Control method and system of child hydrotherapy horse riding trainer

Abstract

The invention relates to the technical field of rehabilitation instruments, in particular to a control method and system of a child hydrotherapy horse riding trainer. The method comprises the steps that buoyancy and multiple pressures in the training process are collected; the buoyancy represents the buoyancy borne by the user in water, and the multiple pressures represent the pressures borne by a seat of the child hydrotherapy horse riding training device at multiple positions when the user sits on the child hydrotherapy horse riding training device; according to the magnitude relation between the buoyancy and a preset buoyancy threshold value, the height of a seat of the child hydrotherapy horse riding trainer is adjusted; according to the size relation between the pressure of any position and the corresponding pressure threshold value, the inclination angle of the seat of the child hydrotherapy horse riding trainer is adjusted. The method provided by the invention can improve the safety of children with cerebral palsy or delayed movement development when the children use the horse riding trainer for training.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation equipment technology, and in particular to a control method and system for a children's hydrotherapy horse riding training device. Background Technology

[0002] The riding machine is a new type of fitness equipment designed to help people engage in full-body aerobic exercise, strengthen muscles, improve balance, enhance flexibility, and increase glucose consumption. In rehabilitation training, the riding machine can serve as an assistive tool to help patients restore physical function and improve athletic ability.

[0003] For some children with cerebral palsy or developmental delays, due to motor dysfunction, poor balance, abnormal muscle tone (too high or too low), and insufficient coordination, riding equipment becomes one of the key pieces of equipment used in their rehabilitation. However, these children generally have poor balance and insufficient trunk control, making it difficult for them to maintain a stable sitting posture during training. They are prone to slipping off the riding equipment or tipping over due to body swaying and shifting center of gravity. At the same time, some children have limb stiffness due to excessive muscle tone or weakness due to insufficient muscle tone, further increasing their risk of losing balance during exercise.

[0004] Therefore, improving the safety of children with cerebral palsy or developmental delays when using horse riding training devices is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] To address the technical problem that children with cerebral palsy or developmental delays are prone to slipping off or tipping over from riding training equipment, the present invention provides solutions in several aspects.

[0006] In a first aspect, the present invention provides a control method for a children's hydrotherapy horse riding trainer, comprising: collecting buoyancy and multiple pressures during the training process; wherein the buoyancy represents the buoyancy experienced by the user in water, and the multiple pressures represent the pressure exerted on the seat of the children's hydrotherapy horse riding trainer at multiple positions when the user sits on the trainer; adjusting the seat height of the children's hydrotherapy horse riding trainer according to the relationship between the buoyancy and a preset buoyancy threshold; and adjusting the seat tilt angle of the children's hydrotherapy horse riding trainer according to the relationship between the pressure at any position and a corresponding pressure threshold.

[0007] Beneficial effects: By adjusting the seat tilt angle in real time based on the pressure distribution on the user, it can prevent the user from slipping or tipping over due to imbalance; in addition, by adjusting the body immersion height in real time based on the buoyancy of the user in the water, it can adjust the body load during the user's training process, so that the muscles can maintain the body posture without excessive contraction, effectively improving the training effect.

[0008] Furthermore, buoyancy and multiple pressures are collected during the training process, including: collecting the pressures via pressure sensors, and obtaining the buoyancy by subtracting the average of multiple pressures from the user's weight.

[0009] Furthermore, the buoyancy threshold is -20% to +20% of the set buoyancy. Adjusting the seat height of the children's hydrotherapy horse riding trainer includes: determining whether the difference between the buoyancy and the set buoyancy exceeds the range of the buoyancy threshold. If so, adjusting the seat height until the difference between the buoyancy and the set buoyancy is within the range of the buoyancy threshold.

[0010] Furthermore, adjusting the seat tilt angle of the children's spa horse riding trainer includes: acquiring multiple initial pressures of the user sitting on the children's spa horse riding trainer before training; determining whether the difference between the pressure at any position and the corresponding initial pressure exceeds the pressure threshold range; if so, adjusting the seat tilt angle until the difference between the pressure and the corresponding initial pressure is within the pressure threshold range.

