Lifting device for assisting user in standing and exercise system for training user

Abstract

A lifting device for assisting a user in standing includes: a chassis; a support structure extending upwardly from the chassis; the lifting mechanism is arranged on the supporting structure; a lifting unit for coupling to the lifting mechanism and receiving the weight of a user; wherein the lifting unit is movable in three axes and is movable from a first position to a second position; wherein the lifting mechanism is used for moving the lifting unit, and the lifting unit is used for assisting the user to move from the sitting position to the standing position under the condition that the lifting unit moves from the first position to the second position.

Description

Technical Field

[0001] The present disclosure relates to a lifting device for assisting a user to stand up from a seated position, an exercise system for training a user, in particular, a method for training a user in sit-to-stand exercise, and a method for training a user in sit-to-stand exercise. Background Art

[0002] Many people need assistance rising from a seated position. Often, these people have reduced physical abilities due to factors such as age, illness, or a physical disability. Reduced strength in the lower body musculature, such as the lower extremities, can increase the risk of falls. This is particularly common among older adults. Older adults typically lose 1% to 3% of their lower extremity strength. This loss of lower extremity strength often increases the risk of falls, which can lead to serious injuries. Furthermore, continued loss of lower extremity strength can ultimately lead to immobility.

[0003] Research has shown that supervised progressive resistance training is safe and effective in improving strength. However, exercise, especially sit-to-stand training, can be challenging for older users. Repeated sit-to-stand exercises can lead to lower limb muscle fatigue. During training, those who already have joint pain may experience increased joint discomfort. Older people with poor balance may have difficulty performing sit-to-stand exercises without support or assistance. Currently, some existing devices can be used to help users stand from a seated position. However, most of these devices are typically limited to a single axis of motion, are bulky, and are usually limited to a single function. Summary of the Invention

[0004] The present disclosure relates to a lifting device for assisting a seated user (e.g., a person) in standing up. In particular, the present disclosure relates to a lifting device for assisting a seated user in standing up. The lifting device is particularly suitable for use by elderly users to assist them in standing up from a seated position.

[0005] An exercise system includes a lifting device and one or more other components that can be used to deliver an exercise program to a user. The exercise system is used to train a user to stand from a seated position to strengthen appropriate muscles, thereby improving the user's ability to stand from a seated position. The exercise program utilizes the lifting device as an exercise tool to help the user strengthen their muscles and improve their balance. The lifting device can assist elderly users in resistance training and improve their mobility.

[0006] According to a first aspect, the present disclosure provides a lifting device for assisting a user in standing up, the lifting device comprising:

[0007] chassis;

[0008] a support structure extending upwardly from the chassis;

[0009] a lifting mechanism, which is arranged on the supporting structure;

[0010] a lifting unit, which is connected to the lifting mechanism and bears the weight of the user;

[0011] wherein the lifting unit is movable on three axes and can be moved from a first position to a second position;

[0012] The lifting mechanism is used to move the lifting unit, and the lifting unit is used to assist the user to move from a sitting position to a standing position when moving from a first position to a second position.

[0013] The lifting device allows customized movement in three axes. The lifting device provides a tool that allows the user to exercise. The lifting device is also advantageous because it helps the user stand up from a seated position.

[0014] In one example, the lifting mechanism includes three actuators, wherein each actuator is used to move the lifting mechanism on one axis, and wherein the lifting mechanism is used to move the lifting unit on three axes and move the lifting unit from the first position to the second position.

[0015] In one example, the lifting device further includes a controller operatively coupled to each actuator and configured to independently control each actuator to move the lifting unit from the first position to the second position.

[0016] The lifting device may further include a wireless communication module for wirelessly communicating with an exercise server, a user device, or other devices.

[0017] In one example, the controller is configured as follows:

[0018] receiving or storing a preset lift trajectory to move a user from a seated position to a standing position along a customized path;

[0019] The lifting mechanism is controlled to move the lifting unit along the preset lifting trajectory.

[0020] In one example, the preset lift trajectory is a customized lift trajectory for a specific user. The customized lift trajectory can be regularly modified or updated. The customized lift trajectory can be defined as part of a customized exercise plan for the user.

[0021] In one example, the controller is configured to independently control each of the three actuators to move the lifting mechanism, thereby moving the lifting unit along the preset lifting trajectory.

[0022] In one example, each of the actuators may be a linear actuator, wherein each of the linear actuators may include a DC motor and an encoder for determining a position of the motor and providing position information to a controller.

[0023] In one example, the lifting mechanism includes:

[0024] Upward-extending columns;

[0025] a cart movably mounted to the support structure; wherein the upright is coupled to the cart;

[0026] wherein the column and the cart are movable in a vertical direction relative to the support structure;

[0027] a movable platform coupled to the column, the movable platform being pivotable about a vertical axis of the column, and the movable platform or a portion thereof being movable in a horizontal direction;

[0028] wherein at least one actuator is operably connected to the cart and is used to actuate vertical movement of the cart;

[0029] wherein at least one actuator is operatively connected to the platform and configured to facilitate pivoting of the platform;

[0030] wherein at least one actuator is operatively connected to the platform or a portion of the platform and is used to facilitate horizontal movement of the platform;

[0031] The lifting unit includes a central body and one or more arms extending outwardly to engage with a user, and the lifting unit is detachably connected to the lifting mechanism.

[0032] In one example, the lifting unit includes a pair of arms extending from a central beam, the arms extending outwardly from the central beam and parallel to each other, wherein the central beam is detachably connected to the movable platform.

[0033] In one example, the lifting device is a modular arrangement comprising one or more removable components, wherein the lifting device is adapted to be arranged in a transport configuration or a lifting configuration, and wherein the lifting device is operated in the transport configuration to transport a user, or in the lifting configuration to lift a user from a seated position to a standing position.

