A sitting posture health monitoring and mirror tactile feedback correction method and system for visually impaired people

Abstract

The present application belongs to the technical field of sitting posture monitoring in the field of medical health, and relates to a sitting posture health monitoring and mirror haptic feedback correction method and system for visually impaired persons. The method comprises: acquiring real-time posture data collected by an inertial measurement device to calculate three-dimensional Euler angles; generating adaptive monitoring thresholds according to target user resting natural sitting posture reference data and human standard sitting posture reference data; determining the current posture abnormality level by counting the continuous abnormality duration of the posture; calculating the posture average deviation amount in the time window corresponding to the current posture abnormality level, and driving the vibration array to output the haptic feedback signal of the spatial mirror mapping according to the posture average deviation amount and the current posture abnormality level. The present application can be individually adapted to the physiological morphological differences of individuals, dynamically evaluate to avoid instantaneous false positives, intuitively guide the correction of sitting posture, improve the correction compliance, effectively improve the effect of sitting posture health management, and protect the user's spine health.

Description

Technical Field

[0001] This invention belongs to the field of sitting posture monitoring technology in the medical and health field, and relates to a method and system for sitting posture health monitoring and mirror tactile feedback correction for visually impaired people. Background Technology

[0002] Visually impaired individuals lack visual perception channels and cannot dynamically perceive and calibrate their spatial posture using a visual environmental reference system. In daily work, study, or sedentary settings at home, they are prone to unconsciously adopting poor postures such as hunching, leaning to one side, and forward head posture. Epidemiological and orthopedic studies have shown that maintaining abnormal spinal loads deviating from a neutral position for extended periods can lead to chronic health problems such as cervical spondylosis, lumbar disc herniation, scoliosis, and muscle strain. Statistics show that the risk of spinal fractures in visually impaired individuals is 2.46 times higher than in the general population (Choi et al., 2020), and the prevalence of spinal deformities is as high as 29.7%.

[0003] In the existing assistive technology field, wearable devices for visually impaired people mainly focus on obstacle avoidance navigation or social etiquette assistance, such as prompting them to look up and face the person they are speaking to. They usually use sensors to detect and provide one-time general feedback, without involving long-term sitting posture health management. In the field of general sitting posture monitoring, related solutions are mostly aimed at sighted people.

[0004] In summary, existing methods for visually impaired individuals suffer from several drawbacks. First, they rely on fixed angle thresholds and instantaneous judgment logic in general-purpose devices, failing to consider individual differences in spinal morphology caused by long-term habits, leading to frequent false alarms. Second, they lack assessments of accumulated physiological fatigue over extended periods, often employing instantaneous on / off grading, which fails to accurately reflect the harm caused by prolonged sitting. Third, existing tactile feedback typically uses the external environment as a reference, such as navigation vibrations indicating dangerous directions, employing ipsilateral indication logic. However, traditional ipsilateral vibration feedback violates the body's instinct to seek advantage and avoid harm, resulting in high cognitive load for visually impaired users when receiving ipsilateral high-frequency vibrations. They often do not know where to apply force for correction, leading to poor adherence to correction. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art, solve the technical problems of the lack of long-term health monitoring for individual differences in visually impaired individuals, the inability to effectively identify persistent poor posture, and the fact that traditional feedback methods violate the human body's avoidance instinct and lack intuitive guidance, and provide a method and system for sitting posture health monitoring and mirror tactile feedback correction for visually impaired people.

[0006] To achieve the above-mentioned objectives, this invention provides a method for monitoring sitting posture health and providing mirror tactile feedback correction for visually impaired individuals, comprising the following steps: The system acquires real-time attitude data from an inertial measurement unit (IMU) worn on the target user's torso and calculates the target user's real-time three-dimensional Euler angles. Based on the target user's natural sitting posture reference data at rest and preset human standard sitting posture reference data, an adaptive monitoring threshold is generated for the target user. The adaptive monitoring threshold is then expanded with upper and lower limits according to a preset allowable fluctuation range to obtain an adaptive monitoring threshold range. Within a continuous time window, the real-time three-dimensional Euler angles are dynamically compared with the adaptive monitoring threshold range to count the duration of continuous posture abnormalities. The current posture abnormality level of the target user is determined based on the duration of continuous posture abnormalities. The average posture deviation within the time window corresponding to the current posture abnormality level is calculated. Based on the average posture deviation and the current posture abnormality level, a vibration array distributed around the target user's torso outputs a tactile feedback signal with spatial mirror mapping.

