Balance function subitem evaluation method and system based on ankle hip joint freedom degree physical limitation
By designing ankle and hip joint degree-of-freedom restriction modules and a plantar perturbation platform, and conducting combination and perturbation tests of individual degree-of-freedom restrictions, the shortcomings of ankle and hip joint balance function assessment were addressed, enabling accurate assessment and rehabilitation guidance of ankle and hip joint balance function.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-03
- Publication Date
- 2026-04-03
AI Technical Summary
Existing technologies lack sub-assessment methods for ankle and hip joint balance function, which affects the assessment effect of balance function.
By designing wearable modules that restrict the degrees of freedom of the ankle and hip joints, and combining them with a plantar perturbation platform, we conducted tests on combinations of restrictions on individual degrees of freedom and perturbation balance recovery. We then used pressure center signal analysis to evaluate the balance function of the ankle and hip joints.
It enables precise assessment of ankle and hip joint balance function, identifies weak joint planes, and guides precise rehabilitation training.
Smart Images
Figure CN121774449A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of human balance ability testing technology, specifically to a method and system for evaluating balance function sub-items based on the physical limitations of ankle and hip joint degrees of freedom. Background Technology
[0002] In maintaining standing stability, the central nervous system integrates and analyzes sensory information from multiple sources and issues corresponding motor commands. The motor system then controls postural changes according to these commands using different coordinated movement patterns, adjusting the body's center of gravity to return to a stable range. Specifically, the human body can be simplified as a rigid connected body, including the ankle, knee, and hip joints. The postural adjustment process is also correspondingly divided into three independent characteristic modes: the ankle mode, the knee mode, and the hip mode. Andrzej et al., however, removed the knee joint's motor component, dividing the human balance process into ankle joint control strategies, hip joint control strategies, and stepping control strategies. When the human body is standing and there is no or minimal external disturbance, balance is primarily maintained by dorsiflexion or plantarflexion of the ankle joint; this balance control strategy is called the ankle joint control strategy. When subjected to greater external disturbance, ankle joint adjustments alone are insufficient to maintain stability. In this case, a combination of ankle and hip joint movements is used to adjust the body's center of gravity and maintain balance. When the external disturbance increases further, even ankle and hip joint movements are insufficient to maintain balance, a stepping control process is added. This involves quickly stepping or jumping in the direction of the body's tilt to regain a stable support surface and prevent falls. Figure 1 As shown in Figures (a), (b), and (c), while existing research has proposed three joint balance strategies, it lacks relevant studies on the sub-item assessment of ankle and hip joint balance function. This invention is the first to propose a sub-item assessment method for joint balance function, which is expected to evaluate the sub-item contributions of the hip and ankle joints to postural balance. Summary of the Invention
[0003] The purpose of this invention is to provide a method and system for assessing balance function based on the physical limitations of ankle and hip joint degrees of freedom. The main technical problem to be solved is that there is currently no technology for assessing balance function, which affects the assessment of balance function.
[0004] To achieve the above objectives, the present invention provides the following technical solution: This application provides a method for assessing balance function sub-items based on the physical limitations of ankle and hip joint degrees of freedom, including: The ankle and hip joints of the human body are subjected to individual degree-of-freedom constraint combinations to obtain a set of individual degree-of-freedom constraint combinations. The set of individual degree-of-freedom constraint combinations is analyzed to select effective individual degree-of-freedom constraint combinations. For the selected effective combinations of individual degrees of freedom constraints, corresponding individual degrees of freedom constraints are imposed, and perturbation balance recovery tests are conducted to obtain perturbation balance recovery test information. Based on the information from the perturbation balance recovery test, the balance function of the ankle and hip joints is analyzed and evaluated.
[0005] Another aspect of this application provides a balance function sub-assessment system based on the physical restriction of ankle and hip joint degrees of freedom, including an ankle joint degree of freedom restriction wearing module, a hip joint degree of freedom restriction wearing module, and a plantar perturbation platform; The ankle joint freedom restriction wearable module includes a calf tube and a footrest, which are hinged together. The footrest is equipped with a force measuring unit for measuring the pressure signal at the center of pressure on the sole of the foot.
