A method and device for gastrocnemius eccentric training based on posture closed loop and magnetorheological

Abstract

The embodiment of the application provides a magnetic rheological gastrocnemius muscle centrifugal training method and device based on a posture closed loop, comprising: in response to a selected target training mode, acquiring a recommended falling angular velocity corresponding to the target training mode; acquiring a real-time space posture angle and a real-time falling angular velocity of a user's torso by using a waist inertia sensor worn by the user; combining a preset basic standby current to construct a virtual variable-density fluid dynamics control model; calculating a target excitation current of a magnetic rheological liquid damper, the target excitation current being positively mapped with the square of the real-time falling angular velocity and monotonously increasing with the increase of the real-time space posture angle; and if the user is in a training termination state, cutting off the current excitation current of the magnetic rheological liquid damper and driving a reset machine to drive the top end of the telescopic rod to rise to a preset initial high position. The method effectively solves the problems of constant equipment damping, lack of motion feedback and insufficient safety guarantee.

Description

Technical Field

[0001] This invention relates to the field of equipment training technology, specifically to a magnetorheological hamstring eccentric training method and device based on posture closed loop in the field of equipment training technology. Background Technology

[0002] In scientific rehabilitation and advanced training systems, eccentric training of the hamstrings plays an irreplaceable role in muscle strength building and sports injury prevention. Hamstring strains often occur during the eccentric elongation phase of muscle development, and systematic eccentric training can promote adaptive changes in muscle structure (such as increasing muscle fiber length), thereby reducing overall muscle mechanical strain and susceptibility to injury. However, traditional eccentric hamstring training (such as the Nordic hamstring push-up) has long relied on pure bodyweight resistance. Due to the large mass of the upper body, during the eccentric stroke of the torso leaning forward, the downward torque caused by gravity increases non-linearly with the increase of the forward tilt angle; at this extreme elongation position, the muscle-tendon unit bears an enormous tensile load, but the physiological force exertion capacity of the hamstrings is drastically reduced due to the overstretching of muscle fibers. This extreme mechanical mismatch between resistance demand and force exertion capacity results in a very high physiological threshold for pure bodyweight training, and most trainees simply cannot complete the full eccentric eccentric control using only their own strength.

[0003] Because traditional static training racks or conventional weight machines cannot provide any dynamic support and gravity compensation that matches human biomechanics, trainees are prone to encountering their physiological limits midway through the eccentric stroke. At this point, sudden loss of balance and impact injuries are highly likely, posing a significant risk to knee ligaments and core muscles. Furthermore, to avoid unbearable weight loads, trainees will subconsciously compensate with movements such as hip flexion and bending over, thereby shortening the lever arm and significantly reducing the stimulation effect on the targeted muscles. Traditional equipment lacks both the ability to monitor and correct dangerous compensatory movements in real time and the ability to provide safe and controllable yielding protection for users who cannot cope with excessive weight. Summary of the Invention

[0004] The purpose of this invention is to provide a magnetorheological eccentric training method and device for hamstring muscles based on posture closed loop, and the specific technical solution adopted is as follows: In a first aspect, embodiments of the present invention provide a magnetorheological hamstring eccentric training method based on posture closed loop, the method comprising: In response to the target training mode selected by the user in the training mode selection interface, the recommended angular velocity corresponding to the target training mode is obtained; The user-worn waist inertial sensor is used to acquire the user's real-time spatial attitude angle and real-time angular velocity of fall. Based on the preset standby current, real-time spatial attitude angle, and real-time descent angular velocity, a virtual variable density fluid dynamics control model is constructed to calculate the target excitation current of the magnetorheological fluid damper. The target excitation current is positively mapped to the square of the real-time descent angular velocity and increases monotonically with the increase of the real-time spatial attitude angle. If the time-series changes of the real-time spatial attitude angle and the real-time falling angular velocity are determined to meet the preset termination conditions, the user is determined to be in the training termination state, and the current excitation current of the magnetorheological fluid damper is cut off, driving the reset machine to raise the top of the telescopic rod to the preset initial high position.

