A human simulator and visual simulation system for whole body massage and acupoint pressing

Abstract

The present invention relates to the technical field of teaching equipment, and in particular to a manikin and a visual simulation system for whole-body massage and acupoint acupuncture. The system includes a massage simulation data integration module, an acupoint acupoint acupoint simulation data integration module, and a massage acupoint ...

Description

Technical Field

[0001] The invention relates to the technical field of teaching equipment, and in particular to a manikin for whole-body massage and acupoint pressing and a visual simulation system. Background Art

[0002] Tuina is a traditional non-drug method of Chinese medicine. In the early stage, the operator used the theoretical knowledge of Chinese medicine and past operation experience to massage the patient. It is necessary to accurately find the meridians and acupoints on the patient's back, neck, buttocks, etc., and at the same time, it is necessary to control the pressure of the acupoints and meridians. It is very difficult. In the teaching of massage, it is difficult to intuitively describe the intensity and depth of the massage. In addition, there are special techniques in massage, such as pinching, kneading, and patting. The existing massage teaching aids cannot reproduce such special techniques. At the same time, the current simulation massage equipment is limited to the simulation of local parts of the human body, such as hands, legs, etc., and only displays the size of the pressure and the area covered, so it is impossible to accurately locate the acupoints and meridians of the massage technique. Summary of the invention

[0003] Based on this, it is necessary for the present invention to provide a human simulator and a visual simulation system for whole-body massage and acupoint pressing to solve at least one of the above-mentioned technical problems.

[0004] To achieve the above-mentioned purpose, a human simulator for whole-body massage and acupoint pressing comprises a human simulator, wherein the back of the human simulator is provided with a back matrix pressure sensor, the abdomen of the human simulator is provided with an abdominal matrix pressure sensor, the elbows of the human simulator are provided with a first elbow potentiometer and a second elbow potentiometer, the arms of the human simulator are provided with a first hand gyroscope and a second hand gyroscope, the knees of the human simulator are provided with a first knee potentiometer and a second knee potentiometer, the thighs of the human simulator are provided with a first leg gyroscope and a second leg gyroscope at positions adjacent to the first knee potentiometer and the second knee potentiometer, and the neck of the human simulator is provided with a first touch sensor. A second touch sensor is installed on the shoulder of the simulated human body, a third touch sensor is installed on the side of the first elbow potentiometer adjacent to the first hand gyroscope, a fourth touch sensor is installed on the side of the first elbow potentiometer away from the third touch sensor, a fifth touch sensor is embedded in the waist position of the simulated human body, a sixth touch sensor is installed on the side of the first knee potentiometer close to the first leg gyroscope, a foot touch module is installed at the foot of the simulated human body, and a control mainboard connected in parallel is distributed in the simulated human body, and the first touch sensor, the second touch sensor, the third touch sensor, the fourth touch sensor, the fifth touch sensor, the sixth touch sensor and the foot touch module are all electrically connected to the control mainboard.

[0005] Furthermore, the back matrix pressure sensor and the abdominal matrix pressure sensor are used to collect a back force data set and an abdominal force data set of the simulated human body during massage, wherein the back force data set includes a back force point, a back force range, a back force depth, back massage meridians and acupoints, and the abdominal force data set includes an abdominal force point, an abdominal force range, an abdominal force depth, abdominal massage meridians and acupoints, and the back force data set and the abdominal force data set are integrated into the control main board.

[0006] Furthermore, the first hand gyroscope and the second hand gyroscope are used to collect spatial dimensional position coordinate data of the arms on both sides of the simulated human body; the first leg gyroscope and the second leg gyroscope are used to collect spatial dimensional position coordinate data of the legs on both sides of the simulated human body; the first elbow potentiometer, the second elbow potentiometer, the first knee potentiometer and the second knee potentiometer are used to collect elbow and knee rotation angle data sets of the simulated human body, wherein the elbow and knee rotation angle data sets include the distortion angle, clockwise rotation angle and counterclockwise rotation angle of the elbow and knee; the spatial dimensional position coordinate data of the arms on both sides, the spatial dimensional position coordinate data of the legs on both sides and the elbow and knee rotation angle data sets are integrated into the control main board.

[0007] Furthermore, 360 acupoint sensors are arranged at the acupoints corresponding to the whole body of the simulated human body, wherein every 12 acupoint sensors are divided into a group, each group of acupoint sensors is electrically connected to a sub-control mainboard, the sub-control mainboards are distributed in the simulated human body, and the sub-control mainboards are electrically connected to the control mainboard.

[0008] Furthermore, the present invention also provides a visual simulation system, which is applied to the above-mentioned whole body massage acupoint acupuncture manikin, and the visual simulation system includes the following modules:

[0009] The massage simulation data integration module is used to select the massage technique required by the whole body massage acupoint simulation person in the massage software built into the control mainboard, and use the gesture recognition camera to monitor the hand posture of the selected massage technique in real time to obtain the selected massage measurement technique posture time series data; based on the preset selected massage standard technique posture time series data, the selected massage measurement technique posture time series data is massage matched and calibrated to obtain the selected massage technique posture matching calibration data; based on the selected massage technique, the corresponding pressure sensor and gyroscope in the whole body massage acupoint simulation person body are started to collect massage data of different parts of the whole body massage acupoint simulation person body in real time to obtain the selected massage technique pressure data and the selected massage technique joint posture data; the selected massage technique posture matching calibration data, the selected massage technique pressure data and the selected massage technique joint posture data are subjected to massage data fusion processing to obtain the simulated person massage simulation integration data, and upload it to the control mainboard;

[0010] The acupoint-pressing simulation data integration module is used to select the acupoints that need to be pressed by the whole-body massage acupoint-pressing simulator in the acupoint-pressing software built into the control mainboard, and respond to generate acupoint sensor control instructions corresponding to the acupoints selected by the simulator; the acupoint sensor control instructions are applied to the sub-control mainboard and the corresponding acupoint sensors are started to monitor and integrate the acupoint pressures of the selected acupoints in real time, so as to obtain the acupoint-pressing simulation integration data of the simulator, and upload it to the control mainboard;

[0011] The massage acupoint simulation data display module is used to visualize the simulated massage integrated data and the simulated acupoint simulation integrated data of the simulated person through the control mainboard.

[0012] Furthermore, the massage simulation data integration module includes the following functions:

[0013] By selecting the massage technique required by the whole body massage acupoint simulator in the massage software built into the control mainboard, the massage technique selected by the simulator operator can be obtained;

[0014] The gesture recognition camera is used to monitor the hand posture of the selected massage technique of the simulated human operator in real time, and the time series data of the selected massage measurement technique posture is obtained. ,in is the measurement time point index parameter, Respectively The selected massage technique posture data at each measurement time point;

[0015] Based on the selected standard massage technique posture time series data preset in the massage technique selected by the simulated human operator, the selected massage measurement technique posture time series data is subjected to massage matching calibration to obtain the selected massage technique posture matching calibration data;

[0016] Based on the massage technique selected by the simulated human operator, the corresponding pressure sensors and gyroscopes in the simulated human body for whole body massage acupoint ...

[0017] The multi-sensor data fusion calculation formula is used to perform massage data fusion processing on the selected massage technique posture matching calibration data, the selected massage technique pressure data and the selected massage technique joint posture data to obtain the simulated human massage simulation integrated data and upload it to the control mainboard.

