Sofa-based auxiliary motion method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses an auxiliary movement method and device based on a sofa, electronic equipment and a storage medium, the auxiliary movement method and device are applied to the sofa, mechanical arms are installed in armrest areas and backrest areas of the sofa, fixing devices are installed at the tail ends of the mechanical arms, and the fixing devices are used for fixing legs or hands of a user. A joint detection device is installed in an armrest area of the sofa, and the method comprises the steps that data collected by the joint detection device is obtained, a joint detection result of a user is obtained, and the joint detection result is used for indicating the joint injury condition of the user; generating a corresponding instruction according to the joint detection result; and controlling the mechanical arm to drive the legs or hands of the user to move according to the instruction. By implementing the embodiment of the invention, the sofa can perform auxiliary movement according to the joint injury condition of the user, so that the rehabilitation effect and efficiency are improved.

Description

Technical Field

[0001] The present application relates to the technical field of sofas, and in particular to a sofa-based auxiliary motion method, device, electronic device and storage medium. Background Art

[0002] In modern society, the number of people with joint injuries is increasing due to various reasons. It may be due to joint problems caused by accidents, sports injuries, chronic diseases, etc., which makes these people face many inconveniences in daily life, especially when they are doing independent exercises. For this part of the population, there is an urgent need for a safe and effective auxiliary exercise method to help them perform appropriate physical activities and promote joint rehabilitation. The current rehabilitation equipment and exercise auxiliary tools are mainly concentrated on professional medical equipment and fitness equipment, and the development of auxiliary exercise functions for common household furniture such as sofas is a key technical problem that needs to be solved urgently. Summary of the invention

[0003] The embodiment of the present application discloses a sofa-based auxiliary exercise method, device, electronic device and storage medium. The sofa can perform auxiliary exercise according to the user's joint injury. Compared with traditional rehabilitation equipment, the sofa can reduce the pressure and discomfort on the joints during exercise, reduce the risk of pain and secondary injury, and thus improve the effect and efficiency of rehabilitation.

[0004] The first aspect of the embodiment of the present application discloses an auxiliary motion method based on a sofa, which is applied to the sofa, wherein a mechanical arm is installed in the armrest area and the backrest area of ​​the sofa, and a fixing device is installed at the end of the mechanical arm, and the fixing device is used to fix the user's legs or hands. The armrest area of ​​the sofa is installed with a joint detection device, and the method includes:

[0005] Acquire data collected by the joint detection device to obtain a joint detection result of the user, wherein the joint detection result is used to indicate a joint injury condition of the user;

[0006] Generate corresponding instructions according to the joint detection results;

[0007] The robot arm is controlled according to the instruction to drive the user's legs or hands to move.

[0008] As an optional implementation manner, in the first aspect of this embodiment, acquiring the data collected by the joint detection device to obtain the joint detection result of the user includes:

[0009] The data collected by the joint detection device is input into the algorithm model to obtain the joint detection result of the user, and the data collected by the joint detection device includes data collected by a camera and a sensor.

[0010] As an optional implementation manner, in the first aspect of this embodiment, generating a corresponding instruction according to the joint detection result includes:

[0011] Generate, according to the joint injury condition of the user, an instruction for controlling a mechanical arm motion mode corresponding to the joint injury condition, wherein the mechanical arm motion mode includes an active motion mode, an auxiliary motion mode, and a passive motion mode;

[0012] The robotic arm pre-stores parameters corresponding to different motion modes, and the parameters at least include the angle, amplitude, and speed of flexion and extension of the robotic arm.

[0013] As an optional implementation manner, in the first aspect of this embodiment, the generating, according to the joint injury condition of the user, an instruction for controlling a motion mode of the robotic arm corresponding to the joint injury condition includes:

[0014] When it is detected that the user's joint is at the first level of injury, the movement mode of the robot arm is controlled to be an active movement mode;

[0015] When it is detected that the user's joint is at level 2, the movement mode of the robot arm is controlled to be an auxiliary movement mode;

[0016] When it is detected that the user's joint is at level three damage, the movement mode of the robot arm is controlled to be a passive movement mode;

[0017] The corresponding operation is performed according to the motion mode of the robot arm.

[0018] As an optional implementation manner, in the first aspect of this embodiment, performing a corresponding operation according to the motion mode of the robotic arm includes:

[0019] Planning a motion trajectory of the robotic arm according to the motion mode of the robotic arm, wherein the motion trajectory is used to indicate a joint motion path of the user;

[0020] The parameters corresponding to the motion mode are adjusted according to the motion mode of the robotic arm.

[0021] As an optional implementation manner, in the first aspect of this embodiment, controlling the mechanical arm to drive the leg or hand of the user to move according to the instruction includes:

[0022] Acquiring physiological index data of the user during exercise;

[0023] The motion mode of the robotic arm is adjusted in real time according to the physiological indicator data.