[0007] This invention achieves personalized adaptation to individual spinal physiological morphological differences by generating adaptive monitoring thresholds, accurately reflecting a comprehensive consideration of the target user's natural sitting posture baseline and standard sitting posture reference, providing a reliable basis for subsequent posture abnormality detection. By statistically analyzing the duration of continuous posture abnormalities and determining the abnormality level, it achieves dynamic evaluation of sitting posture, accurately reflecting the cumulative effect of physiological fatigue within a long time window, avoiding false alarms caused by instantaneous judgments, and providing a reliable basis for grading the degree of abnormality for tactile feedback. By calculating the average posture deviation and driving the vibration array to output a spatially mirrored tactile feedback signal, it achieves intuitive guidance for sitting posture correction, improving the correction compliance and user experience of visually impaired users, and effectively improving the effect of sitting posture health management.

[0008] Furthermore, the process of generating an adaptive monitoring threshold for the target user includes: obtaining the average pitch angle of the target user within a preset time period as the pitch angle reference value in the natural sitting posture reference data, and the average roll angle as the roll angle reference value in the natural sitting posture reference data; and combining the pitch angle reference value and roll angle reference value in the preset human standard sitting posture reference data to calculate an adaptive monitoring threshold for the target user that includes the pitch angle adaptive threshold and the roll angle adaptive threshold.

[0009] Furthermore, the pitch angle adaptive threshold and the roll angle adaptive threshold satisfy the following: , In the formula, and These are the pitch angle adaptive threshold and roll angle adaptive threshold, respectively, for the target user. and These are the pitch angle reference value and the roll angle reference value, respectively. and These are the target user's pitch angle reference value and roll angle reference value, respectively. This is a correction factor.

[0010] This invention achieves scientific evaluation of pitch angle adaptive threshold and roll angle adaptive threshold by constructing a linear combination model that includes a weighted average of the difference between reference value and baseline value. This more accurately reflects the comprehensive consideration of standard sitting posture and individual baseline. The correction coefficient ensures the flexibility of personalized adaptation, thereby effectively balancing standardization and individual differences, and providing a reliable personalized judgment basis for posture anomaly detection.

[0011] Furthermore, the specific rules for determining the current posture abnormality level of the target user are as follows: if the duration of continuous posture abnormality is not less than a first threshold and less than a second threshold, it is determined to be a primary posture abnormality; if the duration of continuous posture abnormality is not less than a second threshold and less than a third threshold, it is determined to be a medium posture abnormality; if the duration of continuous posture abnormality is not less than a third threshold, it is determined to be a severe posture abnormality; wherein, the first threshold, the second threshold, and the third threshold are in an increasing relationship.

[0012] This invention achieves scientific determination of posture abnormality levels by constructing a step-by-step grading rule based on the duration of continuous abnormality, which more accurately reflects the degree of accumulation of physiological fatigue. The incremental threshold setting ensures the gradual escalation of abnormality levels, thereby effectively distinguishing abnormal states of different degrees and providing a reliable grading basis for differentiated tactile feedback.

[0013] Furthermore, the average attitude deviation satisfies: , In the formula, and These represent the average pitch angle deviation and the average roll angle deviation within the time window corresponding to the current attitude anomaly level, respectively. The total number of sampling points. This represents the start time of the time window corresponding to the current attitude anomaly level. For the current moment, and These are the times within the time window corresponding to the current attitude anomaly level. Real-time pitch and roll angles at each moment.

[0014] This invention achieves a scientific assessment of the average attitude deviation by constructing a mean model that includes pitch and roll angles within a time window. This model more accurately reflects the average characteristics of attitude deviation under the current anomaly level. The mean processing eliminates the influence of instantaneous fluctuations, thus effectively characterizing the overall attitude deviation under the current anomaly state and providing a reliable basis for determining the tactile feedback intensity.