[0018] Furthermore, the step of performing massage matching calibration on the selected massage measurement technique posture time series data based on the selected standard massage technique posture time series data preset in the massage technique selected by the simulated human operator comprises:

[0019] By obtaining the preset selected standard massage technique posture time series data from the massage technique selected by the corresponding simulated human operator ,in is the standard unit time point index parameter, Respectively The selected massage technique posture data at the standard unit time point;

[0020] By arbitrarily selecting a selected massage measurement technique window data from the selected massage measurement technique posture time series data: ,in are the eigenvalues ​​of the window data, is the starting index of the window sequence, is the window size, and the characteristic distance matching metric calculation is performed on the selected massage measurement technique window data and the selected massage standard technique posture time series data through the dynamic time warping algorithm to obtain the characteristic distance matching metric value between the massage technique window data and the standard technique data;

[0021] The dynamic time warping algorithm is as follows:

[0022] ;

[0023] In the formula, is the feature distance matching metric between the massage technique window data and the standard technique data, and are all time point variable parameters, is the characteristic Euclidean distance value between the massage manipulation window data and the standard manipulation data;

[0024] The dynamic programming characteristic parameters of the manipulation are calculated according to the characteristic distance matching metric between the manipulation window data and the standard manipulation data to obtain the dynamic programming characteristic parameters of the manipulation:

[0025] ;

[0026] In the formula, for Time point matrix arrive Dynamically plan a path for any massage technique;

[0027] The registration parameter value equation of the massage technique is used in combination with the dynamic programming characteristic parameters of the massage technique to calculate the registration parameter value, so as to obtain the massage technique stability parameter value, the massage technique rhythmic parameter value and the massage technique balance parameter value;

[0028] Among them, the massage technique registration parameter value equation is specifically:

[0029] ;

[0030] In the formula, is the parameter value of the massage technique stability, is the rhythmic parameter value of massage technique, is the balance parameter value of massage technique, is the 3x3 registration transformation matrix, for a period of time The continuous massage technique time series data, is an exponential function, Dynamically program characteristic parameters for massage techniques;

[0031] According to the massage manipulation stability parameter value, the massage manipulation rhythmic parameter value and the massage manipulation balance parameter value, the selected massage manipulation posture time series data is subjected to massage matching calibration to obtain the selected massage manipulation posture matching calibration data.

[0032] Furthermore, the multi-sensor data fusion calculation formula is specifically as follows:

[0033] ;

[0034] In the formula, Integrate data for human massage simulation, is the left hand posture matrix obtained from the selected massage technique posture matching calibration data, is the right hand posture matrix obtained from the selected massage technique posture matching calibration data, is the transpose symbol, The first pressure sensor values, For the Normalized coordinates of pressure sensors, The first The gyroscope orientation attitude angle of each joint.

[0035] Furthermore, the acupoint simulation data integration module includes the following functions:

[0036] By selecting the acupoints that the whole body massage acupoint simulator needs to press in the acupoint pressing software built into the control mainboard, the acupoints selected by the simulator can be obtained;

[0037] Using the control mainboard to perform sensor control response processing on the acupoint sensor built in the acupoint selected by the simulated person, so as to generate acupoint sensor control instructions corresponding to the acupoint selected by the simulated person in response;

[0038] Apply the acupoint sensor control command corresponding to the acupoint selected by the simulated person to the sub-control mainboard and start the corresponding acupoint sensor to perform real-time monitoring of the acupoint pressure of the acupoint selected by the simulated person, and obtain the real-time pressure data corresponding to the acupoint selected by the simulated person;

[0039] The real-time pressure data corresponding to the acupoints selected by the simulated person are integrated to obtain the simulated acupoint-pressing integrated data of the simulated person, and uploaded to the control mainboard.

[0040] Furthermore, the massage acupoint simulation data display module includes the following functions:

[0041] Performing massage simulation output analysis on the simulated human massage simulation integrated data by controlling the main board to obtain a simulated human massage simulation data output signal;

[0042] The acupoint-pressing simulation integrated data of the simulated human being are analyzed by the control mainboard to obtain the acupoint-pressing simulation data output signal of the simulated human being;

[0043] The simulated human massage simulation data output signal and the simulated human acupoint pressing simulation data output signal are transmitted to the mobile terminal display screen, and the simulated human massage simulation data output signal and the simulated human acupoint pressing simulation data output signal are visualized using the mobile terminal display screen.

[0044] Beneficial effects of the present invention:

[0045] 1. The whole body massage acupoint simulator proposed by the present invention includes a simulator body, on which a variety of sensors are combined, including a back matrix pressure sensor, an abdominal matrix pressure sensor, a first hand gyroscope, a second hand gyroscope, a first leg gyroscope, a second leg gyroscope, a first elbow potentiometer, a second elbow potentiometer, a first knee potentiometer, a second knee potentiometer, a first touch sensor, a second touch sensor, a third touch sensor, a fourth touch sensor, a fifth touch sensor, a sixth touch sensor, a foot touch module, a control main board, an acupoint sensor and a sub-control main board. The matrix pressure sensors on the back and abdomen can monitor the applied pressure distribution in real time, so that the response to different parts during the massage process is more accurate, thereby helping users understand The effects of different forces and techniques on the body, the combination of potentiometers and gyroscopes at the elbows, knees and legs can capture the angle and position changes of the movement, providing comprehensive motion feedback for the simulator, ensuring the authenticity and effectiveness of each massage action, and the setting of the touch sensor enables the user to have a more direct interactive experience during operation, such as feedback of force and touch through the touch sensor, increasing the interactivity in the process of learning massage techniques. These sensors are electrically connected to the control motherboard, making data processing more efficient and facilitating real-time analysis and adjustment. This highly integrated sensor system not only improves the simulator's ability to adapt to various massage techniques, but also provides users with rich feedback, helping them to continuously improve their skills in practice, so as to better understand and master the essence of massage. At the same time, by setting up 360 acupoint sensors at each acupoint of the simulated human body, accurate simulation and feedback of traditional massage and acupuncture treatment are achieved. These sensors are distributed in groups of 12, which can better reflect the acupoint conditions of various parts of the body. This layout not only improves the response sensitivity to different acupoint stimulation, but also provides users with detailed real-time data to help understand the function and effect of each acupoint. In addition, the introduction of the sub-control mainboard makes signal processing more efficient, and each group of acupoint sensors can work independently, thereby reducing the burden of the single main control system and ensuring the stability and reliability of the overall system. Through electrical connection, the interaction between the sub-control main board and the control main board makes information transmission faster, which can instantly reflect the impact of different operations on acupoints and enhance the user experience. This highly integrated sensor layout not only improves the simulator's adaptability to various massage and acupuncture techniques, but also enables the whole-body simulation of massage and acupoints on a simulator. Several internal sensors are integrated through integrated circuit calculations to synchronize pressure data to the visual simulation system in real time, and identify the current massage and acupoint location, acupoints, and meridian information. At the same time, the current massage and acupoint movements can be collected in real time and displayed on the display, while informing whether the massage and acupoint movements are correct, and whether the stimulation of the meridians, acupoints, and joints is effective.

