Control device of upper limb pushing and lifting trainer and related components

Abstract

The invention discloses a control device of an upper limb pushing and lifting trainer and related components, and relates to the field of detection, and the control device comprises a memory used for storing a computer program; the processor is used for implementing the following steps when executing the computer program: determining pressure values at handles at two ends of a push rod of the upper limb pushing and lifting trainer; determining a current training mode according to the pressure value, wherein the current training mode comprises at least two of a left hand mode, a right hand mode and a two-hand mode; and applying resistance corresponding to the current training mode to the push rod to realize training. In the training process, on the basis of the pressure at the handle, whether a user operates with one hand or two hands is automatically determined, then resistance is applied to the push rod according to the determined operation mode, and then upper limb pushing training is achieved. In the process, the user does not need to manually determine the training mode, and operation is simpler.

Description

Technical Field

[0001] The present invention relates to the field of detection, and particularly to a control device and related components of an upper limb push trainer. Background Art

[0002] Upper limb rehabilitation trainers are mainly used to improve the upper limb muscle strength, joint range of motion and nerve function of patients. According to the principle of muscle contraction, the upper limb rehabilitation trainer provides different levels of resistance, allowing patients to enhance the strength of the upper limb muscles while pushing the push rod to overcome the resistance. Not all users need to train both hands during the training process. In the related art, the user or the rehabilitation therapist needs to manually select the training part, lacking the ability to distinguish the left hand, right hand, and both hands of the training part in real time, and unable to automatically identify in real time according to the actual operation, increasing the operation complexity and human error. Summary of the Invention

[0003] An object of the present invention is to provide a control device and related components of an upper limb push trainer, which can automatically determine whether the user is operating with one hand or both hands during the training process, and then apply pressure according to the operation mode, making the operation more convenient.

[0004] To solve the above technical problems, the present invention provides a control device of an upper limb push trainer, including:

[0005] A memory for storing a computer program;

[0006] A processor for implementing the following steps when executing the computer program:

[0007] Determine the pressure values at the handles at both ends of the push rod of the upper limb push trainer;

[0008] Determine the current training mode according to the pressure values, and the current training mode includes at least two of a left hand mode, a right hand mode, and a both hands mode;

[0009] Apply the resistance corresponding to the current training mode to the push rod to achieve training, and the resistance is a force opposite to the movement of the push rod from the bottom plate of the upper limb push trainer to the top of the upper limb push trainer.

[0010] On the other hand, before applying the resistance corresponding to the current training mode to the push rod to achieve training, it further includes:

[0011] Determine the user's identity information, and determine the user's dominant hand information, historical training time, and historical push speed based on the user's identity information;

[0012] Applying the resistance corresponding to the current training mode to the push rod to achieve training includes:

[0013] Determine an initial resistance value according to the dominant hand information, the current training mode, the historical training time, and the historical pushing speed;

[0014] Among them, in the left - hand mode or the right - hand mode, the initial resistance value of the training mode corresponding to the user's dominant hand is greater than the initial resistance value of the training mode corresponding to the non - dominant hand;

[0015] Apply the initial resistance value to the push rod to achieve training.

[0016] On the other hand, after applying the resistance corresponding to the current training mode to the push rod to achieve training, it further includes:

[0017] Set a pushing speed range, and determine the user's pushing speed. The pushing speed range is, from low to high, a low - speed range, a medium - speed range, and a high - speed range;

[0018] If the pushing speed is within the low - speed range within the first preset time, reduce the initial resistance value by a first percentage;

[0019] If the pushing speed is within the high - speed range within the first preset time, increase the initial resistance value by a second percentage;

[0020] If the pushing speed is within the medium - speed range within the first preset time, keep the initial resistance value unchanged.

[0021] On the other hand, after applying the resistance corresponding to the current training mode to the push rod to achieve training, it further includes:

[0022] When it is detected that the pressure value decreases by a third percentage within the second preset time, determine that the user has let go. The third percentage is greater than the first percentage and the second percentage;

[0023] Control the push rod to brake and stop applying resistance to the push rod.

[0024] On the other hand, determining the current training mode according to the pressure value includes:

[0025] Determine the current training mode based on the first pressure value and the second pressure value at the handles at both ends of the push rod and a pressure threshold;

[0026] When both the first pressure value and the second pressure value are greater than the pressure threshold, and the absolute value of the difference between the first pressure value and the second pressure value is less than the pressure threshold, determine that the current training mode is the two - hand mode.

