A sitting balance training method and system

Abstract

This invention relates to the field of balance training technology, specifically to a standing-sitting balance training method and system. The method includes: acquiring a first tilt angle and tilt direction of the user's upper body while standing; detecting in real-time whether the user's buttocks are in contact with a support plate during the standing-sitting training process; in response to the contact between the user's buttocks and the support plate, acquiring an image of the user's upper body, identifying key points, and calculating a second tilt angle of the upper body at the moment the user sits down based on the key points; calculating the difference between the first tilt angle and the second tilt angle, calculating the movement angle of the support plate based on the difference, and controlling the support plate to tilt in the opposite direction of the tilt direction according to the movement angle. The standing-sitting balance training method of this invention can effectively improve the balance training effect.

Description

Technical Field

[0001] This invention generally relates to the field of balance training technology. More specifically, this invention relates to a method and system for standing and sitting balance training. Background Technology

[0002] Balance is an essential ability for daily life, especially the ability to maintain balance while standing or sitting. Training for sitting balance usually requires the use of balance training devices.

[0003] Chinese utility model patent CN20403416U discloses a device for integrated sitting and standing balance training. When using this device to train a person's sitting balance, the user needs to sit on a platform. When the platform tilts, the user actively adjusts their posture to restore the platform to a horizontal position, thus exercising their sitting balance. However, for patients with poor coordination or weak lower back muscles, it is difficult to adjust their posture to restore the platform to a horizontal position, resulting in poor effectiveness of the balance training device. Summary of the Invention

[0004] To address the technical problem of poor training results in existing balance training methods, this invention provides solutions in the following aspects.

[0005] In a first aspect, the present invention provides a standing-sitting balance training method based on a standing-sitting balance training device, the standing-sitting balance training device including 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 including: acquiring 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 standing-sitting training process; in response to the user's buttocks contacting the support plate, acquiring 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 the difference between the first tilt angle and the second tilt angle, and calculating the movement angle of the support plate based on the difference, the calculation expression being: θ=α+Δβ×0.1; where θ represents the movement 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; controlling the support plate to tilt in the opposite direction of the tilt direction according to the movement angle.

[0006] Its beneficial effects are as follows: When correcting the user's upper body posture by controlling the movement angle of the support plate, the standing and sitting balance training method of the present invention fully considers the user's own body coordination ability. It adaptively adjusts the movement angle of the support plate 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 training the user's sitting balance using the standing and sitting balance training method of the present invention, the user does not need to actively adjust his / her sitting posture to restore the sitting platform to a horizontal state. Instead, by adjusting the tilt angle of the dynamic balance plate, the user's body is in an upright state after sitting on the balance plate, thereby achieving a better balance training effect.

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

[0008] Its beneficial effects are: if the support plate tilts too quickly, it may cause discomfort to the user. By slowly increasing the tilt angle of the support plate, the user's comfort during training can be guaranteed.

[0009] In one embodiment, the expression for calculating the set angular velocity is:

[0010]

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

[0012] Its beneficial effects are as follows: the greater the difference between the first tilt angle and the second tilt angle, the higher the degree of body incoordination of the user during standing and sitting. Under the condition of high body incoordination, the set angular velocity is lower, thereby ensuring the user's comfort and safety when tilting on the support plate; the smaller the difference between the first tilt angle and the second tilt angle, the higher the degree of body coordination of the user during standing and sitting. A larger angular velocity can be set, improving training efficiency while ensuring the user's comfort and safety.

[0013] 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 hips, respectively. When the user's upper body is upright, the left and right key points are at the same height. The method for obtaining the tilt angle and tilt direction includes:

[0014] Identify and compare the heights of the left and right keypoints, and obtain the vertical and horizontal distances between the left and right keypoints.

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

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

[0017]

[0018] In the formula, θ represents the first tilt angle, h represents the vertical distance between the left and right keypoints, and w represents the horizontal distance between the left and right keypoints.

[0019] In one embodiment, obtaining the vertical and horizontal distances between the left and right keypoints includes: acquiring a user's body image using a 3D camera to obtain the spatial coordinates of the left and right keypoints, and then calculating the vertical and horizontal distances.

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

[0021] The static balance board is placed under the user's feet when the user is performing standing and sitting balance training, thereby supporting the user's body when the user is standing.