[0024] As an optional implementation manner, in the first aspect of this embodiment, the method further includes:

[0025] When it is detected that the physiological indicator data of the user is abnormal during exercise, the emergency mode is activated, and the emergency mode includes an alarm function and an emergency stop function.

[0026] A second aspect of an embodiment of the present application discloses a sofa-based auxiliary exercise device, the device comprising:

[0027] A data acquisition module, used to acquire data collected by the joint detection device to obtain the user's joint detection results, and the joint detection results are used to indicate the user's joint injury status;

[0028] The command control module is used to generate corresponding commands according to the joint detection results, and control the robotic arm to drive the user's legs or hands to move according to the commands.

[0029] A third aspect of an embodiment of the present application discloses an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor implements the method described above.

[0030] A fourth aspect of an embodiment of the present application discloses a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the method described above when executed by a processor.

[0031] Compared with the related art, the embodiments of the present application include at least the following beneficial effects:

[0032] The sofa can obtain the data collected by the joint detection device, obtain the user's joint detection results, and generate corresponding instructions based on the joint detection results to control the mechanical arm to drive the user's legs or hands to move. Compared with traditional rehabilitation equipment, the sofa can assist in exercise according to the user's joint injury, reduce the pressure and discomfort on the joints during the user's exercise, reduce the risk of pain and secondary injury, and thus improve the effect and efficiency of rehabilitation. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 This is a diagram of an application scenario of a sofa-based auxiliary motion method in an embodiment;

[0035] Figure 2 is a flowchart of a sofa-based auxiliary exercise method in one embodiment;

[0036] Figure 3 is a structural schematic diagram of a sofa in one embodiment;

[0037] Figure 4 A schematic diagram of a sofa-based auxiliary motion monitoring process in one embodiment;

[0038] Figure 5 is a block diagram of a sofa-based auxiliary motion device in one embodiment;

[0039] Figure 6 FIG. 4 is a structural block diagram of an electronic device in an embodiment. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] In order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first" and "second" are used to distinguish the same items or similar items with substantially the same functions and effects. For example, the first instruction and the second instruction are to distinguish different user instructions, and their order is not limited. Those skilled in the art can understand that the words "first" and "second" do not limit the quantity and execution order, and the words "first" and "second" do not necessarily limit them to be different.

[0042] It should be noted that, in this application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplarily" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplarily" or "for example" is intended to present related concepts in a specific way.

[0043] In addition, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can mean: a, or b, or c, or a and b, or a and c, or b and c, or a, b and c, where a, b, c can be single or multiple.

[0044] In addition, the terms "including" and "having" and any variations thereof in the embodiments of the present application and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products, or devices.

[0045] With the aging of the global population, more and more elderly people are facing health problems such as joint diseases and muscle atrophy, and need rehabilitation training to maintain their body functions. In addition, modern people's lifestyles and work habits have led to an increasing incidence of sports injuries. For example, people who sit for a long time and lack exercise are prone to muscle strains, joint sprains and other problems when they suddenly engage in strenuous exercise. For these patients with joint injuries, timely and effective rehabilitation training is crucial. Traditional rehabilitation equipment is usually large in size and heavy in weight, which is inconvenient to carry and move. This is a big limitation for patients who need to undergo rehabilitation training at home. In addition, traditional rehabilitation equipment often adopts standardized designs and is difficult to meet the personalized needs of different users. As a common piece of furniture, sofas are usually placed in homes, offices and other places. They have high portability and accessibility. However, the development of auxiliary sports functions for common household furniture such as sofas is still a key technical problem that needs to be solved urgently.

[0046] The embodiments of the present application disclose a sofa-based auxiliary exercise method, device, electronic device and storage medium. Compared with traditional rehabilitation equipment, the sofa can assist in exercise according to the user's joint injury, reduce the pressure and discomfort on the joints during the user's exercise, reduce the risk of pain and secondary injury, and thus improve the effect and efficiency of rehabilitation. The following is a detailed description.

[0047] See also Figure 1 , Figure 1FIG. 1 is an application scenario diagram of a sofa-based auxiliary motion method in an embodiment. Figure 1 As shown, the application scenario may include a joint detection device 10, a sofa 20, and a robotic arm 30, wherein the joint detection device 10 can be installed in the armrest area of ​​the sofa 20 or the area of ​​the sofa for placing legs, the robotic arm 30 can be installed in the armrest area and the backrest area of ​​the sofa 20, the joint detection device 10 establishes a communication connection with the sofa 20, and the sofa 20 establishes a communication connection with the robotic arm 30.

