Self-adaptive spasm evaluation method, protection mechanism and device

Abstract

The invention discloses a self-adaptive spasm evaluation method, a protection mechanism and a device, and relates to the technical field of control of exercise rehabilitation training equipment. According to the self-adaptive spasm evaluation method, the maximum joint torque and joint angle range are evaluated according to selected joint actions, joint torque and joint angle data are collected in real time in the training process, the torque sudden change degree is calculated in real time, and the actual spasm level is calculated. According to the method, the influence of joint torque difference and joint movement range difference caused by different selected joint actions and individual differences is eliminated, and meanwhile, the real-time performance of spasm state detection, the accuracy of spasm grade evaluation and the universality of the method are ensured; the protection mechanism adopts the self-adaptive spasm evaluation method, and real-time and accurate spasm protection can be provided for any joint action.

Description

Technical Field

[0001] The present invention relates to the technical field of control of sports rehabilitation training equipment, and particularly relates to an adaptive spasm evaluation method, protection mechanism and device. Background Art

[0002] Based on the theory of rehabilitation medicine, sports rehabilitation equipment assists patients with limb injuries in performing limb movements, provides various forms of exercise training, and can prevent limb muscle atrophy, increase joint mobility, and promote the reorganization of the patient's nervous system so as to restore the function of the affected limb. Existing sports rehabilitation equipment generally comes with a spasm protection function, which can automatically trigger the corresponding protection function when a patient has a spasm to prevent secondary injuries.

[0003] The prerequisite for sports rehabilitation equipment to provide reliable spasm protection is to accurately detect the occurrence of spasm and even evaluate the spasm state. In clinical practice, the modified Ashworth scale is commonly used to evaluate the spasm state. This scale divides the spasm state into six grades: 0, 1, 1+, 2, 3, and 4, as Figure 4 shown. According to the description of the modified Ashworth scale, this scale is related to muscle tone and the angle corresponding to the increase in muscle tone. In Chinese invention patent publication CN110680336A, a force sensor is used to directly measure joint torque data to monitor torque mutation and the angle at which the mutation occurs. However, it still requires an evaluator to manually evaluate the spasm grade, and this solution does not give an actual method for determining whether the torque has mutated. In addition, in such methods and corresponding evaluation devices, they are designed specifically for evaluating the spasm grade and require the patient to move in a specific way to complete the evaluation, and cannot be directly applied to sports rehabilitation equipment.

[0004] There are also existing technical solutions that directly implement spasm detection on sports rehabilitation. Such methods generally target specific equipment and cannot adapt to the differences in the range of motion and joint torque among different patients. The "Ankle Rehabilitation Robot and Control Method" disclosed in Chinese invention patent publication CN117598878A provides a method for evaluating the torque grade of ankle flexion / dorsiflexion movement and ensures safe interaction in cases of spasm and the like according to this method. This method sets three torque thresholds and evaluates the torque grade based on whether the actual torque is greater than the torque threshold within several specific joint angle ranges. However, there are significant differences in the joint range of motion and joint torque of patients with limb injuries, and these differences will directly affect the accuracy of such evaluation methods with artificially fixed parameter values.

[0005] Therefore, how to provide a relatively general spasticity evaluation method that can adapt to differences in the range of motion and joint torque, improve the accuracy of the spasticity monitoring system during the rehabilitation training process, and enhance the reliability of the spasticity protection function is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0006] To at least solve one of the problems existing in the prior art, the present invention provides an adaptive spasticity evaluation method, protection mechanism and related device, which can accurately monitor and evaluate the spasticity state of any joint in real time and provide reliable spasticity protection.

[0007] To solve the technical problem of the accuracy of real-time monitoring of the spasticity state during the rehabilitation training process, the present invention provides an adaptive spasticity evaluation method, including the following steps:

[0008] Step 1, select a joint movement to start training;

[0009] Step 2, evaluate the maximum joint torque T max corresponding to the joint movement and the joint angle range (θ min , θ max );

[0010] Step 3, collect the human joint angle θ i and joint torque T i in real time;

[0011] Step 4, calculate the torque mutation degree δ i according to the real-time joint torque T max and the maximum joint torque T i ;

[0012] Step 5, determine the actual spasticity level based on the torque mutation degree threshold δ t , joint stiffness degree threshold δ s , torque mutation degree δ i , human joint angle θ i and the joint angle range (θ min , θ max ).

