Motion assisting method, equipment and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a motion assisting method, equipment and device, electronic equipment and a storage medium, and relates to the technical field of biomedical engineering. The method comprises the following steps: acquiring target foot characteristics of a moving object based on a current motion type in real time, wherein the target foot characteristics comprise a plurality of target foot actions and moments corresponding to the target foot actions; according to a preset motion relation characteristic model, determining a first corresponding relation describing the target foot motion and the current motion type as a target corresponding relation, and determining a target waiting duration, a target auxiliary muscle group and a target stimulation duration described in the target corresponding relation; and determining a stimulation moment according to the moment corresponding to the target foot action and the target waiting duration, and assisting muscle group force generation of the moving object in a mode of providing a stimulation signal of which the duration is the target stimulation duration for the target auxiliary muscle group at the stimulation moment so as to realize movement assistance.

Description

Technical Field

[0001] The present application relates to the field of biomedical engineering technology, and more specifically, to a motion assistance method, device, apparatus, electronic device and storage medium. Background Art

[0002] With the development of society, people's awareness of sports health care has gradually increased, and they have a further pursuit of sports health. At present, athletes usually use elastic bands or fitness equipment to increase external resistance or provide additional force to enhance muscle activity, thereby assisting more effective strength training. However, the standardization of exercise posture and muscle force in this method require active control by the athlete.

[0003] The above auxiliary exercise methods are more suitable for athletes who have a certain motor foundation and muscle control ability. However, some athletes may be unable to exert force properly in certain muscles due to weak muscles, muscle pain or nerve dysfunction, which causes the body's overall movement posture to be incorrect, leading to heavy joint burden, insufficient movement stability, and some muscles being strong while others are weak. Long-term use of incorrect exercise postures or excessive exercise can easily cause various injuries to the body. There is currently no effective way to solve or partially solve the above problems.

[0004] In this case, there is an urgent need to provide a sports assistance solution to assist athletes in muscle strength. Summary of the invention

[0005] The embodiments of the present disclosure provide a motion assistance method, device, apparatus, electronic device, computer-readable storage medium and computer program product, which are used to solve the technical problem that the motion assistance schemes in the prior art cannot assist the muscles of the sports object to exert force.

[0006] According to one aspect of an embodiment of the present disclosure, a motion assisting method is provided, including: Acquire target foot features of the moving object based on the current movement type in real time, the target foot features including: multiple target foot movements and the time when the target foot movements correspond; According to the preset motion relationship feature model, a first correspondence relationship describing the target foot movement and the current motion type is determined as the target correspondence relationship, and a target waiting time, a target auxiliary muscle group, and a target stimulation time described in the target correspondence relationship are determined; The stimulation time is determined according to the time corresponding to the target foot movement and the target waiting time, and a stimulation signal is provided to the target auxiliary muscle group at the stimulation time. The duration of providing the stimulation signal is the target stimulation time. The motion relationship feature model is used to describe each first correspondence, and each first correspondence is used to describe the correspondence between a motion type, a foot movement, a group of auxiliary muscle groups, a waiting time and a stimulation time.

[0007] According to another aspect of an embodiment of the present disclosure, there is provided a motion assisting device, including: at least one sensor and a processing unit; The sensor is used to collect the target foot features of the moving object based on the current movement type in real time; The processing unit is used to execute the steps of the motion assistance method provided in any embodiment.

[0008] According to another aspect of the embodiments of the present disclosure, there is provided a motion assisting device, comprising: A feature acquisition module is used to acquire the target foot features of the moving object based on the current movement type in real time, the target foot features including: multiple target foot movements and the time corresponding to the target foot movements; A target determination module is used to determine a first correspondence describing a target foot movement and a current movement type according to a preset movement relationship feature model as a target correspondence relationship, and determine a target waiting time, a target auxiliary muscle group, and a target stimulation time described in the target correspondence relationship; A muscle group stimulation module is used to determine the stimulation time according to the time corresponding to the target foot movement and the target waiting time, and provide a stimulation signal to the target auxiliary muscle group at the stimulation time, and the duration of providing the stimulation signal is the target stimulation time; The motion relationship feature model is used to describe each first correspondence, and each first correspondence is used to describe the correspondence between a motion type, a foot movement, a group of auxiliary muscle groups, a waiting time and a stimulation time.

[0009] According to another aspect of an embodiment of the present disclosure, an electronic device is provided. The electronic device includes a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the steps of the method provided in any of the above embodiments.

[0010] According to another aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method provided in any embodiment are implemented.

[0011] According to one aspect of an embodiment of the present disclosure, a computer program product is provided, including a computer program, and the computer program is executed by a processor to perform the steps of the method provided by any embodiment.

[0012] The technical solution provided by the embodiments of the present disclosure brings the following beneficial effects: The corresponding relationship between the movement type, foot movement, auxiliary muscle groups, waiting time and duration is described by a preset movement relationship feature model. When the moving object is exercising, after obtaining the foot movement corresponding to the moving object and the moment corresponding to the foot movement, the stimulation moment can be determined according to the current movement type, the moment corresponding to the target foot movement and the target waiting time. At the corresponding stimulation moment, a stimulation signal with a duration equal to the target stimulation duration is provided to the auxiliary muscle groups corresponding to the moving object, so as to assist the target muscle groups corresponding to the moving object to exert force. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for describing the embodiments of the present disclosure are briefly introduced below.

[0014] Figure 1 A schematic diagram of a flow chart of a motion assisting method provided by an embodiment of the present disclosure; Figure 2 A schematic diagram of obtaining the time corresponding to a foot action provided by an embodiment of the present disclosure; Figure 3 A schematic diagram of a motion state corresponding to a running motion type provided in an embodiment of the present disclosure; Figure 4 A schematic diagram of the structure of a motion assisting device provided in an embodiment of the present disclosure; Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0015] The embodiments of the present disclosure are described below in conjunction with the drawings in the present disclosure. It should be understood that the implementation methods described below in conjunction with the drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present disclosure and do not constitute a limitation on the technical solutions of the embodiments of the present disclosure.

[0016] It will be understood by those skilled in the art that, unless specifically stated, the singular forms "one", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the terms "including" and "comprising" used in the embodiments of the present disclosure refer to that the corresponding features can be implemented as the presented features, information, data, steps, operations, elements and / or components, but do not exclude the implementation as other features, information, data, steps, operations, elements, components and / or combinations thereof supported by the technical field. It should be understood that when we say that an element is "connected" or "coupled" to another element, the one element may be directly connected or coupled to the other element, or it may refer to that the one element and the other element establish a connection relationship through an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein indicates at least one of the items defined by the term, for example, "A and / or B" may be implemented as "A", or as "B", or as "A and B".

[0017] In order to make the objectives, technical solutions and advantages of the present disclosure more clear, the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.

[0018] The following describes several exemplary embodiments to illustrate the technical solutions of the embodiments of the present disclosure and the technical effects produced by the technical solutions of the present disclosure. It should be noted that the following embodiments can refer to, draw on or combine with each other, and the same terms, similar features and similar implementation steps in different embodiments will not be described repeatedly.

[0019] The following describes several exemplary embodiments to illustrate the technical solutions of the embodiments of the present disclosure and the technical effects produced by the technical solutions of the present disclosure. It should be noted that the following embodiments can refer to, draw on or combine with each other, and the same terms, similar features and similar implementation steps in different embodiments will not be described repeatedly.

[0020] It can be understood that in the motion assistance method provided by the embodiment of the present disclosure, any method step can be executed by the terminal and / or the server, and all the steps in the method can be executed independently by the terminal or the server, or jointly by the terminal and the server.