[0046] 2. The visual simulation system proposed in the present invention is composed of a massage simulation data integration module, an acupoint simulation data integration module and a massage acupoint simulation data display module. Compared with the prior art, the beneficial effect of the present application is that by selecting the massage technique required by the operator in the massage software built into the control mainboard, the simulated human operator can accurately define the required massage method. This selection process not only improves the user experience, but also provides a clear basis for subsequent operations. Through the detailed description and simulation of each massage technique, the operator can accurately calibrate the difference between the standard technique of the teaching teacher, and the clear technique selection ensures that the simulated human operator can perform effective massage practice, which increases the effect of simulation training. By using a gesture recognition camera to monitor the massage technique selected by the operator in real time, the time series data of the operator's hand posture can be obtained. The real-time and accuracy of this process are crucial to ensure the effective execution of the massage technique. By recording gesture data, the posture changes at each time point can be analyzed, and then the errors or irregular movements between the teaching standard techniques can be identified, thereby providing instant feedback to the operator and providing personalized improvement suggestions. By performing massage matching calibration on the selected massage measurement technique posture time series data based on the selected standard massage technique posture time series data preset in the massage technique selected by the operator, the accuracy and effectiveness of the selected massage technique can be significantly improved. This calibration process ensures that the massage movements performed by the simulated human operator are consistent with professional standards, reducing the risk of poor results due to improper posture. The calibrated data can be used as a benchmark for future training to further improve the operator's skill level. By activating the corresponding pressure sensors and gyroscopes in the simulated human body for whole-body massage acupoints based on the selected massage technique, the massage data of different parts of the simulated human body for whole-body massage acupoints are collected in real time, and the pressure and joint posture data of the selected massage technique can be accurately obtained. This process not only allows the simulated human operator's technique to be closely combined with actual feedback, but also provides a real sense of strength and direction during the massage process. The use of pressure sensors allows the strength and effect of each massage to be quantified, helping the operator to master the appropriate massage intensity. The joint posture data recorded by the gyroscope provides dynamic feedback on the massage technique, allowing the operator to adjust the posture in real time to optimize the massage effect. The real-time and accurate data collection greatly enhances the realism of the simulated massage. At the same time, the massage data fusion processing is performed on the selected massage technique posture matching calibration data, the selected massage technique pressure data, and the selected massage technique joint posture data by using the multi-sensor data fusion calculation formula, thereby obtaining the comprehensive data of the simulated human massage. This fusion processing process not only improves the accuracy of the data, but also provides comprehensive massage feedback for the operator.By integrating data from different sensors, it is possible to comprehensively analyze all dimensions of the massage process, so that the operator can obtain more detailed feedback information, ensuring that each massage can achieve the best effect, thereby providing basic data guarantee for the subsequent visualization of the meridians of the massage technique. Then, by selecting the acupoints required for the simulated person to press in the acupoint software built into the control motherboard, the operator of the simulated person can clearly select the specific acupoint location. This selection process not only improves the user's operating experience, but also provides a clear basis for the subsequent processing process, which can help the operator better understand the function of each acupoint and its role in the acupoint process. By using the control motherboard to perform sensor control response processing on the built-in acupoint sensor at the selected acupoint, the corresponding acupoint sensor control instruction is generated. The key to this process is to achieve precise control of the acupoint sensor, ensure that the acupoint selected by the simulated person can be monitored in real time, and through response control, the operator's selection can be identified and executed, so that the acupoint sensor is started at the specified position and real-time feedback is provided. Such a design not only improves the flexibility and accuracy of the system. The acupoint sensor control instructions are applied to the sub-control mainboard and the corresponding acupoint sensors are activated to monitor the acupoint pressure of the selected acupoints in real time. The implementation of this step greatly improves the interactivity and authenticity of the acupoint simulation process, allowing the operator to obtain specific pressure data about the selected acupoints in real time. The real-time monitoring mechanism enables the user to observe the relationship between the pressure applied and the reaction during the acupoint pressing process, further enhancing the understanding and grasp of the acupoint pressing effect. The real-time pressure data corresponding to the acupoints selected by the simulated person are integrated and uploaded to the control mainboard. The significance of this integration process is that the pressure data of multiple acupoints can be brought together to form comprehensive feedback information, so that the acupoint pressing effect of the user can be comprehensively evaluated. The data integration process not only improves the readability of the information, but also enables the rapid analysis of the performance of different acupoints under different conditions, thereby providing data support for the subsequent visualization process.Finally, the simulated integrated data of human massage and human acupoint simulation are visualized by using the control motherboard. The core of this process is to systematically analyze the integrated data collected previously to identify the effectiveness and accuracy of each action in the massage process and evaluate the effectiveness and adaptability of the acupoint technology. Through the visualization display, the user's interactive experience and information acquisition efficiency are greatly enhanced. This visualization process not only converts complex data information into intuitive graphics and charts to help users more easily understand the effects of simulated massage and acupoint, but also provides an intuitive reference for the simulated human massage and acupoint learning process. Users can view the changes in applied pressure, the location of the force point and the corresponding body reaction in real time through the mobile terminal screen, forming a dynamic feedback loop. This visual feedback mechanism not only improves the user's learning experience, but also helps them to adjust strategies in time in practice, which can improve the accuracy and effectiveness of massage and acupoint operations, so that the operator can simulate and achieve accurate positioning of acupoints and meridians of massage and acupoint techniques. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments thereof made with reference to the following drawings:

[0048] Figure 1 This is a schematic diagram of some components of a human simulator for whole body massage and acupoint pressing of the present invention;

[0049] Figure 1 The markings are: 1. Simulated human body; 2. Back matrix pressure sensor; 3. First hand gyroscope; 4. Second hand gyroscope; 5. First leg gyroscope; 6. Second leg gyroscope; 7. First elbow potentiometer; 8. Second elbow potentiometer; 9. First knee potentiometer; 10. Second knee potentiometer; 11. First touch sensor; 12. Second touch sensor; 13. Third touch sensor; 14. Fourth touch sensor; 15. Fifth touch sensor; 16. Sixth touch sensor; 17. Foot touch module;

[0050] Figure 2 It is a module schematic diagram of the visual simulation system of the present invention;

[0051] Figure 3 for Figure 2 Schematic diagram of the functional flow of the acupoint simulation data integration module. DETAILED DESCRIPTION

[0052] The technical method of the present invention is described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by technicians in this field without creative work are within the scope of protection of the present invention.

[0053] In addition, the accompanying drawings are only schematic illustrations of the present invention and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. The functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor methods and / or microcontroller methods.

[0054] It should be understood that, although the terms "first", "second", etc. may be used herein to describe various units, these units should not be limited by these terms. These terms are used only to distinguish one unit from another unit. For example, without departing from the scope of the exemplary embodiments, the first unit may be referred to as the second unit, and similarly the second unit may be referred to as the first unit. The term "and / or" used herein includes any and all combinations of one or more of the listed associated items.

[0055] To achieve this, please refer to Figures 1 to 3 The present invention provides a human body simulation for whole body massage and acupuncture. Figure 1As shown, it is a schematic diagram of some components of a human simulator for whole-body massage and acupoint pressing of the present invention. In an embodiment of the present invention, the human simulator for whole-body massage and acupoint pressing comprises a human simulator 1, a back matrix pressure sensor 2 is installed on the back of the human simulator 1, an abdomen matrix pressure sensor is installed on the abdomen of the human simulator 1, a first elbow potentiometer 7 and a second elbow potentiometer 8 are installed at both elbows of the human simulator 1, a first hand gyroscope 3 and a second hand gyroscope 4 are embedded in both arms of the human simulator 1, a first knee potentiometer 9 and a second knee potentiometer 10 are embedded in both knees of the human simulator 1, a first leg gyroscope 5 and a second leg gyroscope 6 are embedded in both thighs of the human simulator 1 adjacent to the first knee potentiometer 9 and the second knee potentiometer 10, and a first touch sensor 7 is installed on the neck of the human simulator 1. A touch sensor 11 is provided on the shoulder of the simulated human body 1, a third touch sensor 13 is provided on the side of the first elbow potentiometer 7 adjacent to the first hand gyroscope 3, a fourth touch sensor 14 is provided on the side of the first elbow potentiometer 7 away from the third touch sensor 13, a fifth touch sensor 15 is embedded in the waist position of the simulated human body 1, a sixth touch sensor 16 is provided on the side of the first knee potentiometer 9 close to the first leg gyroscope 5, a foot touch module 17 is provided at the foot of the simulated human body 1, and a control main board connected in parallel is distributed in the simulated human body 1, and the first touch sensor 11, the second touch sensor 12, the third touch sensor 13, the fourth touch sensor 14, the fifth touch sensor 15, the sixth touch sensor 16 and the foot touch module 17 are all electrically connected to the control main board.

[0056] Furthermore, the back matrix pressure sensor 2 and the abdominal matrix pressure sensor are used to collect a back force data set and an abdominal force data set of the simulated human body 1 during massage, wherein the back force data set includes a back force point, a back force range, a back force depth, back massage meridians and acupoints, and the abdominal force data set includes an abdominal force point, an abdominal force range, an abdominal force depth, abdominal massage meridians and acupoints, and the back force data set and the abdominal force data set are integrated into the control main board.

[0057] In the embodiment of the present invention, the back matrix pressure sensor 2 and the abdominal matrix pressure sensor configured in the whole body massage acupoint simulation are activated during the operator's practice of massage techniques to collect the massage force data set of the back and abdomen of the simulated person in real time, wherein the back matrix pressure sensor 2 is composed of a plurality of pressure sensing units, which are evenly distributed on the back of the simulated person body 1, and can monitor the pressure changes of each force point on the back in real time during the massage process, and each sensing unit transmits the integrated back force data set to the control main board through an electrical signal, and the data set includes the back force point, force range, force depth, meridians and acupoints. In addition, the abdominal matrix pressure sensor is also set on the abdomen of the simulated person body 1, and records the force situation of the abdomen in real time, and combines the massage meridian and acupoint information to form a complete abdominal force data set, including the abdominal force point, force range, force depth, meridians and acupoints. The control main board is responsible for integrating these two parts of the data set to ensure real-time feedback of the massage effect.

