State monitoring system of gastrocnemius muscle exercise load regulation and control equipment and control method thereof

Abstract

The invention relates to the field of lower limb rehabilitation training, and discloses a state monitoring system for gastrocnemius muscle exercise load regulation and control equipment and a control method thereof.The state monitoring system comprises a signal collection module used for collecting the force application state of a foot on a pedal through a force measurement sensor in the process that the foot treads the pedal of the gastrocnemius muscle exercise load regulation and control equipment; the signal transmission module is used for preprocessing the force application state, obtaining preprocessed data and transmitting the preprocessed data to the main control module; the main control module is used for acquiring the force application amplitude of the foot aiming at the pedal from the preprocessed data, determining the force application deviation between the force application amplitude and the target amplitude, and determining a control signal based on the force application deviation through the PID controller; the driving module is used for at least adjusting the damping data based on the control signal; the monitoring module is used for monitoring the body state of at least part of the body part of the patient in the process that the pedals are continuously treaded. According to the scheme, diversified lower limb training requirements can be met.

Description

Technical Field

[0001] This application relates to the field of lower limb rehabilitation training in biomedicine, specifically to, but not limited to, a state monitoring system and control method for a gastrocnemius muscle exercise load regulation device. Background Technology

[0002] In the field of lower limb rehabilitation training technology, using load devices to perform rehabilitation training on the affected areas of patients has become a widely adopted rehabilitation training approach. In practical applications, the gastrocnemius muscle exercise load control device used to provide lower limb rehabilitation training functions requires medical personnel to adjust the damping data of the device using mechanical weights or manual valve adjustments, and to manually record the patient's physical condition during training at different damping data. However, this approach relies on manual operation by medical personnel and cannot meet the diverse needs of lower limb rehabilitation training. Summary of the Invention

[0003] Based on the above technical problems, this application provides a status monitoring system and control method for a gastrocnemius muscle exercise load regulation device, which can meet diverse lower limb rehabilitation training needs.

[0004] The technical solution provided in this application is as follows: This application first provides a status monitoring system for a gastrocnemius muscle exercise load regulation device, including: A signal acquisition module is used to acquire the force applied by the foot to the pedal of the gastrocnemius muscle exercise load control device through a force sensor during the process of the foot pressing the pedal. The gastrocnemius muscle exercise load control device includes at least a device body, a hydraulic damper, the pedal, and the force sensor. The hydraulic damper is mechanically connected to the pedal and is used to output damping data corresponding to the force applied during the process of the foot pressing the pedal. The device body supports the hydraulic damper, the pedal, and the force sensor, and also serves to fix the gastrocnemius muscle exercise load control device. The signal transmission module is used to preprocess the applied force state, obtain and transmit the preprocessed data to the main control module; The main control module is used to obtain the force applied by the foot to the pedal from the preprocessed data, determine the force deviation between the force applied and the target force, and determine the control signal based on the force deviation through a proportional-integral-derivative (PID) controller. A drive module is configured to adjust at least the damping data based on the control signal; A monitoring module is used to monitor the physical condition of at least some parts of the patient's body during the continuous stepping of the pedal.

[0005] This application embodiment also provides a control method, the method being applied to the status monitoring system of the gastrocnemius muscle exercise load regulation device as described above; including: During the process of the foot pressing the pedal of the gastrocnemius muscle exercise load control device, the force applied by the foot to the pedal is collected; wherein, the gastrocnemius muscle exercise load control device includes at least a device body, a hydraulic damper, the pedal, and the force sensor; the hydraulic damper is mechanically connected to the pedal and is used to output damping data corresponding to the force applied during the process of the foot pressing the pedal; the device body is used to support the hydraulic damper, the pedal, and the force sensor, and is also used to fix the gastrocnemius muscle exercise load control device; The applied force state is preprocessed to obtain preprocessed data; The force applied by the foot to the pedal is obtained from the preprocessed data, the force deviation between the applied force and the target force is determined, and the control signal is determined by the PID controller based on the force deviation. At least the damping data should be adjusted based on the control signal; While the pedal is being continuously stepped on, the patient's physical condition at least some parts of their body is monitored.

[0006] The status monitoring system provided in this application embodiment has at least the following beneficial effects: In the state monitoring system of the gastrocnemius muscle exercise load regulation device provided in this application embodiment, the signal acquisition module is used to collect the force applied by the foot to the pedal of the gastrocnemius muscle exercise load regulation device through a force sensor during the process of the foot stepping on the pedal. This enables continuous tracking and detection of the force applied by the foot to the pedal of the gastrocnemius muscle exercise load regulation device. Furthermore, the signal transmission module is used to preprocess the force applied, obtain the preprocessed data, and transmit it to the main control module, thus realizing serial processing of force application acquisition and preprocessing. Simultaneously, the main control module is used to obtain the force amplitude applied by the foot to the pedal from the preprocessed data, determine the force deviation between the applied force amplitude and the target amplitude, and determine the control signal based on the force deviation using a PID controller. This leverages the advantages of the PID controller to improve the stability and accuracy of the control signal. Based on this, the monitoring module monitors the body state of at least some parts of the patient's body during the continuous stepping on of the pedal, realizing monitoring of at least some parts of the patient's body. The system provides continuous monitoring of the patient's physical condition. On the other hand, the gastrocnemius muscle exercise load control device includes a device body, a hydraulic damper, a foot pedal, and a force sensor. The hydraulic damper is mechanically connected to the foot pedal and outputs damping data relative to the applied force during the foot pedal's movement. The device body supports the hydraulic damper, foot pedal, and force sensor, and also secures the gastrocnemius muscle exercise load control device. Thus, the status monitoring system provided in this application embodiment can not only continuously monitor the physical condition of at least some parts of the patient's body during the foot pedal's movement, but also dynamically and flexibly adjust the damping data of the hydraulic damper in the gastrocnemius muscle exercise load control device. Therefore, during gastrocnemius muscle rehabilitation training using the gastrocnemius muscle exercise load control device, automated, flexible, and precise control of the device's damping data can be achieved, along with correlated monitoring of the user's or patient's physical condition, thereby meeting diverse lower limb rehabilitation training needs. Attached Figure Description