[0021] The server may be an independent physical server, a server cluster or distributed system consisting of multiple physical servers, or a cloud server that provides cloud computing services. The terminal may be a smart phone, tablet computer, laptop computer, desktop computer, intelligent voice interaction device (such as smart speaker), wearable electronic device (such as smart watch), vehicle-mounted terminal, smart home appliance (such as smart TV), AR / VR device, etc., but is not limited thereto.

[0022] The following describes the embodiments of the present disclosure using a server as an execution subject; however, this does not constitute a limitation to the embodiments of the present disclosure.

[0023] Figure 1 A flow chart of a motion assisting method provided by an embodiment of the present disclosure is shown in FIG. Figure 1 As shown, the technical solution provided by the embodiment of the present disclosure includes the following steps: Step S101, obtaining in real time target foot features of a moving object based on a current movement type, the target foot features including: a plurality of target foot movements and the time corresponding to the target foot movements; Specifically, taking any moving object performing the current motion type of motion as an example, the method provided by the embodiment of the present disclosure is described in detail.

[0024] In step S101, the moving object moves based on the current movement type, and the target foot features corresponding to the movement of the moving object are obtained in real time. The target foot features include: multiple target foot movements and the moments corresponding to the target foot movements. It should be noted that in the embodiment of the present disclosure, "target" is used to distinguish the footstep features from the foot features obtained in real time.

[0025] It can be understood that the footstep features include foot movements and the moments corresponding to the foot movements. Foot movements refer to the specific movements performed by the foot of the moving object when performing the current type of movement. The moments corresponding to the foot movements refer to the time point when the foot movement occurs, reflecting the moment when the foot movement occurs.

[0026] For example, the current sport type may be walking, running, burpees, cycling, etc. When the sport type is walking or running, the foot movements may include the corresponding heel-on-the-ground, toe-on-the-ground, heel-off-the-ground, toe-off-the-ground, etc. of the current foot and the opposite foot. When the sport type is burpees, the corresponding foot movements may include the movements of both feet leaving the ground and both feet landing. When the sport type is cycling, a coordinate system is established in the vertical and horizontal directions, and the foot movements may be the movements of the current foot and the corresponding feet of the opposite foot rotating on the pedal to 0°, 90°, 180°, and 270°.

[0027] It can be understood that the above exercise types and foot movements are only used as specific examples to assist in explaining the embodiments of the present disclosure. In actual applications, the specific types and numbers of foot movements are related to the current exercise type. The specific exercise type and corresponding foot movements can be determined according to actual needs.

[0028] In addition, the specific method used to obtain the above foot movements and the moments corresponding to the foot movements and the specific types of sensors used can be determined according to actual needs.

[0029] Step S102, determining a first correspondence describing a target foot movement and a current movement type according to a preset movement relationship feature model as a target correspondence, and determining a target waiting time, a target auxiliary muscle group, and a target stimulation time described in the target correspondence; The motion relationship feature model is used to describe each first correspondence, and each first correspondence is used to describe the correspondence between a motion type, a foot movement, a group of auxiliary muscle groups, a waiting time and a stimulation time.

[0030] Specifically, in order to analyze the movement relationship between the foot movements and auxiliary muscle groups during exercise, the embodiment of the present disclosure pre-sets a movement relationship feature model to describe the correspondence between the movement type, foot movements, auxiliary muscle groups, waiting time and stimulation time.

[0031] The motion relationship feature model can be used to describe at least one first correspondence, and each first correspondence is used to describe the correspondence between a motion type, a foot movement, a group of auxiliary muscle groups, a waiting time, and a stimulation time. The auxiliary muscle group refers to the muscle group that completes a specific action during the movement, that is, at least one muscle that contracts and exerts force when completing a specific action.

[0032] It should be noted that the motion relationship characteristic model is used to determine the correspondence between the foot movement and the muscle group (auxiliary muscle group) associated with the foot movement for exerting force. Among them, the waiting time refers to the interval between the moment corresponding to the foot movement and the moment when the auxiliary muscle group starts to exert force, and the stimulation time refers to the time for providing stimulation to the auxiliary muscle group when the method provided by the embodiment of the present disclosure is adopted. Different types of foot movements may correspond to different auxiliary muscle groups, waiting times, and stimulation times. The specific correspondence and specific values ​​of the duration can be determined according to actual needs.

[0033] It can be understood that the specific form of the motion relationship feature model is determined according to actual needs, including but not limited to a model composed of mapping correspondence relationships, a machine learning model, etc.

[0034] In step S102, based on the preset motion relationship feature model, a first correspondence describing the target foot movement and the current motion type is determined as the target correspondence, and based on the correspondence between the foot movement, auxiliary muscle group, waiting time and stimulation time described in the target correspondence, the target waiting time, target auxiliary muscle group and target stimulation time corresponding to the target foot movement described in the target correspondence are determined.

[0035] Step S103, determining the stimulation time according to the time corresponding to the target foot movement and the target waiting time, providing a stimulation signal to the target auxiliary muscle group at the stimulation time, and the duration of providing the stimulation signal is the target stimulation time.

[0036] Specifically, in step S103, the stimulation time is determined according to the time corresponding to the target foot movement and the target waiting time, and a stimulation signal is provided to the target auxiliary muscle group at the stimulation time, and the duration of providing the stimulation signal is the target stimulation time.

[0037] It can be understood that in the embodiments of the present disclosure, by providing stimulation signals to the target auxiliary muscle group, the target auxiliary muscle group can actively contract during exercise while providing stimulation signals to assist the contraction movement of the target auxiliary muscle group, thereby achieving exercise assistance.

[0038] Among them, the types of stimulation signals include but are not limited to electrical stimulation signals, local low temperature stimulation signals, external pressure stimulation signals, etc.

[0039] For example, when the stimulation signal is an electrical stimulation signal, the small alternating current provided by the electrical muscle stimulation (EMS) device can provide an electrical stimulation signal through a conductive patch attached to the skin near the muscle, generating a weak potential difference to trigger the muscle contraction reaction. Since there are calcium, magnesium and other ions in the muscle fibers, neural electrical signal control can trigger the muscle contraction reaction. The weak potential difference transmitted to the muscle by the nerve endings will trigger the muscle contraction reaction. If the muscle is stimulated by external current to replace the weak potential transmitted to the muscle by the nerve endings, the contraction action will also be generated, thereby assisting the target muscle group to perform the contraction action. Furthermore, it can be achieved that during the exercise, the muscles that cannot exert force can be controlled to make reasonable muscle contractions to achieve the purpose of assisting the action.

[0040] When the stimulation signal is a low temperature stimulation signal, considering the importance of temperature to the biological activities of the body, the metabolism and electrical signal transmission in the nerve tissue show a certain temperature dependence. When a low temperature stimulation signal is provided, it can achieve local cooling of the nerves around the auxiliary muscle group, significantly reduce the conduction speed and intensity of the nerve signal, and has the advantages of rapid reversibility and no addiction. Considering that signal blocking in the process of mammalian nerve impulse transmission usually occurs below 15°C, the low temperature stimulation signal can be to release cold air on the skin surface corresponding to the pain area, provide a temperature stimulation signal of 4°C, and control the rhythm and intensity of the release through cycles.

[0041] In addition to assisting healthy people in exerting force on their muscles during exercise, the gate control theory can also be used to relieve pain. Due to the different conduction speeds of various sensations in the human body, some pain sensations are conducted more slowly. By providing stimulation, gate control can be produced on the nerves, making it impossible for the exerciser to feel pain temporarily. This can assist in relieving pain in some muscles, allowing the injured muscle groups to still exert force normally.

[0042] For example, if the muscles of an ankle are in acute inflammation shortly after an ankle injury, the muscles will hurt with every step and will not be able to exert force normally. The motion assist method provided in the embodiments of the present disclosure can provide stimulation signals to reduce the pain of ankle injury patients when they exert force while walking.

