Multi-mode active and passive combined balance capability testing method

Abstract

The invention relates to the technical field of balance ability testing and health management, and discloses a multi-mode active and passive combined balance ability testing method which comprises the following steps: acquiring basic physiological data and dynamic mechanical data of a tester through a sensor, and executing a sensory comprehensive test, a passive test and an adaptability test; calculating a balance score according to the gravity center trajectory data of the sensory comprehensive test, generating a passivity score based on the active force response time and angular momentum data of the passivity test, and generating an adaptability score according to the swing energy data of the adaptability test; and integrating the balance score, the passivity score and the adaptability score, and generating a multi-dimensional balance capability evaluation report through comprehensive weight calculation. According to the method, the problem of insufficient multi-dimensional evaluation in the existing method can be effectively solved, and a more comprehensive, accurate and personalized balance capability test result is provided.

Description

Technical Field

[0001] The present invention relates to the technical field of balance ability testing and health management, and in particular to a multi-modal active and passive combined balance ability testing method. Background Art

[0002] In recent years, the test methods of balance ability have experienced a development from traditional clinical evaluation to intelligent development based on sensor technology. Traditional balance test methods mainly rely on manual observation and simple physical tests, such as standing time and stability tests. These methods have certain limitations in subjectivity and accuracy. With the continuous advancement of sensor technology and sports science, sensor-based dynamic balance ability assessment systems have gradually been widely used. These systems can provide more accurate and objective balance ability assessments by collecting human motion data in real time and combining data analysis algorithms, which has promoted research and development in related fields.

[0003] However, existing balance ability testing methods mostly focus on the assessment of one aspect, such as sensory balance, passive reaction ability or adaptability, and ignore the necessity of multi-dimensional comprehensive evaluation. In the existing technology, sensory balance tests mainly focus on the influence of sensory inputs such as vision and hearing, but fail to fully consider the test subject's reaction ability in a complex dynamic environment; although passive tests can effectively evaluate an individual's response to external forces, they only rely on a single dynamic parameter, such as reaction time and angular momentum, and lack a multi-level evaluation of the test subject's overall balance ability; at the same time, although adaptability tests can reflect an individual's ability to adapt to environmental changes, due to the lack of multi-angle data support, the accuracy and reliability of the test results still need to be improved.

[0004] At present, it is difficult for existing technologies to integrate multiple evaluation results and effectively generate a comprehensive balance ability assessment report. Therefore, the existing balance ability testing methods still have significant deficiencies in comprehensiveness, multi-dimensional evaluation and accuracy. Our invention proposes a multi-modal active and passive combined balance ability testing method, which collects the basic physiological data and dynamic mechanical data of the tester through sensors, and combines sensory comprehensive tests, passive tests and adaptability tests to conduct a comprehensive balance ability assessment. This method can not only comprehensively consider the impact of sensory input on balance ability, but also comprehensively evaluate the individual's passive reaction ability and adaptability, and finally generate a comprehensive balance ability report through multi-dimensional scoring. Compared with the existing technology, our invention can effectively solve the problem of insufficient multi-dimensional evaluation in the existing methods and provide more comprehensive, accurate and personalized balance ability test results. Summary of the invention

[0005] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract of the specification and the title of the invention of this application to avoid blurring the purpose of this section, the abstract of the specification and the title of the invention, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0006] In view of the above existing problems, the present invention is proposed.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: collecting basic physiological data and dynamic mechanical data of the tester through sensors, performing sensory comprehensive tests, passive tests and adaptability tests;

[0008] Calculating a balance score based on the center of gravity trajectory data of the sensory comprehensive test, generating a passive score based on the active force reaction time and angular momentum data of the passive test, and generating an adaptability score based on the swing energy data of the adaptability test;

[0009] The balance score, the passivity score and the adaptability score are integrated to generate a multi-dimensional balance ability assessment report through comprehensive weight calculation.

