A dual-lane based bilateral height self-adjusting training method and system

Abstract

The present application relates to the technical field of lower limb training, and more particularly, to a bilateral height self-adjusting training method and system based on double runways, comprising: collecting joint range of motion data of the patient's legs, wherein the joint range of motion data is divided into left leg joint range of motion data and right leg joint range of motion data; in response to the left leg joint range of motion data and the right leg joint range of motion data of the patient both meeting a first preset threshold, then calculating the difference between the left leg joint range of motion data and the right leg joint range of motion data. The present application obtains the angle of the patient's leg lifting during uphill and downhill processes through the data of the joint range of motion sensor, and according to the patient's leg disorder and the different joint ranges of motion of the leg each time lifting, calculates the runway needing to be adjusted and the height of the runway needing to be adjusted through an algorithm, and performs self-adaptive adjustment on the patient's leg, thereby improving the training effect on the patient.

Description

Technical Field

[0001] This invention relates to the field of lower limb training technology. More specifically, this invention relates to a bilateral height self-adjustment training method and system based on a dual-track system. Background Technology

[0002] Lower limb disorders refer to various abnormal conditions affecting the function of the lower limbs (including the thighs, calves, knees, and feet), which may be caused by disease, injury, neurological problems, or other factors. These abnormal conditions may include, but are not limited to, muscle weakness, sensory abnormalities, motor disorders, and balance problems, causing individuals to encounter difficulties in walking, standing, sitting, maintaining balance, and other daily activities. Lower limb disorders can negatively impact quality of life and functional abilities, requiring comprehensive medical and rehabilitation interventions to help patients recover function or adapt to disability as much as possible.

[0003] During rehabilitation training, patients sometimes need to be trained to go up and down slopes. However, due to the uneven degree of impairment in the legs of some patients, the training effect of going up and down slopes is not ideal. Summary of the Invention

[0004] This invention provides a bilateral height self-adjustment training method and system based on a dual-track system, aiming to solve the problem in related technologies where the uneven degree of obstacle in the two legs of some patients leads to unsatisfactory training effects during uphill and downhill training.

[0005] In a first aspect, the present invention provides a bilateral height self-adjustment training method based on a dual-track system, comprising a joint range of motion sensor and two adjustable-height tracks, wherein the joint range of motion sensor is used to detect the movement trend of the patient's legs, and the two tracks include a left track corresponding to the left leg and a right track corresponding to the right leg, comprising: collecting joint range of motion data of the patient's legs, wherein the joint range of motion data is divided into left leg joint range of motion data and right leg joint range of motion data; in response to the patient's left leg joint range of motion data and right leg joint range of motion data both meeting a first preset threshold, calculating the difference between the left leg joint range of motion data and right leg joint range of motion data; in response to the difference being greater than a second preset threshold, matching a track whose height needs to be adjusted based on the left leg joint range of motion data and right leg joint range of motion data, and calculating the adjustment height corresponding to the track; and adjusting the matched track according to the adjustment height.

[0006] In one embodiment, the acquisition of joint range of motion data of the patient's two legs includes: the joint range of motion data includes the longitudinal axis range of motion and the transverse axis range of motion of the patient's legs.

[0007] In one embodiment, responding to the patient's left leg joint range of motion data and right leg joint range of motion data both meeting a first preset threshold includes: responding to the left leg joint range of motion data and right leg joint range of motion data both meeting the condition that the longitudinal axis range of motion is less than a certain threshold. And the horizontal axis mobility is greater than Then calculate the difference.

[0008] In one embodiment, the difference is calculated using the formula: Z = |La - Ra|; where Z represents the difference between the transverse axial range of motion of the patient's left leg and the transverse axial range of motion of the right leg, La represents the transverse axial range of motion of the patient's left leg, and Ra represents the transverse axial range of motion of the right leg.

[0009] In one embodiment, matching the track whose height needs to be adjusted based on the left leg joint range of motion data and the right leg joint range of motion data includes: determining that the left track needs adjustment when the left leg joint range of motion data is greater than the right leg joint range of motion data and the difference is greater than a first threshold; and determining that the right track needs adjustment when the left leg joint range of motion data is less than the right leg joint range of motion data and the difference is greater than the first threshold.

