Muscle force detection simulation method for high-fidelity human

Abstract

The application discloses a muscle strength detection simulation method for a high-simulation person, wherein the high-simulation person comprises a plurality of movable joints and driving motors to simulate the activities of various joints of a human body, and the method comprises the following steps: S1, acquiring simulation case information issued by a user, wherein the simulation case information comprises a muscle strength part of a simulated patient and a muscle strength grade; S2, acquiring a muscle strength detection action instruction of the user; S3, determining a target active joint of the high-simulation person, a target driving motor for driving the target active joint to move and a target active part based on the muscle strength detection action instruction, wherein the target active part is a human body part from the target active joint to the end of a limb of the high-simulation person; and S4, the high-simulation person performs corresponding simulation feedback based on the muscle strength grade of the target active part, so that the user can observe and experience the state simulation of different parts and different muscle strength grades of the high-simulation person and the instant interactive feedback of the implementation detection operation, and the interactive experience is improved, and the user can quickly master the muscle strength examination skill.

Description

Technical Field

[0001] This application relates to the field of simulation, and in particular to a method for simulating muscle strength detection in highly realistic human models. Background Technology

[0002] Muscle strength testing refers to the measurement of objective indicators of muscle strength through various methods to assess the strength and function of muscles during active movement. Muscle strength testing can evaluate the motor function of the nervous system, detect pathological conditions of the muscles and nervous system such as muscle atrophy, weakness, or paralysis, and also assess a patient's recovery, such as after surgery or stroke.

[0003] During a muscle strength test, the patient performs limb extension and contraction movements, while the doctor applies resistance from the opposite direction, observing the muscle condition. Muscle strength is categorized into several levels based on the patient's ability to overcome the resistance. Level 0: Paralysis; no sensation of muscle contraction. Level 1: Muscle contraction but no movement. Level 2: The limb can move horizontally but cannot be lifted. Level 3: The limb can be lifted but cannot resist resistance. Level 4: The limb can resist resistance to a certain extent. Level 5: Both muscle contraction and resistance to resistance are normal.

[0004] Currently, the field of highly realistic humans and robots can simulate human joints and realize the movement of each joint, but it lacks the simulation of human muscle strength and interactive feedback for detecting movements. Summary of the Invention

[0005] To address the aforementioned problems, this application provides a method for simulating muscle strength detection in a highly realistic humanoid model. The highly realistic humanoid model includes several movable joints and drive motors to simulate the movement of various joints in the human body. The method includes the following steps: S1, Obtain simulated case information sent by the user, the simulated case information including the muscle strength location and muscle strength level of the simulated patient; S2, Obtain the user's muscle strength detection action command, the muscle strength detection action command includes the muscle strength detection site, movement direction, and movement angle; S3, based on the muscle strength detection site, determine the target active joint of the highly realistic human, the target drive motor that drives the target active joint, and the target active part, wherein the target active part is the human body part from the target active joint to the limb end of the highly realistic human. S4, the highly realistic human performs corresponding motion simulation feedback based on the muscle strength level of the target active part, including: When the muscle strength level is 0, the highly realistic human does not perform any movements; When the muscle strength level is 1, the target drive motor drives the target movable joint to cause the target movable part to vibrate slightly. Muscle strength grade 2 or higher includes: S41, the target drive motor drives the target movable joint to move the target movable part with the movement direction and the movement angle as the initial movement strategy; S42 adjusts the motion strategy in response to user input.

[0006] Furthermore, the calculation expression for the initial torque required for the target drive motor to drive the target movable joint to reach the target movable part with the movement direction and the movement angle as the initial movement strategy is as follows: , Where: M is the initial torque; m is the weight of the target moving part; g is the gravitational acceleration; d is the distance from the center of gravity of the target moving part to the fulcrum of the target moving joint; and a is the torque offset.

[0007] Further, step S42, adjusting the motion strategy in response to the user's operation, specifically includes: S421, preset muscle strength level threshold; S422, in response to the force applied by the user to the target moving part in the opposite direction to the direction of movement, monitor the current and working angle of the target drive motor in real time to obtain the real-time torque of the target drive motor; S423, determine whether the real-time torque is equal to the corresponding muscle strength level threshold. yes, When the muscle strength level is 2 or 3, the target drive motor drives the target active part to return to the initial position; When the muscle strength level is 4 or 5, the target drive motor drives the target active part to maintain its current state and remain stationary. It monitors whether the target drive motor undergoes an angular displacement in the opposite direction of movement under the user's force. If yes, the target drive motor drives the target active part to return to the initial position; otherwise, it returns to step S422. No, execute the initial movement strategy.