[0007] Figure 1 This is a schematic diagram of the structure of the gastrocnemius muscle exercise load regulation device provided in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of the hydraulic damping module provided in the embodiments of this application; Figure 3 Another structural schematic diagram of the gastrocnemius muscle exercise load regulation device provided in the embodiments of this application; Figure 4 A schematic diagram illustrating the connection between the gastrocnemius muscle exercise load regulation device and the monitoring device provided in an embodiment of this application; Figure 5A schematic diagram of the status monitoring system of the gastrocnemius muscle exercise load regulation device provided in the embodiments of this application; Figure 6 This is another structural schematic diagram of the status monitoring system provided in the embodiments of this application; Figure 7 A flowchart illustrating the control and drive module of the status monitoring system provided in this application embodiment; Figure 8 This is a schematic diagram of the workflow of the status monitoring system provided in the embodiments of this application; Figure 9 This is another schematic diagram of the workflow of the status monitoring system provided in the embodiments of this application; Figure 10 This is a flowchart illustrating the control method provided in an embodiment of this application. Detailed Implementation

[0008] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0009] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0010] In the field of rehabilitation training technology, using load devices to perform rehabilitation training on the affected areas of patients has become a widely adopted rehabilitation training approach. In practical applications, the gastrocnemius muscle exercise load control device used to provide lower limb rehabilitation training functions requires medical personnel to adjust the damping data of the device using mechanical weights or manually adjusting valves, and to manually record the patient's physical condition during training at different damping data. However, this approach relies on manual operation by medical personnel, which lacks flexibility.

[0011] Based on the above technical problems, this application provides a status monitoring system and control method for a gastrocnemius muscle exercise load regulation device.

[0012] In some embodiments, the gastrocnemius muscle exercise load control device is used to adjust the force applied to the patient's lower limbs by adjusting its damping state, thereby adjusting the load on the patient's gastrocnemius muscle and thus training the gastrocnemius muscle and its related joint mobility.

[0013] Figure 1 This is a schematic diagram of the gastrocnemius muscle exercise load regulation device provided in the embodiments of this application, as shown below. Figure 1 As shown, the gastrocnemius muscle exercise load regulation device 100 includes a device body 101, a limb fixation module 102, a hydraulic damping module 103, and a load regulation module 104; wherein: The device body 101 is used to support at least the limb fixation module 102, the hydraulic damping module 103, and the load control module 104; the limb fixation module 102 is used to fix the lower limb; the hydraulic damping module 103 is used to adjust its damping state in response to the control signal output by the load control module 104 at the current moment, and can also detect the force applied by the foot associated with the lower limb to the hydraulic damping module; the load control module 104 is used to control the damping state of the hydraulic damping module with control signals.

[0014] In some embodiments, the device body 101 may have a slot structure to fix the gastrocnemius muscle exercise load control device 100 to the detection device. At the same time, the slot structure can fix or pluggably support the limb fixation module 102, the hydraulic damping module 103, and the load control module 104 to improve the stability of the above modules. Specifically, the device body can be produced or manufactured by integral casting, and it may also include a shielding layer supported by metal to shield electromagnetic interference. For example, the metal may include copper, aluminum, and silicon steel, etc., and the detection device may include a magnetic resonance imaging (MRI) device, which can detect the muscle state of the gastrocnemius muscle of the lower limb during lower limb movement.

[0015] In some embodiments, the limb fixation module can fix at least a portion of the lower limb; for example, the at least a portion may include the thigh, knee joint, and ankle joint; correspondingly, the limb fixation module may include a thigh support surface, a first concave surface for supporting the knee joint, and a second concave surface for supporting the ankle joint; for example, the limb fixation module can be adapted to two modes, namely a lower limb multi-joint association mode and a knee-ankle joint fixation mode, wherein the lower limb multi-joint association mode may include fixing the patient's upper body to achieve coordinated exercise of the hip joint, knee joint, and ankle joint, while the knee-ankle joint fixation mode may include fixing the knee joint and ankle joint to allow the calf muscles to exert force independently.

[0016] In some embodiments, the hydraulic damping module 103 can switch to different damping states in response to the regulation of the load regulation module 104, and can also perform mechanical movements in response to the user's foot stepping on the hydraulic damping module 103.