[0027] When both the first pressure value and the second pressure value are less than the pressure threshold, determine that no training is detected;

[0028] If the absolute value of the difference between the first pressure value and the second pressure value is greater than the difference threshold, it is determined that the operation is abnormal and the user is prompted.

[0029] On the other hand, determining the current training mode according to the pressure value includes:

[0030] Determining the current training mode based on the first pressure value and the second pressure value at the handles at both ends of the push rod and the pressure threshold;

[0031] If the first pressure value is greater than the second pressure value and the absolute value of the difference between the first pressure value and the second pressure value is greater than the pressure threshold, it is determined that the current training mode is the left - hand mode;

[0032] If the second pressure value is greater than the first pressure value and the absolute value of the difference between the first pressure value and the second pressure value is greater than the pressure threshold, it is determined that the current training mode is the right - hand mode.

[0033] On the other hand, after determining the current training mode according to the pressure value, it further includes:

[0034] Determining the maximum resistance of the current training mode;

[0035] Applying the resistance corresponding to the current training mode to the push rod to achieve training, including:

[0036] When the current training mode is the left - hand mode or the right - hand mode, applying a single - hand resistance to the push rod;

[0037] When the current training mode is the two - hand mode, applying a two - hand resistance to the push rod;

[0038] Wherein, the single - hand resistance is less than the two - hand resistance, and both the single - hand resistance and the two - hand resistance are less than the maximum resistance.

[0039] On the other hand, determining the maximum resistance of the current training mode includes:

[0040] When the user holds the handle of the push rod, determining the distance between the push rod and the bottom plate;

[0041] Controlling the motor of the upper - limb pushing trainer to rotate, so as to apply resistance to the push rod through the synchronous belt connected between the motor and the push rod;

[0042] When the distance between the push rod and the bottom plate is shortened by a preset length, determining the current resistance as the maximum resistance.

[0043] To solve the above - mentioned technical problems, the present invention also provides a control method for an upper - limb pushing trainer, including:

[0044] Determine the pressure values at the handles at both ends of the push rod of the upper limb push trainer;

[0045] Determine the current training mode according to the pressure values, where the current training mode includes at least two of a left - hand mode, a right - hand mode, and a two - hand mode;

[0046] Apply a resistance corresponding to the current training mode to the push rod to achieve training, where the resistance is a force opposite to the movement of the push rod from the bottom plate of the upper limb push trainer to the top of the upper limb push trainer.

[0047] To solve the above - mentioned technical problems, the present invention also provides an upper limb push trainer, which includes the control device of the upper limb push trainer described above, and further includes a push rod with handles at both ends, a synchronous belt, a motor, and a pressure sensor;

[0048] The pressure sensors are respectively arranged at the handles at both ends of the push rod for detecting pressure values;

[0049] The synchronous belt is respectively connected to the motor and the push rod for applying the resistance generated by the rotation of the motor to the push rod;

[0050] The control device of the upper limb push trainer is respectively connected to the pressure sensor and the motor.

[0051] The present invention discloses a control device and related components of an upper limb push trainer, relating to the detection field, including a memory for storing a computer program; a processor for implementing the following steps when executing the computer program: determining the pressure values at the handles at both ends of the push rod of the upper limb push trainer; determining the current training mode according to the pressure values, where the current training mode includes at least two of a left - hand mode, a right - hand mode, and a two - hand mode; applying a resistance corresponding to the current training mode to the push rod to achieve training. During the training process, based on the pressure at the handles, it is automatically determined whether the user is operating with one hand or both hands, and then the resistance is applied to the push rod according to the determined operation mode, thereby realizing upper limb push training. In this process, there is no need for the user to manually determine the training mode, and the operation is more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the prior art and the embodiments. Obviously, the following - described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0053] Figure 1 It is a schematic structural diagram of a control device of an upper limb push trainer provided by the present invention;

[0054] Figure 2 Flow chart of a control method for an upper limb pressing trainer provided by the present invention;

[0055] Figure 3 Schematic structural diagram of an upper limb pressing trainer provided by the present invention. Specific implementation manners

[0056] The core of the present invention is to provide a control method and related components for an upper limb pressing trainer, which automatically determines whether the user is operating with one hand or both hands during the training process, and then applies pressure according to the operation mode, making the operation more convenient.

