Isokinetic muscle strength training system and control method thereof

Abstract

The present invention discloses an isokinetic muscle training system and a control method thereof, wherein the system includes a power assembly and a control assembly, and the power assembly includes: an output rod; a power module, the power module includes a motor and a reducer, one end of the reducer is provided with a rotating shaft, the rotating shaft is fixedly connected to the output rod, the other end of the reducer is connected to the motor, and the input end of the motor is connected to the output end of the control assembly; an angle acquisition module, the angle acquisition module is used to collect the angle parameters of the output rod, and the output end of the angle acquisition module is connected to the first input end of the control assembly; a torque acquisition module, the torque acquisition module is used to collect the torque parameters of the rotating shaft, and the output end of the torque acquisition module is connected to the second input end of the control assembly. The present invention can minimize the influence of limb gravity, greatly improve the accuracy and comparability of muscle strength testing, and improve the training efficiency of isokinetic muscle training. The present invention can be widely used in the field of sports equipment technology.

Description

Technical Field

[0001] The present invention relates to the technical field of sports equipment, and in particular to an isokinetic muscle strength training system and a control method thereof. Background Art

[0002] Muscle function examination and evaluation is one of the most basic and important contents in rehabilitation medicine. Common muscle function tests include isometric strength, isotonic strength and isokinetic strength tests. Since isokinetic exercise technology has good accuracy, reliability and repeatability in muscle function testing, and good safety, efficiency and rationality in muscle strength training, it has broad application prospects in clinical practice and scientific research of sports training and rehabilitation medicine.

[0003] Isokinetic exercise, also known as adjustable resistance exercise or constant angular velocity exercise, refers to the use of special equipment to adjust the external resistance according to the changes in muscle strength during the exercise process, so that the entire joint moves at a preset speed. During the exercise, the muscle force only increases the muscle tension and torque output. Isokinetic exercise can provide the maximum resistance suitable for the muscle itself according to the strength of the muscle, changes in muscle length, length of the lever arm, pain and fatigue, and will not exceed the load limit. Therefore, isokinetic exercise has a very high efficiency and safety.

[0004] The output rod of the isokinetic device is connected to the limbs through accessories (connectors), and the limbs actively exert force to drive the output rod to rotate for muscle strength testing and training.

[0005] Isokinetic muscle strength testing and training equipment obtains the torque value of the limb output by collecting the torque of the rotating shaft, thereby obtaining the real-time muscle strength of the limb. However, traditional isokinetic muscle strength testing and training equipment has the following disadvantages:

[0006] 1) During the isokinetic muscle strength test, the influence of limb gravity and accessory gravity on the test results was not considered, resulting in inaccurate muscle strength test results. Taking knee flexion and extension as an example, during the extension exercise, the body will be restricted by the limb gravity and accessory gravity, and part of the force output by the limb is used to overcome gravity, resulting in the torque value measured by the isokinetic device being the torque value output by the limb minus the torque value generated by gravity, that is, the measured torque value is less than the torque value output by the limb; and during the flexion exercise, the body gravity and accessory gravity will assist, resulting in the torque value measured by the isokinetic device being the torque value output by the limb plus the torque value generated by gravity, that is, the measured torque value is greater than the torque value output by the limb; and there are differences in weight between different users, and accordingly, the influence of limb gravity on the test data is also different, resulting in the inability to conduct objective and effective comparative analysis of muscle strength test data between different people.

[0007] 2) In actual use of isokinetic equipment, users with muscle strength levels 3 to 4 find it difficult to perform full range of motion of the joints due to the constraints of the gravity of the limbs and accessories. Taking shoulder flexion and extension as an example, when the arm is raised from vertical downward to vertical upward, when the arm moves to a horizontal position, the load caused by the gravity of the arm and accessories on the arm is the greatest. Users with weak muscle strength find it difficult to continue to stretch upward and cannot complete the full range of motion of the joints, which limits the training effect of isokinetic muscle training. Summary of the invention

[0008] In order to solve the above technical problems, the purpose of the present invention is to provide an accurate and efficient isokinetic muscle strength training system and a control method thereof.

[0009] The first technical solution adopted by the present invention is:

[0010] An isokinetic muscle training system includes a power component and a control component, wherein the power component includes:

[0011] Output rod;

[0012] A power module, the power module comprises a motor and a reducer, one end of the reducer is provided with a rotating shaft, the rotating shaft is fixedly connected to the output rod, the other end of the reducer is connected to the motor, and the input end of the motor is connected to the output end of the control component;

[0013] An angle acquisition module, the angle acquisition module is used to acquire the angle parameter of the output rod, and the output end of the angle acquisition module is connected to the first input end of the control component;

[0014] A torque acquisition module, wherein the torque acquisition module is used to acquire the torque parameter of the rotating shaft, and the output end of the torque acquisition module is connected to the second input end of the control component.