[0058] Furthermore, the first hand gyroscope 3 and the second hand gyroscope 4 are used to collect spatial dimensional position coordinate data of the arms on both sides of the simulated human body 1; the first leg gyroscope 5 and the second leg gyroscope 6 are used to collect spatial dimensional position coordinate data of the legs on both sides of the simulated human body 1; the first elbow potentiometer 7, the second elbow potentiometer 8, the first knee potentiometer 9 and the second knee potentiometer 10 are used to collect elbow and knee rotation angle data sets of the simulated human body 1, wherein the elbow and knee rotation angle data sets include the distortion angle, clockwise rotation angle and counterclockwise rotation angle of the elbow and knee; the spatial dimensional position coordinate data of the arms on both sides, the spatial dimensional position coordinate data of the legs on both sides and the elbow and knee rotation angle data sets are integrated into the control main board.

[0059] In the embodiment of the present invention, gyroscopes and potentiometers are set on the four limbs of the simulated human body 1 to monitor the spatial position and rotation angle of different parts of the simulated human body during the massage manipulation simulation process, wherein the first hand gyroscope 3 and the second hand gyroscope 4 are responsible for collecting the three-dimensional spatial dimension position coordinate data of the arms on both sides, and a three-axis accelerometer and gyroscope combination are used to record the dynamic changes of the arms during the massage process in real time. Similarly, the first leg gyroscope 5 and the second leg gyroscope 6 are responsible for monitoring the spatial position of the legs, and potentiometers are installed at the elbows and knees, including the first elbow potentiometer 7, the second elbow potentiometer 8, the first knee potentiometer 9 and the second knee potentiometer 10. The corresponding potentiometers are used to obtain the distortion angles, clockwise and counterclockwise rotation angles of the elbows and knees. All these data are integrated into the control mainboard through wired connections to form a comprehensive motion data set for analyzing the massage effect.

[0060] Furthermore, 360 acupoint sensors are arranged at the acupoints corresponding to the whole body of the simulated human body 1, wherein every 12 acupoint sensors are divided into a group, each group of the acupoint sensors is electrically connected to a sub-control mainboard, the sub-control mainboards are distributed in the simulated human body 1, and the sub-control mainboards are electrically connected to the control mainboard.

[0061] In an embodiment of the present invention, 360 acupoint sensors are installed on the key acupoints of the simulated human body 1 (that is, 360 acupoints of the whole body), and each 12 acupoint sensors form a group, which are connected to the sub-control main board through cables. Each pressure sensor has pressure sensing capability and can detect the corresponding pressure response signal when pressure is applied by acupoint manipulation. These sub-control main boards are distributed inside the simulated human body 1 and are connected to the control main board through a dedicated interface to ensure stable data transmission. The data information collected by the acupoint sensors includes pressure values ​​and stimulation effects. After integrating these data into the control main board, they can reflect the force conditions of the acupoints during massage in real time.

[0062] Furthermore, the present invention also provides a visual simulation system, which is applied to the above-mentioned whole body massage acupoint acupuncture manikin, and the visual simulation system includes the following modules:

[0063] The massage simulation data integration module is used to select the massage technique required by the whole body massage acupoint simulation person in the massage software built into the control mainboard, and use the gesture recognition camera to monitor the hand posture of the selected massage technique in real time to obtain the selected massage measurement technique posture time series data; based on the preset selected massage standard technique posture time series data, the selected massage measurement technique posture time series data is massage matched and calibrated to obtain the selected massage technique posture matching calibration data; based on the selected massage technique, the corresponding pressure sensor and gyroscope in the whole body massage acupoint simulation person body are started to collect massage data of different parts of the whole body massage acupoint simulation person body in real time to obtain the selected massage technique pressure data and the selected massage technique joint posture data; the selected massage technique posture matching calibration data, the selected massage technique pressure data and the selected massage technique joint posture data are subjected to massage data fusion processing to obtain the simulated person massage simulation integration data, and upload it to the control mainboard;

[0064] The acupoint-pressing simulation data integration module is used to select the acupoints that need to be pressed by the whole-body massage acupoint-pressing simulator in the acupoint-pressing software built into the control mainboard, and respond to generate acupoint sensor control instructions corresponding to the acupoints selected by the simulator; the acupoint sensor control instructions are applied to the sub-control mainboard and the corresponding acupoint sensors are started to monitor and integrate the acupoint pressures of the selected acupoints in real time, so as to obtain the acupoint-pressing simulation integration data of the simulator, and upload it to the control mainboard;

[0065] The massage acupoint simulation data display module is used to visualize the simulated massage integrated data and the simulated acupoint simulation integrated data of the simulated person through the control mainboard.

[0066] In the embodiment of the present invention, please refer to Figure 2 FIG. 1 is a schematic diagram of modules of a visual simulation system of the present invention. In this example, the visual simulation system includes the following modules:

[0067] S1: a massage simulation data integration module, which is used to select the massage technique required by the whole body massage acupoint simulation person in the massage software built into the control mainboard, and use the gesture recognition camera to monitor the hand posture of the selected massage technique in real time, so as to obtain the selected massage measurement technique posture time series data; perform massage matching calibration on the selected massage measurement technique posture time series data based on the preset selected massage standard technique posture time series data, so as to obtain the selected massage technique posture matching calibration data; based on the selected massage technique, start the corresponding pressure sensor and gyroscope in the whole body massage acupoint simulation person body to collect massage data of different parts of the whole body massage acupoint simulation person body in real time, so as to obtain the selected massage technique pressure data and the selected massage technique joint posture data; perform massage data fusion processing on the selected massage technique posture matching calibration data, the selected massage technique pressure data and the selected massage technique joint posture data, so as to obtain the simulated person massage simulation integration data, and upload it to the control mainboard;

[0068] In the embodiment of the present invention, the operator selects the massage technique required for training on the whole body massage acupoint simulation manikin on the user interface of the massage software in the control mainboard, and the operator selects the "back meridian massage or shoulder meridian massage or whole body massage" option through the touch screen of the user interface, and the standard parameters and execution path related to the massage technique are automatically loaded according to the selection, and the specific data of the massage technique selected by the operator is stored in the memory, including information such as strength, rhythm and time requirements, so as to obtain the massage technique selected by the simulation manikin operator. The operator's hand posture is monitored in real time by using a gesture recognition camera during the massage execution process of the operator, wherein the gesture recognition camera is installed in front of the simulation manikin, and the operator's hand movements are tracked in real time using infrared and depth sensing technology, and the hand movement information captured by the camera is converted into posture data, and the data at each time point includes the position, angle and movement speed of the hand, and the data is marked in milliseconds, so as to obtain the selected massage measurement technique posture time series data. At the same time, by acquiring the standard massage technique posture time series data generated in the control main board according to the simulated human massage technique previously selected by the operator, and comparing the operator's real-time hand posture data with the preset standard massage technique posture, the difference between the measured technique C and the standard technique S can be identified through the dynamic time warping (DTW) algorithm to match and calibrate the operator's massage technique posture matching calibration data during the measurement process, ensuring that the operator's technique can meet the standard as much as possible during execution and achieve the ideal massage effect, thereby obtaining the selected massage technique posture matching calibration data. By starting the corresponding pressure sensors and gyroscopes in the simulated human body according to the massage techniques previously selected by the operator, the real-time data of the massage process of different parts of the simulated human body are collected to collect the real-time data during the massage process. After starting, the pressure sensor will sense the applied pressure and record the force of each part in real time. The data includes pressure value, duration, etc. The gyroscope is responsible for monitoring the angle changes of each joint of the simulated human body, so as to obtain the selected massage technique pressure data and the selected massage technique joint posture data. Then, by using a suitable multi-sensor data fusion method, the selected massage technique posture matching calibration data, the selected massage technique pressure data and the selected massage technique joint posture data are fused and processed, so as to form a comprehensive data set containing all the key parameters in the massage process. This data set will be uploaded to the control main board in real time to ensure that the subsequent massage analysis and effect evaluation can be based on reliable data, support the visualization of acupoints and meridians in the massage simulation process, and finally obtain the simulated human massage simulation integrated data.