[0013] Preferably, the maximum joint torque T max corresponding to the joint movement and the joint angle range (θ min , θ max ) are obtained through a training evaluation method.

[0014] Optionally, when it is not allowed to evaluate the maximum joint torque and joint angle range of the patient, the joint torque and joint angle statistical data corresponding to the target joint movement in a standardized database, public database, self-built database, etc. can be used.

[0015] Preferably, the steps of obtaining the maximum joint torque and the joint angle range corresponding to the joint movement through the training evaluation method include:

[0016] After selecting the joint movement, the patient applies force to the joint component with the maximum force, so as to drive the joint component to move in the form of constant-speed movement, and it is required that the patient tries his best to reach the maximum angle range that he can reach;

[0017] During the movement, the joint angle data and the joint force data are measured in real time;

[0018] After the patient completes a round-trip movement of a specified joint movement, calculate the maximum angle range and the maximum joint torque during the round-trip movement;

[0019] Repeat the training multiple times, and calculate the maximum angle range and the maximum joint torque during each round-trip movement to obtain multiple groups of maximum angle ranges and maximum joint torques;

[0020] Calculate the average value of multiple groups of maximum angle ranges and maximum joint torques to obtain the maximum joint torque and the joint angle range corresponding to the selected joint movement.

[0021] Preferably, based on the real-time joint torque T i and the maximum joint torque T max , calculate the torque mutation degree δ i , including:

[0022] First, calculate the change amount ΔT of the joint torque within the unit time according to the real-time joint torque T i , and then calculate the torque mutation degree δ max through the unit time torque change amount ΔT and the maximum joint torque T i .

[0023] δ i = k·ΔT / T max

[0024] where k is the mutation evaluation coefficient.

[0025] Specifically, if the frequency of calculating the torque mutation degree is fs (the acquisition frequency of the torque data should be greater than fs), according to the current joint torque T i and the joint torque T i-1 when calculating the torque mutation degree last time (T i-1 is T 0 = 0) for the first calculation, the change amount of the joint torque within the unit time can be obtained:

[0026] ΔT = fs·(T i - T i-1 )

[0027] The change in torque per unit time ΔT and the maximum joint torque T max can be used to calculate the degree of torque mutation δ i :

[0028] δ i = k·ΔT / T max (k > 0, k is a constant)

[0029] where k is the mutation evaluation coefficient. The larger k is, the lower the evaluation standard for torque mutation.

[0030] Preferably, after calculating the degree of torque mutation δ i , it is determined whether torque mutation has occurred. δ t is the torque mutation degree threshold. When the degree of torque mutation δ i ≥δ t , it is determined that torque mutation has occurred.

[0031] Preferably, the torque mutation degree threshold δ t = 1. When the degree of torque mutation δ i ≥1, that is , it is determined that torque mutation has occurred.

[0032] After determining whether torque mutation has occurred, especially when it is determined that mutation has occurred, it is determined whether joint rigidity has occurred. δ s is the joint rigidity degree threshold. When the degree of torque mutation δ i ≥δ s , it is determined that joint rigidity has occurred.

[0033] Preferably, the joint rigidity degree threshold δ s = 2. When the degree of torque mutation δ i ≥2, that is , it is determined that joint rigidity has occurred.

[0034] According to the torque mutation degree threshold δ t , joint rigidity degree threshold δ s , degree of torque mutation δ i , human joint angle θ i and joint angle range (θ min , θ max ), referring to the modified Ashworth scale, the actual spasm level is calculated as follows:

[0035] If δ i ≤δ t , it is determined that torque mutation has not occurred, and the actual spasm level is 0;

[0036] If δ t <δi ≤δ s , it is determined that there is a torque mutation but no joint rigidity, and the human joint angle θ i is at the end of the joint range of motion, and it is determined that the actual spasm level is 1;

[0037] If δ t < δ i ≤δ s , it is determined that there is a torque mutation but no joint rigidity, and the human joint angle θ i is within the latter 50% of the joint range of motion, and it is determined that the actual spasm level is 2;

[0038] If δ t < δ i ≤δ s , it is determined that there is a torque mutation but no joint rigidity, and the human joint angle θ i is within most of the joint range of motion, and it is determined that the actual spasm level is 3;

[0039] If δ t < δ i ≤δ s , it is determined that there is a torque mutation but no joint rigidity, and the human joint angle θ i is within the starting range of the joint range of motion, and it is determined that there is a torque mutation and the actual spasm level is 4;

[0040] If δ i > δ s , it is determined that joint rigidity appears, and it is determined that the actual spasm level is 5.

