Prosthesis stability control method, device, intelligent prosthesis, terminal and storage medium

Abstract

The present invention discloses a prosthesis stability control method, device, intelligent prosthesis, terminal and storage medium, the method comprising: obtaining a motion mode of an intelligent prosthesis, and determining the motion state of a single prosthesis in the intelligent prosthesis under the motion mode, wherein the motion state includes a single prosthesis being in a ground support state or a standing start state; obtaining inertial data of the calf when the single prosthesis is in the motion state, wherein the inertial data includes acceleration data and / or speed data; based on the inertial data, adjusting the bending resistance or extension resistance of the knee joint of the single prosthesis. The present invention can control the shaking of the prosthesis by adjusting the bending resistance or extension resistance of the knee joint for a single prosthesis, thereby improving the stability and life of the prosthesis and ensuring the safety of the user.

Description

Technical Field

[0001] The present invention relates to the technical field of prostheses, and in particular to a prosthesis stability control method, device, intelligent prosthesis, terminal and storage medium. Background Art

[0002] With the development of society, the convenience of transportation, the continuous improvement of industrialization, and the increasing number of patients who have undergone amputation due to machine trauma and car accidents, amputation brings a lot of inconvenience to patients and they lose their basic living ability. Therefore, it is becoming more and more urgent to develop an intelligent prosthesis that can help amputees achieve basic living ability. Intelligent prostheses need to have functions such as helping patients walk and run. To achieve functions such as walking and running, intelligent prostheses must have the ability to recognize different movement patterns such as walking and running, and they also need to perform personalized control of intelligent prostheses for users in different states.

[0003] When standing, the weight of the upper body is distributed to the two legs, and when walking, the two legs bear the entire weight alternately. A single prosthesis bears a very large load. The existing prosthesis has insufficient resistance to the rotation of the knee joint under heavy pressure, which may cause abnormal movement of the calf, and then cause the knee joint to shake slightly in the front and back directions, which has a certain impact on the safety and service life of the prosthesis, and greatly affects the user experience.

[0004] Therefore, the prior art still needs to be improved and enhanced. Summary of the invention

[0005] The technical problem to be solved by the present invention is that, in view of the above-mentioned defects of the prior art, a prosthesis stability control method, device, intelligent prosthesis, terminal and storage medium are provided, aiming to solve the problem in the prior art that the knee joint pivot part of the prosthesis under heavy pressure will rotate slightly due to insufficient resistance, resulting in slight shaking in the front and rear directions, which has a certain impact on the safety and service life of the prosthesis.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0007] In a first aspect, the present invention provides a prosthesis stability control method, wherein the prosthesis stability control method is applied to an intelligent prosthesis, wherein the intelligent prosthesis comprises a knee joint and a calf portion located below the knee joint, wherein a damping device is arranged in the calf portion, and wherein the damping device is used to provide extension resistance or bending resistance to the knee joint, and wherein the prosthesis stability control method comprises:

[0008] Acquire a motion mode of the intelligent prosthesis, and determine a motion state of a single prosthesis in the intelligent prosthesis under the motion mode, wherein the motion state includes a single prosthesis being in a ground support state or in a standing start state;

[0009] Acquiring inertial data of the calf when the single prosthesis is in the motion state, wherein the inertial data includes acceleration data and / or velocity data;

[0010] Based on the inertial data, the flexion resistance or extension resistance of the knee joint of the single prosthesis is adjusted.

[0011] In one implementation, the step of acquiring the motion mode of the intelligent prosthesis and determining the motion state of a single prosthesis in the intelligent prosthesis under the motion mode includes:

[0012] Acquire swing speed data of a single prosthesis in the intelligent prosthesis, and determine a motion mode of the intelligent prosthesis based on the swing speed data, wherein the motion mode includes a walking mode or a running mode;

[0013] Obtaining the tilt angle change data of the lower leg of a single prosthesis, and if the tilt angle change data gradually decreases to 0, determining that the motion state is a ground support state;

[0014] If the tilt angle change data gradually increases from 0, it is determined that the motion state is a standing start state.

[0015] In one implementation, adjusting the bending resistance or extension resistance of the knee joint of the single prosthesis based on the inertial data includes:

[0016] Matching the inertial data with the motion state, and when the inertial data and the motion state are successfully matched, acquiring a preset range corresponding to the motion mode, wherein the preset range includes an acceleration range or a speed range;

[0017] comparing the inertial data with the preset range;

[0018] If the inertia data exceeds the preset range, the bending resistance or extension resistance of the knee joint of the single prosthesis is adjusted.

[0019] In one implementation, if the inertial data exceeds the preset range, adjusting the bending resistance or extension resistance of the knee joint of the single prosthesis includes:

[0020] If the inertial data exceeds the preset range, obtaining pressure data collected by a pressure sensor preset on the intelligent prosthesis, wherein the pressure data reflects the user's weight data;

[0021] Determining target resistance data based on the pressure data, wherein the target resistance data includes a target bending resistance and a target extension resistance;

[0022] Based on the target resistance data, the flexion resistance or extension resistance of the knee joint of the single prosthesis is adjusted.