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

[0023] Its beneficial effects are: by displaying the position of the user's center of gravity projected onto the static balance board in real time during user training, the user can adjust their posture in real time when standing up and sitting down, stabilize their center of gravity, and prevent falls.

[0024] In a second aspect, the present invention provides a standing-sitting balance training system, comprising: a dynamic balance board and a control circuit, wherein the dynamic balance board includes a support plate and a driving device for driving the support plate 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 standing-sitting balance training method of the present invention is implemented.

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

[0026] Its beneficial effects are: by making the tilt angle of the tilting board less than the preset value, it can prevent the tilt angle from being too large and causing the user to slip off the tilting board. The dynamic balance board of this embodiment has a simple structure and is stable and reliable in operation. The dynamic balance board of this embodiment can conveniently adjust the tilt 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 disposed 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 curved. The upper edge of the groove can limit the vertical rod so that the maximum tilt angle of the vertical rod is less than a preset first angle.

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

[0029] In one embodiment, the system further includes a static balance plate, a chair, a 3D camera, and a display. A pressure sensor is provided at each of the four corners of the static balance plate. The control circuit collects data from the pressure sensors and the 3D camera and is communicatively connected to the display. The dynamic balance plate is disposed on the seat surface of the chair. Attached Figure Description

[0030] The above and other objects, features, and advantages of exemplary embodiments of the present invention will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the invention are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein:

[0031] Figure 1 This is a flowchart illustrating an embodiment of the standing-sitting balance training method based on a standing-sitting balance training device according to the present invention.

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

[0033] Figure 3 This is a schematic diagram illustrating the dynamic balance plate structure of an embodiment of the present invention. Figure 1 ;

[0034] Figure 4 This is a schematic diagram illustrating the structure of a standing-sitting balance training system according to an embodiment of the present invention. Figure 2 ;

[0035] Figure 5 This is a schematic diagram illustrating the placement of the pressure sensor according to an embodiment of the present invention. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0038] Example of a standing-sitting balance training method based on a standing-sitting balance training device:

[0039] like Figure 1 As shown, the standing-sitting balance training device upon which the standing-sitting balance training method of the present invention is based includes a support plate for supporting the human body, the support plate being tiltable in various directions under the control of a driving device, including:

[0040] S101. Obtain the first tilt angle and tilt direction of the user's upper body while standing.

[0041] S102. Real-time detection of whether the user's buttocks are in contact with the support plate during the user's standing and sitting training process;

[0042] Standing and sitting training refers to a training process in which users repeatedly sit and stand in order to improve their balance when standing up and sitting down and to restore normal posture.

[0043] S103. Obtain the second tilt angle of the upper body at the moment the user sits down, specifically: in response to the contact between the user's buttocks and the support plate, obtain an image of the user's upper body, identify key points, and calculate the second tilt angle of the upper body at the moment the user sits down based on the key points.

[0044] The system can determine whether the user's buttocks are in contact with the support plate by setting up a camera to capture images of the user in real time; alternatively, a pressure sensor, infrared sensor, or photoelectric sensor can be installed on the support plate to determine whether the user's buttocks are in contact with the support plate.

[0045] S104. Calculate the operating angle of the bearing plate, specifically: calculate the difference between the first tilt angle and the second tilt angle, and calculate the operating angle of the bearing plate based on the difference. The calculation expression is:

[0046] θ = α + Δβ × 0.1;

[0047] In the formula, θ represents the operating angle of the bearing plate, α represents the second tilt angle, and Δβ represents the difference between the first tilt angle and the second tilt angle;

[0048] S105. Control the support plate to tilt in the opposite direction of the tilting direction according to the action angle.

[0049] If the angle of the user's upper body tilt while standing is different from the angle at the moment of sitting, it indicates that the user's body tilt changes during movement. After sitting down, the tilt angle changes from the initial tilt to a different magnitude. By correcting the movement angle of the support plate, this error can be compensated for, ensuring that the user's upper body is upright when seated. A larger difference between the first and second tilt angles indicates a higher degree of incoordination and a larger change in body tilt angle during standing and sitting. A greater correction to the support plate's movement angle is needed when the user sits down, ensuring the user's upper body remains upright after sitting. Conversely, a smaller difference indicates a lower degree of incoordination and stronger balance control during standing and sitting, resulting in a smaller change in body tilt angle. A smaller correction to the support plate's movement angle is sufficient to ensure the user's upper body remains upright after sitting. The standing-sitting balance training method of the present invention, when correcting the user's upper body posture by controlling the movement angle of the support plate, fully considers the user's own body coordination ability. It adaptively adjusts the movement angle of the support plate 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 training the user's sitting balance using the standing-sitting balance training method of the present invention, there is no need for the user to actively adjust their sitting posture to restore the sitting platform to a horizontal state. Instead, by adjusting the tilt angle of the dynamic balance plate, the user's body is in an upright state after sitting on the balance plate, thereby achieving a better balance training effect.