[0008] Furthermore, when the muscle strength level is level 4 or 5, a preset time threshold is also included to record the time for maintaining the current state without moving. If the time exceeds the preset time threshold, the target drive motor drives the target active part to return to the initial position.

[0009] Furthermore, the muscle strength level thresholds include level 2 muscle strength threshold, level 3 muscle strength threshold, level 4 muscle strength threshold, and level 5 muscle strength threshold, wherein the initial torque < level 2 muscle strength threshold < level 3 muscle strength threshold < level 4 muscle strength threshold < level 5 muscle strength threshold < the maximum torque supported by the target drive motor.

[0010] Further, in step S2, the user's muscle strength detection action command is obtained. The muscle strength detection action command is a voice command. Through voice recognition and semantic recognition technology, control commands for the highly realistic human to perform muscle strength detection actions are obtained.

[0011] Further, in step S3, based on the muscle strength detection site, the target movable joint of the highly realistic human, the target drive motor that drives the movement of the target movable joint, and the target movable part are determined, wherein the target movable part is the human body part from the target movable joint to the limb end of the highly realistic human, specifically including: S31, based on the muscle strength detection site, determine the active joint of the highly realistic human, mark it as the target active joint, and mark the drive motor that controls the movement of the target active joint as the target drive motor; S32, based on the topological relationship of the human body, mark the human body parts from the target active joint to the limb end of the highly realistic human as the target active parts.

[0012] Furthermore, the method also includes step S33, which marks other movable joints of the target movable part as driven joints and marks the drive motor corresponding to the driven joint as a driven motor.

[0013] Furthermore, the driven joint is configured to be in a locked state when the target movable joint moves.

[0014] Furthermore, before step S4, the method includes detecting abnormal posture of the target active part, specifically as follows: Obtain the working angle of each drive motor included in the target active part; The working angles of each drive motor are compared with the initial state of the highly realistic human, and the angles of drive motors that exceed the abnormal threshold are adjusted.

[0015] The beneficial effects of this application are: This application is used to simulate different muscle strength levels in different parts of the human body and to provide real-time interactive feedback for muscle strength detection actions using a highly realistic human body. It provides users with a wealth of clinical teaching cases, enhances the interactive experience between users and the highly realistic human body, and makes it easier for users to quickly master the operation of muscle strength detection in different parts of the human body and improve their practical skills. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the muscle strength detection simulation method for highly realistic human figures according to an embodiment of this application.

[0017] Figure 2 This is a flowchart illustrating step S42 of this application embodiment, in which the motion strategy is adjusted in response to the user's operation. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this application.

[0019] like Figures 1-2 As shown, this application provides a method for simulating muscle strength detection in a highly realistic humanoid model. The highly realistic humanoid model includes several movable joints and drive motors to simulate the movement of various joints in the human body, such as... Figure 1 As shown, the method includes the following steps: S1, obtain simulated case information sent by the user, including the muscle strength location and muscle strength level of the simulated patient; S2, obtain the user's muscle strength detection action command, which includes the muscle strength detection site, movement direction, and movement angle; S3, based on the muscle strength detection location, determine the target active joint of the high-simulation human, the target drive motor that drives the target active joint, and the target active part, where the target active part is the human body part from the target active joint to the limb end of the high-simulation human. S4, the highly realistic human performs corresponding motion simulation feedback based on the muscle strength level of the target active part, including: When the muscle strength level is 0, the highly realistic human does not perform any movements; When the muscle strength level is 1, the target drive motor drives the target movable joint, causing the target movable part to vibrate slightly. Muscle strength grade 2 or higher includes: S41, the target drive motor drives the target movable joint to move the target movable part to perform movement with the movement direction and movement angle as the initial movement strategy; S42 adjusts the motion strategy in response to user input.

[0020] Muscle strength testing typically involves patients coordinating their limbs according to the instructions of doctors and medical staff, following specific postures. At different muscle strength levels, doctors and staff observe the patient's muscle strength feedback by applying a force opposite to the direction of movement during the limb's motion, thereby assessing the patient's muscle strength level. In this embodiment, a highly realistic humanoid simulator can simulate the muscle strength levels of different muscle groups based on user-provided case studies, offering a wealth of cases for clinical teaching. Furthermore, the simulator provides different movement feedback at different muscle strength levels and adjusts movement strategies accordingly when the user applies a counterforce. This not only facilitates users' understanding and learning of different muscle strength levels but also provides real-time feedback during testing procedures, enhancing the interactive experience and facilitating the mastery of testing techniques.