[0015] Furthermore, the vibration array distributed around the target user's torso outputs a tactile feedback signal with a spatial mirror mapping, including: determining the current deflection spatial orientation of the target user's torso by analyzing the average posture deviation; using the target user's own physical torso as a reference system, selecting a specific vibration unit at a position symmetrical to the deflection spatial orientation as the master control node to perform actuation that conforms to the current posture anomaly level, so as to guide the target user to generate an instinctive spatial retreat in the mirror direction.

[0016] This invention determines the spatial orientation of the deflection by analyzing the average deviation of the posture, achieving precise positioning of abnormal postures and more accurately reflecting the spatial deviation direction of the torso, providing a reliable spatial orientation basis for subsequent mirror feedback. By selecting a specific vibration unit at the symmetrical position of the mirror center for actuation, tactile feedback of spatial mirror mapping is realized, allowing users to intuitively understand the correction direction, improving compliance and user experience of posture correction, and effectively improving the posture health management effect for visually impaired people.

[0017] Furthermore, the actuation that conforms to the current attitude anomaly level includes: in response to the current attitude anomaly level being a primary attitude anomaly, controlling the master control node to output a single vibration pulse; in response to the current attitude anomaly level being a medium attitude anomaly, controlling the master control node to output a double vibration pulse with a preset time interval; and in response to the current attitude anomaly level being a severe attitude anomaly, controlling the master control node to output continuous long vibration.

[0018] Furthermore, the response to the current attitude anomaly level being severe attitude anomaly, controlling the master control node to output continuous long vibration, also includes: activating a spatiotemporal joint coding sequence, sequentially driving the reverse symmetric node, clockwise transition node, and master control node of the master control node at preset time intervals to form a multi-node spatiotemporal relay vibration; and simultaneously increasing the vibration frequency and vibration intensity of each actuating node according to the increase in the duration of the anomaly, generating a multi-dimensional emergency intervention prompt.

[0019] Furthermore, after calculating the duration of continuous abnormal posture, the method further includes: recording the abnormal events corresponding to the duration of continuous abnormal posture, and transmitting the abnormal events to the bound mobile terminal; and in response to the target user being in a state of multiple consecutive severe abnormal postures and no effective posture correction action of the target user being detected, sending a remote warning notification to a preset guardian terminal.

[0020] This invention also provides a sitting posture health monitoring and mirror tactile feedback correction system for visually impaired individuals, employing the following technical solution: A sitting posture health monitoring and mirror tactile feedback correction system for visually impaired individuals includes a processor and a memory. The memory stores computer program instructions, which, when executed by the processor, implement the aforementioned sitting posture health monitoring and mirror tactile feedback correction method for visually impaired individuals.

[0021] By adopting the above technical solution, a computer program is generated for the above-mentioned method of sitting posture health monitoring and mirror tactile feedback correction for visually impaired people, and stored in the memory so that it can be loaded and executed by the processor. In this way, a terminal device can be made based on the memory and the processor for convenient use.

[0022] Compared with the prior art, the present invention has at least the following beneficial effects: (1) In view of the problem that general sitting posture monitoring devices use a uniform fixed angle threshold and do not take into account the individual differences in spinal physiological morphology formed by long-term habits of visually impaired people, resulting in frequent false alarms, this invention collects the natural sitting posture baseline data of the target user in the resting state and combines it with the human body standard sitting posture reference data to generate personalized adaptive monitoring thresholds. This eliminates the general judgment standard and makes the monitoring logic fit the real spinal physiological baseline of each visually impaired user. It can accurately identify the real abnormal sitting posture and avoid misjudging the natural sitting posture formed by visually impaired users over a long period of time as abnormal, thereby reducing the false alarm rate and improving the user experience and acceptance of visually impaired users.

[0023] (2) Breaking through the limitations of traditional instantaneous on / off grading judgment, this invention counts the duration of continuous abnormal posture within a continuous time window and classifies the abnormal posture level accordingly. At the same time, it combines the average deviation of posture to assess the degree of abnormality, thereby accurately capturing the progressive cumulative effect of spinal load during prolonged sitting, rather than simply judging the instantaneous posture. This is more in line with the law of chronic injury caused by long-term abnormal load in orthopedics. Through grading assessment, it can realize gradient intervention from mild fatigue reminder to severe abnormal warning, allowing visually impaired users to clearly perceive the changes in their own sitting health status and adjust their posture in time to avoid damage accumulation.