[0041] The present invention also provides a spasm protection mechanism adopting the above adaptive spasm evaluation method, including the following steps:

[0042] Step 1: Select a joint movement to start training, and preset a spasm protection level for the specified joint movement, and the spasm protection level corresponds to the actual spasm level in the adaptive spasm evaluation method;

[0043] Step 2: Calculate the actual spasm level in real time during the training process. If the actual spasm level is greater than or equal to the preset spasm protection level, trigger spasm protection measures, otherwise repeat Step 2;

[0044] The spasm protection measures specifically include: mediating the joint training movement.

[0045] In addition, the present invention provides a whole-body multi-joint isokinetic evaluation and training device applying the above adaptive spasm evaluation method and the above spasm protection mechanism. The multi-joint isokinetic evaluation and training device includes:

[0046] The joint training unit drives the specified joints of the patient to perform training, and includes joint components. Different joint actions can be selected by replacing different joint components;

[0047] The sensing unit is used to obtain the joint angle and joint torque value of the human body;

[0048] The control unit includes a training control function module, an evaluation control function module, and a spasm protection function module. The training control function module is used to provide passive training mode and active training mode. The evaluation control function module is used to evaluate the joint torque and joint angle range of the specified joint action. The spasm protection function module is used to determine the actual spasm level and take corresponding spasm protection measures;

[0049] The storage unit is used to store the maximum joint torque value and joint angle range value of different joint actions.

[0050] Among them, the active training includes isokinetic training form and isotonic training form; in clinical use, the adaptive spasm evaluation method and protection mechanism provided by the present invention are applied to passive training. Active training is the training in which the patient actively exerts force, and generally does not require spasm protection to be set.

[0051] Compared with the prior art, the present invention can at least achieve the following beneficial effects:

[0052] In the adaptive spasm state real-time monitoring method of the present invention, the influence of joint torque difference is considered when measuring the torque mutation degree, and the influence of joint movement range difference is considered when quantitatively calculating the actual spasm level. The considered factors are relatively comprehensive. The two mutation degree thresholds (δ t and δ s ) will not change due to the differences of patients or joint actions. On the premise of ensuring the real-time nature of spasm monitoring and the accuracy of spasm level evaluation, the versatility of the adaptive spasm evaluation method is improved, providing a guarantee for the implementation of spasm protection measures. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a schematic diagram of a whole-body multi-joint isokinetic evaluation and training device module provided by an embodiment of the present invention.

[0054] Figure 2 It is a step diagram of the adaptive spasm evaluation method in an embodiment of the present invention.

[0055] Figure 3 It is a step diagram of the protection mechanism applying the adaptive spasm evaluation method in an embodiment of the present invention.

[0056] Figure 4 It is a schematic diagram of the modified Ashworth scale. DETAILED DESCRIPTION OF THE INVENTION

[0057] Next, in combination with the accompanying drawings in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0058] To better reflect and express the core solution of the present invention, in the embodiments of the present invention, taking a multi-joint isokinetic evaluation and training device as an example, a self-adaptive spasm evaluation method, a spasm protection mechanism, and a multi-joint isokinetic evaluation and training device applying the above self-adaptive spasm evaluation method and spasm protection mechanism are specifically provided.

[0059] Please refer to Figure 1 , Figure 1 A whole-body multi-joint isokinetic evaluation and training device provided by an embodiment of the present invention includes a joint training unit, a storage unit, a sensing unit, and a control unit.

[0060] The joint training unit is used to provide joint evaluation or training for a specified joint movement of a patient. The joint training unit includes a power component and a set of joint components. Specifically, in some embodiments of the present invention, the power component is a DC servo motor with an in-built reducer, which provides power for realizing the evaluation function and the joint training function, and a joint component mounting seat and a joint component automatic identification sensor are provided at its output shaft.

[0061] In this embodiment, a set of joint components includes a shoulder joint component, a shoulder-elbow joint component, a forearm and wrist joint component, a knee and hip joint component, and an ankle joint component, a total of 5 components; each joint component can be installed on the joint component mounting seat of the power component and can also be detached; when a joint component is installed on the power component, the joint training unit can automatically identify the type of the installed component and open the specific joint movement types that the joint component can provide for evaluation or training according to the type of the joint component.