[0010] In one embodiment, the adjustment height corresponding to the runway is calculated, including: a first threshold of one-quarter of the height for each adjustment of the runway.

[0011] In one embodiment, a support belt controlled by a first motor is also included, one end of which is attached to the patient's waist, including: responding to the left leg joint range of motion data and the right leg joint range of motion data both not conforming to the longitudinal axis range of motion being less than Or the horizontal axis mobility is greater than When this happens, the first motor will engage the brake.

[0012] In one embodiment, the method includes: in response to the difference being less than a second preset threshold, not adjusting the runway height.

[0013] A second aspect of the present invention also provides a dual-track bilateral height self-adjustment training method and system, comprising a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to implement the dual-track bilateral height self-adjustment training method described in any of the preceding claims.

[0014] Beneficial effects: By obtaining the angle of the patient's leg when lifting uphill or downhill using data from joint range of motion sensors, and based on the patient's leg obstacle conditions and the different joint range of motion each time the leg is lifted, the algorithm calculates the track that needs adjustment and the height of the track that needs adjustment, and adaptively adjusts the patient's legs to improve the training effect. Attached Figure Description

[0015] The above and other objects, features, and advantages of exemplary embodiments of the present invention will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the invention are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein:

[0016] Figure 1 This is a schematic diagram illustrating the process of adjusting runway height according to an embodiment of the present invention;

[0017] Figure 2 This is a schematic diagram illustrating the system structure according to an embodiment of the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0020] In one embodiment, a base is included, on which two running tracks are mounted. Specifically, one end of each running track is hinged to the base, and each running track has an electrically driven actuator at its bottom. The other end of the electrically driven actuator is mounted to the base. When the electrically driven actuator is activated, it moves the running tracks up and down, thereby adjusting the height of each track. By tilting the two running tracks with the electrically driven actuator, the system simulates the patient's experience of going up and down slopes, thus providing training for patients with incline difficulties and differences in leg function.

[0021] In one embodiment, the system also includes a motor, the output of which is fitted with a strap. During patient training, the other end of the strap is attached to the patient's waist to protect their safety. If a fall is anticipated, the motor brakes immediately, and the strap provides protection for the patient.

[0022] like Figure 1 As shown, in one embodiment, the following method is used to adjust the height of the two runways:

[0023] Step S101: Collect the range of motion data of the patient's leg joints.

[0024] In one embodiment, two joint range of motion sensors are attached to the thighs of the patient's left and right legs, respectively. During the patient's running, the longitudinal and transverse range of motion of the patient's legs are collected at preset time intervals, and these ranges are used as the joint range of motion data for the legs. Specifically, the joint range of motion data for the left leg and the right leg are recorded separately. The longitudinal range of motion represents the angle at which the leg sensor tilts when the patient's body leans.

[0025] Step S102: In response to the fact that both the left leg joint range of motion data and the right leg joint range of motion data of the patient meet the first preset threshold, the difference between the left leg joint range of motion data and the right leg joint range of motion data is calculated.

[0026] In one embodiment, when the range of motion data of both the patient's left and right leg joints meets a first preset threshold, it indicates that the patient's legs can be lifted, and training can continue. However, when the range of motion data of both the patient's left and right leg joints does not meet the first preset threshold, it indicates that the patient has difficulty lifting their legs. In this case, a risk of fall is assessed, and the motor brake is activated, causing the system to stop abruptly. Because the patient is protected by the safety harness, the risk of fall is eliminated.

[0027] In one embodiment, meeting the first threshold means that both the patient's left leg joint range of motion data and right leg joint range of motion data meet the requirement that the longitudinal axis range of motion is less than [a certain value]. And the horizontal axis mobility is greater than This indicates that the patient is able to exercise and train normally. At this point, the difference between the range of motion data of the left leg joint and the range of motion data of the right leg joint can be calculated, and the difference can be used to determine whether the track height needs to be adjusted.

[0028] In one embodiment, not meeting the first preset threshold means: when both the left leg joint range of motion data and the right leg joint range of motion data do not meet the requirement that the longitudinal axis range of motion is less than [a certain value]. Or the horizontal axis mobility is greater than When the first motor brakes, the training ends.