[0024] (3) In view of the problem that traditional ipsilateral vibration feedback violates the human body’s instinct to seek advantage and avoid harm and that visually impaired users do not know how to exert force to correct their posture, this invention proposes a spatial mirror mapping tactile feedback logic: when the user’s torso tilts to the left, the right vibration array is driven to emit a feedback signal; when the user hunches over, the back vibration array is driven to emit a feedback signal. The mirror feedback mode directly guides the user to exert force in the direction of vibration to correct their posture, which conforms to the human body’s instinctive motor cognitive logic. It does not require the user to think about complex direction changes, thus reducing the cognitive load of visually impaired users. Compared with traditional ipsilateral feedback, the correction guidance of mirror feedback is more intuitive and effective, which can improve the user’s willingness to actively correct their posture and compliance.

[0025] (4) This invention is based on an inertial measurement device and a distributed vibration array worn on the torso. The device is small in size, light in weight, and comfortable to wear. It does not affect the user's daily work, study and life. All operations are completed through tactile feedback without visual interaction, which is fully compatible with the usage habits of visually impaired people. At the same time, the algorithm runs on the local device without relying on network connection. It can run stably in all scenarios such as home, office and travel. It has strong practicality and universality and can truly integrate into the daily life of visually impaired people, becoming a reliable auxiliary tool for the health management of visually impaired people. Attached Figure Description

[0026] Figure 1 This is a flowchart of a sitting posture health monitoring and mirror tactile feedback correction method for visually impaired people according to an embodiment of the present invention.

[0027] Figure 2 This is a flowchart of step S04 in a method for monitoring sitting health and providing mirror tactile feedback correction for visually impaired individuals, according to an embodiment of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Although the present invention focuses on visually impaired individuals, its core mechanism is also fully applicable to the general population with sedentary health management needs.

[0029] This invention discloses a method for monitoring sitting posture health and providing mirror tactile feedback correction for visually impaired individuals, referring to... Figure 1 This includes steps S01-S06: S01: Acquire real-time attitude data from an inertial measurement unit worn on the torso of the target user, and calculate the real-time three-dimensional Euler angles of the target user.

[0030] Specifically, this step is the system's input source point, acquiring real-time attitude data from an inertial measurement unit (IMU) worn on the target user's torso, preferably the waist. The IMU is a six-axis IMU (such as an MPU6050 or MPU9250 chip), which includes a three-axis accelerometer and a three-axis gyroscope. In this embodiment, the system sampling frequency is set to 20Hz to 50Hz. After acquiring the data, the microprocessor uses a complementary filtering algorithm or a Madgwick gradient descent filtering algorithm to fuse the accelerometer and gyroscope data, filtering out high-frequency noise and acceleration interference, and calculating the target user's real-time three-dimensional Euler angles, including pitch angle reflecting the degree of hunchback or backward tilt, roll angle reflecting the degree of left or right tilt, and yaw angle.

[0031] S02: Based on the target user's natural sitting posture baseline data in a resting state and the preset human standard sitting posture reference data, generate an adaptive monitoring threshold for the target user, and expand the upper and lower limits of the adaptive monitoring threshold according to the preset allowable fluctuation range to obtain the adaptive monitoring threshold range.