[0048] In the embodiment of the present application, the joint detection device 10 includes a camera 101 and a sensor 102. The camera 101 is used to shoot the user's body posture and movement on the sofa. It can capture the position of the joint, the movement trajectory and the overall posture change of the body. By analyzing the captured image, the user's joint range of motion can be accurately determined. In addition, the image data collected by the camera 101 can be combined with image recognition technology to evaluate the appearance of the joint. If the joint part is swollen, deformed or abnormal in color, it means that the user's joint is damaged. The sensor 102 may include but is not limited to a pressure sensor, a gyroscope sensor and an electromyographic sensor, etc., which are used to monitor leg movement and force input, so as to obtain the stability and coordination of leg movement through monitoring data analysis. In this application scenario, different types of sensors can be distributed in different positions to better detect the user's joint state and judge the damage. In some embodiments, the pressure sensors are mainly distributed in the parts where the sofa contacts the user's body, such as the seat surface, the backrest and the armrest. These positions can directly feel the weight and pressure distribution of the user's body, thereby inferring the pressure borne by different joints. For example, the pressure sensors on the seat surface can detect the pressure of the user's buttocks and thighs on the sofa, reflecting the stress conditions of the hip and knee joints; the pressure sensors on the backrest can sense the pressure when the user's back contacts the sofa, which helps analyze the state of the spinal joints. When the joints are damaged, the pressure distribution may be abnormal, providing a reference for judging the extent of joint damage.

[0049] In some embodiments, the gyroscope sensor can sense the rotation angle and angular velocity of the joint. For some joints that need rotational movement, such as the shoulder joint and the hip joint, the gyroscope sensor can accurately detect its motion state and determine whether there is damage. For example, the gyroscope sensor can be integrated in the armrest area of ​​the sofa to detect the rotation angle and angular velocity of the user's arm joint and determine the motion state of the shoulder joint and the elbow joint. The electromyographic sensor can detect the electrical activity of the muscle. When the joint is damaged, the electrical activity of the surrounding muscles will also change. By analyzing the electromyographic signal, the contraction state and fatigue degree of the muscle can be understood, which indirectly reflects the health of the joint. The electromyographic sensor can be placed in a position that is in close contact with the user's muscles. For example, an adjustable electromyographic sensor belt can be set on the armrest of the sofa. When using it, the user can put his arm on the armrest so that the electromyographic sensor is close to the arm muscle. In this way, the electrical activity of the arm muscle can be detected, and then the state of the muscles around the elbow joint and the shoulder joint can be analyzed, providing a basis for judging the damage of these joints.

[0050] The sofa 20 may include but is not limited to a processor, a communication module, a display screen, a speaker, and a microphone. The processor of the sofa 20 may process and analyze the data collected by the joint detection device 10 to obtain the user's joint detection results, and generate corresponding instructions according to the joint detection results to control the state of the mechanical arm, and may also adjust the movement mode of the mechanical arm in real time according to the user's physiological index data during the movement. The functions of the processor are not limited in the embodiments of the present application.

[0051] The communication module of the sofa 20 can receive the data collected by the joint detection device 10, and send the generated control instructions to the mechanical arm 30. The communication module may include a wireless communication module and a wired communication module. The wireless communication module may include but is not limited to a Bluetooth Low Energy (BLE) module, a Wireless Fidelity (Wi-Fi) module, a cellular module, a Low Power Wide Area Network (LPWAN) module, a ZigBee module, etc., wherein the cellular module may include but is not limited to the 4th Generation Mobile Communication Technology (4G), the 5th Generation Mobile Communication Technology (5G), etc. The wired communication module may include but is not limited to wired interfaces such as RS485 (Recommended Standard 485) interface and Ethernet interface.

[0052] The display screen is used to display the user's joint detection results, and can also be used to set and adjust the parameters of the sofa 20 and the mechanical arm 30, as well as the operating interface and status information of the display system. The user can personalize the functions of the sofa 20 through the display screen, such as adjusting the movement strength of the mechanical arm 30, selecting different joint detection locations, etc. At the same time, the display screen can also display the working status of the sofa 20 in real time, such as whether the joint detection device 10 is operating normally, the current status of the mechanical arm 30, etc., so that the user can understand the use of the sofa at any time.

[0053] The speaker of the sofa 20 can be used to play audio data such as music and sound prompts. For example, when the user starts to use the sofa 20, the speaker can play a welcome message and instructions for use; during the assisted exercise process, the speaker can remind the user of precautions, exercise progress and goals, etc., and can also play soft and soothing music to help the user relax. The microphone of the sofa 20 can be used to collect the user's audio data. For example, the user can send voice commands to the sofa 20 through the microphone, and then adjust the exercise intensity of the mechanical arm 30 or select a specific exercise mode, etc. The user can also control the start and stop of the mechanical arm through voice commands.