[0057] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0058] Figure 1 Flow chart of a control device for an upper limb pressing trainer provided by the present invention, Figure 2 Flow chart of a control method for an upper limb pressing trainer provided by the present invention. The control method for the upper limb pressing trainer includes:

[0059] A memory 13 for storing a computer program;

[0060] A processor 14 for implementing the following steps when executing the computer program:

[0061] S21: Determine the pressure values at the handles at both ends of the push rod of the upper limb pressing trainer;

[0062] S22: Determine the current training mode according to the pressure values. The current training mode includes at least two of a left hand mode, a right hand mode and a both hands mode;

[0063] S23: Apply a resistance corresponding to the current training mode to the push rod to achieve training. The resistance is a force opposite to the movement of the push rod from the bottom plate of the upper limb pressing trainer to the top of the upper limb pressing trainer.

[0064] Currently, upper limb rehabilitation trainers are mainly used in clinical applications to improve the upper limb muscle strength, joint range of motion and nerve function of patients. However, the prior art has the following deficiencies:

[0065] 1. Limitations of manually setting the training part: Traditional trainers require users or rehabilitation therapists to manually select the training part (such as the left side, the right side, or both hands), and cannot automatically identify it in real time according to the actual operation, increasing the operation complexity and human error.

[0066] 2. Single function and low precision of sensors: Existing sensors (such as torque sensors or counterweights) mainly focus on muscle strength detection or resistance adjustment, lacking the ability to distinguish between the left hand, the right hand, and both hands of the training part in real time.

[0067] 3. Insufficient interaction intelligence: Existing devices lack dynamic perception and feedback of the training part, and it is difficult to adjust training parameters according to the actual movements of users, affecting the rehabilitation effect.

[0068] Figure 3 Schematic diagram of the structure of an upper limb pushing trainer provided by the present invention;

[0069] Figure 3 The explanations of the reference numerals in the figure are as follows:

[0070] 1 is a laser ranging sensor, 2 is a pressure sensor of the push rod, 3 is a guide rail, 4 is a servo reducer, 5 is a push rod, 6 is a synchronous pulley, 7 is a slider, 8 is a synchronous belt, 9 is a bottom plate, 10 is a ranging sensor baffle, 11 is a pressure sensor on the left side, and 12 is a pressure sensor on the right side.

[0071] The ranging sensor baffle is used to set the laser ranging sensor, and the ranging sensor baffle and the laser ranging sensor are provided on both the push rod and the bottom plate. The slider is connected to the push rod and slides on the guide rail. The servo reducer is the motor, applying resistance to the synchronous belt, and the synchronous belt rotates based on the synchronous pulley, and then applies the resistance to the push rod.

[0072] When the user holds the push rod, generally at the handles at both ends of the push rod, the detected pressure value will change when the user holds it. Based on the difference in the pressure values of the two ends of the handle, it is determined whether the left hand, the right hand, or both hands are holding at present, and then the current training mode is determined. If the left hand holds the push rod alone, the current training mode is the left hand mode. If the right hand holds the push rod alone, the current training mode is the right hand mode. If both hands hold the push rod, the current training mode is the both hands mode.

[0073] Furthermore, since whether it is one hand or both hands, the push rod is pushed, so the significance of determining the current training mode is that the resistance applied in single - hand training needs to be less than that in both - hand training. For example, if the resistance applied in both - hand training is 10N, then the resistance applied in single - hand training is 5N. The resistance in single - hand training and both - hand training is different. If the user's training mode is constantly changing, for the existing technology, it is necessary to continuously reset the current training mode to modify the resistance, and the training process is relatively complex.

[0074] The present application automatically identifies the pressure value of the handle of the user holding the putter, and the pressure value corresponding to the user holding the handle and not holding the handle is different, so it can be determined which hand of the user is holding the handle, and then the current training mode can be determined. Then resistance is applied based on the current training mode.