[0062] The joint movements include any joint movement among the extension / flexion, internal rotation / external rotation of the six major joints of the human body (shoulder, elbow, wrist, hip, knee, and ankle joints). In this embodiment, the shoulder joint assembly is used to provide the evaluation and training of three joint movements: shoulder joint extension / flexion, abduction / adduction, and horizontal abduction / adduction; the shoulder and elbow joint assembly is used to provide the evaluation and training of two joint movements: internal and external rotation of the shoulder joint, and extension / flexion of the elbow joint; the forearm and wrist joint assembly is used to provide the evaluation and training of three joint movements: internal and external rotation of the forearm, palmar flexion / dorsiflexion of the wrist joint, and ulnar deviation / radioulnar deviation; the knee and hip joint fittings are used to provide the evaluation and training of three joint movements: hip joint flexion / extension, abduction / adduction, and knee joint extension / flexion; the ankle joint assembly is used to provide the evaluation and training of two joint movements: plantar flexion / dorsiflexion and inversion / eversion of the ankle joint.

[0063] The sensing unit includes an angle sensor and a torque sensor, which are respectively used to obtain the human joint angle value and joint torque value;

[0064] The control unit includes a training control function module, an evaluation control function module, and a spasm protection function module; among them, the training control function module is used to provide a passive training mode and an active training mode, and the active training mode includes an isokinetic training form and an isotonic training form; in clinical use, the adaptive spasm evaluation method and protection mechanism provided by the present invention are applied to passive training. Active training is the training in which the patient actively exerts force, and generally does not require the setting of spasm protection. The evaluation control function module is used to evaluate the joint torque and joint angle range of the specified joint movement. The spasm protection function module is used to calculate the actual spasm level, detect the spasm state of the human limb in real time, and take corresponding spasm protection measures.

[0065] The storage unit is used to store the maximum joint torque value and joint angle range value of different joint movements; specifically, the storage unit includes two parts of data: one part is the maximum joint torque value and joint angle range evaluation data of the patient's individual evaluated by the evaluation control function module; the other part is the statistical data of the joint torque value and joint angle range in databases such as a standardized database, a public database, and a self-built database (a database constructed by collecting the joint torque and angle range data of multiple people); in specific implementation, whether it is evaluation data or statistical data, the data of different patients and different joint movements of the same patient are stored independently; that is, in the statistical database, a group of independent maximum joint torques T max and joint angle ranges (θ min , θ max ) are stored corresponding to each human joint movement. In the evaluation database, independent maximum joint torques T max and joint angle ranges (θmin , θ max )。

[0066] In some embodiments of the present invention, the evaluation control function module evaluates the magnitude of the patient's joint torque and the range of joint angles through a training evaluation method. The steps of the training evaluation method are as follows:

[0067] Step 1: Select a certain joint movement and operate the evaluation program on the software to start.

[0068] Step 2: The evaluation program is an active - isokinetic movement. The patient is required to apply force to the joint component with their maximum strength to drive the joint component to move in an isokinetic movement form, and the patient is required to try their best to reach the maximum angle range they can achieve.

[0069] Step 3: During the movement, the device measures the joint angle data and joint force data in real time. After the patient completes a round - trip movement of a specified joint movement, the device automatically calculates the maximum angle range during this round - trip movement and the maximum joint torque

[0070] Step 4: The evaluation control function module requires the patient to perform at least 5 round - trip movements of the specified joint movement, so at least 5 sets of maximum angle ranges and maximum joint torques

[0071] Step 5: After completing the evaluation program, the evaluation control function module automatically calculates the average values of multiple sets of angle ranges and maximum joint torques, records them as the final evaluation results, and stores the evaluation results in the storage unit.

[0072] Among them, the calculation method of the maximum joint torque T max is as follows. The calculation methods of the maximum angle range data θ min and θ max are the same and will not be elaborated here.

[0073]

[0074] Among them, n is the number of round - trip movements completed during the actual evaluation process, is the maximum torque during each round - trip movement.

[0075] The spasm protection function module is used to calculate the actual spasm level, detect the spasm state of the human limb in real time, and take corresponding spasm protection measures. In this embodiment, the spasm protection function module uses the adaptive spasm evaluation method provided by the present invention to realize the real - time monitoring of the spasm state of the human limb, and uses the spasm protection mechanism provided by the present invention to provide spasm protection.

