become larger, which means it is not easy to judge the hypertonic state of the muscle.

When the judgment unit 50 judges that the front force signals S3, S4 are greater than the rear force signals S1, S2, and the deviation of the front force is greater than the first threshold and the deviation of the rear force is greater than the second threshold, as shown in Fig. 5 and Fig. As shown in 6, it shows that the front strength signals S3 and S4 rise sharply in the interval of 10~11 seconds, and the rear strength signals S1 and S2 drop sharply in the interval of 10~11 seconds, which means that the front strength signals The strength values of S3, S4 and these post-strength signals S1 and S2 at the 10th to 11th second are far from the strength values at the 0th to 5th second (that is, the first time interval), which means that the muscles of the calf 14 are carried out on the soles of the feet 16. A high-tension state occurs during dorsiflexion; when the judging unit 50 judges that the front force signals S3, S4 are smaller than the rear force signals S1, S2, and the deviation of the front force is greater than the first threshold and the deviation of the rear force is greater than the second threshold When the threshold is set, as shown in Figure 7 and Figure 8, it shows that the rear force signals S1 and S2 rise sharply in the interval of 10 to 11 seconds, and the front force signals S3 and S4 sharply rise in the interval of 10 to 11 seconds. The decline also means that the strength values of the former power signals S3, S4 and the rear power signals S1, S2 at the 10th to 11th second are far from the strength values at the 0th to 5th second (that is, the first time interval) , indicating that the muscles of the calf 14 are in a state of high tension when the sole 16 performs plantar flexion.

The above are the structural features of the muscle tension evaluation device 10 of the present invention, and the muscle tension evaluation method of the present invention will be further described below, as shown in Figures 9 and 10, which includes the following steps:

a) Before the actuating unit 30 drives the pedal 26, the judging unit 50 calculates a standard deviation of the front force and a standard deviation of the front force respectively according to several force values of the front force signals S3, S4 and the rear force signals S1, S2 in a first time interval. The standard deviation of the posterior strength, and a first threshold and a second threshold are respectively calculated according to the standard deviation of the former strength and the standard deviation of the posterior strength.

b) The actuating unit 30 uses the piston rod 34 to drive the pedal 26, so that the pedal 26 drives the sole of the foot 16 to perform plantar flexion or dorsiflexion within a set target angle. What needs to be explained here is that patients can choose to perform plantar flexion first and then dorsiflexion, or they can choose to perform dorsiflexion first and then plantar flexion. There is no certain sequence between the two.

c) During the movement of the sole of the foot, the judging unit 50 calculates a front force deviation degree and a front force signal S3, S4 and a rear force signal S1, S2 in each second time interval relative to the first time interval respectively. The deviation of the rear force, and the second time interval is smaller than the first time interval, no matter dorsiflexion or plantarflexion is performed first, in the process of dorsiflexion of the sole 16, when the judging unit 50 judges the front force signal S3, S4 When it is greater than the rear force signal S1, S2, and the deviation of the front force is greater than the first threshold and the deviation of the rear force is greater than the second threshold, it means that the muscles of the calf 14 are in a state of high tension when the sole 16 performs dorsiflexion. At this time On the other hand, when the judgment unit 50 judges that the front force signals S3, S4 are smaller than the rear force signals S1, S2, and the deviation of the front force is greater than the first threshold and the deviation of the rear force is greater than When the second threshold value is reached, it means that the muscles of the calf 14 are in a state of high tension when the sole 16 performs plantar flexion, and at this time the actuating unit 30 stops driving the pedal 26 .

，

，

為

與

之間所形成的夾角，根據餘弦定理，當

、

、

為已知的長度時，

可被計算得出，

，

為下支撐件24之樞轉軸心(亦即第二軸件P2)與缸體32之樞轉軸心(亦即第三軸件P3)之間的直線距離，

為下支撐件24之樞轉軸心(亦即第二軸件P2)與活塞桿34之樞轉軸心(亦即第四軸件P4)之間的直線距離，

為缸體32之樞轉軸心(亦即第三軸件P3)與活塞桿34之樞轉軸心(亦即第四軸件P4)之間的直線距離，

為

與

之間所形成的夾角，

為通過下支撐件24之樞轉軸心(亦即第二軸件P2)且垂直踏板26之軸線，

為

與

之間所形成的夾角，

為通過上支撐件22之固定軸心(亦即第一軸件P1)和下支撐件24之樞轉軸心(亦即第二軸件P2)之軸線。 d) After the pedal 26 stops moving, further calculate the pivot angle of the lower support member 24 at the moment, as shown in Figure 5 and Figure 7, the pivot angle of the lower support member 24 (that is, the angle of the ankle joint) is defined as