[0023] In one implementation, adjusting the flexion resistance or extension resistance of the knee joint of the single prosthesis based on the target resistance data includes:

[0024] If the movement mode is a running mode, increasing the extension resistance of the knee joint of the single prosthesis to the target extension resistance;

[0025] If the movement mode is a walking mode, the bending resistance of the knee joint of the single prosthesis is increased to the target bending resistance.

[0026] In one implementation, the method further includes:

[0027] The target extension resistance corresponding to the inertial data in the running mode and the target bending resistance corresponding to the inertial data in the walking mode are uploaded to the server, so that the server can perform big data learning and analysis on the target extension resistance and the target bending resistance, and use them as reference data for resistance adjustment.

[0028] In a second aspect, an embodiment of the present invention further provides a prosthesis stability control device, wherein the prosthesis stability control device is applied to an intelligent prosthesis, wherein the intelligent prosthesis includes a knee joint and a calf portion located below the knee joint, wherein a damping device is arranged in the calf portion, and wherein the damping device is used to provide extension resistance or bending resistance to the knee joint, and wherein the prosthesis stability control device includes:

[0029] A state analysis module, used to obtain a motion mode of the intelligent prosthesis and determine a motion state of a single prosthesis in the intelligent prosthesis under the motion mode, wherein the motion state includes a single prosthesis being in a ground support state or in a standing start state;

[0030] A data acquisition module, used to acquire inertial data of the calf when the single prosthesis is in the motion state, wherein the inertial data includes acceleration data and / or velocity data;

[0031] The resistance adjustment module is used to adjust the flexion resistance or extension resistance of the knee joint of the single prosthesis based on the inertial data.

[0032] In one implementation, the status analysis module includes:

[0033] a motion mode determining unit, configured to obtain swing speed data of a single prosthesis in the intelligent prosthesis, and determine a motion mode of the intelligent prosthesis based on the swing speed data, wherein the motion mode includes a walking mode or a running mode;

[0034] A ground support state determination unit is used to obtain the tilt angle change data of the lower leg of a single prosthesis, and if the tilt angle change data gradually decreases to 0, it is determined that the movement state is a ground support state;

[0035] The standing start state determining unit is configured to determine that the motion state is a standing start state if the tilt angle change data gradually increases from 0.

[0036] In one implementation, the resistance adjustment module includes:

[0037] a preset range acquisition unit, configured to match the inertial data with the motion state, and when the inertial data and the motion state are successfully matched, acquire a preset range corresponding to the motion mode, wherein the preset range includes an acceleration range or a speed range;

[0038] an inertial data comparison unit, used for comparing the inertial data with the preset range;

[0039] The resistance adjustment execution unit is used to adjust the bending resistance or extension resistance of the knee joint of the single prosthesis if the inertia data exceeds the preset range.

[0040] In one implementation, the resistance adjustment execution unit includes:

[0041] A pressure data acquisition subunit, configured to acquire pressure data collected by a pressure sensor preset on the intelligent prosthesis if the inertial data exceeds the preset range, wherein the pressure data reflects the user's weight data;

[0042] a target resistance data acquisition subunit, configured to determine target resistance data based on the pressure data, wherein the target resistance data includes target bending resistance and target extension resistance;

[0043] The prosthesis resistance adjustment subunit is used to adjust the flexion resistance or extension resistance of the knee joint of the single prosthesis based on the target resistance data.

[0044] In one implementation, the prosthetic resistance adjustment subunit includes:

[0045] an extension resistance adjustment subunit, for increasing the extension resistance of the knee joint of the single prosthesis to the target extension resistance if the motion mode is a running mode;

[0046] The bending resistance adjusting subunit is used to increase the bending resistance of the knee joint of the single prosthesis to the target bending resistance if the movement mode is the walking mode.

[0047] In one implementation, the device further includes:

[0048] The big data learning and analysis unit is used to upload the target extension resistance corresponding to the inertial data in the running mode and the target bending resistance corresponding to the inertial data in the walking mode to the server, so as to perform big data learning and analysis on the target extension resistance and the target bending resistance through the server, and use them as reference data for resistance adjustment.

[0049] In a third aspect, an embodiment of the present invention further provides an intelligent prosthesis, which includes a receiving cavity, a knee joint, a calf part, and the prosthesis stability control device described in the above scheme.

[0050] In a fourth aspect, an embodiment of the present invention further provides a terminal, wherein the terminal includes a memory, a processor, and a prosthesis stability control program stored in the memory and executable on the processor, and when the processor executes the prosthesis stability control program, the steps of the prosthesis stability control method of any one of the above-mentioned schemes are implemented.

[0051] In a fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein a prosthesis stability control program is stored on the computer-readable storage medium, and when the prosthesis stability control program is executed by a processor, the steps of the prosthesis stability control method described in any one of the above schemes are implemented.