[0011] Beneficial effects: Since the difference between a user's stress level before training and during training can characterize the user's balance state, maintaining the user's stress within a set safe range can effectively prevent situations such as tipping over, thereby improving the safety of training.

[0012] Furthermore, the pressure threshold range is -20% to +20% of the initial pressure.

[0013] Furthermore, the method also includes: collecting the user's pedaling speed during training; inputting the pedaling speed into a preset pedaling speed-music mapping algorithm to map and obtain music with the corresponding rhythm.

[0014] Furthermore, the method also includes: inputting the treading speed into a preset treading speed-water column height mapping algorithm to map and obtain a water column of the corresponding height.

[0015] Furthermore, the method also includes: if the pedaling speed is less than a first preset value, outputting a prompt to increase the pedaling speed; if the pedaling speed is greater than a second preset value, outputting a prompt to decrease the pedaling speed.

[0016] Beneficial effects: By issuing warnings when the user's pedaling speed is too high, the user is prompted to slow down, thus preventing the center of gravity from shifting beyond the body's control range and causing the user to slip off the equipment, lose a stable sitting posture, and suffer side rolls and muscle strains. By issuing warnings when the user's pedaling speed is too low, the user is prompted to accelerate, thus avoiding ineffective training and improving the effectiveness of rehabilitation training.

[0017] Furthermore, the user's pedaling speed during training is collected, including by using an angle gyroscope installed on the pedals of the children's hydrotherapy horse riding trainer.

[0018] In a second aspect, the present invention provides a control system for a children's hydrotherapy horse riding trainer, comprising a processor and a memory, the memory storing computer program instructions that, when executed by the processor, implement the control method for the children's hydrotherapy horse riding trainer according to the first aspect.

[0019] The beneficial effects of this invention are as follows: by adjusting the height of the seat of the children's hydrotherapy horse riding trainer in the hydrotherapy tank according to the actual situation of the user, the immersion depth of the user's body is adjusted, thereby reducing the impact of the user's physical load on the training; by dynamically adjusting the seat tilt angle according to the pressure distribution of the user sitting on the seat during training, the user can be effectively prevented from slipping or tipping over during training, thereby improving the safety of the user's training. Attached Figure Description

[0020] The above and other objects, features, and advantages of exemplary embodiments of the present invention will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the invention are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein:

[0021] Figure 1 This is a flowchart schematically illustrating a control method for a children's hydrotherapy horse riding trainer according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic block diagram illustrating the structure of the control system of a children's hydrotherapy horse riding trainer according to an embodiment of the present invention. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0025] Figure 1 This is a flowchart illustrating, schematically, a control method for a children's hydrotherapy horse riding trainer according to an embodiment of the present invention.

[0026] Children with cerebral palsy or delayed motor development are prone to slipping off or tipping over when using horse riding training devices due to poor balance and insufficient trunk control. In this regard, in a first aspect, the present invention provides a control method for a children's hydrotherapy horse riding training device.

[0027] It should be noted that, in this embodiment, the children's hydrotherapy horse riding trainer mainly includes a hydrotherapy tank and a waterproof horse riding trainer. This horse riding trainer is a universal trainer that can be used normally in water, with a semi-enclosed seat. The hydrotherapy tank and the horse riding trainer are integrally formed. The seat height and seat tilt angle of this children's hydrotherapy horse riding trainer are adjustable. Seat height adjustment is existing technology and will not be described in detail here. The seat tilt angle can be adjusted by installing electric push rods / servo motors at the four corners of the seat. When it is necessary to adjust the tilt angle of a certain corner, the electric push rod raises that corner to a specific position, thereby achieving the adjustment of the seat tilt angle.

[0028] Specifically, such as Figure 1 As shown, the method of the present invention includes the following steps.

[0029] S101, Collect buoyancy and multiple pressures during the training process.