[0043] The technical solution provided by the embodiments of the present disclosure describes the correspondence between the movement type, foot movement, auxiliary muscle group, waiting time and duration through a preset movement relationship feature model, so that when the moving object is exercising, after obtaining the foot movement corresponding to the moving object and the moment corresponding to the foot movement, the stimulation moment can be determined according to the current movement type, the moment corresponding to the target foot movement and the target waiting time, and at the corresponding stimulation moment, a stimulation signal with a duration equal to the target stimulation duration is provided to the auxiliary muscle group corresponding to the moving object, so as to assist the target muscle group corresponding to the moving object to exert force.

[0044] The existing methods that can affect the force of muscle groups usually use equipment traction assistance or provide electrical stimulation to muscles to achieve rehabilitation treatment, but this method requires more sensors and more complex equipment. The bioelectric signals are collected by several sensors attached to the human body to determine the time to provide electrical stimulation to the muscles. The equipment is expensive and complex, and the convenience is poor, and the application scenarios are limited. Compared with the above methods, the solution provided by this application can be widely applied to various scenarios because it is associated through the target foot features.

[0045] In a possible implementation, the stimulation time is determined according to the time corresponding to the target foot movement and the target waiting time, and a stimulation signal is provided to the target auxiliary muscle group at the stimulation time, which also includes: Obtaining a plurality of continuous foot features of a moving object, each foot feature including a plurality of foot movements; If the order of each foot movement in a plurality of continuous foot features is consistent, it is determined that the movement of the moving object is periodically stable.

[0046] Specifically, in order to ensure the accuracy of the stimulation signal corresponding to the stimulation time when providing stimulation, it is necessary to avoid the auxiliary muscle force errors caused by inaccurate stimulation time, thereby causing improper execution of the movement of the exercise object and causing the risk of injury to the exercise object.

[0047] The motion assisting method provided by the embodiment of the present disclosure determines the stimulation time according to the time corresponding to the target foot movement and the target waiting time, and provides a stimulation signal to the target auxiliary muscle group at the stimulation time. Before that, it is also necessary to determine whether the motion of the motion object is periodically stable. The specific steps are as follows.

[0048] Obtaining a plurality of continuous foot features of a moving object, each foot feature including a plurality of foot movements; It is determined whether the order of each foot movement corresponding to each foot feature is consistent. If the order of each foot movement in a plurality of continuous foot features is consistent, it is determined that the movement of the moving object is periodically stable.

[0049] Otherwise, it is considered that the motion of the moving object is unstable and the subsequent step of providing the stimulation signal is not performed.

[0050] It is understandable that the basis for judging whether the motion of the moving object is periodically stable is a plurality of continuous foot features, wherein the specific number of foot features can be determined according to actual needs for each judgment (e.g., the foot features corresponding to the current moment and the features of the two previous footsteps at the current moment). Each foot feature includes a plurality of foot movements, and the specific type and number of foot movements can be determined according to actual needs.

[0051] The technical solution provided by the embodiments of the present disclosure obtains multiple continuous foot features of a moving object, analyzes multiple foot movements corresponding to each foot feature, and determines whether the order of the foot movements corresponding to each foot feature is consistent. If it is determined that the order of the foot movements is consistent, it can be determined that the movement movements of the moving object are stable and repeated when exercising, indicating that the movement movements of the moving object are periodically stable, and a stimulation signal is provided to the moving object to improve the accuracy of the timing of providing the stimulation signal.

[0052] In a possible implementation, the waiting time is determined according to the characteristic time period of the foot corresponding to the foot movement, the muscle group contraction time coefficient, and the motion coefficient corresponding to the motion object; The duration of stimulation is determined according to the characteristic period of the foot corresponding to the foot movement, the muscle group contraction period coefficient, and the motion coefficient; The foot characteristic period is a period determined according to the time corresponding to the foot action, and the time corresponding to the foot action includes at least one of a start time, a peak time and an end time. The start time refers to the time when the foot area corresponding to the foot action contacts the preset contact surface, the peak time refers to the time when the foot area compacts the preset contact surface, and the end time refers to the time when the foot action is completed. The muscle group contraction time coefficient is used to indicate the ratio of the time from the start of the foot characteristic period to the time when the auxiliary muscle group starts to contract to the foot characteristic period; The muscle group contraction period coefficient is used to indicate the ratio of the period from the start of contraction to the end of contraction of the auxiliary muscle group to the characteristic period of the foot; The motion coefficient is used to indicate the motion ability of a moving object.

[0053] Specifically, the embodiment of the present disclosure determines the waiting time and the stimulation time by analyzing the relationship between the foot movement and the starting time and the duration of the contraction and force of the auxiliary muscles during exercise.

[0054] The waiting time is determined according to the characteristic time period of the foot corresponding to the foot movement, the muscle group contraction time coefficient and the motion coefficient corresponding to the motion object.

[0055] The stimulation duration is determined according to the characteristic period of the foot corresponding to the foot movement, the muscle group contraction period coefficient and the motion coefficient.

[0056] Among them, the muscle group contraction moment coefficient is used to indicate the ratio of the time period from the start of the foot characteristic period to the time when the auxiliary muscle group begins to contract to the foot characteristic period; the muscle group contraction period coefficient is used to indicate the ratio of the time period corresponding to the start of contraction to the end of contraction of the auxiliary muscle group to the foot characteristic period; the motion coefficient is used to indicate the motion ability of the motion object.

[0057] The foot feature period is a period determined according to the time corresponding to the foot action. The time corresponding to the foot action includes at least one of the start time, the peak time and the end time. The start time refers to the time when the foot area corresponding to the foot action contacts the preset contact surface, the peak time refers to the time when the foot area presses the preset contact surface, and the end time refers to the time when the foot action is completed.

[0058] That is, during exercise, according to the contact between the foot movement and the preset contact surface, the moment corresponding to each foot movement can be divided into a start moment, a peak moment and an end moment. In actual application, the moment corresponding to the foot movement includes at least one of the above three moments.

[0059] For example, taking running as an example, one gait cycle corresponds to one foot feature, and the foot movements in one foot feature include: heel landing, sole landing and toe landing corresponding to the current foot and the opposite foot.

[0060] Figure 2 A schematic diagram of obtaining the time corresponding to a foot action provided by an embodiment of the present disclosure, such as Figure 2 As shown, when the sensor for obtaining the moment of foot movement is a sound sensor, Figure 2 The horizontal axis of the upper part represents time, and the vertical axis represents decibels. Figure 2 As shown in (A), the peak moment corresponding to each foot movement can be determined based on the decibel value of the sound. Figure 2 The horizontal axis of the lower part represents time, the vertical axis represents frequency, and the depth of the color represents the decibel level (from dark to light, the decibel level is from large to small). Figure 2 The frequency of the sound signal shown in (B) can determine the start and end time of each foot movement.

[0061] A time period can be determined based on any two moments, and the time period can be the foot feature time period. The moments corresponding to the two ends of the foot feature time period can be determined according to actual needs. For example, the foot feature time period can refer to the time period between two occurrences of moment A of the same foot movement corresponding to two consecutive footstep features, or it can refer to the time period between moment B corresponding to foot movement 1 and moment C corresponding to foot movement 2, or it can refer to the time period between moment B corresponding to foot movement 1 and moment D, etc.

[0062] For example, waiting time = foot characteristic period * muscle group contraction moment coefficient * movement coefficient ± fine-tuning time variable.

[0063] For example: 0.243*45%*0.9-0.005 (unit: seconds).

[0064] The foot characteristic period 0.243 is the average of three time intervals between the first action (the start of heel contact with the ground) and the fifth action (the sole of the foot pressing the ground) of this foot in the previous three times.

