A sports rehabilitation training system and a multi-terminal posture mapping interaction method thereof

Abstract

The application discloses a motion rehabilitation training system, which comprises a base, a chassis, an arc-shaped guide rail, two support frames, a posture acquisition unit and an interactive processing assembly. The chassis is fixed to the base, and the upper part of the chassis is provided with a sliding groove matched with the arc-shaped guide rail. The arc-shaped guide rail is slidably arranged in the sliding groove and can slide left and right along the arc-shaped extension direction of the sliding groove. The two support frames are respectively arranged on the two sides of the chassis and are connected with each other. The middle parts of the two support frames are respectively provided with handrail seats. The two handrail seats are rotatably connected with the two ends of the arc-shaped guide rail through bearings, so that the two support frames can rotate forward and backward relative to the arc-shaped guide rail. The application can be used in cooperation with an independent inertial measurement unit, an external computing device and a virtual reality terminal, or can use the posture sensor of a mobile terminal for local acquisition and processing, and is convenient to use.

Description

Technical Field

[0001] This invention relates to the field of medical rehabilitation equipment technology, and in particular to a sports rehabilitation training system and its multi-terminal posture mapping interaction method. Background Technology

[0002] Exercise rehabilitation training typically involves static support, unidirectional swinging, or balance board exercises, enabling trainees to adjust their center of gravity while maintaining body posture. Existing training equipment often employs a single-axis rotation structure, offering only a limited range of motion directions. While some equipment allows multiple directions, the lack of independent guidance, limiting, and damping structures between different directions makes it difficult to adjust the training difficulty according to actual needs. Furthermore, when trainees shift their center of gravity on the equipment, issues such as excessive amplitude of motion and unstable resistance may arise.

[0003] With the application of posture sensors and virtual reality technology in sports training, some devices have begun to use sensors to collect tilt angles and convert them into motion commands for visuals or virtual objects. However, different interactive terminals use different sensors, coordinate systems, and scene control methods. Tablet computers are typically suitable for direct 2D or pseudo-3D mapping, while virtual reality terminals need to combine force and motion states in a 3D scene for calculation. Existing solutions usually use fixed data processing paths, making it difficult to adapt to both mobile and virtual reality terminals simultaneously. When mechanical resistance changes, some solutions also change the software control sensitivity simultaneously, resulting in different scene responses for the same posture under different training difficulties, affecting the correspondence between posture data and the interactive screen. Summary of the Invention

[0004] The purpose of this invention is to provide a sports rehabilitation training system and its multi-terminal posture mapping interaction method. It can be used in conjunction with an independent inertial measurement unit and an external computing device and a virtual reality terminal, or it can use the posture sensor built into the mobile terminal for local data acquisition and processing. After benchmark calibration, filtering and posture calculation, the system selects the corresponding data conversion path according to the terminal type, so that the mobile terminal adopts the direct mapping method and the virtual reality terminal adopts the dynamic mapping method.

[0005] To achieve the above objectives, the following technical solution is adopted: A sports rehabilitation training system includes a base, a frame, an arc-shaped guide rail, two support frames, a posture acquisition unit, and an interactive processing component. The frame is fixed to the base, and the upper part of the frame has a groove adapted to the arc-shaped guide rail. The arc-shaped guide rail is slidably disposed in the groove and can slide left and right along the arc-shaped extension direction of the groove. The two support frames are located on both sides of the frame and connected to each other. Each support frame has an armrest in its middle part, and the two armrests are rotatably connected to both ends of the arc-shaped guide rail through bearings, so that the two support frames can rotate back and forth relative to the arc-shaped guide rail. The posture acquisition unit moves synchronously with the support frames and is used to acquire pitch and roll posture data of the support frames. The interactive processing component is communicatively connected to the posture acquisition unit and is used to generate scene control variables based on the pitch and roll posture data, and control the interactive scene update based on the scene control variables.

[0006] Furthermore, one end of the two support frames is connected by a first connecting plate, and the other end of the two support frames is connected by a second connecting plate; the first connecting plate is provided with a leg rest and a footrest, the second connecting plate is provided with an elbow rest, a chest rest and a first handrail, and the two handrail seats are respectively provided with a second handrail.