[0069] S2: Acupoint acupuncture simulation data integration module, which is used to select the acupoints that need to be pressed by the whole body massage acupuncture simulator in the acupoint acupuncture software built into the control mainboard, and respond to generate acupoint sensor control instructions corresponding to the acupoints selected by the simulator; the acupoint sensor control instructions are applied to the sub-control mainboard and the corresponding acupoint sensors are started to monitor and integrate the acupoint pressure of the selected acupoints in real time, so as to obtain the acupoint acupuncture simulation integration data of the simulator, and upload it to the control mainboard;

[0070] In an embodiment of the present invention, the operator selects the specific acupoints that need to be pressed on the whole body massage acupoint simulation man on the user interface of the acupoint pressing software in the control mainboard, such as Zusanli, Guanyuan, Neiguan, Fengchi and other acupoints. In this process, the user interface displays all available acupoints and allows the user to directly select the acupoints that need to be pressed on the whole body massage acupoint simulation man, thereby obtaining the acupoints selected by the simulation man. By using the control mainboard to control the response processing of the acupoint sensor built into the previously selected acupoint, the control mainboard issues a control instruction to activate the corresponding acupoint sensor, ensure that it enters the monitoring state from the standby state, and ensure that the sensor can quickly respond to the changes of the selected acupoint, thereby responding to generate the acupoint sensor control instruction corresponding to the selected acupoint of the simulation man. At the same time, by transmitting the corresponding acupoint sensor control instruction generated by the previous response to and acting on the sub-control mainboard corresponding to the selected acupoint, the acupoint sensor related to the selected acupoint is started to perform real-time pressure monitoring, so as to accurately detect the pressure changes applied to the acupoint, and form a detailed real-time pressure data record, thereby obtaining the real-time pressure data corresponding to the selected acupoint. Then, the real-time pressure data corresponding to the selected acupoints are integrated by using the multi-sensor data fusion method consistent with the massage process, so as to summarize the pressure data at different selected acupoints, ensure the comprehensiveness and reliability of the acupoint pressure simulation data, and upload the integrated simulated human acupoint simulation data to the control main board.

[0071] S3: A massage and acupoint simulation data display module, which is used to visualize the simulated massage integrated data and the simulated acupoint simulation integrated data of the simulated person through the control mainboard.

[0072] In an embodiment of the present invention, the integrated data of the simulated human massage process is received by the control mainboard. These data include characteristic data such as the hand posture, pressure and simulated human joint posture of the massage technique selected by the operator. The control mainboard processes these data using the built-in massage simulation analysis algorithm, and performs noise filtering on the original data through a multi-level signal processing method, including data filtering, feature extraction and pattern recognition, to ensure the accuracy of the analysis, and extracts key features of the massage technique, such as the pressure change curve and the force application duration, so as to generate an output signal of the corresponding massage simulation data through encoding. Similarly, the integrated data of the simulated human acupoint pressing is analyzed and processed similarly by the control mainboard. This step first imports the acupoint pressing simulation integrated data into the control mainboard. The data includes the force application and time information of each acupoint, and uses a special A certain acupoint simulation output analysis algorithm is used to analyze these data, and the analysis process involves signal segmentation, feature value extraction and data pattern matching to identify the force application mode of different acupoints, and then extract the characteristics such as the pressure peak and force application frequency of each acupoint, so as to generate the output signal of the acupoint simulation data through encoding, and then, through the use of a special communication interface, the massage simulation data output signal and the acupoint simulation data output signal that have been previously encoded and output are transmitted to the display screen of the mobile terminal using wireless communication protocols such as Bluetooth or Wi-Fi, and after receiving the massage simulation data output signal and the acupoint simulation data output signal by using the built-in data visualization software of the mobile terminal display screen, they are decoded and a graphical interface is generated, and the acupoint and meridian positioning effects of massage and acupoint are observed in real time through the user-friendly interface.

[0073] Furthermore, the massage simulation data integration module includes the following functions:

[0074] By selecting the massage technique required by the whole body massage acupoint simulator in the massage software built into the control mainboard, the massage technique selected by the simulator operator can be obtained;

[0075] In an embodiment of the present invention, by selecting the massage technique required by the operator for training on a whole-body massage and acupoint simulation manikin on the user interface of the massage software in the control mainboard, the operator selects the "back meridian massage or shoulder meridian massage or whole-body massage" option through the touch screen of the user interface, and the standard parameters and execution path related to the massage technique will be automatically loaded according to the selection, and the specific data of the massage technique selected by the operator will be stored in the memory, and a detailed configuration file of the massage technique will be formed, including information such as strength, rhythm and time requirements. This operation ensures that the operator can accurately execute the corresponding massage technique in the subsequent process, and finally obtain the massage technique selected by the simulation manikin operator.

[0076] Preferably, a gesture recognition camera is used to monitor the hand posture of the selected massage technique of the simulated human operator in real time to obtain the time series data of the selected massage measurement technique posture. ,in is the measurement time point index parameter, Respectively The selected massage technique posture data at each measurement time point;

[0077] In the embodiment of the present invention, a gesture recognition camera is used to monitor the operator's hand posture in real time during the operator's massage technique selected by the simulated human operator, wherein the gesture recognition camera is installed in front of the simulated human, and infrared and depth sensing technology are used to track the operator's hand movements in real time. The hand movement information captured by the camera is converted into posture data, and the corresponding time series data is generated through real-time algorithm processing. The data at each time point includes the position, angle and movement speed of the hand, and the data is marked in milliseconds. These data will be transmitted to the control mainboard in real time to form a dynamic record of the technique execution, ensuring that the required massage posture can be accurately matched, and finally the selected massage measurement technique posture time series data is obtained. ,in is the measurement time point index parameter, Respectively The selected massage technique posture data at each measurement time point.

[0078] Preferably, the selected massage measurement technique posture time series data is subjected to massage matching calibration based on the selected standard massage technique posture time series data preset in the massage technique selected by the simulated human operator, so as to obtain the selected massage technique posture matching calibration data;

[0079] In an embodiment of the present invention, by acquiring the time series data of the standard massage technique posture generated during the teaching process of the corresponding massage technique teacher in the control main board according to the simulated human massage technique previously selected by the operator, and comparing the operator's real-time hand posture data with the preset standard massage technique posture, the dynamic time warping (DTW) algorithm can be used to identify the difference between the posture data C and the standard technique S, so as to match and calibrate the operator's massage technique posture matching calibration data during the measurement process. This data contains the error correction result of each time point to ensure the accuracy of each action. The process is automated to ensure that the operator's technique can meet the standard as much as possible during execution to achieve the ideal massage effect, and finally obtain the selected massage technique posture matching calibration data.

[0080] Preferably, based on the massage technique selected by the simulated human operator, corresponding pressure sensors and gyroscopes in the simulated human body for whole body massage acupoint ...

[0081] In an embodiment of the present invention, by starting the corresponding pressure sensors and gyroscopes in the simulated human body for whole-body massage and acupoint ...

[0082] Preferably, a multi-sensor data fusion calculation formula is used to perform massage data fusion processing on the selected massage technique posture matching calibration data, the selected massage technique pressure data and the selected massage technique joint posture data to obtain simulated human massage simulation integrated data and upload it to the control mainboard.

[0083] In an embodiment of the present invention, a suitable multi-sensor data fusion calculation formula is formed by combining the left-hand posture matrix, the right-hand posture matrix, the transposed sign, the pressure sensor value, the normalized coordinates of the pressure sensor and the joint gyroscope orientation posture angle obtained from the selected massage technique posture matching calibration data, and the selected massage technique posture matching calibration data, the selected massage technique pressure data and the selected massage technique joint posture data. The massage data is fused to form a comprehensive data set, which includes all key parameters in the massage process. This data set will be uploaded to the control main board in real time to ensure that subsequent massage analysis and effect evaluation can be based on reliable data, support the visualization of acupoints and meridians in the massage simulation process, and finally obtain the simulated human massage simulation integrated data.

[0084] Furthermore, the step of performing massage matching calibration on the selected massage measurement technique posture time series data based on the selected standard massage technique posture time series data preset in the massage technique selected by the simulated human operator comprises:

[0085] By obtaining the preset selected standard massage technique posture time series data from the massage technique selected by the corresponding simulated human operator ,in is the standard unit time point index parameter, Respectively The selected massage technique posture data at the standard unit time point;

[0086] In the embodiment of the present invention, the preset standard manipulation posture time series data corresponding to the manipulation selected by the simulated human operator is extracted from the manipulation manipulation database stored in the control mainboard. ,in is the standard unit time point index parameter, Respectively The selected massage technique posture data at standard unit time points, which contains the posture features of each standard unit time point, is defined as The specific operation includes extracting posture features from the configuration file of the preset technique. These features are recorded and encoded by sensors, including the hand position, applied force, angle and other information of the corresponding massage technique during the teacher's teaching process. Each data point is collected by the sensor to form a standardized data set.