[0065] It is understandable that in order to ensure the accuracy of the waiting time, the difference between the values ​​of the above three time intervals shall not exceed 10%. If the decrease exceeds 10%, the phased exit and stop mode will be entered.

[0066] The muscle group contraction time coefficient is a ratio of 0% to 100%, which is based on the statistics of the time and order of human muscles of different types and sports in ergonomics. For example, 45% is the position of the gluteus medius muscle, and the waiting time formula for the gluteus medius muscle contraction is calculated according to the proportion under the conditions of a middle-aged healthy man with a height of 1.7 to 1.8 meters, a step length of 0.6 to 0.7 meters, and a medium speed of 10 to 12 kilometers per hour.

[0067] The exercise coefficient is a coefficient that determines the performance of an exercise. Excellent exercise means that the contraction is shorter and faster. Multiplying by the coefficient means that the contraction is smaller and the time is earlier. For example, 0.9 is an artificially adjusted time ratio that stimulates the gluteus medius muscle earlier to achieve contraction.

[0068] The fine-tuning time variable is a time value determined by conditions, which can be a circuit or mechanical delay. For example, 0.005 is to compensate for the fact that the time calculated by the model is later than the actual time of the event due to the slow CPU processing speed.

[0069] It can be understood that the above method of applying the sound sensor is only used as a specific example to assist in explaining the method steps for obtaining the moment corresponding to the foot movement in the embodiment of the present disclosure. In actual application, the types of sensors that can be used include but are not limited to sound sensors, devices that convert vibrations into electrical signals (such as bone conduction sensors), pressure sensors, vibration sensors (by detecting the amplitude and frequency of vibration or movement of the corresponding device), accelerometers, etc. The type and quantity of sensors used can be determined according to actual needs.

[0070] For example, using a bone conduction sensor can conduct sound through the bones and directly determine the time corresponding to the footstep action through the vibration of the corresponding bones during exercise. Compared with sound sensors, it is more suitable for occasions with external noise interference.

[0071] The technical solution provided by the embodiment of the present disclosure determines the waiting time and stimulation time corresponding to the foot movement according to the moment corresponding to the foot movement and the sports ability of the sports object, so that the waiting time and stimulation time are more targeted compared to the foot movement and the individual sports object, ensuring that when stimulating the muscle group, the moment when the stimulation signal is started and the duration of the stimulation signal are consistent with the actual situation of the current movement of the sports object, thereby improving the accuracy of the moment when the stimulation signal is provided.

[0072] In a possible implementation, the stimulation level is used to indicate at least one set of target auxiliary muscle groups and the intensity of the stimulation signal; The stimulation time is determined according to the time corresponding to the target foot movement and the target waiting time, and a stimulation signal is provided to the target auxiliary muscle group at the stimulation time, including: The moment corresponding to the target foot movement and the target waiting time after that is taken as the stimulation moment; At the moment of stimulation, stimulation signals are provided to the target auxiliary muscle groups in a step-by-step manner according to a plurality of pre-set stimulation levels.

[0073] Specifically, the method provided in the embodiment of the present disclosure pre-sets multiple stimulation levels before providing stimulation to the target auxiliary muscle groups. The stimulation levels are used to indicate at least one group of target auxiliary muscle groups and the intensity of the stimulation signals. The specific number of stimulation levels and the specific intensity of the stimulation signals can be determined according to actual needs.

[0074] It is understandable that when the stimulation signal is an electrical stimulation signal, the intensity of the stimulation signal may refer to the frequency, current amplitude, pulse intensity, etc. of the electrical signal. When the stimulation signal is a local low temperature stimulation signal, the intensity of the stimulation signal may refer to a temperature value.

[0075] When providing a stimulation signal, the moment corresponding to the target foot movement and the target waiting time is taken as the stimulation moment.

[0076] At the moment of stimulation, stimulation signals are provided to the target auxiliary muscle groups in a step-by-step manner according to a plurality of pre-set stimulation levels.

[0077] It is understandable that the preset stimulation level may also indicate at least one of the intensity of the stimulation signal and the stimulation duration. When providing the stimulation signal to the target auxiliary muscle group in a step-by-step manner, in addition to increasing the intensity of the stimulation signal, the stimulation duration may also be increased synchronously, or only one of them may be increased. The specific values ​​of the stimulation signal and the stimulation duration must be kept within a safe range.

[0078] The technical solution provided by the embodiments of the present disclosure allows the moving object to gradually adapt to stimulation signals of different intensities by pre-setting multiple stimulation levels and providing stimulation signals to the moving object in a step-by-step manner, thereby ensuring that the provided stimulation signals are always within an appropriate safety range. While providing effective motion assistance to the moving object, it avoids affecting the normal movement of the moving object and causing damage to the muscles or joints due to the sudden provision of excessively large stimulation signals.

[0079] In a possible implementation, providing stimulation signals to the target auxiliary muscle group in a step-by-step manner includes: Acquire the target foot features of the moving object before stimulating the target auxiliary muscle group with the stimulation signal of the first stimulation level to obtain a first foot feature set, and acquire the target foot features of the moving object after stimulating the target auxiliary muscle group with the stimulation signal of the first stimulation level to obtain a second foot feature set; Obtaining a motion performance parameter corresponding to each target foot feature according to the first foot feature set to obtain a first motion performance parameter set, and obtaining a motion performance parameter corresponding to each target foot feature according to the second foot feature set to obtain a second motion performance parameter set, wherein the motion performance parameter is used to indicate the motion performance of the motion object; If it is determined that the foot movement sequences corresponding to the target foot features in the second foot feature set are all consistent, and it is determined based on the first sport performance parameter set and the second sport performance parameter set that the sport object's sport performance improves after providing the stimulation signal, then a stimulation signal is provided to the target auxiliary muscle group corresponding to the sport object based on the second stimulation level; The intensity of the stimulation signal corresponding to the second stimulation level is greater than the intensity of the stimulation signal corresponding to the first stimulation level.

[0080] Specifically, when providing stimulation signals to the target auxiliary muscle groups in a step-by-step manner, first, the target foot features of the moving object before stimulating the target auxiliary muscle groups with the stimulation signals of the first stimulation level are obtained to obtain a first foot feature set, and the target foot features of the moving object after stimulating the target auxiliary muscle groups with the stimulation signals of the first stimulation level are obtained to obtain a second foot feature set.

[0081] It can be understood that the foot features in the first footstep feature set and the second footstep feature set are used to analyze whether the motion label of the moving object changes before and after the stimulation signal of the first stimulation level is provided, wherein each set includes at least one foot feature, and the specific number of foot features in each set can be determined according to actual needs.

[0082] The disclosed embodiment indicates the athletic performance of the moving object with athletic performance parameters, and the athletic performance parameters include but are not limited to indicating the stride, step frequency or cycle time during the exercise process. According to the changes in the athletic performance parameters, it can be determined whether the athletic performance of the moving object increases after being stimulated by a stimulation signal of the first stimulation level.

[0083] The motion performance parameters corresponding to each target foot feature are obtained according to the first foot feature set to obtain a first motion performance parameter set, and the motion performance parameters corresponding to each target foot feature are obtained according to the second foot feature set to obtain a second motion performance parameter set.

[0084] If it is determined that the foot motion sequences corresponding to the target foot features in the second foot feature set are all consistent, it means that the motion of the moving object is still periodically stable at this time.

[0085] On the contrary, it means that the movement of the exercise subject has changed, and corresponding intervention should be carried out to stop the stimulation, so as to avoid inaccurate stimulation due to continuous stimulation, which may lead to muscle damage and risk of injury.

[0086] If it is determined based on the first motion performance parameter set and the second motion performance parameter set that the motion object's motion performance improves after providing the stimulation signal, a stimulation signal is provided to the target auxiliary muscle group corresponding to the motion object according to the second stimulation level, and the intensity of the stimulation signal corresponding to the second stimulation level is greater than the intensity of the stimulation signal corresponding to the first stimulation level.