[0032] Specifically, this step addresses the issue that general systems cannot be compatible with the differences in the physiological morphology of the torso of visually impaired individuals. The system is initialized and guided through a mobile terminal or voice module. In this embodiment, the target user is prompted to maintain a natural and relaxed sitting posture for 30 seconds. The system records the Euler angles during this period in real time, once per second. After automatically removing outliers exceeding three times the standard deviation, the average pitch angle of the target user over a preset duration is obtained as the pitch angle reference value in the natural sitting posture reference data, and the average roll angle is obtained as the roll angle reference value in the natural sitting posture reference data. After the acquisition is completed, the system prompts that the reference values ​​have been recorded, and the user can confirm by pressing a button or select to re-collect. Based on preset reference data for standard human sitting posture, which is the ergonomically recognized standard angle for upright sitting posture (neutral spinal position), i.e., the reference value for the pitch angle. Roll angle reference value Calculate the adaptive monitoring threshold for the target user: ; ; In the formula, and These are the pitch angle adaptive threshold and roll angle adaptive threshold, respectively, for the target user. and These are the pitch angle reference value and the roll angle reference value, respectively. and These are the target user's pitch angle reference value and roll angle reference value, respectively. For correction factor, and These are the allowable fluctuation ranges for pitch angle and roll angle, respectively.

[0033] Among them, the correction coefficient The range of values ​​is The preferred value is 0.8, and the correction factor is used to balance individual habits with the strictness of correction. The larger the threshold, the closer it is to the user's natural sitting posture, indicating a more lenient intervention. The smaller the threshold, the closer it is to the standard sitting posture, indicating a more stringent intervention. The scope covers progressive correction strategies from partial adaptation to full adaptation, with a preferred value of 0.8 being the design parameter for this embodiment. Within its value range, it retains 80% of the user's natural habit deviation while guiding them to improve their sitting posture by 20%, making it suitable for initial intervention in visually impaired groups where spinal deformities are prevalent. Users can fine-tune it in the application based on actual usage effects.

[0034] Specifically, due to the user's daily physiological swaying or subtle breathing movements, using a single adaptive monitoring threshold would lead to frequent false triggers. Therefore, after obtaining the adaptive monitoring threshold, the upper and lower limits are expanded according to a preset allowable fluctuation range, which is based on the range of daily physiological swaying of the human body. to Set, preferably .

[0035] S03: Within a continuous time window, the real-time three-dimensional Euler angles are dynamically compared with the adaptive monitoring threshold range to calculate the duration of continuous attitude anomalies and determine the current attitude anomaly level of the target user based on the duration of continuous attitude anomalies.

[0036] It should be noted that, taking the pitch angle adaptive threshold as an example, if the target user's natural sitting posture baseline data is... Substituting into the above relationship, we obtain the pitch angle adaptive threshold as follows: At this point, the adaptive threshold range for the target user's pitch angle is... If the user is at this time At this time, even in a standard sitting posture, an alarm may be triggered. In this case, a preset pitch angle monitoring threshold range needs to be set, such as... That is, when the pitch angle adaptive threshold range and the preset pitch angle monitoring threshold range are met, they will not be counted as posture abnormalities; however, since each user has different habits, including users who already have spinal deformities, the preset monitoring threshold range is manually decided by the user to enable or disable.

[0037] Specifically, at each sampling time In this embodiment, the sampling frequency is 20Hz, and the sampling interval is... Every second, the real-time 3D Euler angles are dynamically compared with the adaptive monitoring threshold. If the real-time angle is not within the adaptive monitoring threshold range, the duration of continuous abnormal attitude is accumulated. If the attitude returns to normal, the duration is cleared to zero. The specific rules for determining the current posture anomaly level of the target user are as follows: If the duration of continuous attitude anomalies is not less than the first threshold and less than the second threshold, it is determined to be a primary attitude anomaly. If the duration of continuous attitude anomalies is not less than the second threshold and less than the third threshold, it is judged as an intermediate attitude anomaly. A severe attitude abnormality is determined if the duration of continuous attitude abnormality is not less than the third threshold. In this embodiment, the first threshold is preferably 5 minutes, the second threshold is preferably 20 minutes, and the third threshold is preferably 40 minutes;

[0038] The physiological basis for the above thresholds is that 5 minutes marks the depletion of phosphocreatine reserves and the beginning of lactic acid accumulation under low-intensity sustained contraction, 20 minutes is the local muscle fatigue accumulation time constant, and 40 minutes is twice the fatigue constant, at which point the risk to spinal health increases significantly.

[0039] S04: Calculate the average attitude deviation within the time window corresponding to the current attitude anomaly level, and based on the average attitude deviation and the current attitude anomaly level, drive the vibration array distributed around the target user's torso to output a tactile feedback signal with spatial mirror mapping.