[0050] In one embodiment, controlling the support plate to tilt in the opposite direction of the tilting direction according to the action angle includes:

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

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

[0053] In one embodiment, the expression for calculating 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 tilt angle and the second tilt angle.

[0056] The greater the difference between the first tilt angle and the second tilt angle, the higher the degree of body incoordination of the user during standing and sitting. When the degree of body incoordination is high, the set angular velocity should be lower to ensure the user's comfort and safety when tilting on the support plate. The smaller the difference between the first tilt angle and the second tilt angle, the higher the degree of body coordination of the user during standing and sitting. A larger angular velocity can be set to improve training efficiency while ensuring the user's comfort and safety.

[0057] As can be seen from the above embodiments, 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 hips, respectively. When the user's upper body is in an upright position, the heights of the left and right key points are equal. The method for obtaining the tilt angle and tilt direction includes:

[0058] Identify and compare the heights of the left and right keypoints, and obtain the vertical and horizontal distances between the left and right keypoints.

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

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

[0061]

[0062] In the formula, θ represents the first tilt angle, h represents the vertical distance between the left and right keypoints, and w represents the horizontal distance between the left and right keypoints.

[0063] In one embodiment, obtaining the vertical and horizontal distances between the left and right keypoints includes: acquiring a user's body image using a 3D camera to obtain the spatial coordinates of the left and right keypoints, and then calculating the vertical and horizontal distances.

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

[0065] The static balance board is placed under the user's feet when the user is performing standing and sitting balance training, thereby supporting the user's body when the user is standing.

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

[0067] By displaying the user's center of gravity projected onto the static balance board in real time during user training, the user can adjust their posture in real time when standing up and sitting down, stabilize their center of gravity, and prevent falls.

[0068] In one embodiment, calculating the position of the user's center of gravity projected onto the static balance plate includes:

[0069] A rectangular coordinate system is established with the center of the static balance plate as the origin, the horizontal line extending to the left and right through the origin as the x-axis, the right side as the direction of the x-axis, the horizontal line extending to the front and back through the origin as the y-axis, and the front as the direction of the y-axis.

[0070] The position coordinates of the projection are calculated using the following expression:

[0071]

[0072] In the formula, X represents the x-axis coordinate of the centroid in the rectangular coordinate system, Y represents the y-axis coordinate of the centroid in the rectangular coordinate system, and W... all W represents the sum of the pressure data at the four corners of the bearing plate. A W represents the pressure data at the right rear corner of the bearing plate. B W represents the pressure data at the left rear corner of the bearing plate. C W represents the pressure data at the left front corner of the bearing plate. D The pressure data represents the right front corner of the support plate, M represents the length of the support plate along the x-axis of the rectangular coordinate system, and N represents the length of the support plate along the y-axis of the rectangular coordinate system.

[0073] Example of a standing-sitting balance training system:

[0074] This invention also provides a standing-sitting balance training system. For example... Figure 2As shown, the standing-sitting balance training system includes a dynamic balance board and a control circuit. The dynamic balance board includes a support plate and a drive device for driving the support plate to tilt. The control circuit includes a memory and a processor. The control circuit controls the drive device connected to the dynamic balance board. The memory stores computer program instructions. When the computer program instructions are executed by the processor, the standing-sitting balance training method in the above embodiment is implemented.

[0075] The standing and sitting balance training system also includes other components well known to those skilled in the art, such as communication buses and communication interfaces. Their settings and functions are known in the art and will not be described in detail here.

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

[0077] By making the tilt angle of the tilting board less than a preset value, it is possible to prevent the tilt angle from being too large and causing the user to slip off the tilting board. The dynamic balance board in this embodiment has a simple structure and is stable and reliable in operation. Using the dynamic balance board in this embodiment, the tilt angle of the user's upper body when sitting can be easily adjusted.