,

,

for

and

The angle formed between, according to the law of cosines, when

,

,

is a known length,

can be calculated,

,

is the linear distance between the pivot axis of the lower support member 24 (ie, the second axis P2) and the pivot axis of the cylinder 32 (ie, the third axis P3),

is the linear distance between the pivot axis of the lower support member 24 (ie the second axis P2) and the pivot axis of the piston rod 34 (ie the fourth axis P4),

is the linear distance between the pivot axis of the cylinder 32 (ie the third axis P3) and the pivot axis of the piston rod 34 (ie the fourth axis P4),

for

and

the angle formed between

is the pivotal axis passing through the lower support member 24 (that is, the second shaft P2) and the axis of the vertical pedal 26,

for

and

the angle formed between

It is an axis passing through the fixed axis of the upper support 22 (ie, the first axis P1 ) and the pivot axis of the lower support 24 (ie, the second axis P2 ).

後，等待一段時間(約30秒)從判斷單元50來確認小腿14的肌肉是否解除高張力狀態，若無解除高張力狀態，表示患肢出現異常，必須先暫停操作，並將患者轉移至適合的地方確認身體狀況；反之，若已解除高張力狀態，根據下支撐件24的樞轉角度

以每次增加固定角度(在本實施例中以每次增加1度的方式，但實際上不以1度為限)的方式將腳掌16帶動至目標角度，之後按照上述步驟讓腳掌16反覆地進行蹠屈運動和背屈運動，直到確認腳掌16在目標角度內進行蹠屈運動和背屈運動的過程中都沒有讓小腿14肌肉發生高張力狀態時，即可讓腳掌16在目標角度內來回作動，以完成肌肉張力的舒緩。 at the aforementioned angle

Afterwards, wait for a period of time (about 30 seconds) to confirm whether the muscles of the calf 14 have released the high-tension state from the judging unit 50. If the high-tension state has not been released, it means that there is an abnormality in the affected limb, and the operation must be suspended first, and the patient is transferred to a suitable place. place to confirm the physical condition; otherwise, if the high tension state has been released, according to the pivot angle of the lower support 24

Bring the sole of the foot 16 to the target angle by increasing the fixed angle each time (in this embodiment, increasing by 1 degree each time, but in fact it is not limited to 1 degree), and then let the sole of the foot 16 repeatedly according to the above steps Perform plantar flexion and dorsiflexion until it is confirmed that the soles of the feet 16 do not cause high tension in the muscles of the calf 14 during the plantar flexion and dorsiflexion movements within the target angle, then the soles of the feet 16 can be moved back and forth within the target angle Move to relieve muscle tension.

In summary, the muscle tension evaluation device 10 of the present invention evaluates whether the muscles of the calf 14 are in a state of high tension by using whether the deviation of the front force is greater than the first threshold and whether the deviation of the rear force is greater than the second threshold. Stops under tension to reduce the risk of injury. After completing the tension relief exercise, you can immediately enter the follow-up gait training without transferring the patient, and at the same time, it does not need to spend extra manpower to relieve the tension of the patient's lower limb muscles to improve the training efficiency.

10: muscle tension evaluation device 12: gait training machine 14: calf 16: sole of foot 20: calf support unit 22: upper support P1: first shaft 24: lower support P2: second shaft 26: pedal 28: Stampede area 30: actuating unit 32: cylinder block 34: piston rod P3: third shaft P4: fourth shaft 40: sensing unit 41: front force sensor 42: front force sensor 43: rear force Sensor 44: rear force sensor S1: rear force signal S2: rear force signal S3: front force signal S4: front force signal 50: judging unit θ ₁ : pivot angle θ ₂ of the lower support: A ₂ and The angle θ ₃ formed between L ₂ : the angle θ _t formed between A ₁ and L ₁ : the angle formed between L ₁ and L ₂ L ₁ : the distance between the pivot axis of the lower support and the cylinder body The straight-line distance L2 between the pivot axes: the straight-line distance _{between the} pivot axis of the lower support and the pivot axis of the piston rod L3 : the straight line between the pivot axis of the cylinder and the pivot axis of the piston rod Distance A ₁ : through the fixed axis of the upper support A ₂ : through the pivot axis of the lower support and perpendicular to the axis of the pedal