[0030] In this embodiment, the buoyancy referred to is the buoyancy experienced by the user in the water when sitting on the seat of the children's hydrotherapy horse riding trainer, and the multiple pressures referred to are the pressures exerted by the seat of the children's hydrotherapy horse riding trainer at multiple preset positions when the user sits on the seat, that is, the pressure exerted by the user's body on the seat.

[0031] In one embodiment, four pressure sensors installed at four locations (e.g., the four corners of the seat) on the children's hydrotherapy riding trainer collect four pressure values ​​from the user, which characterize the pressure distribution of the user while sitting on the seat. In alternative embodiments, a single pressure sensor (e.g., an array of pressure sensors) may be used to collect these four pressure values.

[0032] Furthermore, after obtaining the four pressures, the buoyancy force on the user in the water is calculated based on these four pressures. This buoyancy force is obtained by subtracting the average value of the four pressures from the user's weight (weight before entering the water).

[0033] Understandably, a small difference in pressure before and during training indicates that the user is in a balanced state, while a large difference in pressure before and during training indicates that the user is in a potentially unbalanced state. Therefore, by observing the changes in pressure at various positions before and after training, the user's balance can be determined, and the tilt angle of the children's hydrotherapy horse riding trainer seat can be adjusted before the user falls over, thus preventing the user from falling over.

[0034] In addition, by adding hydrotherapy functions, it can promote blood flow back to the lower limbs, increase muscle strength during training without increasing joint load, stimulate the brain hemispheres to improve slow reaction time, and thus improve the effectiveness of training with the horse riding trainer.

[0035] In an optional embodiment, the water temperature in the hydrotherapy tank can be adjusted according to the user's muscle tension. For example, if the user's muscle tension is too high (compared to normal children), the water temperature can be controlled at 37–39°C; through the warming effect, muscle spasms can be relaxed, relieving the continuous muscle contraction caused by cerebral palsy, etc., while promoting local blood circulation and reducing muscle stiffness; if the user's muscle tension is too low, the water temperature can be appropriately reduced (e.g., reduced to 26°C) to increase muscle excitability and enhance muscle contraction ability. The water temperature and duration are set by medical personnel.

[0036] S102. Adjust the seat height of the children's hydrotherapy horse riding trainer according to the relationship between the buoyancy and the preset buoyancy threshold.

[0037] Before training, the method of the present invention further includes: obtaining a set buoyancy; determining whether the buoyancy experienced by the user in the water is equal to the set buoyancy; if not, adjusting the seat height until the buoyancy is equal to the set buoyancy.

[0038] In one embodiment, the method for determining the set buoyancy includes: having the target child (a normally developing child) sit on the seat of a children's hydrotherapy riding trainer with their legs hanging naturally and their knees bent at 90°; then adjusting the height of the seat so that the target child's thighs are as parallel to the ground as possible (for example, the angle between the target child's thighs and the ground is within 5°); then subtracting the average of the four pressures exerted by the target child while sitting on the seat from the target child's weight to obtain the set buoyancy.

[0039] By adjusting the seat height according to the set buoyancy, the seat height can meet the actual needs of different users, thereby improving the comfort of users when using the children's spa horse riding trainer.

[0040] During training, it is determined whether the buoyancy force experienced by the user in the water exceeds the preset buoyancy threshold (a dual-threshold type buoyancy threshold). If so, the seat height is adjusted until the current buoyancy is within the range of the buoyancy threshold.

[0041] In one embodiment, the buoyancy threshold can be set to -20% to +20% of the set buoyancy.

[0042] By dynamically adjusting the seat height based on whether the current buoyancy exceeds the buoyancy threshold, the user's immersion depth in the water can be adjusted, thereby adjusting the user's weight load and enabling patients with dystonic muscle tone to train better.

[0043] In one embodiment, the method of the present invention further includes: collecting the stepping speed during the user's training process; inputting the stepping speed into a preset stepping speed-music mapping algorithm to obtain music with different tempos, for example, randomly selecting a piece of music from a number of songs familiar to children, and then outputting music with the corresponding rhythm according to the stepping speed-music mapping algorithm M(v) = 3v + 30, where M(v) is the number of beats per minute of the music and v is the stepping speed.