[0052] Beneficial effects: Compared with the prior art, the present invention provides a prosthesis stability control method, which first obtains the motion mode of the intelligent prosthesis and determines the motion state of a single prosthesis in the intelligent prosthesis under the motion mode, wherein the motion state includes a single prosthesis being in a ground support state or a standing start state. Then, the inertial data of the calf when the single prosthesis is in the motion state is obtained, wherein the inertial data includes acceleration data and / or speed data. Finally, based on the inertial data, the bending resistance or extension resistance of the knee joint of the single prosthesis is adjusted. The present invention can control the shaking of the prosthesis for a single prosthesis by adjusting the bending resistance or extension resistance of the knee joint, thereby improving the stability and life of the prosthesis and ensuring the safety of the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 This is a flowchart of a specific implementation of the prosthesis stability control method provided in an embodiment of the present invention.

[0054] Figure 2 A schematic diagram of the structure of an intelligent prosthesis provided in an embodiment of the present invention.

[0055] Figure 3 This is a functional principle diagram of a prosthetic stability control device provided in an embodiment of the present invention.

[0056] Figure 4 A functional block diagram of a terminal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0058] This embodiment provides a prosthesis stability control method. The method of this embodiment can be used to control the shaking of the prosthesis by adjusting the bending resistance or extension resistance of the knee joint for a single prosthesis, thereby improving the stability and service life of the prosthesis and ensuring the safety of the user. In specific applications, this embodiment can first obtain the motion mode of the intelligent prosthesis, and determine the motion state of the single prosthesis in the intelligent prosthesis under the motion mode, wherein the motion state includes the single prosthesis being in a ground support state or in a standing start state. Then, the inertial data of the calf when the single prosthesis is in the motion state is obtained, wherein the inertial data includes acceleration data and / or speed data. Finally, based on the inertial data, the bending resistance or extension resistance of the knee joint of the single prosthesis is adjusted, and based on this, the bending resistance or extension resistance of the knee joint of each prosthesis is adaptively adjusted to avoid the situation where the prosthesis shakes back and forth due to the rotation of the knee joint shaft, thereby improving the service life of the intelligent prosthesis and the safety of the user using the intelligent prosthesis.

[0059] The prosthesis stability control method of this embodiment can be applied to an intelligent prosthesis, which includes an intelligent controller for implementing the prosthesis stability control method. In addition, the prosthesis stability control method of this embodiment can also be applied to a terminal, which can be set in the intelligent prosthesis to implement the prosthesis stability control method through the terminal. The intelligent prosthesis includes a knee joint and a calf part located below the knee joint, and a damping device is set in the calf part, and the damping device is used to provide extension resistance or bending resistance for the knee joint. Specifically, Figure 1 As shown, the prosthesis stability control method of this embodiment includes the following steps:

[0060] Step S100, obtaining a motion mode of the intelligent prosthesis, and determining a motion state of a single prosthesis in the intelligent prosthesis under the motion mode, wherein the motion state includes a single prosthesis being in a ground support state or in a standing start state.

[0061] like Figure 2As shown in , the intelligent prosthesis of this embodiment includes a calf part 11 and a knee joint 12 rotatably connected to the calf part 11 through a rotating shaft. The rotating shaft is arranged on the knee joint 12 to drive the calf part to rotate and realize the flexible movement of the knee joint 12. The knee joint 12 is located at the top of the calf part 11. The intelligent prosthesis also includes a receiving cavity 3, which is fixedly connected to the knee joint 12 and is used to be installed on the thigh of the user. A damping device 2 is arranged in the calf part 11 of this embodiment. The damping device 2 can be a hydraulic cylinder. The damping device can be used to provide extension resistance or bending damping for the knee joint to keep the knee joint 12 stable.

[0062] After the user's thigh is equipped with an intelligent prosthesis, the user can use the intelligent prosthesis in various scenarios. Since the weight of the user's upper body is distributed to the two legs when standing, and the two legs bear the full weight alternately when walking, the load-bearing capacity of a single prosthesis is very large. The existing prosthesis has insufficient resistance to the rotation axis of the knee joint 12 under heavy pressure, which may cause abnormal movement of the calf 11, and then cause the knee joint 12 to shake slightly in the front and back directions, which has a certain impact on the safety and service life of the prosthesis and greatly affects the user's experience. To this end, the present embodiment first obtains the motion mode of the intelligent prosthesis, and determines the motion state of the single prosthesis in the intelligent prosthesis in the motion mode. The motion mode of the present embodiment includes a walking mode and a running mode, because in the walking mode and the running mode, the two legs bear the full weight alternately, and the load-bearing capacity of a single prosthesis is relatively large. At this time, analyzing the motion state of a single prosthesis helps to determine whether the single prosthesis will shake when it is in a ground support state or in a standing start state. If shaking occurs, it is immediately processed to ensure the safety of the intelligent prosthesis.

[0063] In one implementation, when determining the motion state, this embodiment includes the following steps:

[0064] Step S101, obtaining swing speed data of a single prosthesis in the intelligent prosthesis, and determining a motion mode of the intelligent prosthesis based on the swing speed data, wherein the motion mode includes a walking mode or a running mode;

[0065] Step S102, obtaining the tilt angle change data of the lower leg of the single prosthesis, and if the tilt angle change data gradually decreases to 0, determining that the motion state is a ground support state;

[0066] Step S103: If the tilt angle change data gradually increases from 0, it is determined that the motion state is a standing start state.