[0007] Furthermore, it also includes a pitch limiting assembly, a pitch damping assembly, and a tilt damping assembly; the armrest seat has an arc-shaped hole extending along the pitch direction of the support frame, and the end of the arc-shaped guide rail has a locking hole; the pitch limiting assembly includes a limiting bolt that passes through the locking hole and is movably inserted into the arc-shaped hole, and the end wall of the arc-shaped hole is used to limit the movement stroke of the limiting bolt; the pitch damping assembly includes at least one elastic flexible band detachably connected between the support frame and the arc-shaped guide rail; the tilt damping assembly includes a damping adjustment knob disposed on the base frame, a connecting band connected between the damping adjustment knob and the arc-shaped guide rail, and an elastic damping ring disposed on the connecting band, and the damping adjustment knob is used to adjust the tension of the connecting band.

[0008] Furthermore, the attitude acquisition unit and the interaction processing component can be configured in any of the following ways: The attitude acquisition unit includes an inertial measurement unit fixed on a support frame, and the interaction processing component includes an external computing device and a virtual reality terminal. The inertial measurement unit is communicatively connected to the external computing device, and the external computing device is communicatively connected to the virtual reality terminal. Alternatively, the attitude acquisition unit includes an attitude sensor built into a mobile terminal, the mobile terminal is fixed to the support frame via a mobile device bracket, and the interaction processing component is integrated into the mobile terminal. Both the inertial measurement unit and the attitude sensor include at least an accelerometer and a gyroscope.

[0009] A multi-terminal pose mapping interaction method, using the above-mentioned system, includes the following steps: S1: Obtain the raw attitude data output by the attitude acquisition unit, wherein the raw attitude data includes at least acceleration data and angular velocity data; S2: Filter and calculate the original attitude data to obtain pitch and roll attitude values; S3: Based on the preset mapping relationship between the physical coordinate system and the interactive scene coordinate system, the tilt attitude quantity is converted into a first scene control quantity, and the pitch attitude quantity is converted into a second scene control quantity. S4: Generate attitude control commands based on the first scene control variables and the second scene control variables, and update the motion state of virtual objects in the interactive scene based on the attitude control commands.

[0010] Furthermore, before acquiring the raw attitude data, the system is placed in a reference attitude, the output data of the attitude acquisition unit in the reference attitude is recorded, and the logical origin of the physical coordinate system is established based on the output data; when filtering and calculating the attitude data, the attitude change obtained from the angular velocity data and the tilt reference obtained from the acceleration data are complementaryly fused to obtain the pitch attitude and roll attitude quantities.

[0011] Furthermore, before generating scene control variables, the acquisition source and interactive terminal type of the attitude sensing data are determined, and the corresponding data conversion path is selected. When the attitude sensing data is acquired by an independent inertial measurement unit, the attitude sensing data is transmitted to an external computing device, which generates three-dimensional scene control variables for the virtual reality terminal. When the attitude sensing data is acquired by the attitude sensor built into the mobile terminal, the mobile terminal processes the attitude sensing data locally and generates scene control variables for the mobile terminal's interactive interface.

[0012] Furthermore, when the interactive terminal is a mobile terminal, the tilt attitude quantity and pitch attitude quantity are compared with the corresponding dead zone threshold respectively; when the absolute value of the corresponding attitude quantity is less than or equal to the dead zone threshold, the corresponding scene control quantity is set to zero; when the absolute value of the corresponding attitude quantity is greater than the dead zone threshold, the scene control quantity is generated based on the difference between the attitude quantity and the dead zone threshold, the direction of the attitude quantity, and the corresponding gain coefficient.

[0013] Furthermore, when the interactive terminal is a virtual reality terminal, the pitch and roll attitude parameters are used as control inputs to the virtual object dynamics model. The force or acceleration acting on the virtual object is calculated based on the control inputs, and the velocity, position, or attitude of the virtual object is updated based on the calculation results.

[0014] By adopting the above solution, the beneficial effects of the present invention are: This invention generates lateral tilting motion through the arc-shaped sliding between the arc-shaped guide rail and the base frame, and generates pitching motion through the rotational connection between the support frame and the arc-shaped guide rail. This allows the two directions to be achieved by different kinematic pairs, reducing structural interference between pitch and tilt. At the same time, the arc-shaped hole and the limiting bolt work together to limit the pitch stroke. The elastic flexible belt, connecting belt and elastic damping ring adjust the pitch resistance and tilt resistance respectively, so that the difficulty of the movement can be changed according to the training requirements.

