Leg muscle force evaluation method and device applied to standing lower limb rehabilitation training device

Abstract

The present application relates to the field of medical rehabilitation, and particularly relates to a leg muscle force evaluation method and device applied to a standing lower limb rehabilitation training device. The method comprises: collecting the no-load average current I void of the left and right leg driving motors in the horizontal state of the bed body of the training device when a user stands on the training device; collecting the average current I0 of the leg muscles of the user in the relaxed state and the horizontal state of the bed body; the calculation formula is as follows: I index =I fdb ‑K*(I0‑I void )*cos(angle); wherein I fdb is the feedback current, angle is the bed body inclination angle, and K is the bed body inclination influence coefficient; and the muscle force grade is determined according to the calculation result I index . The method and device can evaluate the muscle force grades of the left and right legs in real time while the user is performing leg rehabilitation training, provide a reference basis for rehabilitation physicians, and help the patient to perform targeted leg rehabilitation training and ensure the symmetry of the left and right legs.

Description

Technical Field

[0001] This invention relates to the field of medical rehabilitation, and more specifically, to a method and device for assessing leg muscle strength in a standing lower limb rehabilitation training device. Background Technology

[0002] Rehabilitation robots have become a key research area in robotics in recent years. Elderly people, fracture patients, and those with neurological disorders often experience lower limb muscle atrophy. Standing lower limb rehabilitation robots can help people exercise their leg muscles and undergo rehabilitation training. Compared to rehabilitation therapists, they offer significant advantages such as longer working hours, more sensitive sensors, and lower overall costs, making them a promising market prospect.

[0003] The recovery of leg muscles in leg rehabilitation patients is a major concern for medical staff, patients' families, and the patients themselves. However, many leg rehabilitation training devices on the market cannot accurately assess the strength level of the user's leg muscles in real time, nor can they distinguish the recovery status of the left and right leg muscles. This will affect the doctor's diagnosis of the patient's recovery status, prevent the implementation of targeted and correct rehabilitation treatment methods, prolong the patient's recovery time, or even delay the opportunity for recovery. Summary of the Invention

[0004] This invention provides a method and apparatus for assessing leg muscle strength in a standing lower limb rehabilitation trainer, thereby addressing at least the technical problem of existing trainers lacking leg muscle strength assessment capabilities.

[0005] According to an embodiment of the present invention, a method for assessing leg muscle strength applied to a standing lower limb rehabilitation training device is provided. The training device includes, in sequence: a human-computer interaction interface, a motion control module, and left and right leg drive motors; the method includes the following steps:

[0006] a. Collect the average no-load current I of the left and right leg drive motors in the training device when the user is standing and the bed is horizontal. void ;

[0007] b. Collect the average current I0 of the left and right leg drive motors when the user's leg muscles are relaxed and the bed is horizontal;

[0008] c. The calculation formula is as follows: I index =I fdb -K*(I0-I void )*cos(angle); where I fdb The current is the feedback current, angle is the bed tilt angle, and K is the bed tilt influence coefficient.

[0009] d. Based on the calculation result I index Determine muscle strength level.

[0010] Further, the method further comprises: e. displaying the muscle strength grade on the human-computer interaction interface.

[0011] Further, according to the calculation result I index The muscle strength grade is determined by:

[0012] When I index ≤(0.1I0+0.9I void ), the muscle strength grade is determined as 5;

[0013] When I index ≤(0.3I0+0.7I void ), the muscle strength grade is determined as 4;

[0014] When I index ≤(0.5I0+0.5I void ), the muscle strength grade is determined as 3;

[0015] When I index ≤(0.7I0+0.3I void ), the muscle strength grade is determined as 2;

[0016] When I index ≤(0.9I0+0.1I void ), the muscle strength grade is determined as 1;

[0017] When I index is other, the muscle strength grade is determined as 0.

[0018] Further, the motion control module controls the position of the left and right leg driving motors through a PID position closed loop.

[0019] Further, the method is integrated in the motion control module.

[0020] Further, the trainer further comprises a driving cylinder connected with the motion control module.