[0067] Specifically, the present embodiment can analyze a single prosthesis of the intelligent prosthesis. When the user uses the intelligent prosthesis, the swing speed data of the single prosthesis can be obtained, and then the motion mode of the intelligent prosthesis can be analyzed according to the swing speed data. In the present embodiment, the larger the swing speed data, the faster the motion speed of the single prosthesis, so that it can be determined whether the intelligent prosthesis is in walking mode or running mode. In actual application, an inertial sensor can be installed on the calf 11 of the intelligent prosthesis, and the inertial sensor can collect the swing speed data of the calf 11, so that the swing speed data of the single prosthesis can be obtained. Then, the swing speed data of the single prosthesis is compared with a preset speed threshold, and the speed threshold is used to distinguish whether the intelligent prosthesis is in walking mode or running mode. When the swing speed data is greater than the speed threshold, it can be determined that the intelligent prosthesis is in running mode, and when the swing speed data is less than the speed threshold, it can be determined that the intelligent prosthesis is in walking mode. After determining the motion mode of the intelligent prosthesis, this embodiment further analyzes a single prosthesis to obtain tilt angle change data of the single prosthesis, so as to determine the motion state of the single prosthesis based on the tilt angle change data.

[0068] Since the intelligent prosthesis is in walking mode or running mode, when a single prosthesis contacts the ground, it will be subjected to the pressure brought by the user's weight. The resistance of the knee joint 12 is insufficient, which may cause abnormal movement of the calf 11, and then cause the knee joint 12 to shake slightly in the front and back direction. For this reason, this embodiment needs to analyze the motion state of a single prosthesis when it contacts the ground. Specifically, the motion state of a single prosthesis when it contacts the ground includes a ground support state and a standing start state. In the specific implementation, the calf 11 of the intelligent prosthesis of this embodiment is provided with an angle sensor. When the intelligent prosthesis is in motion, the inclination angle of each prosthesis can be detected by the angle sensor, and the inclination angle change data of each prosthesis can be further determined. When the intelligent prosthesis is perpendicular to the ground, the user is completely standing at this time, and the inclination angle of the intelligent prosthesis is 0. When the intelligent prosthesis is in motion, the inclination angle of a single prosthesis is constantly changing. If the inclination angle change data of a single prosthesis is gradually reduced to 0, it means that the prosthesis is changing to a state perpendicular to the ground, so it can be determined that the motion state is a ground support state. The ground support state reflects the state from the sole of the prosthesis touching the ground to the state of fully standing (i.e., the intelligent prosthesis is perpendicular to the ground, and the inclination angle of the intelligent prosthesis is 0). If the inclination angle change data gradually increases from 0, it means that the prosthesis is changing from a state perpendicular to the ground to an inclined state, so it can be determined that the motion state is a standing start state. The standing start state reflects the state from the prosthesis fully standing (i.e., the intelligent prosthesis is perpendicular to the ground, and the inclination angle of the intelligent prosthesis is 0) to the state from which the sole of the foot completely leaves the ground. It can be seen that this embodiment analyzes whether the prosthesis is in a ground support state or a standing start state by analyzing the inclination angle change data of a single prosthesis, so as to analyze these two states separately in subsequent steps, determine whether the intelligent prosthesis is shaking, and adjust the bending resistance or extension resistance in time. In other implementations, this embodiment can also perform real-time analysis on the motion posture of a single prosthesis, analyze the posture information of the single prosthesis during motion, and then determine the ground support state and the standing start state of the single prosthesis based on the analyzed posture information.

[0069] Step 200: Acquire inertial data of the calf when the single prosthesis is in the motion state, wherein the inertial data includes acceleration data and / or velocity data.

[0070] After determining the motion state of a single prosthesis, the present embodiment obtains in real time the inertial data of the calf 11 when the single prosthesis is in the said motion state, wherein the inertial data includes acceleration data and / or velocity data. That is to say, the present embodiment obtains in real time the acceleration data and / or velocity data of the calf 11 when the single prosthesis is in a ground support state or a standing start state. The acceleration data and / or velocity data reflect the real-time data collected when the single prosthesis is in a ground support state or a standing start state. Since the knee joint 12 is subjected to load when the single prosthesis is in a ground support state or a standing start state, the rotation axis resistance of the knee joint 12 of the prosthesis is insufficient under the heavy pressure, which may cause abnormal movement of the calf 11, and then cause the knee joint 12 to shake slightly in the front-to-back direction. This embodiment analyzes the acceleration data and / or speed data of the calf 11 when a single prosthesis is in a ground support state or a standing start state, which is conducive to analyzing whether the acceleration data and / or speed data of the calf 11 are abnormal, and whether the single prosthesis will have movement abnormalities when it is in a ground support state or a standing start state, so as to deal with it in time when the abnormality occurs.