[0015] Furthermore, the attitude acquisition unit moves synchronously with the support frame, enabling it to directly acquire pitch and roll attitude data of the support frame. The system can either use an independent inertial measurement unit in conjunction with external computing devices and virtual reality terminals, or utilize the attitude sensor built into the mobile terminal for local acquisition and processing. After benchmark calibration, filtering, and attitude calculation, the system selects the appropriate data conversion path based on the terminal type, allowing the mobile terminal to use a direct mapping method and the virtual reality terminal to use a dynamic mapping method. The mechanical resistance adjustment and software mapping relationship are independent of each other, which helps to maintain the consistency between attitude changes and scene feedback. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the system structure of the present invention; Figure 2 This is a schematic diagram of the first partial structure of the system of the present invention; Figure 3 This is a schematic diagram of the second partial structure of the system of the present invention; Figure 4 This is a schematic diagram of the third partial structure of the system of the present invention; Figure 5 This is a system architecture diagram of the first training mode of the present invention; Figure 6 This is a system architecture diagram of the second training mode of the present invention; Figure 7 This is a simplified flowchart of the method of the present invention; The following are explanations of the labels in the attached diagram: 1. Base; 2. Base frame; 3. Arc-shaped guide rail; 4. Support frame; 5. Attitude acquisition unit; 6. Mobile device bracket; 41. Handrail seat; 42. First connecting plate; 43. Second connecting plate; 44. Leg rest; 45. Foot pedal; 46. Elbow rest; 47. Chest support; 48. First handrail; 49. Second handrail; 411. Arc-shaped hole; 412. Locking hole; 101. Damping adjustment knob; 102. Connecting belt; 103. Elastic damping ring; 104. Elastic flexible belt. Detailed Implementation

[0017] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0018] Reference Figures 1 to 7 As shown, the present invention provides a sports rehabilitation training system. In one embodiment, it includes a base 1, a frame 2, an arc-shaped guide rail 3, two support frames 4, a posture acquisition unit 5, and an interactive processing component. The frame 2 is fixed to the base 1. The upper part of the frame 2 is provided with a groove adapted to the arc-shaped guide rail 3. The arc-shaped guide rail 3 is slidably disposed in the groove and can slide left and right along the arc-shaped extension direction of the groove. The two support frames 4 are respectively located on both sides of the frame 2 and connected to each other. The middle part of the two support frames 4 is provided with armrest seats 41. The two armrest seats 41 are rotatably connected to the two ends of the arc-shaped guide rail 3 through bearings, so that the two support frames 4 can rotate back and forth relative to the arc-shaped guide rail 3. The posture acquisition unit 5 moves synchronously with the support frames 4 and is used to acquire pitch posture data and roll posture data of the support frames 4. The interactive processing component is communicatively connected to the posture acquisition unit 5 and is used to generate scene control quantities based on the pitch posture data and roll posture data, and control the interactive scene update based on the scene control quantities.

[0019] like Figures 1 to 7 As shown, in this embodiment, the system includes a base 1, a frame 2, an arc-shaped guide rail 3, two support frames 4, an attitude acquisition unit 5, and an interactive processing component. The frame 2 is fixedly installed on the base 1 and remains stationary during training. The upper part of the frame 2 is provided with a groove that matches the arc-shaped guide rail 3. The groove extends along an arc-shaped path, and the arc-shaped guide rail 3 is slidably installed in the groove. The arc-shaped guide rail 3 can slide left and right along the groove, and its position change along the arc-shaped path causes the two support frames 4 and the components installed on the support frames 4 to tilt as a whole.

[0020] Two support frames 4 are located on both sides of the base frame 2 and are connected to each other by a connecting structure at both ends. One end of the two support frames 4 is connected by a first connecting plate 42 and the other end is connected by a second connecting plate 43, so that the two support frames 4 form a load-bearing structure that moves synchronously. Handrail seats 41 are installed in the middle of the two support frames 4 respectively. The two handrail seats 41 are rotatably connected to the two ends of the arc-shaped guide rail 3 by bearings. The two bearings form the pitch rotation fulcrum of the support frame 4, so that the two support frames 4 can rotate synchronously back and forth relative to the arc-shaped guide rail 3.

[0021] When the arc-shaped guide rail 3 slides relative to the base frame 2, the two support frames 4 tilt as a whole with the arc-shaped guide rail 3; when the two support frames 4 rotate relative to the arc-shaped guide rail 3, the arc-shaped guide rail 3 remains in the corresponding tilt position, and the two support frames 4 perform pitching motion. Thus, the tilting motion is achieved through the sliding cooperation between the arc-shaped guide rail 3 and the slide groove, and the pitching motion is achieved through the bearing connection between the armrest seat 41 and the arc-shaped guide rail 3. The two motions are constrained by the corresponding guiding structures. When the trainee shifts their center of gravity forward, backward, or to the sides of their body, the support frames 4 can generate corresponding pitching or tilting motions; when the center of gravity changes in the forward / backward and left / right directions simultaneously, the support frames 4 can form a superimposed state of pitching and tilting motion.