[0044] Simultaneously, the stomping speed is input into a preset stomping speed-water column height mapping algorithm to obtain water columns of different heights. For example, the stomping speed-water column height mapping algorithm can be set to h(v) = 0.5v, where h(v) is the water column height at a stomping speed of v, and v is the user's stomping speed.

[0045] In other optional embodiments, water wheels of different sizes can be generated based on the pedaling speed, or water columns or wheels of different sizes can be generated based on the pedaling amplitude. The user's pedaling speed can be collected using an angle gyroscope installed on the pedals of the children's hydrotherapy horse riding trainer.

[0046] By outputting corresponding performance effects (music of different rhythms, water jets of different heights) based on the user's performance (changes in pedaling speed) during training, it can solve the problem of children with cerebral palsy and developmental delays having difficulty understanding training instructions. At the same time, it can enhance the user's comprehensive sensory training and increase the user's enthusiasm for training, thereby improving the training effect.

[0047] In one embodiment, the method of the present invention further includes: determining whether the stamping speed is less than a first preset value; if so, it indicates that the current training intensity is insufficient (training at this stamping speed is ineffective, i.e., it cannot improve balance or other issues), and outputting a prompt to increase the stamping speed to encourage the user to increase the stamping speed and ensure that the user conducts effective training; simultaneously, determining whether the stamping speed is greater than a second preset value; if so, outputting a prompt to decrease the stamping speed and generating a falling-type water column to encourage the user to decrease the stamping speed and avoid the user from losing balance due to excessive stamping speed.

[0048] By providing appropriate warnings and interventions based on the user's actual situation, the safety and reliability of training can be ensured.

[0049] In this embodiment, the first preset value and the second preset value are set by medical personnel according to the user's actual situation. In other optional embodiments, they can also be obtained through the user's pre-training assessment.

[0050] Specifically, during the evaluation phase, users are asked to exercise normally for 5 minutes, and their average heart rate and speed fluctuation rate (i.e., the maximum speed minus the minimum speed, divided by the average speed) are collected during these 5 minutes. If the average heart rate is within a preset first heart rate range and the speed fluctuation rate is less than a preset first fluctuation threshold, it indicates that the user's average pedaling speed at this time is the minimum speed for effective training, and this average pedaling speed is taken as the first preset value; if the average heart rate is within a preset second heart rate range and the speed fluctuation rate is less than a preset second fluctuation threshold, it indicates that the user's average pedaling speed at this time is the maximum speed for effective training, and this average pedaling speed is taken as the second preset value.

[0051] If the average heart rate is below the lower limit of the first heart rate zone, the user is instructed to increase their pedaling speed (e.g., increase by 5 spm) and maintain this speed for 5 minutes. During these 5 minutes, the user's average heart rate and speed fluctuation rate are collected. This process is repeated until the average heart rate is within the first heart rate zone and the speed fluctuation rate is less than the first fluctuation threshold. Similarly, if the average heart rate is above the upper limit of the second heart rate zone, the user is instructed to decrease their pedaling speed (e.g., decrease by 5 spm) and maintain this speed for 5 minutes. During these 5 minutes, the user's average heart rate and speed fluctuation rate are collected. This process is repeated until the average heart rate is within the second heart rate zone and the speed fluctuation rate is less than the second fluctuation threshold.

[0052] Therefore, a pedaling speed range that conforms to the user's actual situation and allows for effective training can be determined (the first preset value constitutes the lower limit of the pedaling speed range, and the second preset value constitutes the upper limit of the pedaling speed range).

[0053] In this embodiment, the first heart rate range is 50-60% of the maximum heart rate, and the second heart rate range is 75-80% of the maximum heart rate. The maximum heart rate is obtained by subtracting the user's age from 220. The first fluctuation threshold is 10%, and the second fluctuation threshold is 12%.

[0054] The first and second preset values, determined based on the user's assessment, are consistent with the user's actual ability and can ensure that the user can conduct effective training within the pedaling speed range, thereby improving the user's rehabilitation effect. That is, the user can gradually improve balance and muscle tone during training.

