Standing and sitting balance training method and system

Abstract

The invention relates to the technical field of balance training, in particular to a standing and sitting balance training method and system. The method comprises the following steps: acquiring a first inclination angle and an inclination direction of the upper body of a user in a standing state; whether the buttocks of the user make contact with the bearing plate or not is detected in real time in the standing and sitting training process of the user; in response to contact between the buttocks of the user and the bearing plate, acquiring an image of the upper body of the user, identifying key points, and calculating a second inclination angle of the upper body of the user at the moment of sitting down according to the key points; and calculating a difference value between the first inclination angle and the second inclination angle, calculating an action angle of a bearing plate according to the difference value, and controlling the bearing plate to incline in a direction opposite to the inclination direction according to the action angle. By means of the standing and sitting balance training method, the balance training effect can be effectively improved.

Description

Technical Field

[0001] The present invention generally relates to the field of balance training technology, and more specifically, to a method and system for standing and sitting balance training. Background Art

[0002] Balance is an ability that people must have in their daily lives, especially when standing or sitting. For sitting balance training, balance training equipment is usually required.

[0003] The Chinese utility model patent with publication number CN20403416U discloses a sitting and standing integrated balance training device. When the balance training device is used to train the sitting balance ability of the human body, the user needs to sit on a sitting platform. When the sitting platform tilts, the user actively adjusts his body posture to restore the sitting platform to a horizontal state, thereby exercising the sitting balance ability. However, for patients with insufficient body coordination ability or weak waist muscle strength, it is difficult to restore the sitting platform to a horizontal state by adjusting the sitting posture, resulting in poor balance training effect when using the balance training device. Summary of the invention

[0004] In order to solve the technical problem that the existing balance training method has poor training effect, the present invention provides solutions in the following aspects.

[0005] In a first aspect, the present invention provides a stand-sit balance training method based on a stand-sit balance training device, the stand-sit balance training device comprising a support plate for supporting a human body, the support plate being tiltable in various directions under the control of a driving device, the method comprising: obtaining a first tilt angle and tilt direction of the upper body of a user in a standing state; detecting in real time whether the user's buttocks are in contact with the support plate during the user's stand-sit training process; in response to the user's buttocks contacting the support plate, obtaining an image of the user's upper body, identifying key points, and calculating a second tilt angle of the upper body of the user at the moment of sitting down based on the key points; calculating a difference between the first tilt angle and the second tilt angle, and calculating an action angle of the support plate based on the difference, wherein the calculation expression is: θ=α+Δβ×0.1; wherein θ represents the action angle of the support plate, α represents the second tilt angle, and Δβ represents the difference between the first tilt angle and the second tilt angle; and controlling the support plate to tilt in the opposite direction of the tilt direction based on the action angle.

[0006] The beneficial effects are as follows: when the standing-sitting balance training method of the present invention corrects the posture of the user's upper body by controlling the movement angle of the supporting board, the user's own body coordination ability is fully taken into consideration, and the movement angle of the supporting board is adaptively adjusted according to the user's own body coordination ability, thereby effectively correcting the user's upper body posture and making the user's balance training effect better; in addition, when the standing-sitting balance training method of the present invention is used to train the user's sitting balance, the user does not need to actively adjust the sitting posture to restore the sitting board to a horizontal state. Instead, by adjusting the inclination angle of the dynamic balance board, the user's body is in a vertical state after sitting on the balance board, thereby achieving a better balance training effect.

[0007] In one embodiment, controlling the supporting plate to tilt in a direction opposite to the tilting direction according to the action angle includes: slowly increasing the tilting angle of the supporting plate to the action angle according to a set angular velocity.

[0008] The beneficial effect is that if the support plate tilts too quickly, it may cause discomfort to the user. By slowly increasing the tilt angle of the support plate to, the comfort of the user during training can be guaranteed.

[0009] In one embodiment, the calculation expression of the set angular velocity is:

[0010]

[0011] Where ω represents the set angular velocity, and ω0 represents the standard value of the angular velocity.

[0012] The beneficial effects are as follows: the greater the difference between the first inclination angle and the second inclination angle, the higher the degree of body incoordination of the user during standing or sitting, and when the degree of body incoordination is high, the set angular velocity is lower, thereby ensuring the comfort and safety of the user when the supporting board is tilted; the smaller the difference between the first inclination angle and the second inclination angle, the higher the degree of body coordination of the user during standing or sitting, and a larger angular velocity can be set, thereby improving training efficiency while ensuring the comfort and safety of the user.