[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 disposed 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 curved. The upper edge of the groove can limit the vertical rod so that the maximum tilt angle of the vertical rod is less than a preset first angle.

[0079] The combination of the spherical sliding block and the groove allows the vertical rod to tilt in all directions without being subjected to excessive force in the horizontal direction.

[0080] In one embodiment, such as Figure 4 and Figure 5As shown, the standing-sitting balance training system also includes a static balance board 6, a chair 7, a 3D camera 8, and a display 9. The 3D camera 8 and the display 9 are mounted on a support 13. The dynamic balance board 10 is placed on the seat surface of the chair. A pressure sensor is respectively installed at each of 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 sensors and the 3D camera and communicates with the display. The dynamic balance board is placed on the seat surface of the chair.

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

[0082] In the description of this specification, "multiple" or "several" means at least two, such as two, three or more, unless otherwise explicitly specified.

[0083] While this specification has shown and described numerous embodiments of the invention, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and essence of the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in the practice of this invention.

Claims

1. A standing balance training method based on a standing balance training device, characterized by, The standing-sitting balance training device includes a support plate for supporting a human body, the support plate being tiltable in various directions under the control of a drive device, and the method includes: Obtain the first tilt angle and tilt direction of the user's upper body while standing; The system monitors in real time whether the user's buttocks are in contact with the support plate during the user's standing and sitting training process. In response to the user's buttocks contacting the support plate, an image of the user's upper body is acquired, key points are identified, and the second tilt angle of the user's upper body at the moment of sitting down is calculated based on the key points. Calculate the difference between the first tilt angle and the second tilt angle, and calculate the operating angle of the bearing plate based on the difference. The calculation expression is as follows: θ = α + Δβ × 0.1; In the formula, θ represents the operating angle of the bearing plate, α represents the second tilt angle, and Δβ represents the difference between the first tilt angle and the second tilt angle; The support plate is controlled to tilt in the opposite direction of the tilting direction according to the action angle.

2. The sitting balance training method based on the sitting balance training device according to claim 1, characterized by, Controlling the support plate to tilt in the opposite direction of the tilting direction according to the action angle includes: The tilt angle of the support plate is slowly increased to the set action angle according to the set angular velocity.

3. The sitting balance training method based on the sitting balance training device according to claim 2, characterized by, The expression for calculating the set angular velocity is: In the formula, ω represents the set angular velocity, and ω0 represents the standard value of the angular velocity.

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

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

6. The standing-sitting balance training method based on a standing-sitting balance training device as described in any one of claims 1 to 5, characterized in that, The standing-sitting balance training device further includes a static balance board, and the method further includes: The static balance board is placed under the user's feet when the user is performing standing and sitting balance training, thereby supporting the user's body when the user is standing. The pressure data at the four corners of the static balance plate is collected, and then the position of the user's center of gravity projected onto the static balance plate is calculated and displayed based on the pressure data at the four corners.

7. A standing and sitting balance training system, characterized by include: A dynamic balance board and a control circuit, wherein the dynamic balance board includes a support plate and a drive device for driving the support plate to tilt, and the control circuit includes a memory and a processor. The control circuit controls the drive 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 seated balance training system of claim 7, wherein, The dynamic balancing plate includes: A support plate, used to support the human body; A vertical rod, one end of which is fixedly connected to the center of the support plate, and the other end is movably connected to the base through the first connecting structure, so that the vertical rod can tilt in all directions and the tilt angle is less than a preset value; The first electric push rod has its telescopic end slidably connected to the vertical rod, and its fixed end hinged to the bracket, so that the first electric push rod can rotate around the hinge point in the horizontal plane. The second electric push rod has its telescopic end slidably connected to the vertical rod, and its fixed end hinged to the bracket, so that the second electric push rod can rotate around the hinge point in the horizontal plane.

9. The seated balance training system of claim 8, wherein, The first connecting structure includes a spherical sliding block fixedly connected to one end of the vertical rod and a groove disposed 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 curved. The upper edge of the groove can limit the vertical rod so that the maximum tilt angle of the vertical rod is less than a preset first angle.

10. A seated balance training system as claimed in any one of claims 7 to 9, wherein, It also includes a static balance plate, a chair, a 3D camera, and a display. A pressure sensor is set at each of the four corners of the static balance plate. The control circuit collects data from the pressure sensors and the 3D camera and communicates with the display. The dynamic balance plate is set on the seat surface of the chair.

Images