[0076] Please refer to Figure 2 , which is a step diagram of an adaptive spasm evaluation method provided by an embodiment of the present invention. The specific implementation steps are as follows:

[0077] Step 1: Select a specific joint movement by replacing the joint component and start training;

[0078] Step 2: After selecting the joint movement, automatically evaluate the maximum joint torque T max and the joint angle range (θ min , θ max ).

[0079] Preferably, the maximum joint torque T max and the joint angle range (θ min , θ max ) are the evaluation data of the patient's individual retrieved from the storage unit. The T max and (θ min , θ max ) of different joint movements of the same patient are relatively independent data.

[0080] Specifically, the method for obtaining the evaluation data of the patient's individual is as follows: For the whole-body multi-joint isokinetic evaluation and training system, before training, the patient is required to perform a group of isokinetic movements, and the maximum joint torque and joint angle range of the patient are evaluated through the evaluation control function module, and the evaluation results are stored in the storage unit.

[0081] In the specific implementation process, if the evaluation of the maximum joint torque and joint angle range is not completed before starting training, the statistical data of the joint torque value and joint angle range are retrieved from the storage unit and used as the maximum joint torque T max and the joint angle range (θ min , θ max ) corresponding to the joint movement;

[0082] Step 3: During training, the human joint angle θ i and the human joint torque T i are collected in real time.

[0083] The human joint angle is calculated from the motor angle data measured by the angle sensor in real time. Specifically, the human joint angle θ i is obtained according to the motor angle θ m measured by the angle sensor in real time and the motor angle value θ zero corresponding to the joint zero position. Specifically, θ i = θ m - θ zero .

[0084] The human joint torque is calculated from the torque data measured in real time by a torque sensor installed at the output shaft of the motor. Specifically, T i = T s - T g , where T s is the total torque value measured by the torque sensor, and T g is the torque value caused by the self-weight of the joint component, which is a fixed value related to the joint component.

[0085] Step 4, during the rehabilitation training process, calculate the change amount ΔT of the human joint torque per unit time according to the human joint torque T i collected in real time, and calculate the torque mutation degree δ max through the torque change amount ΔT per unit time and the maximum joint torque T i .

[0086] In some embodiments of the present invention, the method for obtaining the torque mutation degree δ i is as follows:

[0087] According to the current joint torque T i and the joint torque T i-1 when calculating the torque mutation degree last time (when calculating for the first time, T i-1 is T 0 = 0), the change amount of the joint torque per unit time can be obtained:

[0088] ΔT = fs·(T i - T i-1 ), i = 1, 2, 3, 4...

[0089] where T i represents the real-time torque value when calculating the mutation degree currently, and i represents the number of times of calculating the mutation degree; the acquisition frequency of the torque data is greater than fs, and fs is the frequency of regularly calculating the torque mutation degree δ i . For example, if it is assumed that the torque mutation degree δ i is calculated every time_cal seconds (unit: second), then fs = 1 / time_cal;

[0090] Then the torque mutation degree δ i is:

[0091] δ i = k·ΔT / T max

[0092] where k > 0, k is a constant, k is a mutation evaluation coefficient, and the larger k is, the lower the evaluation standard of the torque mutation is.

[0093] After calculating the torque mutation degree δ iAfter that, it is determined whether a torque mutation has occurred, where δ t is the torque mutation degree threshold. When the torque mutation degree δ i ≥δ t , it is determined that a torque mutation has occurred; the larger δ t is, the greater the torque mutation degree δ i is required to determine that a torque mutation has occurred, that is, the evaluation criterion for torque mutation is lower.

[0094] If it is determined that a torque mutation has occurred, it is further determined whether joint stiffness has occurred, where δ s is the joint stiffness degree threshold. When the torque mutation degree δ i ≥δ s , it is determined that joint stiffness has occurred. The larger δ s is, the greater the torque mutation degree δ i is required to determine that joint stiffness has occurred, that is, the evaluation criterion for joint stiffness is lower.

[0095] In some embodiments of the present invention, the torque mutation degree threshold δ t =1. When the torque mutation degree δ i ≥1, that is , it is determined that the torque has mutated.

[0096] In some embodiments of the present invention, the joint stiffness degree threshold δ s =2. When the torque mutation degree δ i ≥2, that is , it is determined that joint stiffness has occurred.

[0097] In some embodiments of the present invention, the mutation evaluation coefficient k takes the value of 10, that is, when ΔT≥10%·T max , it is determined that the torque has mutated; when ΔT≥20%·T max , it is determined that joint stiffness has occurred.