[0017] Figure 2 This is a schematic diagram of the structure of the hydraulic damping module provided in the embodiments of this application, as shown below. Figure 2As shown, the hydraulic damping module 103 may include a foot pedal 201, a force sensing unit 202, and a hydraulic damper 203. The foot pedal 201 can perform mechanical movement in response to the foot pedaling action. The force sensing unit 202 can send the current applied force state to the load control module 104. The hydraulic damper 203 can be mechanically connected to the foot pedal 201. Thus, under the action of the foot pedal, the hydraulic damper performs a quantitative work operation under the current applied force state and the current damping state.

[0018] For example, the force sensing unit may include a pressure sensor array; specifically, the force sensing unit may include a multi-point fiber optic pressure sensor array, which may be directly attached to the pedal surface. In this way, during the process of pedaling, the sensor array can collect data on the distribution of the pedaling force of the foot in real time. At the same time, a fiber optic position sensor may also be integrated at the pedal rotation axis to detect the displacement of the pedal and convert the pedaling speed of the foot through the displacement.

[0019] Figure 3 This is another structural schematic diagram of the gastrocnemius muscle exercise load regulation device provided in the embodiments of this application, as shown below. Figure 3 As shown, the gastrocnemius muscle exercise load regulation device 100 may include a foot pedal 201, a connecting rod 301, a piston 302, a sealed cylinder container 303, and a sensor 304. The foot pedal 201 is mechanically connected to the piston 302 via the connecting rod 301. Thus, when the patient's foot steps on the foot pedal 201, the connecting rod 301 can drive the piston 302 to move within the sealed cylinder container 303, thereby enabling the sensor 304 to sense changes in air pressure within the sealed cylinder container 303 and convert these changes into the force applied by the foot to the foot pedal. For example, the sensor may be the force sensing unit described in the aforementioned embodiment.

[0020] Figure 4 This is a schematic diagram of the connection between the gastrocnemius muscle exercise load regulation device and the monitoring device provided in the embodiments of this application, as shown below. Figure 4 As shown, the device body 101 can fix the gastrocnemius muscle exercise load control device to the bed of the monitoring device 401, and the gastrocnemius muscle exercise load control device can also move along the extension direction of the bed; wherein, the detection device may include an MRI device, during the process of the patient's lower limbs being fixed to the gastrocnemius muscle exercise load control device and performing gastrocnemius muscle training, at least part of the patient's body parts may be located within the data acquisition area of ​​the MRI device, so that the body status of at least part of the body parts can be determined through the data acquisition operation of the MRI device; for example, the at least part of the body parts may include the patient's chest cavity, and correspondingly, the body status may include heart rate, cardiac contraction status, respiratory status, etc.

[0021] Figure 5 This is a schematic diagram of the status monitoring system of the gastrocnemius muscle exercise load regulation device provided in the embodiments of this application, as shown below. Figure 5 As shown, the status monitoring system 500 may include: The signal acquisition module 501 is used to acquire the force applied by the foot to the pedal of the gastrocnemius muscle exercise load control device through a force sensor during the process of the foot pressing the pedal. The gastrocnemius muscle exercise load control device includes at least a device body, a hydraulic damper, a pedal, and a force sensor. The hydraulic damper is mechanically connected to the pedal and is used to output damping data relative to the pressure data during the process of the foot pressing the pedal. The device body is used to support the hydraulic damper, the pedal, and the force sensor, and is also used to fix the gastrocnemius muscle exercise load control device. Signal transmission module 502 is used to preprocess the applied force state, obtain and transmit the preprocessed data to the main control module; The main control module 503 is used to analyze the preprocessed data, obtain the force applied by the foot to the pedal, determine the force deviation between the applied force and the target force, and determine the control signal based on the force deviation through the PID controller. Drive module 504 is used to adjust at least the damping data based on control signals; The monitoring module 505 is used to monitor the physical condition of at least some parts of the patient's body while the pedal is being continuously stepped on by the foot.

[0022] In some embodiments, the force sensor may include a force sensing unit or sensor of a gastrocnemius muscle exercise load control device; correspondingly, the signal acquisition module may include the aforementioned force sensing unit or sensor.

[0023] In some embodiments, the force application status may include distribution data of the foot's pedaling force; for example, the distribution data may include the magnitude and direction of the pedaling force, as well as the contact area between the foot and the pedal; correspondingly, the signal acquisition module may acquire the force application status at specified time intervals or in real time, and the force application status may be an analog signal; for example, the time interval may be configured by default by the status monitoring system, or set by the patient or medical personnel.

[0024] In some embodiments, the direction of the damping data may be relative to the stepping force characterized by the applied force state.

[0025] In some embodiments, the signal acquisition module 501 can send the force application status to the signal transmission module 502, and the signal transmission module 502 can have a signal transmission function; for example, the signal transmission module 502 can acquire the force application status through wired transmission or wireless transmission, wherein wired transmission may include optical fiber transmission.

[0026] In some embodiments, preprocessing of the applied force state can be achieved in the following ways: First, the applied force state is converted into a digital signal using an analog-to-digital converter (ADC) to obtain a converted signal. Second, the converted signal is filtered to remove high-frequency noise, resulting in a filtered signal. Third, the filtered signal undergoes preprocessing operations such as amplitude detection, continuity detection, and signal-to-noise ratio detection to obtain preprocessed data.