[0071] Step S300: adjusting the flexion resistance or extension resistance of the knee joint of the single prosthesis based on the inertial data.

[0072] After analyzing the inertial data of the calf part 11 of a single prosthesis, this embodiment further determines whether the movement of the calf part 11 is abnormal based on the inertial data of the single prosthesis. If it is abnormal, this embodiment adjusts the bending resistance or extension resistance of the rotation axis of the knee joint 12 of the single prosthesis.

[0073] In one implementation, when adjusting the bending resistance or the stretching resistance, this embodiment includes the following steps:

[0074] Step S301, matching the inertial data with the motion state, and when the inertial data and the motion state are successfully matched, acquiring a preset range corresponding to the motion mode, wherein the preset range includes an acceleration range or a speed range;

[0075] Step S302, comparing the inertial data with the preset range;

[0076] Step S303: If the inertial data exceeds the preset range, adjusting the bending resistance or extension resistance of the knee joint of the single prosthesis.

[0077] Specifically, after obtaining the inertial data of a single prosthesis, the present embodiment first matches the inertial data with the motion state, that is, matches it with the ground support state or the standing start state, and determines whether the inertial data is obtained in the ground support state or the standing start state, so as to ensure the accuracy of the inertial data. In specific implementation, since the inertial data is collected in real time, and the ground support state or the standing start state is analyzed in real time, the present embodiment can respectively obtain the first timestamp information corresponding to the inertial data and the second timestamp information corresponding to the ground support state or the standing start state, and match the first timestamp information with the second timestamp information, so as to determine whether the inertial data matches the ground support state or the standing start state successfully. When the inertial data matches the motion state successfully, the preset range corresponding to the motion mode is obtained, and the preset range includes an acceleration range or a speed range. The preset range is a reasonable range of acceleration and / or speed of the calf 11 of the knee joint 12 in the corresponding motion mode. Specifically, the preset range of the walking mode and the preset range of the running mode are obtained. Since the movement speed and swing amplitude of the intelligent prosthesis in the walking mode are slow, while the movement speed and swing amplitude of the intelligent prosthesis in the running mode are faster, the preset range of the walking mode of this embodiment is smaller than the preset range of the running mode. The inertial data of the single prosthesis obtained in this embodiment is also obtained in the walking mode or the running mode. Therefore, this embodiment can compare the obtained inertial data with the preset range in the corresponding movement mode to determine whether the inertial data is abnormal. If the inertial data exceeds the preset range, it means that the movement of the calf 11 is abnormal, that is, the rotation axis of the knee joint 12 of the prosthesis has abnormal rotation, and the prosthesis will also shake. At this time, it is necessary to adjust the bending resistance or extension resistance of the rotation axis of the knee joint 12 of the single prosthesis. In one implementation, when it is determined that the inertial data is abnormal, this embodiment can notify the user by voice reminder or photoelectric reminder.

[0078] Specifically, if the inertial data exceeds the preset range, the pressure data collected by the pressure sensor preset on the intelligent prosthesis is obtained, and the pressure data reflects the user's weight data. Since the pressure on a single prosthesis comes from the user's weight when the user uses the intelligent prosthesis to walk or run, which causes abnormal movement of the calf 11, therefore, when the inertial data of a single prosthesis is abnormal, the present embodiment obtains the pressure data of the prosthesis, and adjusts the bending resistance or extension resistance of the knee joint 12 according to the pressure data, thereby ensuring that the resistance adjustment is effective. In specific applications, the present embodiment can determine the target resistance data based on the pressure data, wherein the target resistance data includes the target bending resistance and the target extension resistance. After determining the target bending resistance and the target extension resistance, the present embodiment can adjust the bending resistance or extension resistance of the knee joint 12 of the single prosthesis.

[0079] In practical application, the present embodiment pre-sets a comparison table between pressure data and resistance data, and the comparison table is provided with resistance data corresponding to each interval of pressure data, so based on the comparison table, the target resistance data corresponding to the currently acquired pressure data can be determined. In the present embodiment, since the resistance data to be adjusted for the walking mode and the running mode are different, when in the walking mode, in order to increase the activity sensitivity of the knee joint 12, the bending resistance needs to be adjusted; and when in the running mode, in order to improve the stability of the single prosthesis, the extension resistance needs to be adjusted. For this reason, the comparison table of the present embodiment is respectively provided with the bending resistance corresponding to the interval of pressure data for the walking mode, and the extension resistance corresponding to the interval of pressure data for the running mode. After determining the target extension resistance or the target bending resistance, the present embodiment can increase the extension resistance of the knee joint 12 of the single prosthesis to the target extension resistance when the motion mode is the running mode, and specifically, the extension resistance can be increased to the target extension resistance by increasing the extension damping coefficient of the damping device 2, so as to make the single prosthesis more stable and safer. When the motion mode is walking mode, the bending resistance of the knee joint of the single prosthesis is increased to the target bending resistance, specifically by increasing the bending damping coefficient of the damping device 2, thereby increasing the extension bending resistance to the target bending resistance, thereby achieving the purpose of adjusting the resistance of the rotation axis of the knee joint 12 to ensure the stability of the intelligent prosthesis. In another implementation, after the bending resistance or extension resistance is adjusted, this embodiment will also notify the user by voice reminder or photoelectric reminder.