[0005] Secondly, a magnetorheological hamstring eccentric training device based on posture closed loop is provided, the device comprising: a touch control module and a mechanical body; wherein: The main body of the machine includes a training chassis, and a leg sponge pad is provided on the upper rear side of the training chassis. A leg fixation module for providing kneeling support and limiting ankle pressure is installed at the rear end of the leg sponge pad. The magnetorheological fluid damper housing is vertically mounted on the front side of the training chassis, and the magnetorheological fluid damper is integrated inside it. The telescopic rod is coaxially connected to the upper end of the magnetorheological fluid damper, and a sponge pad for supporting the user's hand is fixedly installed at the top. The touch control module is electrically connected to the controller and is used to provide a selection interface for different training modes and a parameter setting interface, so that the user can select the target training mode on the selection interface and automatically output the recommended angular velocity corresponding to the target training mode. The waist inertial sensor is an inertial measurement unit that can be worn on the user's waist to collect the real-time spatial attitude angle and real-time angular velocity of the user's torso. The touch control module is used to construct a virtual variable density fluid dynamics control model based on a preset base standby current, real-time spatial attitude angle, and real-time angular velocity, and to calculate the target excitation current of the magnetorheological fluid damper. The target excitation current is positively mapped to the square of the real-time angular velocity and increases monotonically with the increase of the real-time spatial attitude angle. If the time-series changes of the real-time spatial attitude angle and the real-time angular velocity determine that a preset termination condition is met, the user is determined to be in a training termination state, and the current excitation current of the magnetorheological fluid damper is cut off, driving the reset mechanism to raise the top of the telescopic rod to a preset initial high position.

[0006] Thirdly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to perform the method described in the first aspect or any possible implementation thereof.

[0007] Fourthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0008] This invention offers the following advantages: It responds to the target training mode selected by the user in the training mode selection interface, acquiring the recommended angular velocity corresponding to the target training mode; using a user-worn lumbar inertial sensor, it can accurately acquire the real-time spatial attitude angle and real-time angular velocity of the user's torso; based on this, the system constructs a virtual variable-density fluid dynamics control model through virtual fluid dynamics, accurately calculating the target excitation current of the magnetorheological fluid damper, making it increase quadratically with the angular velocity and linearly with the increase of the real-time spatial attitude angle, thereby providing yielding support resistance that perfectly matches the eccentric force characteristics of the hamstring muscles. At the lowest point of the torso descent (i.e., the extreme stretching position of the muscles), it can continuously output precise safety damping, greatly alleviating the fear and risk of collapse at the physiological extreme point, allowing the user to unleash significantly higher eccentric peak torque, thus compensating for the strength deficiency in traditional bodyweight training where "one dares not exert force at the extreme angle" due to excessive load. Simultaneously, if the real-time spatial attitude angle and real-time fall angular velocity change information meet the preset termination conditions, it is determined that the user is in the training termination state, and the current excitation current of the magnetorheological fluid damper is cut off to drive the reset mechanism to raise the top of the telescopic rod to the preset initial high position. Thus, the adaptive lock-up anti-fall protection function is activated when the user is determined to be in the training termination state. In this way, through the deep integration of sensor data and the electromagnetic damping actuator, precise mapping of training intensity and closed-loop control of the entire process safety are achieved, effectively solving the problems of constant equipment damping, lack of motion feedback, and insufficient safety assurance. Attached Figure Description

[0009] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1This is a schematic diagram illustrating the implementation process of a magnetorheological hamstring eccentric training method based on posture closed loop provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of another implementation process of a magnetorheological hamstring eccentric training method based on posture closed loop provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the composition structure of a magnetorheological hamstring eccentric training device based on posture closed loop provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of another component structure of a magnetorheological hamstring eccentric training device based on posture closed loop provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0011] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of a magnetorheological hamstring eccentric training method based on posture closed loop proposed according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments may be combined from any suitable form.

[0012] In the description of the embodiments of the present invention, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present invention, "multiple" means two or more.

[0013] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0014] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0015] To address the shortcomings of traditional bodyweight hamstring training, such as its high barrier to entry, high risk of loss of control, and lack of dynamic compensation capabilities, this invention upgrades the equipment into an intelligent "dynamic assistant." During training, the system acquires the real-time spatial posture angle and real-time angular velocity of the torso through a lumbar inertial sensor. Combined with a virtual variable-density fluid dynamics control model, it outputs dynamically increasing yielding support force to precisely offset body weight loads exceeding the user's physiological limits, achieving smooth and efficient "gravity compensation." Simultaneously, the system continuously monitors the movement characteristic curve. Once it detects dangerous compensatory behaviors such as hip flexion or bending over, it instantly increases resistance or locks the telescopic bar to forcibly correct the behavior. Furthermore, this invention provides a fatigue quantification assessment mechanism based on the definite integral of the current characteristic curve. When the area growth rate exceeds a preset severe fatigue threshold (indicating complete muscle exhaustion), it rapidly outputs the rated maximum current to drive the magnetorheological fluid to instantly transform into a rigid state, forcibly locking the downward stroke and thus constructing an absolutely solid physical barrier, reducing the risk of injury from falls due to exhaustion.

[0016] This invention provides a magnetorheological hamstring eccentric training method based on posture closed-loop. The specific scheme of this method is described below with reference to the accompanying drawings. Figure 1 The diagram shown is a schematic representation of the implementation process of a magnetorheological hamstring eccentric training method based on posture closed loop provided in an embodiment of the present invention. The method includes: 101. In response to the target training mode selected by the user in the training mode selection interface, obtain the recommended angular velocity corresponding to the target training mode.