[0087] On the contrary, it means that after providing the stimulation signal of the first stimulation level, the movement performance of the moving object is not improved. At this time, the first stimulation level is maintained to provide the stimulation signal to the moving object.

[0088] It can be understood that the specific method of determining the improvement in athletic performance may be that after providing a stimulation signal of the first stimulation level, the numerical value corresponding to the athletic performance parameter set exceeds a preset threshold or the percentage of improvement exceeds a preset percentage threshold, etc. The specific method can be determined according to actual needs.

[0089] The technical solution provided by the embodiments of the present disclosure pre-sets multiple stimulation levels and provides stimulation signals to the moving object in a step-by-step manner. The stimulation level can be adjusted according to the periodic stability of the moving movements of the moving object and whether the movement performance is improved. The moving object can gradually adapt to stimulation signals of different intensities, ensuring that the provided stimulation signals are always within an appropriate range. While providing effective movement assistance to the moving object, it can avoid affecting the normal movement of the moving object and causing damage to the muscles or joints due to the sudden provision of excessive stimulation signals.

[0090] In a possible implementation, the stimulation time is determined according to the time corresponding to the target foot movement and the target waiting time, and a stimulation signal is provided to the target auxiliary muscle group at the stimulation time, and then the following is further included: Acquire multiple target foot features of the moving object based on the current movement type in real time to obtain a third foot feature set; Acquire a motion performance parameter corresponding to each target foot feature according to the third foot feature set to obtain a third motion performance parameter set, where the motion performance parameter is used to indicate the motion performance of the motion object; If it is determined based on the third set of exercise performance parameters that the exercise performance of the exercise subject has declined, stimulation signals are provided to the corresponding auxiliary muscle groups for maintaining the exercise, and stimulation signals are stopped from being provided to auxiliary muscle groups other than the auxiliary muscle groups for maintaining the exercise, based on a preset stop level.

[0091] Specifically, the embodiment of the present disclosure further provides an intervention measure corresponding to stimulation stop, which includes the following steps after determining the stimulation time according to the time corresponding to the target foot movement and the target waiting time, and providing a stimulation signal to the target auxiliary muscle group at the stimulation time: Acquire multiple target foot features of the moving object based on the current motion type in real time to obtain a third foot feature set. The motion performance parameters corresponding to each target foot feature are acquired according to the third foot feature set to obtain a third motion performance parameter set, where the motion performance parameters are used to indicate the motion performance of the motion object.

[0092] It is understandable that the specific steps of obtaining the target foot features and obtaining the sports performance parameters are described above and will not be repeated here.

[0093] If it is determined based on the third set of exercise performance parameters that the exercise object's exercise performance has declined, stimulation signals are provided to the corresponding auxiliary muscle groups for maintenance according to a preset stop level, and stimulation signals are stopped from being provided to auxiliary muscle groups other than the auxiliary muscle groups for maintenance.

[0094] It can be understood that the preset stop level is used to indicate the maintenance auxiliary muscle groups, and the preset stop signal is used as the intermediate transition level for completely stopping the stimulation. When the sports performance of the sports object declines, the stimulation signal can still be provided to the maintenance auxiliary muscle groups of the sports object, so as to ensure that the stimulation provided to the sports object does not stop abruptly, and the process from the decline in sports performance to the stop is continuous, avoiding muscle strain or injury caused by sudden cessation of stimulation.

[0095] The technical solution provided by the embodiments of the present disclosure can accurately identify whether the athletic performance of the sports subject has declined by identifying the characteristics of the target foot. When the athletic performance declines, stimulation signals can be provided to the auxiliary muscle groups (such as the user's core muscle groups) to maintain the body stability of the sports subject, and stimulation signals can be stopped to other muscle groups. This can reduce or stop the stimulation of some auxiliary muscle groups according to the actual situation, effectively avoiding excessive stimulation and preventing injuries to the sports subject due to incorrect stimulation.

[0096] In a possible implementation, providing a stimulation signal to the corresponding auxiliary muscle group for maintenance, and stopping providing stimulation signals to auxiliary muscle groups other than the auxiliary muscle group for maintenance, further comprising: Acquire multiple target foot features of the moving object based on the current movement type in real time to obtain a fourth foot feature set; If it is determined that the foot movement sequences corresponding to the target foot features in the fourth foot feature set are inconsistent, then the stimulation signals are stopped from being provided to all auxiliary muscle groups.

[0097] Specifically, the embodiment of the present disclosure further provides an intervention measure corresponding to stimulation stop, which includes the following steps after determining the stimulation time according to the time corresponding to the target foot movement and the target waiting time, and providing a stimulation signal to the target auxiliary muscle group at the stimulation time: A plurality of target foot features of the moving object based on the current movement type are acquired in real time to obtain a fourth foot feature set.

[0098] It is understandable that the specific steps for obtaining the target foot features are described above and will not be repeated here.

[0099] According to each foot feature in the fourth foot feature set, it is determined whether the foot action sequence corresponding to each foot feature is consistent. If it is determined that the foot action sequence corresponding to each target foot feature in the fourth foot feature set is inconsistent, it means that the motion cycle of the moving object is broken, which means that the motion may be confused, uncoordinated or suddenly stopped, and at this time, the stimulation signal is stopped from being provided to all auxiliary muscle groups.

[0100] The above method can ensure that muscle stimulation is stopped in time when the exercise action cycle is broken, so as to avoid continued stimulation in the same way as before, resulting in inaccurate stimulation of muscles, stimulation time and stimulation duration, leading to muscle damage and risk of injury.

[0101] The technical solution provided by the disclosed embodiment can accurately identify whether the periodicity of the movement of the moving object is broken by identifying the characteristics of the target foot. Different stimulation stopping methods are provided for different situations. When it is determined that the periodicity of the movement of the moving object is broken, the stimulation signal is stopped from being provided to all auxiliary muscle groups. The stimulation is stopped in a targeted manner according to the actual situation, which can effectively avoid over-stimulation and avoid the situation where the moving object is injured due to incorrect stimulation.

[0102] In a possible implementation, determining the stimulation time according to the time corresponding to the target foot movement and the target waiting time, and providing a stimulation signal to the target auxiliary muscle group at the stimulation time, further includes: During the provision of the stimulation signal, if it is determined that the preset stimulation enhancement condition is triggered, the stimulation signal is enhanced according to the enhancement strategy corresponding to the preset stimulation enhancement condition; The enhancement strategy includes at least one of increasing the intensity of the stimulation signal and increasing the target stimulation duration.

[0103] Specifically, the embodiment of the present disclosure provides a method for enhancing a stimulation signal during the period of providing the stimulation signal, which specifically includes the following steps: During the provision of the stimulation signal, if it is determined that the preset stimulation enhancement condition is triggered, the stimulation signal is enhanced according to the enhancement strategy corresponding to the preset stimulation enhancement condition, and the enhancement strategy includes at least one of increasing the intensity of the stimulation signal and increasing the target stimulation duration.

[0104] It can be understood that the correspondence between the preset stimulation enhancement conditions and the corresponding enhancement strategies, as well as the specific methods of the preset stimulation conditions and the enhancement strategies, can be determined according to actual needs.

[0105] For example, when a moving object is undergoing rehabilitation training or exercise training, if during the period of providing the stimulation signal, the position, angle, acceleration, etc. corresponding to the moving object's movement begin to weaken and the standard movement may not be completed, the preset stimulation enhancement condition is triggered to increase the intensity of the stimulation signal, so that the muscles continue to increase their force and contract.