[0054] The mechanical arm 30 includes a main body of the mechanical arm 30 and a fixing device installed at the end of the mechanical arm 30, and the fixing device is used to fix the user's legs or hands. The main body of the mechanical arm 30 is composed of a series of connectors, connecting rods and drivers. The connectors allow the mechanical arm to rotate and move in multiple degrees of freedom. These connectors can adopt different driving methods, such as motor drive, hydraulic drive or pneumatic drive, etc. Common drivers include motors, hydraulic pumps and pneumatic motors. The fixing device can be a soft clamp or gripper for fixing the user's body parts, such as arms, legs, etc. The fixing device can also be equipped with sensors to detect the user's physiological indicators, such as blood pressure sensors, heart rate sensors, etc., to monitor the user's blood pressure, heart rate and other physiological indicators in real time during the user's exercise.

[0055] The sofa 20 obtains the data collected by the joint detection device 10 to obtain the user's joint detection results, which are used to indicate the user's joint injury status. The sofa 20 generates corresponding instructions based on the joint detection results, and controls the mechanical arm 30 to drive the user's legs or hands to move according to the instructions.

[0056] See also Figure 2 , Figure 2 FIG. 1 is a flow chart of a sofa-based auxiliary motion method according to an embodiment of the present invention. The method can be applied to Figure 1 The sofa 20 in the application scenario shown is Figure 2 As shown, the method may include the following steps:

[0057] Step 201, acquiring data collected by a joint detection device to obtain a joint detection result of the user, wherein the joint detection result is used to indicate a joint injury condition of the user.

[0058] In some embodiments, the data collected by the joint detection device can be input into an algorithm model, such as a neural network model, to obtain the user's joint detection results. The data collected by the joint detection device includes data collected by the camera and the sensor. The sofa can perform noise reduction, enhancement, cropping and other processing on the images collected by the camera, for example, removing noise points in the image, enhancing the contrast and brightness of the image, cropping out the image area containing the joint parts, etc., to improve the image quality and highlight key information, and calibrate and filter the sensor data to remove noise and outliers. Sensors may include pressure sensors, gyroscope sensors, electromyography sensors, etc. These sensors can be installed in the armrest area of ​​the sofa, or integrated in the area in contact with the joints in wearable devices, such as smart knee pads, wrist guards, sports watches, etc.

[0059] In the embodiment of the present application, to obtain the degree of joint injury, different feature data can be obtained through sensors and cameras, and the feature data can be fused, for example: using weighted average, feature splicing and other methods to obtain feature data vectors, and inputting the feature data vectors into a preset algorithm model to obtain the degree of joint injury. In practice, the sofa can fuse multi-source data from pressure sensors, gyroscope sensors, electromyographic sensors and cameras, and use weighted average, feature splicing and other methods to integrate different types of data into a unified feature vector for processing by the algorithm model. For example, the pressure value detected by the pressure sensor, the movement angle measured by the gyroscope sensor, the muscle electrical activity signal obtained by the electromyographic sensor, and the joint image features captured by the camera are fused, and key features are extracted from the fused data, including statistical features of sensor data, such as mean, variance, peak value, etc., texture features of the image, spatiotemporal features of joint movement, etc. For example, the frequency features of muscle activity are extracted from the electromyographic sensor data, the shape and contour features of the joint are extracted from the camera image, and the angular velocity and acceleration features of the joint movement are extracted from the gyroscope sensor data. After that, a large amount of labeled joint status data is used to train the algorithm model, so that the model can learn the relationship between different features and joint status. The trained model can predict the user's joint status based on the newly input sensor data and camera images, and determine whether there is damage and the degree and type of damage. For example, through deep learning algorithms such as convolutional neural networks (CNN) and recurrent neural networks (RNN), the fused features can be automatically classified to determine whether the joint is normal, slightly damaged, moderately damaged, or severely damaged.

[0060] Step 202, generating corresponding instructions according to the joint detection results.

[0061] In an embodiment of the present application, the sofa generates instructions for controlling the movement mode of the robotic arm corresponding to the joint injury condition of the user, and the robotic arm movement mode includes active movement mode, auxiliary movement mode and passive movement mode. For example, when it is detected that the user's joint is injured at the first level, the movement mode of the robotic arm is controlled in the active movement mode; when it is detected that the user's joint is injured at the second level, the movement mode of the robotic arm is controlled in the auxiliary movement mode; when it is detected that the user's joint is injured at the third level, the movement mode of the robotic arm is controlled in the passive movement mode.

[0062] In some embodiments, when the sofa detects that the user's joints are at level one, it indicates that the user's joints are slightly injured or uninjured, and the user has a strong ability to move autonomously. At this time, the sofa controls the robotic arm to enter the active movement mode. In this mode, the robotic arm mainly plays an auxiliary and guiding role, allowing users to move autonomously more easily. For example, when the user is doing arm stretching exercises, the robotic arm will follow the user's movements, providing slight resistance or assistance to help the user better exercise muscles and restore joint function. The active movement mode can fully mobilize the user's own muscle strength and exercise enthusiasm, promote blood circulation and the flow of synovial fluid, and speed up the recovery process.

