Muscle tone assessment device and method of assessment thereof

Abstract

A muscle tension evaluation device includes a pedal, a front force sensor arranged at a front end of the pedal, a rear force sensor arranged at a rear end of the pedal, and a judgment unit connected to the front and rear force sensors. The judgment unit obtains a front force standard deviation, a rear force standard deviation, a front force deviation, and a rear force deviation from sensing results. A first threshold value and a second threshold value are obtained from the front and rear force standard deviations. The front and rear force standard deviations are standard deviations of front and rear force signals in a first time interval. The front and rear force deviations represent degrees of deviation of the front and rear force signals in a second time interval relative to the first time interval. When the front force deviation is greater than the first threshold value and the rear force deviation is greater than the second threshold value, it indicates that the muscle is in a high tension state. In addition, the present application also provides a muscle tension evaluation method.

Description

Technical Field

[0001] This invention relates to muscle tension assessment technology, and particularly to a muscle tension assessment device and assessment method thereof. Background Technology

[0002] Spasticity is a muscle-motor disorder typically caused by damage to the brain or spinal cord that controls voluntary movement, such as cerebral palsy, multiple sclerosis, stroke, or amyotrophic lateral sclerosis (ALS). These injuries alter the signal balance between the nervous system and muscles, increasing muscle tension. Excessive muscle tension can restrict joint range of motion, hindering effective rehabilitation. Therefore, before patients use lower limb training machines for rehabilitation, physical therapists often massage the affected limb manually to reduce muscle tension. However, this method relies heavily on the physical therapist's experience and subjective judgment, making it difficult to accurately assess the patient's suitability for rehabilitation and the appropriate level of rehabilitation.

[0003] The ankle rehabilitation device disclosed in TW M311442 uses a rotating plate to fix the foot and a first support and a second support to fix the thigh and lower leg respectively. A torque sensor located between the rotating plate and the actuator senses the torque value borne by the drive shaft to assess whether the maximum range of motion of the foot joint and muscle tension are excessive. However, the aforementioned ankle rehabilitation device requires the patient to remain seated during use. If the patient needs to continue rehabilitation training using a lower limb training machine, they must be transferred, making it inconvenient to use and time-consuming for rehabilitation.

[0004] The limb training device disclosed in CN 102614066 B uses a controller to detect changes in the current of the motor drive unit, then estimates the tension changes in the affected limb based on the detected current changes, and simultaneously adjusts the movement speed and range of motion. However, the distance from the ankle to the sole of the foot varies among different patients, so the current changes detected by the control unit may not be accurate enough. In addition, the aforementioned limb training device can only allow the patient to maintain a sitting or lying position during use. If the patient needs to continue using the lower limb training machine for rehabilitation training, the patient needs to be transferred, which is inconvenient to use and consumes rehabilitation time. Summary of the Invention

[0005] The main objective of this invention is to provide a muscle tension assessment device that can accurately assess whether a patient's muscles are in a state of high tension, and allows for subsequent gait training without transferring the patient.

[0006] To achieve the aforementioned main objectives, the muscle tension assessment device of the present invention includes a calf support unit, an actuation unit, a sensing unit, and a judgment unit. The calf support unit supports a calf and has a pedal with a foot-feeding area. The actuation unit drives the pedal to rotate. The sensing unit has at least one forward force sensor and at least one backward force sensor. The forward force sensor is embedded in the pedal and located in front of the foot-feeding area, used to sense a forward stepping force and correspondingly send a forward force signal. The backward force sensor is embedded in the pedal and located behind the foot-feeding area, used to sense a backward stepping force and correspondingly send a backward force signal. The judgment unit is electrically connected to the sensing unit. Before the actuation unit drives the pedal, the judgment unit determines the appropriate force based on the following parameters: The forward force signal and the backward force signal are used to calculate a forward force standard deviation and a backward force standard deviation from several force values ​​within a first time interval. Based on the forward force standard deviation and the backward force standard deviation, a first threshold and a second threshold are calculated. After the actuation unit drives the pedal, the judgment unit calculates the forward force deviation and the backward force deviation of the forward force signal and the backward force signal in each second time interval relative to the first time interval. The second time interval is shorter than the first time interval. When the forward force deviation is greater than the first threshold and the backward force deviation is greater than the second threshold, it indicates that the calf muscle is in a state of high tension.