[0017] Here, a training mode selection interface is provided through the touch control module, which receives the training mode selected by the user and retrieves the recommended descent angular velocity corresponding to the training mode.

[0018] In some possible implementations, the touch control module serves as the core of interaction and control, receiving multi-dimensional data from the waist inertial sensor in real time and executing the following low-level dynamic resistance control logic with specific engineering preset values. In this embodiment of the invention, the system presets the base standby current of the magnetorheological fluid damper. Its rated maximum current .

[0019] Before training begins, the user selects "Advanced Strength Mode" via the touch control module interface. Upon receiving the command, the system automatically retrieves the preset engineering parameters for this mode: recommended descent angular velocity. Virtual fluid damping gain constant And set an adaptive fall-prevention safety angular velocity threshold. The user puts on the waist inertial sensor, secures both knees to the leg fixation module and leg pads, and presses both hands onto the hand pads at the top of the telescopic pole, preparing to begin the descent.

[0020] 102. Using the waist inertial sensor worn by the user, the real-time spatial attitude angle and real-time angular velocity of the user's torso are obtained.

[0021] Here, the user's real-time spatial attitude angles of the torso are acquired through a waist-mounted inertial sensor worn by the user. and real-time angular velocity of fall .

[0022] In some possible implementations, the system samples in real time at a frequency of 100Hz as the user slowly leans forward and falls, relying on the eccentric contraction of their hamstrings. At any given moment, the lumbar inertial sensor measures the real-time spatial attitude angle of the user's torso. (Approximately 28 degrees), real-time angular velocity of fall .

[0023] 103. Based on the preset standby current, real-time spatial attitude angle and real-time descent angular velocity, a virtual variable density fluid dynamics control model is constructed to calculate the target excitation current of the magnetorheological fluid damper; wherein, the target excitation current is positively mapped to the square of the real-time descent angular velocity and increases monotonically with the increase of the real-time spatial attitude angle.

[0024] Here, the target excitation current is positively correlated with the square of the real-time descent angular velocity and forms a monotonically increasing functional relationship with the real-time spatial attitude angle. By obtaining the virtual fluid damping gain constant and calculating the product of the virtual fluid damping gain constant, the real-time spatial attitude angle, and the square of the real-time descent angular velocity, the product result is obtained. Finally, in the constructed virtual variable-density fluid dynamics control model, the product result is summed with the preset basic standby current to accurately obtain the target excitation current.

[0025] Among some possible implementations, based on real-time spatial attitude angles Real-time angular velocity of fall It is also recommended to construct a virtual variable-density hydrodynamic control model based on the fall angular velocity, and to calculate the target excitation current using this model. The virtual variable density fluid dynamics control model is shown in equation (1): (1); in, This is the preset base standby current. The virtual fluid damping gain constant. The depth density function is a monotonically increasing depth density function that increases with the real-time spatial attitude angle of the torso. The expression for is shown in formula (2): (2); The depth density function is used to make the damping strength of the system output linearly increase with the increase of the user's torso falling depth and the increase of the real-time spatial attitude angle, so as to compensate for the non-linear growth of the gravitational falling torque of the human body and match the eccentric force characteristics of the hamstring muscles in the extended state.

[0026] In one specific example, as the user slowly leans forward and falls using eccentric contractions of the hamstrings, the system samples in real time at a frequency of 100 Hz. At a certain instant, the lumbar inertial sensor measures the real-time spatial attitude angle of the user's torso. (Approximately 28 degrees), real-time angular velocity of fall .

[0027] The system is substituted into a virtual variable density fluid dynamics control model. (Depth density function in the embodiments of the present invention) ), calculate the target excitation current that needs to be output: .

[0028] The controller will then The current output is sent to the magnetorheological fluid damper to provide it with a yielding damping force that matches the current attitude and velocity.

[0029] By obtaining the real-time spatial attitude angle and the real-time angular velocity, the temporal matching relationship between them can be obtained. This temporal matching relationship is the numerical correspondence between the real-time spatial attitude angle and the real-time angular velocity in time. Then, based on the temporal matching relationship, a motion characteristic curve between the real-time spatial attitude angle and the real-time angular velocity is constructed. If the motion characteristic curve deviates from the preset standard hamstring training motion characteristic range, it is determined that the user has engaged in hip flexion or bending-over compensatory behavior. The virtual fluid damping gain constant is instantaneously increased to increase the damping force, or a full-load current is output to lock the telescopic rod, generating and outputting a trigger intervention command to prompt the user to correct the movement.