[0063] If the sofa determines that the user's joints are at level 2, it means that the user's joints are at a moderate level of injury and their autonomous movement ability is limited to a certain extent. In this case, the robotic arm enters the assisted movement mode. In the assisted movement mode, the robotic arm will provide a greater degree of auxiliary force to the user to help the user complete some more difficult movements. For example, when the user lifts their legs, the robotic arm will provide a certain upward thrust to reduce the burden on the user's leg muscles and guide the user's joints to move correctly. The assisted movement mode can help users perform moderate exercise when their own strength is insufficient, avoiding muscle atrophy and joint stiffness due to long-term inactivity.

[0064] When the sofa detects that the user's joints are at level three, it means that the user's joints are severely injured and have almost lost their ability to move autonomously. At this point, the robotic arm enters passive motion mode. In passive motion mode, the robotic arm completely controls the movement, and the user does not need to actively exert force. The robotic arm will slowly and regularly move the user's joints according to the preset program and parameters. For example, the robotic arm can gently lift the user's arm, then put it down, and repeat this process to maintain the flexibility of the user's joints.

[0065] Step 203: Control the robotic arm to drive the user's legs or hands to move according to the instruction.

[0066] In the embodiment of the present application, after determining the joint injury of the user, the sofa will generate corresponding control instructions and send the control instructions to the mechanical arm through the communication module. After receiving the instructions, the mechanical arm will adjust its own movement mode and parameters according to the requirements of the instructions to adapt to the joint injury of the user. As an optional implementation, the user can independently select the movement mode of the mechanical arm when he understands the degree of his own joint injury. For example, he can send control instructions to the sofa or the mechanical arm through the control panel (display) on the sofa, the control button of the remote control, or the application on the electronic device.

[0067] After the fixing device at the end of the robotic arm fixes the user's hand or leg, the motion mode is turned on according to the received command, driving the user's joints to move, such as stretching, bending, rotating, etc. In some embodiments, robotic arms can be installed in the armrest area and the backrest area of ​​the sofa, and multiple robotic arms are used to provide motion assistance for different joints or body parts of the user at the same time. For example, one robotic arm is used to assist the user's leg movement, and another robotic arm is used to assist the user's hand movement. Multiple robotic arms can be coordinated through a collaborative control algorithm to ensure that their movements are coordinated with each other and do not conflict. For example, when the user performs full-body exercise, the leg robotic arm and the hand robotic arm can be synchronously adjusted according to the user's movement rhythm and strength, and the movement state of each robotic arm can also be adjusted according to user needs.

[0068] In some other embodiments, the user can wear a virtual reality device to enter a specially designed virtual environment for rehabilitation training. The sofa and the robotic arm can communicate with the virtual reality device through wireless communication methods such as Bluetooth and Wi-Fi, which are not specifically limited here. The sofa can send the detected joint injury of the user to the virtual reality device, and the virtual reality device can adjust the difficulty of training in the virtual environment based on this information. In addition, the sofa can also generate control instructions based on the user's movements and joint states in the virtual environment to control the movement mode of the robotic arm. For example, when the user is performing mountain climbing training in a virtual environment, when the joint detection device detects that the user's leg joints are fatigued or the injury is aggravated, the sofa adjusts the instructions to switch the robotic arm from the active movement mode to the auxiliary movement mode.

[0069] By adopting the above embodiment, the sofa can obtain the data collected by the joint detection device, obtain the joint detection results of the user, and generate corresponding instructions according to the joint detection results to control the mechanical arm to drive the user's legs or hands to move. Compared with traditional rehabilitation equipment, the sofa can perform auxiliary exercises according to the user's joint injury, reduce the pressure and discomfort on the joints during the user's exercise, reduce the risk of pain and secondary injury, and thus improve the effect and efficiency of rehabilitation.

[0070] See also Figure 3 , Figure 3 The structural diagram of a sofa in an embodiment is shown in FIG. When the sofa detects that the user is using the sofa, the camera and sensor in the joint detection device will automatically turn on to detect the user's joint injury, and the sofa can broadcast voice prompts to the user through a speaker. After the sofa obtains the user's joint detection results, it can generate instructions for controlling the motion mode of the mechanical arm corresponding to the joint injury according to the user's joint injury. For example, when the user's joint is detected to be a first-level injury, the motion mode of the mechanical arm is controlled to be an active motion mode; when the user's joint is detected to be a second-level injury, the motion mode of the mechanical arm is controlled to be an auxiliary motion mode; when the user's joint is detected to be a third-level injury, the motion mode of the mechanical arm is controlled to be a passive motion mode. The specific implementation method is not repeated here. It should be noted that after the motion mode of the mechanical arm is determined, the sofa performs corresponding operations according to the motion mode of the mechanical arm, for example, the motion trajectory of the mechanical arm is planned according to the motion mode of the mechanical arm, and the motion trajectory is used to indicate the user's joint activity path. In addition, the mechanical arm pre-stores parameters corresponding to different motion modes, and the parameters at least include the angle, amplitude, speed, etc. of the flexion and extension of the mechanical arm, and the sofa will adjust the parameters corresponding to the motion mode according to the motion mode of the mechanical arm.