[0007] As can be seen from the above, the muscle tension assessment device of the present invention uses whether the forward force deviation is greater than the first threshold and whether the backward force deviation is greater than the second threshold to assess whether the muscle has a high tension state. After the high tension state is relieved, gait training can be started immediately without transferring the patient, and no additional manpower is needed to relieve the patient's muscle tension.

[0008] Optionally, when the judgment unit determines that the forward force signal is greater than the backward force signal, and the forward force deviation is greater than the first threshold and the backward force deviation is greater than the second threshold, it indicates that the calf muscles are in a high-tension state when the foot performs dorsiflexion. When the judgment unit determines that the forward force signal is less than the backward force signal, and the forward force deviation is greater than the first threshold and the backward force deviation is greater than the second threshold, it indicates that the calf muscles are in a high-tension state when the foot performs plantarflexion.

[0009] Optionally, the standard deviation of the forward force is defined as δ front , The standard deviation of the subsequent force is defined as δ. back , N is the number of data collected within this first time interval, f fiLet μ be the force value of the i-th data point of the preceding force signal within the first time interval. f For N f fi The average value, f bi Let μ be the force value of the i-th data point of the subsequent force signal within the first time interval. b For N f bi The average value of the forward force deviation is defined as δ. tf , The deviation of the subsequent force is defined as δ. tb , N t f represents the number of data points collected during this second time interval. tfi f is the force value of the i-th data point of the preceding force signal within the second time interval. tbi The force value of the i-th data point of the subsequent force signal within the second time interval.

[0010] Optionally, the first threshold is defined as δ f δ f =2*δ front *δ factor The second threshold is defined as δ b δ b =2*δ back *δ factor δ factor For sensitivity, when δ factor When the sensitivity is 1, the first threshold is twice the standard deviation of the preceding force, and the second threshold is twice the standard deviation of the following force. In other words, if the sensitivity is less than 1, the first and second thresholds will be smaller, indicating that it is easier to determine if the muscle is in a state of high tension; if the sensitivity is greater than 1, the first and second thresholds will be larger, indicating that it is less easy to determine if the muscle is in a state of high tension.

[0011] Optionally, the calf support unit further includes an upper support and a lower support. The top end of the lower support is pivotally mounted to the bottom end of the upper support, and the pedal is fixed to the bottom end of the lower support. The actuation unit includes a cylinder and a piston rod. The top end of the cylinder is pivotally mounted to the upper support, and the piston rod is linearly displaceable within the cylinder and pivotally mounted to the pedal at its bottom end. The pivot angle of the lower support is defined as θ1, where θ1 = 180° - θ t -θ2-θ3,θ t The angle formed between L1 and L2. L1 is the straight-line distance between the pivot axis of the lower support and the pivot axis of the cylinder; L2 is the straight-line distance between the pivot axis of the lower support and the pivot axis of the piston rod; L3 is the straight-line distance between the pivot axis of the cylinder and the pivot axis of the piston rod; θ2 is the angle formed between A2 and L2, where A2 is the axis passing through the pivot axis of the lower support and perpendicular to the pedal; θ3 is the angle formed between A1 and L1, where A1 is the axis passing through the fixed axis of the upper support and the pivot axis of the lower support. Through these technical features, after the calf muscles are relieved of the high-tension state, the foot is moved to the target angle by increasing the angle by a specific amount each time, based on the aforementioned pivot angle.

[0012] Optionally, the sensing unit has two front force sensors and two rear force sensors, which are located at the four corners of the stepping area.