[0075] The present invention discloses a control device for an upper limb press trainer, which relates to the field of detection, and includes a memory for storing a computer program; a processor for implementing the following steps when executing the computer program: determining the pressure values at the handles at both ends of a push rod of the upper limb press trainer; determining the current training mode according to the pressure value, the current training mode including at least two of a left-hand mode, a right-hand mode, and a two-hand mode; applying resistance corresponding to the current training mode to the push rod to achieve training. During the training process, based on the pressure at the handle, it is automatically determined whether the user is operating with one hand or with both hands, and then resistance is applied to the push rod according to the determined operation mode, thereby achieving upper limb press training. In this process, there is no need for the user to manually determine the training mode, and the operation is simpler.

[0076] Based on the above embodiments:

[0077] In some embodiments, before applying the resistance corresponding to the current training mode to the putter to achieve training, the method further includes:

[0078] Determine the identity information of the user, and determine the user's dominant hand information, historical training time, and historical push speed based on the user's identity information;

[0079] Apply resistance to the putter corresponding to the current training mode to achieve training, including:

[0080] Determine the initial resistance value based on the dominant hand information, current training mode, historical training time and historical pressing speed;

[0081] Wherein, in the left-hand mode or the right-hand mode, the initial resistance value of the training mode corresponding to the dominant hand of the user is greater than the initial resistance value of the training mode corresponding to the non-dominant hand;

[0082] Apply an initial resistance value to the push rod to achieve the training.

[0083] Different users have different initial resistance values, which are related to the user's historical training data. The historical training data is obtained based on the user's actual training situation, so the user can be treated more accurately. This process can be combined with a database to record the training process of users who have used the upper limb press trainer, and retrieve historical data each time training is performed to better determine the initial resistance value.

[0084] Specifically, when the user's dominant hand is the right hand, the resistance that the user's right hand can withstand is greater than that of the left hand. Conversely, when the user's dominant hand is the left hand, the resistance that the user's left hand can withstand is greater than that of the right hand. Therefore, it is necessary to appropriately determine the initial assistance value based on the dominant hand. The historical training time and the historical pushing speed can determine the user's state. For example, a user who has just started rehabilitation training can withstand less resistance than a user who has trained for a period of time. Therefore, based on this, adjust the initial resistance value to make it closer to the actual needs of the user.

[0085] In some embodiments, after applying the resistance corresponding to the current training mode to the push rod to implement the training, it further includes:

[0086] Set a pushing speed range, and determine the user's pushing speed. The pushing speed range is from low to high as the low-speed range, the medium-speed range, and the high-speed range respectively;

[0087] If the pushing speed is within the low-speed range within the first preset time, reduce the initial resistance value by the first percentage;

[0088] If the pushing speed is within the high-speed range within the first preset time, increase the initial resistance value by the second percentage;

[0089] If the pushing speed is within the medium-speed range within the first preset time, keep the initial resistance value unchanged.

[0090] After setting the initial resistance value, the user may not adapt to this resistance well. When the resistance is too large, the user's pushing speed will decrease. When the resistance is too small, the user's pushing speed will increase. Therefore, it is necessary to adjust the resistance accordingly so that the user's pushing speed is maintained within the medium-speed range.

[0091] In some embodiments, after applying the resistance corresponding to the current training mode to the push rod to implement the training, it further includes:

[0092] When it is detected that the pressure value decreases by the third percentage within the second preset time, it is determined that the user has let go of the hand. The third percentage is greater than the first percentage and the second percentage;

[0093] Control the push rod to brake and stop applying resistance to the push rod.

[0094] When the user's pressure value drops suddenly, it may be considered that the user has let go of the hand. At this time, if the resistance is continued to be applied and the movement of the push rod is controlled, it may cause harm to the user. Therefore, at this time, the push rod should be controlled to brake to avoid harm to the user.

[0095] In some embodiments, determining the current training mode according to the pressure value includes:

[0096] Determine the current training mode based on the first pressure value and the second pressure value at the handles at both ends of the push rod and the pressure threshold;

[0097] When both the first pressure value and the second pressure value are greater than the pressure threshold, and the absolute value of the difference between the first pressure value and the second pressure value is less than the pressure threshold, determine that the current training mode is the two - hand mode;

[0098] When both the first pressure value and the second pressure value are less than the pressure threshold, determine that no training is detected;

[0099] When the absolute value of the difference between the first pressure value and the second pressure value is greater than the difference threshold, it is determined that the operation is abnormal and the user is prompted.