[0071] In some embodiments, the sofa can determine the starting point and end point of the joint activity path according to the current position of the joint and the desired target position, and then plan the motion trajectory of the robotic arm. For example, for an elbow injury, the starting point can be the maximum degree of joint bending, and the end point can be the straight position. The purpose of planning the motion trajectory of the robotic arm is to ensure that the motion trajectory is within the safe range of motion of the joint to avoid secondary injury caused by excessive extension or bending. The angle, amplitude, speed, etc. of the flexion and extension of the robotic arm can correspond to the movement mode of the robotic arm and the joint injury of the user. For example, when the user's joint is a first-level injury, the corresponding movement mode of the robotic arm is an active movement mode, and the angle, amplitude, etc. of the flexion and extension of the robotic arm can be set to 80%-90% of the normal joint range of motion, and the movement speed of the robotic arm is set to 80%-90% of the normal speed. The movement speed can be determined according to the number of times the robotic arm can repeat the flexion and extension action within a specific time. When the user's joint is a second-level injury, the user's joint range of motion may be subject to certain restrictions, and the corresponding movement mode of the robotic arm is an auxiliary movement mode, and the angle, amplitude, etc. of the flexion and extension of the robotic arm can be set to 70%-80% of the normal joint range of motion, and the movement speed of the robotic arm is set to 70%-80% of the normal speed. When the user's joint is a third-level injury, the corresponding movement mode of the robotic arm is a passive movement mode, and the angle, amplitude, etc. of the flexion and extension of the robotic arm can be set to 60%-70% of the normal joint range of motion, and the movement speed of the robotic arm is set to 60%-70% of the normal speed.

[0072] By adopting the above embodiment, the sofa can plan a specific motion trajectory according to the motion pattern of the robotic arm, and control the flexion and extension angle, amplitude and speed of the robotic arm, so that it is within a safe range according to the user's joint injury condition, thereby better meeting the user's specific needs and improving the effect of rehabilitation or exercise.

[0073] In one embodiment, the sofa includes a motion monitoring system to monitor abnormal conditions that may occur during the user's exercise, such as Figure 4 As shown, Figure 4 This is a schematic diagram of a sofa-based assisted motion monitoring process in an embodiment. When the robotic arm drives the user's hands or legs to exercise, the motion monitoring system acquires and monitors the user's physiological indicator data in real time, and adjusts the motion mode of the robotic arm in real time according to the physiological indicator data.

[0074] In some embodiments, the motion monitoring system can obtain the physiological index data of the user during the motion driven by the mechanical arm through various sensors, such as heart rate sensors, blood pressure sensors, blood oxygen saturation sensors, muscle electrical sensors, etc. The positions of these sensors can be arranged on the wearable device or on the fixing device of the mechanical arm. The wearable device and the mechanical arm can establish a communication connection with the sofa so that the motion monitoring system can obtain and monitor the physiological index data of the user in real time. The physiological index data can reflect the user's physical load and tolerance during the exercise. If the user's heart rate, blood pressure and other physiological indicators are monitored to be on an upward trend, or muscle fatigue, pain and other discomfort symptoms occur, the motion monitoring system can adjust the motion mode of the mechanical arm in time, and adjust the motion trajectory and motion parameters of the mechanical arm in time to reduce the intensity and speed of the mechanical arm, or play a voice prompt message to the user, asking the user whether to stop exercising, and perform corresponding operations according to the user's feedback information to ensure the safety of the user.

[0075] In an embodiment of the present application, when the motion monitoring system detects that the user's physiological index data is abnormal during exercise, the emergency mode is turned on, and the emergency mode includes an alarm function and an emergency stop function. As an optional implementation, when the motion monitoring system detects that the user's physiological index data exceeds the normal threshold range, the emergency mode is triggered. For example, for heart rate, it can be set to be abnormal when it is higher than a specific value (such as 150 times per minute) or lower than a specific value (such as 40 times per minute); for blood pressure, systolic pressure higher than 180mmHg or diastolic pressure higher than 110mmHg can be set as abnormal; for blood oxygen saturation, it can be set to be abnormal when it is lower than a specific value (such as 90%), etc. The motion monitoring system continuously monitors various physiological index data during the user's exercise, and updates the data at a certain frequency (such as once per second or higher) to detect abnormal situations in a timely manner. In addition, the motion monitoring system can also combine multiple physiological index data for comprehensive judgment to improve accuracy.