[0013] Another objective of the present invention is to provide a muscle tension assessment method applicable to the aforementioned muscle tension assessment device, comprising the following steps: a) before the actuation unit drives the pedal, the judgment unit calculates a standard deviation of the front force and a standard deviation of the rear force based on several force values ​​of the front force signal and the rear force signal within a first time interval, and calculates a first threshold and a second threshold based on the standard deviation of the front force and the standard deviation of the rear force; b) the actuation unit drives the pedal, causing the pedal to move the foot within a target angle; and c) during the movement of the foot, the judgment unit calculates a front force deviation and a rear force deviation of the front force signal and the rear force signal relative to the first time interval in each second time interval, wherein the second time interval is a part of the first time interval, and when the front force deviation is greater than the first threshold and the rear force deviation is greater than the second threshold, it indicates that the calf muscle is in a high-tension state, and the actuation unit stops driving the pedal.

[0014] Optionally, in step c), when the determination unit determines that the forward force signal is greater than the backward force signal, and the forward force deviation is greater than the first threshold and the backward force deviation is greater than the second threshold, it indicates that the calf muscles are in a high-tension state when the foot is dorsiflexed, and the actuation unit stops driving the pedal. When the determination unit determines that the forward force signal is less than the backward force signal, and the forward force deviation is greater than the first threshold and the backward force deviation is greater than the second threshold, it indicates that the calf muscles are in a high-tension state when the foot is plantarflexed, and the actuation unit stops driving the pedal.

[0015] Optionally, when the pedal stops actuating until the muscles of the calf are relieved of the high tension state, the actuation unit continues to drive the pedal, causing the pedal to move the foot to the target angle.

[0016] Optionally, after the pedal stops operating, the pivot angle of the lower support is calculated. When the calf muscles are relieved from the high tension state, the foot is moved to the target angle by increasing the pivot angle of the lower support by a fixed angle each time.

[0017] Detailed descriptions of the construction, features, assembly, and usage of the muscle tension assessment device and method provided by this invention will be given in the subsequent detailed description of embodiments. However, those skilled in the art will understand that these detailed descriptions and the specific embodiments listed for implementing this invention are merely illustrative and not intended to limit the scope of this patent application. Attached Figure Description

[0018] Figure 1 A perspective view of the muscle tension assessment device of the present invention used in conjunction with a gait training machine;

[0019] Figure 2 This is a perspective view of the muscle tension assessment device of the present invention;

[0020] Figure 3 This is a side view of the muscle tension assessment device of the present invention;

[0021] Figure 4 A top view of the pedal provided by the muscle tension assessment device of the present invention;

[0022] Figure 5 Similar Figure 3 This mainly shows the dorsiflexion movement of the foot;

[0023] Figure 6 The graph of the judgment unit provided by the muscle tension assessment device of the present invention mainly shows the high tension state that occurs when the foot performs dorsiflexion movement;

[0024] Figure 7 Similar Figure 5 This mainly shows the plantar flexion movement of the foot;

[0025] Figure 8 Similar Figure 6 This mainly indicates a high-tension state that occurs when the foot performs plantar flexion movements;

[0026] Figure 9 This is a flowchart of the muscle tension assessment method of the present invention;

[0027] Figure 10 This is another flowchart of the muscle tension assessment method of the present invention.

[0028] [Explanation of Labels in the Attached Image]

[0029] 10: Muscle tension assessment device;

[0030] 12: Gait training machine;

[0031] 14: Calf;

[0032] 16: The sole of the foot;

[0033] 20: Lower leg support unit;

[0034] 22: Upper support component;

[0035] P1: First shaft component;

[0036] 24: Lower support component;

[0037] P2: Second shaft component;

[0038] 26: Pedal;

[0039] 28: Trampled area;

[0040] 30: Actuation unit;

[0041] 32: Cylinder block;

[0042] 34: Piston rod;

[0043] P3: Third shaft component;

[0044] P4: Fourth shaft component;

[0045] 40: Sensing unit;