[0034] In an example, the lifting device may include a transport unit for detachably attaching to the lifting mechanism, wherein in the transport configuration the transport unit is connected to the lifting mechanism, and in the lifting configuration the lifting unit is connected to the lifting mechanism.

[0035] In one example, the transport unit comprises a frame, wherein a seat is provided within the frame, wherein the seat is adapted to support the user in a seated position.

[0036] In one example, the lifting device includes:

[0037] at least two lateral stabilizer arms;

[0038] Each of the lateral stabilizer arms is connected to the chassis and extends laterally from the chassis, and each of the lateral stabilizer arms is retractable and adapted to move between a retracted position and an operative position.

[0039] In the operating position, each of the lateral stabilizer arms is folded downward and provides lateral stability. In one example, each of the lateral stabilizer arms may include a lateral portion and an elongated portion connected by an elbow.

[0040] In one example, the lifting device may include one or more rear legs, each of the one or more rear legs being connected to the chassis and extending rearwardly from the chassis.

[0041] In one example, the lifting device includes a drive assembly for propelling the lifting device, wherein the drive assembly includes at least two wheels attached to opposite sides of the chassis, and hub motors operably coupled to the wheels and for driving the wheels, and wherein the drive assembly further includes one or more steering wheels for assisting steering.

[0042] In one example, each of the rear legs may include a steering wheel. In one example, each of the lateral stabilizer arms may also include a steering wheel.

[0043] In one example, the lifting device may include two or more steering wheels coupled to the chassis for assisting steering. In one example, each of the steering wheels may be identical to one another. In another example, the steering wheels on the lateral stabilizer arm and the rear legs may each be smaller than the steering wheel coupled to the chassis. In one example, each of the steering wheels may be a caster or other freely rotatable wheel.

[0044] According to a second aspect, the present disclosure provides a lifting device for assisting a user in standing. The lifting device comprises:

[0045] Any of the above-mentioned lifting devices;

[0046] an exercise server for communicating with the lifting device;

[0047] one or more sensors for sensing a sit-to-stand motion performed by a user using the lifting device;

[0048] Wherein, the training server is used for:

[0049] receiving the sensed movement of the user;

[0050] analyzing the sensed sitting-standing motion;

[0051] determining one or more parameters associated with the recorded sit-to-stand motion;

[0052] storing the one or more parameters;

[0053] The one or more parameters are presented on a user device.

[0054] The lifting device may include a display. Alternatively, the exercise server may include a display, such as a screen. In addition to or as an alternative to presentation on the user device, the one or more parameters may be presented on the lifting device's display or on a display of the exercise server.

[0055] In one example, the exercise server is configured to: receive a customized plan for sit-to-stand exercise; and present the customized plan for sit-to-stand exercise on a display of the lifting device or on a user device.

[0056] The customized exercise plan can be presented as a reminder on the user device to instruct the user (e.g., an elderly person) to perform the specified exercise. The customized exercise plan can be presented at regular time intervals until the user completes the plan.

[0057] In one example, the one or more parameters include: a number of sit-to-stand repetitions, a number of sets, and a duration to complete the customized plan. The one or more parameters may define a score. The score may be a quality score or a quantity score. The quality score may indicate how well the user performed the sit-to-stand exercise. The quality score may also relate to the quality of the user's execution of the customized sit-to-stand trajectory. The quantity score may relate to the number of repetitions and the number of sets.

[0058] In one example, the exercise server includes:

[0059] Training data analysis module, which is used to:

[0060] analyzing the sensed sitting motion recorded by the one or more sensors;

[0061] determining the one or more parameters;

[0062] Training operation module, which is used to:

[0063] receiving the one or more parameters;

[0064] determining whether the user has completed the customized exercise plan;

[0065] A training record database is used to store the one or more parameters and the number of times the user completes the customized training plan.

[0066] In one example, the one or more sensors include at least a wearable sensor and a camera to record the sitting-standing movement using the lifting device.

[0067] For example, the wearable sensor may be an accelerometer or a gyroscope or an IMU including an accelerometer and a gyroscope.

[0068] In one example, the exercise server can be configured to receive a video of a user performing a sit-to-stand exercise defined in an exercise plan. The exercise server can be configured to perform object recognition processing on the video stream to identify the user and assess the quality and quantity of the sit-to-stand exercise based on the object recognition processing.

[0069] In one example, the exercise server is configured to:

[0070] receiving sensor readings from the one or more sensors while the user performs the sit-to-stand motion;

[0071] performing a sit-to-stand motion analysis based on the sensor readings;

[0072] The quality of each sit-to-stand repetition was determined based on comparing the recorded movement to a reference sit-to-stand movement.

[0073] In one example, the exercise server includes:

[0074] A sit-to-stand trajectory setting module is configured to determine a customized sit-to-stand trajectory for a user, wherein the customized sit-to-stand trajectory is defined in the customized exercise program, and wherein the lifting device is controlled to move the lifting unit in the customized sit-to-stand trajectory.

[0075] According to a third aspect, the present disclosure provides a computer-implemented method for training a user in sit-to-stand exercise. The method comprises:

[0076] receiving the sensed movement of the user;

[0077] analyzing the sensed sitting-standing motion;

[0078] determining one or more parameters associated with a recorded sit-to-stand motion performed using any of the aforementioned lifting devices;

[0079] storing the one or more parameters;

[0080] The one or more parameters are presented on a user device.

[0081] In one example, the method further includes: receiving a customized plan for sit-to-stand exercise; and presenting the customized plan for sit-to-stand exercise on a display of the lifting device or on a user device.

[0082] In one example, the method includes:

[0083] analyzing the sensed sitting motion recorded by the one or more sensors;

[0084] determining the one or more parameters;

[0085] receiving the one or more parameters;

[0086] determining whether the user has completed the customized exercise plan;

[0087] The one or more parameters and the number of times the user completes the customized exercise program are stored.