FIG. 1 is a perspective view of the muscle tension assessment device of the present invention used in conjunction with a gait training machine. Fig. 2 is a perspective view of the muscle tension evaluation device of the present invention. Fig. 3 is a side view of the muscle tension evaluation device of the present invention. Fig. 4 is a top view of the pedal provided by the muscle tension evaluation device of the present invention. Figure 5 is similar to Figure 3, mainly showing the dorsiflexion of the soles of the feet. FIG. 6 is a graph of the judging unit provided by the muscle tension evaluation device of the present invention, which mainly shows the state of high tension when the sole of the foot performs dorsiflexion. Fig. 7 is similar to Fig. 5, mainly showing that the sole of the foot performs plantar flexion. Figure 8 is similar to Figure 6, mainly showing the high tension state when the sole of the foot performs plantar flexion. FIG. 9 is a flow chart of the muscle tone assessment method of the present invention. Fig. 10 is another flow chart of the muscle tone assessment method of the present invention.

10: Muscle tension assessment device

20: calf support unit

22: Upper support

P1: the first shaft

24: Lower support

P2: Second shaft

26: Pedal

28: Stampede Zone

30: Actuation unit

32: Cylinder

34: piston rod

P3: The third shaft

P4: Fourth axis

Claims (10)

A muscle tension evaluation device, comprising: a calf support unit for supporting the calf, the calf support unit has a pedal, the pedal has a stepping area, and the stepping area is used to bear a sole of the foot; an actuation unit drives the pedal Rotation; a sensing unit with at least one front force sensor and at least one rear force sensor, the at least one front force sensor is embedded in the pedal and located in front of the stepping area for sensing a The front stepping force corresponds to sending a front force signal, and the at least one rear force sensor is embedded in the pedal and is located behind the stepping area, for sensing a rear stepping force and correspondingly sending a rear force signal; and a The judging unit is electrically connected to the sensing unit. Before the actuating unit drives the pedal, the judging unit respectively calculates a number of force values in a first time interval according to the front force signal and the rear force signal. The standard deviation of the front strength and the standard deviation of the rear strength are calculated according to the standard deviation of the front strength and the standard deviation of the rear strength respectively. After the pedal is driven by the actuating unit, the The judging unit respectively calculates a front force deviation degree and a rear force deviation degree of the front force signal and the rear force signal in each second time interval relative to the first time interval, and the second time interval is smaller than the first time interval In the time interval, when the deviation of the front force is greater than the first threshold and the deviation of the rear force is greater than the second threshold, it means that the muscle of the calf is in a state of high tension. The muscle tension evaluation device as described in Claim 1, wherein, when the judging unit judges that the front force signal is greater than the rear force signal, and the deviation of the front force is greater than the first threshold and the deviation of the rear force is greater than the second threshold When the threshold is 2, it means that the muscle of the calf is in the foot The high tension state occurs when the palm performs dorsiflexion, when the judging unit judges that the front force signal is smaller than the rear force signal, and the deviation of the front force is greater than the first threshold and the deviation of the rear force is greater than the second threshold When the value is , it means that the muscles of the lower leg are in the state of high tension when the sole of the foot performs plantar flexion. The muscle tension assessment device as described in Claim 1, wherein the front force standard deviation is defined as δ _front ,

, the back force standard deviation is defined as δ _back ,

, N is the number of data collected in the first time interval, f _fi is the force value of the i- th data of the previous force signal in the first time interval, μ _f is the average value of N f _fi , f _bi is the power value of the i- th data of the post-power signal in the first time interval, μ _b is the average value of N pieces of f _bi , and the deviation of the front power is defined as δ _tf , δ _tf =