[0046] 41: Front force sensor;

[0047] 42: Front force sensor;

[0048] 43: Rear force sensor;

[0049] 44: Rear force sensor;

[0050] S1: Rear force signal;

[0051] S2: Rear force signal;

[0052] S3: Forward force signal;

[0053] S4: Forward force signal;

[0054] 50: Judgment Unit;

[0055] θ1: Pivot angle of the lower support member;

[0056] θ2: The angle formed between A2 and L2;

[0057] θ3: The angle formed between A1 and L1;

[0058] θ t The angle formed between L1 and L2;

[0059] L1: The straight-line distance between the pivot axis of the lower support and the pivot axis of the cylinder block;

[0060] L2: The straight-line distance between the pivot axis of the lower support and the pivot axis of the piston rod;

[0061] L3: The straight-line distance between the pivot axis of the cylinder block and the pivot axis of the piston rod;

[0062] A1: The axis of the fixed axis of the upper support and the pivot axis of the lower support; and

[0063] A2: The axis of rotation of the lower support and perpendicular to the pedal. Detailed Implementation

[0064] The applicant hereby clarifies that throughout this specification, including the embodiments described below and the claims in the patent application, all directional terms are based on the directions in the example drawings. Secondly, in the embodiments and example drawings described below, the same component reference numerals represent the same or similar components or their structural features.

[0065] like Figure 1 As shown, the muscle tension assessment device 10 of the present invention is mainly used in conjunction with the gait training machine 12, allowing patients to relax their lower limb muscle strength before using the gait training machine 12 for gait training, so as to reduce the risk of training injury. Since the gait training machine 12 is not the focus of this case, its structural details and operating principle will not be described in detail here.

[0066] like Figure 2 , Figure 4 and Figure 6 As shown, the muscle tension assessment device 10 of the present invention includes a calf support unit 20, a motion unit 30, a sensing unit 40, and a judgment unit 50.

[0067] like Figure 2 and Figure 3 As shown, the calf support unit 20 has an upper support member 22, a lower support member 24, and a pedal 26. The upper support member 22 is fixed to the gait training machine 12 by a first axle P1; the top end of the lower support member 24 is pivotally connected to the bottom end of the upper support member 22 by a second axle P2. The upper support member 22 and the lower support member 24 together support the calf 14 (as shown). Figure 5and Figure 7 (As shown); the pedal 26 is fixed to the bottom end of the lower support 24, and the pedal 26 has a support for the foot 16 (as shown). Figure 5 and Figure 7 The trampling area 28 (as shown in the image) is designated as the trampling area.

[0068] The actuation unit 30 in this embodiment is a linear actuator (but not limited thereto), and has a cylinder 32 and a piston rod 34. The top end of the cylinder 32 is pivotally mounted on the upper support member 22 by a third shaft member P3. The piston rod 34 is linearly displaceable on the cylinder 32, and the bottom end of the piston rod 34 is pivotally mounted on the pedal 26 by a fourth shaft member P4.

[0069] like Figure 4 As shown, the sensing unit 40 has two front force sensors 41 and 42 (actually, only at least one is needed) and two rear force sensors 43 and 44 (actually, only at least one is needed). These front force sensors 41 and 42 are embedded in the pedal 26 and located at the left and right corners in front of the pedaling area 28, used to sense the forward pedaling force and correspondingly send two front force signals S4 and S3 (e.g., ...). Figure 6 and Figure 8 (As shown); These rear force sensors 43 and 44 are embedded in the pedal 26 and located at the left and right corners behind the pedaling area 28, used to sense the rear pedaling force and send two rear force signals S1 and S2 accordingly (as shown). Figure 6 and Figure 8 (As shown).