[0098] Step 5, according to the torque mutation degree threshold δ t , the joint stiffness degree threshold δ s , the torque mutation degree δ i , the human joint angle θ i and the joint angle range (θ min ,θ max ), calculate the actual spasm level.

[0099] Calculating the actual spasm level can provide a more accurate and effective spasm state evaluation and protection; the calculation method of the actual spasm level is as follows:

[0100] If δ i ≤δ t, it is determined that no torque mutation has occurred, and the actual spasm level is 0;

[0101] If δ t < δ i ≤ δ s , it is determined that a torque mutation has occurred but no joint rigidity has occurred, and the human joint angle θ i is at the end of the joint range of motion. It is determined that the actual spasm level is 1, corresponding to grade 1 in the modified Ashworth scale; In specific implementation, the specific angle value at the end of the joint range of motion is set as θ min + k end ·(θ max - θ min ) ≤ θ i ≤ θ max ; where k end is the proportionality coefficient for determining whether it is "at the end of the joint range of motion";

[0102] If δ t < δ i ≤ δ s , it is determined that a torque mutation has occurred but no joint rigidity has occurred, and the human joint angle θ i is within the latter 50% of the joint range of motion. It is determined that the actual spasm level is 2, corresponding to grade 1+ in the modified Ashworth scale; In specific implementation, considering that θ min + k end ·(θ max - θ min ) ≤ θ i ≤ θ max is used to determine the actual spasm level 1. Therefore, the angle range for determining the actual spasm level 2 is θ min + k median ·(θ max - θ min ) ≤ θ i ≤ θ min + k end ·(θ max - θ min ); where k median is the proportionality coefficient for determining whether it is "within the latter 50% of the joint range of motion";

[0103] If δ t < δ i ≤ δ s , it is determined that a torque mutation has occurred but no joint rigidity has occurred, and the human joint angle θ i is within most of the joint range of motion. It is determined that the actual spasm level is 3, corresponding to grade 2 in the modified Ashworth scale; In specific implementation, considering that θ min + k median·(θ max -θ min )≤θ i ≤θ max The range has been used as the determination range for levels 1, 2, and 3, and specific angular values within most of the range of joint motion are set as θ min +k most ·(θ max -θ min )≤θ i ≤θ min +k median ·(θ max -θ min );where k most is the proportionality coefficient for determining whether it is "most of the range of joint motion";

[0104] If δ t <δ i ≤δ s , it is determined that a torque mutation occurs but joint rigidity does not occur, and the human joint angle θ i is within the starting range of the joint motion range. It is determined that a torque mutation occurs and the actual spasm level is 4, corresponding to level 3 in the modified Ashworth scale. Specifically, in implementation, considering that θ min +k most ·(θ max -θ min )≤θ i ≤θ max The range has been used as the determination range for levels 1, 2, and 3, so the joint angle determination range for the actual spasm level 4 is θ min ≤θ i ≤θ min +k most ·(θ max -θ min );

[0105] If δ i >δ s , it is determined that joint rigidity appears, and the actual spasm level is 5, corresponding to level 4 in the modified Ashworth scale;

[0106] In some embodiments of the present invention, since the motion range of grade 1+ in the Ashworth scale is clearly specified as the latter 50% range after joint motion, so here k median takes a value of 50%. k median divides the overall motion range into two parts: the first 50% and the latter 50%. Therefore, preferably, k most and k end can also adopt the equal division idea and take values of 25% and 75% respectively, so as to divide the joint angle range of the patient (θ min, θ max ) are evenly divided into 4 regions, which are respectively used as the judgment ranges of joint angles at levels 1 to 4.

[0107] It can be seen that in the adaptive spasm evaluation method provided by the present invention, when calculating the degree of torque mutation, it is divided by the maximum joint torque T of the patient max , which eliminates the differences in joint torques between different patient individuals and between different joint movements. That is, for different patient individuals and different joint movements, based on the degree of torque mutation δ i The criterion for judging whether torque mutation or even joint rigidity occurs is the same, that is, δ i ≥δ t When it is determined that torque mutation occurs, δ i ≥δ s When it is determined that joint rigidity occurs.

[0108] In addition, when quantitatively calculating the actual spasm level, the influence of the difference in joint range of motion is considered. The joint range data θ min and θ max are preferably both the evaluation data of the same joint movement of the patient. Even when using statistical data, only the statistical data of the same joint movement is used; therefore, when providing θ min and θ max , the criterion for judging the actual spasm level is only related to k median , k most and k end .