[0100] There is a handle at each end of the push rod. When the user is training, they need to hold the handle with their hand, and then the pressure sensor under the handle will detect the pressure of the handle. The left - hand pressure sensor and the right - hand pressure sensor respectively obtain two pressure values. Based on the two pressure values, it can be determined whether the handle corresponding to the pressure sensor is being held. In this application, by default, when the user is facing the upper - limb push trainer for training, the pressure value corresponding to the left hand is the first pressure value, and the pressure value corresponding to the right hand is the second pressure value.

[0101] This preset pressure threshold needs to be tested and analyzed by inviting patients at different levels. When a normal person makes a fist, the pressure value on the horizontal plane is about 14N. This 14N can be used as the initial threshold, which can be gradually adjusted according to the actual use situation and user feedback, or a dynamic adjustment mechanism can be established to allow the system to automatically fine - tune the threshold according to the user's performance and adaptability.

[0102] Specifically, each patient can be asked to perform multiple fist - clenching pressure tests (such as 3 - 5 times), with an interval of 1 - 2 minutes between each test to avoid the influence of hand fatigue on the test results. Record the pressure value of each test and calculate the average value as the test data of the patient. At the same time, observe and record the performance of the patient during the test, such as whether there is discomfort, whether the force application method is abnormal, etc. Set the pressure value of 14N when a normal person makes a fist on the horizontal plane as the initial pressure threshold. During the system development stage, embed this threshold into the relevant algorithms and programs as the starting standard for the system to judge the user's pressure. During the initial application stage of the system, monitor and feedback the user's pressure data based on 14N. The system real - time collects multi - dimensional data such as the user's pressure data, usage duration, operation frequency, and task completion situation (such as the quality and speed of movement completion in rehabilitation training) during the use process.

[0103] For example, based on the grip strength of different users, it is found that the user has less strength, so even when holding the handle, the force still cannot reach 14N. At this time, the user manually selects the current training mode. After multiple feedbacks, the pressure threshold for this user is adjusted to be less than 14N.

[0104] If the pressure difference continuously exceeds the threshold value (for example, one-sided pressure is 0 and the pressure on the other side is extremely high), the system determines that the operation is abnormal and prompts the user to adjust the posture.

[0105] If the pressures on both sides are lower than the threshold value, it is determined that no training is detected.

[0106] In some embodiments, determining the current training mode according to the pressure values includes:

[0107] Determining the current training mode based on the first pressure value and the second pressure value at the handles at both ends of the push rod and the pressure threshold;

[0108] If the first pressure value is greater than the second pressure value and the absolute value of the difference between the first pressure value and the second pressure value is greater than the pressure threshold, determine that the current training mode is the left-hand mode;

[0109] If the second pressure value is greater than the first pressure value and the absolute value of the difference between the first pressure value and the second pressure value is greater than the pressure threshold, determine that the current training mode is the right-hand mode.

[0110] When the user holds the handle and performs a pushing action, the left and right sensors simultaneously collect the first pressure value P left and the second pressure value P right .

[0111] △ is a preset threshold. If P left >P right +△, it is determined as left upper limb training. If P right >P left +△, it is determined as right upper limb training.

[0112] In some embodiments, after determining the current training mode according to the pressure values, it further includes:

[0113] Determining the maximum resistance of the current training mode;

[0114] Applying the resistance corresponding to the current training mode to the push rod to achieve training, including:

[0115] When the current training mode is the left-hand mode or the right-hand mode, applying single-hand resistance to the push rod;

[0116] When the current training mode is the two-hand mode, applying two-hand resistance to the push rod;

[0117] Among them, the single-hand resistance is less than the two-hand resistance, and both the single-hand resistance and the two-hand resistance are less than the maximum resistance.

[0118] According to the judgment result, the resistance adjustment system of the trainer is automatically triggered. When training on one side, the system switches to the unilateral mode, and the resistance parameters match the unilateral muscle strength level; when training on both sides, the system enters the bilateral coordination mode, and the resistance parameters can be adjusted independently or in conjunction. The unilateral mode is the one-hand training mode, training the left or right hand alone. Bilateral coordination means training both the left and right hands at the same time. It should be noted that both the one-hand resistance and the two-hand resistance have corresponding initial resistance values.