[0006] The lower leg tube and the footrest are respectively equipped with a sagittal plane degree-of-freedom limiting module and a coronal plane degree-of-freedom limiting module; The hip joint degree of freedom restriction wearable module includes a hip joint sagittal plane degree of freedom restriction wearable module for restricting the hip joint sagittal plane degree of freedom, and a hip joint coronal plane degree of freedom restriction wearable module for restricting the hip joint coronal plane degree of freedom. The hip joint sagittal plane degree of freedom limiting wearable module includes an upper torso sleeve and a thigh sleeve, which are hinged together; a sagittal plane degree of freedom limiting module is provided between the upper torso sleeve and the thigh sleeve. The hip joint coronal plane degree of freedom restriction wearable module includes an upper trunk back plate and a lower limb back plate, which are flexibly connected. An upper trunk restraint strap is provided on the upper trunk back plate, and a corresponding thigh restraint strap is provided on the lower limb back plate. A coronal plane degree-of-freedom limiting module is provided between the upper trunk dorsal plate and the lower limb dorsal plate; The plantar disturbance platform provides rapid displacement in at least two directions to disrupt the balance of a person standing on the plantar disturbance platform.
[0007] Compared with the prior art, the advantages of the present invention are as follows: This application assesses the independent contribution of the ankle / hip joint to balance function through a physical constraint module; accurately calculates sagittal / coronal joint control scores based on nine effective biomechanical combinations; generates a joint-specific balance ability index (0-1 points) using plantar pressure center (CoP) dynamic data; identifies joint weak planes to guide precise rehabilitation; and integrates wearable constraint devices, multi-directional perturbation platforms, and DBR algorithms to achieve integrated assessment. Attached Figure Description
[0008] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 This is a diagram of existing techniques in a method for assessing balance function based on physical constraints of ankle and hip joint degrees of freedom.
[0009] Figure 2 This is a three-dimensional coordinate system diagram of the human body for a sub-assessment method of balance function based on the physical constraints of ankle and hip joint degrees of freedom.
[0010] Figure 3 This is a schematic diagram of the ankle joint degree-of-freedom restriction wearable module in the balance function sub-assessment method based on the physical restriction of ankle and hip joint degrees of freedom.
[0011] Figure 4 This is a schematic diagram of the hip joint sagittal plane degree-of-freedom limiting wearable module in the balance function sub-assessment method based on the physical limitation of ankle and hip joint degrees of freedom.
[0012] Figure 5 This is a schematic diagram of the hip joint coronal plane degree-of-freedom limiting wearable module in the balance function sub-assessment method based on the physical limitation of ankle and hip joint degrees of freedom.
[0013] Figure 6 This is a schematic diagram illustrating the extraction of corresponding balance recovery time from a balance function sub-assessment method based on the physical constraints of ankle and hip joint degrees of freedom.
[0014] Figure 7 This is a flowchart illustrating a method for assessing balance function based on physical limitations of ankle and hip joint degrees of freedom.
[0015] 100, Ankle joint degree of freedom restriction wearing module; 10, Sagittal plane rotation axis; 20, Coronal plane rotation axis; 30, Force measuring unit; 200, Hip joint sagittal plane degree of freedom restriction wearing module; 300, Hip joint coronal plane degree of freedom restriction wearing module; DBR, Balance recovery time. Detailed Implementation
[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.
[0017] Obviously, the embodiments described below are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.
[0018] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.
[0019] It should also be understood that the terminology used in this specification of embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to limit the embodiments of the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise. In the description of the invention, the terms “center,” “longitudinal,” “lateral,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” and “counterclockwise,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention; the terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance; in the description of the invention, “a plurality” means two or more, unless otherwise expressly and specifically defined.
[0020] Furthermore, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.
[0021] Please see Figure 1-7A method for assessing balance function based on the physical limitations of ankle and hip joint degrees of freedom includes: Step 1: Perform individual degree-of-freedom constraint combinations on the ankle and hip joints of the human body to obtain a set of individual degree-of-freedom constraint combinations. Analyze the set of individual degree-of-freedom constraint combinations and select the effective individual degree-of-freedom constraint combinations. Step 2: For the selected effective combinations of individual degrees of freedom, impose corresponding individual degrees of freedom restrictions and conduct perturbation balance recovery tests to obtain perturbation balance recovery test information. Step 3: Based on the disturbance balance recovery test information, analyze and evaluate the balance function of the ankle and hip joints.