[0022] In some embodiments, a leg rest 44 and a foot pedal 45 are installed on the first connecting plate 42. The leg rest 44 is used to support the trainee's legs, and the foot pedal 45 is used to support the trainee's feet. The leg rest 44 and the foot pedal 45 can be installed in multiple positions, or connected to the first connecting plate 42 through a sliding adjustment structure to accommodate different leg lengths and support postures. An elbow rest 46, a chest rest 47, and a first handrail 48 are installed on the second connecting plate 43. The elbow rest 46 is used to support the trainee's forearm or elbow, the chest rest 47 is used to provide auxiliary support for the torso, and the first handrail 48 is for the trainee to hold in the corresponding training posture.

[0023] The elbow support 46 can be connected to the second connecting plate 43 via the elbow support 46 adjustment rod. The elbow support 46 adjustment rod can move relative to the second connecting plate 43 and be held in the adjusted position by the fastening structure. The distance between the two elbow supports 46, the front and back position of the elbow support 46 relative to the leg support 44, and the support height of the elbow support 46 can all be adjusted as needed. The chest support 47 can be connected to the second connecting plate 43 via the chest support bracket. The chest support bracket can adjust the height, front and back position, or tilt angle of the chest support 47 to adapt the chest support 47 to the position of the trainee's torso. The two armrest seats 41 are also equipped with second armrests 49. The second armrests 49 facilitate the user's access to the machine, and the first armrests 48 facilitate the user's grip after access to the machine.

[0024] In one optional structure, a hip belt or hip support is also provided on the support frame 4; the two ends of the hip belt can be connected to the two support frames 4, the second connecting plate 43, or the mounting components that are fixedly connected to them, respectively, and the length of the hip belt can be adjusted by a buckle; the hip support can be connected to the support frame 4 in an adjustable manner. The function of the hip support is to assist in supporting the body weight and is used when the support capacity is weak, while retaining the activity space required for the trainee to move the support frame 4 by changing the center of gravity.

[0025] In some embodiments, the armrest seat 41 is provided with an arc-shaped hole 411 extending along the pitch direction of the support frame 4, and the corresponding end of the arc-shaped guide rail 3 is provided with a locking hole 412. The limiting bolt passes through the locking hole 412 and extends into the arc-shaped hole 411. Since the limiting bolt is installed on one side of the arc-shaped guide rail 3, when the support frame 4 rotates relative to the arc-shaped guide rail 3, the arc-shaped hole 411 moves with the armrest seat 41, and the limiting bolt moves relative to the arc-shaped hole 411. When the limiting bolt moves to the end wall of the arc-shaped hole 411, the end wall blocks the limiting bolt, thereby limiting the support frame 4 from continuing to rotate. The arc length of the arc-shaped hole 411 corresponds to the allowable pitch travel, and the arc length of the arc-shaped hole 411 can be set according to the pitch range required by the equipment.

[0026] At least one elastic flexible belt 104 is connected between the support frame 4 and the arc-shaped guide rail 3. One end of the elastic flexible belt 104 is connected to the support frame 4 and the other end is connected to the arc-shaped guide rail 3. When the support frame 4 pitches and rotates relative to the arc-shaped guide rail 3, the elastic flexible belt 104 is stretched and generates an elastic restoring force opposite to the movement trend of the support frame 4, thereby damping the pitching movement. The elastic flexible belt 104 adopts a detachable connection method. By increasing or decreasing the number of elastic flexible belts 104, the resistance encountered by the support frame 4 during pitching movement can be changed. Flexible belts with different elasticity, effective length, or pretension can also be used to form different pitching resistance.

[0027] The tilt damping assembly is located between the base frame 2 and the arc-shaped guide rail 3. The tilt damping assembly includes a damping adjustment knob 101, a connecting belt 102, and an elastic damping ring 103. The damping adjustment knob 101 is located on the base frame 2. One end of the connecting belt 102 is connected to the damping adjustment knob 101, and the other end is connected to the attachment position on the arc-shaped guide rail 3. The elastic damping ring 103 is located on the connecting belt 102. The connecting belt 102 can change its extension direction through the guide wheel inside the base frame 2, so that the rotation of the damping adjustment knob 101 can tighten or loosen the connecting belt 102.