[0106] If during the period of providing the stimulation signal, it is found that the position, angle, acceleration, etc. corresponding to the movement of the moving object have not weakened, but the moving object is in a good state of adaptation and the training intensity can be increased, the preset stimulation enhancement conditions will be triggered, the target stimulation time will be increased, and the duration of muscle contraction will be increased.

[0107] The technical solution provided by the embodiments of the present disclosure provides a method for enhancing a stimulation signal during the period when the stimulation signal is provided. By adopting an enhancement strategy to enhance the stimulation signal when determining to trigger a preset stimulation enhancement condition during the period when the stimulation signal is provided, the stimulation intensity can be accurately controlled. The stimulation intensity can be adjusted in time during the period when the stimulation signal is provided, so as to provide targeted stimulation of different intensities to muscle groups and optimize the exercise assistance effect.

[0108] In a possible implementation, determining the stimulation time according to the time corresponding to the target foot movement and the target waiting time, and providing a stimulation signal to the target auxiliary muscle group at the stimulation time, further includes: During the provision of the stimulation signal, if it is determined that the preset stimulation stop condition is triggered, the provision of the stimulation signal to the target auxiliary muscle group is immediately stopped; The preset stimulation stop condition instructs the moving object to stop moving in the current movement type.

[0109] Specifically, the embodiment of the present disclosure provides a method for stopping providing a stimulation signal during providing a stimulation signal, which specifically includes the following steps: During the provision of the stimulation signal, if it is determined that the preset stimulation stop condition is triggered, the provision of the stimulation signal to the target auxiliary muscle group is immediately stopped.

[0110] It can be understood that the preset stimulation stop condition instructs the moving object to stop performing the current exercise type. At this time, the muscle groups that the moving object used to exert force when performing the original exercise type may stop exerting force. Therefore, the stimulation signal is stopped immediately to protect the moving object and avoid the risk of sports injuries caused by incorrect stimulation.

[0111] The technical solution provided by the embodiment of the present disclosure provides a method for stopping providing a stimulation signal during the period of providing a stimulation signal. During the period of providing the stimulation signal, when it is determined that a preset stimulation stop condition is triggered, the stimulation signal is immediately stopped from being provided to the target auxiliary muscle group, so as to avoid the risk of sports injuries caused by erroneous stimulation.

[0112] Figure 3 A schematic diagram of a motion state corresponding to a running motion type provided in an embodiment of the present disclosure, such as Figure 3 As shown, during running, multiple muscles in different positions (such as gluteus maximus T1, gluteus medius Z1, hamstring G2, waist and back muscles Y and ankle muscles J) are used to achieve movement together.

[0113] The following is a specific application example. The type of exercise performed by the exercise object is running, any foot is the local foot, and the muscle with defective problems during the exercise is Figure 3 Taking the gluteus maximus T1, the waist and back muscle group Y and the ankle muscle J as an example (wherein, the gluteus maximus T1 and the waist and back muscle group Y have poor muscle strength performance during exercise, and the ankle muscle J is sprained and painful), the exercise assisting method provided by the embodiment of the present disclosure is described: In the disclosed embodiment, a pressure sensor, a vibration sensor, and an accelerometer are used to assist in determining the foot movement, and a sound sensor is used to accurately determine the time corresponding to the foot movement. The specific method for determining the time is not described in detail here.

[0114] See again Figure 2 , taking the moment when the heel of the foot lands on the ground as the 0 ms reference moment, the other foot movements are added based on the 0 ms reference moment. The logic of the motion assisting method provided by the embodiment of the present disclosure is shown in Table 1 below:

[0115] Table 1 It can be understood that the actions in Table 1 above only include the foot movements of the current foot in the standard running posture. During the continuous exercise process, the foot movements of the current foot and the opposite foot are performed alternately, and the corresponding control method of the foot movements of the current foot can be repeated in a changing or unchanged manner. The specific control method can be determined according to the actual situation, and the embodiments of the present disclosure do not limit this.

[0116] It should be noted that the types of stimulation signals include but are not limited to electrical stimulation signals and local low-temperature stimulation signals, which can provide stimulation according to the characteristics of different muscle group defects and give stimulation signals different intensities. For example, the frequency, current amplitude, pulse width and duration corresponding to different electrical stimulation signals may be different, and the temperature value and stimulation intensity of the local low-temperature stimulation signal may be different.

[0117] In the embodiment of the present disclosure, electrical stimulation signals are provided to the gluteus maximus T1 and the lumbar and back muscle group Y, and local low-temperature stimulation signals are provided to the ankle muscles J. The numbers "first" to "seventh" in the above Table 1 are used to distinguish different stimulation signals, and the waiting time corresponding to the stimulation signals provided at the moments corresponding to different foot movements is determined according to actual conditions.

[0118] It should be understood that the embodiments of the present disclosure are only used as a specific example to explain the present invention in detail, and the described embodiments are only intended to facilitate the understanding of the present invention and do not have any limiting effect on the present invention.

[0119] According to another aspect of an embodiment of the present disclosure, there is provided a motion assisting device, including: at least one sensor and a processing unit; The sensor is used to collect the target foot features of the moving object based on the current movement type in real time; The processing unit is used to execute the steps of the motion assistance method provided in any of the above embodiments.

[0120] Specifically, the motion assistance method provided by the embodiment of the present disclosure may be implemented based on a motion assistance device, where the motion assistance device includes: at least one sensor and a processing unit.

[0121] The sensor is used to collect the target foot features of the moving object based on the current movement type in real time, and transmit the acquired target foot features to the processing unit.

[0122] It can be understood that the specific types of sensors include but are not limited to cameras, audio sensors, angular velocity sensors, etc., and their specific types, quantities and installation locations can be determined according to actual needs.

[0123] After acquiring the target foot features sent by the sensor, the processing unit analyzes and stores the target foot features and compares and analyzes them with the previously stored foot features to implement the steps of the motion assistance method provided in any of the above embodiments.

[0124] Figure 4 A schematic diagram of the structure of a motion assisting device provided by an embodiment of the present disclosure is shown in FIG. Figure 4 As shown, the exercise assisting device 400 comprises: The feature acquisition module 401 is used to acquire the target foot features of the moving object based on the current movement type in real time, and the target foot features include: multiple target foot movements and the time corresponding to the target foot movements; A target determination module 402 is used to determine a first correspondence describing a target foot movement and a current movement type according to a preset movement relationship feature model as a target correspondence relationship, and determine a target waiting time, a target auxiliary muscle group, and a target stimulation time described in the target correspondence relationship; The muscle group stimulation module 403 is used to determine the stimulation time according to the time corresponding to the target foot movement and the target waiting time, and provide a stimulation signal to the target auxiliary muscle group at the stimulation time, and the duration of providing the stimulation signal is the target stimulation time; The motion relationship feature model is used to describe each first correspondence, and each first correspondence is used to describe the correspondence between a motion type, a foot movement, a group of auxiliary muscle groups, a waiting time and a stimulation time.

[0125] In a possible implementation, the stimulation time is determined according to the time corresponding to the target foot movement and the target waiting time, and a stimulation signal is provided to the target auxiliary muscle group at the stimulation time, which also includes: Obtaining a plurality of continuous foot features of a moving object, each foot feature including a plurality of foot movements; If the order of each foot movement in a plurality of continuous foot features is consistent, it is determined that the movement of the moving object is periodically stable.