[0040] Reference Figure 2 Step S04 includes steps S41-S44, as follows: S41: Calculate the average attitude deviation.

[0041] Specifically, the average attitude deviation satisfies: ; ; In the formula, and These represent the average pitch angle deviation and the average roll angle deviation within the time window corresponding to the current attitude anomaly level, respectively. The total number of sampling points. This represents the start time of the time window corresponding to the current attitude anomaly level. For the current moment, and These are the times within the time window corresponding to the current attitude anomaly level. Real-time pitch and roll angles at each moment.

[0042] S42: Determine the master control node by analyzing the average attitude deviation.

[0043] Specifically, in this embodiment, the system is configured with a vibration array consisting of eight circumferentially uniformly arranged linear resonant actuators (LRAs, numbered 1 to 8, with an effective frequency response of 30Hz to 500Hz and a response time of <50ms); the average attitude deviation is analyzed, i.e. , In the formula, and For the pitch and roll attitude deviations of the target user, respectively, based on and After determining the positive and negative sign and magnitude of the target user's torso and the current spatial orientation of the target user's torso, a specific vibration unit that is mirror-symmetric to the spatial orientation of the target user's own physical torso is selected as the main control node. The specific spatial mirror mapping rules are shown in Table 1, where the allowable fluctuation range is used. That is, the threshold for judgment is Explanation: Table 1

[0044]

[0045] Absolute value conditions in Table 1 This indicates that the axial attitude deviation is within to Within the neutral range, it is determined that there is no significant tilt in that direction.

[0046] S43: Actuate according to the current attitude anomaly level.

[0047] Specifically, after determining the master control node, an actuation is performed that matches the current attitude anomaly level, including: In response to the current attitude anomaly level being primary attitude anomaly, the master control node outputs a single vibration pulse, such as a low intensity pulse with a 30% duty cycle and a frequency of 50Hz. In response to the current posture anomaly level being medium, the control master node outputs a preset time interval, such as 500ms, based on the tactile time resolution of approximately 100ms for blind people (Bhattacharjee et al., 2010), to ensure clearly distinguishable double vibration pulses, such as a medium intensity with a 70% duty cycle and a frequency of 120Hz; additional feedback, such as optional application notifications, can also be added. In response to the current posture anomaly level being severe, the master control node outputs continuous long vibrations. This also includes: initiating a spatiotemporal joint coding sequence, at preset time intervals, such as 30ms, less than the 50-100ms time resolution of human tactile perception (Bhattacharjee et al., 2010), to generate a continuous flow illusion. This sequentially drives the reverse symmetrical node, clockwise transition node, and the master control node, forming a multi-node spatiotemporal relay vibration. For example, the body leans forward to the right → the mirror direction is left rear (number 6, 225°), the mirror opposite direction is right front (number 2, 45°), and the clockwise center direction is 90° clockwise from 45° to 135° (right rear, number 4). The vibration sequence is: number 2 → number 4 → number 6, with an interval of 30ms. The user perceives... The vibration flows from the right front → right rear → left rear, guiding the body to adjust to the left rear, consistent with mirror feedback; additional feedback can also be added, such as optional application notifications and optional voice prompts; at the same time, according to the increase in the duration of the abnormality, the vibration frequency of each actuation node is increased synchronously, such as from 100Hz to 180Hz or 200Hz, and the vibration intensity is increased, such as from 50% duty cycle to 100% duty cycle, and then held after reaching the upper limit for 3 seconds, generating a multi-dimensional emergency intervention prompt; The frequencies are all set based on the frequency selectivity of tactile receptors (Meissner corpuscles and Pasini corpuscles); frequency increments utilize the sensitivity of Pasini corpuscles to high frequencies, and intensity increments utilize the tactile saturation effect.

[0048] In another embodiment, for severe posture abnormalities, the system also utilizes tactile adaptation effect to synchronously and in parallel initiate direction alternation coding logic: the actuation position is cyclically switched in the order of front (number 1), back (number 5), left (number 7), and right (number 3), switching once every 0.5 seconds. The above-mentioned multi-node spatiotemporal relay, multi-dimensional urgency enhancement and direction alternation coding together create a mandatory intervention signal with increasing urgency. The two are executed independently and in parallel, without priority relationship.