[0010] As a preferred embodiment of the multi-modal active and passive combined balance ability test method of the present invention, the sensory comprehensive test includes:

[0011] Collect the tester's weight X1, height X2, chest circumference X3, waist circumference X4, hip circumference X5 and age data;

[0012] Obtain force value F through sensor A 、F B 、F C 、F D and sensor coordinates, calculate the initial center of gravity position (x, y);

[0013] Detecting the change of center of gravity trajectory under six test conditions, including combinations of eyes open / closed, fixed / unstable balance board, and without / with visual interference;

[0014] The balance score is calculated according to the maximum swing angle θ of the center of gravity trajectory. The calculation formula of the balance score is:

[0015]

[0016] Among them, θ=|θ1-θ2|, θ1 and θ2 are the maximum swing angles in the forward and reverse directions respectively, and the balance score ranges from 0 to 100%.

[0017] As a preferred embodiment of the multi-modal active and passive combined balance ability test method of the present invention, the calculation method of the maximum swing angle θ includes:

[0018] Establish an initial reference line with the center point of the foot support area as the reference;

[0019] Connect the center point of the foot support area and the current center of gravity position in real time to form a dynamic connection line H;

[0020] The calculation formula of the connection line H is:

[0021] For men: H = -160.328 - 2.8349X1 + 0.6439X2 + 0.1150X3 + 0.0519X4;

[0022] For women: H = -205.392 - 1.5518X1 + 0.6422X2 + 0.0894X3 + 0.1640X4 - 0.0656X5;

[0023] The maximum swing angle θ is the maximum angular difference between the dynamic connection line H and the initial reference line.

[0024] As a preferred embodiment of the multi-modal active and passive combined balance ability test method of the present invention, the passivity test includes:

[0025] Randomly move backward or forward through the balance board to trigger the active force reaction of the tester;

[0026] Record the active force reaction time T from the start of the test to the change in the center of force gravity position. The scoring rule is:

[0027] If T ≤ 0.5 seconds, the score is 100%;

[0028] If 0.5 seconds < T ≤ 1.0 seconds, the score is (1 - T / 1.0) × 100%;

[0029] If T > 1.0 seconds, the score is 0;

[0030] Calculate the active force intensity of the tester to offset the swing through angular momentum. The scoring rule is:

[0031] If the actual angular momentum ≥ 90% of the theoretical requirement value, the score is 100%;

[0032] If the actual angular momentum is between 70% and 90%, the score is:

[0033]

[0034] where S is the score, M actual is the actual angular momentum, M theory is the theoretical requirement value;

[0035] If the actual angular momentum is < 70%, the score is 0.

[0036] As a preferred embodiment of the multi-modal active and passive combined balance ability test method of the present invention, the adaptability test includes:

[0037] In the scenario where the balance board tilts forward or backward randomly, the integral of the center of gravity offset is calculated as the swing energy Y;

[0038] The calculation formula of the swing energy Y is:

[0039] Y = ∫(Δx 2 +Δx 2 )dt

[0040] Among them, Δx and Δy are the real-time offsets of the center of gravity relative to the initial position;

[0041] According to the preset threshold Y max The normalized score for Y is:

[0042] Adaptability score = 100% × (1-Y / Y max )

[0043] If Y ≥ Y max , with a score of 0.

[0044] As a preferred embodiment of the multi-modal active and passive combined balance ability test method of the present invention, the multi-dimensional balance ability evaluation report includes the following scoring rules:

[0045] The balance score of the sensory comprehensive test is divided into four levels, wherein ≥90% is excellent, 70% to 89% is good, 50% to 69% is fair, and <50% is poor;

[0046] According to the active force reaction time score and the angular momentum score of the passive test, a weighted average is taken as the passive comprehensive score;

[0047] directly mapping the scores of the adaptive tests to percentages;

[0048] The weights for defining the balance ability level are: 40% for sensory comprehensive test, 30% for passive test, and 30% for adaptive test;

[0049] The final grades are: ≥85% for Grade A, 70%-84% for Grade B, 55%-69% for Grade C, and <55% for Grade D.

[0050] As a preferred solution of the multi-modal active and passive combined balance ability testing method described in the present invention, the sensor includes at least one of a pressure sensor, an inertial measurement unit or an optical motion capture device.

[0051] As a preferred solution of the multi-modal active and passive combined balance ability testing method described in the present invention, the execution order of the six test conditions is randomly arranged, and each group of conditions is tested three times, and the average value is taken as the final data.