[0015] Furthermore, the angle acquisition module is an encoder, the encoder is installed on the motor, and the output end of the encoder is connected to the first input end of the control component.

[0016] Furthermore, the torque acquisition module includes a resistance strain gauge, a signal processing unit and a signal transmission unit, the resistance strain gauge is installed on the rotating shaft, and the output end of the resistance strain gauge is connected to the second input end of the control component through the signal processing unit and the signal transmission unit.

[0017] Furthermore, the resistance strain gauge is a full-bridge strain gauge.

[0018] Furthermore, the power assembly further comprises:

[0019] A housing, wherein the power module, the angle acquisition module and the torque acquisition module are all arranged in the housing;

[0020] A limiting device is fixed at one end of the shell, the rotating shaft passes through the limiting device, and extends from the limiting device to be fixedly connected to the output rod.

[0021] Furthermore, the control component includes a processor and a motor driver, the output end of the processor is connected to the input end of the motor through the motor driver, the output end of the angle acquisition module is connected to the first input end of the processor, and the output end of the torque acquisition module is connected to the second input end of the processor.

[0022] Furthermore, the isokinetic muscle training system also includes a human-computer interaction component, which includes a display and an input device, and the display and the input device are both electrically connected to the processor.

[0023] Furthermore, the isokinetic muscle training system further includes a base assembly, and the base assembly includes:

[0024] A base, one end of which is fixedly connected to the control assembly;

[0025] A rotating lifting mechanism is connected to the power assembly, and the rotating lifting mechanism includes a first adjusting rod and a second adjusting rod, the first adjusting rod is used to adjust the height of the power assembly, and the second adjusting rod is used to adjust the rotation angle of the power assembly.

[0026] Furthermore, the isokinetic muscle training system also includes a seat assembly, which includes a seat and a seat adjustment mechanism, and the seat is movably arranged on the base through the seat adjustment mechanism.

[0027] The second technical solution adopted by the present invention is:

[0028] A control method for an isokinetic muscle training system, which is used to be performed by the above isokinetic muscle training system, comprises the following steps:

[0029] The angle acquisition module acquires the angle parameters of the output rod and transmits the angle parameters to the control component;

[0030] The control component obtains a first torque of the limb gravity on the rotation axis according to the angle parameter and the pre-acquired limb gravity torque parameter;

[0031] The control component outputs a second torque to the rotating shaft through the motor, wherein the second torque is the same in magnitude and opposite in direction to the first torque;

[0032] The torque acquisition module acquires the torque parameters of the rotating shaft and transmits the torque parameters to the control component;

[0033] The control component obtains the muscle force parameter of the limb according to the torque parameter and the first moment.

[0034] Furthermore, the control method further includes the step of obtaining limb gravity torque parameters, which is specifically:

[0035] The angle acquisition module acquires the static angle parameters of the output rod and transmits the static angle parameters to the control component;

[0036] The torque acquisition module acquires the static torque parameter of the rotating shaft and transmits the static torque parameter to the control component;

[0037] The control component obtains a limb gravity torque parameter according to the static angle parameter and the static torque parameter;

[0038] The static angle parameter and the static torque parameter are acquired when the limb and the output rod are stationary.

[0039] The beneficial effects of the present invention are as follows: the present invention provides an isokinetic muscle training system and a control method thereof. When a limb is undergoing isokinetic muscle training, the angle parameters of the output rod are collected in real time by the angle acquisition module to obtain the first torque of the limb gravity on the rotating shaft, and then the second torque that is offset by the first torque is output to the rotating shaft by the motor, so that the influence of the limb gravity on the isokinetic motion can be minimized, and then the torque parameters of the rotating shaft are collected in real time by the torque acquisition module, and accurate muscle strength test results can be obtained according to the torque parameters and the first torque. The present invention can minimize the influence of limb gravity, greatly improve the accuracy and comparability of muscle strength testing, and also help users with weak muscle strength to use isokinetic equipment for training, so as to enhance muscle strength, improve limb motor function, and improve the training efficiency of isokinetic muscle training. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 The overall structure diagram of the isokinetic muscle training system provided by the embodiment of the present invention;

[0041] Figure 2 An exploded structural diagram of a power assembly provided by an embodiment of the present invention;

[0042] Figure 3 A schematic diagram of signal connections of an isokinetic muscle training system provided by an embodiment of the present invention;

[0043] Figure 4 A schematic diagram of the rotation angle of the output rod in a vertical plane provided by an embodiment of the present invention;

[0044] Figure 5A flowchart of the steps of a control method for an isokinetic muscle strength training system provided in an embodiment of the present invention.