[0030] Here, the real-time spatial attitude angles and real-time angular velocities collected at high frequencies within a continuous time window are aligned and fitted onto the phase plane to form a continuous dynamic trajectory line reflecting the coupling relationship (i.e., the timing matching relationship) between the torso's descent angle and instantaneous velocity fluctuations. This continuous dynamic trajectory line is the motion characteristic curve. When the motion characteristic curve deviates from the preset standard hamstring training motion characteristic range, it is determined that the user has engaged in compensatory behaviors such as hip flexion or bending over. The system instantaneously increases the virtual fluid damping gain constant K to increase the damping force, or directly outputs a full-load current to lock the telescopic rod, and triggers an intervention command to prompt the user to correct the movement. The motion characteristic curve is a dynamic trajectory of angle and velocity constructed on the phase plane. A deviation of the motion characteristic curve from the preset standard hamstring training motion characteristic range indicates abnormal high-frequency oscillations caused by the user's hip flexion or bending over.

[0031] In a specific example, during the middle to later stages of the fall, suppose the user has insufficient hamstring strength and attempts to compensate by bending over and collapsing their back. At this point, the system detects the posture angle. Continue to increase, but real-time angular velocity of fall High-frequency abnormal oscillations occur (deviating from the smooth motion characteristic range of standard eccentric training).

[0032] The system immediately detects the occurrence of compensatory behavior and instantaneously adjusts the virtual fluid damping gain constant. Magnify 1.5 times to For example, in the underlying control program, the system sets the damping gain as a dynamic variable. When a compensatory state is detected, it instantly performs a rewrite operation by multiplying the dynamic variable by 1.5, and then uses the updated value in the current formula for the next sampling period. At this time, under the same spatial attitude angle, the target current instantly rises to: The system instantly increases the excitation current output to the magnetorheological damper coil, generating a stronger internal magnetic field. This forces the soft magnetic particles suspended in the magnetorheological fluid to instantly align into chains, causing a surge in the shear yield stress of the liquid. This physically increases the downward resistance of the telescopic rod at the mechanical transmission end, resulting in a sharp increase in the downward resistance of the telescopic rod and preventing the user from continuing to press down with an incorrect posture. At the same time, the touch control module emits a "beep" alarm and flashes a visual correction prompt on the screen: "Please keep your back straight."

[0033] The target excitation current is output to the excitation coil of the magnetorheological fluid damper to adjust the extension and contraction damping of the telescopic rod, providing a yielding support resistance that increases quadratically with the actual falling speed to the user supported on the sponge pad at the top of the telescopic rod.

[0034] 104. If the time-series changes of the real-time spatial attitude angle and the real-time falling angular velocity are determined to meet the preset termination conditions, the user is determined to be in the training termination state, and the current excitation current of the magnetorheological fluid damper is cut off, and the reset machine is driven to raise the top of the telescopic rod to the preset initial high position.

[0035] Here, the preset termination condition includes at least one of the following: The user's torso's real-time spatial attitude angle remains stable within a preset time period, and the real-time angular velocity of descent remains below a safe angular velocity threshold within the preset time period; wherein, the safe angular velocity threshold can be a custom value or a safe angular velocity threshold ω set by the user through the touch control module interface. max .

[0036] The system receives a reset command input from the user, or the user's total training time reaches a preset training time limit; wherein, the preset training time limit can be a custom value.

[0037] The system detects that the user's physical condition has entered a state of severe fatigue and triggers a safety lock on the magnetorheological fluid damper.

[0038] In some possible implementations, the current integral area of ​​the current action is calculated in real time relative to the area growth rate of the first baseline action. Once this value exceeds a preset severe fatigue threshold, the user is determined to be exhausted and a safety lock is triggered. Figure 2 The steps shown are explained below: 201. For any training action of the user, obtain the current characteristic curve of the target excitation current changing with the real-time torso forward tilt angle in the interval from the starting angle to the ending angle of the fall during the stroke of the any training action.

[0039] For example, for the i-th training action (i is an integer greater than 0), the curve of the target excitation current changing with the real-time torso tilt angle in the range from the starting angle to the ending angle of the fall is obtained during the stroke of the i-th training action, thus obtaining the current characteristic curve.

[0040] 202. Perform a definite integral operation on the current characteristic curve to obtain the current integral area of ​​any training action.

[0041] Here, the current integral area is used to characterize the total area of ​​compensatory work provided by the device for the user in a single training action; the integration interval of the definite integral operation is the interval from the falling start angle to the falling end angle. By integrating the current characteristic curve within this interval, the current integral area of ​​any training action can be obtained.

[0042] 203, obtain the current integral area of ​​the first standard training action in the training group containing any training action.

[0043] Here, based on the same method as step 202 above, the current integral area of ​​the first standard training action can be obtained by integrating the current characteristic curve of the target excitation current of the first standard training action in the interval from the starting angle to the ending angle of the fall.

[0044] 204. Calculate the difference between the current integral area of ​​any training action and the current integral area of ​​the first standard training action.

[0045] 205. The ratio between the difference and the current integral area of ​​the first standard training action is determined as the area growth rate of the any training action.