[0021] In this embodiment, during the motion steps in which the target drive motor drives the target movable joint and moves the target movable part with the initial motion strategy of motion direction and motion angle, the calculation expression for the initial torque triggering the target drive motor is as follows: , Where: M is the initial torque; m is the weight of the target moving part; g is the gravitational acceleration; d is the distance from the center of gravity of the target moving part to the fulcrum of the target moving joint; a is the torque offset, preferably a is set to 1.2.

[0022] Step S42, adjust the motion strategy in response to the user's operation, such as... Figure 2 As shown, it specifically includes: S421, preset muscle strength level threshold; S422, in response to the force applied by the user on the target moving part in the opposite direction of the movement, monitors the current and working angle of the target drive motor in real time to obtain the real-time torque of the target drive motor; S423, determines whether the real-time torque is equal to the corresponding muscle strength level threshold. yes, When the muscle strength level is 2 or 3, the target drive motor drives the target active part back to the initial position; When the muscle strength level is 4 or 5, the target drive motor drives the target active part to maintain the current state and keep it stationary. It monitors whether the target drive motor has an angular displacement in the opposite direction of the movement under the user's force. If yes, the target drive motor drives the target active part to return to the initial position; otherwise, it returns to step S422. No, execute the initial movement strategy.

[0023] This step involves setting muscle strength level thresholds and adjusting the reaction force applied by the user to different movement strategies under different muscle strength levels. This makes the muscle strength performance of the highly realistic human more lifelike and enhances the interactive experience between the user and the highly realistic human.

[0024] Specifically, after the highly realistic humanoid receives the user's muscle strength detection action command, it begins to move using the movement direction and angle in the muscle strength detection action command as the initial movement strategy. During the movement, when the user applies force to different parts of the target active area, the highly realistic humanoid senses the force applied by the user to the target active area in the opposite direction of movement, causing the real-time torque of the target drive motor to gradually increase. When it reaches the same as the muscle strength level threshold, corresponding movement feedback is given based on different muscle strength levels. This step obtains the real-time torque of the target drive motor by monitoring the current and working angle of the target drive motor in real time, and compares it with the muscle strength level threshold to determine the conditions for changing the movement strategy.

[0025] When the muscle strength level is 4 or 5, the motion feedback is more complex than at levels 2 or 3. If the user applies too much force or remains still for too long, the muscle group may lack the strength to support the limb's movement. Therefore, the process also monitors whether the target drive motor has experienced angular displacement in the opposite direction of the movement. In other embodiments, a preset time threshold is used to record the time for maintaining the current state. If the time exceeds the preset time threshold, the target drive motor drives the target active part to return to the initial position.

[0026] In some embodiments, to better distinguish different muscle strength levels and allow users to feel muscle strength feedback, a set of muscle strength thresholds is typically provided, including level 2, level 3, level 4, and level 5, where the initial torque < level 2 < level 3 < level 4 < level 5 < the maximum torque supported by the target drive motor. In this step, the user can clearly distinguish different muscle strength levels by setting preset muscle strength level torque thresholds. These thresholds can be adjusted based on factors such as the patient's age, gender, and medical history in the simulated case, or based on simulated feedback from a highly realistic human model.

[0027] In this embodiment, step S2 involves obtaining the user's muscle strength detection action command, which is a voice command. Through voice recognition and semantic recognition technology, control commands for the highly realistic human to perform muscle strength detection actions are obtained, thereby improving the user's interactive experience with the highly realistic human.

[0028] In this embodiment, step S3 involves determining the target joint of the highly realistic humanoid, the target drive motor that drives the target joint, and the target active part based on the muscle strength detection location. The target active part is the human body part from the target joint to the limb end of the highly realistic humanoid, specifically including: S31, Based on the muscle strength detection location, determine the active joints of the highly realistic human, mark them as target active joints, and mark the drive motors that control the movement of the target active joints as target drive motors; S32, based on the topological structure of the human body, marks the human body parts from the target active joints to the limb ends of the highly realistic human as the target active parts.

[0029] In this embodiment, step S33 is also included, marking other movable joints of the target movable part as driven joints, and marking the drive motor corresponding to the driven joint as a driven motor.

[0030] In this embodiment, the driven joint is configured to be in a locked state when the target movable joint moves.

[0031] Through the above steps, the highly realistic humanoid can prevent other moving joints and parts from falling or swinging freely due to the weight of the moving parts themselves when executing action commands.

[0032] In this embodiment, to avoid incorrect posture or stuck limbs in the highly realistic humanoid model, and to prevent damage to the structure or drive motor, abnormal posture detection of the target moving part is included before step S4. The specific steps are as follows: Obtain the working angles of each drive motor included in the target moving part; The working angles of each drive motor are compared with the initial state of the highly realistic human, and the angles of drive motors that exceed the abnormal threshold are adjusted.