[0052] As a preferred scheme of the multi-modal active and passive combined balance ability testing method described in the present invention, the theoretical required value of the angular momentum is twice the angular momentum induced by external interference, of which 50% is used to stop the swaying caused by the external interference and 50% is used to restore balance.

[0053] As a preferred embodiment of the multi-modal active and passive combined balance ability test method of the present invention, the Y max Dynamically adjusted according to the tester's height and weight, the calculation formula is:

[0054]

[0055] Among them, K1=0.2, K2=0.5, X1 is weight, and X2 is height.

[0056] Beneficial effects of the present invention:

[0057] 1. Through a comprehensive multi-dimensional testing method, it can systematically evaluate the balance performance of individuals under different conditions, avoiding the limitations of single-dimensional evaluation, achieving a comprehensive quantitative evaluation of balance ability, and providing a reliable basis for subsequent data processing and comprehensive scoring;

[0058] 2. Through the calculation and weighted average of scores from different test dimensions, it can comprehensively reflect the test taker's performance in various balance abilities. Specifically, the balance score focuses on the impact of the sensory system on balance control, the passivity score focuses on the body's ability to respond to external interference, and the adaptability score evaluates the individual's ability to cope with a dynamically changing environment. By integrating these different scores, the generated assessment report can comprehensively and objectively reflect the individual's balance ability level, provide users with a scientific balance health assessment, and provide data support for further health management and exercise adjustment;

[0059] 3. Through comprehensive scoring and grading methods, it can not only provide detailed numerical feedback, but also provide intuitive classification results for individual health status and athletic performance, which helps individuals better understand their own balance ability and make targeted adjustments. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0061] Figure 1 It is a flow chart of the multi-modal active and passive combined balance ability testing method shown in the present invention;

[0062] Figure 2 It is a schematic diagram of the center of gravity trajectory in the sensory comprehensive test shown in the present invention;

[0063] Figure 3 This is a schematic diagram of the maximum swing angle calculation principle shown in the present invention;

[0064] Figure 4 It is a schematic diagram of the center of gravity trajectory in the passive test shown in the present invention;

[0065] Figure 5 It is a schematic diagram of the center of gravity trajectory in the adaptability test shown in the present invention. DETAILED DESCRIPTION

[0066] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings. It is obvious that the described embodiments are only part of the embodiments of the present invention, but not all of the embodiments.

[0067] Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without making any creative work should fall within the scope of protection of the present invention.

[0068] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0069] According to an embodiment of the present invention, Figure 1 The flowchart shown is a multi-modal active and passive combined balance ability testing method, which specifically includes the following steps:

[0070] S1. Collect the basic physiological data and dynamic mechanical data of the tester through sensors, and perform sensory comprehensive test, passive test and adaptability test.

[0071] S2. Calculate the balance score based on the center of gravity trajectory data of the sensory comprehensive test, generate the passive score based on the active force reaction time and angular momentum data of the passive test, and generate the adaptability score based on the swing energy data of the adaptability test.

[0072] S3. Integrate the balance score, passivity score and adaptability score, and generate a multi-dimensional balance ability assessment report through comprehensive weight calculation.

[0073] Combine the following Figure 2 to Figure 5 The schematic diagrams shown and some preferred or optional examples of the present invention more specifically describe the implementation process and / or effects of certain examples of the present invention.

[0074]

Data collection and test preparation

[0075] In an optional embodiment, a high-precision piezoresistive sensor (model FSR402) is used, which is evenly arranged at the four corners of the bottom of the balance board to measure the plantar pressure distribution (F A ,F B ,F C ,F D ) and the coordinate position (L, M) of the pressure sensor, which records the changes in the center of gravity of the human body in real time, thus providing basic data for subsequent analysis.

[0076] In an optional implementation, an MPU-6050 module is selected as an inertial measurement unit (IMU) and fixed to the waist of the tester to collect three-axis angular velocity and acceleration data with a sampling frequency of 100 Hz. The IMU sensor can capture the dynamic movement of various parts of the body during the test and provide mechanical data for calculating the balance reaction.