[0045] Reference numerals:

[0046] 1. Base assembly; 2. Power assembly; 3. Control assembly; 4. Seat assembly; 5. Human-machine interaction assembly; 11. Base; 12. Rotating and lifting mechanism; 121. First adjusting rod; 122. Second adjusting rod; 21. Output rod; 22. Power module; 221. Motor; 222. Reducer; 2221. Rotating shaft; 23. Angle acquisition module; 24. Torque acquisition module; 241. Resistance strain gauge; 242. Signal processing unit; 243. Signal transmission unit; 25. Shell; 26. Limiting device; 31. Processor; 32. Motor driver; 41. Seat; 42. Seat adjustment mechanism; 51. Display; 52. Input device. DETAILED DESCRIPTION

[0047] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The step numbers in the following embodiments are only provided for the convenience of explanation and description, and the order between the steps is not limited in any way. The execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0048] In the description of the present invention, the meaning of "a plurality" is more than two. If there is a description of "a first" or "a second", it is only used to distinguish the technical features, and it cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features. In addition, unless otherwise defined, all technical and scientific terms used in this article have the same meaning as those commonly understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments, not for limiting the present invention.

[0049] Reference Figures 1 to 3 The embodiment of the present invention provides an isokinetic muscle training system, including a power component 2 and a control component 3. The power component 2 includes:

[0050] Output rod 21;

[0051] The power module 22 includes a motor 221 and a reducer 222. A rotating shaft 2221 is provided at one end of the reducer 222. The rotating shaft 2221 is fixedly connected to the output rod 21. The other end of the reducer 222 is connected to the motor 221. The input end of the motor 221 is connected to the output end of the control component 3.

[0052] An angle acquisition module 23, the angle acquisition module 23 is used to acquire angle parameters of the output rod 21, and the output end of the angle acquisition module 23 is connected to the first input end of the control component 3;

[0053] The torque acquisition module 24 is used to acquire the torque parameters of the rotating shaft 2221 . The output end of the torque acquisition module 24 is connected to the second input end of the control component 3 .

[0054] Specifically, the power module 22 is used to provide power for the output rod 21; the angle parameter of the output rod 21 refers to the inclination angle of the output rod 21 in the vertical plane, which can be achieved by setting a posture sensor on the output rod 21, setting a posture sensor on the rotating shaft 2221 and setting an encoder in the motor 221. Since the output rod 21 is fixedly connected to the rotating shaft 2221, the angle parameters of the two are consistent, and the output rod 21 and the motor 221 are connected through a reducer 222. When the transmission ratio of the reducer 222 is known, the angle parameter of the output rod 21 can also be obtained according to the rotation angle and number of rotations of the motor 221 collected by the encoder; the torque of the rotating shaft 2221 is actually the result of the synergistic effect of limb muscle strength and limb gravity. The deformation of the rotating shaft 2221 can be converted into an electrical signal through the resistance strain gauge 241, so that the torque of the rotating shaft 2221 can be collected.

[0055] When the limbs are undergoing isokinetic muscle training, the embodiment of the present invention collects the angle parameters of the output rod 21 in real time through the angle acquisition module 23 to obtain the first torque of the limb gravity on the rotating shaft 2221, and then the motor 221 outputs the second torque that offsets the first torque to the rotating shaft 2221, so that the influence of the limb gravity on the isokinetic motion can be minimized, and then the torque parameters of the rotating shaft 2221 are collected in real time through the torque acquisition module 24, and accurate muscle strength test results can be obtained according to the torque parameters and the first torque. The embodiment of the present invention can minimize the influence of limb gravity, greatly improve the accuracy and comparability of muscle strength testing, and also help users with weak muscle strength to use isokinetic equipment for training, so as to enhance muscle strength, improve limb motor function, and improve the training efficiency of isokinetic muscle strength training.

[0056] As a further optional implementation, the angle acquisition module 23 is an encoder, the encoder is installed on the motor 221 , and the output end of the encoder is connected to the first input end of the control component 3 .

[0057] Specifically, the encoder is installed on the motor 221 to measure the magnetic pole position and the rotation angle, rotation speed and other data of the motor 221, so as to obtain the angle parameters of the output rod 21. The embodiment of the present invention uses an encoder as the angle acquisition module 23, and the measurement result is more accurate than that using a posture sensor, which further improves the accuracy of muscle strength testing and the efficiency of isokinetic muscle strength training.

[0058] Reference Figure 2 and 3The torque acquisition module 24 includes a resistance strain gauge 241, a signal processing unit 242 and a signal transmission unit 242. The resistance strain gauge 241 is installed on the rotating shaft 2221, and the output end of the resistance strain gauge 241 is connected to the second input end of the control component 3 through the signal processing unit 242 and the signal transmission unit 242.