[0070] The judgment unit 50 is electrically connected to the sensing unit 40. Before the actuation unit 30 drives the pedal 26, the judgment unit 50 calculates a forward force standard deviation and a backward force standard deviation based on several force values ​​of the forward force signals S4, S3 and the backward force signals S1, S2 within a first time interval. After the actuation unit 30 drives the pedal 26, the judgment unit 50 calculates the forward force deviation and the backward force deviation of the forward force signals S4, S3 and the backward force signals S1, S2 in each second time interval relative to the first time interval, wherein the second time interval is shorter than the first time interval. The forward force standard deviation is defined as δ. front , The standard deviation of the after-force is defined as δ back , N is the number of data collected within the first time interval, f fi Let μ be the force value of the i-th data point in the first time interval of the preceding force signals S3 and S4. f For N f fi The average value, f bi Let μ be the force value of the i-th data point in the first time interval of the subsequent force signals S1 and S2. bFor N f bi The average value, the deviation of the forward force is defined as δ tf , The deviation of the rear force is defined as δ tb , N t f represents the number of data points collected during the second time interval. tfi f represents the force value of the i-th data point in the second time interval of the preceding force signals S3 and S4. tbi The force value of the i-th data point in the second time interval is the force signal S1 and S2.

[0071] When the patient stands on the gait training machine 12, with the lower leg 14 and foot 16 supported by the lower leg support unit 20, before the actuator unit 30 drives the pedal 26, Figure 6 and Figure 8 For example, setting 0-5 seconds as the first time interval, the judgment unit 50 calculates the standard deviation of the forward force and the standard deviation of the backward force within the first time interval. After the actuation unit 30 starts driving the pedal 26 (i.e., begins to move the patient's foot), for example, starting at the 6th second, the judgment unit 50 calculates the forward force deviation and the backward force deviation within each second time interval. Here, the second time interval is set to 1 second, meaning that the judgment unit 50 calculates a set of forward force deviation and backward force deviation every 1 second. The aforementioned first and second time intervals can be adjusted according to actual needs, without being fixed. Figure 6 and Figure 8 The displayed time range is limited. Additionally, it should be noted that... Figure 6 and Figure 8 The markers shown represent the number of data points collected during the judgment process. Due to the large amount of data, in this embodiment, a marker is used every 10 data points for easy display. In reality, the number of data points collected is much greater than the number of markers shown on the graph.

[0072] The judgment unit 50 further calculates a first threshold and a second threshold based on the standard deviation of the anterior force and the standard deviation of the posterior force, respectively. When the judgment unit 50 determines that the deviation of the anterior force is greater than the first threshold and the deviation of the posterior force is greater than the second threshold, it indicates that the muscles of the calf 14 are in a state of high tension. In this embodiment, the first threshold is defined as δ f δ f =2*δ front *δ factor The second threshold is defined as δ b δ b =2*δ back *δ factor δ factor For sensitivity, when δ factorWhen the sensitivity is 1, the first threshold is twice the standard deviation of the front force and the second threshold is twice the standard deviation of the back force. However, in practice, the sensitivity can be adjusted according to actual needs. If the sensitivity is less than 1, the first and second thresholds will become smaller, indicating that it is easier to judge that the muscle is in a state of high tension. Conversely, if the sensitivity is greater than 1, the first and second thresholds will become larger, indicating that it is less easy to judge that the muscle is in a state of high tension.

[0073] When the judgment unit 50 determines that the preceding force signals S3 and S4 are greater than the following force signals S1 and S2, and the deviation of the preceding force is greater than the first threshold and the deviation of the following force is greater than the second threshold, then... Figure 5 and Figure 6 As shown, the forward force signals S3 and S4 rise rapidly in the interval of 10-11 seconds, while the subsequent force signals S1 and S2 fall rapidly in the interval of 10-11 seconds. This means that the force values ​​of the forward force signals S3 and S4 and the subsequent force signals S1 and S2 in the interval of 10-11 seconds deviate significantly from the force values ​​in the interval of 0-5 seconds (i.e., the first time interval), indicating that the muscles of the calf 14 are in a state of high tension when the foot 16 performs dorsiflexion. When the judgment unit 50 determines that the forward force signals S3 and S4 are less than the subsequent force signals S1 and S2, and the deviation of the forward force is greater than the first threshold and the deviation of the subsequent force is greater than the second threshold, such as... Figure 7 and Figure 8 As shown, the subsequent force signals S1 and S2 rise rapidly in the interval of 10 to 11 seconds, while the preceding force signals S3 and S4 fall rapidly in the interval of 10 to 11 seconds. This also means that the force values ​​of the preceding force signals S3 and S4 and the subsequent force signals S1 and S2 in the interval of 10 to 11 seconds deviate significantly from the force values ​​in the interval of 0 to 5 seconds (i.e., the first time interval), indicating that the muscles of the calf 14 are in a state of high tension when the foot 16 performs plantar flexion.