[0080] In another implementation, after obtaining the inertial data, the present embodiment can also obtain the difference data of the inertial data exceeding the preset range, and the difference data can reflect the abnormal fluctuation range of the inertial data. Then, the resistance adjustment level is determined based on the difference data, and the corresponding target resistance data is determined based on the resistance adjustment level. The present embodiment pre-sets the corresponding relationship between the difference data and the resistance adjustment level, and matches the currently determined difference data based on the corresponding relationship to determine the resistance adjustment level at this time, and each resistance adjustment level corresponds to a target resistance data, and the target resistance data includes the target bending resistance in the walking mode and the target extension resistance in the running mode, so that the resistance of the rotating shaft of the knee joint 12 can be accurately adjusted. In addition, the present embodiment also uploads the target extension resistance corresponding to the inertial data in the running mode and the target bending resistance corresponding to the walking mode to the server, so that the server can perform big data learning and analysis on the target extension resistance and the target bending resistance, and use them as reference data for resistance adjustment.

[0081] In summary, this embodiment first obtains the motion mode of the intelligent prosthesis, and determines the motion state of a single prosthesis in the intelligent prosthesis under the motion mode, wherein the motion state includes a single prosthesis being in a ground support state or in a standing start state. Then, the inertial data of the calf when the single prosthesis is in the motion state is obtained, wherein the inertial data includes acceleration data and / or velocity data. Finally, based on the inertial data, the bending resistance or extension resistance of the knee joint of the single prosthesis is adjusted. This embodiment can control the shaking of the prosthesis for a single prosthesis by adjusting the bending resistance or extension resistance of the knee joint, thereby improving the stability and life of the prosthesis and ensuring the safety of the user.

[0082] Based on the above embodiments, the present invention further provides a prosthesis stability control device, which is applied to an intelligent prosthesis, wherein the intelligent prosthesis includes a knee joint and a calf below the knee joint, wherein a damping device is arranged in the calf, and the damping device is used to provide extension resistance or bending resistance to the knee joint. Figure 3As shown in , the prosthesis stability control device includes: a state analysis module 10, a data acquisition module 20 and a resistance adjustment module 30. Specifically, the state analysis module 10 is used to obtain the motion mode of the intelligent prosthesis, and determine the motion state of a single prosthesis in the intelligent prosthesis under the motion mode, wherein the motion state includes a single prosthesis being in a ground support state or in a standing start state. The data acquisition module 20 is used to obtain the inertial data of the calf when the single prosthesis is in the motion state, wherein the inertial data includes acceleration data and / or speed data. The resistance adjustment module 30 is used to adjust the flexion resistance or extension resistance of the knee joint of the single prosthesis based on the inertial data.

[0083] In one implementation, the state analysis module 10 includes:

[0084] a motion mode determining unit, configured to obtain swing speed data of a single prosthesis in the intelligent prosthesis, and determine a motion mode of the intelligent prosthesis based on the swing speed data, wherein the motion mode includes a walking mode or a running mode;

[0085] A ground support state determination unit is used to obtain the tilt angle change data of the lower leg of a single prosthesis, and if the tilt angle change data gradually decreases to 0, it is determined that the movement state is a ground support state;

[0086] The standing start state determining unit is configured to determine that the motion state is a standing start state if the tilt angle change data gradually increases from 0.

[0087] In one implementation, the resistance adjustment module 30 includes:

[0088] a preset range acquisition unit, configured to match the inertial data with the motion state, and when the inertial data and the motion state are successfully matched, acquire a preset range corresponding to the motion mode, wherein the preset range includes an acceleration range or a speed range;

[0089] an inertial data comparison unit, used for comparing the inertial data with the preset range;

[0090] The resistance adjustment execution unit is used to adjust the bending resistance or extension resistance of the knee joint of the single prosthesis if the inertia data exceeds the preset range.

[0091] In one implementation, the resistance adjustment execution unit includes:

[0092] A pressure data acquisition subunit, configured to acquire pressure data collected by a pressure sensor preset on the intelligent prosthesis if the inertial data exceeds the preset range, wherein the pressure data reflects the user's weight data;

[0093] a target resistance data acquisition subunit, configured to determine target resistance data based on the pressure data, wherein the target resistance data includes target bending resistance and target extension resistance;

[0094] The prosthesis resistance adjustment subunit is used to adjust the flexion resistance or extension resistance of the knee joint of the single prosthesis based on the target resistance data.

[0095] In one implementation, the prosthetic resistance adjustment subunit includes:

[0096] an extension resistance adjustment subunit, for increasing the extension resistance of the knee joint of the single prosthesis to the target extension resistance if the motion mode is a running mode;

[0097] The bending resistance adjusting subunit is used to increase the bending resistance of the knee joint of the single prosthesis to the target bending resistance if the movement mode is the walking mode.