[0119] Take the rehabilitation training of stroke patients as an example: the patient needs to undergo left upper limb muscle strength recovery training.

[0120] When the patient holds the handle, the pressure on the left sensor is significantly higher than that on the right, for example, P left =15N,P right =3N), which was judged as left hand upper limb training.

[0121] The host computer switches to unilateral mode and sends a command to the servo motor to adjust the resistance to the patient's left muscle strength level (such as the initial muscle strength level resistance 5N).

[0122] If the patient attempts to push both hands in subsequent training, the system detects that the pressure on both sides exceeds the threshold P left =10N,P right =12N, the upper computer switches to the double-side mode, sends a command to the servo motor, and the lower computer adjusts the resistance to 10N.

[0123] In some embodiments, determining the maximum resistance of the current training mode includes:

[0124] When the user holds the handle of the putter, determine the distance between the putter and the base plate;

[0125] Controlling the rotation of a motor of the upper limb press trainer to apply resistance to the push rod through a synchronous belt connected between the motor and the push rod;

[0126] When the distance between the push rod and the base plate is shortened by a preset length, the current resistance is determined to be the maximum resistance.

[0127] What needs to be considered is that if the resistance applied is too small, it will not have a training effect on the user. If the resistance applied is too large, the user will not be able to perform the push-up. Therefore, it is necessary to determine the maximum resistance that the user can withstand so that the applied resistance does not exceed the maximum resistance.

[0128] First, laser distance sensors are provided between the push rod and the bottom plate. Therefore, the distance between the push rod and the bottom plate can be obtained. When the user holds the push rod without moving, the distance between the push rod and the bottom plate is the largest. When resistance is applied, the user will resist the resistance to keep the push rod stationary. When the resistance reaches the maximum resistance that the user can bear, the push rod will move towards the bottom plate. At this time, if the moving distance reaches the preset length, it means that the resistance at this time is unbearable for the user, and this resistance is used as the maximum resistance.

[0129] Figure 2 The flowchart of a control method for an upper limb push trainer provided by the present invention. The control method for the upper limb push trainer includes:

[0130] S21: Determine the pressure values at the handles at both ends of the push rod of the upper limb push trainer;

[0131] S22: Determine the current training mode according to the pressure values. The current training mode includes at least two of the left hand mode, the right hand mode, and the both hands mode;

[0132] S23: Apply the resistance corresponding to the current training mode to the push rod to achieve training. The resistance is the force opposite to the movement of the push rod from the bottom plate of the upper limb push trainer to the top of the upper limb push trainer.

[0133] Based on the above embodiments:

[0134] Before applying the resistance corresponding to the current training mode to the push rod to achieve training, it further includes:

[0135] Determine the user's identity information, and determine the user's dominant hand information, historical training time, and historical push speed based on the user's identity information;

[0136] Applying the resistance corresponding to the current training mode to the push rod to achieve training includes:

[0137] Determine the initial resistance value according to the dominant hand information, the current training mode, the historical training time, and the historical push speed;

[0138] Among them, in the left hand mode or the right hand mode, the initial resistance value of the training mode corresponding to the user's dominant hand is greater than the initial resistance value of the training mode corresponding to the non-dominant hand;

[0139] Apply the initial resistance value to the push rod to achieve training.

[0140] After applying the resistance corresponding to the current training mode to the push rod to achieve training, it further includes:

[0141] Set a push speed range and determine the user's push speed. The push speed range is respectively the low speed range, the medium speed range, and the high speed range from low to high;

[0142] If the pushing speed is in the low-speed range within the first preset time, the initial resistance value is reduced by the first percentage;

[0143] If the pushing speed is in the high-speed range within the first preset time, the initial resistance value is increased by the second percentage;

[0144] If the pushing speed is in the medium-speed range within the first preset time, the initial resistance value remains unchanged.

[0145] After applying the resistance corresponding to the current training mode to the push rod to complete the training, it further includes:

[0146] When it is detected that the pressure value decreases by the third percentage within the second preset time, it is determined that the user has released the hand, and the third percentage is greater than the first percentage and the second percentage;

[0147] Control the push rod to brake and stop applying resistance to the push rod.