[0029] In another embodiment, the need to stop training can also be determined by the longitudinal axis mobility of the patient's leg. Specifically, when the longitudinal axis mobility exceeds a fixed threshold, it indicates that the leg is also tilting beyond a certain angle, which means that the patient is at risk of tilting. In this case, the first motor brake is applied to protect the patient, and the training ends.

[0030] Regarding step S103: In response to the difference being greater than the second preset threshold, the track whose height needs to be adjusted is matched based on the left leg joint range of motion data and the right leg joint range of motion data, and the adjustment height corresponding to the track is calculated.

[0031] In one embodiment, the difference refers to the difference between the lateral range of motion of the patient's left leg and the lateral range of motion of the patient's right leg. The larger the difference, the greater the difference in the lifting height of the two legs, indicating a difference in the lifting obstacles of the patient's two legs, thus requiring adjustment of the height of the dual running tracks. Specifically, if the left leg joint range of motion data is greater than the right leg joint range of motion data, that is, the lateral range of motion of the left leg is greater than the lateral range of motion of the patient's right leg, and the difference is greater than a first threshold, then the left running track is determined to need adjustment. If the left leg joint range of motion data is less than the right leg joint range of motion data, that is, the lateral range of motion of the left leg is less than the lateral range of motion of the patient's right leg, and the difference is greater than the first threshold, then the right running track is determined to need adjustment.

[0032] The above difference is calculated using the following formula: Z = |La - Ra|; where Z represents the difference between the transverse axial range of motion of the patient's left leg and the transverse axial range of motion of the right leg, La represents the transverse axial range of motion of the patient's left leg, and Ra represents the transverse axial range of motion of the right leg.

[0033] For example, the second preset threshold can be set to When Z , and La When Ra, the height of the left runway needs to be adjusted. When Z... , and La When Ra, the height of the right runway needs to be adjusted.

[0034] In one embodiment, the adjustment height corresponding to the track can be calculated as follows: one-quarter of a second preset threshold is used as the adjustment height H1 for each track adjustment, where H1 = .

[0035] Step S104: Adjust the matched track according to the adjusted height.

[0036] Based on the above steps, when the difference between the transverse range of motion of the patient's left leg and the transverse range of motion of the right leg is greater than the second preset threshold, the height of the corresponding track is adjusted according to the height H1 until the difference between the transverse range of motion of the patient's left leg and the transverse range of motion of the right leg is kept within the second preset threshold.

[0037] Based on the above steps, the angle of the patient's leg when lifting uphill or downhill is obtained through data from the joint range of motion sensor. According to the patient's leg obstacle and the different joint range of motion when the leg is lifted each time, the algorithm calculates the track that needs to be adjusted and the height of the track that needs to be adjusted, and adaptively adjusts the patient's leg to improve the training effect.

[0038] This invention also provides a bilateral height self-adjustment training method based on a dual-track system. For example... Figure 2 As shown, the system includes a processor and a memory, the memory storing computer program instructions, which, when executed by the processor, implement a dual-track bi-lateral height self-adjustment training method according to the first aspect of the present invention.

[0039] In one embodiment, the present invention provides a computer device whose internal structure can be as follows: Figure 2 As shown. The computer device includes a processor, memory, communication interface, display screen, and input device connected via a system bus. The processor provides computing and control capabilities and can be various types such as CPU, microcontroller, DSP, or FPGA. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer program. When the computer program is executed, it can complete the steps described in the above method embodiments, such as steps S101-S104. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage media. The communication interface of the computer device is used for wired or wireless communication with external terminals. Wireless communication can be achieved through WIFI, carrier networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a dual-track, dual-sided height self-adjustment training method. The display screen of the computer device can be a liquid crystal display or an e-ink display. The input device can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device casing, or an external keyboard, touchpad, or mouse.

[0040] Those skilled in the art will understand that Figure 2 The structures shown are merely block diagrams of some structures related to the present invention and do not constitute a limitation on the computer device of the present invention. Specific computer devices may include more or fewer components than those shown in the figures, or combine certain components, or have different component arrangements.

[0041] The system also includes other components well known to those skilled in the art, such as communication buses and communication interfaces, the settings and functions of which are known in the art and therefore will not be described in detail here.