[0027] In some embodiments, the force application state may include the magnitude and direction of the force applied by the foot to the pedal; correspondingly, the force application magnitude may include the magnitude of the force applied by the foot to the pedal; thus, when the main control module receives the preprocessed data sent by the signal transmission module, it can obtain the force application magnitude from the preprocessed data.

[0028] For example, the applied force amplitude can be calculated in the following way: The pressure data transmitted by the pressure sensor array is summed to obtain the raw pressure data. Then, temperature compensation and nonlinear correction are applied to the raw pressure data, and the real-time pedaling force is calculated using a calibration coefficient k. Furthermore, the pedaling force can be smoothed using a moving average window to obtain the applied force amplitude; specifically, the real-time applied force amplitude... It can be calculated using equation (1): (1) in, For calibration coefficients, This is the raw pressure data. This is the coefficient corresponding to temperature compensation. These are the coefficients corresponding to the nonlinear correction.

[0029] In some embodiments, damping data may include the damping force output by the hydraulic damper and the direction of the damping force; for example, the direction of the damping force may be opposite to the direction of the pedaling force.

[0030] In some embodiments, the control signal can adjust the magnitude of the damping force output by the hydraulic damper by controlling the driving force of the drive module, and can also adjust the direction of the damping force of the hydraulic damper by controlling the driving direction of the drive module, thereby realizing the adjustment of the damping data of the hydraulic damper for the pedal. Alternatively, the control signal can be transmitted to the load control module to control the load control module to adjust the damping data of the hydraulic damping module.

[0031] In some embodiments, control signals can be generated in the following ways: The PID controller continuously tracks the applied force deviation to obtain the current applied force deviation, the cumulative applied force deviation, and the trend of the applied force deviation. Then, the control signal is obtained by calculating the current deviation, the cumulative deviation, and the trend of the applied force deviation using equation (2). : (2) in, This is the proportionality coefficient. The force deviation at the current moment, The integral coefficient is... For cumulative deviation, These are the differential coefficients. The trend of force deviation is shown. The sampling period is the period under which force is applied.

[0032] In some embodiments, at least a portion of the body parts may include the body parts of the patient or user whose influence on the force applied by the foot to the pedal is greater than or equal to a threshold. For example, at least a portion of the body parts may include the chest cavity as described in the foregoing embodiments, and may also include the gastrocnemius muscle and other parts. Accordingly, the body state may include myocardial function such as heart rate and / or pulsation associated with the chest cavity, and may also include the respiratory state of the lungs and the muscle contraction and relaxation state of the gastrocnemius muscle.

[0033] In some embodiments, the monitoring module may include at least one device and / or apparatus capable of monitoring physical condition; wherein, the monitoring module may include an MRI device.

[0034] For example, during the continuous pedaling process, the force applied may change, and correspondingly, the force deviation and control signal may also change. At this time, the damping data may change with the change of the control signal. Under such circumstances, the body state will also change more arbitrarily. In this way, the monitoring module can continuously collect the dynamically changing body state.

[0035] As can be seen from the above, in the state monitoring system of the gastrocnemius muscle exercise load regulation device provided in this application embodiment, the signal acquisition module is used to collect the force applied by the foot to the pedal of the gastrocnemius muscle exercise load regulation device through a force sensor during the process of the foot stepping on the pedal. In this way, continuous tracking and detection of the force applied by the foot to the pedal of the gastrocnemius muscle exercise load regulation device can be achieved. Furthermore, the signal transmission module is used to preprocess the force applied and transmit the preprocessed data to the main control module. In this way, the acquisition and preprocessing of the force applied are serialized. At the same time, the main control module is used to obtain the force applied by the foot to the pedal from the preprocessed data, determine the force deviation between the force applied and the target force applied, and determine the control signal based on the force deviation through a PID controller. In this way, the stability and accuracy of the control signal can be improved by leveraging the advantages of the PID controller. On this basis, the monitoring module monitors the body state of at least some parts of the patient's body during the continuous stepping on the pedal, realizing the monitoring of at least some parts of the patient's body. The system provides continuous monitoring of the patient's physical condition at least some parts of their body. On the other hand, the gastrocnemius muscle exercise load control device includes a device body, a hydraulic damper, a foot pedal, and a force sensor. The hydraulic damper is mechanically connected to the foot pedal and outputs damping data relative to the applied force during the foot's movement. The device body supports the hydraulic damper, foot pedal, and force sensor, and also secures the gastrocnemius muscle exercise load control device. Thus, the status monitoring system provided in this application can continuously monitor the physical condition of at least some parts of the patient's body during the foot pedal movement of the gastrocnemius muscle exercise load control device, and can also dynamically and flexibly adjust the damping data of the hydraulic damper. Therefore, during gastrocnemius muscle rehabilitation training using the device, users or patients can achieve automated, flexible, and precise adjustment of the damping data, and can also monitor the user's or patient's physical condition, thereby meeting diverse lower limb rehabilitation training needs.

[0036] Based on the foregoing embodiments, in the state monitoring system of the gastrocnemius muscle exercise load regulation device provided in this application embodiment, the main control module is used to generate control signals based on the applied force amplitude and body state through a PID controller.