[0074] The above describes the structural features of the muscle tension assessment device 10 of the present invention. The muscle tension assessment method of the present invention will be further described below, such as... Figure 9 and Figure 10 As shown, it includes the following steps:

[0075] a) Before the actuation unit 30 drives the pedal 26, the judgment unit 50 calculates a front force standard deviation and a rear force standard deviation based on several force values ​​of the front force signals S3 and S4 and the rear force signals S1 and S2 in a first time interval, and calculates a first threshold and a second threshold based on the front force standard deviation and the rear force standard deviation, respectively.

[0076] b) The actuation unit 30 drives the pedal 26 with the piston rod 34, causing the pedal 26 to move the foot 16 to perform plantar flexion or dorsiflexion within a set target angle. It should be noted that the patient can choose to perform plantar flexion first and then dorsiflexion, or vice versa; there is no fixed order between the two.

[0077] c) During the foot movement, the judgment unit 50 calculates the forward force signals S3 and S4 and the backward force signals S1 and S2 in each second time interval relative to the first time interval, and the second time interval is shorter than the first time interval. Regardless of whether dorsiflexion or plantarflexion is performed first, during the dorsiflexion movement of the foot 16, when the judgment unit 50 determines that the forward force signals S3 and S4 are greater than the backward force signals S1 and S2, and the forward force deviation is greater than the first threshold and the backward force deviation is greater than the first threshold, the determination unit 50 determines that the forward force signals S3 and S4 are greater than the backward force signals S1 and S2, and the forward force deviation is greater than the first threshold and the backward force deviation is greater than the first threshold. When the force deviation is greater than the second threshold, it indicates that the muscles of the calf 14 are in a state of high tension when the foot 16 performs dorsiflexion. At this time, the actuation unit 30 immediately stops driving the pedal 26. On the other hand, when the judgment unit 50 determines that the forward force signals S3 and S4 are less than the backward force signals S1 and S2, and the forward force deviation is greater than the first threshold and the backward force deviation is greater than the second threshold, it indicates that the muscles of the calf 14 are in a state of high tension when the foot 16 performs plantarflexion. At this time, the actuation unit 30 immediately stops driving the pedal 26.

[0078] d) After pedal 26 stops actuating, further calculate the current pivot angle of lower support 24, such as... Figure 5 and Figure 7 As shown, the pivot angle (i.e., the angle of the ankle joint) of the lower support 24 is defined as θ1, where θ1 = 180° - θ t -θ2-θ3,θ t Let θ be the angle formed between L1 and L2. According to the law of cosines, when L1, L2, and L3 are known lengths, θ t It can be calculated. L1 is the straight-line distance between the pivot axis of the lower support member 24 (i.e., the second shaft P2) and the pivot axis of the cylinder 32 (i.e., the third shaft P3); L2 is the straight-line distance between the pivot axis of the lower support member 24 (i.e., the second shaft P2) and the pivot axis of the piston rod 34 (i.e., the fourth shaft P4); L3 is the straight-line distance between the pivot axis of the cylinder 32 (i.e., the third shaft P3) and the pivot axis of the piston rod 34 (i.e., the fourth shaft P4); θ2 is the angle formed between A2 and L2, where A2 is the axis passing through the pivot axis of the lower support member 24 (i.e., the second shaft P2) and perpendicular to the pedal 26; θ3 is the angle formed between A1 and L1, where A1 is the axis passing through the fixed axis of the upper support member 22 (i.e., the first shaft P1) and the pivot axis of the lower support member 24 (i.e., the second shaft P2).