[0028] When the damping adjustment knob 101 is rotated, the effective length or preload of the connecting belt 102 changes, and the elastic damping ring 103 undergoes different degrees of elastic deformation, thereby changing the tension applied by the connecting belt 102 to the arc-shaped guide rail 3. When the arc-shaped guide rail 3 slides left and right along the slide groove, it needs to overcome the elastic constraints generated by the connecting belt 102 and the elastic damping ring 103, thus forming a tilting resistance. By adjusting the damping adjustment knob 101, the difficulty of the tilting motion can be changed without changing the mating structure between the arc-shaped guide rail 3 and the slide groove.

[0029] Meanwhile, a tilt locking assembly can also be installed on the base frame 2. The tilt locking assembly includes a locking rod movably mounted on the base frame 2, and an arc-shaped guide rail 3 with a locking hole corresponding to the locking rod. When the locking rod is inserted into the locking hole, the locking rod restricts the arc-shaped guide rail 3 from sliding relative to the base frame 2, preventing the support frame 4 from continuing to tilt. When the locking rod is removed from the locking hole, the arc-shaped guide rail 3 regains its ability to slide along the groove. The locking rod can be a plug-in type, a rotating insertion type, or a movable structure with an elastic reset member, as long as it can restrict the sliding of the arc-shaped guide rail 3 in the locked position and avoid the arc-shaped guide rail 3 in the released position.

[0030] The attitude acquisition unit 5 is positioned to move synchronously with the support frame 4, such as on the first handrail 48, so that the acquired attitude changes correspond to the actual pitch and roll states of the support frame 4. The attitude acquisition unit 5 includes at least an accelerometer and a gyroscope, and may also include a magnetometer. The accelerometer is used to obtain the acceleration component related to the direction of gravity, the gyroscope is used to obtain the angular velocity of the support frame 4 when it moves around the corresponding axis, and the magnetometer can be used to provide a direction reference or correct the cumulative deviation in the attitude calculation process.

[0031] The attitude acquisition unit 5 and the interaction processing component can adopt an independent sensing architecture. In this architecture, the inertial measurement unit (IMU) is fixed to the support frame 4, handrail, second connecting plate 43, or a mounting component fixedly connected to the support frame 4. The IMU pitches and tilts synchronously with the support frame 4 and continuously acquires acceleration and angular velocity data at a preset sampling frequency. The data acquired by the IMU can first be processed by the data processing module and then transmitted to an external computing device via a wired or wireless communication link. After the external computing device completes attitude calculation and scene mapping, it sends the scene control data to the virtual reality terminal, which then outputs the corresponding 3D interactive scene.

[0032] In some implementations, the attitude acquisition unit 5 and the interaction processing component may also adopt a terminal fusion architecture. In this architecture, the mobile terminal is fixed to the support frame 4 via the mobile device bracket 6. The mobile device bracket 6 can be directly connected to the support frame 4, or it can be indirectly installed via the second connecting plate 43, the elbow support 46 adjustment rod, or other components fixedly connected to the support frame 4. The mobile terminal and the support frame 4 remain relatively fixed, so that the mobile terminal can pitch and tilt synchronously with the support frame 4. The attitude acquisition unit 5 consists of the accelerometer and gyroscope built into the mobile terminal. The interaction processing component consists of the processor, memory, and interaction program of the mobile terminal. The mobile terminal completes attitude data reading, attitude calculation, scene mapping, and screen updating locally.

[0033] In another embodiment, a multi-terminal pose mapping interaction method is also provided, which uses the above-described system and includes the following steps: S1: Obtain the raw attitude data output by the attitude acquisition unit 5, wherein the raw attitude data includes at least acceleration data and angular velocity data; S2: Filter and calculate the original attitude data to obtain pitch and roll attitude values; S3: Based on the preset mapping relationship between the physical coordinate system and the interactive scene coordinate system, the tilt attitude quantity is converted into a first scene control quantity, and the pitch attitude quantity is converted into a second scene control quantity. S4: Generate attitude control commands based on the first scene control variables and the second scene control variables, and update the motion state of virtual objects in the interactive scene based on the attitude control commands.