[0037] In some embodiments, control signals can be generated in the following ways: By using medical theories to process various data corresponding to the body's state, physiological indicators including basic vital signs, metabolic function, organ function, and exercise capacity are obtained. Then, the target amplitude for matching the physiological indicators is determined, and a control signal is generated by a PID controller based on the force deviation between the target amplitude and the applied force amplitude.

[0038] As can be seen from the above, in the state monitoring system of the gastrocnemius muscle exercise load regulation device provided in this application embodiment, the PID controller generates a control signal based on the applied force amplitude and the body state. In this way, a closed loop is realized between the detection of the applied force amplitude and the monitoring of the body state, thereby improving the correlation between the control signal and the applied force amplitude and the body state, and improving the pertinence and accuracy of the control signal.

[0039] Figure 6 This is another structural schematic diagram of the status monitoring system provided in the embodiments of this application, as shown below. Figure 6 As shown, the status monitoring system 500 for the gastrocnemius muscle exercise load regulation device provided in this application embodiment further includes an input / output module 506; wherein: If the current state is in the periodic constant load monitoring mode, the input / output module 506 is used to obtain the first amplitude in response to the input operation; if the current state is in the fixed-point force monitoring mode, the main control module is used to control the input / output module to output the maximum autonomous contraction (MVC) test prompt, and control the signal acquisition module to acquire the extreme value of the force applied to the foot, and determine the second amplitude based on the extreme value of the force applied.

[0040] The target range includes either the first range or the second range.

[0041] In some embodiments, the periodic constant load monitoring mode can continuously apply a constant load according to a certain time period and monitor relevant physiological indicators or training data in real time; for example, the relevant physiological indicators can be associated with the body state, and the training data can include the force amplitude, force deviation and damping data.

[0042] In some embodiments, the fixed-point force monitoring mode can accurately detect force values ​​for specific body parts or movement nodes. For example, during training with the help of a gastrocnemius muscle exercise load control device, the force application state can be accurately measured when the ankle joint associated with the foot is in a specific angle or position, so as to assess the muscle strength, joint stability and other conditions when the ankle joint is in a specific angle or position.

[0043] In some embodiments, the input / output module may have human-computer interaction functionality; for example, the input / output module may respond to user input operations via a touch screen, or it may receive user input operations via a button module; correspondingly, the input operations may include touch operations on the touch screen, or button operations on the button module.

[0044] In some embodiments, the input / output module can also control whether the status monitoring system starts or stops operating.

[0045] In some embodiments, through an input / output module, the status monitoring system can respond to the user's mode setting operation, thereby configuring the monitoring mode of the status monitoring system as a periodic constant load monitoring mode or a fixed-point force monitoring mode.

[0046] For example, if the status monitoring system determines that it is currently in a periodic constant load monitoring mode and no first amplitude is detected, it can output a prompt message to prompt the user to perform an input operation and obtain the first amplitude in response to the input operation; for example, if the status monitoring system determines that it is currently in a fixed-point force monitoring mode and no second amplitude is detected, it can output an MVC test prompt.

[0047] In some embodiments, the MVC test prompt can prompt the user or patient to apply the maximum pedaling force by means of text, images, animation or voice. In the above process, the extreme value of the force applied by the foot to the pedal is collected by the signal acquisition module; for example, the extreme value of the force can correspond to the maximum pedaling force.

[0048] In some embodiments, the second magnitude can be determined in the following ways: The second amplitude is obtained by weighting the extreme value of the applied force based on a predetermined force weight; wherein the force weight can be less than 1, for example, the force weight can include 0.5 or 0.8.

[0049] In some embodiments, the main control module can determine the difference between the first amplitude and the applied force amplitude as the applied force deviation, and can also determine the difference between the second amplitude and the applied force extreme value as the applied force deviation.

[0050] As can be seen from the above, in the state monitoring system of the gastrocnemius muscle exercise load regulation device provided in this application embodiment, the state monitoring system also includes an input / output module. If the current state is in the periodic constant load monitoring mode, the input / output module responds to the input operation to obtain the first amplitude, thus improving the flexibility and controllability of obtaining the first amplitude in the periodic constant load monitoring mode. Furthermore, if the current state is in the fixed-point force monitoring mode, the main control module controls the input / output module to output MVC test prompts and controls the signal acquisition module to acquire the extreme value of the force applied by the foot to the pedal, and determines the second amplitude based on the extreme value of the force. Thus, the flexibility and controllability of determining the extreme value of the force in the fixed-point force monitoring mode can be improved. At the same time, through the cooperation between the input / output module and the main control module, the state monitoring system can specifically determine the target amplitude corresponding to different modes in different modes.

[0051] Based on the foregoing embodiments, the status monitoring system of the gastrocnemius muscle exercise load regulation device provided in this application embodiment further includes an input / output module, wherein: The main control module is used to obtain the force application area of ​​the foot on the pedal from the preprocessed data, determine the area change of the force application area over time, and determine the force amplitude change of the force over time. The input / output module is used to output the state of area change and the state of force change.

[0052] In some embodiments, the applied force area can be calculated in the following way: A pressure threshold is set, and sensor units activated by the foot's force against the pedal are identified based on this threshold. The number of activated sensor units is then counted, and the real-time force application area is calculated by combining this with the unit area of ​​each sensor. An exponentially weighted average algorithm can be used to smooth the force application area. Specifically, the force application area... It can be calculated using equation (3): (3) in, For activation quantity, For unit area.