[0046] In some possible implementations, any training action is taken as the first... Taking the training exercise as an example, in the first... During the course of each training movement, the target excitation current is recorded. At the starting angle of the fall To the end angle of the fall Within the interval, the real-time forward tilt angle of the torso... The changing current characteristic curve; performing a definite integral on the current characteristic curve to obtain the first... Current integral area of ​​the training exercise As shown in formula (3): (3); Extract the current integral area of ​​the first standard training movement in the same set of continuous training. And calculate the area growth rate of the current i-th training action. As shown in formula (4): (4); 206. If the area growth rate is greater than the preset severe fatigue threshold, determine that the user's physical state has entered a severe fatigue state and trigger the safety lock of the magnetorheological fluid damper.

[0047] Here, if the area growth rate is greater than a preset severe fatigue threshold, it is determined that the user's hamstring muscles have entered a severe fatigue state, and a safety protection command is generated; then, in response to the safety protection command, the target excitation current is forcibly pulled up to the rated maximum current to lock the magnetorheological fluid damper.

[0048] In some possible implementations, the area growth rate is compared with a preset severe fatigue threshold; if the area growth rate is determined to be greater than the preset severe fatigue threshold, it is determined that the physiological resistance provided by the user's hamstring muscles has been greatly reduced and the user has entered a severe fatigue state. The system triggers a safety protection command, which includes forcibly increasing the target excitation current to the rated maximum current to lock the magnetorheological fluid damper.

[0049] Here, a safe angular velocity threshold is set by using the recommended angular velocity corresponding to the selected target training mode. When the real-time angular velocity exceeds the safe angular velocity threshold, the controller bypasses the calculation step of the target excitation current, causing the target excitation current to jump instantaneously to the rated maximum current of the magnetorheological fluid damper, driving the magnetorheological fluid inside the damper to instantly transform into a rigid locked state, forcibly locking the downward stroke of the telescopic rod.

[0050] In a specific example, if a user's hamstrings become completely exhausted during extreme training, their body will experience a freefall-like, uncontrolled fall.

[0051] The waist inertial sensor instantly captured the real-time angular velocity of the fall. .

[0052] because (i.e., the set safe angular velocity threshold) The system immediately bypasses all the aforementioned virtual variable density fluid dynamics control models and directly outputs commands: Within 10 milliseconds, the magnetorheological fluid inside the damper instantly transforms into a near-solid state due to the strong magnetic field. Since the telescopic rod is connected to the piston inside the damper, when the magnetorheological fluid solidifies instantaneously, it blocks the fluid passage gap of the piston, causing the piston to be subjected to great shear resistance and unable to move. This physically locks the telescopic rod on the mechanical transmission chain, that is, rigidly locks the downward stroke of the telescopic rod, firmly supporting the user and avoiding the risk of injury.

[0053] In this training session, the preset severe fatigue threshold was... The system measures the fall time interval of a single training movement. Perform definite integral operation on the current characteristic curve within. .

[0054] Assume the system records the current integral area (i.e., the amount of work done by the system in the first standard training movement of this set) as follows: .

[0055] During the 8th training repetition, due to user muscle fatigue, the descent became labored and slow. The system was forced to output a large compensatory current for an extended period to maintain support. The integral area of ​​the 8th repetition was measured. .

[0056] Calculate the area growth rate: ; because The system accurately determined that the user's physiological resistance had significantly decreased, directly triggering a severe fatigue protection command and increasing the current to [a certain level]. Complete the safety lock and forcibly end the training session for this group.

[0057] Once the locking is completed or the training action has bottomed out and stabilized, the system determines that the training has terminated.

[0058] The controller then reduced the excitation current to In low-damping standby mode, the restraint on the telescopic rod is released, and the reset actuator inside the training chassis is activated. The reset motor... The preset constant speed will push the telescopic rod back to the preset initial high position.

[0059] During the ascent, if the motor current loop detects a sudden increase in load current (e.g., the user deliberately applies heavy pressure to resist reset), it immediately cuts off the motor power supply, triggering the obstacle detection and stop protection.