[0055] Furthermore, if the pedaling speed is less than the first preset value for a set time (e.g., 1 minute), the seat height is increased to reduce the user's weight load, thereby allowing the user to pedal faster. Similarly, if the pedaling speed is greater than the second preset value for a set time, the seat height is decreased to increase the user's weight load, thereby allowing the user to reduce the pedaling speed and ensuring effective training.

[0056] When the pedaling speed is lower than the first preset value, the system has already prompted the user to increase the pedaling speed. If the user does not increase the pedaling speed after receiving the prompt, it indicates that the user may be fatigued. In this case, increasing the seat height to reduce the load allows the user to reach the required speed, ensuring that the user trains within an appropriate intensity. Similarly, when the pedaling speed is higher than the second preset value, the system has already prompted the user to decrease the pedaling speed. If the user does not decrease the pedaling speed after receiving the prompt, it indicates that the user is at risk of imbalance or overtraining. In this case, decreasing the seat height to increase the load forces the user to reduce the speed, thus ensuring the user's training safety.

[0057] When the user's pedaling speed is less than the first preset value or greater than the second preset value, the generated music and water jets are canceled until the user's pedaling speed returns to normal (i.e., within the range of the first preset value to the second preset value).

[0058] S103. Adjust the seat tilt angle of the children's hydrotherapy horse riding trainer according to the relationship between the pressure at any position and the corresponding pressure threshold.

[0059] Specifically, multiple initial pressures (i.e., pressure baselines at balance) are acquired when the user sits on the children's hydrotherapy riding trainer before training. In this embodiment, there are four initial pressures, each corresponding to one of the four pressures collected during training. Furthermore, for any pressure position, it is determined whether the difference between the pressure and the corresponding initial pressure exceeds a pressure threshold range. If so, it indicates that the user may have lost balance, and the seat tilt angle is adjusted until the difference between the pressure and the corresponding initial pressure is within the pressure threshold range to prevent the user from tipping over due to imbalance.

[0060] In one embodiment, the pressure threshold range is -20% to +20% of the initial pressure. That is, the absolute value of the difference between the pressure and the corresponding initial pressure is calculated, and then divided by the initial pressure. The resulting value must be less than 20% to prevent the seat tilt angle from being adjusted; otherwise, the seat tilt angle needs to be adjusted.

[0061] For example, if the initial pressure at position A on the seat is 'a', and the pressure at position A on the seat during training is 'b', determine whether the value of 'a' minus 'b' is within -20%a to +20%a. If not, adjust the tilt angle of position A on the seat. Similarly, the tilt angles of other positions on the seat are adjusted in the same way.

[0062] This pressure threshold range aligns with the user's actual situation and accurately reflects whether an imbalance has occurred during training. When the pressure exceeds this threshold, an imbalance is determined. In alternative embodiments, the pressure threshold can be set to -18% to +18% of the initial pressure.

[0063] By dynamically adjusting the seat tilt angle of the children's hydrotherapy horse riding trainer based on the difference between the user's stress during training and before training, the seat is positioned so that the user's body is directly above the seat, preventing the user from losing balance and tipping over or slipping off, thus ensuring that the user can conduct safe and effective training.

[0064] Figure 2 This is a schematic block diagram illustrating the structure of the control system of the children's hydrotherapy horse riding trainer according to this embodiment.

[0065] In a second aspect, the present invention also provides a control system for a children's hydrotherapy horse riding training device. For example... Figure 2 As shown, the control system includes a processor and a memory, the memory storing computer program instructions, which, when executed by the processor, implement the control of the children's hydrotherapy horse riding trainer described in the first aspect.

[0066] The control system also includes other components well known to those skilled in the art, such as communication interfaces. Their settings and functions are known in the art and will not be described in detail here.