[0053] In some embodiments, the area change state may include the trend of the applied area changing over time. For example, the area change state may be reflected by a first function of the applied area changing over time. Thus, the area change state output by the input / output module may include a first curve corresponding to the first function. Correspondingly, the force change state may include the trend of the applied force amplitude changing over time. For example, the force change state may be reflected by a second function of the applied force amplitude changing over time. Thus, the force change state output by the input / output module may include a second curve corresponding to the second function.

[0054] In some embodiments, after the main control module determines the area change state and the force change state, it can send the area change state and the force change state to the input / output module respectively, so that the input / output module can output them through the display screen. For example, as time goes by, the area change state and the force change state can also change accordingly. At this time, the area change state and the force change state displayed by the input / output module can also change accordingly.

[0055] As can be seen from the above, in the state monitoring system of the gastrocnemius muscle exercise load regulation device provided in this application embodiment, the state monitoring system also includes an input / output module, and the main control module is used to obtain the force application area from the preprocessed data and determine the area change state of the force application area over time, as well as the force amplitude change state of the force over time. In this way, continuous dynamic tracking of the change state of the force application area and the force amplitude is realized; and, by outputting the area change state and the force change state through the input / output module, an intuitive representation of the area change state and the force change state can be realized.

[0056] Based on the foregoing embodiments, the status monitoring system of the gastrocnemius muscle exercise load regulation device provided in this application embodiment further includes an input / output module; wherein: The main control module is used to collect body status data during the operation of the gastrocnemius muscle exercise load device, and to integrate body status data to generate a status monitoring report when the gastrocnemius muscle exercise load control device stops operating. Input / output module, used to output status monitoring reports.

[0057] In some embodiments, through the input / output module, the user can set the conditions for the gastrocnemius muscle exercise load control device to stop operating, so that the gastrocnemius muscle exercise load control device can automatically stop operating when the above conditions are met; for example, the above conditions may include the end of training time, or abnormal physical condition, etc.

[0058] In some embodiments, statistical analysis of physical condition can be achieved in the following ways: In the time dimension, the physiological indicators corresponding to the physical state are statistically analyzed to obtain the continuous changes of various physiological indicators as the patient's training status changes.

[0059] In some embodiments, the status monitoring report may be presented in at least one of the following forms: text, image, and table; correspondingly, the status monitoring report may be output through the display screen of the input / output module, or it may be output through voice broadcast.

[0060] As can be seen from the above, in the status monitoring system of the gastrocnemius muscle exercise load regulation device provided in this application embodiment, the main control module is used to collect statistics on the body status during the operation of the gastrocnemius muscle exercise load regulation device, and to integrate the body status to generate a status monitoring report when the gastrocnemius muscle exercise load regulation device stops running. In this way, the tracking and monitoring of the body status is realized during the operation of the gastrocnemius muscle exercise load regulation device. Furthermore, the input / output module is used to output the status monitoring report, so that the status monitoring report can be output in a more intuitive and visual way.

[0061] Figure 7 This is a flowchart illustrating the control and drive module of the status monitoring system provided in an embodiment of this application, as shown below. Figure 7 As shown, the process may include the following steps: Step 701: Collect data.

[0062] For example, the force applied by the foot to the pedal can be collected by a signal acquisition module.

[0063] Step 702: Data preprocessing.

[0064] For example, the applied force state can be preprocessed by a signal transmission module to obtain the applied force amplitude.

[0065] Step 703: Data Calculation.

[0066] For example, step 703 may include the following steps: Statistical force amplitude: Used to track and statistically analyze the force amplitude, thereby obtaining the state of force change; Calculate the area of ​​force application: The area of ​​force application can be calculated using the method provided in the aforementioned embodiments. The area of ​​force application can also be tracked and statistically analyzed to obtain the area change status. Control command generation: Control commands can be generated by a PID controller based on the force deviation between the applied force amplitude and the target force amplitude.

[0067] Step 704: Control the drive module.

[0068] Through the above process, during the operation of the gastrocnemius muscle exercise load control device, it is possible to achieve automated and continuous monitoring of the force amplitude and force area of ​​the pedal, and also to achieve automated and precise control of the damping state of its hydraulic damper.

[0069] Figure 8 This is a schematic diagram of the workflow of the status monitoring system provided in the embodiments of this application, such as... Figure 8 As shown, the process may include the following steps: Step 801, Begin.

[0070] Step 802: Initialization.

[0071] For example, in this step, the monitoring mode of the status monitoring system can be configured through the input / output module.

[0072] Step 803: Real-time data collection.

[0073] For example, the force application status can be collected in real time through a signal acquisition module.

[0074] Step 804: Calculate the applied force amplitude and the applied force area.

[0075] For example, after this step is completed, the first branch corresponding to steps 805 to 810 and the second branch corresponding to steps 812 to 813 can be executed in parallel.

[0076] Step 805: Determine if the target mode is in operation.

[0077] For example, the target mode may include a fixed-point force monitoring mode; if the target mode is in, step 806 can be executed, and if the target mode is not in, step 807 can be executed.