[0013] In one embodiment, the key point includes a left key point and a right key point located on the left and right sides of the user's crotch respectively, and when the user's upper body is in an upright state, the left key point and the right key point are at the same height; the method for obtaining the tilt angle and the tilt direction includes:

[0014] Identify and compare the heights of the left key point and the right key point, and obtain the vertical distance and horizontal distance between the left key point and the right key point;

[0015] If the left key point is higher than the right key point, it is determined that the user's upper body is tilted to the right; if the right key point is higher than the left key point, it is determined that the user's upper body is tilted to the left;

[0016] The first tilt angle is calculated according to the horizontal distance and the vertical distance, and the calculation expression is as follows:

[0017]

[0018] Where θ represents the first tilt angle, h represents the vertical distance between the left key point and the right key point, and w represents the horizontal distance between the left key point and the right key point.

[0019] In one embodiment, obtaining the vertical distance and the horizontal distance between the left key point and the right key point includes: using a 3D camera to capture the user's body image, thereby obtaining the spatial position coordinates of the left key point and the right key point, and then calculating the vertical distance and the horizontal distance.

[0020] In one embodiment, the stand-sit balance training device further includes a static balance board, and the method further includes:

[0021] When the user is performing standing and sitting balance training, the static balance board is placed on the soles of the user's feet, so as to support the user's body when the user is standing;

[0022] The pressure data of the four corners of the static balance board are collected, and then the position of the projection of the user's center of gravity on the static balance board is calculated and displayed based on the pressure data of the four corners.

[0023] The beneficial effect is that the position of the projection of the user's center of gravity on the static balance board is displayed in real time during the user training process, so that the user can adjust his posture in real time when standing up and sitting down, stabilize his center of gravity, and prevent falling.

[0024] In a second aspect, the present invention provides a stand-sit balance training system, comprising: a dynamic balance board and a control circuit, wherein the dynamic balance board comprises a load-bearing board and a driving device for driving the load-bearing board to perform a tilting motion, wherein the control circuit comprises a memory and a processor, wherein the control circuit controls the driving device connected to the dynamic balance board, and wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the stand-sit balance training method of the present invention is implemented.

[0025] In one embodiment, the dynamic balance board includes: a supporting plate for supporting a human body; a vertical rod, one end of which is fixedly connected to the center of the supporting plate, and the other end of which is movably connected to the base through a first connecting structure, so that the vertical rod can be tilted in all directions and the tilt angle is less than a preset value; a first electric push rod, a telescopic end of which is slidably connected to the vertical rod, and a fixed end of which is hinged on the bracket, so that the first electric push rod can rotate around a hinge point in a horizontal plane; a second electric push rod, a telescopic end of which is slidably connected to the vertical rod, and a fixed end of which is hinged on the bracket, so that the second electric push rod can rotate around a hinge point in a horizontal plane.

[0026] The beneficial effect is that by making the inclination angle of the inclined board smaller than a preset value, the inclination angle can be prevented from being too large, so that the user can be prevented from sliding off the inclined board. The dynamic balance board of this embodiment has a simple structure and works stably and reliably. The dynamic balance board of this embodiment can conveniently adjust the inclination angle of the user's upper body when sitting.

[0027] In one embodiment, the first connecting structure includes a spherical sliding block fixedly connected to one end of the vertical rod and a groove arranged on the base, the spherical sliding block is placed inside the groove and can slide along the inner surface of the groove, the inner surface of the groove is a curved surface, and the upper edge of the groove can limit the vertical rod so that the maximum inclination angle of the vertical rod is less than the preset first angle.

[0028] The beneficial effect is that, through the cooperation of the spherical sliding block and the groove, the vertical rod can be tilted in all directions without being subjected to excessive force in the horizontal direction.