[0034] Simultaneously, before acquiring the raw attitude data, the system is placed in a reference attitude, and the output data of the attitude acquisition unit 5 in the reference attitude is recorded. The logical origin of the physical coordinate system is established based on the output data. When filtering and calculating the attitude data, the attitude change obtained from the angular velocity data and the tilt reference obtained from the acceleration data are complementaryly fused to obtain the pitch attitude and roll attitude quantities. Before generating scene control quantities, the acquisition source and interactive terminal type of the attitude sensing data are determined, and the corresponding data conversion path is selected. When the attitude sensing data is acquired by an independent inertial measurement unit, the attitude sensing data is transmitted to an external computing device, which generates three-dimensional scene control quantities for the virtual reality terminal. When the attitude sensing data is acquired by the attitude sensor built into the mobile terminal, the mobile terminal processes the attitude sensing data locally and generates scene control quantities for the mobile terminal's interactive interface.

[0035] When the interactive terminal is a mobile terminal, the tilt and pitch attitude quantities are compared with the corresponding dead zone thresholds. When the absolute value of the corresponding attitude quantity is less than or equal to the dead zone threshold, the corresponding scene control quantity is set to zero. When the absolute value of the corresponding attitude quantity is greater than the dead zone threshold, the scene control quantity is generated based on the difference between the attitude quantity and the dead zone threshold, the direction of the attitude quantity, and the corresponding gain coefficient. When the interactive terminal is a virtual reality terminal, the pitch and tilt attitude quantities are used as control inputs to the virtual object dynamics model. The force or acceleration acting on the virtual object is calculated based on the control inputs, and the velocity, position, or attitude of the virtual object is updated based on the calculation results.

[0036] When performing attitude mapping, the system first acquires the raw attitude data output by the attitude acquisition unit 5. The raw attitude data includes at least acceleration data and angular velocity data. The system continuously reads the raw attitude data according to the preset sampling frequency and adapts the data acquisition cycle to the update cycle of the interactive scene to reduce the time difference between when the device has moved and when the interactive screen has not yet been updated.

[0037] Before starting continuous calculation, the above-mentioned dual-axis motion support mechanism is placed in a preset reference posture, the output data of the posture acquisition unit 5 in this posture is recorded, and the logical origin of the physical coordinate system is established based on the output data. The posture data obtained subsequently are all calculated relative to the logical origin. The installation direction of the independent inertial measurement unit and the posture sensor built into the mobile terminal may be different. Therefore, corresponding coordinate transformation relationships can be established separately to convert the data output from different acquisition sources to a unified physical coordinate system of the device.

[0038] The raw attitude data may contain sensor noise, mechanical vibration, and high-frequency changes caused by the trainee’s slight shaking. The interactive processing component filters the raw attitude data and calculates the pitch and roll attitude of the support frame 4 based on the acceleration and angular velocity data. It is preferred to use complementary filtering to fuse the two types of data.

[0039] Let the current attitude angle be θ_current, the previous attitude angle be θ_prev, the angular velocity detected by the gyroscope be ω, the sampling time interval be Δt, the tilt angle calculated from the acceleration data be θ_acc, and the filter weight coefficient be α. Then the attitude angle can be calculated according to the following formula: θ_current=α(θ_prev+ωΔt)+(1-α)θ_acc.

[0040] The above calculations can be applied to the pitch and roll directions respectively. Gyroscope data is used to reflect rapid changes in attitude, and acceleration data is used to provide a reference for the tilt angle related to the direction of gravity. The fusion of the two can reduce the cumulative deviation when using the gyroscope alone and reduce the impact of mechanical vibration on the solution results when using the accelerometer alone. In addition to complementary filtering, other filtering or fusion methods that can obtain pitch and roll attitude quantities based on acceleration and angular velocity data can also be used.

[0041] After obtaining the pitch and roll attitude quantities, the interaction processing component generates a first scene control quantity and a second scene control quantity based on the preset mapping relationship between the physical coordinate system and the interaction scene coordinate system. The roll attitude quantity is used to generate the first scene control quantity, and the pitch attitude quantity is used to generate the second scene control quantity. The first and second scene control quantities can represent the displacement, velocity, acceleration, attitude angle, or other parameters that can control the changes in the interaction scene of the virtual object in two different directions. The interaction processing component generates attitude control commands based on the two types of scene control quantities and uses the attitude control commands to update the motion state of the virtual object.