[0078] Step 806: Perform MVC testing.

[0079] For example, the extreme value of the applied force can be determined in this step.

[0080] Step 807: Determine the target range.

[0081] For example, the second amplitude can be determined based on the extreme value of the applied force, or the first amplitude can be determined in response to an input operation to the input / output module.

[0082] Step 808: Generate control signals.

[0083] For example, a control signal can be generated by a PID controller based on the force deviation between the target amplitude and the applied force amplitude.

[0084] Step 809: Adjust the servo valve.

[0085] For example, the damping data of the hydraulic damper can be adjusted in real time by adjusting the servo valve.

[0086] Step 810: Determine whether to stop.

[0087] For example, if it is determined that training should be stopped, step 811 can be executed; if it is determined that training should not be stopped, step 803 can be executed.

[0088] Step 812: Display and store data.

[0089] For example, the area change status and the applied force change status can be displayed through the input / output module, and the area change status and the applied force change status can also be stored.

[0090] Step 813: Display body status.

[0091] For example, the fluctuation of physical state over time can be displayed.

[0092] Through the above process, during the exercise of the gastrocnemius muscle exercise load control device by the user or patient, the status monitoring system can realize real-time monitoring of the user's physical status, the force amplitude and force area of ​​the user's feet against the pedal, and can also realize real-time control of control signals and servo valves.

[0093] Figure 9 This is another schematic diagram of the workflow of the status monitoring system provided in this application embodiment. For example... Figure 9 As shown, the process may include the following steps: Step 901: Start and set the mode.

[0094] For example, the monitoring mode of the status monitoring system can be set through the input / output module.

[0095] If the mode is set to fixed-point force monitoring mode, then steps 902 to 903 can be executed; if the mode is set to fixed-point force monitoring mode, then step 904 can be executed.

[0096] Step 902: Prompt to perform MVC test.

[0097] Step 903: Determine the second amplitude.

[0098] Step 904: Set the first amplitude and training time.

[0099] For example, the duration of training can be set through the input / output module.

[0100] For example, the branches corresponding to steps 902 to 903 and the branch corresponding to step 904 can be executed selectively according to the set mode.

[0101] Step 905: Real-time data collection.

[0102] Step 906: Calculate the applied force amplitude and the applied force area.

[0103] Step 907: Generate control signals.

[0104] For example, after the control signal is generated, steps 908 and 909 can be executed in parallel.

[0105] Step 908: Store the data and display the curve.

[0106] For example, the curve can be displayed through the input / output module, and the curve may include the first curve and the second curve in the foregoing embodiments.

[0107] Step 909: Adjust the servo valve.

[0108] Step 910: Determine whether to stop.

[0109] For example, if it is determined that training has stopped, steps 911 to 912 can be executed; if it is determined that training will continue, steps 905 can be executed.

[0110] Step 911: Generate and display the report.

[0111] For example, the report may include a status monitoring report.

[0112] Step 912, End.

[0113] Through the above process, the monitoring mode setting of the status monitoring system, the data acquisition and monitoring during the operation of the gastrocnemius muscle exercise load control equipment, and the generation and display of reports are integrated, thereby improving the automation level of the gastrocnemius muscle exercise load control equipment and meeting the diverse requirements of lower limb training and body status monitoring.

[0114] Based on the foregoing embodiments, this application also provides a control method, which is applied to the status monitoring system of the gastrocnemius muscle exercise load regulation device provided in the foregoing embodiments. Figure 10 A flowchart illustrating the control method provided in the embodiments of this application is shown below. Figure 10 As shown, the method may include the following steps: Step 1001: During the process of stepping on the pedal of the gastrocnemius muscle exercise load control device, collect the force applied by the foot to the pedal.

[0115] The gastrocnemius muscle exercise load control device includes at least the device body, a hydraulic damper, a foot pedal, and a force sensor; the hydraulic damper is mechanically connected to the foot pedal and is used to output damping data relative to the pressure data during the process of stepping on the foot pedal; the device body is used to support the hydraulic damper, the foot pedal, and the force sensor, and is also used to fix the gastrocnemius muscle exercise load control device.

[0116] Step 1002: Preprocess the applied force state to obtain preprocessed data.

[0117] Step 1003: Obtain the force applied by the foot to the pedal from the preprocessed data, determine the force deviation between the applied force and the target force, and determine the control signal based on the force deviation using a PID controller.

[0118] Step 1004: Adjust at least the damping data based on the control signal.

[0119] Step 1005: Monitor the patient’s physical condition at least some parts of the body while the pedal is being continuously stepped on.

[0120] In some embodiments, the control signal is determined by a PID controller based on the applied force deviation, including: The PID controller generates control signals based on the applied force and the body's state.

[0121] In some embodiments, the above method further includes: If the current system is in periodic constant load monitoring mode, the first amplitude is obtained in response to the input operation; If the current mode is fixed-point force monitoring, output MVC test prompt, collect the extreme value of the force applied by the foot to the pedal, and determine the second amplitude based on the extreme value of the force applied; The target range includes the first range and the second range.

[0122] In some embodiments, the above method further includes: The force application area of ​​the foot on the pedal is obtained from the preprocessed data, and the change of the force application area over time is determined, as well as the change of the force amplitude over time. Output area change status and force change status.