[0029] In one embodiment, it also includes a static balance board, a chair, a 3D camera and a display. A pressure sensor is respectively set at the four corners of the static balance board. The control circuit collects data from the pressure sensor and the 3D camera and is communicatively connected to the display. The dynamic balance board is set on the seat surface of the chair. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0031] Figure 1 is a flowchart schematically showing a stand-sit balance training method based on a stand-sit balance training device according to an embodiment of the present invention;

[0032] Figure 2 is a schematic diagram schematically showing the structure of a standing and sitting balance training system according to an embodiment of the present invention;

[0033] Figure 3 The structure of the dynamic balance board of the embodiment of the present invention is schematically shown. Figure 1 ;

[0034] Figure 4 The structure of the stand-sit balance training system of the embodiment of the present invention is schematically shown. Figure 2 ;

[0035] Figure 5 FIG. 1 is a schematic diagram schematically showing the layout positions of pressure sensors according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0037] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0038] Embodiment of the standing-sitting balance training method based on the standing-sitting balance training device:

[0039] like Figure 1 As shown, the stand-sit balance training device based on the stand-sit balance training method of the present invention includes a bearing plate for bearing a human body, and the bearing plate can be tilted in various directions under the control of a driving device, including:

[0040] S101, obtaining a first tilt angle and tilt direction of the upper body of a user in a standing state;

[0041] S102, detecting in real time whether the user's buttocks are in contact with the bearing plate during the user's standing and sitting training;

[0042] Stand-sit training refers to the process of repeated sitting-and-standing training in order to improve the body's balance when standing up and sitting down and to restore a normal posture.

[0043] S103, obtaining a second tilt angle of the upper body of the user when the user sits down, specifically: in response to the user's buttocks contacting the carrying board, obtaining an image of the user's upper body, identifying key points, and calculating the second tilt angle of the upper body of the user when the user sits down according to the key points;

[0044] A camera may be set to capture the user's image in real time to determine whether the user's buttocks are in contact with the support plate; a pressure sensor, an infrared sensor or a photoelectric sensor may also be set on the support plate to determine whether the user's buttocks are in contact with the support plate.

[0045] S104, calculating the action angle of the support plate, specifically: calculating the difference between the first tilt angle and the second tilt angle, and calculating the action angle of the support plate according to the difference, the calculation expression is:

[0046] θ = α + Δβ × 0.1;

[0047] Wherein, θ represents the action angle of the carrier plate, α represents the second tilt angle, and Δβ represents the difference between the first tilt angle and the second tilt angle;

[0048] S105, controlling the carrying plate to tilt in a direction opposite to the tilting direction according to the action angle.

[0049] If the inclination angle of the user's upper body in the standing state is inconsistent with the inclination angle of the upper body when sitting down, it means that the inclination of the user's body will change during the movement. After the user sits down, the inclination angle of the body will change from the inclination at the moment of sitting down to another size. By correcting the action angle of the supporting plate, the error can be compensated to ensure that the user's upper body is in an upright state when the user sits firmly; if the difference between the first inclination angle and the second inclination angle is large, it means that the user has a high degree of body incoordination in the process of standing or sitting, and the body inclination angle changes greatly. When the user sits on the supporting plate, the correction amplitude of the supporting plate action angle is larger, thereby ensuring that the user's upper body is in a vertical state after sitting firmly; if the difference between the first inclination angle and the second inclination angle is small, it means that the user has a low degree of body incoordination in the process of standing or sitting, has a strong body balance control ability, and the body inclination angle changes less. The correction amplitude of the supporting plate action angle is small, thereby ensuring that the user's upper body is in a vertical state after sitting firmly. The standing and sitting balance training method of the present invention fully considers the user's own body coordination ability when correcting the user's upper body posture by controlling the movement angle of the supporting board, and adaptively adjusts the movement angle of the supporting board according to the user's own body coordination ability, thereby effectively correcting the user's upper body posture, so that the user's balance training effect is better; in addition, when adopting the standing and sitting balance training method of the present invention to train the user's sitting balance, the user does not need to actively adjust the sitting posture to restore the sitting platform to a horizontal state. Instead, by adjusting the inclination angle of the dynamic balance board, the user's body is in a vertical state after sitting on the balance board, thereby achieving a better balance training effect.

[0050] In one embodiment, controlling the supporting plate to tilt in a direction opposite to the tilting direction according to the action angle comprises:

[0051] The tilt angle of the supporting plate is slowly increased to the action angle according to the set angular velocity.

[0052] If the support plate is tilted too quickly, it may cause discomfort to the user. By slowly increasing the tilt angle of the support plate to, the comfort of the user during training can be ensured.