[0042] When using a mobile terminal for interaction, a direct mapping method with dead zones can be used. Let the roll attitude be θ_roll, the pitch attitude be θ_pitch, the dead zone thresholds for the roll direction be θ_dead,x, and the dead zone thresholds for the pitch direction be θ_dead,y. Let the first scene control variable be V_x, the second scene control variable be V_y, and the corresponding gain coefficients be K_x and K_y, respectively. Then the following mapping relationship can be used: , , Here, sgn represents the sign function, used to determine the direction of the scene control variables. The dead zone is used to filter out minor jitters when the support frame 4 is near the reference posture, preventing the interactive scene from continuously drifting when the trainee does not make a significant change in center of gravity. The gain coefficient is used to adjust the proportional relationship between the physical posture change and the scene control variables. The first and second scene control variables are not limited to velocity control variables, but can also be converted into position changes or other motion parameters according to the control method of the interactive program.

[0043] When interacting with a virtual reality terminal, pitch and roll attitude parameters can be used as control inputs to the virtual object's dynamics model. Let the mass of the virtual object be m, the virtual velocity vector be V, the gravitational acceleration in the virtual environment be g, the environmental forces related to the virtual object's attitude and velocity be F_aero, and the driving force of the virtual object be F_thrust. Then the motion relationship of the virtual object can be expressed as: , The interactive processing component calculates the acceleration of the virtual object based on this dynamic relationship and updates the velocity and position of the virtual object through integration. Pitch and roll attitude parameters can also be used to update the pitch attitude, roll attitude, or direction of motion of the virtual object, so that the motion changes of the virtual object correspond to the actual motion direction of the support frame 4.

[0044] In unpowered motion scenarios, virtual objects are not actively driven; their motion is primarily influenced by gravity and environmental forces. Pitch attitude parameters can be used to change the virtual object's motion posture and the direction of environmental forces, while roll attitude parameters can be used to change the virtual object's roll state and turning tendency. The virtual object's velocity, height, or trajectory is continuously calculated by the dynamic model, rather than being assigned a fixed displacement based on attitude angles.

[0045] In powered motion scenarios, virtual objects are assigned a driving force. Pitch and roll attitude parameters are used to change the components of the driving force in each direction of the virtual scene coordinate system. The interaction processing component calculates the acceleration of the virtual object based on the resultant force of gravity, environmental forces, and the driving force, and updates the velocity, position, and attitude of the virtual object accordingly. Unpowered and powered motion scenarios are only used to illustrate the dynamic mapping method; virtual objects are not limited to a specific form, and the interaction scenario is not limited to a flight scenario.

[0046] Mechanical damping adjustment and software mapping are set separately. Increasing or decreasing the number of elastic flexible bands 104 changes the pitch resistance of the support frame 4; rotating the damping adjustment knob 101 changes the tilt resistance of the arc-shaped guide rail 3. The above-mentioned changes in mechanical resistance are used to change the force required for the trainee to move the support frame 4, and do not directly change the actual posture measured by the posture acquisition unit 5.

[0047] The interactive processing component generates scene control quantities based on the actual pitch and roll attitude quantities of the support frame 4. When mechanical resistance is adjusted, the mapping relationship between the physical attitude quantities and the scene control quantities, as well as the corresponding gain coefficients, remain unchanged. When it is necessary to change the sensitivity of the interactive screen, the mapping relationship or gain coefficients can be adjusted independently through the interactive processing component without simultaneously changing the mechanical resistance. Therefore, the mechanical training difficulty and the sensitivity of the interactive scene can be set separately, avoiding different scene responses corresponding to the same attitude quantity due to adjustments in mechanical resistance.

[0048] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A sports rehabilitation training system, characterized in that, The system includes a base, a frame, an arc-shaped guide rail, two support frames, an attitude acquisition unit, and an interactive processing component. The frame is fixed to the base, and its upper part has a groove adapted to the arc-shaped guide rail. The arc-shaped guide rail is slidably disposed within the groove and can slide left and right along the arc-shaped extension direction of the groove. The two support frames are located on both sides of the frame and connected to each other. Each support frame has a handrail in its middle section, and the two handrails are rotatably connected to both ends of the arc-shaped guide rail via bearings, allowing the two support frames to rotate back and forth relative to the arc-shaped guide rail. The attitude acquisition unit moves synchronously with the support frames and is used to acquire pitch and roll attitude data of the support frames. The interactive processing component is communicatively connected to the attitude acquisition unit and is used to generate scene control variables based on the pitch and roll attitude data, and control the interactive scene update based on the scene control variables.