[0067] In this invention, the aforementioned memory can be any tangible medium containing or storing a program that can be used or combined with an instruction execution system, apparatus, or device. For example, a computer-readable storage medium can be any suitable magnetic or magneto-optical storage medium, such as Resistive Random Access Memory (RRAM), Dynamic Random Access Memory (DRAM), Static Random Access Memory (SRAM), Enhanced Dynamic Random Access Memory (EDRAM), High-Bandwidth Memory (HBM), Hybrid Memory Cube (HMC), etc., or any other medium that can be used to store desired information and can be accessed by an application, module, or both. Any such computer storage medium can be part of a device or accessible to or connected to a device. Any application or module described in this invention can be implemented using computer-readable / executable instructions that can be stored or otherwise maintained by such a computer-readable medium.

[0068] In the description of this specification, "multiple" means at least two, such as two, three or more, unless otherwise explicitly specified. Furthermore, the steps described above are for clarity only; in implementation, they can be combined into one step or some steps can be broken down into multiple steps, as long as they include the same logical relationships.

[0069] While this specification has shown and described numerous embodiments of the invention, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and essence of the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in the practice of this invention.

Claims

1. A control method for a children's hydrotherapy horse riding training device, characterized in that, include: The buoyancy and multiple pressures during the training process are collected; the buoyancy represents the buoyancy experienced by the user in the water, and the multiple pressures represent the pressures experienced by the seat of the children's hydrotherapy riding trainer at multiple locations when the user is sitting in the trainer. Adjust the seat height of the children's hydrotherapy horse riding trainer according to the relationship between the buoyancy and the preset buoyancy threshold; Adjust the seat tilt angle of the children's hydrotherapy horse riding trainer according to the relationship between the pressure at any position and the corresponding pressure threshold.

2. The control method for the children's hydrotherapy horse riding training device according to claim 1, characterized in that, Collect buoyancy and multiple pressures during training, including: collecting the pressures via pressure sensors, and obtaining the buoyancy by subtracting the average of multiple pressures from the user's weight.

3. The control method for the children's hydrotherapy horse riding training device according to claim 2, characterized in that, The buoyancy threshold is -20% to +20% of the set buoyancy. Adjusting the seat height of the children's hydrotherapy horse riding trainer includes: Determine whether the difference between the buoyancy and the set buoyancy exceeds the range of the buoyancy threshold. If so, adjust the seat height until the difference between the buoyancy and the set buoyancy is within the range of the buoyancy threshold.

4. The control method for the children's hydrotherapy horse riding training device according to claim 2, characterized in that, Adjusting the seat tilt angle of the children's spa riding trainer includes: Acquire multiple initial pressures of the user sitting on the children's spa horse riding trainer before training; Determine whether the difference between the pressure at any position and the corresponding initial pressure exceeds the pressure threshold range. If so, adjust the seat tilt angle until the difference between the pressure and the corresponding initial pressure is within the pressure threshold range.

5. The control method for the children's hydrotherapy horse riding training device according to claim 4, characterized in that, The pressure threshold range is -20% to +20% of the initial pressure.

6. The control method for the children's hydrotherapy horse riding training device according to claim 1, characterized in that, Also includes: The user's stepping speed was collected during the training process; The pedaling speed is input into a preset pedaling speed-music mapping algorithm to obtain music with the corresponding rhythm.

7. The control method for the children's hydrotherapy horse riding training device according to claim 6, characterized in that, Also includes: The stomping speed is input into a preset stomping speed-water column height mapping algorithm to obtain a water column of the corresponding height.

8. The control method for the children's hydrotherapy horse riding training device according to claim 6, characterized in that, Also includes: If the pedaling speed is less than the first preset value, a prompt to increase the pedaling speed will be output. If the pedal speed is greater than the second preset value, a prompt to reduce the pedaling speed will be output.

9. The control method for the children's hydrotherapy horse riding training device according to claim 6, characterized in that, The user's pedaling speed during training is collected, including by using an angle gyroscope installed on the pedals of the children's hydrotherapy horse riding trainer.

10. A control system for a children's hydrotherapy horse riding training device, characterized in that, It includes a processor and a memory, the memory storing computer program instructions that, when executed by the processor, implement the control method for the children's hydrotherapy horse riding trainer according to any one of claims 1-9.

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