[0053] In one embodiment, the calculation expression of the set angular velocity is:

[0054]

[0055] In the formula, ω represents the set angular velocity, ω0 represents the standard value of the angular velocity, and Δβ represents the difference between the first inclination angle and the second inclination angle.

[0056] The larger the difference between the first inclination angle and the second inclination angle, the higher the degree of body incoordination of the user during the standing or sitting process. When the degree of body incoordination is high, the set angular velocity is lower, thereby ensuring the comfort and safety of the user when the supporting board is tilted; the smaller the difference between the first inclination angle and the second inclination angle, the higher the degree of body coordination of the user during the standing or sitting process. A larger angular velocity can be set, thereby improving training efficiency while ensuring the comfort and safety of the user.

[0057] It can be seen from the above embodiments that key points need to be identified to obtain the tilt angle and tilt direction of the user's upper body. In one embodiment, the key points include a left key point and a right key point located on the left and right sides of the user's crotch, respectively. When the user's upper body is in an upright state, the left key point and the right key point are at the same height. The method for obtaining the tilt angle and tilt direction includes:

[0058] Identify and compare the heights of the left key point and the right key point, and obtain the vertical distance and horizontal distance between the left key point and the right key point;

[0059] If the left key point is higher than the right key point, it is determined that the user's upper body is tilted to the right; if the right key point is higher than the left key point, it is determined that the user's upper body is tilted to the left;

[0060] The first tilt angle is calculated according to the horizontal distance and the vertical distance, and the calculation expression is as follows:

[0061]

[0062] Where θ represents the first tilt angle, h represents the vertical distance between the left key point and the right key point, and w represents the horizontal distance between the left key point and the right key point.

[0063] In one embodiment, obtaining the vertical distance and the horizontal distance between the left key point and the right key point includes: using a 3D camera to capture the user's body image, thereby obtaining the spatial position coordinates of the left key point and the right key point, and then calculating the vertical distance and the horizontal distance.

[0064] In one embodiment, the stand-sit balance training device further includes a static balance board, and the method further includes:

[0065] When the user is performing standing and sitting balance training, the static balance board is placed on the soles of the user's feet, so as to support the user's body when the user is standing;

[0066] The pressure data of the four corners of the static balance board are collected, and then the position of the projection of the user's center of gravity on the static balance board is calculated and displayed based on the pressure data of the four corners.

[0067] By displaying the projection position of the user's center of gravity on the static balance board in real time during user training, the user can adjust his or her posture in real time during standing up and sitting down, stabilize his or her center of gravity, and prevent falling.

[0068] In one embodiment, calculating the position of the projection of the user's center of gravity on the static balance board includes:

[0069] A rectangular coordinate system is established by taking the center of the static balance board as the origin, a horizontal straight line extending in the left-right direction through the origin as the x-axis, and the right as the direction of the x-axis, and a horizontal straight line extending in the front-back direction through the origin as the y-axis, and the front as the direction of the y-axis;

[0070] Calculate the position coordinates of the projection, and the calculation expression is:

[0071]

[0072] Wherein, X represents the x-axis coordinate of the center of gravity in the rectangular coordinate system, Y represents the y-axis coordinate of the center of gravity in the rectangular coordinate system, and W all represents the sum of the pressure data of the four corners of the bearing plate, W A represents the pressure data of the right rear corner of the carrier plate, W B represents the pressure data of the left rear corner of the carrier plate, W C represents the pressure data of the left front corner of the carrier plate, W D represents the pressure data of the right front corner of the carrier plate, M represents the length of the carrier plate along the x-axis direction of the rectangular coordinate system, and N represents the length of the carrier plate along the y-axis direction of the rectangular coordinate system.

[0073] Example of standing and sitting balance training system:

[0074] The present invention also provides a standing and sitting balance training system. Figure 2As shown, the stand-sit balance training system includes: a dynamic balance board and a control circuit, the dynamic balance board includes a carrier board and a driving device for driving the carrier board to tilt, the control circuit includes a memory and a processor, the control circuit controls the driving device connected to the dynamic balance board, the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the stand-sit balance training method in the above embodiment is implemented.