[0059] Specifically, the torque acquisition module 24 is used to collect the torque parameters applied by the user to the rotating shaft 2221 through the output rod 21. The torque acquisition module 24 includes a resistance strain gauge 241, a signal processing unit 242 and a signal transmission unit 242. The resistance strain gauge 241 is pasted on the surface of the rotating shaft 2221 of the reducer 222. The resistance strain gauge 241 can convert the mechanical deformation of the rotating shaft 2221 into a resistance change, and then the signal processing unit 242 amplifies and filters the analog signal of the resistance strain gauge 241, and converts it into a digital signal through an analog-to-digital converter. The signal transmission unit 242 adopts a brush-type collector ring method. While rotating continuously, it transmits power and signals between a fixed position and a rotating position, and transmits the collected torque data to the control component 3.

[0060] As a further optional implementation, the resistance strain gauge 241 is a full-bridge strain gauge.

[0061] Specifically, the resistance strain gauge 241 can be a single full-bridge strain gauge, which only measures the torsional stress of the rotating shaft 2221. The radial force and axial force of the rotating shaft 2221 will not affect the measurement of the torsional stress, and can eliminate the influence of the gravity of the power component 2 at different tilt angles. However, the traditional constant speed equipment using non-full-bridge strain gauges cannot eliminate the gravity influence of the power component 2 at different tilt angles. In addition, a single full-bridge strain gauge is more convenient to paste than a full bridge composed of multiple strain gauges, reducing the production process.

[0062] Reference Figure 2 As an optional embodiment, the power assembly 2 further includes:

[0063] The housing 25, the power module 22, the angle acquisition module 23 and the torque acquisition module 24 are all arranged in the housing 25;

[0064] The limiting device 26 is fixed to one end of the housing 25 . The rotating shaft 2221 passes through the limiting device 26 and extends from the limiting device 26 to be fixedly connected to the output rod 21 .

[0065] Specifically, the limiting device 26 is used to limit the range of motion of the user's limbs to avoid limb or joint injuries to the user.

[0066] Reference Figure 3As an optional embodiment, the control component 3 includes a processor 31 and a motor driver 32, the output end of the processor 31 is connected to the input end of the motor 221 through the motor driver 32, the output end of the angle acquisition module 23 is connected to the first input end of the processor 31, and the output end of the torque acquisition module 24 is connected to the second input end of the processor 31.

[0067] Specifically, the processor 31 is used to control the motor 221 to output a corresponding torque to offset the influence of the limb gravity on the rotating shaft 2221 according to the angle parameters collected in real time, and calculate the limb muscle strength data according to the torque parameters collected in real time.

[0068] Reference Figure 1 and 3 As an optional implementation, the isokinetic muscle training system also includes a human-computer interaction component 5, which includes a display 51 and an input device 52, and both the display 51 and the input device 52 are electrically connected to the processor 31.

[0069] Specifically, the input device 52 is used to set the working mode and operating parameters of the isokinetic muscle strength training system, and the display 51 is used to display the results of the limb muscle strength test.

[0070] Reference Figure 1 As an optional embodiment, the isokinetic muscle training system further includes a bottom seat assembly 1, and the bottom seat assembly 1 includes:

[0071] A base 11, one end of the base 11 is fixedly connected to the control component 3;

[0072] The rotary lifting mechanism 12 is connected to the power assembly 2 . The rotary lifting mechanism 12 includes a first adjusting rod 121 and a second adjusting rod 122 . The first adjusting rod 121 is used to adjust the height of the power assembly 2 , and the second adjusting rod 122 is used to adjust the rotation angle of the power assembly 2 .

[0073] Specifically, the base 11 is used to fix the isokinetic muscle training system, and the rotary lifting mechanism 12 is used to adjust the position of the power component 2 according to the actual situation of the user.

[0074] Reference Figure 1 As an optional embodiment, the isokinetic muscle training system also includes a seat assembly 4, the seat assembly 4 includes a seat 41 and a seat adjustment mechanism 42, and the seat 41 is movably arranged on the base 11 through the seat adjustment mechanism 42.

[0075] Specifically, the arrangement of the seat 41 and the seat adjustment mechanism 42 can facilitate the user to adjust the state of the limbs according to his own situation to perform isokinetic muscle strength training.

[0076] The above is a description of the system structure of the embodiment of the present invention. The following further describes the principle and related settings of the embodiment of the present invention in combination with the above system structure.