[0076] In some embodiments, when the motion monitoring system detects that the user's physiological index data is abnormal, the system immediately triggers the alarm function. The alarm mode may include sound alarm, light alarm, vibration alarm, etc. The sound alarm may be a loud beep or voice prompt issued by the sofa through a speaker, the light alarm may be a flashing red light or a specific color indicator light; the vibration alarm may send a vibration signal through a device in contact with the user. In addition, the sofa can automatically send the user's physiological data abnormal information to relevant personnel so that the relevant personnel can take rescue actions in time. In addition to the alarm function, the system will also start the emergency stop function to immediately stop the movement of the robotic arm, which can prevent the movement of the robotic arm from continuing to cause harm to the user, especially when the user's body is abnormal, to avoid further burdening the body. The stop function can be implemented through software control, for example, a stop command can be sent to the robotic arm through a terminal device, or it can be implemented through a hardware device, such as setting an emergency stop button or switch in the armrest area of ​​the sofa, or the stop of the robotic arm movement can be controlled by voice.

[0077] By adopting the above embodiment, the motion monitoring system can acquire and monitor the user's physiological indicator data in real time, and adjust the motion mode of the robotic arm or trigger the activation of the emergency mode in real time according to the physiological indicator data, thereby ensuring the safety of the exercise process, improving the effectiveness of the exercise and optimizing the user experience.

[0078] In some embodiments, the sofa can also record in detail the time, type of exercise (specific exercise pattern for legs or hands), exercise intensity and other information each time the user uses the sofa for auxiliary exercise. At the same time, it records the joint data collected by the joint detection device before and after each exercise, and uses the data analysis algorithm to conduct a comprehensive analysis of the stored historical exercise data and joint detection results, such as drawing the user's joint recovery curve, and intuitively displaying the changing trend of the user's joint condition over a period of time through the display screen. In addition, the sofa can evaluate the effectiveness of the auxiliary exercise method by comparing the exercise data and joint conditions of different time periods, and can adjust the exercise plan for the user in a timely manner.

[0079] Based on the foregoing embodiments, the embodiments of the present application provide a sofa-based auxiliary motion device, which includes the modules included and the units included in the modules, which can be implemented by a processor; of course, it can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP) or a field programmable gate array (FPGA), etc.

[0080] See also Figure 5 , Figure 5 FIG. 1 is a block diagram of a sofa-based auxiliary motion device in one embodiment. Figure 5 As shown, the sofa-based auxiliary motion device 500 may include a data acquisition module 510 and a command control module 520 .

[0081] The data acquisition module 510 is used to acquire data collected by the joint detection device to obtain the user's joint detection results, and the joint detection results are used to indicate the joint injury status of the user.

[0082] The instruction control module 520 is used to generate corresponding instructions according to the joint detection results, and control the robot arm to drive the user's legs or hands to move according to the instructions.

[0083] In some embodiments, the data acquisition module 510 is further configured to:

[0084] Inputting the data collected by the joint detection device into the algorithm model to obtain the joint detection result of the user, wherein the data collected by the joint detection device includes data collected by a camera and a sensor; and

[0085] Acquire physiological index data of the user during exercise.

[0086] In some embodiments, the instruction control module 520 is further configured to:

[0087] Generate, according to the joint injury condition of the user, an instruction for controlling a mechanical arm motion mode corresponding to the joint injury condition, wherein the mechanical arm motion mode includes an active motion mode, an auxiliary motion mode, and a passive motion mode;

[0088] When it is detected that the user's joint is at the first level of injury, the movement mode of the robot arm is controlled to be an active movement mode;

[0089] When it is detected that the user's joint is at level 2, the movement mode of the robot arm is controlled to be an auxiliary movement mode;

[0090] When it is detected that the user's joints are damaged at level three, the movement mode of the robotic arm is controlled to be a passive movement mode.

[0091] In some embodiments, the instruction control module 520 is further configured to:

[0092] Planning a motion trajectory of the robotic arm according to the motion mode of the robotic arm, wherein the motion trajectory is used to indicate a joint motion path of the user;

[0093] Adjusting parameters corresponding to the motion mode according to the motion mode of the robotic arm;

[0094] Adjust the motion mode of the robotic arm in real time according to the physiological indicator data;

[0095] When it is detected that the physiological indicator data of the user is abnormal during exercise, the emergency mode is activated, and the emergency mode includes an alarm function and an emergency stop function.

[0096] In the embodiment of the present application, the sofa can obtain the data collected by the joint detection device, obtain the user's joint detection results, and generate corresponding instructions according to the joint detection results to control the mechanical arm to drive the user's legs or hands to move. Compared with traditional rehabilitation equipment, the sofa can perform auxiliary exercises according to the user's joint injury, reduce the pressure and discomfort on the joints during the user's exercise, reduce the risk of pain and secondary injury, and thus improve the effect and efficiency of rehabilitation.

[0097] Figure 6 FIG. 1 is a structural block diagram of an electronic device in an embodiment. Figure 6 As shown, the terminal electronic device 600 may include: a memory 610 storing executable program codes and a processor 620 coupled to the memory 610 .