[0087] Preferably, by arbitrarily selecting a selected massage measurement technique window data from the selected massage measurement technique posture time series data: ,in are the eigenvalues ​​of the window data, is the starting index of the window sequence, is the window size, and the characteristic distance matching metric calculation is performed on the selected massage measurement technique window data and the selected massage standard technique posture time series data through the dynamic time warping algorithm to obtain the characteristic distance matching metric value between the massage technique window data and the standard technique data;

[0088] In the embodiment of the present invention, a specific window data is arbitrarily selected from the selected massage measurement technique posture time series data obtained in real time during the operator's real-time measurement process. ,in are the eigenvalues ​​of the window data, is the starting index of the window sequence, is the window size. The specific operation is to set the starting index of the window. and window size , and use the data extraction algorithm to intercept the corresponding massage technique data from the time series to form a set of eigenvalues. Then use the dynamic time warping (DTW) algorithm to perform eigenvalue distance matching calculation on the window data and the standard technique posture data. In this step, the DTW algorithm quantitatively evaluates the similarity of the two sets of data to evaluate the matching degree between the analysis window data and the standard data, and finally obtains the feature distance matching metric value between the massage technique window data and the standard technique data.

[0089] The dynamic time warping algorithm is as follows:

[0090] ;

[0091] In the formula, is the feature distance matching metric between the massage technique window data and the standard technique data, and are all time point variable parameters, is the characteristic Euclidean distance value between the massage manipulation window data and the standard manipulation data;

[0092] Preferably, the manipulation dynamic programming characteristic parameter calculation is performed according to the characteristic distance matching metric value between the manipulation window data and the standard manipulation data to obtain the manipulation dynamic programming characteristic parameter:

[0093] ;

[0094] In the formula, for Time point matrix arrive Dynamically plan a path for any massage technique;

[0095] In an embodiment of the present invention, characteristic parameters of dynamic programming of massage techniques are calculated by performing characteristic distance matching metric calculation on the characteristic distance matching metric value between the massage technique window data and the standard technique data obtained by quantitative calculation, so as to determine the optimal path in the dynamic programming algorithm by analyzing the matching results of the window data and the standard data, so as to obtain key characteristic parameters. This process includes minimizing the distance matching value, extracting the characteristic parameters closest to the standard technique through matrix operations and backtracking technology, ensuring that the execution of the massage technique is consistent with the standard requirements, and finally obtaining the dynamic programming characteristic parameters of the massage technique.

[0096] Preferably, the registration parameter value equation of the massage technique is used in combination with the massage technique dynamic programming characteristic parameters to calculate the registration parameter value, so as to obtain the massage technique stability parameter value, the massage technique rhythmic parameter value and the massage technique balance parameter value;

[0097] In the embodiment of the invention on the back, by combining a 3x3 registration transformation matrix, in a time period The continuous massage manipulation time series data (such as standard manipulation time series data or measurement manipulation time series data within a period of time), the exponential function and the massage manipulation dynamic programming characteristic parameters obtained by the previous quantitative calculation are used to construct a registration calculation equation involving the stability, rhythm and balance of the massage manipulation. , the specific operation is to substitute the dynamic programming characteristic parameters of the massage technique obtained in the previous step into the equation, and input the standard technique data (teacher data) into the above equation , and order , , , solving the above equation can obtain the 3x3 registration transformation matrix , and the registration transformation matrix Substituting the dynamic programming characteristic parameters of the massage technique into the above equation and inputting the test technique data (student data) can obtain the massage technique stability parameter value, the massage technique rhythmic parameter value and the massage technique balance parameter value.

[0098] Among them, the massage technique registration parameter value equation is specifically:

[0099] ;

[0100] In the formula, is the parameter value of the massage technique stability, is the rhythmic parameter value of massage technique, is the balance parameter value of massage technique, is the 3x3 registration transformation matrix, for a period of time The continuous massage technique time series data, is an exponential function, Dynamically program characteristic parameters for massage techniques;

[0101] The present invention obtains a massage technique registration parameter value equation by using a specific mathematical model and verification, which is used to calculate the registration parameter value in combination with the dynamic programming characteristic parameters of the massage technique. The massage technique registration parameter value equation can provide a comprehensive evaluation of the massage technique by calculating the stability, rhythmicity and balance parameters, thereby ensuring the accuracy and effectiveness of the massage technique. By utilizing the dynamic time warping (DTW) algorithm, it is possible to flexibly adapt to massage techniques of different speeds and rhythms, making it more flexible in real-time applications. By optimizing the matching metric, the similarity between the massage technique and the standard technique can be significantly improved, ensuring that the applied force and angle are more accurate, and enhancing the calibration effect of the massage technique. The parameter values ​​of stability, rhythmicity and balance can be used for analysis and feedback, thereby guiding the operator to continuously improve the massage technique. In summary, the equation fully considers the stability parameter value of the massage technique. , the rhythmic parameter value of massage technique , Massage technique balance parameter value , 3x3 registration transformation matrix , in a period of time Continuous massage technique time series data , exponential function , Dynamic programming characteristic parameters of massage techniques , according to the stability parameter value of massage technique , the rhythmic parameter value of massage technique , Massage technique balance parameter value The interrelationships among the above parameters constitute a functional relationship This equation can realize the calculation process of the registration parameter values ​​of the dynamic programming characteristic parameters of the massage technique, thereby improving the accuracy and applicability of the massage technique registration parameter value equation.

[0102] Preferably, the selected massage measurement technique posture time series data is subjected to massage matching calibration according to the massage technique stability parameter value, the massage technique rhythmic parameter value and the massage technique balance parameter value to obtain the selected massage technique posture matching calibration data.

[0103] In an embodiment of the present invention, matching and calibration processing is performed on the massage manipulation abnormalities in the corresponding selected massage measurement manipulation posture time series data according to the massage manipulation stability parameter value, the massage manipulation rhythmic parameter value and the massage manipulation balance parameter value obtained by the previous quantitative calculation, so as to apply the calibration parameters to the real-time posture data by using the weighted average or polynomial regression method. The specific operation includes adjusting the posture data at each time point to meet the requirements of the standard technique, and finally obtaining the selected massage manipulation posture matching calibration data.

[0104] Furthermore, the multi-sensor data fusion calculation formula is specifically as follows:

[0105] ;

[0106] In the formula, Integrate data for human massage simulation, is the left hand posture matrix obtained from the selected massage technique posture matching calibration data, is the right hand posture matrix obtained from the selected massage technique posture matching calibration data, is the transpose symbol, The first pressure sensor values, For the Normalized coordinates of pressure sensors, The first The gyroscope orientation attitude angle of each joint.

[0107] The present invention obtains a multi-sensor data fusion calculation formula by using a specific mathematical model and verifying it, and is used for performing massage data fusion processing on the selected massage technique posture matching calibration data, the selected massage technique pressure data and the selected massage technique joint posture data. The multi-sensor data fusion calculation formula can comprehensively consider the movement of both hands by combining the posture matrix of the left hand and the right hand, and improve the accuracy of the massage technique, which is very important for the symmetry and consistency of the technique during the massage process. By using a pressure sensor and a gyroscope to monitor the pressure applied during the massage process and the posture of the joint in real time, feedback data can be obtained in time to help the operator adjust the technique according to the real-time situation. By normalizing the coordinates of the pressure sensor and the gyroscope data, the difference between sensors can be effectively reduced, and the comparability of data can be improved, so that the overall data inaccuracy caused by sensor errors can be effectively reduced. In addition, by fusing the massage technique posture, pressure data and joint posture data, the execution of the massage technique can be verified and optimized from multiple angles, thereby improving the overall stability and reliability. Using the data collected by multiple sensors, the massage process can be analyzed from different dimensions to provide more comprehensive feedback. For example, combining gesture posture and pressure data can more accurately evaluate the coordination of applied force and manipulation. In summary, this formula fully considers the integration data of the simulated human massage simulation. , the left hand posture matrix obtained from the selected massage technique posture matching calibration data , the right hand posture matrix obtained from the selected massage technique posture matching calibration data , transpose symbol , the first Pressure sensor value , No. Normalized coordinates of pressure sensors , the first The gyroscopes of the joints face the attitude angle , based on the simulation data of human massage The correlation between the above parameters constitutes a functional relationship The formula can realize the massage data fusion processing process of the selected massage technique posture matching calibration data, the selected massage technique pressure data and the selected massage technique joint posture data, thereby improving the accuracy and applicability of the multi-sensor data fusion calculation formula.