[0098] In one implementation, the device further includes:

[0099] The big data learning and analysis unit is used to upload the target extension resistance corresponding to the inertial data in the running mode and the target bending resistance corresponding to the inertial data in the walking mode to the server, so as to perform big data learning and analysis on the target extension resistance and the target bending resistance through the server, and use them as reference data for resistance adjustment.

[0100] The working principles of each module in the prosthetic stability control device of this embodiment are the same as the principles of each step in the above method embodiment, and will not be repeated here.

[0101] Based on the above embodiments, the present invention further provides an intelligent prosthesis, wherein the intelligent prosthesis includes a receiving cavity, a knee joint, a calf part, and the prosthesis stability control device described in the above embodiments.

[0102] Based on the above embodiment, the present invention further provides a terminal, the principle block diagram of the terminal can be as follows: Figure 4 The terminal may include one or more processors 100 ( Figure 4The embodiment of the present invention is a memory 101 (only one is shown in the figure), a memory 101 and a computer program 102 stored in the memory 101 and executable on one or more processors 100, for example, a prosthesis stability control program. When one or more processors 100 execute the computer program 102, the various steps in the embodiment of the prosthesis stability control method can be implemented. Alternatively, when one or more processors 100 execute the computer program 102, the functions of various modules / units in the embodiment of the prosthesis stability control device can be implemented, which is not limited here.

[0103] In one embodiment, the processor 100 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0104] In one embodiment, the memory 101 may be an internal storage unit of an electronic device, such as a hard disk or memory of the electronic device. The memory 101 may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device. Further, the memory 101 may also include both an internal storage unit of the electronic device and an external storage device. The memory 101 is used to store computer programs and other programs and data required by the terminal. The memory 101 may also be used to temporarily store data that has been output or is to be output.

[0105] Those skilled in the art will understand that Figure 4 The principle block diagram shown in the figure is only a block diagram of a partial structure related to the scheme of the present invention, and does not constitute a limitation on the terminal to which the scheme of the present invention is applied. The specific terminal may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0106] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, operating database or other media used in the embodiments provided by the present invention may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double operational data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the stability of a prosthesis, It is characterized in that The prosthesis stability control method is applied to an intelligent prosthesis, wherein the intelligent prosthesis includes a knee joint and a calf portion located below the knee joint, wherein a damping device is arranged in the calf portion, and wherein the damping device is used to provide extension resistance or bending resistance to the knee joint. The prosthesis stability control method includes: Acquire a motion mode of the intelligent prosthesis, and determine a motion state of a single prosthesis in the intelligent prosthesis under the motion mode, wherein the motion state includes a single prosthesis being in a ground support state or in a standing start state; Acquiring inertial data of the calf when the single prosthesis is in the motion state, wherein the inertial data includes acceleration data and / or velocity data; Based on the inertial data, adjusting the flexion resistance or extension resistance of the knee joint of the single prosthesis; The step of adjusting the bending resistance or extension resistance of the knee joint of the single prosthesis based on the inertial data comprises: Matching the inertial data with the motion state, and when the inertial data and the motion state are successfully matched, acquiring a preset range corresponding to the motion mode, wherein the preset range includes an acceleration range or a speed range; comparing the inertial data with the preset range; If the inertia data exceeds the preset range, adjusting the bending resistance or extension resistance of the knee joint of the single prosthesis; The matching of the inertial data with the motion state comprises: Respectively obtain first timestamp information corresponding to the inertial data and second timestamp information corresponding to the ground support state or the standing start state; Matching the first timestamp information with the second timestamp information to determine whether the inertial data matches the landing support state or the standing start state successfully; If the inertial data exceeds the preset range, the bending resistance or extension resistance of the knee joint of the single prosthesis is adjusted, including: If the inertial data exceeds the preset range, obtaining pressure data collected by a pressure sensor preset on the intelligent prosthesis, wherein the pressure data reflects the user's weight data; Determining target resistance data based on the pressure data, wherein the target resistance data includes target bending resistance and target extension resistance; Based on the target resistance data, adjusting the flexion resistance or extension resistance of the knee joint of the single prosthesis; The step of determining target resistance data based on the pressure data includes: A comparison table between pressure data and resistance data is pre-set, wherein the comparison table is respectively set with bending resistance corresponding to the interval of pressure data for walking mode, and with extension resistance corresponding to the interval of pressure data for running mode; Determine the target resistance data corresponding to the currently acquired pressure data based on the comparison table; The step of adjusting the flexion resistance or extension resistance of the knee joint of the single prosthesis based on the target resistance data includes: If the movement mode is a running mode, increasing the extension resistance of the knee joint of the single prosthesis to the target extension resistance; If the movement mode is a walking mode, increasing the bending resistance of the knee joint of the single prosthesis to the target bending resistance; The method further comprises: After obtaining the inertial data, obtaining difference data of the inertial data exceeding a preset range, wherein the difference data reflects an abnormal fluctuation range of the inertial data; A resistance adjustment level is determined based on the difference data, each resistance adjustment level corresponds to a target resistance data, and the corresponding target resistance data is determined based on the resistance adjustment level, and the target resistance data includes a target bending resistance in a walking mode and a target extension resistance in a running mode.