[0098] The processor 620 calls the executable program code stored in the memory 610 to execute any one of the spatial interaction control methods disclosed in the embodiments of the present application. Those skilled in the art can understand that Figure 6 The electronic device structure shown in the figure does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0099] The processor 620 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 610, and calling data stored in the memory 610, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. Optionally, the processor 620 may include one or more processing units; preferably, the processor 620 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 620.

[0100] The memory 610 can be used to store software programs and modules, and the processor 620 executes various functional applications and data processing of the electronic device by running the software programs and modules stored in the memory 610. The memory 610 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function, etc.; the data storage area can store data created according to the use of the electronic device, etc. In addition, the memory 610 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0101] An embodiment of the present application discloses a computer-readable storage medium storing a computer program, wherein the computer program implements the methods described in the above embodiments when executed by a processor.

[0102] An embodiment of the present application discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program can be executed by a processor to implement the methods described in the above embodiments.

[0103] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a ROM, etc.

[0104] As used herein, any reference to memory, storage, database, or other medium may include nonvolatile and / or volatile memory. Suitable nonvolatile memory may include ROM, programmable ROM (Programmable ROM, PROM), erasable PROM (Erasable PROM, EPROM), electrically erasable PROM (Electrically Erasable PROM, EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which is used as an external cache memory. By way of illustration and not limitation, RAM may be in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), memory bus direct RAM (RDRAM) and direct memory bus dynamic RAM (DRDRAM).

[0105] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. Those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application. It should be noted that "multiple" in the present application includes "two or more".

[0106] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the above-mentioned processes does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0107] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0108] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0109] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0110] The above is a detailed introduction to a sofa-based auxiliary exercise method, device, electronic device and storage medium disclosed in the embodiment of the present application. The principle and implementation method of the present application are described in detail using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A sofa-based auxiliary exercise method, characterized in that: Applied to a sofa, the armrest area and the backrest area of ​​the sofa are equipped with a mechanical arm, the end of the mechanical arm is equipped with a fixing device, the fixing device is used to fix the user's legs or hands, and the armrest area of ​​the sofa is equipped with a joint detection device, the method includes: Acquire data collected by the joint detection device to obtain a joint detection result of the user, wherein the joint detection result is used to indicate a joint injury condition of the user; Generate corresponding instructions according to the joint detection results; The robot arm is controlled according to the instruction to drive the legs or hands of the user to move.

2. The method according to claim 1, characterized in that The step of acquiring the data collected by the joint detection device to obtain the joint detection result of the user includes: The data collected by the joint detection device is input into the algorithm model to obtain the joint detection result of the user, and the data collected by the joint detection device includes data collected by a camera and a sensor.

3. The method according to claim 1, characterized in that The generating corresponding instructions according to the joint detection result includes: Generate, according to the joint injury condition of the user, an instruction for controlling a mechanical arm motion mode corresponding to the joint injury condition, wherein the mechanical arm motion mode includes an active motion mode, an auxiliary motion mode, and a passive motion mode; The robotic arm pre-stores parameters corresponding to different motion modes, and the parameters at least include the angle, amplitude, and speed of flexion and extension of the robotic arm.

4. The method according to claim 3, characterized in that The step of generating, according to the joint injury condition of the user, an instruction for controlling a motion mode of the mechanical arm corresponding to the joint injury condition comprises: When it is detected that the user's joint is at the first level of injury, the movement mode of the robot arm is controlled to be an active movement mode; When it is detected that the user's joint is at level 2, the movement mode of the robot arm is controlled to be an auxiliary movement mode; When it is detected that the user's joint is at level three damage, the movement mode of the robot arm is controlled to be a passive movement mode; The corresponding operation is performed according to the motion mode of the robot arm.

5. The method according to claim 4, characterized in that The performing corresponding operations according to the motion mode of the robotic arm includes: Planning a motion trajectory of the robotic arm according to the motion mode of the robotic arm, wherein the motion trajectory is used to indicate a joint motion path of the user; The parameters corresponding to the motion mode are adjusted according to the motion mode of the robotic arm.

6. The method according to claim 1, characterized in that The controlling the mechanical arm to drive the leg or hand of the user to move according to the instruction includes: Acquiring physiological index data of the user during exercise; The motion mode of the robotic arm is adjusted in real time according to the physiological indicator data.

7. The method according to claim 6, characterized in that The method further comprises: When it is detected that the physiological indicator data of the user is abnormal during exercise, the emergency mode is activated, and the emergency mode includes an alarm function and an emergency stop function.

8. A sofa-based auxiliary exercise device, characterized in that: The device comprises: A data acquisition module, used to acquire data collected by a joint detection device to obtain a joint detection result of a user, wherein the joint detection result is used to indicate a joint injury condition of the user; The command control module is used to generate corresponding commands according to the joint detection results, and control the robot arm to drive the user's legs or hands to move according to the commands.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor implements the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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