[0088] In one example, the method includes:

[0089] receiving sensor readings from the one or more sensors while the user performs the sit-to-stand motion;

[0090] performing a sit-to-stand motion analysis based on the sensor readings;

[0091] The quality of each sit-to-stand repetition was determined based on comparing the recorded movement to a reference sit-to-stand movement.

[0092] In one example, the method includes determining a customized sit trajectory for a user, wherein the customized sit trajectory is defined in the customized exercise plan; and controlling the lifting device to move the lifting unit in the customized sit trajectory.

[0093] The present disclosure also provides a data processing device, which includes a device for executing any of the above-mentioned methods for training sit-to-stand exercise.

[0094] The present disclosure also provides a computer program comprising instructions, wherein when the program is executed by a computer, the computer is caused to perform any of the above-mentioned methods for training sit-to-stand exercise.

[0095] The present disclosure also provides a computer-readable medium comprising instructions, wherein when the instructions are executed by a computer, the computer is caused to perform any of the above-mentioned methods for training sit-to-stand exercise.

[0096] As used herein, the term "comprising" (and its grammatical variations) is used in the inclusive sense of "having" or "including" and not in the sense of "consisting only of.

[0097] It should be understood that, if any prior art information is referred to herein, this reference does not constitute an admission that the information forms part of the common general knowledge in the art, in Australia or any other country. BRIEF DESCRIPTION OF THE DRAWINGS

[0098] Hereinafter, embodiments of the present disclosure will be described by way of examples with reference to the accompanying drawings.

[0099] Figure 1 An exemplary embodiment of a lifting device according to the present disclosure is shown.

[0100] Figure 2 An example of a lifting device is shown with the lateral stabilizer arm in the stowed position.

[0101] Figure 3 Detailed views of the lifting mechanism, lifting unit and the movements of these components are shown.

[0102] Figure 4 A detailed view of the lateral stabilizer arm is shown.

[0103] Figure 5 A control schematic diagram showing the controller and its connections to other components.

[0104] Figure 6 A lifting configuration and a transport configuration are shown, along with interchangeable components for changing between the two configurations.

[0105] Figure 7 The lifting device is shown in a transport configuration with a seated user.

[0106] Figure 8 The lifting device is shown in a transport configuration with a standing user.

[0107] Figure 9 An example of an exercise system for training a user in sit-to-stand exercises is shown.

[0108] Figure 10 A schematic diagram showing the hardware architecture of an exercise server of an exercise system.

[0109] Figure 11 The software architecture of the exercise server of the exercise system is shown.

[0110] Figure 12 An example of an up and down test performed by a user is shown.

[0111] Figure 13 A user interface is shown presenting a simulated walking gait calculated in a training data analysis module using a trained neural network.

[0112] Figure 14A user interface is shown that presents a trunk bending simulation and video as a user performs a sit-to-stand motion. DETAILED DESCRIPTION

[0113] refer to Figure 1 , showing an embodiment of the present disclosure. This embodiment provides a lifting device for assisting a user in standing. The lifting device includes: a chassis; a support structure extending upward from the chassis; a lifting mechanism disposed on the support structure; a lifting unit connected to the lifting mechanism and bearing the weight of the user; wherein the lifting unit is movable along three axes and can move from a first position to a second position; wherein the lifting mechanism is used to move the lifting unit, and the lifting unit is used to assist the user from a sitting position to a standing position when moving from the first position to the second position.

[0114] The lifting device can be used as an exercise tool as part of an exercise system. The lifting device can be used to help a user stand up from a sitting position in daily use. The lifting device can also be used to exercise and train a user's sit-to-stand motion. The user can use the lifting device to perform sit-to-stand motion based on a customized exercise plan that defines a customized trajectory of the sit-to-stand motion and a set number of repetitions and sets (i.e., repetitions and sets).

[0115] Lifting devices are particularly useful for the elderly. Seniors often have lower physical strength, making sit-to-stand exercises difficult for them. Furthermore, elderly users often have poor balance. Therefore, there is a need for a method that can assist elderly users with mobility while reducing the need for manual assistance.

[0116] Lifts provide guidance and support to ensure individuals maintain correct posture. They advantageously reduce the risk of strain or incorrect movement patterns when users move from a seated to a standing position. Lifts are also beneficial in that they serve as exercise tools to enhance lower body muscle strength, trunk stability, and core strength. Lifts also help improve and build standing balance.

[0117] like Figure 1 As shown, lifting device 100 includes a chassis 102. Chassis 102 can be a base. Lifting device 100 also includes a support structure 104. Support structure 104 is connected to chassis 102 and extends upward from chassis 102. Lift mechanism 120 is disposed on support structure 104. Support structure 104 can be an upwardly extending beam or plate. Lifting unit 122 is connected to lifting mechanism 120 and supports the weight of a user. Lifting unit 122 is movable along three axes and can move from a first position to a second position.

[0118] Lifting device 100 further includes a housing 106 that covers support structure 104 and a portion of chassis 102. Housing 106 may be removable. Lifting unit 122 is exposed and accessible. Lifting mechanism 120 is configured to move lifting unit 122. Lifting unit 122 is configured to assist a user in moving from a seated position to a standing position when the lifting unit is moved from a first position to a second position.

[0119] refer to Figure 1 and Figure 3 The lifting unit 122 may include a central body and one or more arms extending outward. The arms extending outward may be load-bearing arms configured to bear the user's load and exert force on the user to assist the user in moving from a sitting position to a standing position. Figure 3 As shown, lifting unit 122 includes a central body 127 and two outwardly extending arms 128, 129 for engaging with a user. Outwardly extending arms 128, 129 may be load-bearing arms. Outwardly extending arms 128, 129 are parallel to each other. These arms are shaped and configured to support user 10 and help user 10 stand up from a seated position.