[0022] In one exemplary embodiment, a method for obtaining a set of combinations of restricted degrees of freedom by performing individual degree-of-freedom constraints on the ankle and hip joints of a human body includes: The degrees of freedom of the ankle and hip joints in the human body are analyzed to determine the types of degrees of freedom of the ankle and hip joints, including sagittal plane degrees of freedom, coronal plane degrees of freedom, unlimited degrees of freedom, and no degrees of freedom, respectively. The degrees of freedom types of the ankle and hip joints are randomly combined to form a set of partial degree-of-freedom constraint combinations, which includes 16 types of degree-of-freedom constraint combinations.
[0023] Specifically, the hip joint, as the largest ball-and-socket joint in the human body, has a wide range of freedom (flexion / extension, adduction / abduction, internal rotation / external rotation), a large range of motion, high load-bearing capacity, and strong coupling between degrees of freedom. Therefore, considering the numerous and complex degrees of freedom of the hip joint, the design of the hip joint wearable module mainly considers the interference of degrees of freedom in the sagittal and coronal planes, and there are four scenarios: First, the hip joint wearable module realizes only the sagittal rotational degree of freedom; second, only the coronal plane degree of freedom; third, the hip joint wearable module is removed, and no degree of freedom is restricted; fourth, all degrees of freedom are restricted.
[0024] The ankle joint is generally considered to have three degrees of freedom: Dorsiflexion / plantarflexion: The most important and largest range of motion (sagittal plane).
[0025] Inversion / outversion: Secondary movement (coronal plane).
[0026] Internal rotation / external rotation: Minimal amplitude, often accompanied by dorsiflexion and plantarflexion (horizontal plane).
[0027] Therefore, considering the interference of degrees of freedom in the sagittal and coronal planes, the ankle joint wearable module is designed with four cases: first, only the sagittal rotational degree of freedom; second, only the coronal degree of freedom; third, the ankle joint wearable module is removed, and no degree of freedom is restricted; fourth, all degrees of freedom are restricted.
[0028] In summary, there are 16 possible combinations of ankle and hip joint degrees of freedom, but only 9 of them conform to the laws of motion, as shown in Table 1.
[0029] Table 1. Combination Types of Ankle and Hip Joint Degree of Freedom Restriction Assume that the duration of balance recovery (DBR) under sagittal perturbation is A, and the 8 effective forms of DBR are A1-A6. Assume that the DBR under coronal perturbation is B, and the 8 effective forms of DBR are B1-B5.
[0030] In an exemplary embodiment, the method for analyzing a set of combinations of partial degrees of freedom constraints and selecting effective combinations of partial degrees of freedom constraints includes listing the set of combinations of partial degrees of freedom constraints, filtering out combinations of degrees of freedom constraints that do not conform to the laws of motion, and obtaining effective combinations of partial degrees of freedom constraints.
[0031] In one exemplary embodiment, the method for performing a disturbance balance recovery test and obtaining disturbance balance recovery test information includes, After the human body to be evaluated is subject to the corresponding individual degrees of freedom restrictions, a perturbation test is performed while standing to obtain perturbation balance recovery test information, which includes the pressure signal of the sole of the foot under the effective combination of individual degree of freedom restrictions.
[0032] In one exemplary embodiment, a method for analyzing and evaluating the balance function of the ankle and hip joints of a human body based on perturbation balance recovery test information includes, Obtain a dataset of pressure signals at the center of the foot under perturbed conditions with a combination of effective partial degrees of freedom constraints. Each pressure center pressure signal (COP signal) in the pressure center pressure signal dataset is processed and analyzed to extract the corresponding equilibrium recovery time (DBR) and obtain the equilibrium recovery time dataset. Based on the aforementioned balance recovery time dataset, a balance function sub-assessment model with physical constraints on ankle and hip joint degrees of freedom is constructed, and the balance function of the ankle and hip joints is calculated and assessed based on this model.
[0033] In an exemplary embodiment, the balance function sub-evaluation model for the physical limitation of ankle and hip joint degrees of freedom includes an ankle joint scoring model, a hip joint scoring model, an ankle joint sagittal plane scoring model, an ankle joint coronal plane scoring model, a hip joint sagittal plane scoring model, a hip joint coronal plane scoring model, an ankle and hip joint sagittal plane scoring model, and an ankle and hip joint coronal plane scoring model.