[0148] Determining the current training mode according to the pressure value includes:

[0149] Determining the current training mode based on the first pressure value and the second pressure value at the handles at both ends of the push rod and the pressure threshold;

[0150] When both the first pressure value and the second pressure value are greater than the pressure threshold, and the absolute value of the difference between the first pressure value and the second pressure value is less than the pressure threshold, it is determined that the current training mode is the two-handed mode;

[0151] When both the first pressure value and the second pressure value are less than the pressure threshold, it is determined that no training is detected;

[0152] When the absolute value of the difference between the first pressure value and the second pressure value is greater than the difference threshold, it is determined that the operation is abnormal and the user is prompted.

[0153] Determining the current training mode according to the pressure value includes:

[0154] Determining the current training mode based on the first pressure value and the second pressure value at the handles at both ends of the push rod and the pressure threshold;

[0155] If the first pressure value is greater than the second pressure value and the absolute value of the difference between the first pressure value and the second pressure value is greater than the pressure threshold, it is determined that the current training mode is the left-hand mode;

[0156] If the second pressure value is greater than the first pressure value and the absolute value of the difference between the first pressure value and the second pressure value is greater than the pressure threshold, it is determined that the current training mode is the right-hand mode.

[0157] After determining the current training mode according to the pressure value, it further includes:

[0158] Determine the maximum resistance of the current training mode;

[0159] Apply the resistance corresponding to the current training mode to the push rod to achieve training, including:

[0160] When the current training mode is the left - hand mode or the right - hand mode, apply single - hand resistance to the push rod;

[0161] When the current training mode is the two - hand mode, apply two - hand resistance to the push rod;

[0162] Among them, the single - hand resistance is less than the two - hand resistance, and both the single - hand resistance and the two - hand resistance are less than the maximum resistance.

[0163] Determine the maximum resistance of the current training mode, including:

[0164] When the user holds the handle of the push rod, determine the distance between the push rod and the bottom plate;

[0165] Control the rotation of the motor of the upper - limb push - up trainer, so as to apply resistance to the push rod through the synchronous belt connected between the motor and the push rod;

[0166] When the distance between the push rod and the bottom plate is shortened by a preset length, determine the current resistance as the maximum resistance.

[0167] For the introduction of the control method of the upper - limb push - up trainer provided in this application, please refer to the above - mentioned embodiments, and details will not be repeated here.

[0168] Figure 3 It is a schematic structural diagram of an upper - limb push - up trainer provided by the present invention. The upper - limb push - up trainer includes the control device of the upper - limb push - up trainer described above, and also includes a push rod with handles at both ends, a synchronous belt, a motor and a pressure sensor;

[0169] The pressure sensors are respectively arranged at the handles at both ends of the push rod for detecting the pressure value;

[0170] The synchronous belt is respectively connected with the motor and the push rod for applying the resistance generated by the rotation of the motor to the push rod;

[0171] The control device of the upper - limb push - up trainer is respectively connected with the pressure sensor and the motor.

[0172] For the introduction of the upper - limb push - up trainer provided in this application, please refer to the above - mentioned embodiments, and details will not be repeated here.

[0173] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0174] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0175] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control device for an upper limb pressing trainer, characterized in that, Comprising: A memory for storing a computer program; A processor for implementing the following steps when executing the computer program: Determine the pressure values at the handles at both ends of the push rod of the upper limb press trainer; Determine the current training mode according to the pressure values, where the current training mode includes at least two of the left - hand mode, right - hand mode, and two - hand mode; Apply a resistance corresponding to the current training mode to the push rod to achieve training, and the resistance is a force opposite to the movement of the push rod from the bottom plate of the upper limb press trainer to the top of the upper limb press trainer.

2. The control device of the upper limb pressing trainer according to claim 1, characterized in that Before applying the resistance corresponding to the current training mode to the push rod to achieve training, it further includes: Determine the user's identity information, and determine the user's dominant hand information, historical training time, and historical push speed based on the user's identity information; Applying the resistance corresponding to the current training mode to the push rod to achieve training includes: Determine an initial resistance value according to the dominant hand information, current training mode, historical training time, and historical push speed; Wherein, in the left - hand mode or right - hand mode, the initial resistance value of the training mode corresponding to the user's dominant hand is greater than the initial resistance value of the training mode corresponding to the non - dominant hand; Apply the initial resistance value to the push rod to achieve training.