[0077] like Figure 4 The figure shows the rotation angle of the output rod 21 in the vertical plane. In order to more conveniently explain the principle of the embodiment of the present invention, the following relevant settings and descriptions are made:

[0078] 1) It is defined that when the output rod 21 is vertically downward, the angle θ of the output rod 21 is 0°, and when it rotates in the clockwise direction, the angle θ increases, and when it rotates in the counterclockwise direction, the angle θ decreases. For example, when it rotates 90° clockwise, the angle θ of the output rod 21 is 90°, and when it rotates 90° counterclockwise, the angle θ of the output rod 21 is -90°, and so on. In particular, when the output rod 21 is vertically upward, the angle θ of the output rod 21 is 180° (or -180°, which has no effect in the embodiment of the present invention).

[0079] 2) Set the range of motion of the limbs, the maximum position of the clockwise movement is P1 (corresponding to the angle of the output rod 21 is -90°), and the maximum position of the counterclockwise movement is P2 (corresponding to the angle of the output rod 21 is 90°).

[0080] 3) When the torque value is a positive number, it means the torque direction is clockwise; when the torque value is a negative number, it means the torque direction is counterclockwise.

[0081] 4) Setting the rotation direction of the motor 221 according to the movement position of the limb:

[0082] The limb moves clockwise from position P2 to position P1, and the rotation direction of the motor 221 is set to the clockwise direction. Before moving to position P1, even if the limb exerts force in the counterclockwise direction, the rotation direction of the motor 221 is not changed. After moving to position P1, the rotation direction of the motor 221 is changed to the counterclockwise direction.

[0083] The limb moves counterclockwise from position P1 to position P2, and the rotation direction of the motor 221 is set to counterclockwise. Before moving to position P2, even if the limb exerts force in the clockwise direction, the rotation direction of the motor 221 is not changed. After moving to position P2, the rotation direction of the motor 221 is changed to clockwise.

[0084] 5) The limbs are moved at a constant speed by limiting the speed of the motor 221. According to Newton's law of motion, when the limbs are moving at a constant speed, the force of the limbs is equal to the reaction force of the motor 221. When the muscle force increases, the motor 221 increases the resistance accordingly, and when the muscle force decreases, the motor 221 decreases the resistance accordingly.

[0085] The limb moves clockwise from position P2 to position P1, and the maximum speed of the motor 221 is set to V1. The limb exerts force in the clockwise direction, driving the motor 221 to accelerate to V1. The limb continues to increase its force, and the motor 221 maintains the speed V1 unchanged. During the movement, the muscle force only increases the muscle tension and torque output, but the movement speed is constant. The limb exerts force in the counterclockwise direction or stops exerting force, and the motor 221 decelerates to stop.

[0086] The limb moves counterclockwise from position P1 to position P2, and the maximum speed of the motor 221 is set to V2. The limb exerts force in the counterclockwise direction, driving the motor 221 to accelerate to V2. The limb continues to increase its force, and the motor 221 maintains the speed V2 unchanged. During the movement, the muscle force only increases the muscle tension and torque output, but the movement speed is constant. The limb exerts force in the clockwise direction or stops exerting force, and the motor 221 decelerates to stop.

[0087] The isokinetic muscle strength training system of an embodiment of the present invention pre-adjusts the positions of the bottom seat assembly 1, the power assembly 2 and the seat assembly 4 before training, so that the movement axis of the limb is coaxially aligned with the rotation axis of the motor 221, and then the output rod 21 is connected to the limb through accessories, and the limb actively drives the output rod 21 to rotate, and then the isokinetic movement is achieved by limiting the speed of the motor, thereby performing muscle strength testing and training.

[0088] It should be understood that, during the isokinetic motion of the limbs, the rotating shaft 2221 keeps rotating at a uniform speed, and the limbs produce a certain torque to the rotating shaft 2221 through the output rod 21, and the rotating shaft 2221 itself produces a certain mechanical deformation to overcome the torque, and the resistance strain gauge 241 can convert the mechanical deformation of the rotating shaft 2221 into an electrical signal, and finally obtain the numerical value of the torque. But the torque is actually the result of the synergistic effect of the limb gravity and the limb muscle force, so the limb muscle force can not be accurately obtained by the numerical value of the torque. And with the change of the output rod 21 angle, the size and direction of the torque of the limb gravity on the rotating shaft 2221 are also changing all the time, so the embodiment of the present invention collects the angle of the output rod 21 in real time, thereby obtaining the moment of the limb gravity on the rotating shaft 2221 at the current moment, and then collects the torque of the rotating shaft 2221 through the torque acquisition module 24, according to the torque obtained and the moment of the limb gravity on the rotating shaft 2221 at the current moment, the limb muscle force size can be accurately calculated.

[0089] The control method of the embodiment of the present invention is described below.