2. The sports rehabilitation training system according to claim 1, characterized in that, One end of the two support frames is connected by a first connecting plate, and the other end of the two support frames is connected by a second connecting plate; the first connecting plate is provided with a leg rest and a foot pedal, the second connecting plate is provided with an elbow rest, a chest rest and a first handrail, and the two handrail seats are respectively provided with a second handrail.

3. The sports rehabilitation training system according to claim 1, characterized in that, It also includes a pitch limiting assembly, a pitch damping assembly, and a tilt damping assembly; the armrest seat has an arc-shaped hole extending along the pitch direction of the support frame, and the end of the arc-shaped guide rail has a locking hole; the pitch limiting assembly includes a limiting bolt that passes through the locking hole and is movably inserted into the arc-shaped hole, and the end wall of the arc-shaped hole is used to limit the movement stroke of the limiting bolt; the pitch damping assembly includes at least one elastic flexible band detachably connected between the support frame and the arc-shaped guide rail; the tilt damping assembly includes a damping adjustment knob disposed on the base frame, a connecting band connected between the damping adjustment knob and the arc-shaped guide rail, and an elastic damping ring disposed on the connecting band; the damping adjustment knob is used to adjust the tension of the connecting band.

4. The sports rehabilitation training system according to claim 1, characterized in that, The attitude acquisition unit and the interaction processing component can be configured in any of the following ways: The attitude acquisition unit includes an inertial measurement unit fixed on a support frame, and the interaction processing component includes an external computing device and a virtual reality terminal. The inertial measurement unit is communicatively connected to the external computing device, and the external computing device is communicatively connected to the virtual reality terminal. Alternatively, the attitude acquisition unit includes an attitude sensor built into a mobile terminal, the mobile terminal is fixed to the support frame via a mobile device bracket, and the interaction processing component is integrated into the mobile terminal. Both the inertial measurement unit and the attitude sensor include at least an accelerometer and a gyroscope.

5. A multi-terminal posture mapping interaction method, employing the system described in any one of claims 1 to 4, characterized in that, Includes the following steps: S1: Obtain the raw attitude data output by the attitude acquisition unit, wherein the raw attitude data includes at least acceleration data and angular velocity data; S2: Filter and calculate the original attitude data to obtain pitch and roll attitude values; S3: Based on the preset mapping relationship between the physical coordinate system and the interactive scene coordinate system, the tilt attitude quantity is converted into a first scene control quantity, and the pitch attitude quantity is converted into a second scene control quantity. S4: Generate attitude control commands based on the first scene control variables and the second scene control variables, and update the motion state of virtual objects in the interactive scene based on the attitude control commands.

6. The multi-terminal posture mapping interaction method according to claim 5, characterized in that, Before acquiring the raw attitude data, the system is placed in a reference attitude, and the output data of the attitude acquisition unit in the reference attitude is recorded. The logical origin of the physical coordinate system is established based on the output data. When filtering and calculating the attitude data, the attitude change obtained from the angular velocity data and the tilt reference obtained from the acceleration data are complementaryly fused to obtain the pitch attitude and roll attitude.

7. The multi-terminal posture mapping interaction method according to claim 6, characterized in that, Before generating scene control variables, the source of the attitude sensing data and the type of the interactive terminal are determined, and the corresponding data conversion path is selected. When the attitude sensing data is collected by an independent inertial measurement unit, the attitude sensing data is transmitted to an external computing device, which generates three-dimensional scene control variables for the virtual reality terminal. When the attitude sensing data is collected by the attitude sensor built into the mobile terminal, the mobile terminal processes the attitude sensing data locally and generates scene control variables for the mobile terminal's interactive interface.

8. The multi-terminal posture mapping interaction method according to claim 7, characterized in that, When the interactive terminal is a mobile terminal, the tilt attitude quantity and pitch attitude quantity are compared with the corresponding dead zone threshold respectively; when the absolute value of the corresponding attitude quantity is less than or equal to the dead zone threshold, the corresponding scene control quantity is set to zero; when the absolute value of the corresponding attitude quantity is greater than the dead zone threshold, the scene control quantity is generated based on the difference between the attitude quantity and the dead zone threshold, the direction of the attitude quantity and the corresponding gain coefficient.

9. The multi-terminal posture mapping interaction method according to claim 7, characterized in that, When the interactive terminal is a virtual reality terminal, the pitch and roll attitude parameters are used as control inputs to the virtual object dynamics model. The force or acceleration acting on the virtual object is calculated based on the control inputs, and the velocity, position, or attitude of the virtual object is updated based on the calculation results.

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