[0077] In an optional embodiment, an Opti Track Prime 13 camera (120Hz) is used as an optical motion capture system and is arranged at the four corners of the test area to capture the three-dimensional coordinate data of key points of the tester's body (such as shoulders, hips, knees, and ankles) in real time to provide analysis data for dynamic balance calculations.

[0078] Exemplarily, by zeroing the pressure sensor, that is, performing zero-point calibration on the balancing board in a static state, it is ensured that the output error in a no-load state is less than ±0.5%.

[0079] Exemplarily, by calibrating the IMU module, that is, performing zero bias calibration on the gyroscope and accelerometer of the IMU in a static environment, the drift error caused by the change in ambient temperature is eliminated.

[0080] Exemplarily, by calibrating the optical system, that is, the optical motion capture system completes the alignment of the spatial coordinate system through a calibration plate (with a size of 1m×1m), ensuring that the error is controlled within 1mm.

[0081] Furthermore, based on the pressure sensor data, the initial center of gravity position (x, y) of the tester is calculated:

[0082]

[0083] Among them, F A ,F B ,F C ,F D is the measured force value of the four pressure sensors, L A ,L B ,L C ,L D is the lateral coordinate of the corresponding sensor, M A ,M B ,M C ,M D is the vertical coordinate.

[0084] According to the tester's height X2, use the following formula to correct the center of gravity height to eliminate the influence of height difference on the center of gravity calculation:

[0085] y corrected =y+0.015·X2

[0086] Among them, X2 is the height of the tester, and the correction coefficient of 0.015 is based on the ergonomic model to ensure the consistency of the center of gravity calculation for individuals of different heights.

[0087]

Comprehensive sensory test

[0088] In the sensory integration test, the tester needs to perform a balance test under six test conditions, each set of conditions is repeated three times in a random order, where:

[0089] (1) The visual state was defined as eyes open, the balance board state was defined as fixed (horizontal), and there was no visual interference;

[0090] (2) The visual state was defined as eyes closed, the balance board state was defined as fixed (horizontal), and there was no visual interference;

[0091] (3) The visual state was defined as eyes open, the balance board state was defined as fixed (horizontal), and the visual disturbance was defined as a dynamic light spot (frequency 2 Hz);

[0092] (4) The visual state was defined as eyes open, the balance board state was an unstable surface (amplitude ±5°), and there was no visual interference;

[0093] (5) The visual state was defined as eyes closed, the balance board state was an unstable surface (amplitude ±5°), and there was no visual interference;

[0094] (6) The visual state was defined as eyes open, the balance board state as unstable surface (amplitude ±5°), and the visual disturbance as dynamic spot (frequency 2 Hz);

[0095] Exemplarily, the unstable surface (the platform will flip according to the deviation angle of the human body's center of gravity, ±8°, that is, the center of gravity follows the swing technology) is realized by a servo motor (model SGMXJ-08AUA6EC2), and the movement mode is a sine wave with random amplitude (±5°) and frequency (0.5~1.5Hz) superimposed, which simulates an unstable support surface and is used to examine the adaptability and reaction ability of the tester.

[0096] Furthermore, during the test, the center of gravity coordinates (x, y) are recorded in real time, with a sampling interval of 10ms, and a center of gravity trajectory diagram is generated. When calculating the maximum swing angle (θ\thetaθ), a reference line with the center point O of the foot support area as the origin is established, and the angle between the center of gravity dynamic connection line H and the reference line is calculated, where:

[0097] For men:

[0098]

[0099] For women:

[0100]

[0101] Among them, X1 is weight (kg), X2 is height (m), X3 is chest circumference (cm), X4 is waist circumference (cm), and X5 is hip circumference (cm);

[0102] The calculation formula of the maximum swing angle θ is:

[0103] θ=|θ1-θ2|

[0104] Among them, θ1 is the positive swing angle, and θ2 is the negative swing angle.

[0105] As an example, if the maximum sway angle of a subject under test condition (1) is θ=3.2°, the balance score calculation formula is:

[0106]

[0107] The grade is rated as good.