[0090] Reference Figure 5 The embodiment of the present invention provides a control method of an isokinetic muscle training system, which is used to be executed by the above-mentioned isokinetic muscle training system, and includes the following steps:

[0091] S101, the angle acquisition module 23 acquires angle parameters of the output rod 21 and transmits the angle parameters to the control component 3;

[0092] S102, the control component 3 obtains a first torque of the limb gravity on the rotation axis 2221 according to the angle parameter and the pre-acquired limb gravity torque parameter;

[0093] Specifically, the limb gravity torque parameter is the torque magnitude of the limb gravity on the rotation axis 2221 when the output rod 21 is in a horizontal position. The limb gravity torque parameter can be obtained based on the limb gravity and the force arm acting on the rotation axis 2221, or can be obtained by testing the isokinetic muscle training system of the embodiment of the present invention before training.

[0094] S103, the control component 3 outputs a second torque to the rotating shaft 2221 through the motor 221, and the second torque is the same in magnitude and opposite in direction to the first torque;

[0095] Specifically, the torque generated by gravity can be offset by the output torque of the motor 221, so that the limbs can move in a zero-gravity state. The limb gravity torque parameter is defined as Mg, and the output rod 21 is defined in four areas in the vertical plane as Figure 4 As shown in , several situations of the first moment M1 and the second moment M2 are as follows:

[0096] A1. If the limb moves clockwise, when the output rod 21 is in the third area or the fourth area, the angle of the output rod 21 is θ1, and the limb gravity provides resistance to restrict the limb from moving in the clockwise direction. At this time, the first torque of the limb gravity on the rotating shaft 2221 is counterclockwise, and the first torque can be expressed as M1=-Mg×sinθ1. The motor 221 outputs a second torque in the clockwise direction in real time, which is the same as the first torque, to offset the torque generated by the limb gravity on the rotating shaft 2221. The second torque can be expressed as M2=-M1=Mg×sinθ1;

[0097] A2. If the limb moves clockwise, when the output rod 21 is in the first area or the second area, the angle of the output rod 21 is θ2, and the limb gravity provides assistance to assist the limb to move in the clockwise direction. At this time, the first torque of the limb gravity on the rotating shaft 2221 is in the clockwise direction. The first torque can be expressed as M1=-Mg×sinθ2. The motor 221 outputs a second torque in the counterclockwise direction in real time, which is the same as the first torque, to offset the torque generated by the limb gravity on the rotating shaft 2221. The second torque can be expressed as M2=-M1=Mg×sinθ2;

[0098] A3. If the limb moves counterclockwise, when the output rod 21 is in the third area or the fourth area, the angle of the output rod 21 is θ3, and the limb gravity provides assistance to assist the limb to move counterclockwise. At this time, the first torque of the limb gravity on the rotating shaft 2221 is counterclockwise, and the first torque can be expressed as M1=-Mg×sinθ3. The motor 221 outputs a second torque in a clockwise direction in real time, which is the same as the first torque, to offset the torque generated by the limb gravity on the rotating shaft 2221. The second torque can be expressed as M2=-M1=Mg×sinθ3;

[0099] A4. If the limb moves counterclockwise, when the output rod 21 is in the first area or the second area, the angle of the output rod 21 is θ4, and the gravity of the limb provides resistance to restrict the limb from moving counterclockwise. At this time, the first torque of the limb gravity on the rotating shaft 2221 is in the clockwise direction. The first torque can be expressed as M1=-Mg×sinθ4. The motor 221 outputs a second torque in the counterclockwise direction in real time, which is the same as the first torque, to offset the torque generated by the limb gravity on the rotating shaft 2221. The second torque can be expressed as M2=-M1=Mg×sinθ4.

[0100] According to the analysis of the above-mentioned situations, the relationship between the first moment M1, the second moment M2 and the output rod angle parameter θ is: M2=-M1=Mg×sinθ. It should be understood that when θ is located in the first area or the second area, sinθ is less than 0, the first moment is in the clockwise direction, and the second moment is in the counterclockwise direction; when θ is located in the third area or the fourth area, sinθ is greater than 0, the first moment is in the counterclockwise direction, and the second moment is in the clockwise direction.

[0101] In particular, when the output rod 21 is vertically upward or vertically downward, the limb gravity generates a radial force on the rotating shaft 2221. At this time, the torque of the limb gravity on the rotating shaft 2221 is zero. The limb gravity does not affect the measurement of the torque of the rotating shaft 2221, nor does it restrict or assist the movement of the limb. Therefore, the motor 221 does not need to output torque to offset the torque generated by gravity.