[0075] The stand-sit balance training system also includes other components well known to those skilled in the art, such as a communication bus and a communication interface, whose configuration and functions are known in the art and will not be described in detail here.

[0076] In one embodiment, Figure 3 As shown, the dynamic balance board includes: a bearing plate 1 for bearing a human body; a vertical rod 2, one end of which is fixedly connected to the center of the bearing plate, and the other end is movably connected to the base 3 through a first connecting structure, so that the vertical rod can be tilted in all directions and the tilt angle is less than a preset value; a first electric push rod 4, a telescopic end of which is slidably connected to the vertical rod, and a fixed end of which is hinged on the bracket, so that the first electric push rod can rotate around a hinge point in a horizontal plane; a second electric push rod 5, a telescopic end of which is slidably connected to the vertical rod, and a fixed end of which is hinged on the bracket, so that the second electric push rod can rotate around a hinge point in a horizontal plane.

[0077] By making the inclination angle of the inclined board smaller than a preset value, it is possible to prevent the inclination angle from being too large, thereby preventing the user from sliding off the inclined board. The dynamic balance board of this embodiment has a simple structure and works stably and reliably. The dynamic balance board of this embodiment can be used to conveniently adjust the inclination angle of the user's upper body when sitting.

[0078] In one embodiment, the first connecting structure includes a spherical sliding block 11 fixedly connected to one end of the vertical rod and a groove 12 arranged on the base, the spherical sliding block is placed inside the groove and can slide along the inner surface of the groove, the inner surface of the groove is a curved surface, and the upper edge of the groove can limit the vertical rod so that the maximum inclination angle of the vertical rod is less than the preset first angle.

[0079] Through the cooperation of the spherical sliding block and the groove, the vertical rod can be tilted in all directions without being subjected to excessive force in the horizontal direction.

[0080] In one embodiment, Figure 4 and Figure 5As shown, the standing and sitting balance training system also includes a static balance board 6, a chair 7, a 3D camera 8 and a display 9, wherein the 3D camera 8 and the display 9 are arranged on a bracket 13, and the dynamic balance board 10 is placed on the seat surface of the chair. A pressure sensor is respectively arranged at the four corners of the static balance board, namely, pressure sensor A, pressure sensor B, pressure sensor C and pressure sensor D; the control circuit collects data from the pressure sensor and the 3D camera, and is communicatively connected to the display; the dynamic balance board is arranged on the seat surface of the chair.

[0081] In the present invention, the aforementioned memory may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, apparatus or device. For example, a computer-readable storage medium may be any suitable magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory RRAM (Resistive Random Access Memory), a dynamic random access memory DRAM (Dynamic Random Access Memory), a static random access memory SRAM (Static Random-Access Memory), an enhanced dynamic random access memory EDRAM (Enhanced Dynamic Random Access Memory), a high-bandwidth memory HBM (High-Bandwidth Memory), a hybrid memory cube HMC (Hybrid Memory Cube), etc., or any other medium that may be used to store the required information and may be accessed by an application, a module, or both. Any such computer storage medium may be part of a device or accessible or connectable to a device. Any application or module described in the present invention may be implemented using computer-readable / executable instructions that may be stored or otherwise maintained by such a computer-readable medium.

[0082] In the description of this specification, "plurality" or "several" means at least two, such as two, three or more, etc., unless otherwise clearly and specifically defined.

[0083] Although this specification has shown and described a number of embodiments of the present invention, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art will conceive of many modifications, changes and alternatives without departing from the ideas and spirit of the present invention. It should be understood that in the practice of the present invention, various alternatives to the embodiments of the present invention described herein may be employed.

Claims

1. A standing-sitting balance training method based on a standing-sitting balance training device, characterized in that: The stand-sit balance training device comprises a bearing plate for bearing a human body, and the bearing plate can be tilted in various directions under the control of a driving device. The method comprises: Obtaining a first tilt angle and tilt direction of the upper body of the user in a standing state; During the user's standing and sitting training, real-time detection of whether the user's buttocks are in contact with the bearing plate; In response to the user's buttocks contacting the support board, acquiring an image of the user's upper body, identifying key points, and calculating a second tilt angle of the user's upper body at the moment the user sits down based on the key points; The difference between the first tilt angle and the second tilt angle is calculated, and the action angle of the carrier plate is calculated according to the difference. The calculation expression is: θ = α + Δβ × 0.1; Wherein, θ represents the action angle of the carrier plate, α represents the second tilt angle, and Δβ represents the difference between the first tilt angle and the second tilt angle; The supporting plate is controlled to tilt in a direction opposite to the tilting direction according to the action angle.