[0079] After obtaining the aforementioned angle θ1, wait for a period of time (approximately 30 seconds) to confirm from the judgment unit 50 whether the muscles of the calf 14 have been relieved of high tension. If the high tension has not been relieved, it indicates that the affected limb is abnormal, and the operation must be suspended first, and the patient should be transferred to a suitable place to confirm the physical condition. Conversely, if the high tension has been relieved, according to the pivot angle θ1 of the lower support 24, the foot 16 is moved to the target angle by increasing a fixed angle each time (in this embodiment, it is increased by 1 degree each time, but in reality, it is not limited to 1 degree). Then, the foot 16 is repeatedly subjected to plantar flexion and dorsiflexion movements according to the above steps until it is confirmed that the calf 14 muscles have not experienced a high tension state during the plantar flexion and dorsiflexion movements of the foot 16 within the target angle. Then, the foot 16 can be moved back and forth within the target angle to relieve muscle tension.

[0080] In summary, the muscle tension assessment device 10 of this invention assesses whether the muscles of the lower leg 14 are in a state of high tension by using whether the deviation of the anterior force is greater than a first threshold and whether the deviation of the posterior force is greater than a second threshold. Once a state of high tension is detected, the exercise is stopped to reduce the risk of injury. After completing the tension-relieving exercise, subsequent gait training can begin immediately without transferring the patient or requiring additional manpower to relieve tension in the patient's lower limb muscles, thus improving training efficiency.

Claims

1. A muscle tension assessment device, comprising: A lower leg support unit for supporting a lower leg, the lower leg support unit having a pedal having a stepping area for supporting a foot. A kinetic unit drives the pedal to rotate; A sensing unit has at least one front force sensor and at least one rear force sensor; the at least one front force sensor is embedded in the pedal and located in front of the pedaling area, for sensing a front pedaling force and sending a front force signal accordingly; the at least one rear force sensor is embedded in the pedal and located behind the pedaling area, for sensing a rear pedaling force and sending a rear force signal accordingly. as well as A judgment unit, electrically connected to the sensing unit, calculates a standard deviation of the front force and a standard deviation of the rear force based on several force values ​​of the front force signal and the rear force signal within a first time interval, and calculates a first threshold and a second threshold based on the standard deviation of the front force and the standard deviation of the rear force. After the actuation unit drives the pedal, the judgment unit calculates a front force deviation and a rear force deviation of the front force signal and the rear force signal in each second time interval relative to the first time interval, and the second time interval is shorter than the first time interval. When the front force deviation is greater than the first threshold and the rear force deviation is greater than the second threshold, it indicates that the calf muscle is in a state of high tension. Specifically, when the judgment unit determines that the forward force signal is greater than the backward force signal, and the forward force deviation is greater than the first threshold and the backward force deviation is greater than the second threshold, it indicates that the calf muscles are in a high-tension state when the foot performs dorsiflexion. When the judgment unit determines that the forward force signal is less than the backward force signal, and the forward force deviation is greater than the first threshold and the backward force deviation is greater than the second threshold, it indicates that the calf muscles are in a high-tension state when the foot performs plantarflexion.

2. The muscle tension assessment device according to claim 1, wherein, The standard deviation of the preceding force is defined as , The standard deviation of the subsequent force is defined as follows: , N represents the number of data points collected within this first time interval. The preceding force signal within the first time interval The power value of each data point For N The average value, The subsequent force signal within the first time interval The power value of each data point For N The average value of the forward force deviation is defined as follows: , The deviation of the subsequent force is defined as , , This represents the amount of data collected within this second time interval. The preceding force signal within the second time interval The power value of each data point The subsequent force signal within the second time interval The power value of each data point.