[0102] S104, the torque acquisition module 24 acquires the torque parameters of the rotating shaft 2221 and transmits the torque parameters to the control component 3;

[0103] S105. The control component 3 obtains the muscle force parameter of the limb according to the torque parameter and the first moment.

[0104] Specifically, the muscle force parameter is the torque of the limb muscle force on the rotating shaft 2221. According to the torque M3 of the rotating shaft 2221 at this time and the first torque M1 of the limb gravity on the rotating shaft 2221 at the current moment, the torque M4 of the limb muscle force on the rotating shaft 2221 can be accurately calculated. Since the rotating shaft 2221 has been deformed, its torque is the result of the combined action of the limb gravity and the limb muscle force, so M3=M1+M4, that is, the torque M4=M3-M1=M3+Mg×sinθ of the limb muscle force on the rotating shaft 2221 can be calculated.

[0105] When the limbs are undergoing isokinetic muscle training, the embodiment of the present invention collects the angle parameters of the output rod 21 in real time through the angle acquisition module 23 to obtain the first torque of the limb gravity on the rotating shaft 2221, and then the motor 221 outputs the second torque that offsets the first torque to the rotating shaft 2221, so that the influence of the limb gravity on the isokinetic motion can be minimized, and then the torque parameters of the rotating shaft 2221 are collected in real time through the torque acquisition module 24, and accurate muscle strength test results can be obtained according to the torque parameters and the first torque. The embodiment of the present invention can minimize the influence of limb gravity, greatly improve the accuracy and comparability of muscle strength testing, and also help users with weak muscle strength to use isokinetic equipment for training, so as to enhance muscle strength, improve limb motor function, and improve the training efficiency of isokinetic muscle strength training.

[0106] As an optional implementation, the control method further includes the step of obtaining limb gravity torque parameters, which is specifically:

[0107] B1, the angle acquisition module 23 acquires the static angle parameters of the output rod 21 and transmits the static angle parameters to the control component 3;

[0108] B2. The torque acquisition module 24 acquires the static torque parameters of the rotating shaft 2221 and transmits the static torque parameters to the control component 3;

[0109] B3, control component 3 obtains the limb gravity torque parameter according to the static angle parameter and the static torque parameter;

[0110] The static angle parameter and the static torque parameter are acquired when the limb and the output rod 21 are stationary.

[0111] Specifically, before training, the limb gravity torque parameter is obtained by testing the isokinetic muscle training system of the embodiment of the present invention, so that the gravity effect of the related accessories connecting the limb and the output rod 21 can also be taken into account, further improving the accuracy of the muscle strength test. The specific implementation method is: place the limb as horizontally as possible, lock the motor 221 and keep it still, and the user completely relaxes the limb so that the limb is in a state of no force; the static angle parameter at this time is obtained as θ0, and the static torque parameter is M0. Since the limb does not exert force, |M0|=Mg×|sinθ0|, and the gravity torque of the limb and accessories in the horizontal position is calculated by the control component 3, which is the limb gravity torque parameter, which can be expressed as Mg=|M0 / sinθ0|, where || represents an absolute value.

[0112] It should be appreciated that embodiments of the present invention may be implemented or enforced by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer-readable memory. The above methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer-readable storage medium configured with a computer program, wherein the storage medium so configured causes the computer to operate in a specific and predefined manner, according to the methods and drawings described in the specific embodiments. Each program may be implemented in a high-level procedural or object-oriented programming language to communicate with a computer system. However, if desired, the program may be implemented in an assembly or machine language. In any case, the language may be a compiled or interpreted language. In addition, the program may be run on a programmed dedicated integrated circuit for this purpose.

[0113] Furthermore, the operations of the processes described herein may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described herein (or variations and / or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) that is executed collectively on one or more processors, by hardware, or a combination thereof. The computer programs described above include a plurality of instructions that may be executed by one or more processors.

[0114] Further, the above method can be implemented in any type of computing platform that is operably connected to a suitable computer, including but not limited to a personal computer, a minicomputer, a mainframe, a workstation, a network or distributed computing environment, a separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, etc. Various aspects of the present invention can be implemented in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, an optical read and / or write storage medium, a RAM, a ROM, etc., so that it can be read by a programmable computer, and when the storage medium or device is read by the computer, it can be used to configure and operate the computer to perform the process described herein. In addition, the machine-readable code, or a portion thereof, can be transmitted via a wired or wireless network. When such media includes instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor, the invention described herein includes these and other different types of non-transitory computer-readable storage media. When programmed according to the methods and techniques described in the present invention, the present invention also includes the computer itself.

[0115] The computer program can be applied to input data to perform the functions described herein, thereby converting the input data to generate output data stored in a non-volatile memory. The output information can also be applied to one or more output devices such as a display. In a preferred embodiment of the present invention, the converted data represents physical and tangible objects, including specific visual depictions of physical and tangible objects produced on the display.