[0120] The lifting device 100 also includes a pair of vertical posts 108, 110. The vertical posts 108, 110 are connected to the base 102 and extend upward from the base 102. The device includes a handle 112, which is connected to each post 108, 110 and extends upward. The handle 112 extends upward from the housing 106 and is exposed externally.

[0121] Lifting device 100 includes a drive assembly 130 for propelling lifting device 100. Drive assembly 130 includes at least two wheels 132, 134 connected to opposite sides of chassis 102. Wheels 132, 134 are drive wheels. The drive assembly includes in-wheel motors operatively connected to the wheels and configured to drive the wheels. In one example, drive assembly 130 may include two in-wheel motors 136, 138, each of which is coupled to a drive wheel and configured to rotate drive wheels 132, 134.

[0122] The drive assembly 130 also includes one or more steering wheels for assisting with steering. In the illustrated example, the drive assembly 130 includes two steering wheels 140, 142 disposed on a chassis. The steering wheels 140, 142 may be casters. In one example, the steering wheels 140, 142 may be identical to each other, or may be of different sizes.

[0123] The lifting device 100 may include at least two lateral stabilizer arms and one or more rear legs. In the illustrated embodiment, the lifting device 100 includes two lateral stabilizer arms 150, 152. Each lateral stabilizer arm 150, 152 is connected to the chassis 120. Each lateral stabilizer arm extends laterally from the chassis. Figure 4 As shown, each lateral stabilizer arm 150, 152 includes a lateral portion 154 and an elongated portion 156 connected by an elbow 158. The lateral stabilizer arms 150, 152 provide a wider base and are advantageous in that they provide stability in the lateral direction to prevent tilting of the lifting device 100. Each lateral stabilizer arm 150, 152 is retractable and is adapted to move between a retracted position and an operative position. Figure 1 and Figure 4 The stabilizing arm is shown in an operational position.

[0124] Figure 2 The arms are shown in a retracted or stowed position. These retractable stabilizing arms are advantageous in that they can be retracted to occupy only a small area, which makes storage easier and also makes transporting the device 100 simpler.

[0125] The lateral stabilizer arms 150, 152 can pivot relative to the chassis. The lateral stabilizer arms 150, 152 can be configured to pivot about a vertical axis. The lateral stabilizer arms 150, 152 can be configured to pivot outward in an arc. The lateral stabilizer arms 150, 152 can pivot freely while the device 100 is moving, providing lateral stability and preventing the device 100 from tipping over. Each lateral stabilizer arm 150, 152 includes a steering wheel 157. The steering wheel 157 can be connected to a free end of the arm 150, 152. The steering wheel 157 can be a freely rotatable wheel. In one example, the steering wheel can be a caster.

[0126] Lifting device 100 may include one or more rear legs. In the illustrated example, lifting device 100 includes rear legs (i.e., rear legs) 160. Rear legs 160 are connected to chassis 102 and extend rearward. Rear legs 160 are advantageous in that they provide stability and prevent device 100 from tipping backward. Rear legs 160 may include wheels 162. Wheels 162 may be casters or other freely rotatable wheels.

[0127] The lifting mechanism 120 may include multiple components for moving the lifting unit 122 along a custom trajectory. In the illustrated example, the lifting mechanism 120 includes a column 123 extending upward from the chassis 102. A trolley 124 is movably mounted to the support structure 104. The column 123 is connected to the trolley 124. The trolley 124 and the column 123 are movable vertically relative to the support structure. The support structure may include tracks (not shown) on which the trolley 124 is mounted and within which it is movable vertically.

[0128] The lifting mechanism 120 includes a coupler 126. The coupler 126 is provided on the platform 125. The coupler 126 is used to connect to a corresponding coupler provided on the lifting unit 122. The coupler 126 allows for a detachable connection between the lifting unit 122 and the platform 125 (and thus allows for a detachable connection to the lifting mechanism 120).

[0129] The lifting mechanism 120 is configured to move independently along three axes. The lifting mechanism 120 includes a movable platform 125 connected to a column 123. The movable platform 125 or a portion thereof is movable horizontally. Figure 3 The three motions are shown by three arrows A, B, and C. Arrow A represents vertical motion along the z-axis (i.e., the vertical axis). Arrow B represents motion along the x-axis (the horizontal axis). Arrow C represents pivotal motion about the y-axis (i.e., the horizontal axis perpendicular to the x-axis).

[0130] The lifting mechanism 120 includes three actuators 172, 174, and 176. Each actuator is used to move the lifting mechanism along one axis. The lifting mechanism 120 is used to move the lifting unit 122 along the three axes and move the lifting unit 122 from a first position to a second position.

[0131] Figure 5 A control schematic diagram of the controller 170 and its connections to other components is shown. The lifting device 100 includes a controller 170 operatively connected to each actuator 172 to 176. The controller 170 is used to independently control each actuator to move the lifting unit 122 from a first position to a second position.

[0132] In one example, each actuator can be a linear actuator. Each linear actuator can include a DC motor and an encoder for determining the position of the motor and providing position information to the controller 170. The controller can use the encoder information to independently control each actuator 172-176. The lifting mechanism is used to move the lifting unit 122 along a customized trajectory. The controller 170 is used to receive data from one or more sensors 600, 602 and analyze the data to determine the number of repetitions or quality of the sit-to-stand exercise performed by the user.

[0133] Controller 170 may include a processor and a memory unit. Optionally, controller 170 may also include a wireless communication module (not shown). Lifting device 100 is configured to wirelessly communicate with exercise server 200, user device 300, or another device. Optionally, lifting device 100 may include display 180. Display 180 may be a screen, such as an LED or LCD screen.