[0034] In an exemplary embodiment, let A1 and B1 be the balance recovery time under sagittal plane perturbation and the balance recovery time under coronal plane perturbation, respectively, when the ankle and hip joints of the human body are not restricted in their degrees of freedom. With the ankle joint having no restricted degrees of freedom and the hip joint having no restricted degrees of freedom, the measured balance recovery time under sagittal plane perturbation and the balance recovery time under coronal plane perturbation are A2 and B2, respectively. With the ankle joint restricted to no degrees of freedom and the hip joint unrestricted, the measured balance recovery time under sagittal perturbation and coronal perturbation are A3 and B3, respectively. With the ankle joint restricted to no degrees of freedom and the hip joint restricted to only sagittal plane degrees of freedom, the measured balance recovery time under sagittal plane perturbation is A4. With the ankle joint restricted to no degrees of freedom and the hip joint restricted to only coronal plane degrees of freedom, the measured balance recovery time under coronal plane perturbation is B4. With the ankle joint restricted to only sagittal plane degrees of freedom and the hip joint restricted to no degrees of freedom, the measured balance recovery time under sagittal plane perturbation is A5. With the ankle joint and hip joint restricted to only sagittal plane degrees of freedom, the measured balance recovery time under sagittal plane perturbation is A6. With the ankle joint restricted to sagittal plane degrees of freedom and the hip joint restricted to no degrees of freedom, the measured balance recovery time under coronal plane perturbation is B5. With the ankle joint and hip joint restricted to only coronal plane degrees of freedom, the measured balance recovery time under coronal plane perturbation is B6. The assessment model for balance function sub-item of the physical restriction of ankle and hip joint degrees of freedom is as follows: Ankle score = 100 * (A2 + B2) / (A1 + B1); Hip score = 100 * (A3 + B3) / (A1 + B1); Ankle sagittal plane score = 100 * A5 / A2; Ankle coronal plane score = 100 * B5 / B2; Hip joint sagittal plane score = 100 * A4 / A3; Hip coronal plane score = 100 * B4 / B3; Ankle-hip joint sagittal plane score = 100 * A6 / A1; Ankle-hip joint coronal plane score = 100 * B6 / B1.
[0035] In one exemplary embodiment, the method further includes constructing a comprehensive human balance ability assessment model based on the balance functions of the ankle and hip joints; the method for constructing the comprehensive human balance ability assessment model is as follows: Tests were conducted on individuals with different balance abilities to obtain test data, and the overall balance ability of the human body was scored manually. Based on test data and human scoring of overall human balance ability, a regression coefficient of each sub-item's balance ability on the overall human balance ability is calculated through multiple linear regression analysis. The absolute value of the regression coefficient is used as the weight to construct an assessment model of overall human balance ability.
[0036] Another embodiment of this application provides a balance function sub-assessment system based on the physical restriction of ankle and hip joint degrees of freedom, including an ankle joint degree of freedom restriction wearing module 100, a hip joint degree of freedom restriction wearing module, and a plantar perturbation platform; The ankle joint freedom restriction wearable module 100 includes a calf tube and a foot support, which are hinged together. The foot support is provided with a force measuring unit for measuring the pressure signal at the center of pressure on the sole of the foot. In an exemplary embodiment, the force measuring unit 30 is a force measuring plate.
[0037] The lower leg tube and the foot support are respectively provided with a sagittal plane degree of freedom limiting module and a coronal plane degree of freedom limiting module (not shown in the figure), which correspond to the sagittal plane rotation axis 10 and the coronal plane rotation axis 20; The hip joint degree of freedom restriction wearable module includes a hip joint sagittal plane degree of freedom restriction wearable module 200 for restricting the hip joint sagittal plane degree of freedom, and a hip joint coronal plane degree of freedom restriction wearable module 300 for restricting the hip joint coronal plane degree of freedom. The hip joint sagittal plane degree of freedom restriction wearable module includes an upper trunk sleeve and a thigh sleeve, which are hinged together; a sagittal plane degree of freedom restriction module (not shown in the figure) is provided between the upper trunk sleeve and the thigh sleeve, corresponding to the sagittal plane rotation axis 10. The hip joint coronal plane degree of freedom restriction wearable module 300 includes an upper trunk back plate and a lower limb back plate, which are flexibly connected. An upper trunk restraint strap is provided on the upper trunk back plate, and a corresponding thigh restraint strap is provided on the lower limb back plate. A coronal plane degree-of-freedom limiting module (not shown in the figure) is provided between the upper trunk dorsal plate and the lower limb dorsal plate, corresponding to the coronal plane rotation axis 20; The plantar disturbance platform provides rapid displacement in at least two directions to disrupt the balance of a person standing on the plantar disturbance platform.