[0116] The above is only a preferred embodiment of the present invention. The present invention is not limited to the above implementation. As long as the technical effect of the present invention is achieved by the same means, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of protection of the present invention. Within the scope of protection of the present invention, its technical scheme and / or implementation method may have various modifications and changes.

Claims

1. An isokinetic muscle training system, characterized in that: It includes a power assembly and a control assembly, and the power assembly includes: Output rod; A power module, the power module comprises a motor and a reducer, one end of the reducer is provided with a rotating shaft, the rotating shaft is fixedly connected to the output rod, the other end of the reducer is connected to the motor, and the input end of the motor is connected to the output end of the control component; An angle acquisition module, the angle acquisition module is used to acquire the angle parameter of the output rod, and the output end of the angle acquisition module is connected to the first input end of the control component; A torque acquisition module, the torque acquisition module is used to acquire the torque parameter of the rotating shaft, and the output end of the torque acquisition module is connected to the second input end of the control component; Among them, the control component is used to obtain a first torque of the limb gravity on the rotating axis according to the angle parameter and the pre-acquired limb gravity torque parameter, and output a second torque to the rotating axis through the motor, so that the second torque is the same in magnitude and opposite in direction to the first torque, and then obtain the muscle strength parameter of the limb according to the torque parameter and the first torque.

2. The isokinetic muscle training system according to claim 1, characterized in that: The angle acquisition module is an encoder, which is installed on the motor, and the output end of the encoder is connected to the first input end of the control component.

3. The isokinetic muscle training system according to claim 1, characterized in that: The torque acquisition module includes a resistance strain gauge, a signal processing unit and a signal transmission unit. The resistance strain gauge is installed on the rotating shaft, and the output end of the resistance strain gauge is connected to the second input end of the control component through the signal processing unit and the signal transmission unit.

4. The isokinetic muscle training system according to claim 1, characterized in that: The power assembly also includes: A housing, wherein the power module, the angle acquisition module and the torque acquisition module are all arranged in the housing; A limiting device is fixed at one end of the shell, the rotating shaft passes through the limiting device, and extends from the limiting device to be fixedly connected to the output rod.

5. The isokinetic muscle training system according to claim 1, characterized in that: The control component includes a processor and a motor driver, the output end of the processor is connected to the input end of the motor through the motor driver, the output end of the angle acquisition module is connected to the first input end of the processor, and the output end of the torque acquisition module is connected to the second input end of the processor.

6. The isokinetic muscle training system according to claim 5, characterized in that: The isokinetic muscle training system further includes a human-computer interaction component, which includes a display and an input device, and both the display and the input device are electrically connected to the processor.

7. An isokinetic muscle training system according to any one of claims 1 to 6, characterized in that: The isokinetic muscle training system further includes a base assembly, and the base assembly includes: A base, one end of which is fixedly connected to the control assembly; A rotating lifting mechanism is connected to the power assembly, and the rotating lifting mechanism includes a first adjusting rod and a second adjusting rod, the first adjusting rod is used to adjust the height of the power assembly, and the second adjusting rod is used to adjust the rotation angle of the power assembly.

8. The isokinetic muscle training system according to claim 7, characterized in that: The isokinetic muscle training system further comprises a seat assembly, wherein the seat assembly comprises a seat and a seat adjustment mechanism, and the seat is movably arranged on the base via the seat adjustment mechanism.

9. A control method for an isokinetic muscle training system, for use in the isokinetic muscle training system according to any one of claims 1 to 8, characterized in that: The following steps are involved: The angle acquisition module acquires the angle parameters of the output rod and transmits the angle parameters to the control component; The control component obtains a first torque of the limb gravity on the rotation axis according to the angle parameter and the pre-acquired limb gravity torque parameter; The control component outputs a second torque to the rotating shaft through the motor, wherein the second torque is the same in magnitude and opposite in direction to the first torque; The torque acquisition module acquires the torque parameters of the rotating shaft and transmits the torque parameters to the control component; The control component obtains the muscle force parameter of the limb according to the torque parameter and the first moment.

10. The control method according to claim 9, characterized in that: The control method further comprises the step of obtaining the limb gravity torque parameter, which is specifically: The angle acquisition module acquires the static angle parameters of the output rod and transmits the static angle parameters to the control component; The torque acquisition module acquires the static torque parameter of the rotating shaft and transmits the static torque parameter to the control component; The control component obtains a limb gravity torque parameter according to the static angle parameter and the static torque parameter; The static angle parameter and the static torque parameter are acquired when the limb and the output rod are stationary.

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