[0049] S44: Record abnormal events and provide remote monitoring and early warning.

[0050] Specifically, after counting the duration of continuous abnormal posture, the system transmits the abnormal events corresponding to the recorded duration of continuous abnormal posture, such as the occurrence time and maximum deviation, to the bound mobile terminal application through the low-power Bluetooth module to generate a sitting posture health report. When a target user experiences multiple consecutive severe posture abnormalities and no effective posture correction actions are detected, the detection of the effective posture correction actions specifically involves monitoring whether the real-time three-dimensional Euler angles return to the adaptive monitoring threshold range and remain stable for a preset duration. If an acute injury or loss of responsiveness is suspected, a remote early warning notification is sent to a preset guardian terminal.

[0051] This invention also discloses a sitting posture health monitoring and mirror tactile feedback correction system for visually impaired individuals, including a processor and a memory. The memory stores computer program instructions, which, when executed by the processor, implement a sitting posture health monitoring and mirror tactile feedback correction method for visually impaired individuals according to the present invention.

[0052] In one embodiment of a belt-type adaptive sitting posture monitoring and correction device using the system of the present invention, an IMU module, a vibration array consisting of 8 LRAs, and a Bluetooth chip, such as a Bluetooth chip with the model number nRF52832, are integrated into an elastic belt. During initialization, the adaptive monitoring threshold calculation in step S02 and the system training adaptation process in step S04 are executed. During normal operation, the system accumulates the duration of continuous abnormality in real time according to step S03 to determine the level, and then outputs vibration according to step S43. For example, when left tilt is detected and it is a medium-level abnormality, the right LRA is driven to vibrate at a medium intensity and basic timing. When the abnormality rises to a severe level, it automatically switches to alternating direction and three-dimensional urgency coding, and pushes a notification to the mobile terminal application at the same time.

[0053] In another embodiment of the guide cane integrated posture monitoring system of the present invention, the posture sensor and eight miniature LRA arrays are directly integrated into the cylindrical handle grip of the guide cane. When a visually impaired user sits down and holds the handle for support while waiting for a bus or in a public place, the system automatically enters the posture monitoring mode. The detection logic is the same as in the previous embodiment. When a serious abnormality is detected, mirror tactile feedback and spatiotemporally encoded vibration are executed, and voice prompts are issued. In an environment where there is no external chair back support, the system guides the visually impaired user to rebuild three-dimensional sitting balance.

Claims

1. A method for monitoring sitting posture health and providing mirror tactile feedback correction for visually impaired individuals, characterized in that, include: Acquire real-time attitude data from an inertial measurement unit worn on the torso of the target user, and calculate the real-time three-dimensional Euler angles of the target user; Based on the target user's natural sitting posture baseline data in a resting state and the preset human standard sitting posture reference data, an adaptive monitoring threshold is generated for the target user. Based on the preset allowable fluctuation range, the upper and lower limits of the adaptive monitoring threshold are expanded to obtain the adaptive monitoring threshold range. Within a continuous time window, the real-time three-dimensional Euler angles are dynamically compared with the adaptive monitoring threshold range, the duration of continuous attitude anomalies is statistically analyzed, and the current attitude anomaly level of the target user is determined based on the duration of continuous attitude anomalies. Calculate the average attitude deviation within the time window corresponding to the current attitude anomaly level, and based on the average attitude deviation and the current attitude anomaly level, drive the vibration array distributed around the target user's torso to output a tactile feedback signal with spatial mirror mapping.

2. The method for monitoring sitting posture and providing mirror tactile feedback correction for visually impaired individuals according to claim 1, characterized in that, The generation of adaptive monitoring thresholds for target users includes: The average pitch angle of the target user within a preset time period is used as the pitch angle reference value in the natural sitting posture reference data, and the average roll angle is used as the roll angle reference value in the natural sitting posture reference data. By combining the pitch angle reference value and roll angle reference value in the preset human standard sitting posture reference data, an adaptive monitoring threshold including pitch angle adaptive threshold and roll angle adaptive threshold is calculated for the target user.