[0108] Passive test

[0109] After the system was initialized, the first interference was triggered at 5 seconds after the start of the test, and the subsequent interference intervals were generated by a random function. The direction of movement (forward / backward) was determined by a binary random number: 0 for backward and 1 for forward;

[0110] When the balance board movement command is issued, t0, the timestamp of the sensor data (pressure, IMU, optical system) is synchronously recorded with an error of ≤1ms, and an event marker is inserted into the data stream for subsequent analysis of the time window.

[0111] It should be noted that the motion control of the balance board is achieved by the servo motor receiving random instructions (moving backward or forward), and the motion parameters are as follows:

[0112] Movement speed: v = 0.2 m / s (based on the average human reaction time threshold setting);

[0113] Displacement amplitude: ±10cm (simulating sudden imbalance scenario);

[0114] Trigger interval: 1 to 3 seconds random delay, controlled by a pseudo-random number generator.

[0115] In an optional embodiment, 3 seconds before the test begins, the average value of the pressure sensor data is calculated. And standard deviation σ:

[0116]

[0117] Among them, F i is the pressure data measured for the i-th time, and N is the number of data points;

[0118] When the force value of any sensor changes by more than 3σ, it is determined that the force center of gravity begins to shift.

[0119] Exemplarily, the time window is determined as:

[0120] Starting time t0: the moment when the balance board starts to move;

[0121] Termination time t1: the time point when the first force value exceeds 3σ.

[0122] The calculation formula for the reaction time is:

[0123] Δt=t1-t0

[0124] Among them, t1 is the moment when the force value exceeds the threshold, and t0 is the moment when the balance board starts to move;

[0125] The following piecewise function is obtained:

[0126]

[0127] For example, if Δt=0.7 seconds, then:

[0128]

[0129] As an example, define the balance plate mass m = 5kg, length l = 0.5m, and moment of inertia Acceleration a = 0.5 m / s 2 , the radius of the balance plate r = 0.25m, then:

[0130]

[0131] The angular momentum M induced by the external disturbance induced The calculation formula is:

[0132] M induced =I·α=0.1042×2=0.2084

[0133] Theoretical required angular momentum M theory The calculation formula is:

[0134] M theory =2×M induced =0.4168

[0135] Collect the three-axis angular velocity ω through IMU z (component around the vertical axis), the sampling interval Δt = 0.01 seconds, then the actual angular momentum calculation formula is:

[0136]

[0137] As an example, if 50 ω are collected within 0.5 seconds z Data points, the average value is 1.2rad / s, then:

[0138] M actual =0.1042×1.2×0.5=0.0625

[0139] get:

[0140]

[0141] If M theory =0.4168, M actual =0.35, then:

[0142]

[0143] Perform a weighted calculation to get the comprehensive passivity score:

[0144] S passive =0.5×S time +0.5×S moment

[0145] For example, if S time =60%, S moment =69.8%, then:

[0146] S passive =0.5×60+0.5×69.8=64.9%.

[0147]

Adaptability test

[0148] In an optional embodiment, a dynamic tilting scenario is set, and the balance board motion control includes a tilting angle of ±8°, driven by a servo motor (model SGMXJ-08AUA6EC2), an angular velocity of 10° / s, and is triggered at the 10th second after the start of the test, the first tilting, and the subsequent tilting intervals are defined as random (1 to 4 seconds), the direction (forward / backward) is determined by a random number, and the tilting start time and end time are embedded in the data stream for subsequent analysis window division;

[0149] The motion curve includes acceleration phase, uniform speed phase and reset phase, where:

[0150] Acceleration stage: acceleration from 0 to 10° / s within 0.5 seconds;

[0151] Constant speed stage: maintain the angle for 2 seconds;

[0152] Reset phase: Return to horizontal position within 1 second.

[0153] In an optional embodiment, the offset is collected in real time, including capturing the coordinates (x, y) of the hip marker points at a frequency of 200 Hz to obtain optical system data; and performing an initial position calibration, i.e., recording the average position (x0, y0) in a static state for 3 seconds before the test.