[0126] In a possible implementation, the waiting time is determined according to the characteristic time period of the foot corresponding to the foot movement, the muscle group contraction time coefficient, and the motion coefficient corresponding to the motion object; The duration of stimulation is determined according to the characteristic period of the foot corresponding to the foot movement, the muscle group contraction period coefficient, and the motion coefficient; The foot characteristic period is a period determined according to the time corresponding to the foot action, and the time corresponding to the foot action includes at least one of a start time, a peak time and an end time. The start time refers to the time when the foot area corresponding to the foot action contacts the preset contact surface, the peak time refers to the time when the foot area compacts the preset contact surface, and the end time refers to the time when the foot action is completed. The muscle group contraction time coefficient is used to indicate the ratio of the time from the start of the foot characteristic period to the time when the auxiliary muscle group starts to contract to the foot characteristic period; The muscle group contraction period coefficient is used to indicate the ratio of the period from the start of contraction to the end of contraction of the auxiliary muscle group to the characteristic period of the foot; The motion coefficient is used to indicate the motion ability of a moving object.

[0127] In a possible implementation, the stimulation level is used to indicate at least one set of target auxiliary muscle groups and the intensity of the stimulation signal; The stimulation time is determined according to the time corresponding to the target foot movement and the target waiting time, and a stimulation signal is provided to the target auxiliary muscle group at the stimulation time, including: The moment corresponding to the target foot movement and the target waiting time after that is taken as the stimulation moment; At the moment of stimulation, stimulation signals are provided to the target auxiliary muscle groups in a step-by-step manner according to a plurality of pre-set stimulation levels.

[0128] In a possible implementation, providing stimulation signals to the target auxiliary muscle group in a step-by-step manner includes: Acquire the target foot features of the moving object before stimulating the target auxiliary muscle group with the stimulation signal of the first stimulation level to obtain a first foot feature set, and acquire the target foot features of the moving object after stimulating the target auxiliary muscle group with the stimulation signal of the first stimulation level to obtain a second foot feature set; Obtaining a motion performance parameter corresponding to each target foot feature according to the first foot feature set to obtain a first motion performance parameter set, and obtaining a motion performance parameter corresponding to each target foot feature according to the second foot feature set to obtain a second motion performance parameter set, wherein the motion performance parameter is used to indicate the motion performance of the motion object; If it is determined that the foot movement sequences corresponding to the target foot features in the second foot feature set are all consistent, and it is determined based on the first sport performance parameter set and the second sport performance parameter set that the sport object's sport performance improves after providing the stimulation signal, then a stimulation signal is provided to the target auxiliary muscle group corresponding to the sport object based on the second stimulation level; The intensity of the stimulation signal corresponding to the second stimulation level is greater than the intensity of the stimulation signal corresponding to the first stimulation level.

[0129] In a possible implementation, the stimulation time is determined according to the time corresponding to the target foot movement and the target waiting time, and a stimulation signal is provided to the target auxiliary muscle group at the stimulation time, and then the following is further included: Acquire multiple target foot features of the moving object based on the current movement type in real time to obtain a third foot feature set; Acquire a motion performance parameter corresponding to each target foot feature according to the third foot feature set to obtain a third motion performance parameter set, where the motion performance parameter is used to indicate the motion performance of the motion object; If it is determined based on the third set of exercise performance parameters that the exercise performance of the exercise subject has declined, stimulation signals are provided to the corresponding auxiliary muscle groups for maintaining the exercise, and stimulation signals are stopped from being provided to auxiliary muscle groups other than the auxiliary muscle groups for maintaining the exercise, based on a preset stop level.

[0130] In a possible implementation, providing a stimulation signal to the corresponding auxiliary muscle group for maintenance, and stopping providing stimulation signals to auxiliary muscle groups other than the auxiliary muscle group for maintenance, further comprising: Acquire multiple target foot features of the moving object based on the current movement type in real time to obtain a fourth foot feature set; If it is determined that the foot movement sequences corresponding to the target foot features in the fourth foot feature set are inconsistent, then the stimulation signals are stopped from being provided to all auxiliary muscle groups.

[0131] In a possible implementation, determining the stimulation time according to the time corresponding to the target foot movement and the target waiting time, and providing a stimulation signal to the target auxiliary muscle group at the stimulation time, further includes: During the provision of the stimulation signal, if it is determined that the preset stimulation enhancement condition is triggered, the stimulation signal is enhanced according to the enhancement strategy corresponding to the preset stimulation enhancement condition; The enhancement strategy includes at least one of increasing the intensity of the stimulation signal and increasing the target stimulation duration.

[0132] In a possible implementation, determining the stimulation time according to the time corresponding to the target foot movement and the target waiting time, and providing a stimulation signal to the target auxiliary muscle group at the stimulation time, further includes: During the provision of the stimulation signal, if it is determined that the preset stimulation stop condition is triggered, the provision of the stimulation signal to the target auxiliary muscle group is immediately stopped; The preset stimulation stop condition instructs the moving object to stop moving in the current movement type.

[0133] The device of the embodiments of the present disclosure can execute the method provided by the embodiments of the present disclosure, and the implementation principles are similar. The actions performed by each module in the device of each embodiment of the present disclosure correspond to the steps in the method of each embodiment of the present disclosure. For the detailed functional description of each module of the device, please refer to the description in the corresponding method shown in the previous text, which will not be repeated here.

[0134] In addition, in the embodiments of the present disclosure, the term "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories), or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0135] An embodiment of the present disclosure provides an electronic device (computer device / equipment / system), including a memory, a processor, and a computer program stored in the memory, and the processor executes the above-mentioned computer program to implement the steps of the method provided in any optional embodiment of the present disclosure and achieve corresponding technical effects.

[0136] In an optional embodiment, an electronic device is provided. Figure 5 A schematic diagram of the structure of an electronic device provided by an embodiment of the present disclosure is shown in FIG. Figure 5As shown, the electronic device 500 includes: a processor 501 and a memory 503. The processor 501 and the memory 503 are connected, such as through a bus 502. Optionally, the electronic device 500 may also include a transceiver 504, which may be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the transceiver 504 is not limited to one, and the structure of the electronic device 500 does not constitute a limitation on the embodiments of the present disclosure.

[0137] Processor 501 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. Processor 501 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0138] The bus 502 may include a path to transmit information between the above components. The bus 502 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 502 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0139] The memory 503 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), magnetic disk storage medium, other magnetic storage devices, or any other medium that can be used to carry or store computer programs and can be read by a computer, without limitation herein.

[0140] The memory 503 is used to store the computer program for executing the embodiment of the present disclosure, and the execution is controlled by the processor 501. The processor 501 is used to execute the computer program stored in the memory 503 to implement the steps shown in the above method embodiment.

[0141] The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), wearable devices, etc., and fixed terminals such as digital TVs, desktop computers, etc.

[0142] An embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps and corresponding contents of the aforementioned method embodiment can be implemented.

[0143] The embodiments of the present disclosure also provide a computer program product, including a computer program, which can implement the steps and corresponding contents of the aforementioned method embodiments when executed by a processor.

[0144] It should be noted that the computer-readable storage medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0145] In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, apparatus, or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0146] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0147] The terms "first", "second", "third", "fourth", "1", "2", etc. (if any) in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than that shown or described in the text.

[0148] It should be understood that, although the flowchart of the embodiment of the present disclosure indicates each operation step by arrows, the implementation order of these steps is not limited to the order indicated by the arrows. Unless clearly stated herein, in some implementation scenarios of the embodiment of the present disclosure, the implementation steps in each flowchart can be executed in other orders according to demand. In addition, some or all of the steps in each flowchart may include multiple sub-steps or multiple stages based on the actual implementation scenario. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage in these sub-steps or stages can also be executed at different times. In scenarios with different execution times, the execution order of these sub-steps or stages can be flexibly configured according to demand, and the embodiment of the present disclosure does not limit this.

[0149] The above is only an optional implementation method for some implementation scenarios of the present disclosure. It should be pointed out that for ordinary technicians in this technical field, without departing from the technical concept of the scheme of the present disclosure, other similar implementation methods based on the technical ideas of the present disclosure are also within the protection scope of the embodiments of the present disclosure.