3. The method for monitoring sitting posture and providing mirror tactile feedback correction for visually impaired individuals according to claim 2, characterized in that, The pitch angle adaptive threshold and roll angle adaptive threshold satisfy the following: ； ； In the formula, and These are the pitch angle adaptive threshold and roll angle adaptive threshold, respectively, for the target user. and These are the pitch angle reference value and the roll angle reference value, respectively. and These are the target user's pitch angle reference value and roll angle reference value, respectively. This is a correction factor.

4. The method for monitoring sitting posture and providing mirror tactile feedback correction for visually impaired individuals according to claim 1, characterized in that, The specific rules for determining the current posture anomaly level of the target user are as follows: If the duration of continuous attitude anomalies is not less than the first threshold and less than the second threshold, it is determined to be a primary attitude anomaly. If the duration of continuous attitude anomalies is not less than the second threshold and less than the third threshold, it is judged as an intermediate attitude anomaly. A severe attitude abnormality is determined if the duration of continuous attitude abnormality is not less than the third threshold. Among them, the first threshold, the second threshold, and the third threshold are in an increasing relationship.

5. A method for monitoring sitting posture and providing mirror tactile feedback correction for visually impaired individuals according to claim 1, characterized in that, The average attitude deviation satisfies: ； ； In the formula, and These represent the average pitch angle deviation and the average roll angle deviation within the time window corresponding to the current attitude anomaly level, respectively. The total number of sampling points. This represents the start time of the time window corresponding to the current attitude anomaly level. For the current moment, and These are the times within the time window corresponding to the current attitude anomaly level. Real-time pitch and roll angles at each moment.

6. A method for monitoring sitting posture and providing mirror tactile feedback correction for visually impaired individuals according to claim 4, characterized in that, The vibration array, driven by the vibration array distributed around the target user's torso, outputs a tactile feedback signal with spatial mirror mapping, including: By analyzing the average posture deviation, the current spatial orientation of the target user's torso can be determined. Using the target user's own physical torso as a reference, a specific vibration unit at a position symmetrical to the deflection spatial orientation is selected as the master control node to perform actuation that conforms to the current posture anomaly level, so as to guide the target user to instinctively retreat in the mirror direction.

7. A method for monitoring sitting posture and providing mirror tactile feedback correction for visually impaired individuals according to claim 6, characterized in that, The actuation performed in accordance with the current attitude anomaly level includes: In response to the current attitude anomaly level being primary attitude anomaly, the master control node outputs a single vibration pulse. In response to the current attitude anomaly level being medium, the control master node outputs two vibration pulses with a preset time interval. In response to the current attitude anomaly level being severe, the master control node outputs continuous long vibration.

8. A method for monitoring sitting posture and providing mirror tactile feedback correction for visually impaired individuals according to claim 7, characterized in that, The response to the current attitude anomaly level being severe, controlling the master node to output continuous long vibrations, also includes: The spatiotemporal joint coding sequence is initiated, and the reverse symmetric node, clockwise transition node and main control node of the master control node are driven sequentially according to the preset time interval to form a multi-node spatiotemporal relay vibration. Simultaneously, based on the increase in the duration of the abnormality, the vibration frequency and intensity of each actuation node are increased synchronously, generating a multi-dimensional emergency intervention prompt.

9. A method for monitoring sitting posture and providing mirror tactile feedback correction for visually impaired individuals according to claim 4, characterized in that, Following the duration of continuous abnormality in the statistical pose, the following is also included: Record the abnormal events corresponding to the duration of continuous abnormal posture and transmit the abnormal events to the bound mobile terminal; When a target user experiences multiple consecutive severe posture abnormalities and no effective posture correction actions are detected, a remote early warning notification is sent to a pre-set guardian terminal.

10. A sitting posture health monitoring and mirror tactile feedback correction system for visually impaired individuals, characterized in that, include: The processor and memory, wherein the memory stores computer program instructions that, when executed by the processor, implement a method for monitoring sitting health and providing mirror tactile feedback correction for visually impaired individuals according to any one of claims 1 to 9.

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