[0109] In the adaptive spasm evaluation method provided by the present invention, whether it is the criterion for judging torque mutation and joint rigidity or the criterion for judging the actual torque level, they are all fixed. Therefore, the adaptive spasm evaluation method provided by the present invention improves the versatility of the adaptive spasm evaluation method on the premise of ensuring the real-time nature of spasm monitoring and the accuracy of spasm level evaluation, and provides a guarantee for the implementation of spasm protection measures.

[0110] Please refer to Figure 3 , which is a step diagram of a spasm protection mechanism adopting the above adaptive spasm evaluation method provided by the present invention, including the following steps:

[0111] Step 1: Select a joint movement to start training and set the spasm protection level;

[0112] In some embodiments of the present invention, the spasm protection level is divided into levels 0 to 5, corresponding to the actual spasm levels 0 to 5 in the above adaptive spasm evaluation method.

[0113] Step 2: Calculate the actual spasm level in real time during the training process;

[0114] Step 3: If the actual spasm level is greater than or equal to the preset spasm protection level, trigger the spasm protection measure; otherwise, repeat Step 2.

[0115] In the actual implementation process, a spasm protection level of 0 indicates that the spasm protection function is turned off. When the spasm protection level >= 1, the higher the set spasm protection level, the higher the spasm protection judgment criterion, and the more difficult it is to trigger the spasm protection measure.

[0116] Specifically, when the spasm protection level is set to level 1, if the actual spasm level is greater than or equal to 1, the spasm protection measure will be triggered. According to the calculation method of the actual spasm level, the practical significance of the actual spasm level being greater than or equal to 1 is that a torque mutation (including joint stiffness) occurring at any position will trigger the spasm protection measure;

[0117] When the spasm protection level is set to 2, if the actual spasm level is greater than or equal to 2, the spasm protection measure will be triggered. According to the calculation method of the actual spasm level, the practical significance of the actual spasm level being greater than or equal to 3 is that either joint stiffness occurs, or a torque mutation occurs within the range of θ min ≤θ i ≤θ min +k end ·(θ max -θ min ) will trigger the spasm protection measure; similarly, if the spasm protection level is set to 3, the spasm protection measure will be triggered when joint stiffness occurs or θ min ≤θ i ≤θ min +k median ·(θ max -θ min ); if the spasm protection level is set to 4, the spasm protection measure will be triggered when joint stiffness occurs or θ min ≤θ i ≤θ min +k most ·(θ max -θ min );

[0118] When the spasm protection level is set to 5, the spasm protection measure will be triggered only when joint stiffness occurs, that is, when the actual spasm level is 5;

[0119] It can be seen that the higher the spasm protection level, the more stringent the conditions for triggering the spasm protection measure.

[0120] The spasm protection measure specifically includes: mediating the joint training action.

[0121] In some embodiments of the present invention, the spasm protection measure is as follows: the device switches from the passive training state to the stop state, and then slowly rotates to the neutral position of the joint and stops; in specific implementation, a sound prompt signal is accompanied when the spasm protection mechanism is activated.

[0122] Based on the disclosure and teachings of the above specification, those skilled in the art to which the present invention pertains can also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention. Based on the disclosure and teachings of the above specification, those skilled in the art to which the present invention pertains can also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention.

Claims

1. An adaptive spasticity evaluation method, characterized in that: The steps include: Select joint movements to start training; Evaluate the maximum joint torque T corresponding to the joint action max and joint angle range (θ min ,θ max ); During the training process, the human joint angle θ is collected in real time i and joint torque T i ; Based on the real-time joint torque T i and the maximum joint torque T max , calculate the degree of moment mutation δ i ; Based on the moment mutation threshold δ t , Joint stiffness threshold δ s , torque mutation degree δ i 、Human joint angle θ i and the joint angle range (θ min ,θ max ), determine the actual spasticity grade.

2. The adaptive spasticity evaluation method according to claim 1, characterized in that: The maximum joint torque T corresponding to the joint action max and joint angle range (θ min ,θ max ) obtained through training and evaluation methods, or using statistical data from any database including standardized databases, public databases, and self-built databases.