[0038] The preferred embodiments of this patent have been described in detail above. However, this patent is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this patent.
Claims
1. A method for assessing balance function based on physical constraints of ankle and hip joint degrees of freedom, characterized in that, include: The ankle and hip joints of the human body are subjected to individual degree-of-freedom constraint combinations to obtain a set of individual degree-of-freedom constraint combinations. The set of individual degree-of-freedom constraint combinations is analyzed to select effective individual degree-of-freedom constraint combinations. For the selected effective combinations of individual degrees of freedom constraints, corresponding individual degrees of freedom constraints are imposed, and perturbation balance recovery tests are conducted to obtain perturbation balance recovery test information. Based on the information from the perturbation balance recovery test, the balance function of the ankle and hip joints is analyzed and evaluated.
2. The method for assessing balance function based on physical constraints of ankle and hip joint degrees of freedom according to claim 1, characterized in that, Methods for obtaining a set of restricted combinations of individual degrees of freedom for the ankle and hip joints of the human body include: The degrees of freedom of the ankle and hip joints in the human body are analyzed to determine the types of degrees of freedom of the ankle and hip joints, including sagittal plane degrees of freedom, coronal plane degrees of freedom, unlimited degrees of freedom, and no degrees of freedom, respectively. The degrees of freedom types of the ankle and hip joints are randomly combined to form a set of partial degree-of-freedom constraint combinations, which includes 16 types of degree-of-freedom constraint combinations.
3. The method for assessing balance function based on physical constraints of ankle and hip joint degrees of freedom according to claim 2, characterized in that, The method for analyzing the set of combinations of partial degrees of freedom restrictions and selecting effective combinations of partial degrees of freedom restrictions includes listing the set of combinations of partial degrees of freedom restrictions, filtering out the types of degree of freedom restriction combinations that do not conform to the laws of motion, and obtaining effective combinations of partial degrees of freedom restrictions.
4. The method for assessing balance function based on physical constraints of ankle and hip joint degrees of freedom according to claim 1, characterized in that, Methods for conducting disturbance balance recovery tests and obtaining disturbance balance recovery test information include: After the human body to be evaluated is subject to the corresponding individual degrees of freedom restrictions, a perturbation test is performed while standing to obtain perturbation balance recovery test information, which includes the pressure signal of the sole of the foot under the effective combination of individual degree of freedom restrictions.
5. The method for assessing balance function based on physical constraints of ankle and hip joint degrees of freedom according to claim 1, characterized in that, Methods for analyzing and evaluating the balance function of the ankle and hip joints based on perturbation balance recovery test information include: Obtain a dataset of pressure signals at the center of the foot under perturbed conditions with a combination of effective partial degrees of freedom constraints. The pressure signal of each pressure center in the pressure center pressure signal dataset is processed and analyzed to extract the corresponding equilibrium recovery time and obtain the equilibrium recovery time dataset. Based on the aforementioned balance recovery time dataset, a balance function sub-assessment model with physical constraints on ankle and hip joint degrees of freedom is constructed, and the balance function of the ankle and hip joints is calculated and assessed based on this model.
6. The method for assessing balance function based on the physical constraints of ankle and hip joint degrees of freedom according to claim 5, characterized in that, The balance function sub-evaluation model for the physical limitation of ankle and hip joint degrees of freedom includes an ankle joint scoring model, a hip joint scoring model, an ankle joint sagittal plane scoring model, an ankle joint coronal plane scoring model, a hip joint sagittal plane scoring model, a hip joint coronal plane scoring model, an ankle and hip joint sagittal plane scoring model, and an ankle and hip joint coronal plane scoring model.