[0042] In this invention, the aforementioned memory can be any tangible medium containing or storing a program that can be used or combined with an instruction execution system, apparatus, or device. For example, a computer-readable storage medium can be any suitable magnetic or magneto-optical storage medium, such as Resistive Random Access Memory (RRAM), Dynamic Random Access Memory (DRAM), Static Random Access Memory (SRAM), Enhanced Dynamic Random Access Memory (EDRAM), High-Bandwidth Memory (HBM), Hybrid Memory Cube (HMC), etc., or any other medium that can be used to store desired information and can be accessed by an application, module, or both. Any such computer storage medium can be part of a device or accessible to or connected to a device. Any application or module described in this invention can be implemented using computer-readable / executable instructions that can be stored or otherwise maintained by such a computer-readable medium.

[0043] In the description of this specification, "multiple" or "several" means at least two, such as two, three or more, unless otherwise explicitly specified.

[0044] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0045] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A bilateral height self-adjustment training method based on dual running tracks, comprising joint range of motion sensors and two height-adjustable running tracks, wherein, The joint range of motion sensor is used to detect the movement trend of the patient's legs. The two running tracks include a left running track corresponding to the left leg and a right running track corresponding to the right leg. The feature is that it includes: The patient's leg joint range of motion data was collected, wherein the joint range of motion data was divided into left leg joint range of motion data and right leg joint range of motion data; When both the patient's left leg joint range of motion data and right leg joint range of motion data meet the first preset threshold, the difference between the left leg joint range of motion data and the right leg joint range of motion data is calculated. In response to the difference being greater than a second preset threshold, the track whose height needs to be adjusted is matched based on the left leg joint range of motion data and the right leg joint range of motion data, and the adjustment height corresponding to the track is calculated. The matched track is adjusted according to the aforementioned adjustment height; Collect the range of motion data of the patient's two legs, including: The joint range of motion data includes the longitudinal and transverse range of motion of the patient's leg; Based on the left leg joint range of motion data and the right leg joint range of motion data, the track whose height needs to be adjusted is matched, including: If the left leg joint range of motion data is greater than the right leg joint range of motion data, and the difference is greater than a first threshold, then it is determined that the left track needs to be adjusted. If the left leg joint range of motion data is less than the right leg joint range of motion data, and the difference is greater than a first threshold, then it is determined that the right track needs to be adjusted.

2. The dual-track bilateral height self-adjustment training method according to claim 1, characterized in that, When both the patient's left leg joint range of motion data and right leg joint range of motion data meet a first preset threshold, the following applies: In response to the fact that both the left leg joint range of motion data and the right leg joint range of motion data meet the requirement that the longitudinal axis range of motion is less than 1 / 3, the range of motion is less than 1 / 3. And the horizontal axis mobility is greater than Then calculate the difference.

3. The dual-track bilateral height self-adjustment training method according to claim 2, characterized in that, The difference is then calculated using the following formula: Z = |La-Ra|; Where Z represents the difference between the transverse axial range of motion of the patient's left leg and the transverse axial range of motion of the right leg, La represents the transverse axial range of motion of the patient's left leg, and Ra represents the transverse axial range of motion of the right leg.

4. The dual-track bilateral height self-adjustment training method according to claim 1, characterized in that, Calculate the adjustment height corresponding to this runway, including: The first threshold is a quarter of the height of the runway each time it is adjusted.

5. The dual-track bilateral height self-adjustment training method according to claim 2, characterized in that, It also includes a support belt controlled by a first motor, one end of which is attached to the patient's waist, comprising: In response to the fact that neither the left leg joint range of motion data nor the right leg joint range of motion data meets the requirement that the longitudinal axis range of motion is less than the specified value, the following situation applies. Or the horizontal axis mobility is greater than When this happens, the first motor will engage the brake.

6. The dual-track bilateral height self-adjustment training method according to claim 1, characterized in that, include: If the difference is less than a second preset threshold, the runway height will not be adjusted.

7. A training method and system for bilateral height self-adjustment based on a dual-track system, comprising a processor and a memory, wherein the memory stores a computer program, characterized in that, The processor executes the computer program to implement the dual-track bilateral height self-adjustment training method as described in any one of claims 1-6.

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