, the back force deviation is defined as δ _tb ,

, N _t is the number of data collected in the second time interval, f _tfi is the power value of the i- th data of the former force signal in the second time interval, f _tbi is the force value of the rear force signal in the second time interval The power value of the i- th data in the second time interval. The muscle tension assessment device as described in Claim 3, wherein the first threshold is defined as δ _f , δ _f =2* δ _front * δ _factor , and the second threshold is defined as δ _b , δ _b =2* δ _back * δ _factor , δ _factor is the sensitivity, when δ _factor = 1, the first threshold is twice the standard deviation of the front force, and the second threshold is twice the standard deviation of the back force. The muscle tension evaluation device as described in Claim 1, wherein the calf support unit also has an upper support and a lower support, the top of the lower support is pivotally arranged at the bottom of the upper support, and the pedal is fixed At the bottom end of the lower support, the actuating unit has a cylinder and a piston rod, the top of the cylinder is pivotally mounted on the upper support, and the piston rod is linearly displaceable on the cylinder and with its The bottom end is pivoted on the pedal, and the pivot angle of the lower support is defined as θ ₁ , θ ₁ =180°- θ _t - θ ₂ - θ ₃ , θ _t is the angle formed between L ₁ and L _{2 ,} θt =

, L ₁ is the linear distance between the pivot axis of the lower support and the pivot axis of the cylinder, L ₂ is the linear distance between the pivot axis of the lower support and the pivot axis of the piston rod , L ₃ is the linear distance between the pivot axis of the cylinder and the pivot axis of the piston rod, θ ₂ is the angle formed between A ₂ and L ₂ , A ₂ is the pivot point passing through the lower support The axis of rotation is perpendicular to the axis of the pedal, θ ₃ is the angle formed between A ₁ and L ₁ , and A ₁ is the axis passing through the fixed axis of the upper support and the pivot axis of the lower support. The muscle tension evaluation device as described in claim 1, wherein the sensing unit has two front force sensors and two rear force sensors, and the front force sensors are located on the left and right sides of the tread area Two corners, the rear force sensors are located at the left and right corners behind the stepping area. A muscle tension assessment method, suitable for a muscle tension assessment device, the muscle tension assessment device includes a calf support unit, an actuation unit, a sensing unit and a judgment unit, the calf support unit is used to support the calf, and the The calf support unit has a pedal for carrying a foot, the actuating unit can drive the pedal to rotate, the sensing unit is arranged on the pedal and sends a front force signal and a rear force signal, the judging unit is electrically connected to the Sensing unit, the muscle tension assessment method includes the following steps: a) Before the actuating unit drives the pedal, the judging unit calculates a front force standard deviation and a rear force standard deviation respectively according to several force values of the front force signal and the rear force signal in a first time interval , and calculate a first threshold value and a second threshold value respectively according to the standard deviation of the front force and the standard deviation of the rear force; b) the actuating unit drives the pedal so that the pedal drives the sole of the foot within a target angle and c) during the movement of the sole of the foot, the judging unit calculates a front strength deviation and a rear strength of the front strength signal and the rear strength signal in each second time interval relative to the first time interval Deviation, and the second time interval is less than the first time interval, when the deviation of the front force is greater than the first threshold and the deviation of the rear force is greater than the second threshold, it means that the muscles of the calf have a high In tension state, the actuating unit stops driving the pedal. The muscle tone assessment method as described in Claim 7, wherein, in step c), when the judging unit judges that the front force signal is greater than the rear force signal, and the deviation of the front force is greater than the first threshold and the rear When the strength deviation is greater than the second threshold value, it means that the muscles of the lower leg are in the high-tension state when the sole of the foot performs dorsiflexion, and the actuating unit stops driving the pedal. When the judging unit judges that the front strength signal is less than the Rear force signal, and when the deviation of the front force is greater than the first threshold and the deviation of the rear force is greater than the second threshold, it means that the muscles of the lower leg have the high tension state when the sole of the foot performs plantar flexion, the The actuation unit stops driving the pedal. The muscle tension assessment method as described in Claim 7 further includes a step d), when the pedal stops actuating until the high tension state is released, the actuating unit continues to drive the pedal so that the pedal drives the sole of the foot to the target angle. The muscle tension assessment method as described in Claim 7, wherein the calf support unit also has an upper support and a lower support, the top of the lower support is pivotally arranged at the bottom of the upper support, and the pedal is fixed At the bottom of the lower support, after the pedal stops, calculate the pivot angle of the lower support, and when the high tension state is released, increase a fixed angle each time according to the pivot angle of the lower support The way to bring the sole of the foot to the target angle.

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