[0060] In this embodiment of the invention, a user-worn lumbar inertial sensor can accurately acquire the user's real-time spatial attitude angle and real-time angular velocity of the torso. Based on this, the system constructs a virtual variable-density fluid dynamics control model through virtual fluid dynamics, precisely calculating the target excitation current of the magnetorheological fluid damper. This current increases quadratically with the descent velocity and linearly with the increase of the real-time spatial attitude angle, thereby providing yielding support resistance that perfectly matches the eccentric force characteristics of the hamstring muscles. Thus, precise safety damping can be continuously output at the lowest point of the torso descent (i.e., the extreme stretching position of the muscles), greatly alleviating the fear and risk of collapse at the physiological limit. This allows the user to generate significantly higher eccentric peak torque, compensating for the strength deficiency in bodyweight training where excessive load prevents the user from exerting force at the extreme angle. Meanwhile, relying on multi-dimensional time-series data, the system not only achieves strong intervention and correction of abnormal compensatory movements, ensuring that every mechanical impedance is accurately converted into force on the target muscle group; but also cuts off the current to drive the reset mechanism to rise smoothly when the normal preset termination conditions are met, or instantly pulls up the current to trigger rigid locking and fall protection when the user is severely fatigued and out of control. In this way, it effectively promotes the increase of muscle bundle length and the improvement of tensile strength, and significantly reduces the overall mechanical strain of the hamstring muscles, thereby achieving precise mapping of training intensity and ultimate safety protection, solving the pain points of traditional equipment such as constant damping, lack of movement feedback and insufficient safety protection; long-term training following this mechanism can reduce the risk of sudden hamstring strain by more than 50%, achieving the core goals of scientific rehabilitation and advanced injury prevention.

[0061] This invention provides a magnetorheological hamstring eccentric training device based on posture closed-loop, the device comprising: a touch control module and a mechanical body, such as... Figure 3 As shown, the main body of the machine includes a training chassis. A leg sponge pad (2) is provided on the upper rear side of the training chassis (3). A leg fixing module (1) for providing kneeling support and ankle pressure limit is installed at the rear end of the leg sponge pad (2). The magnetorheological fluid damper housing (4) is vertically mounted on the front side of the training chassis (3), and integrates a magnetorheological fluid damper (9) inside (wherein, the magnetorheological fluid damper (9) is as follows: Figure 4 (as shown) Telescopic pole (8) (e.g.) Figure 4 As shown), it is coaxially connected to the upper end of the magnetorheological fluid damper (9), and a hand sponge pad (6) for supporting the user is fixedly installed at the top. The upper surface of the hand sponge pad (6) is provided with symmetrical double arm limiting grooves. The magnetorheological fluid damper (9) is built into the magnetorheological fluid damper shell (4), and its damping stroke matches the maximum falling stroke of the telescopic rod (8). During the automatic reset action of the telescopic rod (8), the controller keeps the magnetorheological fluid damper (9) in a low-damping standby state, and detects the load current of the actuator in real time during the reset process. When the load current suddenly increases, the telescopic rod (8) stops running immediately and triggers the obstruction protection.

[0062] The touch control module (5) is electrically connected to the controller and is used to provide a selection interface for different training modes and a parameter setting interface so that the user can select the target training mode on the selection interface and automatically output the recommended falling angle velocity corresponding to the target training mode. The waist inertial sensor (7) is an inertial measurement unit that can be worn on the user's waist and is used to collect the real-time spatial attitude angle and real-time angular velocity of the user's torso in real time. The touch control module (5) is used to construct a virtual variable density fluid dynamics control model based on the preset basic standby current, real-time spatial attitude angle and real-time falling angular velocity, and calculate the target excitation current of the magnetorheological fluid damper; wherein, the target excitation current is positively mapped to the square of the real-time falling angular velocity, and increases monotonically with the increase of the real-time spatial attitude angle; if the preset termination condition is met based on the time-series changes of the real-time spatial attitude angle and the real-time falling angular velocity, the user is determined to be in the training termination state, and the current excitation current of the magnetorheological fluid damper is cut off, driving the reset machine to drive the top of the telescopic rod to rise to the preset initial high position.

[0063] In this embodiment of the invention, a single waist inertial sensor worn by the user acquires the real-time spatial attitude angle and real-time angular velocity of the torso. A virtual variable-density fluid dynamics control model is constructed based on virtual fluid dynamics, causing the target excitation current to increase quadratically with the descent velocity and linearly with the increase of the real-time spatial attitude angle, thereby providing yielding support resistance that matches the eccentric force characteristics of the hamstring muscles. Simultaneously, the system incorporates a torso compensation behavior judgment mechanism, a fatigue quantification assessment mechanism based on the time-domain feature integration of current, and an adaptive lock-up anti-fall protection function. The device provided in this embodiment of the invention has a simple structure. Through the deep integration of sensor data and electromagnetic damping actuators, it achieves precise mapping of training intensity and closed-loop control of the entire process, effectively solving the problems of constant damping, lack of motion feedback, and insufficient safety assurance in traditional training equipment.

[0064] Optionally, the transmission medium can be a wired link (e.g., but not limited to, coaxial cable, optical fiber, and Digital Subscriber Line (DSL)) or a wireless link (e.g., but not limited to, Wireless Fidelity (WIFI), Bluetooth, and mobile device networks). It should be noted that the control device provided in the above embodiments is only an example illustrating the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer device can be divided into different functional modules to complete all or part of the functions described above. Furthermore, the method embodiments provided in the above embodiments belong to the same concept, and their specific implementation processes are detailed in the method embodiments, and will not be repeated here.