[0021] According to another embodiment of the present application, a leg muscle strength evaluation device applied to a standing lower limb rehabilitation trainer is provided, the trainer comprising a human-computer interaction interface, a motion control module, and left and right leg driving motors connected in sequence; the device comprises:

[0022] A first acquisition unit is configured to acquire the no-load average current I void of the left and right leg driving motors in the trainer under the horizontal state of the bed body when a user stands;

[0023] A second acquisition unit is configured to acquire the average current I0 of the left and right leg driving motors under the relaxed and horizontal state of the bed body.

[0024] A calculation unit is configured to calculate the formula as follows: Iindex = I fdb - K * (I0- I void ) * cos(angle); wherein I fdb is the feedback current, angle is the bed body inclination angle, and K is a bed body inclination influence coefficient.

[0025] a muscle strength grade judging unit configured to judge the muscle strength grade according to the calculation result I index .

[0026] Further, the device further comprises:

[0027] a display unit configured to display the muscle strength grade on a human-computer interaction interface.

[0028] According to another embodiment of the present application, a storage medium is provided, which stores a program file capable of implementing any one of the above-mentioned leg muscle strength evaluation methods applied to the standing lower limb rehabilitation training device.

[0029] According to another embodiment of the present application, a processor is provided, which is configured to run a program, wherein the program, when running, performs any one of the above-mentioned leg muscle strength evaluation methods applied to the standing lower limb rehabilitation training device.

[0030] The leg muscle strength evaluation method and device applied to the standing lower limb rehabilitation training device in the embodiments of the present application can evaluate the muscle strength grades of the left and right legs of a user in real time while the user is performing leg rehabilitation training, thereby providing a reference basis for rehabilitation physicians and helping the patient to perform targeted leg rehabilitation training and ensure the symmetry of the left and right legs. BRIEF DESCRIPTION OF DRAWINGS

[0031] The accompanying drawings, which are included to provide a further understanding of the present application and constitute a part of this application, illustrate certain illustrative embodiments of the present application and together with the description serve to explain the present application. In the drawings:

[0032] Figure 1 Fig. 1 is a structural diagram of a standing lower limb rehabilitation training device;

[0033] Figure 2 Fig. 2 is a schematic diagram of a feedback current curve that periodically changes;

[0034] Figure 3 Fig. 3 is a schematic diagram of a feedback current curve under different muscle strength conditions;

[0035] Figure 4 Fig. 4 is a schematic diagram of a feedback current curve under different bed body inclination angles;

[0036] Figure 5 Fig. 5 is a flowchart of a leg muscle strength evaluation method applied to the standing lower limb rehabilitation training device according to the present application.

[0037] Figure 6 The preferred flow chart of the leg muscle force evaluation method applied to the standing lower limb rehabilitation training device of the present application;

[0038] Figure 7 The module diagram of the leg muscle force evaluation device applied to the standing lower limb rehabilitation training device of the present application;

[0039] Figure 8 The preferred module diagram of the leg muscle force evaluation device applied to the standing lower limb rehabilitation training device of the present application. DETAILED DESCRIPTION

[0040] In order to make the personnel in the technical field better understand the present application scheme, the technical scheme in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the protection scope of the present application.

[0041] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0042] Embodiment 1

[0043] The general structure diagram of the standing lower limb rehabilitation training device in the present application is shown in Figure 1 The leg muscle force evaluation method proposed in the present application can be integrated in the motion control module, and the results are displayed on the human-computer interaction interface.

[0044] The leg muscle force evaluation method of the present application is described as follows: The leg muscle force evaluation method proposed in the present application is a comprehensive judgment combining the feedback current of the left and right leg driving motor and the bed body inclination angle. Since the standing lower limb rehabilitation training device alternately and periodically moves the left and right legs, the feedback current also periodically changes. Since the control trajectory is different, the feedback current curve is also different, and the periodically changing feedback current curve is shown in Figure 2 .

[0045] Since the motion control module uses a PID position closed loop for position control to achieve the knee-lifting movement, consider the following:

[0046] a. If the user has weak muscles, the trainer needs to overcome the weight of the user's legs to drive the user in rehabilitation exercises, requiring a larger torque current, such as... Figure 3 -Curve 2.

[0047] b. The user's muscles are in good condition and they can perform leg raises independently without the need for a training device for rehabilitation exercises. The training device only needs to overcome its own weight and friction, thus reducing the required torque current. Figure 3 -Curve 3.

[0048] c. When the user's muscle state is intermediate between weakness and health, the curve is as follows: Figure 3 -Curve 1.