7. The method for assessing balance function based on physical constraints of ankle and hip joint degrees of freedom according to claim 6, characterized in that, Let A1 and B1 be the balance recovery times under sagittal perturbation and coronal perturbation, respectively, when the ankle and hip joints of the human body are not restricted in their degrees of freedom. With the ankle joint having no restricted degrees of freedom and the hip joint having no restricted degrees of freedom, the measured balance recovery time under sagittal plane perturbation and the balance recovery time under coronal plane perturbation are A2 and B2, respectively. With the ankle joint restricted to no degrees of freedom and the hip joint unrestricted, the measured balance recovery time under sagittal perturbation and coronal perturbation are A3 and B3, respectively. With the ankle joint restricted to no degrees of freedom and the hip joint restricted to only sagittal plane degrees of freedom, the measured balance recovery time under sagittal plane perturbation is A4. With the ankle joint restricted to no degrees of freedom and the hip joint restricted to only coronal plane degrees of freedom, the measured balance recovery time under coronal plane perturbation is B4. With the ankle joint restricted to only sagittal plane degrees of freedom and the hip joint restricted to no degrees of freedom, the measured balance recovery time under sagittal plane perturbation is A5. With the ankle joint and hip joint restricted to only sagittal plane degrees of freedom, the measured balance recovery time under sagittal plane perturbation is A6. With the ankle joint restricted to sagittal plane degrees of freedom and the hip joint restricted to no degrees of freedom, the measured balance recovery time under coronal plane perturbation is B5. With the ankle joint and hip joint restricted to only coronal plane degrees of freedom, the measured balance recovery time under coronal plane perturbation is B6. The assessment model for balance function sub-item of the physical restriction of ankle and hip joint degrees of freedom is as follows: Ankle score = 100 * (A2 + B2) / (A1 + B1); Hip score = 100 * (A3 + B3) / (A1 + B1); Ankle sagittal plane score = 100 * A5 / A2; Ankle coronal plane score = 100 * B5 / B2; Hip joint sagittal plane score = 100 * A4 / A3; Hip coronal plane score = 100 * B4 / B3; Ankle-hip joint sagittal plane score = 100 * A6 / A1; Ankle-hip joint coronal plane score = 100 * B6 / B1.
8. The method for assessing balance function based on physical constraints of ankle and hip joint degrees of freedom according to claim 1, characterized in that, It also includes constructing a comprehensive human balance ability assessment model based on the corresponding balance functions of the ankle and hip joints; the method for constructing the comprehensive human balance ability assessment model is as follows: Tests were conducted on individuals with different balance abilities to obtain test data, and the overall balance ability of the human body was scored manually. Based on test data and human scoring of overall human balance ability, a regression coefficient of each sub-item's balance ability on the overall human balance ability is calculated through multiple linear regression analysis. The absolute value of the regression coefficient is used as the weight to construct an assessment model of overall human balance ability.
9. A balance function sub-assessment system based on the physical constraints of ankle and hip joint degrees of freedom according to any one of claims 1-8, characterized in that, This includes an ankle joint degree-of-freedom limiting wearable module, a hip joint degree-of-freedom limiting wearable module, and a plantar perturbation platform; The ankle joint freedom restriction wearable module includes a calf sleeve and a foot support, with the calf sleeve and foot support being hinged together. The footrest is equipped with a force measuring unit to measure the pressure signal at the center of the foot. The lower leg tube and the footrest are respectively equipped with a sagittal plane degree-of-freedom limiting module and a coronal plane degree-of-freedom limiting module; The hip joint degree of freedom restriction wearable module includes a hip joint sagittal plane degree of freedom restriction wearable module for restricting the hip joint sagittal plane degree of freedom, and a hip joint coronal plane degree of freedom restriction wearable module for restricting the hip joint coronal plane degree of freedom. The hip joint sagittal plane degree of freedom limiting wearable module includes an upper torso sleeve and a thigh sleeve, which are hinged together; a sagittal plane degree of freedom limiting module is provided between the upper torso sleeve and the thigh sleeve. The hip joint coronal plane degree of freedom restriction wearable module includes an upper trunk back plate and a lower limb back plate, which are flexibly connected. An upper trunk restraint strap is provided on the upper trunk back plate, and a corresponding thigh restraint strap is provided on the lower limb back plate. A coronal plane degree-of-freedom limiting module is provided between the upper trunk dorsal plate and the lower limb dorsal plate; The plantar disturbance platform provides rapid displacement in at least two directions to disrupt the balance of a person standing on the plantar disturbance platform.
10. The application of the system described in claim 9 in the detection of human balance ability.