[0065] Figure 5 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention. For example, as shown... Figure 5 As shown, the computer device 500 includes: a memory 501, a processor 502, and a computer program 503 stored in the memory 501 and running on the processor 502, wherein when the processor 502 executes the computer program 503, the computer device can execute any of the aforementioned magnetorheological hamstring eccentric training methods based on posture closed loop.

[0066] Furthermore, embodiments of the present invention also protect a control device, which may include a memory and a processor. The memory stores executable program code, and the processor is used to call and execute the executable program code to perform a magnetorheological hamstring eccentric training method based on posture closed-loop provided by the embodiments of the present invention. Embodiments of the present invention can divide the control device into functional modules according to the above method examples. For example, each module may correspond to a specific function, or two or more functions may be integrated into a processing module. The integrated module can be implemented in hardware. It should be noted that the module division in the embodiments of the present invention is illustrative and only represents a logical functional division; other division methods may exist in actual implementation. It should be noted that all relevant content of each step involved in the above method embodiments can be referenced to the functional description of the corresponding functional module, and will not be repeated here. It should be understood that the control device provided by the embodiments of the present invention is used to execute the above-mentioned magnetorheological hamstring eccentric training method based on posture closed-loop, and therefore can achieve the same effect as the above-described implementation method. When using integrated units, the control device may include a processing module and a storage module. When the control device is applied to a device, the processing module can be used to control and manage the device's actions. The storage module can be used to support the device in executing mutual program code, etc. The processing module can be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. The processor can also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of Digital Signal Processing (DSP) and a microprocessor, etc., and the storage module can be a memory. Furthermore, the control device provided in the embodiments of this invention can specifically be a chip, component, or module. The chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute the magnetorheological hamstring eccentric training method based on attitude closed loop provided in the above embodiments. The embodiments of this invention also provide a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement the magnetorheological hamstring eccentric training method based on attitude closed loop provided in the above embodiments.

[0067] This invention also provides a computer program product. When the computer program product is run on a computer, it causes the computer to perform the aforementioned steps to implement the magnetorheological hamstring eccentric training method based on attitude closed loop provided in the above embodiments. The control device, computer-readable storage medium, computer program product, or chip provided in this invention are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they achieve can be referred to in the beneficial effects of the corresponding methods provided above, and will not be repeated here. Through the description of the above embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the control device can be divided into different functional modules to complete all or part of the functions described above. In the embodiments provided by this invention, it should be understood that the disclosed control device and method can be implemented in other ways. For example, the control device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another control device, or some features may be ignored or not executed. Furthermore, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between control devices or units may be electrical, mechanical, or other forms. It should be noted that the order of the above embodiments of the present invention is merely for description and does not represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous. The various embodiments in this specification are described in a progressive manner; similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. The above content is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be covered within the scope of protection of the present invention.

Claims

1. A magnetorheological eccentric hamstring training method based on posture closed loop, characterized in that, A magnetorheological hamstring eccentric training device based on attitude closed loop applied to an integrated magnetorheological fluid damper, the method comprising: In response to the target training mode selected by the user in the training mode selection interface, the recommended angular velocity corresponding to the target training mode is obtained; The user-worn waist inertial sensor is used to acquire the user's real-time spatial attitude angle and real-time angular velocity of fall. Based on the preset standby current, real-time spatial attitude angle, and real-time descent angular velocity, a virtual variable density fluid dynamics control model is constructed to calculate the target excitation current of the magnetorheological fluid damper. The target excitation current is positively mapped to the square of the real-time descent angular velocity and increases monotonically with the increase of the real-time spatial attitude angle. If the time-series changes of the real-time spatial attitude angle and the real-time falling angular velocity are determined to meet the preset termination conditions, the user is determined to be in the training termination state, and the current excitation current of the magnetorheological fluid damper is cut off, driving the reset machine to raise the top of the telescopic rod to the preset initial high position.

2. The method according to claim 1, characterized in that, The preset termination condition includes at least one of the following: The real-time spatial attitude angle of the user's torso remains stable within a preset time period, and the real-time falling angular velocity remains less than the safe angular velocity threshold within the preset time period. The system receives a reset command from the user, or the user's total training time reaches the preset training time limit. The system detects that the user's physical condition has entered a state of severe fatigue and triggers a safety lockout of the magnetorheological fluid damper.