3. The adaptive spasticity evaluation method according to claim 2, characterized in that: The steps of obtaining the maximum joint torque and joint angle range corresponding to the joint action by the training evaluation method include: After the joint action is selected, the patient applies force to the joint component with his / her maximum strength, thereby driving the joint component to move in an isokinetic manner, and the patient is required to try his / her best to reach the maximum angle range he / she can achieve; Real-time measurement of joint angle data and joint force data during exercise; After the patient completes a reciprocating motion of a specified joint action, the maximum angle range and maximum joint torque during the reciprocating motion are calculated; Repeat the training for multiple times, and calculate the maximum angle range and maximum joint torque during each reciprocating motion to obtain multiple sets of maximum angle ranges and maximum joint torques; The average values ​​of multiple groups of maximum angle ranges and maximum joint torques are calculated to obtain the maximum joint torque and joint angle range corresponding to the selected joint action.

4. The adaptive spasticity evaluation method according to claim 1, characterized in that: Based on the real-time joint torque T i and the maximum joint torque T max , calculate the degree of moment mutation δ i ,include: According to the real-time joint torque T i Calculate the change of joint torque per unit time ΔT, and use the change of torque per unit time ΔT and the maximum joint torque T max , calculate the degree of moment mutation δ i , the expression is: d i =k·ΔT / T max Where k is the mutation assessment coefficient.

5. The adaptive spasticity evaluation method according to claim 4, characterized in that: Based on the torque mutation degree δ i Determine whether a torque mutation occurs, δ t is the torque mutation threshold. When the torque mutation degree δ i ≥δ t , determine the occurrence of torque mutation.

6. The adaptive spasticity evaluation method according to claim 4, characterized in that: Based on the torque mutation degree δ i Determine whether joint stiffness occurs, δ s is the threshold value of joint stiffness, when the torque mutation degree δ i ≥δ s , determine the occurrence of joint stiffness.

7. The adaptive spasticity evaluation method according to claim 1, characterized in that: Determining the actual level of spasticity includes: If δ i ≤δ t , it is determined that no torque mutation occurs, and the actual spasm level is 0; If δ t <δ i ≤δ s , it is determined that a sudden change in torque occurs but no joint stiffness occurs, and the human body joint angle θ i At the end of the joint motion range, the actual spasm level is determined to be 1; If δ t <δ i ≤δ s , it is determined that a sudden change in torque occurs but no joint stiffness occurs, and the human body joint angle θ i If the joint is in the range of 50% after movement, the actual spasm level is determined to be 2; If δ t <δ i ≤δ s , it is determined that a sudden change in torque occurs but no joint stiffness occurs, and the human body joint angle θ i The actual spasticity level is judged to be 3 if the joint is within most of the range of motion; If δ t <δ i ≤δ s , it is determined that a sudden change in torque occurs but no joint stiffness occurs, and the human body joint angle θ i The joint is in the starting range of the range of motion, and it is determined that a sudden torque change occurs and the actual spasm level is 4; If δ i >δ s , it is determined that joint stiffness occurs and the actual spasm level is determined to be 5.

8. A spasm protection mechanism, characterized in that: According to any one of claims 1 to 7, the adaptive spasticity assessment method is used, wherein the protection mechanism comprises: Step 1, selecting a joint action to start training, and presetting a spasm protection level for the specified joint action, wherein the spasm protection level corresponds to the actual spasm level in the adaptive spasm evaluation method; Step 2: During the training process, the actual spasm level is determined in real time using the spasm evaluation method as described in any one of claims 1 to 6; Step 3: If the actual spasm level is greater than or equal to the preset spasm protection level, the spasm protection measure is triggered, otherwise, step 2 is repeated.

9. The spasm protection mechanism according to claim 8, characterized in that: The spasm protection measure includes: mediating the joint training action.

10. A whole body multi-joint isokinetic assessment and training device, characterized in that: The spasticity assessment method according to any one of claims 1 to 7 and the spasticity protection mechanism according to claim 8 are applied, and the multi-joint isokinetic assessment and training device comprises: The joint training unit drives the patient's designated joints for training, including joint components. Specific joint movements can be selected by replacing different joint components; The sensing unit is used to obtain the joint angle and joint torque values ​​of the human body; A control unit, comprising a training control function module, an evaluation control function module and a spasm protection function module, wherein the training control function module is used to provide a passive training mode and an active training mode, the evaluation control function module is used to evaluate the joint torque and joint angle range of a specified joint action, and the spasm protection function module is used to determine an actual spasm level and take corresponding spasm protection measures; The storage unit is used to store the maximum joint torque values ​​and joint angle range values ​​of different joint actions.

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