2. The standing-sitting balance training method based on the standing-sitting balance training device according to claim 1, characterized in that: Controlling the supporting plate to tilt in a direction opposite to the tilting direction according to the action angle comprises: The tilt angle of the supporting plate is slowly increased to the action angle according to the set angular velocity.

3. The standing-sitting balance training method based on the standing-sitting balance training device according to claim 2, characterized in that: The calculation expression of the set angular velocity is: Where ω represents the set angular velocity, and ω0 represents the standard value of the angular velocity.

4. The standing-sitting balance training method based on the standing-sitting balance training device according to claim 1, characterized in that: The key points include a left key point and a right key point located on the left and right sides of the user's crotch respectively. When the user's upper body is in an upright state, the left key point and the right key point are at the same height. The method for obtaining the tilt angle and tilt direction includes: Identify and compare the heights of the left key point and the right key point, and obtain the vertical distance and horizontal distance between the left key point and the right key point; If the left key point is higher than the right key point, it is determined that the user's upper body is tilted to the right; if the right key point is higher than the left key point, it is determined that the user's upper body is tilted to the left; The first tilt angle is calculated according to the horizontal distance and the vertical distance, and the calculation expression is as follows: Where θ represents the first tilt angle, h represents the vertical distance between the left key point and the right key point, and w represents the horizontal distance between the left key point and the right key point.

5. The standing-sitting balance training method based on the standing-sitting balance training device according to claim 2, characterized in that: Obtaining the vertical distance and the horizontal distance between the left key point and the right key point includes: using a 3D camera to capture the user's body image, thereby obtaining the spatial position coordinates of the left key point and the right key point, and then calculating the vertical distance and the horizontal distance.

6. The standing-sitting balance training method based on the standing-sitting balance training device according to any one of claims 1 to 5, characterized in that: The stand-sit balance training device further includes a static balance board, and the method further includes: When the user is performing standing and sitting balance training, the static balance board is placed on the soles of the user's feet, so as to support the user's body when the user is standing; The pressure data of the four corners of the static balance board are collected, and then the position of the projection of the user's center of gravity on the static balance board is calculated and displayed based on the pressure data of the four corners.

7. A standing and sitting balance training system, characterized in that: include: A dynamic balance board and a control circuit, wherein the dynamic balance board includes a carrier board and a driving device for driving the carrier board to perform a tilting action, the control circuit includes a memory and a processor, the control circuit controls the driving device connected to the dynamic balance board, the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the standing and sitting balance training method according to any one of claims 1 to 5 is implemented.

8. The standing-sitting balance training system according to claim 7, characterized in that: The dynamic balance board comprises: A bearing plate, used for bearing a human body; A vertical rod, one end of which is fixedly connected to the center of the bearing plate, and the other end of which is movably connected to the base through a first connecting structure, so that the vertical rod can be tilted in all directions and the tilt angle is less than a preset value; A first electric push rod, whose telescopic end is slidably connected to the vertical rod and whose fixed end is hinged to the bracket, so that the first electric push rod can rotate around the hinge point in a horizontal plane; The second electric push rod has a telescopic end slidably connected to the vertical rod and a fixed end hinged on the bracket, so that the second electric push rod can rotate around the hinge point in a horizontal plane.

9. The standing-sitting balance training system according to claim 8, characterized in that: The first connecting structure includes a spherical sliding block fixedly connected to one end of the vertical rod and a groove arranged on the base, the spherical sliding block is placed inside the groove and can slide along the inner surface of the groove, the inner surface of the groove is a curved surface, and the upper edge of the groove can limit the vertical rod so that the maximum inclination angle of the vertical rod is less than the preset first angle.

10. The standing-sitting balance training system according to any one of claims 7 to 9, characterized in that: It also includes a static balance board, a chair, a 3D camera and a display. A pressure sensor is respectively arranged at the four corners of the static balance board. The control circuit collects data from the pressure sensor and the 3D camera and is communicatively connected to the display. The dynamic balance board is arranged on the seat surface of the chair.

Images