[0134] Controller 170 is configured to receive or store a preset lifting trajectory to move user 10 from a seated position to a standing position along a customized path. Controller 170 may receive the customized path, i.e., the customized lifting trajectory, from an exercise server or user device. Controller 170 is also configured to control lifting mechanism 120 to move lifting unit 122 along the preset lifting trajectory (i.e., the customized lifting trajectory).

[0135] In one example, the preset lift trajectory is a customized lift trajectory for a specific user. The customized lift trajectory can be periodically modified or updated. The customized lift trajectory can be defined as part of a customized exercise plan for the user. In one example, the controller is configured to independently control each of the three actuators to move the lift mechanism 120, thereby causing the lift unit to move along the preset lift trajectory.

[0136] The lifting device 100 is advantageous in that it allows for the evaluation and customization of a lifting trajectory. Most elderly users are unable to lean forward due to poor trunk muscle control and weak core and trunk muscles. These users often need to use their upper limbs to assist in sit-to-stand movements. During sit-to-stand movements, the lifting device 100 facilitates elderly users to use their upper limbs to perform a forward leaning trunk movement. The lifting unit 122 can carry the user's load by supporting the user's arms on the lifting unit 122. The lifting unit 122 supports the user's arms and allows the user to lean forward while engaging their core and trunk muscles in a safe manner. This is advantageous in that it reduces the chance of injury to the user while still allowing the user to safely perform the correct movements, thereby exercising the trunk and core musculature to improve their sit-to-stand movements.

[0137] The lifting device 100 can be a modular arrangement that can be changed between a transport configuration and a lifting configuration (or exercise configuration). The lifting device 100 can include one or more detachable components. In the transport configuration, the lifting device is used to transport a user. In the lifting configuration, the lifting device is used to lift a user from a seated position to a standing position.

[0138] Figure 6 A lifting configuration 400 and a transport configuration 402 are shown, along with interchangeable components for changing between the two configurations. Figure 6 The lifting device may include a transport unit 190. The transport unit 190 may be detachably connected to the lifting mechanism 120. The transport unit 190 includes a frame 192 and a seat disposed within the frame 192. The seat 194 is configured to support a user in a seated position. The transport unit 190 also includes a footrest 196. The footrest 196 may extend between the lateral stabilizing arms 150, 152.

[0139] like Figure 6As shown, the lifting unit 122 and the transport unit 190 are detachably connected to the lifting mechanism 120. The lifting unit 122 can be attached to the lifting mechanism 120 to create a lifting configuration 400. The transport unit 190 can be attached to the lifting mechanism 120 to form a transport configuration 402.

[0140] Figure 7 A user is shown operating lifting device 100 in transport configuration 402 . Figure 8 A user is shown operating the lifting device 100 in the lifting configuration 400. Figure 7 In the transport configuration 402, the user sits on the seat 194 in the bassinet. The lifting device 100 can be driven or pushed by the user. The user 10 can control the lifting device 100 via the display 180. Alternatively, in the transport configuration 402, the lifting device 100 can be pushed manually. The shape of the seat 194 and the frame 192 is such that the user's center of gravity (COG) is substantially in the middle of the lifting device 100. This prevents the lifting device from tipping over when transporting the user. The shape of the frame 192, the lateral stabilizing arms 150, 152, and the rear legs 160 provide a stable base for the lifting device during transport.

[0141] refer to Figure 8 In the lifting configuration 400, the lifting device helps the user move from sitting to standing, that is, the lifting device 100 helps the user perform a sit-to-stand motion. Figure 8 As shown, when the user is in a standing position, the user can lean against the lifting unit 122, and the center of gravity (COG) is substantially at the user's hips. This is advantageous in that it does not unevenly load the user's lower body.

[0142] The lifting device has several advantages. The lifting device provides guidance and support to ensure that the individual maintains correct posture. When the user moves from a sitting position to a standing position, the lifting device advantageously reduces the risk of strain or incorrect movement patterns. The lifting device also provides stability and balance assistance to the user. The lifting device provides a simple tool to help users exercise while sitting or standing. The lifting device is also advantageous in that it reduces the risk of falling or injury during exercise (such as standing). The lifting device is also advantageous in that it increases the confidence of users (such as elderly users) who may be concerned about their ability to perform sit-to-stand exercises independently. The lifting device 100 helps the user sit and stand, which greatly reduces the probability of the user falling, which increases the user's confidence. The support and assistance of the lifting device 100 can increase the user's confidence and encourage the user to push themselves.

[0143] Figure 9An exemplary embodiment of an exercise system 1000 for training a user is shown. Exercise system 1000 may be particularly suitable for elderly individuals who require assistance standing while sitting. System 1000 includes a lifting device 100 as described above. Optionally, system 1000 may include a user device 300 that provides a user interface. System 1000 may also include an exercise server 200 configured for bidirectional communication with lifting device 100. Optionally, system 1000 may include a physical therapy system 500. System 1000 may also include one or more sensors 600, 602 configured for communicating with exercise server 200.

[0144] Therapy system 500 may be a system of suitable computing devices or systems for use in association with a physical therapist or medical practitioner or other party that may prescribe an exercise program to a user.

[0145] One or more sensors 600, 602 may be body-worn sensors. The sensors 600, 602 may include a camera to record sit-stand motion using the lifting device 100. For example, the wear sensor may be an accelerometer or a gyroscope or an IMU including an accelerometer and a gyroscope.

[0146] In this example embodiment, exercise server 200 can be implemented by a computer or computing device. The computer can be implemented by any computing architecture, including: a portable computer, a tablet computer, a standalone personal computer (PC), a smart device, an Internet of Things (IoT) device, an edge computing device, a client / server architecture, a "dumb" terminal / host architecture, a cloud computing-based architecture, or any other suitable architecture. Server 200 can be appropriately programmed to receive sensed user motion, analyze the sensed sit-to-stand motion, determine one or more parameters related to the recorded sit-to-stand motion, store the one or more parameters, and present the one or more parameters on a user device (e.g., user device 300) or on display 180.