3. The control device of the upper limb pressing trainer according to claim 2, characterized in that, After applying the resistance corresponding to the current training mode to the push rod to achieve training, it further includes: Set a push speed range, and determine the user's push speed. The push speed range is from low to high as the low - speed range, medium - speed range, and high - speed range respectively; If the push speed is within the low - speed range within the first preset time, reduce the initial resistance value by the first percentage; If the push speed is within the high - speed range within the first preset time, increase the initial resistance value by the second percentage; If the push speed is within the medium - speed range within the first preset time, keep the initial resistance value unchanged.

4. The control device of the upper limb pressing trainer according to claim 3, characterized in that, After applying the resistance corresponding to the current training mode to the push rod to achieve training, it further includes: When it is detected that the pressure value decreases by the third percentage within the second preset time, determine that the user has released the hand, where the third percentage is greater than the first percentage and the second percentage; Control the push rod to brake and stop applying resistance to the push rod.

5. The control device of the upper limb press trainer according to claim 1, characterized in that Determining the current training mode according to the pressure value includes: Determine the current training mode based on the first pressure value and the second pressure value at the handles at both ends of the push rod and a pressure threshold; When both the first pressure value and the second pressure value are greater than the pressure threshold, and the absolute value of the difference between the first pressure value and the second pressure value is less than the pressure threshold, determine that the current training mode is the two - hand mode; When both the first pressure value and the second pressure value are less than the pressure threshold, determine that no training is detected; When the absolute value of the difference between the first pressure value and the second pressure value is greater than the difference threshold, it is determined that the operation is abnormal and the user is prompted.

6. The control device of the upper limb pressing trainer according to claim 1, characterized in that, Determining the current training mode according to the pressure value includes: Determine the current training mode based on the first pressure value and the second pressure value at the handles at both ends of the push rod and a pressure threshold; If the first pressure value is greater than the second pressure value and the absolute value of the difference between the first pressure value and the second pressure value is greater than the pressure threshold, determine that the current training mode is the left - hand mode; If the second pressure value is greater than the first pressure value and the absolute value of the difference between the first pressure value and the second pressure value is greater than the pressure threshold, determine that the current training mode is the right - hand mode.

7. The control device of the upper limb pressing trainer according to any one of claims 1 to 6, characterized in that, After determining the current training mode according to the pressure value, it further includes: Determine the maximum resistance of the current training mode; Apply the resistance corresponding to the current training mode to the push rod to achieve training, including: When the current training mode is the left - hand mode or the right - hand mode, apply a single - hand resistance to the push rod; When the current training mode is the two - hand mode, apply a two - hand resistance to the push rod; Wherein, the single - hand resistance is less than the two - hand resistance, and both the single - hand resistance and the two - hand resistance are less than the maximum resistance.

8. The control device of the upper limb pressing trainer according to claim 7, characterized in that, Determining the maximum resistance of the current training mode includes: When the user holds the handle of the push rod, determine the distance between the push rod and the bottom plate; Control the motor of the upper - limb push - up trainer to rotate, so as to apply resistance to the push rod through the synchronous belt connected between the motor and the push rod; When the distance between the push rod and the bottom plate is shortened by a preset length, determine the current resistance as the maximum resistance.

9. A control method for an upper limb press trainer, characterized in that, It includes: Determine the pressure values at the handles at both ends of the push rod of the upper - limb push - up trainer; Determine the current training mode according to the pressure values, and the current training mode includes at least two of the left - hand mode, the right - hand mode and the two - hand mode; Apply the resistance corresponding to the current training mode to the push rod to achieve training, and the resistance is the force opposite to the movement of the push rod from the bottom plate of the upper - limb push - up trainer to the top of the upper - limb push - up trainer.

10. An upper limb pressing trainer, characterized in that, It includes the control device of the upper - limb push - up trainer according to any one of claims 1 to 8, and further includes a push rod with handles at both ends, a synchronous belt, a motor and a pressure sensor; The pressure sensors are respectively arranged at the handles at both ends of the push rod and are used to detect pressure values; The synchronous belt is respectively connected to the motor and the push rod and is used to apply the resistance generated by the rotation of the motor to the push rod; The control device of the upper - limb push - up trainer is respectively connected to the pressure sensor and the motor.

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