3. The muscle tension assessment device according to claim 2, wherein, The first threshold is defined as , The second threshold is defined as , , For sensitivity, when When the first threshold is twice the standard deviation of the preceding force, the second threshold is twice the standard deviation of the following force.

4. The muscle tension assessment device according to claim 1, wherein, The lower leg support unit also includes an upper support and a lower support. The top end of the lower support is pivotally mounted to the bottom end of the upper support, and the pedal is fixed to the bottom end of the lower support. The actuation unit includes a cylinder and a piston rod. The top end of the cylinder is pivotally mounted to the upper support, and the piston rod is linearly displaceable within the cylinder and pivotally mounted to the pedal at its bottom end. The pivot angle of the lower support is defined as... , , for and The angle formed between them , The straight-line distance between the pivot axis of the lower support and the pivot axis of the cylinder is given. The straight-line distance between the pivot axis of the lower support and the pivot axis of the piston rod is given. This is the straight-line distance between the pivot axis of the cylinder block and the pivot axis of the piston rod. for and The angle formed between them The axis of rotation is located through the pivot point of the lower support and is perpendicular to the axis of the pedal. for and The angle formed between them The axis is the axis passing through the fixed axis of the upper support and the pivot axis of the lower support.

5. The muscle tension assessment device according to claim 1, wherein, The sensing unit has two front force sensors and two rear force sensors. The two front force sensors are located at the left and right corners in front of the stepping area, and the two rear force sensors are located at the left and right corners behind the stepping area.

6. A muscle tension assessment method, applicable to the muscle tension assessment device as described in any one of claims 1 to 5, the muscle tension assessment device comprising a calf support unit, an actuation unit, a sensing unit, and a judgment unit, the calf support unit being used to support a calf and having a pedal for supporting a foot, the actuation unit being capable of driving the pedal to rotate, the sensing unit being disposed on the pedal and transmitting a forward force signal and a backward force signal, the judgment unit being electrically connected to the sensing unit, the muscle tension assessment method comprising the following steps: a) Before the actuation unit drives the pedal, the judgment unit calculates a front force standard deviation and a rear force standard deviation based on several force values ​​of the front force signal and the rear force signal within a first time interval, and calculates a first threshold and a second threshold based on the front force standard deviation and the rear force standard deviation, respectively. b) The actuation unit drives the pedal, causing the pedal to move the foot within a target angle; and c) During the foot movement, the judgment unit calculates the forward force signal and the backward force signal in each second time interval relative to the first time interval, and the second time interval is shorter than the first time interval. When the forward force deviation is greater than the first threshold and the backward force deviation is greater than the second threshold, it indicates that the calf muscle is in a high tension state, and the actuation unit stops driving the pedal. in, In step c), when the judgment unit determines that the forward force signal is greater than the backward force signal, and the forward force deviation is greater than the first threshold and the backward force deviation is greater than the second threshold, it indicates that the calf muscles are in a high-tension state when the foot is dorsiflexed, and the actuation unit stops driving the pedal. When the judgment unit determines that the forward force signal is less than the backward force signal, and the forward force deviation is greater than the first threshold and the backward force deviation is greater than the second threshold, it indicates that the calf muscles are in a high-tension state when the foot is plantarflexed, and the actuation unit stops driving the pedal.

7. The muscle tension assessment method according to claim 6 further includes a step d), whereby, when the pedal stops operating to release the high tension state, the actuation unit continues to drive the pedal, causing the pedal to move the foot to the target angle.

8. The muscle tension assessment method according to claim 6, wherein, The calf support unit also has an upper support and a lower support. The top of the lower support is pivotally mounted on the bottom of the upper support, and the pedal is fixed to the bottom of the lower support. After the pedal stops moving, the pivot angle of the lower support is calculated. When the high tension state is released, the foot is moved to the target angle by increasing the pivot angle by a fixed angle each time, according to the pivot angle of the lower support.

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