[0049] In addition, users are also affected by the tilt angle of the bed in the training device they are standing on, considering the following:

[0050] a. When the bed is parallel to the ground, and the component of gravity acting on the legs perpendicular to the bed equals the weight of the legs, the trainer needs to overcome the entire weight of the user's legs to perform rehabilitation exercises. This requires providing a larger torque current, such as... Figure 4 -Curve 1.

[0051] b. When the bed is raised to its maximum position (e.g., 85°), the component of gravity acting on the legs perpendicular to the bed is much smaller than the weight of the legs themselves. The trainer only needs to provide a small torque current to drive the user in rehabilitation exercises. Figure 4 -Curve 3.

[0052] c. When the bed angle is between its maximum position and the horizontal position, the curve is as follows: Figure 4 -Curve 2.

[0053] Therefore, by collecting the feedback current of the left and right leg drive motors and eliminating the influence of the bed tilt angle, the user's current muscle strength level can be determined.

[0054] According to an embodiment of the present invention, a method for assessing leg muscle strength applied to a standing lower limb rehabilitation training device is provided, see [link to relevant documentation]. Figure 5 This includes the following steps:

[0055] a. Collect the average no-load current I of the left and right leg drive motors in the training device when the user is standing and the bed is horizontal. void ;

[0056] b. Collect the average current I0 of the left and right leg drive motors when the user's leg muscles are relaxed and the bed is horizontal;

[0057] c. The calculation formula is as follows: I index =I fdb -K*(I0-I void )*cos(angle); where I fdb The current is the feedback current, angle is the bed tilt angle, and K is the bed tilt influence coefficient.

[0058] d. Based on the calculation result I index Determine muscle strength level.

[0059] The leg muscle strength assessment method applied to the standing lower limb rehabilitation training device in this embodiment of the invention can assess the muscle strength level of the left and right legs in real time while the user is performing leg rehabilitation training, providing a reference for rehabilitation physicians and helping patients to carry out targeted leg rehabilitation training that ensures symmetry between the left and right legs.

[0060] As a preferred technical solution, see Figure 6 The method also includes: e. displaying the muscle strength level on the human-computer interaction interface.

[0061] The assessment method is shown in the table below.

[0062]

[0063]

[0064] Example 2

[0065] According to another embodiment of the present invention, a leg muscle strength assessment device for use in a standing lower limb rehabilitation trainer is provided. The trainer includes, in sequence: a human-computer interaction interface, a motion control module, and left and right leg drive motors; see also Figure 7 The device includes:

[0066] The first acquisition unit 201 is used to acquire the average no-load current I of the left and right leg drive motors when the user is standing in the training device with the bed in a horizontal position. void ;

[0067] The second acquisition unit 202 is used to acquire the average current I0 of the left and right leg drive motors when the user's leg muscles are relaxed and the bed is horizontal.

[0068] Calculation unit 203 is used to calculate the following formula: I index =I fdb -K*(I0-I void )*cos(angle); where I fdb The current is the feedback current, angle is the bed tilt angle, and K is the bed tilt influence coefficient.

[0069] Muscle strength rating unit 204 is used to determine the muscle strength level based on the calculation result I. index Determine muscle strength level.

[0070] The leg muscle strength assessment device applied to the standing lower limb rehabilitation trainer in this embodiment of the invention can assess the muscle strength level of the user's left and right legs in real time while the user is performing leg rehabilitation training. This provides a reference for rehabilitation physicians and helps patients to carry out targeted leg rehabilitation training that ensures symmetry between the left and right legs.

[0071] As a preferred technical solution, see Figure 8 The device also includes:

[0072] Display unit 205 is used to display muscle strength level on human-computer interaction interface.

[0073] Example 3

[0074] According to another embodiment of the present invention, a storage medium is provided, which stores a program file capable of implementing the above-described method for assessing leg muscle strength for a standing lower limb rehabilitation trainer.

[0075] Example 4

[0076] According to another embodiment of the present invention, a processor is provided for running a program, wherein the program executes the above-described leg muscle strength assessment method applied to a standing lower limb rehabilitation trainer.

[0077] The beneficial effects of this invention are as follows:

[0078] a. It allows users to complete muscle strength assessments while undergoing rehabilitation training, saving them time.