[0108] Furthermore, the acupoint simulation data integration module includes the following functions:

[0109] By selecting the acupoints that the whole body massage acupoint simulator needs to press in the acupoint pressing software built into the control mainboard, the acupoints selected by the simulator can be obtained;

[0110] Using the control mainboard to perform sensor control response processing on the acupoint sensor built in the acupoint selected by the simulated person, so as to generate acupoint sensor control instructions corresponding to the acupoint selected by the simulated person in response;

[0111] Apply the acupoint sensor control command corresponding to the acupoint selected by the simulated person to the sub-control mainboard and start the corresponding acupoint sensor to perform real-time monitoring of the acupoint pressure of the acupoint selected by the simulated person, and obtain the real-time pressure data corresponding to the acupoint selected by the simulated person;

[0112] The real-time pressure data corresponding to the acupoints selected by the simulated person are integrated to obtain the simulated acupoint-pressing integrated data of the simulated person, and uploaded to the control mainboard.

[0113] As an embodiment of the present invention, refer to Figure 3 As shown, Figure 2 The function flow diagram of the acupoint simulation data integration module is shown in FIG. 1 . In this embodiment, the functions of the acupoint simulation data integration module include:

[0114] S21: by selecting the acupoints that the whole body massage acupoint simulator needs to press in the acupoint pressing software built into the control mainboard, so as to obtain the acupoints selected by the simulator;

[0115] In an embodiment of the present invention, the operator selects specific acupoints that need to be pressed on the whole-body acupressure and acupressure simulator, such as Zusanli, Guanyuan, Neiguan, Fengchi and the like, on the user interface of the acupressure and acupressure simulator in the control main board. During this process, the user interface displays all available acupoints and allows the user to directly select the acupoints to be pressed on the whole-body acupressure and acupressure simulator. The position of each acupoint is determined by coordinate data to ensure that it accurately corresponds to the actual anatomical position of the whole-body acupressure and acupressure simulator. After the selection is completed, the ID information of the selected acupoint is recorded, and finally the acupoint selected by the simulator is obtained.

[0116] S22: using the control mainboard to perform sensor control response processing on the acupoint sensor built in the acupoint selected by the simulated person, so as to generate an acupoint sensor control instruction corresponding to the acupoint selected by the simulated person in response;

[0117] In an embodiment of the present invention, a control mainboard is used to perform control response processing on a built-in acupoint sensor at a previously selected acupoint. The control mainboard issues a control instruction to activate the corresponding acupoint sensor to ensure that it enters a monitored state from a standby state. This process uses a real-time control algorithm to ensure that the sensor can quickly respond to changes in the selected acupoint. The state of the sensor is controlled by the control mainboard, and the response status of each acupoint is updated in real time. Finally, the response generates an acupoint sensor control instruction corresponding to the acupoint selected by the simulated person.

[0118] S23: applying the acupoint sensor control instruction corresponding to the acupoint selected by the simulated person to the sub-control mainboard and starting the corresponding acupoint sensor to perform real-time monitoring of the acupoint pressure of the acupoint selected by the simulated person, and obtaining the real-time pressure data corresponding to the acupoint selected by the simulated person;

[0119] In an embodiment of the present invention, the acupoint sensor control instruction corresponding to the acupoint selected by the simulated person generated by the previous response is transmitted to and acts on the sub-control main board corresponding to the selected acupoint, and the acupoint sensor related to the selected acupoint is started to perform real-time pressure monitoring. Each acupoint is equipped with a high-sensitivity pressure sensor, which can accurately detect the pressure changes applied to the acupoint. During the monitoring process, the sensor continuously collects pressure data. This step ensures that each instantaneous pressure value can be obtained to form a detailed real-time pressure data record, and finally the real-time pressure data corresponding to the acupoint selected by the simulated person is obtained.

[0120] S24: Integrate the real-time pressure data corresponding to the acupoints selected by the simulated person to obtain the simulated acupoint-pressing simulation integrated data of the simulated person, and upload it to the control mainboard.

[0121] In an embodiment of the present invention, the real-time pressure data corresponding to the acupoints selected by the simulated person are integrated by using a multi-sensor data fusion method consistent with the massage process, so as to summarize the pressure data at different selected acupoints, ensure the comprehensiveness and reliability of the acupoint pressure simulation data, and upload the integrated simulated person acupoint simulation integrated data to the control main board.

[0122] Furthermore, the massage acupoint simulation data display module includes the following functions:

[0123] Performing massage simulation output analysis on the simulated human massage simulation integrated data by controlling the main board to obtain a simulated human massage simulation data output signal;

[0124] In an embodiment of the present invention, the integrated data of the simulated human massage process is received by the control mainboard. These data include characteristic data such as the hand posture, pressure and simulated human joint posture of the massage technique selected by the operator. The control mainboard processes these data using the built-in massage simulation analysis algorithm. The analysis process is carried out through a multi-level signal processing method, including data filtering, feature extraction and pattern recognition. Noise is filtered out of the original data to ensure the accuracy of the analysis. The key features of the massage technique, such as the pressure change curve and the force application duration, are extracted to generate the output signal of the corresponding massage simulation data through encoding, and finally the simulated human massage simulation data output signal is obtained.

[0125] Preferably, the control mainboard performs acupoint-pressing simulation output analysis on the simulated human acupoint-pressing simulation integrated data to obtain a simulated human acupoint-pressing simulation data output signal;

[0126] In an embodiment of the present invention, similar analysis and processing is performed on the integrated data of simulated human acupoint pressing by controlling the main board. This step first imports the integrated data of acupoint pressing simulation into the control main board. The data includes the force conditions and time information of each acupoint. A specific acupoint pressing simulation output analysis algorithm is used to analyze these data. The analysis process involves signal segmentation, feature value extraction and data pattern matching to identify the force patterns of different acupoints, and then extracts the characteristics such as the pressure peak value and force frequency of each acupoint, so as to generate the output signal of the acupoint pressing simulation data through encoding, and finally obtain the output signal of the simulated human acupoint pressing simulation data.

[0127] Preferably, the simulated human massage simulation data output signal and the simulated human acupoint pressing simulation data output signal are transmitted to the mobile terminal display screen, and the simulated human massage simulation data output signal and the simulated human acupoint pressing simulation data output signal are visually displayed using the mobile terminal display screen.

[0128] In an embodiment of the present invention, a special communication interface is used to transmit the previously encoded output simulated human massage simulation data output signal and simulated human acupoint simulation data output signal to the display screen of a mobile terminal using wireless communication protocols such as Bluetooth or Wi-Fi, and after receiving the simulated human massage simulation data output signal and simulated human acupoint simulation data output signal using data visualization software built into the display screen of the mobile terminal, they are decoded and a graphical interface is generated. In specific operations, the massage simulation data is displayed in the form of a curve graph to reflect changes in force, etc.; and the acupoint simulation data is displayed in a bar graph to highlight the pressure value and force frequency of each acupoint. Through a user-friendly interface, it is convenient to observe the acupoint and meridian positioning effects of massage and acupoint in real time.

[0129] Therefore, the embodiments should be regarded as illustrative and non-restrictive from all points, and the scope of the present invention is limited by the appended claims rather than the above description, and it is therefore intended that all changes falling within the meaning and range of equivalent elements of the application documents are included in the present invention.