[0154] The offset calculation formula is:

[0155] Δx=x(t)-x0

[0156] Δy=y(t)-y0

[0157] Sliding average filtering (window width 5 frames) was used to eliminate high-frequency noise;

[0158] Furthermore, the swing energy integral formula is as follows:

[0159]

[0160] Where, Δt = 0.005 seconds (200 Hz sampling period);

[0161] For example, if 400 data points are collected within 2 seconds, the average Δx 2 +Δy 2 =0.04m 2 ,but:

[0162] Y = 400 × 0.04 × 0.005 = 0.08 m 2 ·s

[0163] Dynamic Threshold Y max The calculation formula is:

[0164]

[0165] For example, if X2 = 1.75 m, X1 = 70 kg, then:

[0166] Y max =0.2×1.75 2 +0.5×70=0.6125+35=35.6125m 2 ·s

[0167] As an example, the test was repeated 3 times in each direction (front / back tilt), and outliers (such as Y>2Y max ), the final Y value is the average of three tests;

[0168] For example, the results of three tests are: Y1 = 25m 2 ·s, Y2=30m 2 ·s, Y3=28m 2 ·s, then:

[0169]

[0170] If Y max =35.61m 2 ·s, then:

[0171]

[0172] [Generate a multi-dimensional balance ability assessment report]

[0173] Exemplarily, according to the implementation of the above steps, the balance score classification of the sensory comprehensive test is obtained, as shown in the following Table 1:

[0174] Table 1. Statistical table of balance score classification of sensory comprehensive test

[0175]

[0176] In an optional embodiment, the calculation of the passive comprehensive score includes the active force reaction time score and the angular momentum score, wherein the active force reaction time score is used to reflect the neuromuscular reaction speed, and the angular momentum score is used to reflect the power output and movement control ability, and the weighted calculation formula is:

[0177] S passive =0.5×S time +0.5×S moment

[0178] For example, if the reaction time score S time = 60%, angular momentum score S moment =80%, then:

[0179] S passive =0.5×60+0.5×80=70%

[0180] If a sub-score is invalid due to data loss (such as sensor failure), the other sub-score will be calculated in full. For example, if only angular momentum is valid, S passive =S moment .

[0181] In an optional implementation, the calculation formula for the adaptability score is:

[0182]

[0183] Among them, Y is the actual swing energy, Y max is the dynamic threshold;

[0184] If Y ≥ Y max , the score is forced to 0 (even if the calculated value is negative);

[0185] If Y=0 (ideal state), the score is 100%.

[0186] In an optional implementation, the comprehensive weight calculation and final grade division include:

[0187] The weight ratios for defining the balance ability level are: sensory comprehensive test accounts for 40%, passive test accounts for 30%, and adaptability test accounts for 30%. Among them, the sensory comprehensive test is used to reflect the basic balance ability and has the largest weight. The passive test is used to reflect the reaction ability under sudden interference. The adaptability test is used to evaluate the long-term dynamic environment adaptability. The weight ratio is determined by multiple regression analysis (R 2 =0.85);

[0188] The final score calculation formula is:

[0189] S final =0.4×S sensory +0.3×S passive +0.3×S adaptive

[0190] For example, if the sensory score S sensory =80%, passive score S passive =70%, adaptability score S adaptive =60%, then:

[0191] S final=0.4×80+0.3×70+0.3×60=32+21+18=71% (Grade: B)

[0192] The final output of the evaluation report is shown in Table 2 below:

[0193] Table 2. Final classification and intervention recommendations

[0194]

[0195]

[0196] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A multi-modal active and passive combined balance ability test method, characterized in that: Including: Collecting the basic physiological data and dynamic mechanical data of the tester through sensors, and performing sensory integration tests, passivity tests and adaptability tests; Calculating the balance score according to the center of gravity trajectory data of the sensory integration test, generating a passivity score based on the active force reaction time and angular momentum data of the passivity test, and generating an adaptability score according to the sway energy data of the adaptability test; Integrating the balance score, the passivity score and the adaptability score, and generating a multi-dimensional balance ability evaluation report through comprehensive weight calculation.