2. The prosthesis stability control method according to claim 1, It is characterized in that The step of acquiring the motion mode of the intelligent prosthesis and determining the motion state of a single prosthesis in the intelligent prosthesis under the motion mode includes: Acquire swing speed data of a single prosthesis in the intelligent prosthesis, and determine a motion mode of the intelligent prosthesis based on the swing speed data, wherein the motion mode includes a walking mode or a running mode; Obtaining the tilt angle change data of the lower leg of a single prosthesis, and if the tilt angle change data gradually decreases to 0, determining that the motion state is a ground support state; If the tilt angle change data gradually increases from 0, it is determined that the motion state is a standing start state.

3. The prosthesis stability control method according to claim 1, It is characterized in that The method further comprises: The target extension resistance corresponding to the inertial data in the running mode and the target bending resistance corresponding to the inertial data in the walking mode are uploaded to the server, so that the server can perform big data learning and analysis on the target extension resistance and the target bending resistance, and use them as reference data for resistance adjustment.

4. A prosthetic stability control device, It is characterized in that The prosthesis stability control device is applied to an intelligent prosthesis, wherein the intelligent prosthesis comprises a knee joint and a calf portion located below the knee joint, wherein a damping device is arranged in the calf portion, and wherein the damping device is used to provide extension resistance or bending resistance to the knee joint, and wherein the prosthesis stability control device comprises: A state analysis module, used to obtain a motion mode of the intelligent prosthesis and determine a motion state of a single prosthesis in the intelligent prosthesis under the motion mode, wherein the motion state includes a single prosthesis being in a ground support state or in a standing start state; A data acquisition module, used to acquire inertial data of the calf when the single prosthesis is in the motion state, wherein the inertial data includes acceleration data and / or velocity data; a resistance adjustment module, for adjusting the bending resistance or extension resistance of the knee joint of the single prosthesis based on the inertial data; The resistance adjustment module comprises: a preset range acquisition unit, configured to match the inertial data with the motion state, and when the inertial data and the motion state are successfully matched, acquire a preset range corresponding to the motion mode, wherein the preset range includes an acceleration range or a speed range; an inertial data comparison unit, used for comparing the inertial data with the preset range; a resistance adjustment execution unit, configured to adjust the bending resistance or extension resistance of the knee joint of the single prosthesis if the inertia data exceeds the preset range; The preset range acquisition unit includes: Respectively obtain first timestamp information corresponding to the inertial data and second timestamp information corresponding to the ground support state or the standing start state; Matching the first timestamp information with the second timestamp information to determine whether the inertial data matches the landing support state or the standing start state successfully; The resistance adjustment execution unit comprises: a pressure data acquisition subunit, configured to acquire pressure data collected by a pressure sensor preset on the intelligent prosthesis if the inertial data exceeds the preset range, wherein the pressure data reflects the user's weight data; a target resistance data acquisition subunit, configured to determine target resistance data based on the pressure data, wherein the target resistance data includes target bending resistance and target extension resistance; a prosthesis resistance adjustment subunit, configured to adjust the flexion resistance or extension resistance of the knee joint of the single prosthesis based on the target resistance data; The target resistance data acquisition subunit includes: A comparison table between pressure data and resistance data is pre-set, wherein the comparison table is respectively set with bending resistance corresponding to the interval of pressure data for walking mode, and with extension resistance corresponding to the interval of pressure data for running mode; Determine the target resistance data corresponding to the currently acquired pressure data based on the comparison table; The prosthetic resistance adjustment subunit comprises: an extension resistance adjustment subunit, for increasing the extension resistance of the knee joint of the single prosthesis to the target extension resistance if the motion mode is a running mode; a bending resistance adjustment subunit, configured to increase the bending resistance of the knee joint of the single prosthesis to the target bending resistance if the movement mode is a walking mode; The device is also used for: After obtaining the inertial data, obtaining difference data of the inertial data exceeding a preset range, wherein the difference data reflects an abnormal fluctuation range of the inertial data; A resistance adjustment level is determined based on the difference data, each resistance adjustment level corresponds to a target resistance data, and the corresponding target resistance data is determined based on the resistance adjustment level, and the target resistance data includes a target bending resistance in a walking mode and a target extension resistance in a running mode.

5. An intelligent prosthesis, It is characterized in that The intelligent prosthesis comprises a receiving cavity, a knee joint, a calf part and the prosthesis stability control device as claimed in claim 4 above.

6. A prosthetic stability control terminal, It is characterized in that The prosthesis stability control terminal includes a memory, a processor, and a prosthesis stability control program stored in the memory and executable on the processor. When the processor executes the prosthesis stability control program, the steps of the prosthesis stability control method as described in any one of claims 1 to 3 are implemented.

7. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a prosthesis stability control program, and when the prosthesis stability control program is executed by the processor, the steps of the prosthesis stability control method according to any one of claims 1 to 3 are implemented.

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