[0147] Figure 10A schematic diagram of the hardware architecture of exercise server 200 is shown. In the exemplary embodiment, exercise server 200 includes appropriate components necessary to receive, store, and execute appropriate computer instructions. These components may include: a processing unit 202, which may include a central processing unit (CPU), a math co-processing unit (math processor), a graphics processing unit (GPU), or a tensor processing unit (TPU) for tensor or multi-dimensional array calculations or manipulation operations; read-only memory (ROM) 204; random-access memory (RAM) 206; input / output (I / O) devices, such as a disk drive 208; and input devices 210, such as an Ethernet port, a USB port, etc.

[0148] Optionally, exercise server 200 may include a display 212, such as a liquid crystal display, a light-emitting display, or any other suitable display, and a communication 214. Exercise server 200 may include instructions that may be stored in ROM 204, RAM 206, or disk drive 208 and executed by processing unit 202. A plurality of communication links 214 may be provided, which may variously connect to one or more other devices (e.g., lifting device 100, user device 300, or therapy system 500, etc.). The communication link may be a wireless communication module that allows server 200 to perform wireless communication. At least one of the plurality of communication links may be connected to an external computing network via a telephone line or other type of communication link.

[0149] Exercise server 200 also includes an exercise record database 220. The exercise record database can store records of sit-to-stand exercises performed by a user. The exercise record database 220 can store exercise records that include parameters for each exercise session, such as the number of repetitions and sets performed by the user. The exercise record database 220 can also store exercise records for multiple users.

[0150] Exercise server 200 may also provide the necessary computing power to operate or interface with a machine learning network, such as a neural network, to provide various functions and outputs. The neural network may be implemented locally or may be accessed or partially accessed via a server or cloud-based service. The machine learning network may be untrained, partially trained, or fully trained, and / or may be retrained, modified, or updated over time. The neural network may be trained to perform object recognition processing on received images or received video streams. The neural network may be trained to analyze signals from sensors to perform sit-to-stand motion analysis. Optionally, exercise server 200 may include multiple neural networks or other machine learning models. A network or model may be trained to perform object recognition processing to analyze sit-to-stand motion. A network or model may be trained to perform sit-to-stand motion analysis on sensor readings from sensors 600, 602 (e.g., wearable sensor 600).

[0151] Exercise server 200 can be configured to receive the sensed user motion, determine one or more parameters associated with the recorded sit-to-stand motion, and present the one or more parameters on the user device. The one or more parameters can be presented on a lifting device display, an exercise server display, or on user device 300, or on a device that is an alternative to the user device.

[0152] The one or more parameters may include any of the following: number of sit-to-stand repetitions, number of sets, or duration to complete the customized plan. The one or more parameters may define a score. The score may be a quality score or a quantity score. The quality score may indicate how well the user performed the sit-to-stand exercise. The quality score may also relate to how well the user performed the customized sit-to-stand trajectory. The quantity score may relate to the number of repetitions or the number of sets.

[0153] In one example, the exercise server can be used to receive a customized plan for a sit-to-stand exercise. The customized sit-to-stand plan can be customized for a specific user. In one example, the customized exercise plan can be received from the physical therapy system 500.

[0154] Figure 11 An exemplary architecture of exercise server 200 is shown. Figure 112. Example software architectures of example software modules or software elements may be shown. Software modules may be executed by hardware components (e.g., processor 202). Exercise server 200 may include user interface 222. User interface 222 may allow for communication of information with a user. User interface 222 may be presented on display 212 or user device 300. User system login system 224 is used to allow a user to log in. User login system 224 may present a login page (e.g., a web page) to the user to allow the user to enter unique login information. The user may select a specific exercise program associated with the user.

[0155] refer to Figure 11 , the training operation module 230 is used to receive the selected exercise plan. The selected exercise plan can be presented on the user interface 222. The exercise plan can be stored in the training operation module 230 or can be accessed from the database 220. The training operation module 230 is used to receive one or more parameters calculated in the training data analysis module 232. The training operation module 230 is used to determine whether the user has completed the customized exercise plan. Completion information is stored in the database 220 and, optionally, can be reported by the user interface 222.

[0156] In an alternative form, the training operation module 230, the training data analysis module 232, and the sit-to-stand trajectory setting module 234 can be hardware modules, such as ASICs or integrated circuits for performing the functions described herein. The modules 230-234 can include a combination of hardware and software elements and can be designed to perform the various functions defined herein.

[0157] The training data analysis module 232 is used to analyze the sensed sit-to-stand motion recorded by the sensors. The training data analysis module 232 is used to perform motion analysis of the sit-to-stand motion detected by the sensors 600 , 602 .

[0158] Training data analysis module 232 can be configured to receive sensor readings from one or more sensors while a user performs a sit-to-stand exercise. Data analysis module 232 can apply a machine learning model or neural network to the sensor readings to evaluate the sit-to-stand exercise analysis. Data analysis module 232 can be configured to determine the quality of each sit-to-stand repetition based on comparing the recorded movements to reference sit-to-stand movements. Data analysis module 232 can also be configured to calculate the number of repetitions and sets of the sit-to-stand exercise performed by user 10.

[0159] In one example, server 200 can be configured to receive a video of a user performing a sit-to-stand exercise defined in an exercise plan. The exercise server can be configured to perform object recognition processing on the video stream to identify the user and assess the quality and quantity of the sit-to-stand exercise based on the object recognition processing. In one example, training data analysis can be used to perform the object recognition process on the video stream.