2. The multi-modal active and passive combined balance ability test method according to claim 1, characterized in that: The sensory integration test includes: Collecting the weight X1, height X2, chest circumference X3, waist circumference X4, hip circumference X5 and age data of the tester; Obtain force value F through sensor A 、F B 、F C 、F D and sensor coordinates, calculate the initial center of gravity position (x, y); Detecting the change of the center of gravity trajectory under six test conditions, and the test conditions include the combination of eyes open / closed, fixed / unstable surface balance board, no / with visual interference; Calculating the balance score according to the maximum sway angle θ of the center of gravity trajectory, and the calculation formula of the balance score is: Where θ = |θ1 - θ2|, θ1 and θ2 are the maximum sway angles in the forward and reverse directions respectively, and the balance score ranges from 0 to 100%.

3. The multi-modal active and passive combined balance ability test method according to claim 2, characterized in that: The calculation method of the maximum sway angle θ includes: Establishing an initial reference line based on the center point of the foot support area; Real-time connecting the center point of the foot support area with the current center of gravity position to form a dynamic connection line H; The calculation formula of the connection line H is: For men: H = -160.328 - 2.8349X1 + 0.6439X2 + 0.1150X3 + 0.0519X4; For women: H = -205.392 - 1.5518X1 + 0.6422X2 + 0.0894X3 + 0.1640X4 - 0.0656X5; The maximum sway angle θ is the maximum included angle difference between the dynamic connection line H and the initial reference line.

4. The multi-modal active and passive combined balance ability test method according to claim 1, characterized in that: The passivity test includes: Randomly moving backward or forward through the balance board to trigger the active force reaction of the tester; Recording the active force reaction time T from the start of the test to the change of the force center of gravity position, and the scoring rule is: If T ≤ 0.5 seconds, the score is 100%; If 0.5 seconds < T ≤ 1.0 seconds, the score is (1 - T / 1.0) × 100%; If T > 1.0 seconds, the score is 0; Calculating the active force intensity of the tester to offset the sway through angular momentum, and the scoring rule is: If the actual angular momentum ≥ 90% of the theoretical required value, the score is 100%; If the actual angular momentum is between 70% and 90%, the score is: Among them, S is the score, M is actual is the actual angular momentum, M theory is the theoretical demand value; If the actual angular momentum < 70%, the score is 0.

5. The multi-modal active and passive combined balance ability test method according to claim 1, characterized in that: The adaptability test includes: Calculating the integral of the center of gravity offset as the sway energy Y in the scenario where the balance board randomly tilts forward or backward; The calculation formula of the sway energy Y is: Y=∫(Δx 2 +Δx 2 )dt Where Δx and Δy are the real-time offsets of the center of gravity relative to the initial position; According to the preset threshold Y max The normalized score for Y is: Adaptability score = 100% × (1-Y / Y max ) If Y ≥ Y max , with a score of 0.

6. The multi-modal active and passive combined balance ability test method according to claim 1, characterized in that: The multi-dimensional balance ability evaluation report includes the following scoring rules: Dividing the balance score of the sensory integration test into four grades, where it is defined that ≥ 90% is excellent, 70% - 89% is good, 50% - 69% is average, and < 50% is poor; According to the active force reaction time score and the angular momentum score of the passive test, a weighted average is taken as the passive comprehensive score; directly mapping the scores of the adaptive tests to percentages; The weights for defining the balance ability level are: 40% for sensory comprehensive test, 30% for passive test, and 30% for adaptive test; The final grades are: ≥85% for Grade A, 70%-84% for Grade B, 55%-69% for Grade C, and <55% for Grade D.

7. The multi-modal active and passive combined balance ability test method according to claim 1, characterized in that: The sensor includes at least one of a pressure sensor, an inertial measurement unit, or an optical motion capture device.

8. The multi-modal active and passive combined balance ability test method according to claim 2, characterized in that: The execution order of the six test conditions was randomly arranged, and each group of conditions was tested three times, and the average value was taken as the final data.

9. The multi-modal active and passive combined balance ability test method according to claim 4, characterized in that: The theoretical required value of the angular momentum is twice the angular momentum induced by the external disturbance, of which 50% is used to stop the swaying caused by the external disturbance and 50% is used to restore balance.

10. The multi-modal active and passive combined balance ability test method according to claim 5, characterized in that: The Y max Dynamically adjusted according to the tester's height and weight, the calculation formula is: Among them, K1=0.2, K2=0.5, X1 is weight, and X2 is height.

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