[0079] b. It can simultaneously assess the muscle strength levels of both legs, providing important reference for rehabilitation physicians to adjust rehabilitation plans and ensure symmetrical recovery of muscle strength in both legs.

[0080] c. It has a scientific and reliable description of muscle strength levels, which helps patients intuitively understand their level of muscle strength recovery.

[0081] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0082] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0083] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The system embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of units or modules may be electrical or other forms.

[0084] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0085] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0086] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0087] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for assessing leg muscle strength in a standing lower limb rehabilitation training device, the training device comprising, in sequence: a human-computer interaction interface, a motion control module, and left and right leg drive motors; characterized in that, The method includes the following steps: a. Collect the average no-load current I of the left and right leg drive motors in the training device when the user is standing and the bed is horizontal. void ; b. Collect the average current I0 of the left and right leg drive motors when the user's leg muscles are relaxed and the bed is horizontal; c. The calculation formula is as follows: I index =I fdb -K*(I0-I void )*cos(angle); where I fdb The current is the feedback current, angle is the bed tilt angle, and K is the bed tilt influence coefficient. d. Based on the calculation result I index Assess muscle strength levels; According to the calculation result I index Assessing muscle strength includes: When I index ≤(0.1I0+0.9I void The muscle strength level was determined to be 5. When I index ≤(0.3I0+0.7I void The muscle strength level was determined to be grade 4. When I index ≤(0.5I0+0.5I void The muscle strength level was determined to be grade 3. When I index ≤(0.7I0+0.3I void The muscle strength level is assessed as grade 2. When I index ≤(0.9I0+0.1I void The muscle strength level is determined to be grade 1. When I index If the condition is otherwise determined, the muscle strength level is assessed as 0.

2. The method for assessing leg muscle strength in a standing lower limb rehabilitation training device according to claim 1, characterized in that, The method further includes: e. displaying the muscle strength level on the human-computer interaction interface.

3. The leg muscle strength assessment method applied to a standing lower limb rehabilitation training device according to claim 1, characterized in that, The motion control module controls the position of the left and right leg drive motors through a PID position closed loop.

4. The method for assessing leg muscle strength in a standing lower limb rehabilitation training device according to claim 1, characterized in that, The method is integrated into the motion control module.

5. The method for assessing leg muscle strength in a standing lower limb rehabilitation training device according to claim 1, characterized in that, The trainer also includes a drive electric cylinder connected to the motion control module.

6. A leg muscle strength assessment device for use in a standing lower limb rehabilitation trainer, the trainer comprising, in sequence: a human-computer interaction interface, a motion control module, and left and right leg drive motors; characterized in that, The device includes: The first data acquisition unit is used to collect the average no-load current I of the left and right leg drive motors when the user is standing in the training device with the bed in a horizontal position. void ; The second acquisition unit is used to acquire the average current I0 of the left and right leg drive motors when the user's leg muscles are relaxed and the bed is horizontal. The calculation unit is used to calculate the following formula: I index =I fdb -K*(I0-I void )*cos(angle); where I fdb The current is the feedback current, angle is the bed tilt angle, and K is the bed tilt influence coefficient. The muscle strength rating unit is used to determine the muscle strength level based on the calculation result I. index Assess muscle strength levels; According to the calculation result I index Assessing muscle strength includes: When I index ≤(0.1I0+0.9I void The muscle strength level was determined to be 5. When I index ≤(0.3I0+0.7I void The muscle strength level was determined to be grade 4. When I index ≤(0.5I0+0.5I void The muscle strength level was determined to be grade 3. When I index ≤(0.7I0+0.3I void The muscle strength level is assessed as grade 2. When I index ≤(0.9I0+0.1I void The muscle strength level is determined to be grade 1. When I index If the condition is otherwise determined, the muscle strength level is assessed as 0.

7. The leg muscle strength assessment device for a standing lower limb rehabilitation training device according to claim 1, characterized in that, The device further includes: The display unit is used to display the muscle strength level on the human-computer interaction interface.

8. A storage medium, characterized in that, The storage medium stores a program file capable of implementing the leg muscle strength assessment method for a standing lower limb rehabilitation training device as described in any one of claims 1 to 5.

9. A processor, characterized in that, The processor is used to run a program, wherein the program executes the leg muscle strength assessment method for a standing lower limb rehabilitation trainer as described in any one of claims 1 to 5.

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