[0160] The sit-to-stand trajectory setting module 234 is used to calculate a customized sit-to-stand trajectory based on an exercise plan. A specific trajectory can be defined in a customized exercise plan. The customized sit-to-stand trajectory can be communicated to the user interface and / or controller 170 of the lift unit. In the lift configuration, the controller 170 can be used to control the actuators 172-176 to move the lift unit 122 along the customized trajectory.

[0161] In older adults, hospitalization is associated with decreased physical function and loss of strength and / or muscle mass. This loss of strength and function makes it difficult for older adults to sit or stand. In some cases, this lack of strength can lead to falls. Sit-to-stand training is an important strength training program, especially for older adults, to maintain lower limb muscle strength, trunk muscle strength, trunk stability, and improve balance.

[0162] Customized exercise programs may be performed using the lifting device 100. An example customized training program may include:

[0163] 6 weeks of training (at least one class per week)

[0164] Each class lasts 30 minutes

[0165] Week 1-2 (3 repetitions × 2 sets)

[0166] Week 3-4 (3 repetitions × 2 sets)

[0167] Week 5-6 (4 repetitions × 2 sets)

[0168] The above exercise program is particularly useful for users over the age of 60. The exercise server can be used to simultaneously track the performance of at least 20 users and their assigned sit-to-stand exercise programs.

[0169] Sitting-to-standing exercise is a fundamental daily activity. An advantage of exercise system 1000, including lifting device 100, is that it allows a user to perform assisted sitting-to-standing exercise with support. The system also tracks the user's sitting-to-standing exercise performance and exercise program compliance. An advantage of exercise system 1000 is that it allows for delivery of a customized sitting-to-standing exercise program with a customized sitting-to-standing trajectory.

[0170] Exercise server 200 may prompt the user to perform one or more assessments. Server 200 may be configured to prompt the user to perform one or more of the following: 1) an ascending test, 2) a standing balance test, or 3) a sit-to-stand test. The ascending and descending tests are used to assess the user's functional mobility. The subject (i.e., user) is asked to stand up from a chair, walk forward 3 meters, turn 180 degrees, and walk backward to the chair. Figure 12An example of an up and down test 1200 performed by a user is shown. The training data analysis module 232 can be used to calculate the performance of the up and down tests. The performance is determined based on the time taken. The estimated completion time is improved by 5%.

[0171] The standing balance test includes a single-leg stand test. This is used to assess the user's balance. This is an extremely asymmetrical load, so the user's weight-bearing ability needs to be assessed. This test is a known test for assessing balance in the elderly. The single-leg stand test involves a person standing on one leg for a period of time. The user's ability to maintain stability can be rated on a 5-point scale (0-4). The training data analysis module 232 can be used to assess the user's performance based on sensor measurements. A 1-point improvement is expected in the single-leg stand test.

[0172] Exercise system 1000 can be used to perform a sit-to-stand test. This test assesses lower extremity functional strength (or lower extremity power) in elderly users. The participant is instructed via display 180 or user interface 222 to stand up from a sit five times without support. The total duration is recorded in seconds. A 5% improvement in time is expected.

[0173] The user's fitness and strength can be assessed by asking the user to perform the above tests. The assessment can be done at regular intervals, such as at the end of an exercise program.

[0174] The training data analysis module 232 may also be used to perform walking gait analysis. The analysis module 232 may include a neural network that is trained to process recorded video of a user walking to detect walking gait. Figure 13 A user interface 1300 is shown presenting a simulated walking gait calculated using a trained neural network in the training data analysis module 232. The presented data can be used by authorized personnel, such as a physical therapist, to perform an assessment of the user.

[0175] The training data analysis module 232 can be used to perform sit-stand analysis using wearable motion sensors. Figure 14 As shown, a sit-to-stand analysis simulation 1400 is presented on the user interface 222 or display 180. In addition to the simulation, a recording of the user can also be presented. The analysis may relate to forward trunk bending. Forward trunk bending and bending angle can be related to the quality of the sit-to-stand. Trunk bending angle can be an example parameter related to the quality of the sit-to-stand movement. Information from the training data analysis module 232 can be sent to a specialist, such as the physical therapy system 500, to allow the specialist to evaluate the user's performance.

[0176] Although not required, the embodiments described with reference to the accompanying drawings can be implemented as an application programming interface (API) or a series of libraries used by developers, or can be included in another software application, such as a terminal or personal computer operating system or a portable computing device operating system. Generally, since program modules include routines, programs, objects, components, and data files that help perform specific functions, those skilled in the art will understand that the functionality of a software application can be distributed among multiple routines, objects, or components to achieve the same functionality required herein.

[0177] It should also be understood that where the methods and systems of the present disclosure are implemented in whole or in part by a computing system, any suitable computing system architecture may be used. This would include stand-alone computers, network computers, and dedicated hardware devices. Where the terms "computing system" and "computing device" are used, these terms are intended to include any suitable configuration of computer hardware capable of implementing the described functionality.

[0178] It will be appreciated by those skilled in the art that various changes and / or modifications may be made to the present disclosure as shown in the specific embodiments without departing from the spirit or scope of the present disclosure as broadly described. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive.

[0179] Unless otherwise indicated, any reference to prior art contained herein should not be taken as an admission that the information is common general knowledge.

[0180] Without departing from the scope of the present disclosure, one or more components and functions shown in the drawings may be rearranged and / or combined into a single component or embodied as several components. Additional elements or components may also be added without departing from the scope of the present disclosure. In addition, the features described herein may be implemented in software, hardware, business methods, and / or combinations thereof.

[0181] In its various aspects, embodiments of the present disclosure may be embodied as a computer-implemented process, a machine (such as an electronic device or a general-purpose computer or other device providing a platform on which computer programs can be executed), a process performed by such a machine, or an article of manufacture.