Claims

1. A method for simulating muscle strength detection in highly realistic human models, characterized in that, The highly realistic humanoid includes several movable joints and drive motors to simulate the movement of various joints in the human body. The method includes the following steps: S1, Obtain simulated case information sent by the user, the simulated case information including the muscle strength location and muscle strength level of the simulated patient; S2, Obtain the user's muscle strength detection action command, the muscle strength detection action command includes the muscle strength detection site, movement direction, and movement angle; S3, based on the muscle strength detection site, determine the target active joint of the highly realistic human, the target drive motor that drives the target active joint, and the target active part, wherein the target active part is the human body part from the target active joint to the limb end of the highly realistic human. S4, the highly realistic human performs corresponding motion simulation feedback based on the muscle strength level of the target active part, including: When the muscle strength level is 0, the highly realistic human does not perform any movements; When the muscle strength level is 1, the target drive motor drives the target movable joint to cause the target movable part to vibrate slightly. Muscle strength grade 2 or higher includes: S41, the target drive motor drives the target movable joint to move the target movable part with the movement direction and the movement angle as the initial movement strategy, wherein the calculation expression for the initial torque required to execute the initial movement strategy is: ， Where: M is the initial torque; m is the weight of the target moving part; g is the gravitational acceleration; d is the distance from the center of gravity of the target moving part to the fulcrum of the target moving joint; a is the torque offset; S42, adjusting the motion strategy in response to user input, including: S421, preset muscle strength level threshold; S422, in response to the force applied by the user to the target moving part in the opposite direction to the direction of movement, monitor the current and working angle of the target drive motor in real time to obtain the real-time torque of the target drive motor; S423, determine whether the real-time torque is equal to the corresponding muscle strength level threshold. yes, When the muscle strength level is 2 or 3, the target drive motor drives the target active part to return to the initial position; When the muscle strength level is 4 or 5, the target drive motor drives the target active part to maintain its current state and remain stationary. It monitors whether the target drive motor undergoes an angular displacement in the opposite direction of movement under the user's force. If yes, the target drive motor drives the target active part to return to the initial position; otherwise, it returns to step S422. No, execute the initial movement strategy.

2. The muscle strength detection simulation method for highly realistic humanoids according to claim 1, characterized in that, When the muscle strength level is 4 or 5, a preset time threshold is also included to record the time for maintaining the current state without moving. If the time exceeds the preset time threshold, the target drive motor drives the target active part to return to the initial position.

3. The muscle strength detection simulation method for highly realistic humanoids according to claim 1, characterized in that, The muscle strength level thresholds include level 2, level 3, level 4, and level 5 muscle strength thresholds, wherein the initial torque < level 2 muscle strength threshold < level 3 muscle strength threshold < level 4 muscle strength threshold < level 5 muscle strength threshold < the maximum torque supported by the target drive motor.

4. The muscle strength detection simulation method for highly realistic humanoids according to claim 1, characterized in that, Step S2: Obtain the user's muscle strength detection action command. The muscle strength detection action command is a voice command. Through voice recognition and semantic recognition technology, control commands for the highly realistic human to perform muscle strength detection actions are obtained.

5. The muscle strength detection simulation method for highly realistic humanoids according to claim 1, characterized in that, Step S3: Based on the muscle strength detection site, determine the target movable joint of the highly realistic human, the target drive motor that drives the target movable joint, and the target movable part, wherein the target movable part is the human body part from the target movable joint to the limb end of the highly realistic human, specifically including: S31, Based on the muscle strength detection site, determine the active joint of the highly realistic human, mark it as the target active joint, and mark the drive motor that controls the movement of the target active joint as the target drive motor; S32, based on the topological relationship of the human body, the human body parts from the target active joint to the limb end of the highly realistic human are marked as target active parts.

6. The muscle strength detection simulation method for highly realistic humanoids according to claim 5, characterized in that, It also includes step S33, which marks other movable joints of the target movable part as driven joints and marks the drive motor corresponding to the driven joint as a driven motor.

7. The muscle strength detection simulation method for highly realistic humanoids according to claim 6, characterized in that, The driven joint is configured to be in a locked state when the target movable joint moves.

8. The muscle strength detection simulation method for highly realistic humanoids according to claim 1, characterized in that, Before step S4, the detection of abnormal posture of the target active part is also included, and the specific steps are as follows: Obtain the working angle of each drive motor included in the target active part; The working angles of each drive motor are compared with the initial state of the highly realistic human, and the angles of drive motors that exceed the abnormal threshold are adjusted.

Images