[0123] In some embodiments, the above method further includes: The body's physical condition is recorded during the operation of the gastrocnemius muscle exercise load control device, and a status monitoring report is generated by integrating the physical condition when the gastrocnemius muscle exercise load control device stops operating. Output status monitoring report.

[0124] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0125] The methods disclosed in the various method embodiments provided in this application can be arbitrarily combined to obtain new method embodiments without conflict.

[0126] The features disclosed in the various product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0127] The features disclosed in the various method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0128] It should be noted that the aforementioned computer-readable storage media can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM), etc.; or it can be various electronic devices including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0129] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0130] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0131] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware nodes. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0132] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0133] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0134] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0135] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A status monitoring system for a gastrocnemius muscle exercise load regulation device, characterized in that, include: A signal acquisition module is used to acquire the force applied by the foot to the pedal of the gastrocnemius muscle exercise load control device through a force sensor during the process of the foot pressing the pedal. The gastrocnemius muscle exercise load control device includes at least a device body, a hydraulic damper, the pedal, and the force sensor. The hydraulic damper is mechanically connected to the pedal and is used to output damping data corresponding to the force applied during the process of the foot pressing the pedal. The device body supports the hydraulic damper, the pedal, and the force sensor, and also serves to fix the gastrocnemius muscle exercise load control device. The signal transmission module is used to preprocess the applied force state, obtain and transmit the preprocessed data to the main control module; The main control module is used to obtain the force applied by the foot to the pedal from the preprocessed data, determine the force deviation between the force applied and the target force, and determine the control signal based on the force deviation using a proportional-integral-derivative PID controller. A drive module is configured to adjust at least the damping data based on the control signal; A monitoring module is used to monitor the physical condition of at least some parts of the patient's body during the continuous stepping of the pedal.

2. The system according to claim 1, characterized in that, The main control module is used to generate the control signal based on the applied force amplitude and the body state through the PID controller.

3. The system according to claim 1, characterized in that, The status monitoring system further includes an input / output module; wherein: If the current state is in periodic constant load monitoring mode, the input / output module is used to obtain a first amplitude in response to an input operation; If the current state is in fixed-point force monitoring mode, the main control module is used to control the input / output module to output the maximum autonomous contraction MVC test prompt, and to control the signal acquisition module to acquire the extreme value of the force applied by the foot to the pedal, and to determine the second amplitude based on the extreme value of the force applied; The target amplitude includes either the first amplitude or the second amplitude.

4. The system according to claim 1, characterized in that, The status monitoring system further includes an input / output module; wherein: The main control module is used to obtain the force application area of ​​the foot on the pedal from the preprocessed data, determine the area change state of the force application area over time, and determine the force amplitude change state of the force over time. The input / output module is used to output the area change state and the force change state.

5. The system according to claim 1, characterized in that, The status monitoring system further includes an input / output module; wherein: The main control module is used to collect data on the body status during the operation of the gastrocnemius muscle exercise load control device, and to integrate the body status to generate a status monitoring report when the gastrocnemius muscle exercise load control device stops operating. The input / output module is used to output the status monitoring report.

6. A control method, characterized in that, The method is applied to the status monitoring system of the gastrocnemius muscle exercise load regulation device as described in any one of claims 1 to 5; comprising: During the process of the foot pressing the pedal of the gastrocnemius muscle exercise load control device, the force applied by the foot to the pedal is collected; wherein, the gastrocnemius muscle exercise load control device includes at least a device body, a hydraulic damper, the pedal, and the force sensor; the hydraulic damper is mechanically connected to the pedal and is used to output damping data corresponding to the force applied during the process of the foot pressing the pedal; the device body is used to support the hydraulic damper, the pedal, and the force sensor, and is also used to fix the gastrocnemius muscle exercise load control device; The applied force state is preprocessed to obtain preprocessed data; The force applied by the foot to the pedal is obtained from the preprocessed data, the force deviation between the applied force and the target force is determined, and the control signal is determined by the PID controller based on the force deviation. At least the damping data should be adjusted based on the control signal; While the pedal is being continuously stepped on, the patient's physical condition at least some parts of their body is monitored.

7. The method according to claim 6, characterized in that, The step of determining the control signal based on the applied force deviation using a PID controller includes: The PID controller generates the control signal based on the applied force amplitude and the body state.

8. The method according to claim 6, characterized in that, The method further includes: If the current system is in periodic constant load monitoring mode, the first amplitude is obtained in response to the input operation; If the current mode is fixed-point force monitoring, output the maximum autonomous contraction MVC test prompt, collect the extreme value of the force applied by the foot to the pedal, and determine the second amplitude based on the extreme value of the force applied; The target amplitude includes either the first amplitude or the second amplitude.

9. The method according to claim 6, characterized in that, The method further includes: The force application area of ​​the foot on the pedal is obtained from the preprocessed data, the area change of the force application area over time is determined, and the force amplitude change of the force amplitude over time is determined. Output the area change state and the force change state.

10. The method according to claim 6, characterized in that, The method further includes: The body status is recorded during the operation of the gastrocnemius muscle exercise load regulation device, and the body status is integrated to generate a status monitoring report when the gastrocnemius muscle exercise load regulation device stops operating. Output the status monitoring report.

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