3. The method according to claim 2, characterized in that, The method further includes: For any training action of the user, obtain the current characteristic curve of the target excitation current changing with the real-time torso forward tilt angle in the interval from the fall start angle to the fall end angle during the stroke of the any training action; Perform a definite integral operation on the current characteristic curve to obtain the current integral area for any training action; wherein, the current integral area is used to characterize the total area of ​​compensatory work provided by the device for the user in a single training action. Obtain the current integral area of ​​the first standard training action in the training group containing any given training action; Calculate the difference between the current integral area of ​​any training action and the current integral area of ​​the first standard training action; The ratio between the difference and the current integral area of ​​the first standard training action is determined as the area growth rate of the training action. If the area growth rate is greater than the preset severe fatigue threshold, the user's physical state is determined to have entered a severe fatigue state, and the safety lock of the magnetorheological fluid damper is triggered.

4. The method according to claim 3, characterized in that, If the area growth rate is greater than a preset severe fatigue threshold, determining that the user's physical state has entered a severe fatigue state and triggering a safety lockout of the magnetorheological fluid damper includes: If the area growth rate is greater than a preset severe fatigue threshold, it is determined that the user's hamstring muscles have entered a state of severe fatigue, and a safety protection command is generated. In response to the safety protection command, the target excitation current is forcibly increased to the rated maximum current to lock the magnetorheological fluid damper.

5. The method according to claim 1, characterized in that, Based on the preset standby current, real-time spatial attitude angle, and real-time descent angular velocity, a virtual variable-density fluid dynamics control model is constructed to calculate the target excitation current of the magnetorheological fluid damper, including: Obtain the virtual fluid damping gain constant; Calculate the product of the virtual fluid damping gain constant, the real-time spatial attitude angle, and the square of the real-time angular velocity to obtain the product result; The product result is summed with the preset base standby current to obtain the target excitation current.

6. The method according to claim 5, characterized in that, The method further includes: Obtain the timing matching relationship between the real-time spatial attitude angle and the real-time angular velocity; Based on the time-series matching relationship, a motion characteristic curve is constructed between the real-time spatial attitude angle and the real-time angular velocity. If the motion characteristic curve deviates from the preset standard hamstring training motion characteristic range, it is determined that the user has engaged in hip flexion or bending over compensatory behavior, and the virtual fluid damping gain constant is instantaneously increased to increase the damping force, or a full-load current is output to lock the telescopic rod, and a trigger intervention command is generated and output to prompt the user to correct the movement.

7. The method according to claim 1, characterized in that, The method further includes: Based on the recommended angular velocity corresponding to the selected target training mode, a safe angular velocity threshold is set. When the real-time falling angular velocity is detected to exceed the safe angular velocity threshold, the calculation step of the target excitation current is bypassed, causing the target excitation current to instantly jump to the rated maximum current of the magnetorheological fluid damper, driving the magnetorheological fluid inside the magnetorheological fluid damper to instantly transform into a rigid locked state, forcibly locking the downward stroke of the telescopic rod.

8. A magnetorheological hamstring eccentric training device based on posture closed loop, characterized in that, The device includes: a touch control module and a mechanical body; wherein: The main body of the machine includes a training chassis, and a leg sponge pad is provided on the upper rear side of the training chassis. A leg fixation module for providing kneeling support and limiting ankle pressure is installed at the rear end of the leg sponge pad. The magnetorheological fluid damper housing is vertically mounted on the front side of the training chassis, and the magnetorheological fluid damper is integrated inside it. The telescopic rod is coaxially connected to the upper end of the magnetorheological fluid damper, and a sponge pad for supporting the user's hand is fixedly installed at the top. The touch control module is electrically connected to the controller and is used to provide a selection interface for different training modes and a parameter setting interface, so that the user can select the target training mode on the selection interface and automatically output the recommended angular velocity corresponding to the target training mode. The waist inertial sensor is an inertial measurement unit that can be worn on the user's waist to collect the real-time spatial attitude angle and real-time angular velocity of the user's torso. The touch control module is used to construct a virtual variable density fluid dynamics control model based on a preset base standby current, real-time spatial attitude angle, and real-time angular velocity, and to calculate the target excitation current of the magnetorheological fluid damper. The target excitation current is positively mapped to the square of the real-time angular velocity and increases monotonically with the increase of the real-time spatial attitude angle. If the time-series changes of the real-time spatial attitude angle and the real-time angular velocity determine that a preset termination condition is met, the user is determined to be in a training termination state, and the current excitation current of the magnetorheological fluid damper is cut off, driving the reset mechanism to raise the top of the telescopic rod to a preset initial high position.

9. The apparatus according to claim 8, characterized in that, The upper surface of the hand sponge pad is provided with symmetrical double arm limiting grooves; the magnetorheological fluid damper is built into the magnetorheological fluid damper housing, and the damping stroke of the magnetorheological fluid damper is matched with the maximum falling stroke of the telescopic rod.

10. The apparatus according to claim 8, characterized in that, During the automatic reset action of the telescopic rod, the controller keeps the magnetorheological fluid damper in a low-damping standby state and monitors the load current of the actuator in real time during the reset process. When the load current suddenly increases, the telescopic rod stops running immediately and triggers the obstruction protection.

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