Claims

1. A lifting device for assisting a user in standing, comprising: chassis; a support structure extending upwardly from the chassis; a lifting mechanism, which is arranged on the supporting structure; a lifting unit, which is connected to the lifting mechanism and bears the weight of the user; wherein the lifting unit is movable on three axes and can be moved from a first position to a second position; The lifting mechanism is used to move the lifting unit; the lifting unit is used to assist the user to move from a sitting position to a standing position when moving from a first position to a second position.

2. The lifting device for assisting a user to stand according to claim 1, characterized in that: in, The lifting mechanism includes: three actuators, wherein each of the actuators is used to move the lifting mechanism on an axis; The lifting mechanism is used to move the lifting unit on three axes and move the lifting unit from the first position to the second position.

3. The lifting device for assisting a user to stand according to claim 1, characterized in that: Also includes: A controller is operatively coupled to each actuator and configured to independently control each actuator to move the lifting unit from the first position to the second position.

4. The lifting device for assisting a user to stand according to claim 3, characterized in that: in, The controller is used to: receiving or storing a preset lift trajectory to move a user from a seated position to a standing position along a customized path; as well as The lifting mechanism is controlled to move the lifting unit along the preset lifting trajectory.

5. The lifting device for assisting a user to stand according to claim 4, characterized in that: in, The preset lifting trajectory is a customized lifting trajectory for a specific user.

6. The lifting device for assisting a user to stand according to claim 5, characterized in that: in, The controller is used to independently control each of the three actuators to move the lifting mechanism and thereby move the lifting unit along the preset lifting trajectory.

7. The lifting device for assisting a user to stand according to claim 6, characterized in that: in, The lifting mechanism comprises: Upward-extending columns; a cart movably mounted to the support structure; wherein the upright is coupled to the cart; wherein the column and the cart are movable in a vertical direction relative to the support structure; a movable platform coupled to the column; wherein the movable platform is pivotable about a vertical axis of the column and the movable platform or a portion thereof is movable in a horizontal direction; wherein at least one actuator is operably connected to the cart and is used to actuate vertical movement of the cart; wherein at least one actuator is operatively connected to the platform and configured to facilitate pivoting of the platform; and wherein at least one actuator is operatively connected to the platform or a portion of the platform and is used to facilitate horizontal movement of the platform; The lifting unit includes a central body and one or more arms extending outwardly to engage with a user; and the lifting unit is detachably connected to the lifting mechanism.

8. The lifting device for assisting a user to stand according to claim 7, characterized in that: in, The lifting unit includes a pair of arms extending from a central beam, the arms extending outwardly from the central beam and parallel to each other; wherein the central beam is detachably connected to the movable platform.

9. The lifting device for assisting a user to stand according to claim 1, characterized in that: in, The lifting device is a modular arrangement comprising one or more removable components; wherein the lifting device is adapted to be arranged in a transport configuration or a lifting configuration, and wherein the lifting device is operable in the transport configuration to transport a user, or in the lifting configuration to lift a user from a seated position to a standing position.

10. The lifting device for assisting a user to stand according to claim 9, characterized in that: include: a transport unit adapted to be detachably attached to the lifting mechanism; wherein, in the transport configuration, the transport unit is connected to the lifting mechanism; In the lifting configuration, the lifting unit is connected to the lifting mechanism.

11. The lifting device for assisting a user to stand according to claim 10, characterized in that: in, The transport unit comprises a frame with a seat disposed therein, wherein the seat is adapted to support the user in a seated position.

12. The lifting device for assisting a user to stand according to claim 9, wherein: include: at least two lateral stabilizer arms; wherein each of the lateral stabilizing arms is connected to the chassis and extends laterally from the chassis; Each of the lateral stabilizing arms is retractable and is adapted to move between a retracted position and an operational position.

13. The lifting device for assisting a user to stand according to claim 12, characterized in that: include: One or more rear legs, each of the one or more rear legs being connected to the chassis and extending rearwardly from the chassis.

14. The lifting device for assisting a user to stand according to claim 13, characterized in that: in, The apparatus includes a drive assembly for propelling the lifting device; wherein the drive assembly includes at least two wheels attached to opposite sides of the chassis, and hub motors operably coupled to the wheels and configured to drive the wheels; Wherein, the drive assembly also includes one or more steering wheels for assisting steering.

15. An exercise system for training a user, characterized in that include: The lifting device according to claim 1; an exercise server for communicating with the lifting device; one or more sensors for sensing a sit-to-stand motion performed by a user using the lifting device; Wherein, the training server is used for: receiving the sensed movement of the user; analyzing the sensed sitting-standing motion; determining one or more parameters associated with the recorded sit-to-stand motion; storing the one or more parameters; The one or more parameters are presented on a user device.

16. The exercise system for training a user according to claim 15, characterized in that in, The training server is used to: Receive a customized plan for sit-to-stand exercises; The customized plan of sit-to-stand exercises is presented on a display of the lifting apparatus or on a user device.

17. The exercise system for training a user according to claim 16, characterized in that in, The one or more parameters include: number of sit-to-stand repetitions, number of sets, and duration to complete the customized program.

18. The exercise system for training a user according to claim 15, wherein in, The exercise server comprises: Training data analysis module, which is used to: analyzing the sensed sitting motion recorded by the one or more sensors; determining the one or more parameters; Training operation module, which is used to: receiving the one or more parameters; determining whether the user has completed the customized exercise plan; A training record database is used to store the one or more parameters and the number of times the user completes the customized training plan.

19. The exercise system for training a user according to claim 18, wherein in, The one or more sensors include at least a wearable sensor and a camera to record the sitting-standing motion using the lifting device.

20. An exercise system for training a user according to claim 19, characterized in that in, The training server is used to: receiving sensor readings from the one or more sensors while the user performs the sit-to-stand motion; performing a sit-to-stand motion analysis based on the sensor readings; The quality of each sit-to-stand repetition was determined based on comparing the recorded movement to a reference sit-to-stand movement.

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