[0130] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A visual simulation system, characterized in that: A human simulator for whole-body massage and acupoint pressing comprises a human simulator, wherein a back matrix pressure sensor is mounted on the back of the human simulator, an abdominal matrix pressure sensor is mounted on the abdomen of the human simulator, a first elbow potentiometer and a second elbow potentiometer are mounted on both sides of the elbows of the human simulator, a first hand gyroscope and a second hand gyroscope are embedded in both sides of the arms of the human simulator, a first knee potentiometer and a second knee potentiometer are embedded in both sides of the knees of the human simulator, a first leg gyroscope and a second leg gyroscope are embedded in both sides of the thighs of the human simulator adjacent to the first knee potentiometer and the second knee potentiometer, a first touch sensor is mounted on the neck of the human simulator, and a first touch sensor is mounted on the neck of the human simulator. A second touch sensor is installed on the shoulder, a third touch sensor is installed on the side of the first elbow potentiometer adjacent to the first hand gyroscope, a fourth touch sensor is installed on the side of the first elbow potentiometer away from the third touch sensor, a fifth touch sensor is embedded in the waist position of the simulated human body, a sixth touch sensor is installed on the side of the first knee potentiometer close to the first leg gyroscope, a foot touch module is installed on the foot of the simulated human body, a control mainboard connected in parallel is distributed in the simulated human body, and the first touch sensor, the second touch sensor, the third touch sensor, the fourth touch sensor, the fifth touch sensor, the sixth touch sensor and the foot touch module are all electrically connected to the control mainboard; the back matrix pressure sensor is The abdominal matrix pressure sensor is used to collect the back force data set and the abdominal force data set of the simulated human body during massage, wherein the back force data set includes the back force point, the back force range, the back force depth, the back massage meridians and acupoints, and the abdominal force data set includes the abdominal force point, the abdominal force range, the abdominal force depth, the abdominal massage meridians and acupoints, and the back force data set and the abdominal force data set are integrated into the control main board; the first hand gyroscope and the second hand gyroscope are used to collect the spatial dimension position coordinate data of the arms on both sides of the simulated human body; the first leg gyroscope and the second leg gyroscope are used to collect the spatial dimension position coordinate data of the legs on both sides of the simulated human body; the first elbow potentiometer , the second elbow potentiometer, the first knee potentiometer and the second knee potentiometer are used to collect the elbow and knee rotation angle data sets of the simulated human body, wherein the elbow and knee rotation angle data sets include the distortion angle, clockwise rotation angle and counterclockwise rotation angle of the elbow and knee; the spatial dimension position coordinate data of the arms on both sides, the spatial dimension position coordinate data of the legs on both sides and the elbow and knee rotation angle data sets are integrated into the control main board; 360 acupoint sensors are set at the acupoints corresponding to the whole body of the simulated human body, wherein every 12 acupoint sensors are divided into a group, each group of acupoint sensors is electrically connected to the sub-control main board, the sub-control main board is distributed in the simulated human body, and the sub-control main boards are all electrically connected to the control main board;The visual simulation system includes the following modules: The massage simulation data integration module is used to obtain the massage technique selected by the simulated human operator by selecting the massage technique required by the simulated human for whole body massage and acupoint ... The gesture recognition camera is used to monitor the hand posture of the selected massage technique of the simulated human operator in real time, and the time series data of the selected massage measurement technique posture is obtained. ,in is the measurement time point index parameter, Respectively The selected massage technique posture data at each measurement time point; Based on the selected standard massage technique posture time series data preset in the massage technique selected by the simulated human operator, the selected massage measurement technique posture time series data is subjected to massage matching calibration to obtain the selected massage technique posture matching calibration data; These include: By obtaining the preset selected standard massage technique posture time series data from the massage technique selected by the corresponding simulated human operator ,in is the standard unit time point index parameter, Respectively The selected massage technique posture data at the standard unit time point; By arbitrarily selecting a selected massage measurement technique window data from the selected massage measurement technique posture time series data: ,in are the eigenvalues ​​of the window data, is the starting index of the window sequence, is the window size, and the characteristic distance matching metric calculation is performed on the selected massage measurement technique window data and the selected massage standard technique posture time series data through the dynamic time warping algorithm to obtain the characteristic distance matching metric value between the massage technique window data and the standard technique data; The dynamic time warping algorithm is as follows: ； In the formula, is the feature distance matching metric between the massage technique window data and the standard technique data, and are all time point variable parameters, is the characteristic Euclidean distance value between the massage manipulation window data and the standard manipulation data; The dynamic programming characteristic parameters of the manipulation are calculated according to the characteristic distance matching metric between the manipulation window data and the standard manipulation data to obtain the dynamic programming characteristic parameters of the manipulation: ； In the formula, for Time point matrix arrive Dynamically plan a path for any massage technique; The registration parameter value equation of the massage technique is used in combination with the dynamic programming characteristic parameters of the massage technique to calculate the registration parameter value, so as to obtain the massage technique stability parameter value, the massage technique rhythmic parameter value and the massage technique balance parameter value; Among them, the massage technique registration parameter value equation is specifically: ； In the formula, is the parameter value of the massage technique stability. is the rhythmic parameter value of massage technique, is the balance parameter value of massage technique, is the 3x3 registration transformation matrix, for a period of time The continuous massage technique time series data, is an exponential function, Dynamically program characteristic parameters for massage techniques; According to the massage manipulation stability parameter value, the massage manipulation rhythm parameter value and the massage manipulation balance parameter value, the selected massage manipulation posture time series data is subjected to massage matching calibration to obtain the selected massage manipulation posture matching calibration data; Based on the massage technique selected by the simulated human operator, the corresponding pressure sensors and gyroscopes in the simulated human body for whole body massage acupoint ... The multi-sensor data fusion calculation formula is used to perform massage data fusion processing on the selected massage technique posture matching calibration data, the selected massage technique pressure data and the selected massage technique joint posture data to obtain the simulated human massage simulation integration data, and upload it to the control mainboard; wherein the multi-sensor data fusion calculation formula is specifically: ； In the formula, Integrate data for human massage simulation, is the left hand posture matrix obtained from the selected massage technique posture matching calibration data, is the right hand posture matrix obtained from the selected massage technique posture matching calibration data, is the transpose symbol, The pressure data of the selected massage technique. pressure sensor values, For the Normalized coordinates of pressure sensors, The first The gyroscopes of each joint face the attitude angle; The acupoint-pressing simulation data integration module is used to select the acupoints that need to be pressed by the whole-body massage acupoint-pressing simulator in the acupoint-pressing software built into the control mainboard, and respond to generate acupoint sensor control instructions corresponding to the acupoints selected by the simulator; the acupoint sensor control instructions are applied to the sub-control mainboard and the corresponding acupoint sensors are started to monitor and integrate the acupoint pressures of the selected acupoints in real time, so as to obtain the acupoint-pressing simulation integration data of the simulator, and upload it to the control mainboard; The massage acupoint simulation data display module is used to visualize the simulated massage integrated data and the simulated acupoint simulation integrated data of the simulated person through the control mainboard.

2. The visual simulation system according to claim 1, characterized in that: The acupoint simulation data integration module includes the following functions: By selecting the acupoints that the whole body massage acupoint simulator needs to press in the acupoint pressing software built into the control mainboard, the acupoints selected by the simulator can be obtained; Using the control mainboard to perform sensor control response processing on the acupoint sensor built in the acupoint selected by the simulated person, so as to generate acupoint sensor control instructions corresponding to the acupoint selected by the simulated person in response; The acupoint sensor control instruction corresponding to the acupoint selected by the simulated person is applied to the sub-control mainboard and the corresponding acupoint sensor is activated to perform real-time monitoring of the acupoint pressure of the acupoint selected by the simulated person, so as to obtain the real-time pressure data corresponding to the acupoint selected by the simulated person; The real-time pressure data corresponding to the acupoints selected by the simulated person are integrated to obtain the simulated acupoint-pressing integrated data of the simulated person, and uploaded to the control mainboard.

3. The visual simulation system according to claim 1, characterized in that: The massage acupoint simulation data display module includes the following functions: Performing massage simulation output analysis on the simulated human massage simulation integrated data by controlling the main board to obtain a simulated human massage simulation data output signal; The acupoint-pressing simulation integrated data of the simulated human being are analyzed by the control mainboard to obtain the acupoint-pressing simulation data output signal of the simulated human being; The simulated human massage simulation data output signal and the simulated human acupoint pressing simulation data output signal are transmitted to the mobile terminal display screen, and the simulated human massage simulation data output signal and the simulated human acupoint pressing simulation data output signal are visualized using the mobile terminal display screen.

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