Claims

1. A motion assisting method, characterized in that: include: Acquire target foot features of the moving object based on the current movement type in real time, wherein the target foot features include: a plurality of target foot movements and the time corresponding to the target foot movements; According to a preset motion relationship feature model, a first correspondence relationship describing the target foot movement and the current motion type is determined as a target correspondence relationship, and a target waiting time, a target auxiliary muscle group, and a target stimulation time described in the target correspondence relationship are determined; Determine the stimulation time according to the time corresponding to the target foot movement and the target waiting time, provide a stimulation signal to the target auxiliary muscle group at the stimulation time, and the duration of providing the stimulation signal is the target stimulation time; The motion relationship characteristic model is used to describe various first corresponding relationships, and each first corresponding relationship is used to describe the corresponding relationship between a motion type, a foot movement, a group of auxiliary muscle groups, a waiting time and a stimulation time.

2. The motion assisting method according to claim 1, characterized in that: The method further comprises: determining a stimulation moment according to a moment corresponding to the target foot movement and the target waiting time, and providing a stimulation signal to the target auxiliary muscle group at the stimulation moment. Obtaining a plurality of continuous foot features of a moving object, each foot feature including a plurality of foot movements; If the order of each foot motion in the plurality of continuous foot features is consistent, it is determined that the motion of the moving object is periodically stable.

3. The motion assisting method according to claim 2, characterized in that: The waiting time is determined according to the foot characteristic time period corresponding to the foot movement, the muscle group contraction time coefficient and the motion coefficient corresponding to the motion object; The stimulation duration is determined according to the characteristic time period of the foot corresponding to the foot movement, the muscle group contraction time period coefficient and the motion coefficient; The foot characteristic period is a period determined according to the time corresponding to the foot action, and the time corresponding to the foot action includes at least one of a start time, a peak time and an end time, wherein the start time refers to the time when the foot area corresponding to the foot action contacts the preset contact surface, the peak time refers to the time when the foot area compacts the preset contact surface, and the end time refers to the time when the foot action is completed; The muscle group contraction time coefficient is used to indicate the ratio of the time from the start of the foot characteristic time period to the time when the auxiliary muscle group starts to contract to the foot characteristic time period; The muscle group contraction period coefficient is used to indicate the ratio of the period from the start of contraction to the end of contraction of the auxiliary muscle group to the characteristic period of the foot; The motion coefficient is used to indicate the motion ability of the motion object.

4. The motion assisting method according to claim 1, characterized in that: The stimulation level is used to indicate at least one set of target auxiliary muscle groups and the intensity of the stimulation signal; The step of determining the stimulation moment according to the moment corresponding to the target foot movement and the target waiting time, and providing a stimulation signal to the target auxiliary muscle group at the stimulation moment, comprises: The moment corresponding to the target foot movement and the target waiting time is taken as the stimulation moment; At the stimulation moment, stimulation signals are provided to the target auxiliary muscle group in a step-by-step manner according to a plurality of pre-set stimulation levels.

5. The motion assisting method according to claim 4, characterized in that: The step of providing stimulation signals to the target auxiliary muscle group in a step-by-step manner includes: Acquire the target foot features of the moving object before stimulating the target auxiliary muscle group with the stimulation signal of the first stimulation level to obtain a first foot feature set, and acquire the target foot features of the moving object after stimulating the target auxiliary muscle group with the stimulation signal of the first stimulation level to obtain a second foot feature set; Acquiring a motion performance parameter corresponding to each target foot feature according to the first foot feature set to obtain a first motion performance parameter set; acquiring a motion performance parameter corresponding to each target foot feature according to the second foot feature set to obtain a second motion performance parameter set, wherein the motion performance parameter is used to indicate the motion performance of the motion object; If it is determined that the foot movement sequences corresponding to the target foot features in the second foot feature set are all consistent, and it is determined based on the first sport performance parameter set and the second sport performance parameter set that the sport performance of the sport object is improved after providing the stimulation signal, then a stimulation signal is provided to the target auxiliary muscle group corresponding to the sport object according to a second stimulation level; The intensity of the stimulation signal corresponding to the second stimulation level is greater than the intensity of the stimulation signal corresponding to the first stimulation level.

6. The motion assisting method according to any one of claims 1 to 5, characterized in that: The method further comprises: determining a stimulation moment according to a moment corresponding to the target foot movement and the target waiting time, and providing a stimulation signal to the target auxiliary muscle group at the stimulation moment, and then further comprising: Acquire multiple target foot features of the moving object based on the current movement type in real time to obtain a third foot feature set; Acquire a motion performance parameter corresponding to each target foot feature according to the third foot feature set to obtain a third motion performance parameter set, wherein the motion performance parameter is used to indicate the motion performance of the motion object; If it is determined based on the third set of exercise performance parameters that the exercise performance of the exercise object has declined, stimulation signals are provided to the corresponding auxiliary muscle groups for maintaining the exercise, and stimulation signals are stopped from being provided to auxiliary muscle groups other than the auxiliary muscle groups for maintaining the exercise, based on a preset stop level.

7. The motion assisting method according to claim 6, characterized in that: The step of providing stimulation signals to the corresponding auxiliary muscle groups for maintaining the muscle, and stopping providing stimulation signals to auxiliary muscle groups other than the auxiliary muscle groups for maintaining the muscle, further comprises: Acquire multiple target foot features of the moving object based on the current movement type in real time to obtain a fourth foot feature set; If it is determined that the foot movement sequences corresponding to the target foot features in the fourth foot feature set are inconsistent, then the stimulation signals are stopped from being provided to all auxiliary muscle groups.

8. The motion assisting method according to any one of claims 1 to 5, characterized in that: The method further comprises: determining a stimulation moment according to a moment corresponding to the target foot movement and the target waiting time, and providing a stimulation signal to the target auxiliary muscle group at the stimulation moment. During the provision of the stimulation signal, if it is determined that a preset stimulation enhancement condition is triggered, the stimulation signal is enhanced according to an enhancement strategy corresponding to the preset stimulation enhancement condition; The enhancement strategy includes at least one of increasing the intensity of the stimulation signal and increasing the target stimulation duration.

9. The motion assisting method according to any one of claims 1 to 5, characterized in that: The method further comprises: determining a stimulation moment according to a moment corresponding to the target foot movement and the target waiting time, and providing a stimulation signal to the target auxiliary muscle group at the stimulation moment. During the provision of the stimulation signal, if it is determined that a preset stimulation stop condition is triggered, immediately stop providing the stimulation signal to the target auxiliary muscle group; Wherein, the preset stimulation stop condition instructs the moving object to stop performing the movement of the current movement type.

10. A sports assisting device, characterized in that: include: at least one sensor and a processing unit; The sensor is used to collect the target foot features of the moving object based on the current movement type in real time; The processing unit is used to execute the steps of the motion assistance method according to any one of claims 1-9.

11. A motion assisting device, characterized in that: include: A feature acquisition module is used to acquire the target foot features of the moving object based on the current movement type in real time, wherein the target foot features include: a plurality of target foot movements and the time corresponding to the target foot movement; A target determination module is used to determine, according to a preset motion relationship feature model, a first correspondence relationship describing the target foot movement and the current motion type as a target correspondence relationship, and determine a target waiting time, a target auxiliary muscle group, and a target stimulation time described in the target correspondence relationship; A muscle group stimulation module, used to determine the stimulation time according to the time corresponding to the target foot movement and the target waiting time, and provide a stimulation signal to the target auxiliary muscle group at the stimulation time, and the duration of providing the stimulation signal is the target stimulation time; The motion relationship characteristic model is used to describe various first corresponding relationships, and each first corresponding relationship is used to describe the corresponding relationship between a motion type, a foot movement, a group of auxiliary muscle groups, a waiting time and a stimulation time.

12. An electronic device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 9.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

14. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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